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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.

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At least 307 records · Page 17
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

Kinematic observers for active control of helicopter rotor vibration

A simple scheme for estimating the state variables of a helicopter rotor is presented. The method incorporates the use of blade-mounted accelerometers and/or position transducers to reconstruct modal displacements and velocities. The design of the observer structure and feedback gains is simplified by the fact that the method requires only knowledge of basic kinematic relationships between the various modal quantities. The observer structure described is particularly well-suited to control problems where the use of a traditional Kalman Filter approach would be too complex or costly. The technique can be viewed as decreasing the requirements on observer complexity while increasing the need for an enhanced sensor complement.

Mckillip, Robert M., Jr.↗
NASA NTRS1987

Downdrafts within High Plains cumulonimbi. I - General kinematic structure

Results from a comprehensive investigation in which observations from several case studies are integrated with three-dimensional cloud model results to examine the general kinematic structure of downdrafts associated with High Plains precipitating convection are presented. One particular downdraft type, the low-level precipitation-associated downdraft, is the focus of this paper. General airflow and trajectory patterns within low-level downdrafts are convergent from 0.8 km upwards to downdraft top, typically less than 5 km AGL. Observed mass flux profiles often increase rapidly with height as a result of strong buoyancy forcing below the melting level. Inflow to the low-level downdraft, although vertically continuous can be separated into two branches. The up-down branch originating within the planetary boundary layer initially rises up to 4 km and then descends within the main precipitation-associated downdraft. The midlevel branch, usually more pronounced during early downdraft stages, originates from above the PBL and transports low-valued theta sub e air to low levels. The depth of the low-level downdraft can be approximated by the environmental sounding transition level, defined as the vertical height interval separating conditionally unstable to neutral air below from roughly stable air above. The low-level downdraft is most frequently located along the upshear storm flank relative to the updraft, although a downshear downdraft may become common under higher environmental wind shear.

Knupp, Kevin R.↗
NASA NTRS1987

Recursive inverse kinematics for robot arms via Kalman filtering and Bryson-Frazier smoothing

This paper applies linear filtering and smoothing theory to solve recursively the inverse kinematics problem for serial multilink manipulators. This problem is to find a set of joint angles that achieve a prescribed tip position and/or orientation. A widely applicable numerical search solution is presented. The approach finds the minimum of a generalized distance between the desired and the actual manipulator tip position and/or orientation. Both a first-order steepest-descent gradient search and a second-order Newton-Raphson search are developed. The optimal relaxation factor required for the steepest descent method is computed recursively using an outward/inward procedure similar to those used typically for recursive inverse dynamics calculations. The second-order search requires evaluation of a gradient and an approximate Hessian. A Gauss-Markov approach is used to approximate the Hessian matrix in terms of products of first-order derivatives. This matrix is inverted recursively using a two-stage process of inward Kalman filtering followed by outward smoothing. This two-stage process is analogous to that recently developed by the author to solve by means of spatial filtering and smoothing the forward dynamics problem for serial manipulators.

Rodriguez, G.↗
NASA NTRS1987

Trajectory control of robot manipulators with closed-kinematic chain mechanism

The problem of Cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator, recently built at CAIR to study the assembly of NASA hardware for the future Space Station, is considered. The study is performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid, and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. The results also show excellent tracking quality and small overshoots.

Nguyen, Charles C.↗
NASA NTRS1987

Goal driven kinematic simulation of flexible arm robot for space station missions

Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.

Janssen, P.↗
NASA NTRS1988

Kinematic support using elastic elements

The design of kinematic supports using elastic elements is reviewed. The two standard methods (cone, Vee and flat and three Vees) are presented and a design example involving a machine tool metrology bench is given. Design goals included thousandfold strain attenuation in the bench relative to the base when the base strains due to temperature variations and shifting loads. Space applications are also considered.

Geirsson, Arni↗
NASA NTRS1988

Base reaction optimization of manipulators with redundant kinematics

A trajectory generation method for space manipulators is introduced. The approach developed employs a manipulator with redundant kinematics. The method is implemented in two steps. First, the end-effector trajectory is developed to satisfy motion requirements. Next, the joint trajectories are developed to minimize base reactions. The analytical development of this method is described and an example illustrating the method is presented.

Chung, C. L.↗
NASA NTRS1988

Kinematics of Hooke universal joint robot wrists

The singularity problem associated with wrist mechanisms commonly found on industrial manipulators can be alleviated by redesigning the wrist so that it functions as a three-axis gimbal system. This paper discussess the kinematics of gimbal robot wrists made of one and two Hooke universal joints. Derivations of the resolved rate motion control equations for the single and double Hooke universal joint wrists are presented using the three-axis gimbal system as a theoretical wrist model.

Mckinney, William S., Jr.↗
NASA NTRS1987

A kinematic model for the evolution of the Gorda Plate

The magnetic lineation pattern produced by the Gorda Rise reflects a complex tectonic history marked by propagating ridges and nonrigid deformation of the Gorda plate. The Pacific-side lineation pattern is matched using a kinematic model which incorporates northward and southward propagating ridge segments and ridge rotation. By superimposing flexural-slip style deformation on the resulting Gorda-side lineations, and allowing convergent motion at the Mendocino Fracture Zone, the Gorda magnetic pattern is also successfully predicted. A similar model, but one which does not allow convergence at the Mendocino Fracture Zone, fails to produce the observed lineation pattern. Model predictions of the amount of material that would be 'obducted' at the Mendocino due to convergence between the Gorda and Pacific agree with bathymetric and density estimates of the amount of material located along the Mendocino Ridge.

Stoddard, Paul R.↗
NASA NTRS1988

Evolution of large-sclae plasma structures in comets: Kinematics and physics

Disconnection Events are the dramatic part of the periodic morphology involving the separation of the entire plasma tail from the head region of the comet and the growth of a new plasma. The coordinated observations of Comet Halley recorded approximately 30 DEs during the 7 months of plasma activity; 19 of these are obvious. The plasma physics of these events were approached via a detailed, kinematic investigation of specific DEs and the solar-wind environment associated with it. As the detailed investigations are completed, researchers should be able to answer the question of a single or multiple mechanism(s) for DEs and determine which mechanism(s) are important. At present, the mechanism of sunward magnetic reconnection caused by interplanetary sector boundary crossing in consistent with the data available.

Brandt, John C.↗
NASA NTRS1989

Kinematics at the Intersection of the Garlock and Death Valley Fault Zones, California: Integration of TM Data and Field Studies

Kinematic relationships at the intersection of the southern Death Valley and Garlock fault zones were examined to identify and delineate the eastern structural boundary between the Mojave and the Basin and Range geologic terrains, and to construct a model for the evolution of this boundary through time. In order to accomplish this, satellite imagery was combined with field investigations to study six areas in the vicinity of the intersection, or possible extensions, of the fault zones. The information gathered from these areas allows the test of various hypotheses that were proposed to explain the interaction between the Death Valley and Garlock fault zones.

Verosub, Kenneth L.↗
NASA NTRS1987

Parallel processing architecture for computing inverse differential kinematic equations of the PUMA arm

In advanced robot control problems, on-line computation of inverse Jacobian solution is frequently required. Parallel processing architecture is an effective way to reduce computation time. A parallel processing architecture is developed for the inverse Jacobian (inverse differential kinematic equation) of the PUMA arm. The proposed pipeline/parallel algorithm can be inplemented on an IC chip using systolic linear arrays. This implementation requires 27 processing cells and 25 time units. Computation time is thus significantly reduced.

Hsia, T. C.↗
NASA NTRS1988

Coordination of dual robot arms using kinematic redundancy

A method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom (dof), giving the follower more maneuvering capabilities. In particular, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, an example system with two PUMA 560 robots carrying a beam is analyzed.

Suh, Il Hong↗
NASA NTRS1988

Kinematic calibration of manipulators with closed loop actuated joints

A method for performing forward kinematic calibration of manipulators having one or more closed-loop-actuated joints is presented. The technique is an extension of algorithms designed for open-loop jointed manipulators. The calibration is equivalent to minimizing an objective function subject to constraints. The objective function is taken as the integral of end-effector position and orientation error. The constraints arise from the closed-loop mechanisms present in the manipulator.

Everett, Louis J.↗
NASA NTRS1988

A study of kinematic models for forward calibration of manipulators

The objective of robot calibration is to identify all parameters in a robot model so that the model represents the true robot. Each model has its own set of parameters. The authors prove that regardless of the kinematic model chosen, there are a maximum number of parameters that must be determined, implying that model accuracy cannot be improved by adding parameters. In addition, the authors demonstrate how to model any manipulator so that a minimum size Jacobian is used, thus reducing the computation required for calibration.

Everett, Louis J.↗
NASA NTRS1988

Kinematics and ionization of extended gas in active galaxies. IV - The Seyfert 2 galaxy NGC 4388

The results of direct CCD imaging and long-slit medium-dispersion spectroscopy of the extended narrow-line-emitting gas in the nearby Seyfert 2 galaxy NGC 4388 are presented. The spectra are used to investigate the distribution, kinematics, and ionization structure of the excited gas in the regions surrounding the nucleus out to a distance of about 4.8 kpc. The data support earlier suggestions that the galaxy, which appears to lie near the core of the Virgo cluster, has been tidally distorted, possibly by the nearby cluster core galaxies M84 or IC 3303. Much of the highly ionized gas in the galaxy appears to be distributed in two wide cones originating from the nucleus and extending above and below the disk. Explanations are offered for the distribution of this gas and for the remainder of the gas above and below the disk.

Corbin, Michael R.↗
NASA NTRS1988

The kinematics and dynamics of the rich cluster of galaxies Abell 539

A sample of 289 redshifts within 10 deg of the center of the cluster A539 have been obtained in order to investigate the cluster kinematics and dynamics. Within 1 Mpc of the center, the physical parameters of A539 are found to be typical of those of rich clusters. It is shown that early-type galaxies are more concentrated toward the cluster center and that the velocity distributions of early-type and late-type galaxies differ marginally.

Ostriker, Eve C.↗
NASA NTRS1989

Kinematic evidence for a relativistic Keplerian disk - Arp 102B

Line profiles were calculated for a Keplerian disk with allowance made for relativistic effects. Excellent agreement was found between the resulting double peaked asymmetric profiles and the H-alpha line of Arp 102B; this yielded an accurate determination of several disk parameters. It is believed that the line profile of Arp 102B shows the most convincing direct kinematic evidence for rotation in any AGN.

Chen, Kaiyou↗