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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 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS2003

EVA Robotic Assistant Project: Platform Attitude Prediction

The Robotic Systems Technology Branch is currently working on the development of an EVA Robotic Assistant under the sponsorship of the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program (CETDP). This will be a mobile robot that can follow a field geologist during planetary surface exploration, carry his tools and the samples that he collects, and provide video coverage of his activity. Prior experiments have shown that for such a robot to be useful it must be able to follow the geologist at walking speed over any terrain of interest. Geologically interesting terrain tends to be rough rather than smooth. The commercial mobile robot that was recently purchased as an initial testbed for the EVA Robotic Assistant Project, an ATRV Jr., is capable of faster than walking speed outside but it has no suspension. Its wheels with inflated rubber tires are attached to axles that are connected directly to the robot body. Any angular motion of the robot produced by driving over rough terrain will directly affect the pointing of the on-board stereo cameras. The resulting image motion is expected to make tracking of the geologist more difficult. This will either require the tracker to search a larger part of the image to find the target from frame to frame or to search mechanically in pan and tilt whenever the image motion is large enough to put the target outside the image in the next frame. This project consists of the design and implementation of a Kalman filter that combines the output of the angular rate sensors and linear accelerometers on the robot to estimate the motion of the robot base. The motion of the stereo camera pair mounted on the robot that results from this motion as the robot drives over rough terrain is then straightforward to compute. The estimates may then be used, for example, to command the robot s on-board pan-tilt unit to compensate for the camera motion induced by the base movement. This has been accomplished in two ways: first, a standalone head stabilizer has been implemented and second, the estimates have been used to influence the search algorithm of the stereo tracking algorithm. Studies of the image motion of a tracked object indicate that the image motion of objects is suppressed while the robot crossing rough terrain. This work expands the range of speed and surface roughness over which the robot should be able to track and follow a field geologist and accept arm gesture commands from the geologist.

Nickels, Kevin M.↗
NASA NTRS1996

Spatial Transformation of the Vestibulo-Ocular Reflex during Spaceflight

It was hypothesized that the absence of the gravitational reference cues may be responsible for adaptive changes in the vestibulo-ocular reflex (VOR). These changes result in the alteration of the direction of the compensatory slow phase (SP) eye movements in microgravity. In order to test this hypothesis, the direction of the VOR SP relative to head motion was investigated in three astronauts during and after an eight-day orbital flight by passive sinusoidal pitch or yaw angular motion at two frequencies. The results of the inflight and postflight testing are considered. The observed deviation between VOR SP and head motion suggests that spatial transformation in the VOR occurred during adaptation to microgravity. It is considered that, although this spatial transformation might be due to a sensory bias, it may reflect central changes in the reference system used for spatial orientation in microgravity.

Clement, Gilles↗
NASA NTRS1981

Motion of the angular momentum vector in body coordinates for torque-free dual-spin spacecraft

The motion of the angular momentum vector in body coordinates for torque free, asymmetric dual spin spacecraft without and, for a special case, with energy dissipation on the main spacecraft is investigated. Without energy dissipation, two integrals can be obtained from the Euler equations of motion. Using the classical method of elimination of variable, the motion about the equilibrium points (six for the general case) are derived with these integrals. For small nutation angle, theta, the trajectories about the theta = 0 deg and theta = 180 deg points readily show the requirements for stable motion about these points. Also the conditions needed to eliminate stable motion about the theta = 180 deg point as well as the other undesireable equilibrium points follow directly from these equations. For the special case where the angular momentum vector moves about the principal axis which contains the momentum wheel, the notion of 'free variable' azimuth angle is used. Physically this angle must vary from 0 to 2 pi in a circular periodic fashion. Expressions are thus obtained for the nutation angle in terms of the free variable and other spacecraft parameters. Results show that in general there are two separate trajectory expressions that govern the motion of the angular momentum vector in body coordinates.

Fedor, J. V.↗
NASA NTRS1972

Dynamic errors in a tuned flexure-mounted strapdown gyro

Motion induced errors in a tuned, flexure-mounted strapdown gyro are investigated. Analytic expressions are developed for errors induced by linear vibrations, angular motion, and detuning. Sensor-level errors (gyro drift rate) and system-level errors (navigation errors) that are stimulated by an actual dynamic motion environment are computed.

Bortz, J. E., Sr.↗
NASA NTRS1985

Reinterpretation of otolith input as a primary factor in space motion sickness

It is hypothesized that exposure to prolonged free fall is a form of sensory/motor rearrangement rather than a direct change in otolith sensitivity or sensory compensation for a reduced otolith input. The rearrangement of stimuli will force a new interpretation by the CNS of otolith input. This reinterpretation is necessary for a structured and meaningful interaction with the new environment. Data from two flight experiments are presented which support an otolith reinterpretation hypothesis. The first experiment measured vestibulo-spinal reflex changes as a function of sustained free fall. Findings indicate that when a monosynaptic reflex (H-reflex), measured from the major postural muscles (soleus), is used adaptation to space flight includes a change in how the CNS interprets a fall. In a normal gravity environment a sudden unexpected fall will produce a potentiated H reflex. After seven days in flight an equivalent fall does not potentiate the reflex. During postflight a greatly increased reflex is observed in those crewmen most susceptible to space motion sickness. In the second experiment self motion perception and torsional eyemovements were modified as a function of exposure to sustained free fall. Preflight roll motion (about the X axis) was perceived as pure roll, and the eye movements recorded were countertorsional. Postflight, roll stimulation was perceived as linear translation (side to side movement) with a small angular motion component. Eye movement measurements confirmed significantly more horizontal motion.

Reschke, M. F.↗
NASA NTRS1974

Sensory perception

The effect of motion on the ability of men to perform a variety of control actions was investigated. Special attention was given to experimental and analytical studies of the dynamic characteristics of the otoliths and semicircular canals using a two axis angular motion simulator and a one axis linear motion simulator.

Source record↗
NASA NTRS1989

Linearized flexibility models in multibody dynamics and control

Simulation of structural response of multi-flexible-body systems by linearized flexible motion combined with nonlinear rigid motion is discussed. Advantages and applicability of such an approach for accurate simulation with greatly reduced computational costs and turnaround times are described, restricting attention to the control design environment. Requirements for updating the linearized flexibility model to track large angular motions are discussed. Validation of such an approach by comparison with other existing codes is included. Application to a flexible robot manipulator system is described.

Cimino, William W.↗
NASA NTRS1992

Deep-space navigation with differenced data types. Part 3: An expanded information content and sensitivity analysis

An approximate six-parameter analytic model for Earth-based differential range measurements is presented and is used to derive a representative analytic approximation for differenced Doppler measurements. The analytical models are tasked to investigate the ability of these data types to estimate spacecraft geocentric angular motion, Deep Space Network station oscillator (clock/frequency) offsets, and signal-path calibration errors over a period of a few days, in the presence of systematic station location and transmission media calibration errors. Quantitative results indicate that a few differenced Doppler plus ranging passes yield angular position estimates with a precision on the order of 0.1 to 0.4 micro-rad, and angular rate precision on the order of 10 to 25 x 10(exp -12) rad/sec, assuming no a priori information on the coordinate parameters. Sensitivity analyses suggest that troposphere zenith delay calibration error is the dominant systematic error source in most of the tracking scenarios investigated; as expected, the differenced Doppler data were found to be much more sensitive to troposphere calibration errors than differenced range. By comparison, results computed using wideband and narrowband (delta) VLBI under similar circumstances yielded angular precisions of 0.07 to 0.4 micro-rad, and angular rate precisions of 0.5 to 1.0 x 10(exp -12) rad/sec.

Estefan, J. A.↗
NASA NTRS2002

Modulation of head movement control in humans during treadmill walking

The purpose of this study was to investigate the coordination of the head relative to the trunk within a gait cycle during gaze fixation. Nine normal subjects walked on a motorized treadmill driven at 1.79 m/s (20 s trials) while fixing their gaze on a centrally located earth-fixed target positioned at a distance of 2 m from their eyes. The net and relative angular motions of the head about the three axes of rotations, as well as the corresponding values for the moments acting on it relative to the trunk during the gait cycle were quantified and used as measures of coordination. The average net moment, as well as the average moments about the different axes were significantly different (P<0.01) between the high impact and low/no impact phases of the gait cycle. However, the average net angular displacement as well as the average angular displacement about the axial rotation axis of the head relative to the trunk was maintained uniform (P>0.01) throughout the gait cycle. The average angular displacement about the lateral bending axis was significantly increased (P<0.01) during the high impact phase while that about the flexion-extension axis was significantly decreased (P<0.01) throughout the gait cycle. Thus, the coordination of the motion of the head relative to the trunk during walking is dynamically modulated depending on the behavioral events occurring in the gait cycle. This modulation may serve to aid stabilization of the head by counteracting the force variations acting on the upper body that may aid in the visual fixation of targets during walking.

Clinical Trial↗
NASA NTRS1980

Spin-Down and Active Nutation Controller /SDANC/ for the Galileo project

The Spin-Down and Active Nutation Controller stabilizes the Galileo spacecraft during spin-down from approximately 70 to 1 rpm. Angular motion of the spacecraft is sensed through a pair of accelerometers and a sun sensor which is needed only at low spin rates. Spin and nutation information is derived by a set of 'loosely coupled' spin and transverse rate estimators. Spin rate is reduced by two spin-down thrusters. The transverse angular rate is compared with a variable threshold; exceeding the threshold activates axial thrusters which impart appropriate transverse torque to reduce the nutation. The scheme was verified by extensive computer simulations and has been demonstrated over a wide range of initial conditions.

Lin, H. S.↗
DOE OSTI2025

Introducing new resonant soft x-ray scattering capability in SSRL

Resonant soft x-ray scattering (RSXS) is a powerful technique for probing both spatial and electronic structures within solid-state systems. Here, we present a newly developed RSXS capability at beamline 13-3 of the Stanford Synchrotron Radiation Lightsource, designed to enhance materials science research. This advanced setup achieves a base sample temperature as low as 9.8 K combined with extensive angular motions (azimuthal ϕ and flipping χ), enabling comprehensive exploration of reciprocal space. Two types of detectors—an Au/GaAsP Schottky photodiode and a charge-coupled device detector with over 95% quantum efficiency—are integrated to effectively capture scattered photons. Extensive testing has confirmed the enhanced functionality of this RSXS setup, including its temperature and angular performance. The versatility and effectiveness of the system have been demonstrated through studies of various materials, including superlattice heterostructures and high-temperature superconductors.

Kuo, Cheng-Tai [SLAC National Accelerator Laborato↗
NASA NTRS1993

Excitation of earth's polar motion by atmospheric angular momentum variations, 1980-1990

We compute the polar-motion excitation function due to the atmospheric angular momentum (AAM) for both IB (inverted-barometer) and non-IB cases, as well as the excitation function from geodetically observed Earth orientation data for the period 1980-1990. The two are then compared in studying the AAM contribution to the polar motion excitation. The polar drifts with periods longer than about two years have similar characteristics, but the comparison is inconclusive because of data uncertainties. For the seasonal wobble excitation, the agreement is poor except for the prograde annual wobble, indicating the influence of other geophysical excitations than AAM. For the Chandler wobble excitation, a correlation coefficient of 0.53 for non-IB and 0.58 for IB are found for 1986-1990. Together with a coherence spectral analysis, they clearly demonstrate a strong contribution of AAM to the Chandler wobble excitation.

Chao, Benjamin F.↗
NASA NTRS1960

A Flight Study of the Conversion Maneuver of a Tilt-Duct VTOL Aircraft

Flight records are presented from an early flight test of a wing-tip mounted tilting-ducted-fan, vertical-take-off and landing (VTOL) aircraft configuration. Time histories of the aircraft motions, control positions, and duct pitching-moment variation are presented to illustrate the characteristics of the aircraft in hovering, in conversion from hovering to forward flight, and in conversion from forward flight to hovering. The results indicate that during essentially continuous slow level- flight conversions, this aircraft experiences excessive longitudinal trim changes. Studies have shown that the large trim changes are caused primarily by the variation of aerodynamic moments acting on the duct units. Action of the duct-induced downwash on the horizontal stabilizer during the conversion also contributes to the longitudinal trim variations. Time histories of hovering and slow vertical descent in the final stages of landing in calm air show angular motions of the aircraft as great as +/- 10 deg. about all axes. Stick and pedal displacements required to control the aircraft during the landing maneuver were on the order of 50 to 60 percent of the total travel available.

Tapscott, Robert J.↗
NASA NTRS1979

Some simple properties of stellar pulsation modes

Except for the lowest harmonics, small-amplitude stellar pulsation modes possess many simple properties whose evaluation does not require numerical integration of the fourth-order equations of motion. All antinodes tend to have the same total kinetic energy except for those lying near physical or geometric boundaries. However, when kinetic energy per unit volume is considered, order-of-magnitude enhancements are seen in antinodes lying near the center of the star, and factor-of-2 enhancements occur near the polar axis. The nodes are distributed very regularly along the radius. They follow an exponential law in g-regions, and their separation is proportional to the sound travel time in p-regions. A simple graphical procedure is described for surveying the oscillation frequencies of a new stellar model. A precise condition is derived giving the division of energy between radial and angular motion. Another condition gives the fractional contribution to the velocity field of its two sources, the divergence and the curl. Certain simplifying results of weak coupling among the linear modes are briefly described.

Wolff, C. L.↗
NASA NTRS2002

The Semicircular Canal Microphonic

Present experiments were designed to quantify the alternating current (AC) component of the semicircular canal microphonic for angular motion stimulation as a function of stimulus frequency and amplitude. The oyster toadfish, Opsanus tau, was used as the experimental model. Calibrated mechanical indentation of the horizontal canal duct was used as a stimulus to generate hair-cell and afferent responses reproducing those present during head rotation. Sensitivity to polarization of the endolymph DC voltage re: perilymph was also investigated. Modulation of endolymph voltage was recorded using conventional glass electrodes and lock-in amplification over the frequency range 0.2-80 Hz. Access to the endolymph for inserting voltage recording and current passing electrodes was obtained by sectioning the anterior canal at its apex and isolating the cut ends in air. For sinusoidal stimulation below approx.10 Hz, the horizontal semicircular canal AC microphonic was nearly independent of stimulus frequency and equal to approximately 4 microV per micron indent (equivalent to approx. 1 microV per deg/s). A saturating nonlinearity decreasing the microphonic gain was present for stimuli exceeding approx.3 micron indent (approx. 12 deg/s angular velocity). The phase was not sensitive to the saturating nonlinearity. The microphonic exhibited a resonance near 30Hz consistent with basolateral current hair cell resonance observed previously in voltage-clamp records from semicircular canal hair cells. The magnitude and phase of the microphonic exhibited sensitivity to endolymphatic polarization consistent with electro-chemical reversal of hair cell transduction currents.

Rabbitt, R. D.↗
DOE OSTI2021

Low temperature aging in a molecular glass: the case of cis -methyl formate

Glassy films of cis-methyl formate show spontaneous dipole orientation on deposition from the vacuum, the so-called ‘spontelectric effect’, creating surface potentials and electric fields within the films. We follow the decay of these fields, and their accompanying dipole orientation, on the hours timescale at deposition temperatures between 40 K and 55 K. Our data trace the low temperature ‘secondary decay’ mechanism, at tens of degrees below the glass transition temperature of 90 K. We show that secondary decay is due to molecular rotation, with associated activation energies lying between 0.1 and 0.2 eV. Diffusion is absent, as established from published neutron reflectivity data. Using an analytical model for the spontelectric effect, data are placed on a quantitative footing, showing that angular motion in excess of 50° reproduces the observed values of activation energies. Exploitation of the spontelectric effect is new in the study of glass aging and is shown here to give insight into the elusive processes which take place far from the molecular glass transition temperature.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2024

Unified origin of inflation, baryon asymmetry, and neutrino mass

In this work, we present a unified theoretical framework that simultaneously addresses some of the most intriguing puzzles in particle physics and cosmology, namely the origins of neutrino mass, baryon asymmetry, and cosmic inflation. In our model, inflation is driven by a combination of the Standard Model Higgs, the type II seesaw Higgs responsible for neutrino mass generation, and the unified symmetry-breaking Higgs field. During inflation, nonzero values of the latter field ensure the absence of the monopole problem. The baryon asymmetry is generated through the Affleck-Dine mechanism, facilitated by the nonzero angular motion in the phase of a complex scalar field, which is part of the inflaton. We find that the successful parameter region for generating baryon asymmetry through a renormalizable term in the scalar potential requires a rather heavy type II seesaw triplet, with a mass well beyond the TeV scale. Inflationary observables, in particular, the spectral index is in excellent agree with experimental observation, whereas tensor-to scalar ratio is expected to be probed by the future LiteBIRD and CMB-S4 missions. Published by the American Physical Society 2024

Kaladharan, Ajay (ORCID:0000000165096427)↗