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NASA NTRS1992

Collision integrals for the interaction of the ions of nitrogen and oxygen in a plasma at high temperatures and pressures

The corrections to the transport cross-sections and collision integrals for Coulomb interactions arising from the application of realistic interaction energies of the ions of nitrogen and oxygen are investigated. Accurate potential-energy curves from an ab initio electronic-structure calculation and a semiclassical description of the scattering are used to determine the difference between the cross-sections for the real interaction forces and a Coulomb force for large values of the Debye shielding parameter. Graphs of the correction to the diffusion and viscosity-collision integrals are presented for temperatures from about 10,000 K to 150,000 K. This correction can be combined with tabulations of the collision integrals for shielded Coulomb potentials to determine the contribution of N(+)-N(+), N(+)-O(+), and O(+)-O(+) interactions to the transport properties of high-temperature air. Analytical forms are fitted to the calculated results to assist this application.

Stallcop, James R.↗

NASA NTRS1992

Distance estimation and collision prediction for on-line robotic motion planning

An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem is incorporated into the framework of an in-line motion-planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning, the deterministic problem where the information about the objects is assumed to be certain is examined. L(1) or L(infinity) norms are used to represent distance and the problem becomes a linear programming problem. The stochastic problem is formulated where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: First, filtering of the distance between the robot and the moving object at the present time. Second, prediction of the minimum distance in the future in order to predict the collision time.

Kyriakopoulos, K. J.↗

NASA NTRS1992

Collision rates and impact velocities in the Main Asteroid Belt

Wetherill's (1967) algorithm is presently used to compute the mutual collision probabilities and impact velocities of a set of 682 asteroids with large-than-50-km radius representative of a bias-free sample of asteroid orbits. While collision probabilities are nearly independent of eccentricities, a significant decrease is associated with larger inclinations. Collisional velocities grow steeply with orbital eccentricity and inclination, but with curiously small variation across the asteroid belt. Family asteroids are noted to undergo collisions with other family members 2-3 times more often than with nonmembers.

Farinella, Paolo↗

NASA NTRS1991

An assessment of 'shuffle algorithm' collision mechanics for particle simulations

Among the algorithms for collision mechanics used at present, the 'shuffle algorithm' of Baganoff (McDonald and Baganoff, 1988; Baganoff and McDonald, 1990) not only allows efficient vectorization, but also discretizes the possible outcomes of a collision. To assess the applicability of the shuffle algorithm, a simulation was performed of flows in monoatomic gases and the calculated characteristics of shock waves was compared with those obtained using a commonly employed isotropic scattering law. It is shown that, in general, the shuffle algorithm adequately represents the collision mechanics in cases when the goal of calculations are mean profiles of density and temperature.

Feiereisen, William J.↗

NASA NTRS1992

A neuro-collision avoidance strategy for robot manipulators

The area of collision avoidance and path planning in robotics has received much attention in the research community. Our study centers on a combination of an artificial neural network paradigm with a motion planning strategy that insures safe motion of the Articulated Two-Link Arm with Scissor Hand System relative to an object. Whenever an obstacle is encountered, the arm attempts to slide along the obstacle surface, thereby avoiding collision by means of the local tangent strategy and its artificial neural network implementation. This combination compensates the inverse kinematics of a robot manipulator. Simulation results indicate that a neuro-collision avoidance strategy can be achieved by means of a learning local tangent method.

Onema, Joel P.↗

NASA NTRS1992

The contribution of electron collisions to rotational excitations of cometary water

The e-H2O collisional rate for exciting rotational transitions in cometary water is evaluated for conditions found in comet Halley during the Giotto spacecraft encounter. In the case of the O(sub 00) yields 1(sub 11) rotational transition, the e-H2O collisional rate exceeds that for excitation by neutral-neutral collisions at distances exceeding 3000 km from the cometary nucleus. Thus, the rotational temperature of the water molecule in the intermediate coma may be controlled by collisions with electrons rather than with neutral collisions, and the rotational temperature retrieved from high resolution infrared spectra of water in comet Halley may reflect electron temperatures rather than neutral gas temperature in the intermediate coma.

Xie, Xingfa↗

NASA NTRS1991

An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.

Kyriakopoulos, K. J.↗

NASA NTRS1992

Stochastic acceleration of electrons. I - Effects of collisions in solar flares

Stochastic acceleration of thermal electrons to nonrelativistic energies is studied under solar flare conditions. We show that, in turbulent regions, electron-whistler wave interactions can result in the acceleration of electrons in times comparable to or shorter than the Coulomb collision time. The kinetic equation describing the evolution of the electron energy distribution including stochastic acceleration by whistlers and energy loss via Coulomb interactions is solved for an initial thermal electron energy spectrum. In general, the shape of the resulting electron distributions are characterized by the energy E(c) where systematic energy gain by turbulence equals energy loss due to Coulomb collisions. For energies less than E(c), the spectra are steep (quasi-thermal) whereas above E(c), the spectra are power laws. We find that hard X-ray spectra computed using the electron distributions obtained from our numerical simulations are able to explain the complex spectral shapes and variations observed in impulsive hard X-ray bursts. In particular, we show that the gradual steepening observed by Lin et al. (1981) could be due to a systematic increase in the density of the plasma (due to evaporation) and the increasing importance of collisions instead of the appearance of a superhot thermal component.

Hamilton, Russell J.↗

NASA NTRS1992

Theoretical study of hydrogen and nitrogen interactions - N-H transport cross sections and collision integrals

Potential energy curves have been calculated for the X 3Sigma(-) and 5Sigma(-) states of NH using a complete-active-space self-consistent-field/multireference configuration-interaction procedure and extensive Gaussian basis sets. An accurate dipole moment function is computed for the X 3Sigma(-) state. Transport cross sections have been calculated for the collisions of hydrogen and nitrogen atoms in their ground states. The mean transport cross sections are tabulated for collision energies in the range 0.0001-1 E(h); the mean collision integrals are listed for temperatures between 100 and 100,000 K. The ab initio energies for the 5 Sigma(-) state of NH are found to be consistent with the results of correlation studies and agree well with the prediction from combining relations using the energies of the highest spin states of H2 and N2.

Stallcop, James R.↗

NASA NTRS1992

Optimal motion planning for collision avoidance of mobile robots in non-stationary environments

An optimal control formulation of the problem of collision avoidance of mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the object is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. A perturbation control type of approach is used to update the optimal plan. Simulation results verify the value of the proposed strategy.

Kyriakopoulos, K. J.↗

NASA NTRS1993

Charge transfer and momentum exchange in exospheric D-H(+) and H-D(+) collisions

Mechanisms that control the escape of deuterium from planetary exospheres include the acceleration of D(+) in the polar wind, and the production of suprathermal D atoms through nonthermal collisions. In this paper we examine the effects of neutral-ion interactions involving deuterium and hydrogen on the velocity distribution of neutral D. A two-center scattering approximation is used as the basis for calculations of the differential cross sections for charge transfer and elastic scatter in collision of H with D(+) and of D with H(+) for ionosphere-exosphere collision energies below 10 e V. These data are used to derive temperature dependent rate coefficients for the charge transfer branches of these interactions, and to determine the effects of ion-neutral temperature differences on the rate of generation of suprathermal D through charge transfer and elastic scatter.

Hodges, R. R., Jr.↗

NASA NTRS1993

Probing the microscopic corrugation of liquid surfaces with gas-liquid collisions

We have measured the directions and velocities of Ne, Ar, and Xe atoms scattering from perfluorinated ether and hydrocarbon liquids to probe the relationship between the microscopic roughness of liquid surfaces and gas-liquid collision dynamics. Impulsive energy transfer is governed by the angle of deflection: head-on encounters deposit more energy than grazing collisions. Many atoms scatter in the forward direction, particularly at glancing incidence. These results imply that the incoming atoms recoil locally from protruding C-H and C-F groups in hard spherelike collisions.

King, Mackenzie E.↗

NASA NTRS1993

Collision cross sections and diffusion parameters for H and D in atomic oxygen

Modeling the behavior of H and D in planetary exospheres requires detailed knowledge of the differential scattering cross sections for all of the important neutral-neutral and ion-neutral collision processes affecting these species over their entire ranges of interaction energies. In the upper atmospheres of Earth, Venus, and other planets as well, the interactions of H and D with atomic oxygen determine the rates of diffusion of escaping hydrogen isotopes through the thermosphere, the velocity distributions of exospheric atoms that encounter the upper thermosphere, the lifetimes of exospheric orbiters with periapsides near the exobase, and the transfer of momentum in collisions with hot O. The nature of H-O and D-O collisions and the derivation of a data base consisting of phase shifts and the differential, total, and momentum transfer cross sections for these interactions in the energy range 0.001 - 10 eV are discussed. Coefficients of mutual diffusion and thermal diffusion factors are calculated for temperatures of planetary interest.

Hodges, R. R., Jr.↗

NASA NTRS1993

An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments

A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Furthermore, a solution to the problem of inverse dynamics for the mobile robot is given. Simulation results verify the value of the proposed strategy.

Kyriakopoulos, K. J.↗

NASA NTRS1993

Collisions and close encounters between massive main-sequence stars

Smooth-particle hydrodynamics is used to investigate collisions and close encounters between two massive main-sequence stars. Approximate scaling relations and fitting formulas are given for the amount of mass loss and for the critical impact parameters for capture or merging. The more massive stars, which have smaller ratios of specific binding energy to the square of escape velocity, are more easily disrupted in collisions. As the relative velocity increases, the orbital energy of the colliding stars can only be dissipated by shock heating, and the critical capture radius decreases much faster than predicted by linear theory. The average fractional mass loss per collision in a cluster is found not to depend sensitively on the stellar velocity dispersion.

Lai, Dong↗

NASA NTRS1993

A laser-cooled cesium fountain frequency standard and a measurement of the frequency shift due to ultra-cold collisions

A frequency standard based on an atomic fountain of cesium atoms may have an accuracy of 10(exp -16) due to longer interaction times and smaller anticipated systematic errors. All of the known systematic effects that now limit the accuracy of the Cs frequency standard increase either linearly or as some higher power of the atom's velocity. The one systematic frequency shift which is dramatically different is the frequency shift due to the collisions between the laser cooled atoms. At a temperature of a few micro-K, the de Broglie wavelength (lambda(sub deB) = h/p, where h is Planck's constant and p is the momentum of the atom) is much larger than the scale of the interatomic potential. Under these conditions the collision cross sections can be as large as (lambda(sub deB)(sup 2))/Pi and the frequency shift due to these collisions was recently calculated. In our Cs atomic fountain, we laser cooled and trapped 10(exp 10) Cs atoms in 0.4 s. By shifting the frequencies of the laser beams, the atoms were launched upwards at 2.5 m/s and a fraction of the atoms were optically pumped into the F=3 ground state. The unwanted atoms in the F=4 ground state were removed from the fountain with radiation pressure from a laser beam tuned to excite only those atoms. The Cs atoms in the F=3 state traveled ballistically upwards, were excited by the microwave cavity, and then returned back through the same cavity in the atomic fountain configuration. By varying the cold atom density, a density dependent shift of -12.9 +/- 0.7 mHz or -1.4 x 10-12 for an average fountain density of (2.7 +/- 1.5) 10(exp 9) atoms/cm(sup 3) was measured.

Gibble, Kurt↗

NASA NTRS1993

Control of a serpentine manipulator with collision avoidance

The robotics lab at the Kennedy Space Center is investigating the possibility of using a 'serpentine' manipulator for Shuttle inspection and payload processing. Serpentine manipulators are characterized by a large number of degrees of freedom giving them a high degree of redundancy. This redundancy allows them to be used to reach confined areas while avoiding collisions with their environment. In this paper, the author describes a new approach to controlling the joint rates for an n degree of freedom robot such that it moves its end effector to a desired position while simultaneously avoiding collision of any part of the robot arm with obstacles. Joint rates which move the end effector toward the target are found via a Lyapunov stability function. The gradient of an obstacle cost function indicates the direction toward obstacle collision in the joint space. The component of the end effector joint rates orthogonal to the obstacle gradient becomes the commanded joint rates. A notional eleven DOF model is used to numerically demonstrate the efficacy of the control law.

Byers, Robert M.↗

NASA NTRS1994

Numerical Simulations of Drop Collisions

Three-dimensional simulations of the off-axis collisions of two drops are presented. The full Navier-Stokes equations are solved by a Front-Tracking/Finite-Difference method that allows a fully deformable fluid interface and the inclusion of surface tension. The drops are accelerated towards each other by a body force that is turned off before the drops collide. Depending on whether the interface between the drops is ruptured or not, the drops either bounce or coalesce. For drops that coalesce, the impact parameter, which measures how far the drops are off the symmetry line, determines the eventual outcome of the collision. For low impact parameters, the drops coalesce permanently, but for higher impact parameters, a grazing collision, where the drops coalesce and then stretch apart again is observed. The results are in agreement with experimental observations.

Nobari, M. R. H.↗