Engineering topics

Patterson, M. R.

Publications and source records attributed to Patterson, M. R..

6 records

NASA NTRS1982

Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly

Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.

Klein, C. A.↗

NASA NTRS1980

Computer coordination of limb motion for a three-legged walking robot

Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.

Klein, C. A.↗

NASA NTRS1972

Deformed Brueckner-Hartree-Fock calculations.

The renormalized Brueckner-Hartree-Fock (RBHF) theory for many-body nuclear systems has been generalized to permit calculations for intrinsic states having permanent deformation. Both Hartree-Fock and Brueckner self-consistencies are satisfied, and details of the numerical techniques are discussed. The Hamada-Johnston interaction is used in a study of deformations, binding, size, and separation energies for several nuclei. Electromagnetic transition rates, moments, and electron scattering form factors are calculated using nuclear wave functions obtained by angular momentum projection. Comparison is made to experiment as well as to predictions of ordinary and density-dependent Hartree-Fock theory.

Ford, W. F.↗

NASA NTRS1972

Short-range correlations in carbon-12, oxygen-16, and neon-20: Intrinsic properties

The Brueckner-Hartree-Fock (BHF) method has been applied to nuclei whose intrinsic structure is nonspherical. Reaction matrix elements were calculated as functions of starting energy for the Hamada-Johnston interaction using the Pauli operator appropriate to O-16 and a shifted oscillator spectrum for virtual excited states. Binding energies, single particle energies, radii, and shape deformations of the intrinsic state, in ordinary as well as renormalized BHF, are discussed and compared with previous HF studies and with experiment when possible. Results are presented for C-12, 0-16 and Ne-20. It is found that the binding energies and radii are too small, but that separation energies are well reproduced when the renormalized theory is used.

Braley, R. C.↗

NASA NTRS1972

Deformed Brueckner-Hartree-Fock calculations

The renormalized Brueckner-Hartree-Fock (RBHF) theory for many-body nuclear systems is generalized to permit calculations for intrinsic states having permanent deformation. Both Hartree-Fock and Brueckner self-consistencies are satisfied, and details of the numerical techniques are discussed. The Hamada-Johnston interaction is used in a study of deformations, binding, size, and separation energies for several nuclei. Electromagnetic transition rates, moments, and electron scattering form factors are calculated using nuclear wave functions obtained by angular momentum projection. Comparison is made to experiment as well as to predictions of ordinary and density-dependent Hartree-Fock Theory.

Ford, W. F.↗

NASA NTRS1971

Deformed Brueckner-Hartree-Fock calculation for light nuclei

For the first time the Brueckner-Hartree-Fock (BHF) method was applied to nuclei whose intrinsic structure is nonspherical. One aim was to investigate whether the energy dependent reaction matrix calculated from a realistic nucleon-nucleon interaction leads to deformations similar to, or different from, those obtained from energy independent interactions in Hartree-Fock (HF) calculations. Reaction matrix elements were calculated as a function of starting energy for the Hamada-Johnston interaction, using a Pauli operator appropriate to O-16 and a shifted oscillator spectrum for virtual excited states. Binding energies, single-particle energies, radii, and shape deformations of the intrinsic state in unrenormalized as well as renormalized BHF are discussed and compared with previous HF studies. Results are presented for C-12, O-16, and Ne-20.

Braley, R. C.↗