Results for “direct kinematic methods” — Page 3

NASA NTRS2022

Quantifying Errors in 3D CME Parameters Derived from Synthetic Data Using White-Light Reconstruction Techniques

Current efforts in space weather forecasting of CMEs have been focused on predicting their arrival time and magnetic structure. To make these predictions, methods have been developed to derive the true CME speed, size, position, and mass, among others. Difficulties in determining the input parameters for CME forecasting models arise from the lack of direct measurements of the coronal magnetic fields and uncertainties in estimating the CME 3D geometric and kinematic parameters after eruption. White-light coronagraph images are usually employed by a variety of CME reconstruction techniques that assume more or less complex geometries. This is the first study from our International Space Science Institute (ISSI) team “Understanding Our Capabilities in Observing and Modeling Coronal Mass Ejections”, in which we explore how subjectivity affects the 3D CME parameters that are obtained from the Graduated Cylindrical Shell (GCS) reconstruction technique, which is widely used in CME research. To be able to quantify such uncertainties, the “true” values that are being fitted should be known, which are impossible to derive from observational data. We have designed two different synthetic scenarios where the “true” geometric parameters are known in order to quantify such uncertainties for the first time. We explore this by using two sets of synthetic data: 1) Using the ray-tracing option from the GCS model software itself, and 2) Using 3D magnetohydrodynamic (MHD) simulation data from the Magnetohydrodynamic Algorithm outside a Sphere code. Our experiment includes different viewing configurations using single and multiple viewpoints. CME reconstructions using a single viewpoint had the largest errors and error ranges overall for both synthetic GCS and simulated MHD white-light data. As the number of viewpoints increased from one to two, the errors decreased by approximately 4° in latitude, 22° in longitude, 14° in tilt, and 10° in half-angle. Our results quantitatively show the critical need for at least two viewpoints to be able to reduce the uncertainty in deriving CME parameters. We did not find a significant decrease in errors when going from two to three viewpoints for our specific hypothetical three spacecraft scenario using synthetic GCS white-light data. As we expected, considering all configurations and numbers of viewpoints, the mean absolute errors in the measured CME parameters are generally significantly higher in the case of the simulated MHD white-light data compared to those from the synthetic white-light images generated by the GCS model. We found the following CME parameter error bars as a starting point for quantifying the minimum error in CME parameters from white-light reconstructions: Δθ (latitude)=6° +2° -3° , Δϕ (longitude)=11° +18° -6° , Δγ (tilt)=25° +8° -7° , Δx (half-angle)=10° +12° -6° , Δh (height)=0.6 +1.2 -0.4 R ⨀ , and Δκ (ratio)=0.1 +0.03 -0.02 .

Coronal mass ejections↗

NASA NTRS2022

Quantifying Errors in 3D CME Parameters Derived From Synthetic Data Using White-Light Reconstruction Techniques

Current efforts in space weather forecasting of CMEs have been focused on predicting their arrival time and magnetic structure. To make these predictions, methods have been developed to derive the true CME speed, size, position, and mass, among others. Difficulties in determining the input parameters for CME forecasting models arise from the lack of direct measurements of the coronal magnetic fields and uncertainties in estimating the CME 3D geometric and kinematic parameters after eruption. White-light coronagraph images are usually employed by a variety of CME reconstruction techniques that assume more or less complex geometries. This is the first study from our International Space Science Institute (ISSI) team “Understanding Our Capabilities in Observing and Modeling Coronal Mass Ejections”, in which we explore how subjectivity affects the 3D CME parameters that are obtained from the Graduated Cylindrical Shell (GCS) reconstruction technique, which is widely used in CME research. To be able to quantify such uncertainties, the “true” values that are being fitted should be known, which are impossible to derive from observational data. We have designed two different synthetic scenarios where the “true” geometric parameters are known in order to quantify such uncertainties for the first time. We explore this by using two sets of synthetic data: 1) Using the ray-tracing option from the GCS model software itself, and 2) Using 3D magnetohydrodynamic (MHD) simulation data from the Magnetohydrodynamic Algorithm outside a Sphere code. Our experiment includes different viewing configurations using single and multiple viewpoints. CME reconstructions using a single viewpoint had the largest errors and error ranges overall for both synthetic GCS and simulated MHD white-light data. As the number of viewpoints increased from one to two, the errors decreased by approximately 4° in latitude, 22° in longitude, 14° in tilt, and 10° in half-angle. Our results quantitatively show the critical need for at least two viewpoints to be able to reduce the uncertainty in deriving CME parameters. We did not find a significant decrease in errors when going from two to three viewpoints for our specific hypothetical three spacecraft scenario using synthetic GCS white-light data. As we expected, considering all configurations and numbers of viewpoints, the mean absolute errors in the measured CME parameters are generally significantly higher in the case of the simulated MHD white-light data compared to those from the synthetic white-light images generated by the GCS model. We found the following CME parameter error bars as a starting point for quantifying the minimum error in CME parameters from white-light reconstructions: Δθ (latitude)=6° +2° -3° , Δϕ (longitude)=11° +18° -6° , Δγ (tilt)=25° +8° -7° , Δx (half-angle)=10° +12° -6° , Δh (height)=0.6 +1.2 -0.4 R ⨀ , and Δκ (ratio)=0.1 +0.03 -0.02 .

Coronal mass ejections↗

NASA NTRS2013

Optimal Propellant Maneuver Flight Demonstrations on ISS

In this paper, first ever flight demonstrations of Optimal Propellant Maneuver (OPM), a method of propulsive rotational state transition for spacecraft controlled using thrusters, is presented for the International Space Station (ISS). On August 1, 2012, two ISS reorientations of about 180deg each were performed using OPMs. These maneuvers were in preparation for the same-day launch and rendezvous of a Progress vehicle, also a first for ISS visiting vehicles. The first maneuver used 9.7 kg of propellant, whereas the second used 10.2 kg. Identical maneuvers performed without using OPMs would have used approximately 151.1kg and 150.9kg respectively. The OPM method is to use a pre-planned attitude command trajectory to accomplish a rotational state transition. The trajectory is designed to take advantage of the complete nonlinear system dynamics. The trajectory choice directly influences the cost of the maneuver, in this case, propellant. For example, while an eigenaxis maneuver is kinematically the shortest path between two orientations, following that path requires overcoming the nonlinear system dynamics, thereby increasing the cost of the maneuver. The eigenaxis path is used for ISS maneuvers using thrusters. By considering a longer angular path, the path dependence of the system dynamics can be exploited to reduce the cost. The benefits of OPM for the ISS include not only reduced lifetime propellant use, but also reduced loads, erosion, and contamination from thrusters due to fewer firings. Another advantage of the OPM is that it does not require ISS flight software modifications since it is a set of commands tailored to the specific attitude control architecture. The OPM takes advantage of the existing ISS control system architecture for propulsive rotation called USTO control mode1. USTO was originally developed to provide ISS Orbiter stack attitude control capability for a contingency tile-repair scenario, where the Orbiter is maneuvered using its robotic manipulator relative to the ISS. Since 2005 USTO has been used for nominal ISS operations.

Bhatt, Sagar↗

NASA NTRS1985

Spiral bevel and circular arc helical gears: Tooth contact analysis and the effect of misalignment on circular arc helical gears

A computer aided method for tooth contact analysis was developed and applied. Optimal machine-tool settings for spiral bevel gears are proposed and when applied indicated that kinematic errors can be minimized while maintaining a desirable bearing contact. The effect of misalignment for circular arc helical gears was investigated and the results indicted that directed pinion refinishing can compensate the kinematic errors due to misalignment.

Litvin, F. L.↗

NASA NTRS1993

Non-recursive augmented Lagrangian algorithms for the forward and inverse dynamics of constrained flexible multibodies

A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive global Lagrangian approach is used in formulating the equations for motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.

Bayo, Eduardo↗

DOE OSTI2020

Impact of isolation and fiducial cuts on qT and N-jettiness subtractions

Kinematic selection cuts and isolation requirements are a necessity in experimental measurements for identifying prompt leptons and photons that originate from the hard-interaction process of interest. We analyze how such cuts affect the application of the q T and N-jettiness subtraction methods for fixed-order calculations. We consider both fixed-cone and smooth-cone isolation methods. We find that kinematic selection and isolation cuts both induce parametrically enhanced power corrections with considerably slower convergence compared to the standard power corrections that are already present in inclusive cross sections without additional cuts. Using analytic arguments at next-to-leading order we derive their general scaling behavior as a function of the subtraction cutoff. We also study their numerical impact for the case of gluon-fusion Higgs production in the H → γγdecay mode and for pp → γγ direct diphoton production. We find that the relative enhancement of the additional cut-induced power corrections tends to be more severe forq T , where it can reach an order of magnitude or more, depending on the choice of parameters and subtraction cutoffs. We discuss how all such cuts can be incorporated without causing additional power corrections by implementing the subtractions differentially rather than through a global slicing method. We also highlight the close relation of this formulation of the subtractions to the projection-to-Born method.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

NASA NTRS1990

Position control of redundant manipulators using an adaptive error-based control scheme

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Lyapunov direct method under the assumption that the manipulator performs non-compliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗

NASA NTRS1990

Some fundamentals regarding kinematics and generalized forces for multibody dynamics

In order to illustrate the various forms in which generalized forces can arise from diverse subsystem analyses in multibody dynamics, intrinsic dynamical equations for the rotational dynamics of a rigid body are derived from Hamilton's principle. Two types of generalized forces are derived: (1) those associated with the virtual rotation vector in some orthogonal basis, and (2) those associated with varying generalized coordinates. As one physical or kinematical result (such as a frequency or a specific direction cosine) cannot rely on this selection, a 'blind' coupling of two models in which generalized forces are calculated in different ways would be wrong. Both types should use the same rotational coordinates and should denote the virtual rotation on a similar basis according to method 1, or in terms of common rotational coordinates and their diversifications as in method 2. Alternatively, the generalized forces and coordinates of one model may be transformed to those of the other.

Hodges, Dewey H.↗

NASA NTRS1990

A computationally efficient error-based adaptive control scheme for kinematically redundant manipulators

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Liapunov direct method under the assumption that the manipulator performs noncompliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗

NASA NTRS1991

Trajectory optimization for kinematically redundant arms

A review of local optimization methods for resolving joint configurations in underconstrained manipulation tasks is conducted. A new approach is developed for observing joint limits and avoiding obstacles during the trajectory planning. The methodology is used in a four-link arm example to avoid a workspace singularity and is compared with results using the extended Moore-Penrose technique. An alternative measure of arm 'manipulability' based directly on the rank of the Jacobian is also introduced.

Carignan, Craig R.↗

NASA NTRS1989

Determination of joint drives for stable end-effector motion in flexible robotic systems

The prescribed tasks in high speed robotic systems are severely deteriorated because of their manipulator dynamic deflections. On the other hand conventional dynamic modeling techniques fail to reveal appropriate control forces in flexible systems. The conventional dynamic equations of motion for systems subject to kinematical constraints are modified by a new concept of control force representation. The directions of the control forces are selected such that they correspond to the joint degrees of freedom. Then the joint control forces and torques that yield unperturbed prescribed motions are solved simultaneously with the system motion. A flexible manipulator is presented to illustrate the methods proposed.

Ider, Sitki Kemal↗

DOE OSTI2021

Spatial Decorrelation of Young Stars and Dense Gas as a Probe of the Star Formation–Feedback Cycle in Galaxies

The spatial decorrelation of dense molecular gas and young stars observed on ≲1 kpc scales in nearby galaxies indicates rapid dispersal of star-forming regions by stellar feedback. In this work, we explore the sensitivity of this decorrelation to different processes controlling the structure of the interstellar medium, the abundance of molecular gas, star formation, and feedback in a suite of simulations of an isolated dwarf galaxy with structural properties similar to NGC 300 that self-consistently model radiative transfer and molecular chemistry. Our fiducial simulation reproduces the magnitude of decorrelation and its scale dependence measured in NGC 300, and we show that this agreement is due to different aspects of feedback, including H 2 dissociation, gas heating by the locally variable UV field, early mechanical feedback, and supernovae. In particular, early radiative and mechanical feedback affects the correlation on ≲100 pc scales, while supernovae play a significant role on ≳ 100 pc scales. The correlation is also sensitive to the choice of the local star formation efficiency per free fall time, ϵ ff , which provides a strong observational constraint on ϵ ff when the global star formation rate is independent of its value. Finally, we explicitly show that the degree of correlation between the peaks of molecular gas and star formation density is directly related to the distribution of the lifetimes of star-forming regions.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1989

The theory of magnetohydrodynamic wave generation by localized sources. I - General asymptotic theory

The magnetohydrodynamic wave emission from several localized, periodic, kinematically specified fluid velocity fields are calculated using Lighthill's method for finding the far-field wave forms. The waves propagate through an isothermal and uniform plasma with a constant B field. General properties of the energy flux are illustrated with models of pulsating flux tubes and convective rolls. Interference theory from geometrical optics is used to find the direction of minimum fast-wave emission from multipole sources and slow-wave emission from discontinuous sources. The distribution of total flux in fast and slow waves varies with the ratios of the source dimensions l to the acoustic and Alfven wavelengths.

Collins, William↗

NASA NTRS1989

Joint-space adaptive control of a 6 DOF end-effector with closed-kinematic chain mechanism

The development is presented for a joint-space adaptive scheme that controls the joint position of a six-degree-of-freedom (DOF) robot end-effector performing fine and precise motion within a very limited workspace. The end-effector was built to study autonomous assembly of NASA hardware in space. The design of the adaptive controller is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method. In the development, it is assumed that the end-effector performs slowly varying motion. Computer simulation is performed to investigate the performance of the developed control scheme on position control of the end-effector. Simulation results manifest that the adaptive control scheme provides excellent tracking of several test paths.

Nguyen, Charles C.↗

DOE OSTI2021

Nonlinear Interface Reduction for Time-Domain Analysis of Hurty/Craig-Bampton Superelements with Frictional Contact

Virtual prototyping in engineering design relies today on modern numerical models of contacting structures with accurate resolution of interface mechanics, which strongly affect the system-level stiffness and energy dissipation due to frictional losses. High-fidelity modeling within the localized interfaces is required to resolve local quantities of interest that may drive design decisions. The high-resolution finite element meshes necessary to resolve inter-component stresses tend to be computationally expensive, particularly when the analyst is interested in response time histories. The Hurty/Craig-Bampton (HCB) transformation is a widely used method in structural dynamics for reducing the interior portion of a finite element model while having the ability to retain all nonlinear contact degrees of freedom (DOF) in physical coordinates. These models may still require many DOF to adequately resolve the kinematics of the interface, leading to inadequate reduction and computational savings. This study proposes a novel interface reduction method to overcome these challenges by means of system-level characteristic constraint (SCC) modes and properly orthogonal interface modal derivatives (POIMDs) for transient dynamic analyses. Both SCC modes and POIMDs are computed using the reduced HCB mass and stiffness matrices, which can be directly computed from many commercial finite element analysis software. Comparison of time history responses to an impulse-type load in a mechanical beam assembly indicate that the interface-reduced model correlates well with the HCB truth model. Localized features like slip and contact area are well-represented in the time domain when the beam assembly is loaded with a broadband excitation. The proposed method also yields reduced-order models with greater critical timestep lengths for explicit integration schemes.

42 ENGINEERING↗

DOE OSTI2025

Measurement of photonuclear jet production in ultraperipheral Pb + Pb collisions at $\sqrt{s_{NN}}$ = 5.02 TeV with the ATLAS detector

In ultrarelativistic heavy ion collisions at the LHC, each nucleus acts a sources of high-energy real photons that can scatter off the opposing nucleus in ultraperipheral photonuclear (𝛾 + 𝐴) collisions. Hard scattering processes initiated by the photons in such collisions provide a novel method for probing nuclear parton distributions in a kinematic region not easily accessible to other measurements. ATLAS has measured production of dijet and multijet final states in ultraperipheral Pb + Pb collisions at $\sqrt{s_{NN}}$ = 5.02 TeV using a dataset recorded in 2018 with an integrated luminosity of 1.72 nb −1 . Photonuclear final states are selected by requiring a rapidity gap in the photon direction; this selects events where one of the outgoing nuclei remains intact. Jets are reconstructed using the anti-𝑘 t algorithm with radius parameter, 𝑅 = 0.4. Triple-differential cross sections, unfolded for detector response, are measured and presented using two sets of kinematic variables. The first set consists of the total transverse momentum (𝐻 T ), rapidity, and mass of the jet system. The second set uses 𝐻 T and particle-level nuclear and photon parton momentum fractions, 𝑥 A and 𝑧 𝛾 , respectively. The results are compared with leading-order perturbative QCD calculations of photonuclear jet production cross sections, where all leading order predictions using existing fits fall below the data in the shadowing region. More detailed theoretical comparisons will allow these results to strongly constrain nuclear parton distributions, and these data provide results from the LHC directly comparable to early physics results at the planned Electron-Ion Collider.

Parton distribution functions↗

DOE OSTI2022

Observing Profiles of Derived Kinematic Field Quantities Using a Network of Profiling Sites

Abstract Observations of thermodynamic and kinematic parameters associated with derivatives of the thermodynamics and wind fields, namely, advection, vorticity, divergence, and deformation, can be obtained by applying Green’s theorem to a network of observing sites. The five nodes that comprise the Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) profiling network, spaced 50–80 km apart, are used to obtain measurements of these parameters over a finite region. To demonstrate the applicability of this technique at this location, it is first applied to gridded model output from the High-Resolution Rapid Refresh (HRRR) numerical weather prediction model, using profiles from the locations of ARM network sites, so that values calculated from this method can be directly compared to finite difference calculations. Good agreement is found between both approaches as well as between the model and values calculated from the observations. Uncertainties for the observations are obtained via a Monte Carlo process in which the profiles are randomly perturbed in accordance with their known error characteristics. The existing size of the ARM network is well suited to capturing these parameters, with strong correlations to model values and smaller uncertainties than a more closely spaced network, yet it is small enough that it avoids the tendency for advection to go to zero over a large area.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1997

Efficient Sequential Attitude Estimation from Vector Observations

This paper presents a computationally efficient, sequential method for attitude matrix estimation using gyro and vector measurements. The method is based on a recently introduced, minimal-parameter third-order method for solving the orthogonal matrix differential equation in R(sup n). In the three-dimensional case, these third-order attitude parameters can be interpreted as temporal-integrals of the body-frame angular velocity components. A nonlinear algorithm is developed, which uses this minimal set of three parameters to estimate the nine-parameter direction-cosine matrix. Having an extremely simple kinematic equation, these parameters render the resulting estimator highly computationally efficient. An orthogonalization procedure, incorporated into the measurement processing stage, enhances the accuracy and stability of the resulting algorithm, yet retains reasonable simplicity. The performance of the estimator is demonstrated via a Monte Carlo simulation study.

Oshman, Yaakov↗