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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 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Experimental and modeling study of water time histories during H 2 S-N 2 O combustion in a shock tube

Here, with the interest in directly burning sour gas in gas turbines, and the fact that even small amounts of H 2 S or its combustion products can alter combustion characteristics, many research studies have been performed to better understand the combustion chemistry of H 2 S. In the present study, the water formation was followed by laser absorption with N 2 O as an oxidant, instead of O 2 . Nitrous Oxide being essentially consumed via N 2 O (+M) ⇌ N 2 + O (+M), the water formation via the H 2 S + O route can then be probed to further validate the models. Three H 2 S/N 2 O mixtures diluted in 98% Ar were studied to cover the following range of equivalence ratios: 0.5, 1.0, and 2.0, over a wide range of temperatures (1580–1940 K) around atmospheric pressure. A chemical kinetic model was then developed first by validating the base N 2 O kinetics mechanism, then by investigating the experimental results presented herein. The N 2 O kinetics mechanism was updated with recent work on the low- and high-pressure limits for N 2 O decomposition (N 2 O (+M) ⇌ N 2 + O (+M)) as well as a review of rate coefficients for N 2 O + H ⇌ N 2 + OH from the literature. Good agreement is shown for H 2 /N 2 O mixtures. Updates were then made to the H 2 S kinetics mechanism, specifically, an update from the literature on SO 2 + H (+M) ⇌ SO + OH (+M) and an adjustment to SO + SH ⇌ S 2 + OH. Additionally, reactions between SH and N 2 O were determined using W1BD data and transition state theory which required the addition of an NNS sub-mechanism. With these updates, the mechanism provides good agreement with the H 2 S/N 2 O experiments.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRSDate not supplied

RTCA Special Committee 228 Working Group (DAA) 1

The Radio Technical Commission for Aeronautics (RTCA) is an American organization comprised of government, industry, and academic stakeholders in aviation for the purpose of providing technical guidance to regulatory authorities. In late 2022, RTCA Special Committee 228 (Minimum Performance Standards for Unmanned Aircraft Systems) decided to form a working group to study a burgeoning multi-vehicle, supervisory control paradigm colloquially known as "m:N" (vocalized as "em-to-en"). Within the m:N control paradigm, multiple aircraft (N) are collaboratively managed by a body of operators/pilots (m). This presentation describes the scope of the m:N working group and its goal of producing an Operational Service and Environment Definition (OSED) for m:N operations.

RTCA↗
NASA NTRS1994

One-dimensional multispecies magnetohydrodynamic models of the ramside ionosphere of Titan

The interaction of the Saturnian magnetosphere with the ionosphere of Titan has much in common with the solar wind interaction with nonmagnetic bodies in general. A one-dimensional magnetohydrodynamic model was developed, for radial distances of 1.3 to 2 Titan radii (R(sub T)), to study the dynamics of H2CN(+), C(sub n) H(sub m) (+) (n, m greater than z), C2H5(+), and CH5(+), in the ramside ionosphere of Titan. For the case of a dayside ramside ionosphere (solar zenith angle of 60 degs) we found that the external magnetospheric plasma interacting with Titan's ionosphere produced a very broad region of ionospheric magnetic field whose peak field strength was approximately 26 nT. The ionosphere was magnetized well below the ionospheric peak, allowing ionizing Saturnian magnetospheric electrons access to this region. The sources of ionization and the electron temperature profiles incorporated into the model depend on the relative locations of Titan, Saturn, and the Sun. The calculated electron and ion density profiles as well as the magnetic field profile also depend on the relative positions of Titan, Saturn, and the Sun.

Keller, C. N.↗
DOE OSTI2021

Butterfly Factorization Via Randomized Matrix-Vector Multiplications

This paper presents an adaptive randomized algorithm for computing the butterfly factorization of an m × n matrix with m ≈ n provided that both the matrix and its transpose can be rapidly applied to arbitrary vectors. The resulting factorization is composed of O(log n) sparse factors, each containing O(n) nonzero entries. The factorization can be attained using O(n 3/2 log n) computation and O(n log n) memory resources. Furthermore, the proposed algorithm can be implemented in parallel and can apply to matrices with strong or weak admissibility conditions arising from surface integral equation solvers as well as multi-frontal-based finite-difference, finite-element, or finite-volume solvers. A distributed-memory parallel implementation of the algorithm demonstrates excellent scaling behavior.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1987

Pressure structure of solar coronal loops

The steady state pressure structure of a coronal loop is discussed in terms of the MHD global invariants of an incompressible plasma. The steady state is represented by the superposition of two Chandrasekhar-Kendall functions corresponding to (n=m=0) and (n=m=1) modes. The relative contribution of the two modes (epsilon) is found to depend on the surface pressure of the coronal loop which is also the pressure of the external medium. The mixed mode state does not exist for high values of the external pressure because epsilon becomes complex.

Krishan, V.↗
DOE OSTI2020

Atomically dispersed metal–nitrogen–carbon catalysts for fuel cells: advances in catalyst design, electrode performance, and durability improvement

The urgent need to address the high-cost issue of proton-exchange membrane fuel cell (PEMFC) technologies, particularly for transportation applications, drives the development of simultaneously highly active and durable platinum group metal-free (PGM-free) catalysts and electrodes. The past decade has witnessed remarkable progress in exploring PGM-free cathode catalysts for the oxygen reduction reaction (ORR) to overcome sluggish kinetics and catalyst instability in acids. Among others, scientists have identified the newly emerging atomically dispersed transition metal (M: Fe, Co, or/and Mn) and nitrogen co-doped carbon (M–N–C) catalysts as the most promising alternative to PGM catalysts. Here, we provide a comprehensive review of significant breakthroughs, remaining challenges, and perspectives regarding the M–N–C catalysts in terms of catalyst activity, stability, and membrane electrode assembly (MEA) performance. A variety of novel synthetic strategies demonstrated effectiveness in improving intrinsic activity, increasing active site density, and attaining optimal porous structures of catalysts. Rationally designing and engineering the coordination environment of single metal MN x sites and their local structures are crucial for enhancing intrinsic activity. Increasing the site density relies on the innovative strategies of restricting the migration and agglomeration of single metal sites into metallic clusters. Relevant understandings provide the correlations among the nature of active sites, nanostructures, and catalytic activity of M–N–C catalysts at the atomic scale through a combination of experimentation and theory. Current knowledge of the transferring catalytic properties of M–N–C catalysts to MEA performance is limited. Rationally designing morphologic features of M–N–C catalysts play a vital role in boosting electrode performance through exposing more accessible active sites, realizing uniform ionomer distribution, and facilitating mass/proton transports. We outline future research directions concerning the comprehensive evaluation of M–N–C catalysts in MEAs. The most considerable challenge of current M–N–C catalysts is the unsatisfied stability and rapid performance degradation in MEAs. Therefore, we further discuss practical methods and strategies to mitigate catalyst and electrode degradation, which is fundamentally essential to make M–N–C catalysts viable in PEMFC technologies.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2025

A Measurement of the Neutron Electromagnetic Form Factor Ratio from a Rosenbluth Technique with Simultaneous Detection of Neutrons and Protons

The internal structure of protons and neutrons provides insight into both the dynamical behavior of the constitute quarks and gluons, and emergent properties of the nucleons (such as mass, spin, and electromagnetic distributions). Elastic electron-nucleon scattering can probe the elastic electromagnetic form factors of the nucleon. The electric and magnetic form factors, respectively, encode information about the internal charge and magnetization distributions within the nucleon. Precision data for these form factors, over a broad range of the four-momentum transfer squared, Q^2, can benchmark theoretical models describing the strong interaction of nuclear physics. The Super BigBite Spectrometer (SBS) program in Hall A at Jefferson Lab, is a series of high-precision experiments which seek to significantly extend the Q^2 reach of previous data for the nucleon electromagnetic form factors. The first two experiments of this program are known as G_M^n and the neutron Two Photon Exchange (nTPE) and the data were collected from October 2021 to February 2022. Both experiments were conducted with the simultaneous measurement of D(e,e'n) and D(e,e'p) reactions for quasi-elastic electron-deuteron scattering. The scattered electrons were detected in the BigBite Spectrometer, which features multiple large-acceptance Gas Electron Multiplier (GEM) detectors. The Super BigBite Spectrometer provided simultaneous detection of scattered nucleons, and utilized a large acceptance dipole magnet and Hadron Calorimeter (HCal). The G_M^n experiment provides precision measurements of the neutron magnetic form factor, via the ratio method, over a Q^2 range of 3.0 to 13.5 (GeV/c)2. From this data analysis, preliminary values for G_M^n/µ_n G_D are extracted. For Q^2=4.48 (GeV/c)2 we find G_M^n/µ_n G_D=0.9546±0.0132 and for Q^2=4.476 (GeV/c)2 we find G_M^n/µ_n G_D=0.9563±0.0110. These preliminary G_M^n/µ_n G_D values are more precise than existing world data in this Q^2 regime and are consistent with the most recent parameterization of the G_M^n/µ_n G_D world data. The nTPE experiment provides a first measurement of the neutron Rosenbluth Slope and seeks to quantify the two-photon exchange(TPE) contribution to elastic electron-neutron scattering at a fixed Q^2=4.5 (GeV/c)2 with two different beam energies and scattering angle values. For data of the proton form factor ratio, µ_p G_E^p/G_M^p, significant discrepancies exist between values obtained from Rosenbluth Separation and polarization transfer measurement, particularly at large Q^2, and TPE contributions are thought to resolve this discrepancy. The impacts of TPE contributions have not yet been experimentally established for the neutron. From the data analysis presented in this dissertation, a preliminary result for the neutron Rosenbluth Slope is found as S^n=(G_E^n )^2/t_n (G_M^n )^2=0.0916±0.0476 for Q^2=4.48 (GeV/c)2. This value of the neutron Rosenbluth Slope is consistent with the world data extrapolation and the absence of large TPE corrections.

Wertz, Ezekiel [Thomas Jefferson National Accelera↗
DOE OSTI2021

Geophysical and Environmental Monitoring Data, Lower Watershed, Teller Road Mile Marker 27, Seward Peninsula, Alaska, 2017-2019

This data set contains geophysical and environmental monitoring data acquired between September 2017 and 2019 at the lower Teller watershed, Seward Peninsula, Alaska. Geophysical data comprises processed resistivity data, acquired daily between Spring and Fall of 2018 and 2019, and a baseline measurement of Fall 2017. The environmental monitoring data comprises depth resolved, distributed soil moisture and soil temperature data. These measurements were obtained used Decagon 5TE sensors placed at 0.1 m, 0.2 m , 0.3 m, and 0.4 m depth. In addition, temperature data at 0.5 m, 1.0 m, and 1.5 m were acquired using Hobo temperature sensors. Data were collected to improve our understanding of the hydrological response of discontinuous permafrost systems, in particular focusing on multi-annual dynamics and short term disturbances, such as snowmelt or precipitation events. The electrical resistivity tomography (ERT) monitoring data are included as processed resistivity models, with model cells x dimension equal to the distance along the profile, and model z dimension being elevation. The start and end point of the transect are (UTM Zone 3N): E 454881.66 m, N 7178949.45 m, and E 454772.60, N 7178885.81. Locations of the soil moisture and temperature sensors are provided in the data package. This dataset is discussed in detail in the Uhlemann, S. et al 2021 paper listed in the references. This dataset includes one *.pdf user guide and 315 *.csv data files included within four zipped files.The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research.The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska.Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Ring Size Effects on the Structures of Sandwich Compounds with a Stoichiometry of C 12 H 12 M (M = Ti–Ni)

Ring size effects on geometries and electronic structures were investigated for the (C n H n )M(C m H m ) (n = 4, 5, or 6; m = 8, 7, or 6; m + n = 12; M = Ti–Ni) systems using density functional theory. The lowest-energy C 12 H 12 M structures for the early transition metals titanium, vanadium, and chromium are the experimentally known singlet (η 5 -C 5 H 5 )Ti(η 7 -C 7 H 7 ), doublet (η 5 -C 5 H 5 )V(η 7 -C 7 H 7 ), and singlet (η 6 -C 6 H 6 ) 2 Cr, respectively. The likewise experimentally known singlet (η 6 -C 6 H 6 ) 2 Ti, doublet (η 6 -C 6 H 6 ) 2 V, and singlet (η 5 -C 5 H 5 )Cr(η 7 -C 7 H 7 ) are the secondlowest- energy structures with only a small energy difference between the two vanadium structures. For the later transition metals, dibenzenemetal complexes are the lowest-energy C 12 H 12 M species with two fully bonded hexahapto benzene rings in the lowest-energy manganese and iron derivatives and one hexahapto and one dihapto benzene ring in the lowest-energy cobalt and nickel derivatives. The lowest-energy (C 5 H 5 )M(C 7 H 7 ) structures for the later transition metals iron, cobalt, and nickel have partially bonded nonplanar C 7 H 7 rings with one or two uncomplexed C=C bonds. The (C 4 H 4 )M(C 8 H 8 ) (M = Ti–Ni) structures with the metal sandwiched between four- and eight-membered rings were found to be much higher in energy than their (C 5 H 5 )M(C 7 H 7 ) and (C 6 H 6 ) 2 M isomers.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2020

Effect of Molecular Weight and Layer Thickness on Dielectric Breakdown Strength of Neat and Homopolymer Swollen Lamellar Block Copolymer Films

Designing next-generation lightweight pulsed power devices hinges on understanding the factors influencing the energy storage performance of dielectric materials. Polymer dielectric films have a quadratic dependence of energy storage on the voltage breakdown strength and strategies to enhance the breakdown strength are expected to yield a path toward high energy storage densities. Highly stratified lamellar block copolymer (L-BCP) films of model polystyrene-b-polymethylmethacrylate (PS-b-PMMA) exhibited as much as ~50% enhancement in breakdown voltage (E BD ), (225 % increase in stored energy density, U~ E BD 2 ), compared to unordered as-cast L-BCP films. Such an energy density using amorphous polymer is on par with industry-standard semi-crystalline biaxially oriented polypropylene (BOPP), and as such a notable development in the field. This work develops a deeper understanding of the molecular mechanisms of E BD enhancement in L-BCP films, due to combination of interface formation and spatial isolation of the chain ends into segregated zones. We further confirm the role of chain ends in the breakdown process blending a low M n L-BCP with matched M n homopolymers to attain same layer spacing as neat L-BCP of higher M n . E BD shows a significant decrease at low homopolymer fractions due to increased net chain end density within swollen ordered L-BCP domains in wet-brush regime, followed by increased E BD due to layer thickness increase via segregated “interphase layer” formation by excess homopolymers. Notably, E BD of homopolymer swollen L-BCPs is always lower than neat L-BCP of the same domain spacing, due to overall adverse chain ends contribution from homopolymers. These findings provide important selection rules for L-BCPs for designing next-generation flexible electronics with high energy density solid-state BCP film capacitors.

36 MATERIALS SCIENCE↗
DOE OSTI2020

Isolating the Contributions of Specific Network Sites to the Diffuse Vibrational Spectrum of Interfacial Water with Isotopomer-Selective Spectroscopy of Cold Clusters

Decoding the structural information contained in the interfacial vibrational spectrum of water requires understanding how the spectral signatures of individual water molecules respond to their local hydrogen bonding environments. In this study, we isolated the contributions for the five classes of sites that differ according to the number of donor (D) and acceptor (A) hydrogen bonds that characterize each site. These patterns were measured by exploiting the unique properties of the water cluster cage structures formed in the gas phase upon hydration of a series of cations M+·(H2O)n (M = Li, Na, Cs, NH4, CH3NH3, H3O, and n = 5, 20-22). This selection of ions was chosen to systematically express the A, AD, AAD, ADD, and AADD hydrogen bonding motifs. The spectral signatures of each site were measured using two-color, IR-IR isotopomer-selective photofragmentation vibrational spectroscopy of the cryogenically cooled, mass selected cluster ions in which a single intact H2O is introduced without isotopic scrambling, an important advantage afforded by the cluster regime. The resulting patterns provide an unprecedented picture of the intrinsic line shapes and spectral complexities associated with excitation of the individual OH groups, as well as the correlation between the frequencies of the two OH groups on the same water molecule, as a function of network site. The properties of the surrounding water network that govern this frequency map are evaluated by dissecting electronic structure calculations that explore how changes in the nearby network structures, both within and beyond the first hydration shell, affect the local frequency of an OH oscillator. The qualitative trends are recovered with a simple model that correlates the OH frequency with the network-modulated local electron density in the center of the OH bond.

Yang, Nan↗
DOE OSTI2025

Exploring baryon resonances with transition generalized parton distributions: status and perspectives

QCD gives rise to a rich spectrum of excited baryon states. Understanding their internal structure is important for many areas of nuclear physics, such as nuclear forces, dense matter, and neutrino-nucleus interactions. Generalized parton distributions (GPDs) are an established tool for characterizing the QCD structure of the ground-state nucleon. They are used to create 3D tomographic images of the quark/gluon structure and quantify the mechanical properties such as the distribution of mass, angular momentum, and forces in the system. Transition GPDs extend these concepts to N → N* transitions and can be used to characterize the 3D structure and mechanical properties of baryon resonances. They can be probed in high-momentum-transfer exclusive electroproduction processes with resonance transitions e + N → e' + M + N*, such as deeply-virtual Compton scattering (M = γ) or meson production (M = π, K, etc.), and in related photon/hadron-induced processes. This White Paper describes a research program aiming to explore baryon resonance structure with transition GPDs. This includes the properties and interpretation of the transition GPDs, theoretical methods for structures and processes, first experimental results from JLab 12 GeV, future measurements with existing and planned facilities (JLab detector and energy upgrades, COMPASS/AMBER, EIC, EicC, J-PARC, LHC ultraperipheral collisions), and the theoretical and experimental developments needed to realize this program.

Experimental Nuclear Physics↗
DOE OSTI2023

N-induced soil acidification triggers metal stimulation of soil methane oxidation in a temperate steppe ecosystem

Methane (CH 4 ) is a potent greenhouse gas, and it is well established that low nitrogen (N) stimulates- and high N suppresses CH 4 oxidation in grassland ecosystems. Here, in this study, we examined the response of CH 4 uptake to long-term (>10 years) multi-level N additions in a temperate steppe of northern China. The N impacts on CH 4 uptake transitioned from positive to negative at the N addition rate of 4 g N m -2 y -1 . However, the high-N suppression on CH 4 uptake was partially relieved when the continuous (>10 years) high N inputs (16 g N m -2 y -1 to 64 g N m -2 y -1 ) caused soil pH drop to < 5.7. Further experiments revealed that continuous high-N inputs acidified soil to pH < 5.7 that released metal ions to stimulate monooxygenase enzyme activity; therefore, the CH 4 oxidation suppression was partially relieved under continuous N loading. Structural equation model results confirmed that metal ions, such as Iron (Fe 3+ ), Manganese (Mn 4+ ), and Copper (Cu) desorbed by soil particles, were negatively correlated with soil pH while positively correlated with CH 4 oxidation under high N inputs. These analyses suggested that continuous high N inputs-induced soil acidification can release previously bounded metal elements that partially alleviated the N suppression on CH 4 uptake. The N-induced soil acidification impacts on CH 4 uptake might play a critical role in global CH 4 cycling and deserve further investigation as external N inputs continue climbing.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2021

Variational Quantum Algorithms for Semidefinite Programming

A semidefinite program (SDP) is a particular kind of convex optimization problem with applications in operations research, combinatorial optimization, quantum information science, and beyond. In this work, we propose variational quantum algorithms for approximately solving SDPs. For one class of SDPs, we provide a rigorous analysis of their convergence to approximate locally optimal solutions, under the assumption that they are weakly constrained (i.e., N " M, where N is the dimension of the input matrices and M is the number of constraints). We also provide algorithms for a more general class of SDPs that requires fewer assumptions. Finally, we numerically simulate our quantum algorithms for applications such as MaxCut, and the results of these simulations provide evidence that convergence still occurs in noisy settings.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2020

Modeling Catalyzed Growth of Single-Wall Carbon Nanotubes (Final Report)

Single-walled carbon nanotubes (SWCNTs) are among the most promising nanostructures because of their special and unusual physico-chemical properties that make them strong candidates for a variety of applications. Since their discovery, chemical vapor deposition (CVD) methods have become the preferred synthesis method. CVD uses a carbon-containing precursor species, which is decomposed over a catalyst yielding C atoms that eventually evolve in carbon nanostructures. CVD temperatures are in the order of 1000K or lower, and pressures in the range of 1-5 atm, although some processes use higher pressures. Depending on the nature of the catalyst, and on the conditions of pressure, temperature, and presence of other inert compounds, the resultant nanostructures may include nanofibers, nano-onions, multiple-, or single-wall carbon nanotubes, among others. When the CVD synthesis process is appropriately tuned, however, it is possible to obtain only SWCNTs, which are geometrically characterized by their diameter and by their chiral angle. The chiral indexes (n,m) determine the degree of helical twist of the graphite lattice along the nanotube axis, where the term chirality is derived from the left and right-handed helicity of the tubes defined by their chiral indexes (n,m) and (m,n) respectively. The main goal of this research is to build fundamental understanding that will help elucidating the nature and structure of the actual catalyst in a combined catalyst/support system, which we claim is essential especially when the catalyst is of nanodimensions. Given that we are considerably advanced in the understanding of selective single-walled carbon nanotube catalyst synthesis, we take this process as a case study. Thus, we focus on the understanding of the selective growth of SWCNTs on supported nanocatalysts in systems where the catalyst synthesis takes place in the same reactor preceding the nanotube synthesis. Once we understand what type of catalyst structure would be necessary for this specific growth, we will try to elucidate the catalytic synthesis process that leads to such catalytic structure. Thus, our aim of controlling nanostructure synthesis may start to be delineated.

36 MATERIALS SCIENCE↗
NASA NTRS1988

Programmable pipelined image processor

A pipelined image processor selectively interconnects modules in a column of a two-dimensional array to modules of the next column of the array of modules 1,1 through M,N, where M is the number of modules in one dimension and N is the number of modules in the other direction. Each module includes two input selectors for A and B inputs, two convolvers, a binary function operator, a neighborhood comparison operator which produces an A output and an output selector which may select as a B output the output of any one of the components in the module, including the A output of the neighborhood comparison operator. Each module may be connected to as many as eight modules in the next column, preferably with the majority always in a different row that is up (or down) in the array for a generally spiral data path around the torus thus formed. The binary function operator is implemented as a look-up table addressed by the most significant 8 bits of each 12-bit argument. The table output includes a function value and the slopes for interpolation of the two arguments by multiplying the 4 least significant bits in multipliers and adding the products to the function value through adders.

Donald B Gennery↗
NASA NTRS1995

Dynamic analysis of astronaut motions in microgravity: Applications for Extravehicular Activity (EVA)

Simulations of astronaut motions during extravehicular activity (EVA) tasks were performed using computational multibody dynamics methods. The application of computational dynamic simulation to EVA was prompted by the realization that physical microgravity simulators have inherent limitations: viscosity in neutral buoyancy tanks; friction in air bearing floors; short duration for parabolic aircraft; and inertia and friction in suspension mechanisms. These limitations can mask critical dynamic effects that later cause problems during actual EVA's performed in space. Methods of formulating dynamic equations of motion for multibody systems are discussed with emphasis on Kane's method, which forms the basis of the simulations presented herein. Formulation of the equations of motion for a two degree of freedom arm is presented as an explicit example. The four basic steps in creating the computational simulations were: system description, in which the geometry, mass properties, and interconnection of system bodies are input to the computer; equation formulation based on the system description; inverse kinematics, in which the angles, velocities, and accelerations of joints are calculated for prescribed motion of the endpoint (hand) of the arm; and inverse dynamics, in which joint torques are calculated for a prescribed motion. A graphical animation and data plotting program, EVADS (EVA Dynamics Simulation), was developed and used to analyze the results of the simulations that were performed on a Silicon Graphics Indigo2 computer. EVA tasks involving manipulation of the Spartan 204 free flying astronomy payload, as performed during Space Shuttle mission STS-63 (February 1995), served as the subject for two dynamic simulations. An EVA crewmember was modeled as a seven segment system with an eighth segment representing the massive payload attached to the hand. For both simulations, the initial configuration of the lower body (trunk, upper leg, and lower leg) was a neutral microgravity posture. In the first simulation, the payload was manipulated around a circular trajectory of 0.15 m radius in 10 seconds. It was found that the wrist joint theoretically exceeded its ulnal deviation limit by as much as 49. 8 deg and was required to exert torques as high as 26 N-m to accomplish the task, well in excess of the wrist physiological limit of 12 N-m. The largest torque in the first simulation, 52 N-m, occurred in the ankle joint. To avoid these problems, the second simulation placed the arm in a more comfortable initial position and the radius and speed of the circular trajectory were reduced by half. As a result, the joint angles and torques were reduced to values well within their physiological limits. In particular, the maximum wrist torque for the second simulation was only 3 N-m and the maximum ankle torque was only 6 N-m.

Newman, Dava J.↗