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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Robust inverse kinematics using damped least squares with dynamic weighting

This paper presents a general method for calculating the inverse kinematics with singularity and joint limit robustness for both redundant and non-redundant serial-link manipulators. Damped least squares inverse of the Jacobian is used with dynamic weighting matrices in approximating the solution. This reduces specific joint differential vectors. The algorithm gives an exact solution away from the singularities and joint limits, and an approximate solution at or near the singularities and/or joint limits. The procedure is here implemented for a six d.o.f. teleoperator and a well behaved slave manipulator resulted under teleoperational control.

Schinstock, D. E.↗
DOE OSTI2026

Signal-to-background estimates for the inverse-kinematics 78 Kr(n,γ) experiment at LANSCE

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 experiment outlined in is the core of the LDRD project 20240004DR. The current approach is to use an ion source capable of accelerating single-charged ions up to about 60 keV. A beam of 78 Kr + ions will be created to interact with a neutron target and implanted. During the passage of the target, neutrons can be captured and the freshly produced 79 Kr + ions will be implanted along with the main beam.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
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.↗
DOE OSTI2026

Experiments towards a neutron target for measurements in inverse kinematics

Neutron-induced reactions play an important role in fundamental nuclear physics, nuclear astrophysics, and applications. In the case of reactions on rare isotopes, there are limited options for direct experimental measurements. The Neutron Target Demonstrator project at Los Alamos National Laboratory seeks to test the feasibility of moderating spallation neutrons within a 1 m 3 graphite cube to create a standing neutron target for neutron-induced reaction measurements in inverse kinematics. This paper presents the results of experimental neutron flux distribution tests using neutron sources (ranging from 1 keV to 50 MeV) created by accelerators at the University of Notre Dame and Texas A&M University. Measurements were made with both the full graphite cube as well as a ”half cube” setup in which half of the graphite cube was removed. The measured distributions agree with simulated distributions in the case of the full cube moderator, although there remain discrepancies in certain cases for the half cube moderator. The results shown here will provide useful information for an upcoming experimental campaign to test the neutron target proof-of-principle.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2025

First Measurement of the Neutron-Emission Probability with a Surrogate Reaction in Inverse Kinematics at a Heavy-Ion Storage Ring

Neutron-induced reaction cross sections of short-lived nuclei are imperative to understand the origin of heavy elements in stellar nucleosynthesis and for societal applications, but their measurement is extremely complicated due to the radioactivity of the targets involved. One way of overcoming this issue is to combine surrogate reactions with the unique possibilities offered by heavy-ion storage rings. In this work, we describe the first surrogate-reaction experiment in inverse kinematics, which we successfully conducted at the Experimental Storage Ring (ESR) of the GSI/FAIR facility, using the 208 Pb⁢(p,p') reaction as a surrogate for neutron capture on 207 Pb. Thanks to the outstanding detection efficiencies possible at the ESR, we were able to measure for the first time the neutron-emission probability as a function of the excitation energy of 208 Pb. We have used this probability to select different descriptions of the γ -ray strength function and nuclear level density, and provide reliable results for the neutron-induced radiative capture cross section of 207 Pb at energies for which no experimental data exist.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2025

First simultaneous measurement of the γ-ray and neutron emission probabilities in inverse kinematics at a heavy-ion storage ring

The probabilities for γ-ray and particle emission as a function of the excitation energy of a decaying nucleus are valuable observables for constraining the ingredients of the models that describe the deexcitation of nuclei near the particle emission threshold. These models are essential in nuclear astrophysics and applications. In this paper, we have for the first time simultaneously measured the γ-ray and neutron emission probabilities of 208 Pb. The measurement was performed in inverse kinematics at the Experimental Storage Ring (ESR) of the GSI/FAIR facility, where a 208 Pb beam interacted through the 208 Pb (p,p') reaction with a hydrogen gas jet target. Instead of detecting the γ rays and neutrons emitted by 208 Pb, we detected the heavy beamlike residues produced after γ and neutron emission. These heavy residues were fully separated by a dipole magnet of the ESR and were detected with outstanding efficiencies. The comparison of the measured probabilities with model calculations has allowed us to test and select different descriptions of the γ-ray strength function and the nuclear level density available in the literature.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2023

Structure studies of 13 Be from the 12 Be ⁢(𝑑,𝑝) reaction in inverse kinematics on a solid deuteron target

The low-lying structure of 13 Be has remained an enigma for decades. Despite numerous experimental and theoretical studies, large inconsistencies remain. Being both unbound and one neutron away from 14 Be, the heaviest bound beryllium nucleus, 13 Be is difficult to study through simple reactions with weak radioactive-ion beams or more complex reactions with stable-ion beams. Here, we present the results of a study using the 12 Be (𝑑,𝑝)⁢ 13 Be reaction in inverse kinematics using a 9.5 MeV per nucleon 12 Be beam from the ISAC-II facility. The solid deuteron target of IRIS was used to achieve an increased areal thickness compared to conventional deuterated polyethylene targets. The 𝑄-value spectrum below −4.4 MeV was analyzed using a Bayesian method with geant4 simulations. A three-point angular distribution with the same 𝑄-value gate was fit with a mixture of 𝑠- and 𝑝-wave, 𝑠- and 𝑑-wave, or pure 𝑝-wave transfer. The 𝑄-value spectrum was also compared with geant simulations obtained using the energies and widths of states reported in four previous works. As a result, it was found that our results are incompatible with works that revealed a wide 5/2 + resonance but shows better agreement with ones that reported a narrower width.

6 ≤ A ≤ 19↗
DOE OSTI2023

First (p,n) reaction measurement in inverse kinematics with SECAR

Nucleosynthesis in the νp-process occurs in regions of slightly proton-rich nuclei in the neutrino-driven wind of core-collapse supernovae. The process proceeds via a sequence of (p,γ) and (n,p) reactions, and depending on the conditions, may produce elements between Ni and Sn. Recent studies show that a few key (n,p) reactions regulate the efficiency of the neutrino-p process (νp-process). We performed a study of one of such (n,p) reactions via the measurement of the reverse (p,n) in inverse kinematics with SECAR at NSCL/FRIB.Such proton-induced reaction measurements are particularly challenging, as the recoils and the unreacted projectiles have nearly identical masses. An appropriate separation level can be achieved with SECAR, and along with the incoincidence detection of neutrons these measurements become attainable. The preparation of the SECAR system for accommodating its first (p,n) reaction measurement, including the development of alternative ion beam optics, and the setup of the in-coincidence neutron detection, along with discussion on preliminary results from the p(58Fe,n)58Co reaction measurement are presented and discussed.

Tsintari, P↗
DOE OSTI2025

Inverse kinematics study of the energy levels of 21 Ne populated with the 20 Ne +𝑑 reaction

In recent years there has been significant experimental effort aimed at studying the impact of 16 O neutron poisoning on the weak 𝑠 process in rotating massive stars. Improving the understanding of energy levels in 21 Ne is crucial to reducing uncertainties in the rates of the 𝛼-induced reactions on 17 O that determine the overall efficiency of the weak 𝑠 process. This paper reports on one such experiment: a study of the 20 Ne (𝑑,𝑝)⁢ 21 Ne reaction in inverse kinematics. Deduced spin-parity assignments were made based on adiabatic distorted-wave approximation analysis and neutron partial widths were estimated by comparison with a previous experiment. Of particular significance for nuclear astrophysics is the resulting neutron partial width for the 7820-keV energy level, estimated to be 12 200 ⁢(2900)⁢ eV, and an upper limit of ≤ 9300 eV for that of the 7749-keV energy level. These results are in tension with previous studies and therefore this paper also discusses the current state of the research into the astrophysically relevant energy levels and highlights both areas of agreement and areas of disagreement between this and various other studies that have investigated this nucleus.

direct reactions↗
NASA NTRS2024

Redundancy Parameterization and Inverse Kinematics of 7-DOF Revolute Manipulators

Seven degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance. This DOF does not change the end effector motion and must be parameterized to fully specify the joint angles for a given end effector pose. For 7-DOF revolute (7R) manipulators, we introduce the generalized shoulder-elbow-wrist (SEW) angle, a generalization of the widely-used conventional SEW angle but with an arbitrary reference direction function, along with Jacobian expressions and singularity analysis. Other redundancy parameterizations including the conventional SEW angle encounter an algorithmic singularity along a line in the workspace. We introduce a reference direction function choice called the stereographic SEW angle which has a singularity only along a half-line and can be placed out of reach. We prove such a singularity is unavoidable for any parameterization. Finally, using the general SEW angle and the subproblem decomposition method, we provide efficient singularity-robust inverse kinematics solutions for 7R manipulators which are often closed-form but may involve a 1D or (in general) 2D search. Search-based solutions may be converted to finding polynomial roots. Examples are available in a publicly accessible repository.

Kinematics↗
DOE OSTI2020

First measurement in the Gamow window of a reaction for the γ-process in inverse kinematics: 76 Se(α,γ) 80 Kr

The p-nuclei are the few stable nuclei heavier than iron on the neutron-deficient side of the valley of stability that cannot be produced through astrophysical neutron-capture reactions. The limited experimental data on reactions through which the p-nuclei might be produced leaves the origin of their production largely unknown. This work presents the first cross section measurements of the 76 Se(α,γ) 80 Kr reaction. The rate of the time reversed reaction, 80 Kr(γ,α) 76 Se, is one of the most uncertain of possible reactions which can occur at the 80 Kr branching point on the ,-process photo-disintegration pathway. The reaction flow through 80 Kr will directly affect the final abundance of the p nuclide 78 Kr. Experimental cross sections at two astrophysically relevant energies are reported and compared to cross sections calculated using Hauser-Feshbach codes TALYS, NON-SMOKER, and SMARAGD. The success of these first (α,γ) cross section measurements performed in inverse kinematics in the energy region of the γ-process opens the door for future studies of reactions on radioactive γ-process nuclides.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2022

First inverse kinematics measurement of resonances in Be 7 ( α , γ ) C 11 relevant to neutrino-driven wind nucleosynthesis using DRAGON

A possible mechanism to explain the origin of the light $\textit{p}$ nuclei in the Galaxy is the nucleosynthesis in the proton-rich neutrino-driven wind ejecta of core-collapse supernovas via the $\textit{νp}$ process. However, this production scenario is very sensitive to the underlying supernova dynamics and the nuclear physics input. As far as the nuclear uncertainties are concerned, the breakout from the $\textit{pp}$ chains via the 7 Be(α,γ) 11 C reaction has been identified as an important link which can influence the nuclear flow and, therefore, the efficiency of the $\textit{νp}$ process. However, its reaction rate is poorly known over the relevant temperature range, $\textit{T}$ = 1.5–3 GK. We report on the first direct measurement of two resonances of the 7 Be(α,γ) 11 C reaction with previously unknown strengths using an intense radioactive 7 Be beam from the Isotope Separator and Accelerator (ISAC-I) Center facility and the DRAGON recoil separator in inverse kinematics. In this work, we have decreased the 7 Be(α,γ) 11 C reaction rate uncertainty to ≈9.4–10.7% over the relevant temperature region.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
NASA NTRSDate not supplied

Adjusting a Full Body Model to Mitigate Inverse Kinematics Artifacts in Opensim

BACKGROUND: In support of Vibration Isolation and Stabilization (VIS) system development for Human Health Countermeasures (HHC) exercise systems in space, such as the European Enhanced Exploration Exercise Device (E4D) [1], dynamic quantities required to model the response of a proposed VIS while considering the effect of VIS motion on the forces between the human and VIS platform were obtained using motion capture data [2]. On occasion, large-amplitude oscillatory spikes were found in the subject’s linear and angular momentum derivatives, affecting analyses that depend on forces and moments derived from motion capture. The purpose of this investigation was to identify causes of these artifacts and techniques for their resolution. METHODS AND RESULTS: To obtain the required human dynamic quantities to drive the VIS simulation, motion capture data was collected containing recorded trajectories of passive retroreflective markers on body landmarks of an exercising subject. Since the full body Rajagopal model [3] was originally used to enhance gait analysis, upper body joints did not require large Ranges of Motion (ROM). We thus modified the Rajagopal model [4, 5] to allow it to be used for upper body intensive exercises like those common to the E4D. OpenSim Inverse Kinematics (IK) [6] was performed using these scaled subject models to generate the joint angles throughout the exercise while minimizing marker error. At times, the arms were observed to ‘snap’ from one configuration to another, causing spike artifacts. Following IK, a custom OpenSim plugin [7] was used to determine the required dynamic quantities including the rates of change of the linear and angular momenta of the human. Since motion capture is recorded at a larger time step than required by the VIS simulation, the human center of mass location was fit with splines and a second derivative taken to obtain the momentum derivative, allowing the VIS simulation to maintain conservation of momentum when appropriate. In a few cases during this stage, artifacts much larger than the expected noise of the second derivatives were introduced. Investigation of cases containing artifacts revealed several modifications that could be made to the OpenSim model to improve IK results. Since OpenSim models use Euler angles and rotation sequences, ‘gimbal lock’ would be encountered in the arms when raised 90 degrees to the side (e.g., T-pose, some hang clean exercise, etc.). This was resolved by reorienting the horizontal axes at the shoulder joint by 45 degrees, placing ‘gimbal lock’ outside common arm ROM, with the arm ROMs adjusted following this change. Elbow and wrist ROMs could also be adjusted to allow realistic motion while at the same time limiting the likelihood of unrealistic orientations. On occasion, the arms flipped backwards when raised above the head. This was prevented by using medial elbow markers in scaling and IK. When medial markers were not available, the acromial joint location in the unscaled model was shifted before model scaling to better align the arm with available markers. Lastly, artifacts which became apparent after taking the second derivatives of spline-fit data were found to occur in cases when the pelvis rotation limit prevented the full range of motion of an exercise. These issues were resolved by unclamping the pelvis rotation limit. Through this investigation, an understanding of conditions leading to IK artifacts was acquired allowing the automation of artifact detection. These artifact detection and mitigation techniques can be applied toward modeling of upper body motions in aerospace and other fields for improved IK results.

C A Bell↗
NASA NTRS1991

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Williams, Robert L., II↗