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NASA NTRS1989

Direct adaptive control of a PUMA 560 industrial robot

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Seraji, Homayoun↗

NASA NTRS1989

Improved vortex methods for three-dimensional flows

Robust numerical methods are developed for three-dimensional incompressible vortical flows, using Lagrangian vortex elements. A successful scheme must be able to handle regions of intense vortex stretching and vortex reconnection with reasonable accuracy (without diverging). Here, consideration is given to vortex particles, also commonly called vortons or vortex sticks. The following issues are discussed: (1) use of delta-function elements and weak solutions of the vorticity equation; (2) use of smoothed elements and the choice of the smoothing function; (3) representation of viscous effects and the redistribution of element strength; and (4) conservation laws (are they satisfied?). The various proposed schemes have been tested on flows involving a strong interaction between two vortex rings.

Winckelmans, G.↗

NASA NTRS1989

The nonlinear breakup of the sun's toroidal field

There are good reasons for believing that the sun has a strong toroidal magnetic field in the stably stratified region of convective overshoot sandwiched between the radiative zone and convective zone proper. The magnetic field in this region is modeled by studying the behavior of a layer of uniform field embedded in a subadiabatic atmosphere. Since the field can support extra mass, such a configuration is top-heavy, and instabilities of the Rayleigh-Taylor type can occur. Numerical integration of the two-dimensional compressible MHD equations makes it possible to follow the evolution of this instability into the nonlinear regime. The initial buoyancy-driven instability of the magnetic field gives rise to strong shearing motions, thereby exciting secondary Kelvin-Helmholtz instabilities which wrap the gas into regions of intense vorticity. The somewhat surprising subsequent motions are determined primarily by the strong interactions between vortices.

Hughes, D. W.↗

NASA NTRS1990

Coronal mass ejections and large geomagnetic storms

Previous work indicates that coronal mass ejection (CME) events in the solar wind at 1 AU can be identified by the presence of a flux of counterstreaming solar wind halo electrons (above about 80 eV). Using this technique to identify CMEs in 1 AU plasma data, it is found that most large geomagnetic storms during the interval surrounding the last solar maximum (August 1978 - October 1982) were associated with earth-passage of interplanetary disturbances in which the earth encountered both a shock and the CME driving the shock. However, only about one CME in six encountered by earth was effective in causing a large geomagnetic storm. Slow CMEs which did not interact strongly with the ambient solar wind ahead were particularly ineffective in a geomagnetic sense.

Gosling, J. T.↗

NASA NTRS1990

NTT images of ultraluminous infrared galaxies

New Technology Telescope (NTT) images of 16 southern ultraluminous infrared (LIR greater than 10 to the 12th solar luminosities) galaxies in the Local Universe (z less than 0.13) are presented. All these galaxies are strongly interacting systems showing double nuclei, wisps, and tails that are characteristic of advanced mergers. The most spectacular instance of these cosmic accidents is the 'superantenna', a system with long slender tails that extend over 500 kpc. It is concluded that ultraluminous infrared galaxies are mergers of giant spiral galaxies, and that the distinguishing features of tidal interactions in this type of galaxies become blurred at higher redshifts. The CCD images suggest the existence of a critical separation between the colliding galaxies of about 10 kpc at which the merging systems become ultraluminous in the infrared.

Melnick, J.↗

NASA NTRS1989

CFD for applications to aircraft aeroelasticity

Strong interactions of structures and fluids are common in many engineering environments. Such interactions can give rise to physically important phenomena such as those occurring for aircraft due to aeroelasticity. Aeroelasticity can significantly influence the safe performance of aircraft. At present exact methods are available for making aeroelastic computations when flows are in either the linear subsonic or supersonic range. However, for complex flows containing shock waves, vortices and flow separations, computational methods are still under development. Several phenomena that can be dangerous and limit the performance of an aircraft occur due to the interaction of these complex flows with flexible aircraft components such as wings. For example, aircraft with highly swept wings experience vortex induced aeroelastic oscillations. Correct understanding of these complex aeroelastic phenomena requires direct coupling of fluids and structural equations. Here, a summary is presented of the development of such coupled methods and applications to aeroelasticity since about 1978 to present. The successful use of the transonic small perturbation theory (TSP) coupled with structures is discussed. This served as a major stepping stone for the current stage of aeroelasticity using computational fluid dynamics. The need for the use of more exact Euler/Navier-Stokes (ENS) equations for aeroelastic problems is explained. The current development of unsteady aerodynamic and aeroelastic procedures based on the ENS equations are discussed. Aeroelastic results computed using both TSP and ENS equations are discussed.

Guruswamy, Guru P.↗

NASA NTRS1990

Multi-waveband observations of colliding galaxies

Colliding galaxies represent a major challenge to both theorists and observers because of the large variety of phenomena which are expected to come into play during the interaction. Strong gravitational fluctuations may drive non-linear waves and instabilities throughout the stars and gas leading to enhanced star formation, nuclear activity and ultimately a mixing of the morphological components of the original galaxies. One relatively uncomplicated class of colliding galaxy where stellar waves play an important role in star formation are ring galaxies. Ring galaxies are probably formed when a companion galaxy passes through the center of a disk system driving circular waves through the disk (Lynds and Toomre 1976, Toomre 1978, Struck-Marcell 1990). Off-center collisions can generate non-circular waves and can be loosely described as banana-shaped although they may exhibit more complex forms as the waves expand into the disk. The propagation of such stellar and gaseous waves through the disk leads to enhanced star formation (e.g., Appleton and Struck-Marcell 1987a; Jeske 1986) and provides a unique probe of the response of the interstellar medium (ISM) to a propagating wave (see Appleton and Struck-Marcell 1987b). Here, the authors report results for 3 systems; the irregular ring Arp 143 (=VV 117); Wakamatsu's Seyfert ring (A0959-755; see Wakamatsu and Nishida 1987) and the brighter member of the pair of ring galaxies comprising of AM 1358-221. The most complete multi-wavelength data is for Arp 143. Optical charge coupled device (CCD) observations made with the 60 inch Palomar telescope at BV and r band, near-IR images at J (1.25 microns), H (1.65 microns) and k (2.2 microns) bands from the infrared camera (IRCAM) InSb array camera on the 3.8m United Kingdon Infrared Telescope (UKIRT) telescope and very large array (VLA) observations at 20cm in both the neutral hydrogen line and radio continuum are described. The observations of Wakamatsu's ring and AM 1358 were made only in the near-IR, and a comparison is made with available optical plate material.

Appleton, P. N.↗

NASA NTRS1991

Astrophysics and cosmology confront the 17 keV neutrino

A host of astrophysical and cosmological arguments severely constrain the properties of a 17 keV Dirac neutrino. Such a neutrino must have interactions beyond those of the standard electroweak theory to reduce its cosmic abundance (through decay or annihilation) by a factor of two hundred. A predicament arises because the additional helicity states of the neutrino necessary to construct a Dirac mass must have interactions strong enough to evade the astrophysical bound from SN 1987A, but weak enough to avoid violating the bound from primordial nucleosynthesis.

Kolb, Edward W.↗

NASA NTRS1991

NASA 1990 Multisensor Airborne Campaigns (MACs) for ecosystem and watershed studies

The Multisensor Airborne Campaign (MAC) focus within NASA's former Land Processes research program was conceived to achieve the following objectives: to acquire relatively complete, multisensor data sets for well-studied field sites, to add a strong remote sensing science component to ecology-, hydrology-, and geology-oriented field projects, to create a research environment that promotes strong interactions among scientists within the program, and to more efficiently utilize and compete for the NASA fleet of remote sensing aircraft. Four new MAC's were conducted in 1990: the Oregon Transect Ecosystem Research (OTTER) project along an east-west transect through central Oregon, the Forest Ecosystem Dynamics (FED) project at the Northern Experimental Forest in Howland, Maine, the MACHYDRO project in the Mahantango Creek watershed in central Pennsylvania, and the Walnut Gulch project near Tombstone, Arizona. The OTTER project is testing a model that estimates the major fluxes of carbon, nitrogen, and water through temperate coniferous forest ecosystems. The focus in the project is on short time-scale (days-year) variations in ecosystem function. The FED project is concerned with modeling vegetation changes of forest ecosystems using remotely sensed observations to extract biophysical properties of forest canopies. The focus in this project is on long time-scale (decades to millenia) changes in ecosystem structure. The MACHYDRO project is studying the role of soil moisture and its regulating effects on hydrologic processes. The focus of the study is to delineate soil moisture differences within a basin and their changes with respect to evapotranspiration, rainfall, and streamflow. The Walnut Gulch project is focused on the effects of soil moisture in the energy and water balance of arid and semiarid ecosystems and their feedbacks to the atmosphere via thermal forcing.

Wickland, Diane E.↗

NASA NTRS1991

A water tunnel flow visualization study of the vortex flow structures on the F/A-18 aircraft

The vortex flow structures occurring on the F/A-18 aircraft at high angles of attack were studied. A water tunnel was used to gather flow visualization data on the forebody vortex and the wing leading edge extension vortex. The longitudinal location of breakdown of the leading edge vortex was found to be consistently dependent on the angle of attack. Other parameters such as Reynolds number, model scale, and model fidelity had little influence on the overall behavior of the flow structures studied. The lateral location of the forebody vortex system was greatly influenced by changes in the angle of sideslip. Strong interactions can occur between the leading edge extension vortex and the forebody vortex. Close attention was paid to vortex induced flows on various airframe components of the F/A-18. Reynolds number and angle of attack greatly affected the swirling intensity, and therefore the strength of the studied vortices. Water tunnel results on the F/A-18 correlated well with those obtained in similar studies at both full and sub scale levels. The water tunnel can provide, under certain conditions, good simulations of realistic flows in full scale configurations.

Sandlin, Doral R.↗

NASA NTRS1990

Auroral precipitation flux of ions and electrons in Saturn's outer magnetosphere

This paper examines particles and fields data obtained by Voyager in Saturn's outer magnetosphere with a view toward assessing the role that medium-energy ions and electrons have in stimulating the UV aurora. The magnetic field displays a high level of fluctuation of two characteristic types: large-scale coherent depressions in the field strength associated with the plumes of Titan and a small-scale incoherent turbulence presumed to be a consequence of the high-beta plasma environment. Electrons are assumed to interact strongly with lower hybrid waves and are accelerated to energies of a few kiloelectron volts. The available energy input to the aurora by protons is 5 x 10 to the 9th W, while an upper bound to that of N(+) ions is about 2 x 10 to the 10th W. Electrons in the range 1-10 keV can contribute upward of 5 x 10 to the 10th W and perhaps more if a field-aligned potential drop above the aurora is present. It is concluded that electrons are most likely the primary precipitation energy source for the aurora as a result of energy transfer from Titanogenic N(+) pickup ions in a corotation-dominated magnetosphere.

Barbosa, D. D.↗

NASA NTRS1990

Natural inflation with pseudo Nambu-Goldstone bosons

It is shown that a pseudo-Nambu-Goldstone boson of given potential can naturally give rise to an epoch of inflation in the early universe. Mass scales which arise in particle physics models with a gauge group that becomes strongly interacting at a certain scales are shown to be conditions for successful inflation. The density fluctuation spectrum is nonscale-invariant, with extra power on large length scales.

Freese, Katherine↗

NASA NTRS1991

He(2+) heating at a quasi-parallel shock

The first observations of solar wind He(2+) heating downstream from the earth's quasi-parallel shock is presented. These observations show that in conjunction with protons, two different regions are observed. In regions where the proton distribution is cooler, more dense, and similar to that observed downstream from quasi-perpendicular shocks, the He(2+) distribution is shell-like, also similar to that observed downstream from quasi-perpendicular shocks. In regions where the proton distribution is hotter, less dense, and Maxwellian-like, the He(2+) distribution is also Maxwellian-like without evidence for a shell. These observations support the interpretation that the nearly isotropic proton and He(2+) distributions are produced through the strong interaction of a very dense specularly reflected proton beam with the incident solar wind, while the cooler proton distributions and shell-like He(2+) distributions are produced in a manner similar to that at the quasi-perpendicular bow shock.

Fuselier, S. A.↗

NASA NTRS1991

Astrophysics and cosmology confront the 17-keV neutrino

Kolb, Edward W.↗

NASA NTRS1991

Adaptive finite element analysis of hypersonic laminar flows for aerothermal load predictions

The use of an adaptive mesh refinement procedure for analyzing hypersonic laminar flows with application to aerothermal load predictions is described. The adaptation procedure, which uses both quadrilateral and triangular elements, is implemented with the multistep Galerkin-Runge-Kutta scheme. Elements that lie in regions of strong gradients are refined based on indicators to obtain better definition of flow features. The effectiveness of the adaptive procedure is demonstrated by modeling Mach 11.7 flow over a 15-deg ramp. Numerical results are compared with predictions of strong interaction theories and experimental data. Surface quantities such as heating rates and pressure loads, critical for the effective design of high-speed vehicles, are found to be in good agreement with experimental values.

Ramakrishnan, R.↗

NASA NTRS1991

Tidal evolution of planetary satellites

Early in the history of the Solar System, Europa and Ganymede may have evolved through a 3:1 mean-motion commensurability, which would have been encountered prior to the establishment of the current Laplace resonance involving Io, Europa, and Ganymede. If Europa and Ganymede passed through the 3:1 mean-motion commensurability, the orbital eccentricities of both satellites may have increased to large values during a phase of chaotic behavior, after which the satellites would have escaped from the resonance. In spite of the relatively large J sub 2 of Jupiter, Europa, and Ganymede are sufficiently massive and distant from the planet that resonances at the 3:1 mean-motion commensurability interact strongly, leading to chaotic behavior via the same kinds of dynamical mechanisms present at resonances among the Uranian satellites. As a result of the large eccentricity increases possible during the evolution of Europa and Ganymede through the 3:1 mean-motion commensurability, tidal heating may have melted water ice in the mantles of both satellites, and stresses on the lithosphere of both satellites due to tidal deformation may have been sufficient to cause extensive fracturing, making resurfacing possible. This may account for the post-heavy bombardment geological activity on both Europa and Ganymede. In addition, the effects of resonance passage on Ganymede may provide an explanation of the Ganymede-Callisto dichotomy by providing Ganymede with an intense source of internal heat and lithospheric stress not present in Callisto. Further possibilities of this evolution are presented.

Tittemore, William C.↗

NASA NTRS1991

Emission processes and dynamics of hot gases in astrophysics

A detailed model was developed for Kepler's supernova remnant (SNR). Observations of the SNR revealed a strong interaction with the surrounding circumstellar medium, which was studied through both analytical and numerical calculations. Effects were studied of electron thermal conduction on the structure of radiative interstellar shock waves. An explanation is sought for the observed line emission from metal rich ejecta in SNR, incorporating atomic data. Light echoes around SN 1987A was also studied. Analysis of infrared and scattered circumstellar light echoes was accomplished with early observations to set limits on the mass of circumstellar dust. Work was completed on the emission from heavy element gas ejected in the supernova explosion of massive stars. It was assumed that a radioactive energy source was present and calculated the detailed heating and ionization of the gas. The evolution was studied of SNR in the very high pressure environment of a starburst galaxy.

Chevalier, Roger A.↗

NASA NTRS1992

Electromagnetic processes in nucleus-nucleus collisions relating to space radiation research

Most of the papers within this report deal with electromagnetic processes in nucleus-nucleus collisions which are of concern in the space radiation program. In particular, the removal of one and two nucleons via both electromagnetic and strong interaction processes has been extensively investigated. The theory of relativistic Coulomb fission has also been developed. Several papers on quark models also appear. Finally, note that the theoretical methods developed in this work have been directly applied to the task of radiation protection of astronauts. This has been done by parameterizing the theoretical formalism in such a fashion that it can be used in cosmic ray transport codes.

Norbury, John W.↗