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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 1,099 records · Page 61
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Graph Theory Roots of Spatial Operators for Kinematics and Dynamics

Spatial operators have been used to analyze the dynamics of robotic multibody systems and to develop novel computational dynamics algorithms. Mass matrix factorization, inversion, diagonalization, and linearization are among several new insights obtained using such operators. While initially developed for serial rigid body manipulators, the spatial operators and the related mathematical analysis have been shown to extend very broadly including to tree and closed topology systems, to systems with flexible joints, links, etc. This work uses concepts from graph theory to explore the mathematical foundations of spatial operators. The goal is to study and characterize the properties of the spatial operators at an abstract level so that they can be applied to a broader range of dynamics problems. The rich mathematical properties of the kinematics and dynamics of robotic multibody systems has been an area of strong research interest for several decades. These properties are important to understand the inherent physical behavior of systems, for stability and control analysis, for the development of computational algorithms, and for model development of faithful models. Recurring patterns in spatial operators leads one to ask the more abstract question about the properties and characteristics of spatial operators that make them so broadly applicable. The idea is to step back from the specific application systems, and understand more deeply the generic requirements and properties of spatial operators, so that the insights and techniques are readily available across different kinematics and dynamics problems. In this work, techniques from graph theory were used to explore the abstract basis for the spatial operators. The close relationship between the mathematical properties of adjacency matrices for graphs and those of spatial operators and their kernels were established. The connections hold across very basic requirements on the system topology, the nature of the component bodies, the indexing schemes, etc. The relationship of the underlying structure is intimately connected with efficient, recursive computational algorithms. The results provide the foundational groundwork for a much broader look at the key problems in kinematics and dynamics. The properties of general graphs and trees of nodes and edge were examined, as well as the properties of adjacency matrices that are used to describe graph connectivity. The nilpotency property of such matrices for directed trees was reviewed, and the adjacency matrices were generalized to the notion of block weighted adjacency matrices that support block matrix elements. This leads us to the development of the notion of Spatial Kernel Operator SKO kernels. These kernels provide the basis for the development of SKO resolvent operators.

Jain, Abhinandan↗
NASA NTRS2020

Lunar Technology with Roots in SBIR/STTR Will Reach the Moon in 2021

Astrobotic, a small business based in Pittsburgh, PA, received more than $80 million in contracts from NASA to support various aspects of the agency’s return to the Moon. The company’s compact lunar rover and precision lunar lander technology, which will deliver payloads to the lunar surface, were developed with funds from the NASA SBIR/STTR Program.

SBIR/STTR, small business↗
NASA NTRS2020

FOSSIL—Finding Our Cosmic Roots

FOSSIL (Fragments from the Origins of the Solar System and our Interstellar Locale) is a concept to explore the largest solar system object visible to the unaided eye—the zodiacal cloud. The cloud’s many dust particles are each a tiny time capsule from a comet or asteroid. The FOSSIL concept is for the in situ compositional analysis of interplanetary dust particles, and also of the particles passing through the solar system from interstellar space. By measuring the zodiacal and interstellar particles’ velocity vectors and compositions, the approach resolves fundamental questions about the solar system’s origins. The FOSSIL concept is to: (1) Discover whether today’s local interstellar dust matches the composition of the feedstock from which the solar system formed; (2) Determine whether comets’ fine-grained component preserves unprocessed pre-solar dust or shows signs of processing in the early solar system; and (3) Learn whether comets’ and asteroids’ organic material share a common source or formed from distinct reservoirs. The FOSSIL concept is based on the use of a Dust Telescope (DT) with the capability to measure the composition and the velocity vector of dust particles to unambiguously separate interstellar from interplanetary particles, and identify a subset of zodiacal particles that are exclusively cometary. In the DT, particles pass through the trajectory sensor unharmed and impact a target plate, where they are vaporized and partially ionized. The ions are electrostatically focused onto a detector where the time-of-flight mass spectrum is recorded, enabling measurement of the composition of the interstellar solids, detection of cometary minerals altered by high temperatures or exposure to liquid water in the early solar system, and the characterization of the organic materials from the comets and asteroids that are still being delivered to the Earth today. FOSSIL’s objectives crosscut several disciplines with planetary science. Astrophysics interests lie in understanding interstellar solar matter and the only debris disk accessible in situ. Heliophysics interest is in the verification of large-scale heliospheric magnetic field models by the measured effect on the motion of electrically charged interstellar dust. Reporting the makeup of interplanetary dust that ablates in our atmosphere is valuable to Earth sciences. FOSSIL’s DT is scalable and can be accommodated to a variety of mission opportunities, without restriction on launch dates, and for a large number of possible orbits.

Turner, Neal↗