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At least 361 records · Page 20

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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.↗

NASA NTRS1994

Investigating and implementing enhancements to the simulation of short-term collision hazards

A software tool, the Relative Collision Matrix (RCM), has been developed to provide a quick-look representation of the shortterm collision hazard to space systems from a fragmentation event in Earth orbit. The software performs multiple fragmentation simulations of space objects to quantify the probability of collision for a satellite or a constellation of satellites nearby. Previously, the results were displayed in a color matrix format which showed the relative hazard of each constellation. The RCM can be used for scientific research and operational assessments even though it was designed for test and evaluation applications. Because of its successful use as an analytical tool, the capabilities of RCM are being extended by enhancing the orbital hazard analysis routines, developing ballistic trajectory hazard analysis routines, and expanding the breakup modeling. Improvements are also being made to the RCM's usability and presentation quality by developing a graphical user interface and by providing graphical animated and nonanimated output.

Huth, Jeffrey S.↗

NASA NTRS1994

The physics of grain-grain collisions and gas-grain sputtering in interstellar shocks

Grain-grain collisions and ion sputtering destroy dust grains in interstellar shocks. An analytical theory is developed for the propagation of shock waves in solids driven by grain-grain collisions, which compares very favorably with detailed numerical calculations. This theory is used to determine the fraction of grain vaporized by a grain-grain collision. Our results predict much less vaporization of colliding grains in interstellar shocks than previous estimates. This theory can also be used to determine the fraction of a colliding grain that melts, shatter, or undergoes a phase transformation to a higher density phase. In particular, the latter two processes can be much more important in interstellar shocks than vaporization. The sputtering of grains by impacting gas ions is reanalyzed based upon extensive laboratory studies and a theoretically derived 'universal'sputtering relation. The analytical results are compared to available experimental studies of sputtering of graphite/amorphous carbon, SiO2, SiC, Fe, and H2O. Sputtering yields for astrophysically relevant materials as a function of impact energy and ion mass are derived. These yields are also averaged over thermal impact spectrum and simple polynomial fits to the resulting yields as a function of temperature are presented. The derived sputtering yields are similar to those adopted in previous studies, except for graphite near threshold where the new yields are much larger due to a lower adopted binding energy. The ion bombardment will amorphitize the surface layers of interstellar grains. It will also convert graphite into hydrogenated amorphous carbon (HAC) to a depth of 10-20 A. It is suggested that these HAC surfaces are the carriers of the 3.4 micrometer absorption feature in the interstellar medium.

Tielens, A. G. G. M.↗

NASA NTRS1995

The coefficient of restitution of ice particles in glancing collisions: Experimental results for unfrosted surfaces

Both Saturn's rings and planetesimal disks are made up of particles in Keplerian orbits. Inelastic collisions between these particles regulate their dynamical evolution and possible aggregation. We present an experiment to simulate glancing collisions in Saturn's rings and in planetesimal disks and thus measure contributions to the energy loss for both normal and tangential velocity components. In this experiment, a spherical iceball mounted on a long-period, two dimensional pendulum is made to impact a flat ice surface in a low-temperature environment. This paper describes the experimental apparatus in detail and presents results for smooth unfrosted surfaces. The energy loss for tangential motion is suprisingly low, indicating that very little friction is present at low impact speeds for relatively smooth ice surfaces and temperatures near 100 K. We have also investigated room-temperature collisions of a rubber ball on a rough surface to understand the energy loss in situations where the tangential friction force is not small. In this analogous case, the energy loss is maximum for impact angles in the range 45 deg-60 deg.

Supulver, Kimberley D.↗

NASA NTRS1995

Collision management utilizing CCD and remote sensing technology

With the threat of damage to aerospace systems (space station, shuttle, hypersonic a/c, solar power satellites, loss of life, etc.) from collision with debris (manmade/artificial), there exists an opportunity for the design of a novel system (collision avoidance) to be incorporated into the overall design. While incorporating techniques from ccd and remote sensing technologies, an integrated system utilized in the infrared/visible spectrum for detection, tracking, localization, and maneuvering from doppler shift measurements is achievable. Other analysis such as impact assessment, station keeping, chemical, and optical tracking/fire control solutions are possible through this system. Utilizing modified field programmable gated arrays (software reconfiguring the hardware) the mission and mission effectiveness can be varied. This paper outlines the theoretical operation of a prototype system as it applies to collision avoidance (to be followed up by research).

Mcdaniel, Harvey E., Jr.↗

NASA NTRS1995

A kinetic study of solar wind electrons in the transition region from collision dominated to collisionless flow

We have studied the evolution of the velocity distribution function of a test population of electrons in the solar corona and inner solar wind region, using a recently developed kinetic model. The model solves the time dependent, linear transport equation, with a Fokker-Planck collision operator to describe Coulomb collisions between the 'test population' and a thermal background of charged particles, using a finite differencing scheme. The model provides information on how non-Maxwellian features develop in the distribution function in the transition region from collision dominated to collisionless flow. By taking moments of the distribution the evolution of higher order moments, such as the heat flow, can be studied.

Lie-Svendsen, O.↗

NASA NTRS1996

Computations of Drop Collision and Coalescence

Computations of drops collisions, coalescence, and other problems involving drops are presented. The computations are made possible by a finite difference/front tracking technique that allows direct solutions of the Navier-Stokes equations for a multi-fluid system with complex, unsteady internal boundaries. This method has been used to examine the various collision modes for binary collisions of drops of equal size, mixing of two drops of unequal size, behavior of a suspension of drops in linear and parabolic shear flows, and the thermal migration of several drops. The key results from these simulations are reviewed. Extensions of the method to phase change problems and preliminary results for boiling are also shown.

Tryggvason, Gretar↗