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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 433 records · Page 24
All sourcesNASA NTRSDOE OSTI
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 NTRS1990

A description of QUALCOMM Automatic Satellite Position Reporting (QASPR(R)) for mobile communications

Two satellite position reporting has been introduced into the OmniTRACS mobile satellite communication system. This system significantly improves position reporting reliability and accuracy while simplifying the terminal's hardware. The positioning technique uses the original OmniTRACS TDMA timing signal formats in the forward and return link directions plus an auxiliary, low power forward link signal through a second satellite to derive distance values. The distances are then converted into the mobile terminal's latitude and longitude in real time. A minor augmentation of the spread spectrum profile of the return link allowed the resolution of periodic ambiguities. The system also locates the two satellites in real time with fixed platforms in known locations using identical mobile terminal hardware. Initial accuracies of 1/4 mile have been realized uniformly throughout the USA using a satellite separation of 22 degrees and there are no dead zones, skywaves, or cycle slips as found in terrestrial systems like LORAN-C.

Ames, William G.↗
NASA NTRS1992

A demonstration of centimeter-level monitoring of polar motion with the Global Positioning System

Daily estimates of the Earth's pole position were obtained with the Global Positioning System (GPS) by using measurements obtained during the GPS IERS (International Earth Rotation Service) and Geodynamics (GIG'91) experiment from 22 Jan. to 13 Feb. 1991. Data from a globally distributed network consisting of 21 Rogue GPS receivers were chosen for the analysis. A comparison of the GPS polar motion series with nine 24-hour very long baseline interferometry (VLBI) estimates yielded agreement in the day-to-day pole position of about 1.5 cm for both X and Y polar motion. A similar comparison of GPS and satellite laser ranging (SLR) data showed agreement to about 1.0 cm. These preliminary results indicate that polar motion can be determined by GPS independent of, and at a level comparable to, that which is obtained from either VLBI or SLR. Furthermore, GPS can provide these data with a daily frequency that neither alternative technique can readily achieve. Thus, GPS promises to be a powerful tool for determining high-frequency platform parameter variation, essential for the ultraprecise spacecraft-tracking requirements of the coming years.

Lindqwister, U. J.↗
NASA NTRS1992

Geostationary satellite position determination for common-view two-way time transfer measurements

In common-view two-way time transfer, each earth station receives an unwanted return signal from its own transmission as well as the desired signal from the other earth station. National Institute of Standards and Technology (NIST), the National Research Council (NRC), and the U.S. Naval Observatory (USNO) have been cooperating in a three-corner common-view two-way time transfer experiment. Some systematic effects are known to depend on the position of the satellite (Sagnac effect and the cross-correlation pulling of the pseudo-random codes). A method is presented for deriving accurate satellite ranges from each of three stations doing common-view two-way satellite time transfer measurements, when one (and only one) station also takes ranging measurements on its 'unwanted return signal' for a brief period. The method is applied to determine the variations in position of the satellite used over the course of the NIST/NRC/USNO SBS-3 experiment, with ranging data taken at NRC, where no additional hardware was required to automate the process. The fit and extrapolation which are employed in this method have an estimated precision of 2 m. If the delays of SBS-3 satellite KU band transponder and earth station equipment were measured accurately as well as the tropospheric refractions were well modeled and corrected, we would expect a ranging accuracy of 2.5 m and satellite positioning accuracy would be 200 m (latitude) 50 m (longitude) and 20 m (height above ellipsoid).

Zhuang, Qixiang↗
NASA NTRS1990

Dissociation and recombination of positive holes in minerals

The formation mechanisms are described of positive holes - electronic defects in the O2 sublattice - with attention given to detecting the positive surface charge of minerals with these holes. Charge distribution analysis (CDA) is presented which measures dielectric polarization in an inhomogeneous field. CDA can be applied to the detection of the peroxide/superoxide functionality caused by positive holes on the surface. It is demonstrated with obsidian that the measurements provide data on O(-) mobility as a function of surface-charge carrier density and on O(-) generation as a function of temperature.

Freund, Friedemann↗
NASA NTRS1992

Accurate positions and finding charts for 528 high-redshift, luminous quasars

Finding charts and J2000 positions accurate to about 1 arcsec are presented for the 528 high-redshift (z is greater than 1), luminous (MV is less than -25.5) quasars investigated in the HST Snapshot Survey. A histogram showing the distribution of the differences between the positions determined by the Space Telescope Science Institute Astrometric Support Program and the catalog positions is provided.

Schneider, Donald P.↗
NASA NTRS1993

Algorithm For Finer Resolution Of Position Of Shock

Algorithm computes streamwise position of terminal aerodynamic shock in inlet of engine of supersonic airplane. Signal representative of position of shock must be available to propulsion-control system of airplane to ensure proper operation of inlet. Algorithm computes position of shock with resolution much finer than spacing between transducers and requires neither increase in number of transducers nor other changes in pressure-measuring equipment.

Sajben, Miklos↗
NASA NTRS1993

Positioning Fixtures For X-Ray Inspection

Flanged fixtures designed to position x-ray source at fixed locations within welded parts inspected radiographically. Eliminates need for tedious measurements to find proper locations and alignments of x-ray source. Reduces setup time and eliminates waste of film occurring when x-radiographs taken at incorrect positions. Variability among parts, inspectors, and shifts eliminated. Each fixture essentially flanged plastic cylinder holding x-ray tube on its axis. Fixture designed to fit specific part to hold x-ray source at internal position from which x rays are required to emanate to illuminate region of interest.

Lee, Jerry W.↗
NASA NTRS1991

Office of Spaceflight Standard Spaceborne Global Positioning System (GPS) user equipment project

The Global Positioning System (GPS) provides the following: (1) position and velocity determination to support vehicle GN&C, precise orbit determination, and payload pointing; (2) time reference to support onboard timing systems and data time tagging; (3) relative position and velocity determination to support cooperative vehicle tracking; and (4) attitude determination to support vehicle attitude control and payload pointing.

Saunders, Penny E.↗
NASA NTRS1993

Calibration of a shock wave position sensor using artificial neural networks

This report discusses the calibration of a shock wave position sensor. The position sensor works by using artificial neural networks to map cropped CCD frames of the shadows of the shock wave into the value of the shock wave position. This project was done as a tutorial demonstration of method and feasibility. It used a laboratory shadowgraph, nozzle, and commercial neural network package. The results were quite good, indicating that artificial neural networks can be used efficiently to automate the semi-quantitative applications of flow visualization.

Decker, Arthur J.↗
NASA NTRS1992

On the accuracy of CO line positions for high resolution IR stellar spectroscopy

The paper demonstrates the high accuracy of line positions derived from improved sets of Dunham coefficients for the four more abundant isotopic species of carbon monoxide - (C-12)(O-16), (C-13)(O-16), (C-12)(O-18), and (C-12)(O-17) - which are present in the sun and in cool stellar atmospheres. These new spectroscopic constants make it possible to predict very accurate positions of CO lines at any J-values, especially at very high rotational excitation (up to J around 135). Earlier proposed identifications of CO lines at large J-values are checked, and some incorrect identifications in sunspot spectra are found. The present accurate line positions are also compared with predictions from other available sets of molecular constants. It is concluded that the present improved sets of molecular constants are the most appropriate to all problems of high-resolution stellar and solar spectroscopy at any J- and v-values, particularly for synthetic spectra of cool stars.

Sauval, A. J.↗
NASA NTRS1992

Novel position sensor technologies for microaccelerometers

An important new approach for vehicle guidance and control is based on the use of compact, low-mass, low-cost sensors integrated with the vehicle structure. Many advantages of this approach lead to new capabilities. However, the development of compact guidance and control sensors leads to a variety of fundamental physical problems associated with sensor sensitivity and noise. For example, as sensor size is reduced, it becomes necessary to improve the sensitivity of the sensor signal detection mechanism. These challenges to sensor development will be described. Recent developments at JPL, based on new position sensor principles such as electron tunneling, have produced a series of novel, ultra-high sensitivity micro-sensors and micro-instruments. Included among the applications demonstrated, are a high sensitivity micro-accelerometer and micro-seismometer. In this paper, the fundamental limits of conventional position sensors will be discussed and a new position sensor for advanced accelerometers will be described.

Vanzandt, T. R.↗
NASA NTRS1991

Optical position measurement for a Large Gap Magnetic Suspension System

This paper describes the design of an optical position measurement system which is being built as part of the NASA Langley Large Gap Magnetic Suspension System (LGMSS). The LGMSS is a five degree-of-freedom, large-gap magnetic suspension system which is being built for Langley Research Center as part of the Advanced Controls Test Facility (ACTF). The LGMSS consists of a planar array of electromagnets which levitate and position a cylindrically shaped model containing a permanent magnet core. The optical position measurement system provides information on the location and orientation of the model to the LGMSS control system to stabilize levitation of the model.

Welch, Sharon S.↗
NASA NTRS1993

The occultation of 28 Sgr by Saturn - Saturn pole position and astrometry

Saturn's ring plane-defined pole position is presently derived from the geometry of Saturn's July 3, 1989 occultation of 28 Sgr, as indicated by the timings of 12 circular edges in the Saturn C-ring as well as the edges of the Encke gap and the outer edge of the Keeler gap. The edge timings are used to solve for the position angle and opening angle of the apparent ring ellipses; the internal consistency of the data set and the redundancy of stations indicates an absolute error of the order of 5 km. The pole position thus obtained is consistent with the pole and ring radius scale derived from Voyager occultation observations.

Hubbard, W. B.↗
NASA NTRS1931

The aerodynamic characteristics of six commonly used Airfoils over a large range of positive and negative angles of attack

This paper presents the results of tests of six commonly used airfoils: the CYH, the N-22, the C-72, the Boeing 106, and the Gottingen 398. The lifts, drags, and pitching moments of the airfoils were measured through a large range of positive and negative angles of attack. The tests were made in the variable density wind tunnel of the National Advisory Committee for Aeronautics at a large Boeing 106, and the Gottingen 398 airfoils, the negative maximum lift coefficients were found to be approximately half the positive; but for the M-6 and the CYH, which have less effective values were, respectively, 0.8 and 0.6 of the positive values.

AIRFOILS - GOETTINGER 398 - CHAR , C P & ORDINATES↗
NASA NTRS1938

A method of rapidly estimating the position of the laminar separation point

A method is described of rapidly estimating the position of the laminar separation point from the given pressure distribution along a body; the method is applicable to a fairly wide variety of cases. The laminar separation point is found by the von Karman-Millikan method for a series of velocity distributions along a flat plate, which consist of a region of uniform velocity followed by a region of uniform decreased velocity. It is shown that such a velocity distribution can frequently replace the actual velocity distribution along a body insofar as the effects on laminar separation are concerned. An example of the application of the method is given by using it to calculate the position of the laminar separation point on the NACA 0012 airfoil section at zero lift. The agreement between the position of the separation point calculated according to the present method and that found from more elaborate computations is very good.

Von Doenhoff, Albert E↗
NASA NTRS1932

The Aerodynamic Characteristics of a Slotted Clark Y Wing as Affected by the Auxiliary Airfoil Position

Aerodynamic force tests on a slotted Clark Y wing were conducted in a vertical wind tunnel to determine the best position for a given auxiliary airfoil with respect to the main wing. A systematic series of 100 changes in location of the auxiliary airfoil were made to cover all the probable useful ranges of slot gap, slot width, and slot depth. The results of the investigation may be applied to the design of automatic or controlled slots on wings with geometric characteristics similar to the wing tested. The best positions of the auxiliary airfoil were covered by the range of the tests, and the position for desired aerodynamic characteristics may easily be obtained from charts prepared especially for the purpose.

Wenzinger, Carl J↗
NASA NTRS1933

Wind-tunnel tests of a Clark Y wing with a narrow auxiliary airfoil in different positions

Aerodynamic force tests were made on a combination of a Clark Y wing and a narrow auxiliary airfoil to find the best location of the auxiliary airfoil with respect to the main wing. The auxiliary was a highly cambered airfoil of medium thickness having a chord 14.5 per cent that of the main wing. It was tested in 141 different positions ahead of, above, and behind the nose portion of the main wing, the range of the test points being extended until the best aerodynamic conditions were covered. A range of positions was found in which the combination of main wing and auxiliary gave substantially greater aerodynamic efficiency and higher maximum lift coefficients (based on total area) than the main Clark Y wing alone. In the optimum position tested, considering both the maximum lift and the speed-range ratio, the combination of main wing and auxiliary gave an increase in the maximum lift coefficient of 32 per cent together with an increase in the ratio of 21 per cent of the respective values for the main Clark Y wing alone.

Weick, Fred E↗