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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 343 records · Page 19
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Structure and kinematics of the broad-line regions in active galaxies from IUE variability data

IUE archival data are used here to investigate the structure nad kinematics of the broad-line regions (BLRs) in nine AGN. It is found that the centroid of the line-continuum cross-correlation functions (CCFs) can be determined with reasonable reliability. The errors in BLR size estimates from CCFs for irregularly sampled light curves are fairly well understood. BLRs are found to have small luminosity-weighted radii, and lines of high ionization tend to be emitted closer to the central source than lines of low ionization, especially for low-luminosity objects. The motion of the gas is gravity-dominated with both pure inflow and pure outflow of high-velocity gas being excluded at a high confidence level for certain geometries.

Koratkar, Anuradha P.↗
NASA NTRS1991

A kinematic study of the Fornax dwarf spheroidal galaxy

Precise radial velocities of 44 stars and four globular clusters located in two fields of the Fornax dwarf spheroidal galaxy are obtained on the basis of photon-counting echelle spectroscopy with a resolution of approximately 14 km/s. BV CCD photometry of the giant branch of Fornax in both fields are presented as well. A variety of kinematic and photometric criteria are used to identify 10-12 probable nonmembers in the present sample of spectroscopically observed stars. Based on the most probable members, the mean heliocentric systemic velocity of Fornax is 53.0 + or - 1.8 km/s, with no evidence of any significant rotation about the minor axis. The intrinsic velocity dispersion of the stars in Fornax's central field is 9.9 + or - 1.7 km/s, while for the outer field the velocity dispersion is 1.20 + or - 2.8 km/s. The true central velocity dispersion is not more than 1.6 km/s larger than the observed central dispersions for a number of reasonable models.

Mateo, Mario↗
NASA NTRS1992

Analyzing Robotic Kinematics Via Computed Simulations

Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

Carnahan, Timothy M.↗
NASA NTRS1992

The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities.

Williams, Robert L., III↗
NASA NTRS1991

Flow downstream of the heliospheric terminal shock - Magnetic field kinematics

A kinematic model of the interplanetary magnetic field in the heliosheath beyond the solar wind terminal shock is presented in order to evaluate the possible importance of MHD effects in that region of space. The need for this evaluation arises because the interplanetary magnetic field is compressed across the terminal shock and further amplified by the decreasing flow speed beyond the shock. Streamlines which approach the stagnation point before turning in the downstream direction lead to the strongest effects due to the extreme slowing of the solar wind and consequent compression of the embedded magnetic field. The magnetic volume force therefore cannot be neglected on streamlines that approach the heliopause in the upstream direction, where the volume containing them is a large fraction of the overall of the heliosheath in the upstream direction. The increase in the magnetic pressure may act to bring the upstream terminal shock significantly closer to the sun, potentially reconciling a conflict between models and observations.

Nerney, S.↗
NASA NTRS1992

Motion at the ionization front in the Orion nebula - A kinematic study of the forbidden O I line

The kinematics of the ionization front in H II regions is investigated via a study of the collisionally excited forbidden O I emission at 630 nm. Slit spectra of 5/km s resolution are used to examine the velocities of forbidden O I across the inner few arcminutes of M42. The mean velocity is significantly more positive than for other ions, which confirms the argument that the ionization front is formed against the parent molecular cloud OMC 1. It is inferred that there is acceleration of material in the ionization front at the parent molecular cloud. A new model for M42 based largely on optical emission-line and radio absorption-line studies is presented. A detailed statistical analysis indicates agreement between the structure function and the Kolmogorov theory for turbulence.

O'Dell, C. R.↗
NASA NTRS1990

Electrical and kinematic structure of an Oklahoma mesoscale convective system

The case study examines the dynamics and kinematics of a mesoscale convective system (MCS) by comparing its meteorological parameters with in situ electrical measurements. Conventional MCS characteristics are reported including a rear inflow jet, wake low, and a bipolar cloud-to-ground pattern, but some nonclassical conditions are also reported. Horizontally long cloud-to-ground electrical strikes are noted which demonstrate that cloud-to-ground electrical data alone cannot entirely characterize stratiform electrification in MCSs.

Hunter, Steven M.↗
NASA NTRS1992

The kinematics of the molecular gas in Centaurus A

The CO (2-1) emission along the inner dust lane of Centaurus A, observed with the Caltech Submillimeter Observatory on Mauna Kea, shows the molecular gas to be in a thin disk, with a velocity dispersion of only about 10 km/s. The observed line profiles are broadened considerably due to beam smearing of the gas velocity field. The profile shapes are inconsistent with planar circular and noncircular motion. However, a warped disk in a prolate potential provides a good fit to the profile shapes. The morphology and kinematics of the molecular gas is similar to that of the ionized material, seen in H-alpha. The best-fitting warped disk model not only matches the optical appearance of the dust lane but also agrees with the large-scale map of the CO emission and is consistent with H I measurements at larger radii.

Quillen, A. C.↗
NASA NTRS1991

Kinematic analysis of generalized adaptive trusses

Adaptive trusses offer the greatest stiffness and strength for a given weight of any articulated structure or mechanism. Because of this, there are many potential extraterrestrial applications of these variable-geometry trusses, including serpentine manipulators, payload isolation, tracking, pointing and docking mechanisms, and gimbals. All of these applications will require the ability to precisely control the kinematic parameters of the mechanism, including position, velocity, and acceleration. This paper explores the fundamental nature of adaptive trusses by examining the basic truss elements or unit cells. A general method for analyzing forward and inverse motion of all the basic truss units is presented, followed by a more efficient formulation for the octahedral unit cell. Finally, general closed-form techniques are presented for finding velocity, acceleration, and all higher derivatives of truss motion.

Tidwell, Paul H.↗
NASA NTRS1990

A computationally efficient error-based adaptive control scheme for kinematically redundant manipulators

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Liapunov direct method under the assumption that the manipulator performs noncompliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1993

Kinematics of the New Zealand plate boundary: Relative motion by GPS across networks of 1000 km and 50 km spacing

The NASA/DOSE 'Kinematics of the New Zealand Plate Boundary' experiment is a four-year cooperative Global Positioning System (GPS) experiment involving 6 universities and institutions in New Zealand and the United States. The investigation covers two scales, the first on the scale of plates (approximately 1000 km) and the second is on the scale of the plate boundary zone (approximately 50 km). In the first portion of the experiment, phase A, the objective is to make direct measurements of tectonic plate motion between the Australian and Pacific plates using GPS in order to determine the Euler vector of this plate pair. The phase A portion of this experiment was initiated in December 1992 with the first-epoch baseline measurements on the large scale network. The network will be resurveyed two years later to obtain velocities. The stations which were observed for phase A are shown and listed. Additional regional stations which will be used for this study are listed and are part of either CIGNET or other global tracking networks. The phase A portion of the experiment is primarily the responsibility of the UNAVCO investigators. Therefore, this report concentrates on phase A. The first year of NASA funding for phase A included only support for the field work. Processing and analysis will take place with the second year of funding. The second part of the experiemnt measured relative motion between the Australian and Pacific plates across the pate boundary zone between Hokitika and Christchurch on the South Island of New Zealand. The extent and rate of deformation will be determined by comparisons with historical, conventional surveys and by repeated GPS measurements to be made in two years. This activity was the emphasis of the LDGO portion of the study. An ancillary experiment, phase C, concentrated on plate boundary deformation in the vicinity of Wellington and was done as part of training during the early portion of the field campaign. Details of the objectives of the field investigations are given in the appendix. An overview of the 1992 GPS field program is also given in the appendix.

Meertens, Charles M.↗
NASA NTRS1993

Kinematics of compact groups and morphologies of the member galaxies

We present the results of a kinematical and morphological study of galaxies in the Hickson compact groups. The redshift survey of 457 galaxies has been completed. The great majority of the galaxies have velocities within about 1000 km/s(exp -1) of the median velocity of the group. The velocities of the groups range from 1380 to 41731 km/s(exp -1) with a median of 8889 km/s(exp -1), corresponding to a median distance of 89 h(exp -1)Mpc. With the addition of the radial velocity selection criterion, a relatively large sample of physically dense compact groups was defined. The nature of the velocity dispersion-morphology relation (Hickson, Kindl and Huchra 1989, hereafter HKH) is investigated. This is the tendency of groups with high velocity dispersions to contain fewer late type galaxies. We find that this strong correlation is not due to any sample selection effects. The morphology concordance in compact groups (HKH), which is the trend for galaxies in a group to have similar morphological types, can be fully explained by the velocity dispersion-morphology correlation. A significant correlation is found between crossing time and the fraction of gas-rich galaxies in the groups. Groups with short crossing times typically contain fewer late-type galaxies. This may be evidence that significant dynamical evolution has occurred in these groups.

Mendesdeoliveira, Claudia↗
NASA NTRS1992

The spatial and kinematic structure of QSO metal-line absorption systems

Recent attempts to infer the spatial and kinematic distributions of the material responsible for absorption lines observed in the spectra of background QSOs are presented. Current models of the absorbing regions are compared, and initial observational results are described. This research is expected to lead eventually to a detailed picture of the extended gaseous halo regions of galaxies at early evolutionary stages and to an understanding of the physical processes at work in these halos.

Lanzetta, Kenneth M.↗
NASA NTRS1991

Kinematic and precipitation structure of a small, long-lived mesoscale convective system

A comprehensive analysis using conventional single Doppler radar analyses, analysis of multiparameter (CP-2) data, network sounding and surface data, and GOES satellite data is presented to characterize the internal kinematic and precipitation structure of a small, long-lived mesoscale convective system. The data pertain to the Cooperative Huntsville Meteorological experiment conducted over northern Alabama and central Tennessee during June and July of 1986. The mesoscale convective system pulsations visible in the IR patterns were associated with the development of closely interacting aggregates of convective elements. The aggregates were about 20 km in diameter, attained echo tops of about 13 km, and were dominated by a single relatively intense convective element. The measured difference in radial velocity across the upper portion of these elements was about 20 m/s over a distance of about 10 km.

Knupp, Kevin R.↗
NASA NTRS1993

A kinematic analysis of the high-latitude thermospheric neutral circulation pattern

'Synthesized' thermospheric neutral wind fields for solar maximum, December solstice conditions for both quiet and active levels of geometric activity, are provided on the basis of averaged measurements from the Dynamics Explorer 2 (DE 2) satellite combined with theoretical model calculations. High-latitude DE 2 wind data obtained from multiorbit averages are merged with modeled winds from the NCAR thermosphere-ionosphere general circulation model. A 'kinematic analysis' is performed to decompose the merged semiempirical wind fields into their respective divergent and nondivergent components at high latitudes and to calculate the corresponding potential and stream functions. It is concluded that the nondivergent component of the high-latitude thermospheric neutral wind is representative of the convection-driven component of the neutral wind at F region altitudes. The nondivergent wind component comprises a large percentage of the total wind field for both quiet and active geomagnetic conditions.

Thayer, J. P.↗
NASA NTRS1993

Joint-space Lyapunov-based direct adaptive control of a kinematically redundant telerobot manipulator

This paper presents the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with seven degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Liupunov direct method, we derive an adaptation algorithm that adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payload while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗
NASA NTRS1994

Efficient Kinematic Computations For 7-DOF Manipulators

Efficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).

Seraji, Homayoun↗
NASA NTRS1993

Kinematics and constraints associated with swashplate blade pitch control

An important class of techniques to reduce helicopter vibration is based on using a Higher Harmonic controller to optimally define the Higher Harmonic blade pitch. These techniques typically require solution of a general optimization problem requiring the determination of a control vector which minimizes a performance index where functions of the control vector are subject to inequality constraints. Six possible constraint functions associated with swashplate blade pitch control were identified and defined. These functions constrain: (1) blade pitch Fourier Coefficients expressed in the Rotating System, (2) blade pitch Fourier Coefficients expressed in the Nonrotating System, (3) stroke of the individual actuators expressed in the Nonrotating System, (4) blade pitch expressed as a function of blade azimuth and actuator stroke, (5) time rate-of-change of the aforementioned parameters, and (6) required actuator power. The aforementioned constraints and the associated kinematics of swashplate blade pitch control by means of the strokes of the individual actuators are documented.

Leyland, Jane A.↗