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A technique utilizing finite element analysis, liquid impact kinematics, and momentum theory is described and compared to single-drop impact test data performed on various configurations of coated ceramic material. The method correlates well with test data and is useful in predicting the single-drop impact damage velocity threshold for low-density, coated ceramic materials.
Inspection of output from various configurations of high-resolution, explicit convection forecast models such as the Weather Research and Forecasting (WRF) model indicates significant sensitivity to the choices of model physics pararneterizations employed. Some of the largest apparent sensitivities are related to the specifications of the cloud microphysics and planetary boundary layer physics packages. In addition, these sensitivities appear to be especially pronounced for the weakly-sheared, multicell modes of deep convection characteristic of the Deep South of the United States during the boreal summer. Possible ocean-land sensitivities also argue for further examination of the impacts of using unique ocean-land surface initialization datasets provided by the NASA Short-term Prediction Research and Transition (SPoRn Center to select NOAAlNWS weather forecast offices. To obtain better quantitative understanding of these sensitivities and also to determine the utility of the ocean-land initialization data, we have executed matrices of regional WRF forecasts for selected convective events near Mobile, AL (MOB), and Houston, TX (HGX). The matrices consist of identically initialized WRF 24-h forecasts using any of eight microphysics choices and any of three planetary boWldary layer choices. The resulting 24 simulations performed for each event within either the MOB or HGX regions are then compared to identify the sensitivities of various convective storm metrics to the physics choices. Particular emphasis is placed on sensitivities of precipitation timing, intensity, and coverage, as well as amount and coverage oflightuing activity diagnosed from storm kinematics and graupel in the mixed phase layer. The results confirm impressions gleaned from study of the behavior of variously configured WRF runs contained in the ensembles produced each spring at the Center for the Analysis and Prediction of Storms, but with the benefit of more straightforward control of the physics package choices. The design of the experiments thus allows for more direct interpretation of the sensitivities to each possible physics combination. The results should assist forecasters in their efforts to anticipate and correct for possible biases in simulated WRF convection patterns, and help the modeling community refine their model parameterizations.
Inspection of output from various configurations of high-resolution, explicit convection forecast models such as the Weather Research and Forecasting (WRF) model indicates significant sensitivity to the choices of model physics parameterizations employed. Some of the largest apparent sensitivities are related to the specifications of the cloud microphysics and planetary boundary layer physics packages. In addition, these sensitivities appear to be especially pronounced for the weakly-sheared, multicell modes of deep convection characteristic of the Deep South of the United States during the boreal summer. Possible ocean-land sensitivities also argue for further examination of the impacts of using unique ocean-land surface initialization datasets provided by the NASA Short-term Prediction Research and Transition (SPoRT Center to select NOAA/NWS weather forecast offices. To obtain better quantitative understanding of these sensitivities and also to determine the utility of the ocean-land initialization data, we have executed matrices of regional WRF forecasts for selected convective events near Mobile, AL (MOB), and Houston, TX (HGX). The matrices consist of identically initialized WRF 24-h forecasts using any of eight microphysics choices and any of three planetary boundary layer choices. The resulting 24 simulations performed for each event within either the MOB or HGX regions are then compared to identify the sensitivities of various convective storm metrics to the physics choices. Particular emphasis is placed on sensitivities of precipitation timing, intensity, and coverage, as well as amount and coverage of lightning activity diagnosed from storm kinematics and graupel in the mixed phase layer. The results confirm impressions gleaned from study of the behavior of variously configured WRF runs contained in the ensembles produced each spring at the Center for the Analysis and Prediction of Storms, but with the benefit of more straightforward control of the physics package choices. The design of the experiments thus allows for more direct interpretation of the sensitivities to each possible physics combination. The results should assist forecasters in their efforts to anticipate and correct for possible biases in simulated WRF convection patterns, and help the modeling community refine their model parameterizations.
COSIE (Coronal Spectrographic Imager in the Extreme Ultraviolet) is a proposed solar tracking ISS imaging payload that will help bridge the theoretical gap between the physics of the low corona and the heliosphere. This scientific instrument requires high pointing accuracy, on the order of arc seconds. The instrument is mounted on to a three revolute joint robotic arm in order to track the roll, pitch and yaw motion of the Sun. The goal of this project is to construct a prototype model of the robotic arm and implement the proposed analytical inverse kinematics algorithm. In robotics, the inverse kinematics problem is solving for the set of joint angles that achieve the desired end effect or location and/or orientation. In this case, orientation is the focus. Depending on the configuration, multiple sets of joint angle solutions may exist. Due to the complexity of robotics, typically iterative methods are used to solve for the joint angle solution sets. However, in this case, an analytical solution exists. A small robotic arm representative of the full size hardware was constructed. The inverse kinematics algorithm, originally in MATLAB/Simulink, was converted into C in order to interface with the motors. This C software was implemented on a Windows PC and micro-controller, and serial communication between the two was established, allowing the motors to be directly controlled by the inverse kinematics algorithm. Testing the inverse kinematics on a physical system will allow the validity and accuracy of the analytic solution to be verified.
Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.
BACKGROUND: The Active Response Gravity Offload System (ARGOS) provides an analog environment for extravehicular activity (EVA) testing and training. Discomfort has been observed during longer suited test sessions. While the subject’s core is offloaded during surface EVA evaluations, his/her arms experience full Earth gravity and can become overly fatigued, especially during suited tests which involve reaching and prolonged arm extensions. A device (ARGOS Negation of Gravitational Effects on the Limbs: ANGEL) to offload the weight of the arms and suit sleeves is being developed by JSC’s Flight Systems Branch of the Software, Robotics, and Simulation Division. Previously we have shared preliminary modeling of that device and kinematics based on motion capture data. Here we present an alternative approach to determine device kinematics by calculating ANGEL component angles with an OpenSim plugin. We compare calculated angles to inverse kinematics (IK) derived ones with the goal of validating the model. This new method can be further informative for device design and analytically testing different configurations to achieve desired reduced gravity conditions (e.g., lunar gravity (Lg) or Martian gravity (Mg)). We have compared calculated angles with IK-derived angles in tests with a shirt-sleeve subject positioned in a test stand with a Mark-III Hard Upper Torso (HUT) and Portable Life Support System (PLSS) mockup and arm weights to emulate the weight of the suit sleeve as well as a suited subject in ARGOS with a Mark-III suit. A variety of upper body tasks were completed in the former and full-body tasks in the latter. METHODS AND RESULTS: To model the offload device, we augment the OpenSim human model topology with the offload mechanism components and joints, using CAD models to represent the mechanism graphically. The joint angles of the device are calculated in the OpenSim plugin by modeling how the components configure themselves under the offloading spring tension given a particular IK-derived arm position. There are four ANGEL components with a total of 5 degrees of freedom (DOFs), each component has a single DOF except for the cuff which is modeled as 2 DOFs. The sickle/yaw bracket and cuff rotation angles are determined statically based on the assumptions that the sickle will track the attachment point of the cuff and that the cuff will rotate such that the attachment point is at its highest point. The cuff tilt, linker and V-bracket angles are then determined by optimizing their positions to approach a mechanical equilibrium. The calculated linker angle is compared to three different methods of determining the linker line-of-force kinematically (from V-bracket to center-cuff, cuff highest point or marker-derived position). Given the joint angles of the device, the spring force and resulting force on the arm is computed by the plugin and applied as an external load in inverse dynamics (ID) to enable study of overall shoulder joint torques as well as offload achieved. We verify the calculated joint angles by using the inverse kinematic data. The average difference in angles is the smallest for the V-bracket and linker, around 1 to 5 degrees for most trials. The resulting offload and shoulder torque are comparable between calculated and IK-derived angles. In summary, we have developed a method to calculate the joint angles of an exoskeleton-like upper limb offloading device currently in development. We have also developed a custom plugin which will be a valuable tool to optimize device configurations for a desired gravitational environment, probe the offload achieved for motions recorded outside of our test suite, and inform future design improvements.
BACKGROUND: The Active Response Gravity Offload System (ARGOS) provides an analog environment for extravehicular activity (EVA) testing and training. Discomfort has been observed during longer suited test sessions. While the subject’s core is offloaded during surface EVA evaluations, his/her arms experience full Earth gravity and can become overly fatigued, especially during suited tests which involve reaching and prolonged arm extensions. A device (ARGOS Negation of Gravitational Effects on the Limbs: ANGEL) to offload the weight of the arms and suit sleeves is being developed by JSC’s Flight Systems Branch of the Software, Robotics, and Simulation Division. Previously we have shared preliminary modeling of that device and kinematics based on motion capture data. Here we present an alternative approach to determine device kinematics by calculating ANGEL component angles with an OpenSim plugin. We compare calculated angles to inverse kinematics (IK) derived ones with the goal of validating the model. This new method can be further informative for device design and analytically testing different configurations to achieve desired reduced gravity conditions (e.g., lunar gravity (Lg) or Martian gravity (Mg)). We have compared calculated angles with IK-derived angles in tests with a shirt-sleeve subject positioned in a test stand with a Mark-III Hard Upper Torso (HUT) and Portable Life Support System (PLSS) mockup and arm weights to emulate the weight of the suit sleeve as well as a suited subject in ARGOS with a Mark-III suit. A variety of upper body tasks were completed in the former and full-body tasks in the latter. METHODS AND RESULTS: To model the offload device, we augment the OpenSim human model topology with the offload mechanism components and joints, using CAD models to represent the mechanism graphically. The joint angles of the device are calculated in the OpenSim plugin by modeling how the components configure themselves under the offloading spring tension given a particular IK-derived arm position. There are four ANGEL components with a total of 5 degrees of freedom (DOFs), each component has a single DOF except for the cuff which is modeled as 2 DOFs. The sickle/yaw bracket and cuff rotation angles are determined statically based on the assumptions that the sickle will track the attachment point of the cuff and that the cuff will rotate such that the attachment point is at its highest point. The cuff tilt, linker and V-bracket angles are then determined by optimizing their positions to approach a mechanical equilibrium. The calculated linker angle is compared to three different methods of determining the linker line-of-force kinematically (from V-bracket to center-cuff, cuff highest point or marker-derived position). Given the joint angles of the device, the spring force and resulting force on the arm is computed by the plugin and applied as an external load in inverse dynamics (ID) to enable study of overall shoulder joint torques as well as offload achieved. We verify the calculated joint angles by using the inverse kinematic data. The average difference in angles is the smallest for the V-bracket and linker, around 1 to 5 degrees for most trials. The resulting offload and shoulder torque are comparable between calculated and IK-derived angles. In summary, we have developed a method to calculate the joint angles of an exoskeleton-like upper limb offloading device currently in development. We have also developed a custom plugin which will be a valuable tool to optimize device configurations for a desired gravitational environment, probe the offload achieved for motions recorded outside of our test suite, and inform future design improvements.
The design of a modified fault inferring nonlinear detection system (FINDS) algorithm for a dual-processor configured flight computer is described. The algorithm was changed in order to divide it into its translational dynamics and rotational kinematics and to use it for parallel execution on the flight computer. The FINDS consists of: (1) a no-fail filter (NFF), (2) a set of test-of-mean detection tests, (3) a bank of first order filters to estimate failure levels in individual sensors, and (4) a decision function. NFF filter performance using flight recorded sensor data is analyzed using a filter autoinitialization routine. The failure detection and isolation capability of the partitioned algorithm is evaluated. A multirate implementation for the bias-free and bias filter gain and covariance matrices is discussed.
Observations at a resolving power or a velocity resolution are reported of the interstellar D(sub 1) line of Na I in the spectra of gamma Cas, delta Ori, epsilon Ori, pi Sco, delta Cyg, and alpha Cyg. An echelle grating was used in a double-pass configuration with a CCD detector in the coude spectrograph of the 2.7 m reflector at McDonald Observatory. At least 42 kinematically distinct clouds are detected along the light paths to the five more distant stars, in addition to a single cloud seen toward delta Cyg. The absorption lines arising in 13 of the clouds are sufficiently narrow and unblended to reveal clearly resolved hyperfine structure components split by 1.05 km/s. An additional 13 clouds apparently show comparably narrow, but more strongly blended, lines. For each individual cloud, upper limits T(sub max) and (v sub t)(sub max) on the temperature and the turbulent velocity, respectively, are derived by fitting the observed lines with theoretical absorption profiles.
Observations at a resolving power or a velocity resolution are reported of the interstellar D(sub 1) line of Na I in the spectra of Gamma Cas, Delta Ori, Epsilon Ori, Pi Sco, Delta Cyg, and Alpha Cyg. An echelle grating was used in a double-pass configuration with a CCD detector in the coude spectrograph of the 2.7 m reflector at McDonald Observatory. At least 42 kinematically distinct clouds are detected along the light paths to the five more distant stars, in addition to a single cloud seen toward Delta Cyg. The absorption lines arising in 13 of the clouds are sufficiently narrow and unblended to reveal clearly resolved hyperfine structure components split by 1.05 km/s. An additional 13 clouds apparently show comparably narrow, but more strongly blended, lines. For each individual cloud, upper limits T(sub max) and (v sub t) (sub max) on the temperature and the turbulent velocity, respectively, are derived by fitting the observing lines with theoretical absorption profiles.
Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend vs. squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of 'lumped' control parameters, that is, control points and vectors.
The problem of radome diffraction in radar-controlled homing missiles at high speeds and high altitudes is considered from the point of view of developing a control system configuration which will alleviate the deleterious effects of the diffraction. It is shown that radome diffraction is in essence a kinematic feedback of body angular velocities which causes the radar to sense large apparent line-of-sight angular velocities. The normal control system cannot distinguish between the erroneous and actual line-of-sight rates, and entirely wrong maneuvers are produced which result in large miss distances. The problem is resolved by adding to the control system a special-purpose computer which utilizes measured body angular velocity to extract from the radar output true line-of-sight information for use in steering the missile. The computer operates on the principle of sampling and storing the radar output at instants when the body angular velocity is low and using this stored information for maneuvering commands. In addition, when the angular velocity is not low the computer determines a radome diffraction compensation which is subtracted from the radar output to reduce the error in the sampled information. Analog simulation results for the proposed control system operating in a coplanar (vertical plane) attack indicate a potential decrease in miss distance to an order of magnitude below that for a conventional system. Effects of glint noise, random target maneuvers, initial heading errors, and missile maneuverability are considered in the investigation.
The results of a wind tunnel test program to determine the performance loads and dynamic characteristics of the Composite Flexbeam Tail Rotor (CFTR) for the AH-64 Advanced Attack Helicopter are reported. The CFTR uses an elastomeric shear attachment of the flexbeam to the hub to provide soft-inplane S-mode and stiff-inplane C-mode configuration. The properties of the elastomer were selected for proper frequency placement and scale damping of the inplane S-mode. Kinematic pitch-lag coupling was introduced to provide the first cyclic inplane C-mode damping at high collective pitch. The CFTR was tested in a wind tunnel over the full slideslip envelop of the AH-64. It is found that the rotor was aeroelastically stable throughout the complete collective pitch range and up to rotor speeds of 1403 rpm. The dynamic characteristics of the rotor were found to be satisfactory at all pitch angles and rotor speeds of the tunnel tests. The design characteristics of the rotor which permit the high performance characteristics are discussed. Several schematic drawings and photographs of the rotor are provided.
The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.
A hand controller evaluation process has been developed to determine the appropriate hand controller configurations for supporting remotely controlled devices. These devices include remote manipulator systems (RMS), dexterous robots, and remotely-piloted free flyers. Standard interfaces were developed to evaluate six different hand controllers in three test facilities including dynamic computer simulations, kinematic computer simulations, and physical simulations. The hand controllers under consideration were six degree-of-freedom (DOF) position and rate minimaster and joystick controllers, and three-DOF rate controllers. Task performance data, subjective comments, and anthropometric data obtained during tests were used for controller configuration recommendations to the SSF Program.
Carrier landing-approach studies of a tailless delta-wing fighter airplane disclosed that approach speeds were limited by ability to control altitude and lateral-directional characteristics. More detailed flight studies of the handling-qualities characteristics of the airplane in the carrier-approach configuration documented a number of factors that contributed to the adverse comments on the lateral-directional characteristics. These were: (1) the tendency of the airplane to roll around the highly inclined longitudinal axis, so that significant sideslip angles developed in the roll as a result only of kinematic effects; (2) reduction of the rolling response to the ailerons because of the large dihedral effect in conjunction with the kinematically developed sideslip angles; and (3) the onset of rudder lock at moderate angles of sideslip at the lowest speeds with wing tanks installed. The first two of the factors listed are inseparably identified with this type of configuration which is being considered for many of the newer designs and may, therefore, represent a problem which will be encountered frequently in the future. The results are of added significance in the demonstration of a typical situation in which extraneous factors occupy so much of the pilot's attention that his capability of coping with the problems of precise flight-path control is reduced, and he accordingly demands a greater speed margin above the stall to allow for airspeed fluctuations.
Spacesuits are critical to performing spacewalks or EVA, however can increase injury risks due to - Spacesuit Fit Concerns: Astronauts come from a diverse population; Improper suit fit will result in persistent contact and mechanical pressure on the body. - Altered Biomechanics: Mechanical constraints and pressurization can make it difficult due to - Reduced range of motion, Reduced strength capability. To improve suit design and mitigate injuries, kinematic and geometric measurements are required during EVA evaluations - Human motions inside a spacesuit may not coincide with the suit motions: Spacesuit configurations do not exactly match with human anatomical joints; Gaps/paddings inside the suit induce lags between human motion and suit motion - Conventional motion capture or 3-D scanning techniques are difficult to use to measure internal motion: Optical occlusions; Volume restrictions; Ferrous magnetic interference.
NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.