Search NASA⌕ Search

SEARCH · Search NASA

Results for “inverse kinematics”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Development of the detector array for photons, protons, and exotic residues

Accurate neutron capture predictions are needed in fundamental and applied science. Empirical models are constrained largely for stable nuclei, but predictions far from stability are needed. Neutron transfer in (d,p) reactions in inverse kinematics with rare isotope beams offer a means to access key aspects of the capture process. To this end, the detector array for photons, protons, and exotic residues (DAPPER) has been designed, built, tested, and used for measurement at Texas A&M University.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2024

Using DAPPER to extract the photon strength function of 58Fe using the inverse Oslo and shape methods

The photon strength function of 58 Fe has been extracted using both the Oslo and Shape methods from particle-γ coincidence data measured using the Detector Array for Photons, Protons, and Exotic Residues, which probes nuclei utilizing (d,p) reactions in inverse kinematics. Four particle-γ coincidence matrices, each constructed with different treatments of the γ-ray energies, are explored in order to observe the impact on the resulting nuclear level density and photon strength. The final photon strength function reported is found to agree well with previous Oslo measurements of other iron isotopes. Systematic uncertainties are included, using different model parameters and their reported errors to perform the Oslo method normalization. The model-independent Shape method is explored and the functional form of the photon strength function obtained is in agreement with the Oslo method results. A low-energy enhancement is not reported for 58 Fe in this work given possible subtraction issues originating from strongly populated states.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2025

Neutron moderation at IPF

We discuss here the possibility of using the Isotope Production Facility (IPF) at LANSCE to test the feasibility and performance of a graphite cube to create a neutron target. The idea of a neutron target enables the measurement of neutron induced reactions in inverse kinematics. This idea is part of the LANSCE strategy to stay a worldwide leader for neutron-induced research. The proof of-principle is the core of the LDRD project 20240004DR. The first steps are a series of activation experiments with different neutron energy distributions. Figs. 1 and 2 show a graphite cube built and simulated from pieces available at LANSCE. First activation experiments have already been performed at lower neutron energies utilizing (p,n) reactions on Li and Be.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2025

GEANT3 simulations for a beryllium Moderator for the Neutron Target Demonstrator (NTD)

Measurements of neutron-induced reactions, particularly on short-lived nuclei, are crucial for nuclear astrophysics and applications. The Neutron Target Demonstrator (NTD) aims to address this by using a strong mod erated spallation neutron source coupled with an ion storage ring. This work investigates the potential of improving the neutron moderator, a key component of the NTD. Using GEANT3 simulations, we compare the performance of the existing 80 cm carbon moderator with a new moder ator design, which utilizes beryllium pieces available at LANL to form a core surrounded by carbon. Simulations were performed 800 MeV pro tons incident on a tungsten target. The results demonstrate that the beryllium-core moderator increases the density of moderated neutrons within the central beam pipe by roughly a factor 4 compared to the pure carbon moderator. This enhancement makes the beryllium-core design a very promising option for future experiments focused on neutron-induced measurements in inverse kinematics.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2026

Temperature of a tungsten spallation target

We discuss the heat load inside a neutron spallation target made of tungsten hit by an 800 MeV proton beam. This problem is important for the Neutron Target project, where a spallation target will be surrounded by an extended graphite or beryllium cube to create a neutron target. The idea of a free-neutron target enables the measurement of neutron-induced reactions in inverse kinematics. This idea is part of the LANSCE strategy to stay a worldwide leader for neutron-induced research.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2026

Possible paths for the production of 73 As

Inelastic scattering reactions including (n,2n) are particularly difficult to measure. Hardly any measurements on radioactive nuclei exist. The reason is that traditional methods require the detection of gammas or neutrons in a background of elastically scattered neutrons, which can interact with the detector or other materials. The 73 As(n,2n) and the 73 As(n,2n) reaction cross sections are the only neutron removal cross sections that can be measured with current methods. The corresponding cross sections for the short-lived isotopes 71,72,74 As can only be directly measured in inverse kinematics. Since 75 As is the only stable isotope of this element, the sample production is no problem at all. This report is therefore focused on the sample production for a possible 73 As(n,2n) campaign.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2023

Status of experimental knowledge on the unbound nucleus 13 Be

The structure of the unbound nucleus 13 Be is important for understanding the Borromean, two-neutron halo nucleus 14 Be. The experimental studies conducted over the last four decades are reviewed in the context of the beryllium chain of isotopes and some significant theoretical studies. The focus of this paper is the comparison of new data from a 12 Be(d,p) reaction in inverse kinematics, which was analyzed using Geant4 simulations and a Bayesian fitting procedure, with previous measurements. Two possible scenarios to explain the strength below 1 MeV above the neutron separation energy were proposed in that study: a single p-wave resonance or a mixture of an s-wave virtual state with a weaker p- or d-wave resonance. Comparisons of recent invariant mass and the (d,p) experiments show good agreement between the transfer measurement and the two most recent high-energy nucleon removal measurements.

12Be↗
DOE OSTI2025

Direct reactions with the AT-TPC

Direct reactions are crucial tools for accessing properties of the atomic nucleus. Fundamental and exotic phenomena such as collective modes, pairing, weakbinding effects and evolution of single-particles energies can be investigated in peripheral collisions between a heavy nucleus and a light target. The necessity of using inverse kinematics to reveal how these structural properties change with isospin imbalance renders direct reactions a challenging technique when using the missing mass method. In this scenario, Active Target Time Projection Chambers (AT-TPC) have demonstrated an outstanding performance in enabling these types of reactions even under conditions of very low beam intensities. The AT-TPC of the Facility for Rare Isotope Beams (FRIB) is a next generation multipurpose Active Target. When operated inside a solenoidal magnet, direct reactions benefit from the measurement of the magnetic rigidity that enables particle identification and the determination of the excitation energy with high resolution without the need of auxiliary detectors. Additionally, the AT-TPC can be coupled to a magnetic spectrometer improving even further its spectroscopic investigation capability. In this contribution, we discuss inelastic scattering and transfer reaction data obtained via the AT-TPC and compare them to theory. In particular, we present the results for the 14 C(p,p′) and 12 Be (p,d) 11 Be reactions. For 14 C, we compare the experimental excitation energy of the first 1 – excited state with coupled-cluster calculationsbased on nuclear interactions from chiral effective field theory and with available shell-model predictions. For 12 Be, we determine the theoretical spectroscopic factors of the 12 Be (p,d) 11 Be transfer reaction in the shell modeland compare them to the experimental excitation spectrum from a qualitative standpoint.

active target↗
NASA NTRS1986

Multistage Planetary Power Transmissions

PLANETSYS simulates thermomechanical performance of multistage planetary performance of multistage planetary power transmission. Two versions of code developed, SKF version and NASA version. Major function of program: compute performance characteristics of planet bearing for any of six kinematic inversions. PLANETSYS solves heat-balance equations for either steadystate or transient thermal conditions, and produces temperature maps for mechanical system.

Hadden, G. B.↗
NASA NTRS1988

Effects of stratospheric lapse rate on thunderstorm cloud-top structure in a three-dimensional numerical simulation. I - Some basic results of comparative experiments

The effects of stratospheric temperature lapse rate on cloud top height/temperature structure for strongly sheared, mature, isolated midlatitude thunderstorms are investigated by performing three different experiments with an anelastic, three-dimensional model: (1) with an assumed stratospheric lapse rate of 0 K/km (i.e., the isothermal case), (2) with 3 K/km, and (3) with -3 K/km (i.e., the case of inversion). Kinematic storm structure is very similar in all three cases, especially in the troposphere; a strong quasi-steady updraft evolves and splits into a dominant cyclonic overshooting right-mover and a weaker, anticyclonic left-mover that does not reach the tropopause.

Schlesinger, Robert E.↗
NASA NTRS1987

Spatially random models, estimation theory, and robot arm dynamics

Spatially random models provide an alternative to the more traditional deterministic models used to describe robot arm dynamics. These alternative models can be used to establish a relationship between the methodologies of estimation theory and robot dynamics. A new class of algorithms for many of the fundamental robotics problems of inverse and forward dynamics, inverse kinematics, etc. can be developed that use computations typical in estimation theory. The algorithms make extensive use of the difference equations of Kalman filtering and Bryson-Frazier smoothing to conduct spatial recursions. The spatially random models are very easy to describe and are based on the assumption that all of the inertial (D'Alembert) forces in the system are represented by a spatially distributed white-noise model. The models can also be used to generate numerically the composite multibody system inertia matrix. This is done without resorting to the more common methods of deterministic modeling involving Lagrangian dynamics, Newton-Euler equations, etc. These methods make substantial use of human knowledge in derivation and minipulation of equations of motion for complex mechanical systems.

Rodriguez, G.↗
NASA NTRS1988

Robot geometry calibration

Autonomous robot task execution requires that the end effector of the robot be positioned accurately relative to a reference world-coordinate frame. The authors present a complete formulation to identify the actual robot geometric parameters. The method applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joints. A method is also presented to solve the inverse kinematic of the actual robot model which usually is not a so-called simple robot. Experimental results performed by utilizing a PUMA 560 with simple measurement hardware are presented. As a result of this calibration a precision move command is designed and integrated into a robot language, RCCL, and used in the NASA Telerobot Testbed.

Hayati, Samad↗
NASA NTRS1990

Simplified Dynamic Control Of Redundant Manipulators

Simplified scheme proposed for dynamic control of robotic manipulator having redundant joints; that is, extra degrees of freedom beyond needed to perform task, to position and orient end effector at specified position and/or move it along specified trajectory. Extra degrees of freedom used to perform simultaneous subtask. Scheme adaptive and based on observed performance of manipulator. Involves neither complicated mathematical model of dynamics of manipulator nor time-consuming inverse kinematic transformation.

Seraji, Homayoun↗
NASA NTRS1990

Random-Field Estimation For Dynamics Of Robots

Report discusses use of random-field mathematical models as alternatives to deterministic models of classical mechanics to describe dynamics of robot arms. These alternative models used to establish relationship between methods of estimation theory and robot dynamics. Approach yields new class of algorithms performing computations typical of estimation theory to solve such fundamental problems in robotics as forward and inverse dynamics and inverse kinematics.

Rodriguez, Guillermo↗
NASA NTRS1989

Shape control of high degree-of-freedom variable geometry trusses

Common static trusses are constrained to permit no relative motion between truss elements. A Variable Geometry Truss (VGT), however, is a truss which contains some number of variable length links. The extensible links allow the truss to change shape in a precise, controllable manner. These changes can also be used to control the vibrational response of a truss structure or to perform robotic tasks. Many geometric configurations, both planar and spatial, are possible candidates for VGT manipulators. Here, only two geometries are discussed; the three degree-of-freedom (DOF) spatial octahedral/octahedral truss and the three DOF planar tetrahedral truss. These truss geometries are used as the fundamental element in a repeating chain of trusses. This results in a highly dexterous manipulator with perhaps 30 to 60 degrees of freedom that retains the favorable stiffness properties of a conventional truss. From a fixed base, this type of manipulator could perform shape or vibration control while extending and snaking through complex passageways or moving around obstacles to perform robotic tasks. The approach taken here is to first concentrate on fully understanding the forward and inverse kinematics of the fundamental elements and then utilizing the insight thus gained to solve the more complex problem of the kinematic chains.

Salerno, R. J.↗
NASA NTRS1989

Software systems for modeling articulated figures

Research in computer animation and simulation of human task performance requires sophisticated geometric modeling and user interface tools. The software for a research environment should present the programmer with a powerful but flexible substrate of facilities for displaying and manipulating geometric objects, yet insure that future tools have a consistent and friendly user interface. Jack is a system which provides a flexible and extensible programmer and user interface for displaying and manipulating complex geometric figures, particularly human figures in a 3D working environment. It is a basic software framework for high-performance Silicon Graphics IRIS workstations for modeling and manipulating geometric objects in a general but powerful way. It provides a consistent and user-friendly interface across various applications in computer animation and simulation of human task performance. Currently, Jack provides input and control for applications including lighting specification and image rendering, anthropometric modeling, figure positioning, inverse kinematics, dynamic simulation, and keyframe animation.

Phillips, Cary B.↗
NASA NTRS1990

Local sensory control of a dexterous end effector

A numerical scheme was developed to solve the inverse kinematics for a user-defined manipulator. The scheme was based on a nonlinear least-squares technique which determines the joint variables by minimizing the difference between the target end effector pose and the actual end effector pose. The scheme was adapted to a dexterous hand in which the joints are either prismatic or revolute and the fingers are considered open kinematic chains. Feasible solutions were obtained using a three-fingered dexterous hand. An algorithm to estimate the position and orientation of a pre-grasped object was also developed. The algorithm was based on triangulation using an ideal sensor and a spherical object model. By choosing the object to be a sphere, only the position of the object frame was important. Based on these simplifications, a minimum of three sensors are needed to find the position of a sphere. A two dimensional example to determine the position of a circle coordinate frame using a two-fingered dexterous hand was presented.

Pinto, Victor H.↗