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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
DOE OSTI2024

On the statistical theory of self-gravitating collisionless dark matter flow: High order kinematic and dynamic relations

Dark matter, if it exists, accounts for five times as much as ordinary baryonic matter. To better understand the self-gravitating collisionless dark matter flow on different scales, a statistical theory involving kinematic and dynamic relations must be developed for different types of flow, e.g., incompressible, constant divergence, and irrotational flow. This is mathematically challenging because of the intrinsic complexity of dark matter flow and the lack of a self-closed description of flow velocity. Here, this paper extends our previous work on second-order statistics Xu to kinematic relations of any order for any type of flow. Dynamic relations were also developed to relate statistical measures of different orders. The results were validated by N-body simulations. On large scales, we found that (i) third-order velocity correlations can be related to density correlation or pairwise velocity; (ii) the pth-order velocity correlations follow ∝ a (p+2)/2 for odd p and ∝ a p/2 for even p, where a is the scale factor; (iii) the overdensity δ is proportional to density correlation on the same scale, $\langle$δ$\rangle$∝$\langle$δδ'$\rangle$; (iv) velocity dispersion on a given scale r is proportional to the overdensity on the same scale. On small scales, (i) a self-closed velocity evolution is developed by decomposing the velocity into motion in haloes and motion of haloes; (ii) the evolution of vorticity and enstrophy are derived from the evolution of velocity; (iii) dynamic relations are derived to relate second- and third-order correlations; (iv) while the first moment of pairwise velocity follows $\langle$Δu L $\rangle$=-Har (H is the Hubble parameter), the third moment follows $\langle$(Δu L ) 3 $\rangle$ ∝ ε u ar that can be directly compared with simulations and observations, where ε u ≈ 10 -7 m 2 /s 3 is the constant rate for energy cascade; (v) the pth order velocity correlations follow ∝ a (3p-5)/4 for odd p and ∝ a 3p/4 for even p. Finally, the combined kinematic and dynamic relations lead to exponential and one-fourth power-law velocity correlations on large and small scales, respectively.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2026

From observation to replication: machine-learning-driven quantification and replication of fine-scale fish kinematics and behavior

Long-term quantification of fish behavior is essential for aquatic ecology, wildlife telemetry, and biomechanical device development. However, the observation duration required to obtain reliable behavioral and kinematic metrics remains unclear, and few tools exist to physically reproduce natural swimming motion for controlled experimentation. We address these challenges by developing a generalizable framework that models behavioral reliability (Spearman–Brown reliability index) as a function of observation duration and derives metric-specific monitoring thresholds. Using juvenile white sturgeon (Acipenser transmontanus) as a case study, we demonstrate that the minimum duration needed for reliable estimates varies substantially across kinematic features: to exceed a reliability of 0.8, total distance traveled requires 12 days, average curvature (mm?¹) 15 days, tail-beat frequency (Hz) 8 days, and average speed (body length/s) 17 days. We further bridge digital analysis and physical testing by developing a hardware-in-the-loop simulator that reconstructs machine-learning-derived swimming kinematics with high fidelity (correlation coefficient 0.98–0.99, RMSE 1.22–1.27 mm over a 5-minute segment). This platform enables realistic, repeatable motion stimuli for evaluating aquatic sensing technologies and bio-integrated devices under controlled conditions. Together, these contributions provide a scalable approach for designing long-term behavioral studies and a data-driven connection between ecological observation and robotic experimentation.

Hwang, SungJoo↗
DOE OSTI2026

Mapping the Perseus galaxy cluster with XRISM: Gas kinematic features and their implications for turbulence

We present extended gas kinematic maps of the Perseus cluster based on a combination of five new XRISM/Resolve pointings observed in 2025 with four performance verification datasets from 2024, totaling a net exposure of 745 ks. To date, Perseus remains the only cluster that has been extensively mapped out to ≃0.7 r 2500 by XRISM/Resolve, while simultaneously offering sufficient spatial resolution to resolve gaseous substructures driven by mergers and active galactic nucleus (AGN) feedback. Our observations cover multiple radial directions and a broad range of dynamical scales, enabling us to characterize the kinematic properties of the intracluster medium up to a scale of ∼500 kpc. In the measurements, we detected high-velocity dispersions (≃300km s −1 ) in the eastern region of the cluster that are spatially coincident with the extended X-ray surface brightness excess and correspond to a nonthermal pressure fraction of ≃7 − 13%. The velocity field outside the AGN-dominant region can be effectively described by a single, large-scale kinematic driver based on the velocity structure function, which statistically favors an energy injection scale of at least a few hundred kpc. The estimated turbulent dissipation energy is comparable to the gravitational potential energy released by a recent merger, implying a significant role of turbulent cascade in the merger energy conversion. In the bulk velocity field, we observed a dipole-like pattern along the east-west direction with an amplitude of ≃ ± 200 − 300 km s −1 , indicating rotational motions induced by the recent merger event. This feature constrains the viewing direction to ≃30° −50° relative to the normal of the merger plane. Our hydrodynamic simulations suggest that Perseus has experienced at least two energetic mergers since redshift z ∼ 1, the most recent of which is associated with the radio galaxy IC310, in agreement with recent SRG/eROSITA findings. This study showcases exciting scientific opportunities for future missions with high-resolution spectroscopic capabilities (e.g., HUBS, LEM, and NewAthena).

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2025

Kinematic Flow and the Emergence of Time

Perhaps the most basic question we can ask about cosmological correlations is how their strength changes as we smoothly vary kinematic parameters. The answer is encoded in differential equations that govern this evolution in kinematic space. In this Letter, we introduce a new perspective on these differential equations. We show that, in the simplified setting of conformally coupled scalars in power-law Friedmann-Robertson-Walker spacetimes, the equations for arbitrary tree-level processes can be obtained from a small number of simple combinatorial rules. While this “kinematic flow” is defined purely in terms of boundary data, it reflects the physics of bulk time evolution. The unexpected regularity of the equations suggests the existence of an autonomously defined mathematical structure from which cosmological correlations and the time evolution of the associated spacetime emerge.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2026

Entire four-graviton EFT from the duality between color and kinematics

The Bern-Carrasco-Johansson (BCJ) double-copy construction reveals a fundamental structural connection between gauge and gravity theories. At its core, the BCJ double copy is directly due to a duality between the algebraic relations of a color root and those of a kinematic root. We generalize this principle beyond the conventional Lie algebra structure of tree-level Yang-Mills theory. By demanding color-kinematics duality for the complete basis of four-point color structures—including those involving the symmetric 𝑑 𝑎⁢𝑏⁢𝑐 constants—we define the universal double copy. We systematically classify the bases of all such parity-even generalized gauge-theory numerators and, independently, the space of all parity-even four-graviton higher-derivative operators. We demonstrate that our universal double-copy construction precisely spans the entire tower of parity-even four-graviton amplitudes in any dimension, except for the Lovelock 𝑅 3 contribution in 𝐷 > 6 which we can express in terms of a particularly simple universal triple-copy involving gauge theories coupled to scalars. Explicit machine-readable expressions for the complete basis of gauge-theory numerators and fundamental gravitational building blocks are provided in the Supplemental Material. This establishes that all possible four-point gravitational interactions can be factorized into products of gauge-theory building blocks governed by this universal notion of color-kinematics duality.

Carrasco, John Joseph M. [Northwestern Univ., Evan↗
DOE OSTI2024

Exploring the synergy of kinematics and dynamics for collider physics

In collider experiments, an event is characterized by two distinct yet mutually complementary features: the “global features” and the “local features.” Kinematic information such as the event topology of a hard process, masses, and spins of particles comprises global features spanning the entire phase space. This global feature can be inferred from reconstructed objects. In contrast, representations of particles in gauge groups, such as quantum chromodynamics (QCD), offer localized features revealing the dynamics of an underlying theory. These local features, particularly observed in the patterns of radiation as raw data in various detector components, complement the global kinematic features. We propose a simple but effective neural network architecture that seamlessly integrates information from both kinematics and QCD to enhance the signal sensitivity at colliders. Published by the American Physical Society 2024

Ban, Kayoung (ORCID:000000019691877X)↗
DOE OSTI2024

Enforcing Self-Consistent Kinematic Constraints in Neutrino Energy Estimators

Machine learning algorithms have long been utilized across many experimental collaborations within the neutrino physics community in applications to ascertain the singular kinematic quantity of initial neutrino energy for use in neutrino oscillation analyses. However, most of these algorithms do not incorporate a coherent physical picture of initial neutrino kinematics, opting to introduce loss functions involving knowledge of only |pν |. Here, we argue for the introduction of composite loss functions utilizing the full kinematic description of the neutrino, pν ≡ (E, px, py , pz ), compiling all relevant energy and angle information consistently. The use of such a fully defined variable can be seen as a usage of Physics Informed Machine Learning.

Richi, R. R.↗
NASA NTRS1986

Inverse kinematic solution for near-simple robots and its application to robot calibration

This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

Hayati, Samad A.↗
NASA NTRS1987

An optimal resolved rate law for kinematically redundant manipulators

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.

Bourgeois, B. J.↗
NASA NTRS1988

Analysis of a closed-kinematic chain robot manipulator

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

Nguyen, Charles C.↗
NASA NTRS1989

Kinematic modeling of the Galaxy. I - The Yale Bright Star Catalogue

A code has been developed to investigate the kinematic properties of stellar populations of the Galaxy by modeling the distributions of proper motion and line-of-sight velocity. The coordinate frames of reference are discussed in detail and the general matrix transformations valid beyond the solar neighborhood are given. As a first application, the kinematic properties of the magnitude-selected sample of 3993 stars in the Bright Star Catalogue with V less than 6.0 and (B-V) greater than 0 are selected. The observed kinematic distributions are compared with a conventional model that has an exponential disk with scale heights, components of velocity dispersion ellipsoid, and asymmetric drift taken from the literature and defined as functions of spectral type. The comparisons suggest that a significant fraction of the Bright Star Catalogue belongs to a relatively young population that is not properly represented in the model.

Ratnatunga, Kavan U.↗
NASA NTRS1989

Stellar kinematics in the galactic centre

The observations of the stellar kinematics in the central 8 pc of the Galaxy are presented. It is shown that the spectroscopy of the 2.3 microns CO absorption feature, in late type stars, yields the stellar velocity dispersion and the average stellar radial velocity as a function of galactocentric distance. A sample spectra that illustrates the observed velocity shifrs and velocity dispersion is given. The analysis shows that the velocity dispersion of the stars is large, and that it dominates the stellar kinematics. The use of these kinematic data, to probe the mass distribution in the Galactic center, is considered.

Mcginn, M. T.↗
NASA NTRS1989

Modeling of control forces for kinematical constraints in the dynamics of multibody systems: A new approach

Conventionally kinematical constraints in multibody systems are treated similar to geometrical constraints and are modeled by constraint reaction forces which are perpendicular to constraint surfaces. However, in reality, one may want to achieve the desired kinematical conditions by control forces having different directions in relation to the constraint surfaces. The conventional equations of motion for multibody systems subject to kinematical constraints are generalized by introducing general direction control forces. Conditions for the selections of the control force directions are also discussed. A redundant robotic system subject to prescribed end-effector motion is analyzed to illustrate the methods proposed.

Ider, Sitki Kemal↗
NASA NTRS1989

Kinematics, controls, and path planning results for a redundant manipulator

The inverse kinematics solution, a modal position control algorithm, and path planning results for a 7 degree of freedom manipulator are presented. The redundant arm consists of two links with shoulder and elbow joints and a spherical wrist. The inverse kinematics problem for tip position is solved and the redundant joint is identified. It is also shown that a locus of tip positions exists in which there are kinematic limitations on self-motion. A computationally simple modal position control algorithm has been developed which guarantees a nearly constant closed-loop dynamic response throughout the workspace. If all closed-loop poles are assigned to the same location, the algorithm can be implemented with very little computation. To further reduce the required computation, the modal gains are updated only at discrete time intervals. Criteria are developed for the frequency of these updates. For commanding manipulator movements, a 5th-order spline which minimizes jerk provides a smooth tip-space path. Schemes for deriving a corresponding joint-space trajectory are discussed. Modifying the trajectory to avoid joint torque saturation when a tip payload is added is also considered. Simulation results are presented.

Gretz, Bruce↗
NASA NTRS1989

Computational neural learning formalisms for manipulator inverse kinematics

An efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints.

Gulati, Sandeep↗
NASA NTRS1989

Multiple cooperating manipulators: The case of kinematically redundant arms

Existing work concerning two or more manipulators simultaneously grasping and transferring a common load is continued and extended. Specifically considered is the case of one or more arms being kinematically redundant. Some existing results in the modeling and control of single redundant arms and multiple manipulators are reviewed. The cooperating situation is modeled in terms of a set of coordinates representing object motion and internal object squeezing. Nominal trajectories in these coordinates are produced via actuator load distribution algorithms introduced previously. A controller is developed to track these desired object trajectories while making use of the kinematic redundancy to additionally aid the cooperation and coordination of the system. It is shown how the existence of kinematic redundancy within the system may be used to enhance the degree of cooperation achievable.

Walker, Ian D.↗
NASA NTRS1989

Real-time neuromorphic algorithms for inverse kinematics of redundant manipulators

The paper presents an efficient neuromorphic formulation to accurately solve the inverse kinematics problem for redundant manipulators. The approach involves a dynamical learning procedure based on a novel formalism in neural network theory: the concept of 'terminal' attractors. Topographically mapped terminal attractors are used to define a neural network whose synaptic elements can rapidly encapture the inverse kinematics transformations, and, subsequently generalize to compute joint-space coordinates required to achieve arbitrary end-effector configurations. Unlike prior neuromorphic implementations, this technique can also systematically exploit redundancy to optimize kinematic criteria, e.g., torque optimization. Simulations on 3-DOF and 7-DOF redundant manipulators, are used to validate the theoretical framework and illustrate its computational efficacy.

Barhen, Jacob↗
NASA NTRS1989

A case study using kinematic quantities derived from a triangle of VHF Doppler wind profilers

Horizontal divergence, relative vorticity, kinematic vertical velocity, and geostrophic and ageostrophic winds are computed from Colorado profiler network data to investigate an upslope snowstorm in northeastern Colorado. Horizontal divergence and relative vorticity are computed using the Gauss and Stokes theorems, respectively. Kinematic vertical velocities are obtained from the surface to 9 km by vertically integrating the continuity equation. The geostrophic and ageostrophic winds are computed by applying a finite differencing technique to evaluate the derivatives in the horizontal equations of motion. Comparison of the synoptic-scale data with the profiler network data reveals that the two datasets are generally consistent. Also, the profiler-derived quantities exhibit coherent vertical and temporal patterns consistent with conceptual and theoretical flow fields of various meteorological phenomena. It is suggested that the profiler-derived quantities are of potential use to weather forecasters in that they enable the dynamic and kinematic interpretation of weather system structure to be made and thus have nowcasting and short-term forecasting value.

Carlson, Catherine A.↗