Translational and rotational motion of a body entering the Mars atmosphere
Translational and rotational motion of spherical body entering Mars atmosphere - reentry physics
SPHERE↗
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Study of effects of uncertainties of comet and asteroid encounter and contact guidance requirements. Part 2: Tumbling problem studies
The problem of determining the rotational motion of a tumbling celestial body of the asteroid type using spacecraft-acquired data is addressed. The rotational motion of the body is modeled by free-Eulerian motion of a triaxial, rigid body and its translational motion with respect, to a nonrotating, observing spacecraft, which is not thrusting, is assumed to be uniform during the time observations are made. The mathematical details which form the basis for a digital simulation of the motion and observations are presented. Two algorithms for determining the motion from observations for the special case of uniform rotational motion are given.
Cochran, J. E., Jr.↗
Mechanism test bed. Flexible body model report
The Space Station Mechanism Test Bed is a six degree-of-freedom motion simulation facility used to evaluate docking and berthing hardware mechanisms. A generalized rigid body math model was developed which allowed the computation of vehicle relative motion in six DOF due to forces and moments from mechanism contact, attitude control systems, and gravity. No vehicle size limitations were imposed in the model. The equations of motion were based on Hill's equations for translational motion with respect to a nominal circular earth orbit and Newton-Euler equations for rotational motion. This rigid body model and supporting software were being refined.
Compton, Jimmy↗
The relative motion of two spheroidal rigid bodies. II
Two spheroid rigid bodies rotational and translational motion, using linear and Hill type differential equations for angular variables and coordinates
Lanzano, P.↗
Motion Estimation from Laser Ranging for Autonomous Comet Landing
This paper describes an algorithm for translational motion estimation near a comet surface using scanning laser rangefinder data.
precision↗
Vision System Measures Motions of Robot and External Objects
A prototype of an advanced robotic vision system both (1) measures its own motion with respect to a stationary background and (2) detects other moving objects and estimates their motions, all by use of visual cues. Like some prior robotic and other optoelectronic vision systems, this system is based partly on concepts of optical flow and visual odometry. Whereas prior optoelectronic visual-odometry systems have been limited to frame rates of no more than 1 Hz, a visual-odometry subsystem that is part of this system operates at a frame rate of 60 to 200 Hz, given optical-flow estimates. The overall system operates at an effective frame rate of 12 Hz. Moreover, unlike prior machine-vision systems for detecting motions of external objects, this system need not remain stationary: it can detect such motions while it is moving (even vibrating). The system includes a stereoscopic pair of cameras mounted on a moving robot. The outputs of the cameras are digitized, then processed to extract positions and velocities. The initial image-data-processing functions of this system are the same as those of some prior systems: Stereoscopy is used to compute three-dimensional (3D) positions for all pixels in the camera images. For each pixel of each image, optical flow between successive image frames is used to compute the two-dimensional (2D) apparent relative translational motion of the point transverse to the line of sight of the camera. The challenge in designing this system was to provide for utilization of the 3D information from stereoscopy in conjunction with the 2D information from optical flow to distinguish between motion of the camera pair and motions of external objects, compute the motion of the camera pair in all six degrees of translational and rotational freedom, and robustly estimate the motions of external objects, all in real time. To meet this challenge, the system is designed to perform the following image-data-processing functions: The visual-odometry subsystem (the subsystem that estimates the motion of the camera pair relative to the stationary background) utilizes the 3D information from stereoscopy and the 2D information from optical flow. It computes the relationship between the 3D and 2D motions and uses a least-mean-squares technique to estimate motion parameters. The least-mean-squares technique is suitable for real-time implementation when the number of external-moving-object pixels is smaller than the number of stationary-background pixels.
Talukder, Ashit↗
Sedimentation and shear-induced dynamics of spheroids in fluids with spatial viscosity variations
A generalized reciprocal theorem is used to relate the force and torque induced on a particle in an inertia-less fluid with small variation in viscosity to integrals involving Stokes flow fields and the spatial dependence of viscosity. These resistivity expressions are analytically evaluated using spheroidal harmonics and then used to obtain the mobility of the spheroid during sedimentation, and in linear flows, of a fluid with linear viscosity stratification. The coupling between the rotational and translational motion induced by stratification rotates the spheroid’s centerline, creating a variety of rotational and translational dynamics dependent upon the particle’s aspect ratio, κ, and the component of the stratification unit vector in the gravity direction, d g . Spheroids with 0.55 ⪅ κ ⪅ 2.0 exhibit the largest variety of settling behaviors. Interestingly, this range covers most microplastics and typical microorganisms. One of the modes include a stable orientation dependent only on κ and d g , but independent of initial orientation, thus allowing for the potential control of settling angles and sedimentation rates. In a simple shear flow, cross-streamline migration occurs due to the stratification-induced force generated on the particle. Similarly, a particle no longer stays at the stagnation point of a uniaxial extensional flow. While fully analytical results are obtained for spheroids, numerical simulations provide a source of validation. These simulations also provide additional insights into the stratification-induced force- and torque-producing mechanisms through the stratification-induced stress, which is not accessed in the reciprocal theorem-based analytical calculations.
Geophysical and Geological Flows: Stratified flows↗
Disturbance and vibration isolation in space stations by means of mechanical decoupling
A decoupling approach to disturbance and vibration isolation in large space stations composed of modules interconnected by flexible members is proposed. A simplified mathematical model for the motion of the space station core and a laboratory module with both torsional vibration and translational motion decouplers is used in this study. The dynamic behavior of the model in the presence of decoupler friction is analyzed. Estimates for the maximum excursions of the laboratory module induced by various types of external disturbance are derived. The paper concludes with a simulation study involving the hard-docking of a space shuttle with a space station.
Wang, P. K. C.↗
An acceleration mechanism for loop transients in the outer corona
The heliocentrifugal motion of coronal loop transients is likely driven largely by the buoyant force exerted by the ambient medium. In the outer corona where the solar wind is well formed, the buoyant force results mainly from the rapid outward decrease in the ambient pressure of the solar wind. The contribution from magnetic buoyancy is not so significant as in the vicinity of the solar surface. Therefore, the pertinent features of the loop transients in the outer corona are basically gasdynamical. As a conspicuous part of coronal expansion, the motion of the compressible masses in the transient loops is largely controlled by thermal forces. The translational motion of heliocentrifugal expansion is driven by the hydrodynamic buoyant force, and the lateral motion of peripheral expansion is driven by the pressure difference between the dense plasma of the ejecta and the tenuous plasma of the ambient medium.
Yen, T.↗
ISS Squat and Deadlift Kinematics on the Advanced Resistive Exercise Device
Visual assessment of exercise form on the Advanced Resistive Exercise Device (ARED) on orbit is difficult due to the motion of the entire device on its Vibration Isolation System (VIS). The VIS allows for two degrees of device translational motion, and one degree of rotational motion. In order to minimize the forces that the VIS must damp in these planes of motion, the floor of the ARED moves as well during exercise to reduce changes in the center of mass of the system. To help trainers and other exercise personnel better assess squat and deadlift form a tool was developed that removes the VIS motion and creates a stick figure video of the exerciser. Another goal of the study was to determine whether any useful kinematic information could be obtained from just a single camera. Finally, the use of these data may aid in the interpretation of QCT hip structure data in response to ARED exercises performed in-flight. After obtaining informed consent, four International Space Station (ISS) crewmembers participated in this investigation. Exercise was videotaped using a single camera positioned to view the side of the crewmember during exercise on the ARED. One crewmember wore reflective tape on the toe, heel, ankle, knee, hip, and shoulder joints. This technique was not available for the other three crewmembers, so joint locations were assessed and digitized frame-by-frame by lab personnel. A custom Matlab program was used to assign two-dimensional coordinates to the joint locations throughout exercise. A second custom Matlab program was used to scale the data, calculate joint angles, estimate the foot center of pressure (COP), approximate normal and shear loads, and to create the VIS motion-corrected stick figure videos. Kinematics for the squat and deadlift vary considerably for the four crewmembers in this investigation. Some have very shallow knee and hip angles, and others have quite large ranges of motion at these joints. Joint angle analysis showed that crewmembers do not return to a normal upright stance during squat, but remain somewhat bent at the hips. COP excursions were quite large during these exercises covering the entire length of the base of support in most cases. Anterior-posterior shear was very pronounced at the bottom of the squat and deadlift correlating with a COP shift to the toes at this part of the exercise. The stick figure videos showing a feet fixed reference frame have made it visually much easier for exercise personnel and trainers to assess exercise kinematics. Not returning to fully upright, hips extended position during squat exercises could have implications for the amount of load that is transmitted axially along the skeleton. The estimated shear loads observed in these crewmembers, along with a concomitant reduction in normal force, may also affect bone loading. The increased shear is likely due to the surprisingly large deviations in COP. Since the footplate on ARED moves along an arced path, much of the squat and deadlift movement is occurring on a tilted foot surface. This leads to COP movements away from the heel. The combination of observed kinematics and estimated kinetics make squat and deadlift exercises on the ARED distinctly different from their ground-based counterparts. CONCLUSION This investigation showed that some useful exercise information can be obtained at low cost, using a single video camera that is readily available on ISS. Squat and deadlift kinematics on the ISS ARED differ from ground-based ARED exercise. The amount of COP shift during these exercises sometimes approaches the limit of stability leading to modifications in the kinematics. The COP movement and altered kinematics likely reduce the bone loading experienced during these exercises. Further, the stick figure videos may prove to be a useful tool in assisting trainers to identify exercise form and make suggestions for improvements
Newby, N.↗
Absolute plate motions by boundary velocity minimizations
The main interaction of the earth's interior with the lithosphere is as a material source and sink. An absolute reference frame defined by minimizing the translational motion of tectonic plate boundaries differs by 0.6 cm/year from a frame defined by hot spot traces and by 0.4 cm/year from the frame defined by the most plausible model of drag forces on the plates. The rms absolute translational velocities are about 2 cm/year for ocean-ocean plate boundaries and 1.5 cm/year for ocean-continent plate boundaries. The close agreement between the source and sink and the drag-dependent definitions suggests that the lithosphere, as a stress guide, to some extent controls the locations of its sources and sinks.
Kaula, W. M.↗
Coupled motion of rigid bodies about their center of mass
Nontrivial analytical solutions for the coupled motion of two rigid bodies about their center of mass are obtained on the assumptions that the rigid bodies are coupled by a massless rigid boom and that no external forces are acting on the system. Both relative rotational and translational motions of the two bodies are considered. General equations of motion are derived by regarding the two bodies as consisting of two distinct systems of particles and by applying the principle of conservation of angular momentum. It is shown that a basic nontrivial solution can be obtained for the translational problem if an assumption is made concerning the relative orientation of one principal axis of inertia of each body and that fundamental nontrivial solutions are readily obtained for the rotational problem if an additional assumption is made with respect to the symmetry of one body. Certain stability criteria are found for some of these motions by defining regions of constraint for the relative translational and rotational elements.
Jezewski, D. J.↗
Determination of constant-volume balloon capabilities for aeronautical research
The proper application of constant-volume balloons (CVB) for measurement of atmospheric phenomena was determined. And with the proper interpretation of the resulting data. A literature survey covering 176 references is included. the governing equations describing the three-dimensional motion of a CVB immersed in a flow field are developed. The flowfield model is periodic, three-dimensional, and nonhomogeneous, with mean translational motion. The balloon motion and flow field equations are cast into dimensionless form for greater generality, and certain significant dimensionless groups are identified. An alternate treatment of the balloon motion, based on first-order perturbation analysis, is also presented. A description of the digital computer program, BALLOON, used for numerically integrating the governing equations is provided.
Tatom, F. B.↗
The development and use of large-motion simulator systems in aeronautical research and development
The paper examines the evolution of manned aircraft simulators with large-motion systems and provides a brief description of important design details along with physical descriptions of a number of systems. Attention is given to the use of large translational motions in providing the simulator pilot with a close approximation of the cues of aircraft flight; examples are cited comparing pilot reactions to simulators with and without motion. How these simulators have been used in programs that effectively influenced aircraft design and operating problems is discussed.
Dusterberry, J. C.↗
Modeling and stabilization of large flexible space stations
A preliminary formulation of a large space structure is presented. The system consists of a (rigid) massive body, which may play the role of experimental modules located at the center of the space station and a flexible configuration, consisting of several beams, which is rigidly attached to the main body. The equations that govern the motion of the complete system consist of several partial differential equations with boundary conditions describing the vibration of flexible components coupled with six ordinary differential equations that describe the rotational and translational motion of the central body. The problem of (feedback) stabilization of the system is discussed. This study is expected to provide an insight into the complexity of design and stabilization of actual space stations.
Lim, S. S.↗
BEM for wave equation with boundary in arbitrary motion and applications to compressible potential aerodynamics of airplanes and helicopters
The wave equation for an object in arbitrary motion is investigated analytically using a BEM approach, and practical applications to potential flows of compressible fluids around aircraft wings and helicopter rotors are considered. The treatment accounts for arbitrary combined rotational and translational motion of the reference frame and for the wake motion. The numerical implementation as a computer algorithm is demonstrated on problems with prescribed and free wakes, the former in compressible flows and the latter for incompressible flows; results are presented graphically and briefly characterized.
Morino, Luigi↗
Dynamics and Adaptive Control for Stability Recovery of Damaged Aircraft
This paper presents a recent study of a damaged generic transport model as part of a NASA research project to investigate adaptive control methods for stability recovery of damaged aircraft operating in off-nominal flight conditions under damage and or failures. Aerodynamic modeling of damage effects is performed using an aerodynamic code to assess changes in the stability and control derivatives of a generic transport aircraft. Certain types of damage such as damage to one of the wings or horizontal stabilizers can cause the aircraft to become asymmetric, thus resulting in a coupling between the longitudinal and lateral motions. Flight dynamics for a general asymmetric aircraft is derived to account for changes in the center of gravity that can compromise the stability of the damaged aircraft. An iterative trim analysis for the translational motion is developed to refine the trim procedure by accounting for the effects of the control surface deflection. A hybrid direct-indirect neural network, adaptive flight control is proposed as an adaptive law for stabilizing the rotational motion of the damaged aircraft. The indirect adaptation is designed to estimate the plant dynamics of the damaged aircraft in conjunction with the direct adaptation that computes the control augmentation. Two approaches are presented 1) an adaptive law derived from the Lyapunov stability theory to ensure that the signals are bounded, and 2) a recursive least-square method for parameter identification. A hardware-in-the-loop simulation is conducted and demonstrates the effectiveness of the direct neural network adaptive flight control in the stability recovery of the damaged aircraft. A preliminary simulation of the hybrid adaptive flight control has been performed and initial data have shown the effectiveness of the proposed hybrid approach. Future work will include further investigations and high-fidelity simulations of the proposed hybrid adaptive Bight control approach.
Nguyen, Nhan↗
Hydrogen motion in near stoichiometric yttrium dihydride at elevated temperatures
The high-temperature motion of hydrogen in near stoichiometric yttrium dihydride (YH x , x = 1.62 and 1.87 at.%) was investigated using incoherent quasi-elastic neutron scattering and Density Functional Theory (DFT) calculations as a function of hydrogen stoichiometry. Translational motion (diffusivity) of hydrogen in yttrium dihydride was only observed in a temperature range of 1073–1173 K under vacuum environment. Here, the hydrogen motion was found to be limited to the tetrahedral sublattice, and diffusivity of hydrogen was observed to increase with decreasing hydrogen stoichiometry. The same behavior was also supported with DFT calculations. The DFT results also indicated that certain migration paths with smaller energy barriers favored H jump resulting in higher diffusivities.
08 HYDROGEN↗