SEARCH · Search NASA

Results for “KINEMATICS”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 145 records · Page 8

All sources NASA NTRS DOE OSTI

NASA NTRS1991

Is the kinematically distinct core in NGC 5982 necessarily the remnant of an accreted companion?

NGC 5982 is an elliptical galaxy with a 'kinematically distinct core' whose projected rotation axis is about 90 deg away from that of the galaxy's outer parts. Distinct cores in other ellipticals have been attributed to dynamically distinct subsystems that are the remnants of accreted companions. Here, a model for NGC 5982 is presented in which the kinematic twist in the core results simply from the projection of the major families of circulating orbits in a triaxial potential. Orbits in the model are populated smoothly, and the core is not a dynamical subsystem. The model predicts a complicated overall velocity field for the galaxy, with particularly low velocity amplitudes (15 km/s or less) along a direction 150 deg counterclockwise from the major axis, a direction not yet observed spectroscopically.

Statler, Thomas S.↗

NASA NTRS1991

Origin of kinematic subsystems in elliptical galaxies

The formation of a counterrotating central gas disk in a merger of two gas-rich disk galaxies of equal mass is demonstrated. Such a structure may well account for the unusual gas kinematics found in the merger remnant NGC7252. Continued star formation in such gaseous disks may produce central components with decoupled kinematics resembling the cores of some elliptical galaxies.

Hernquist, Lars↗

NASA NTRS1991

Spatial operator approach to under-actuated manipulator kinematics and dynamics

A study is made of the kinematics and dynamics of under-actuated manipulators. The presence of passive hinges causes the kinematics and dynamics of these manipulators to be considerably more complex when compared with fully actuated manipulators. Techniques from the spatial operator algebra are used to develop expressions for the generalized Jacobian, the mass matrix, and an efficient inverse dynamics computational algorithm.

Jain, A.↗

NASA NTRS1992

Global/local analysis of laminated composite plates using variable kinematic finite elements

A finite element modeling methodology is developed for the hierarchical, global/local analysis of laminated composite plates. The method incorporates a new variable kinematics, displacement-based, finite element that is developed using a multiple assumed displacement field approach. The variable kinematic elements provide a great degree of flexibility in defining the transverse (through thickness) variation of the assumed displacement field. The resulting finite element model permits different subregions of the computational domain to be described by different mathematical models. Enforcing displacement continuity along subregion boundaries requires only the specification of certain homogeneous essential boundary conditions, thus avoiding the inconvenience of multi-point constraints, penalty function methods, or special transition elements.

Robbins, D. H., Jr.↗

NASA NTRS1992

A kinematic analysis of the modified flight telerobotic servicer manipulator system

A reverse kinematic analysis is presented of a six-DOF subchain of a modified seven-DOF flight telerobotic servicer manipulator system. The six-DOF subchain is designated as a TR-RT chain, which describes the sequence of manipulator joints beginning with the first grounded hook joint (universal joint) T, where the sequence R-R designates a pair of revolute joints with parallel axes. At the outset, it had been thought that the reverse kinematic analysis would be similar to a TTT manipulator previously analyzed, in which the third and fourth joints intersected at a finite point. However, this is shown not the case, and a 16th-degree tan-half-angle polynomial is derived for the TR-RT manipulator.

Crane, Carl↗

NASA NTRS1992

Inverse kinematics problem in robotics using neural networks

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

Choi, Benjamin B.↗

NASA NTRS1993

The effect of tidal fields on the shapes and kinematics of dark halos

We have carried out a series of N-body simulations to investigate the effect of tidal shear on the structure and kinematics of dark halos. We simulate the collapse of density perturbations using a tree code as described in Dubinski & Carlberg (1991). Density peaks are selected from a random realization of a CDM density field and used as the initial conditions for N-body simulations. We use an experimental approach to examine the effects of tidal shear on collapse. The cosmological tidal field is treated as an external time dependent potential whose strength and orientation can be varied freely. We examine the effects of the tidal field with two experiments. In the first experiment, we simulate a sample of 14 dark halos from the collapse of density peaks in the presence of a 1(sigma) tidal field. In the second experiment, we use the same initial conditions though the tidal field is turned off allowing an experimental control for comparison to highlight the influence of tidal shear on the development of the structure and kinematics of the dark halos.

Dubinski, John↗

NASA NTRS1993

Emission line gas in early-type galaxies: Kinematics and physical conditions

Recent studies have found line emission gas in nearby early-type galaxies, but the properties of the emission-line gas in these 'normal' galaxies remain enigmatic. In terms of activity in the nucleus, these LINER-like galaxies form an important link between giant H 2 region galaxies and low-luminosity Seyferts. Despite their large numbers and evolutionary significance, we do not know whether these galaxies form a homogeneous class of objects; nor do we know how the distribution and kinematics of the line emission gas are affected by the host galaxy's environment or by the properties of the central engine, if present. To address these issues we are conducting a magnitude and volume limited survey of nearby early-type galaxies at Lick Observatory and the Michigan-Dartmouth-MIT Observatory. We have selected approximately 100 galaxies from radio catalogs. A large sample is necessary because while studies of individual 'LINERS' have led to a certain understanding of the phenomenon, these studies have not provided a global framework. Here we present results from our first run of medium resolution (approximately 5 A FWHM) spectroscopy. Kinematic data and line ratios determined along the major and minor axes of 6 galaxies are discussed. The information gleaned from spectroscopic data, when combined with data at other wavelengths, will enable a thorough investigation into the nature of low luminosity nuclear activity.

Deustua, S. E.↗

NASA NTRS1992

A spatial, kinematical, and dynamical analysis of Abell 400

The paper presents a detailed spatial, kinematical, and dynamical analysis for the cluster A400, based on a nearly complete redshift survey of bright galaxies within 1 Mpc of the cluster center. A dispersed component with a high fraction of spiral galaxies at a velocity of 8200 km/s, and a background group with a mean velocity of 13,400 km/s are identified. It is proposed that the main body of A400 is composed of at least two individual subclusters. If subclustering is ignored, the derived dispersion of the 88 galaxies with measured velocities within 4000 km/s of the bright dumbbell galaxy near the cluster center is 702 km/s. When kinematic information is used to split A400 into likely subclusters, the velocity dispersions of the individual units which make up this cluster are on the order of 200-300 km/s. If A400 is considered a single entity, the inferred blue mass-to-light ratio is 1210 solar masses/solar luminosities. It is argued that A400 is an example of a presently occurring merger, and that the individual components of the dumbbell galaxy were once individual D galaxies within the premerger subclusters.

Beers, Timothy C.↗

NASA NTRS1993

Kinematics of metal-poor giants in an inner-halo field, with implications for disk formation

A sample of approximately 100 predominantly metal-weak giants, identified in a high-latitude field towards the galactic center using an automated objective-prism survey technique, is presented. Abundances and radial velocities have been measured for these giants, whose distances from the Sun range from 1 to 18 kpc. While the extremely metal-weak stars in the field have halo kinematics, the majority of the stars with intermediate abundance have thick disk kinematics, despite the fact that their average distance from the galactic plane is 3 kpc. The most satisfactory explanation for this effect is that the inner halo is moderately flattened, and the metal-weak stars of the thick disk have a scale height of about 2 kpc. It is suggested that the thick disk may have formed in a dissipational collapse, rather than in a separate event such as the accretion of a small satellite galaxy.

Morrison, Heather L.↗

NASA NTRS1992

Visualization of redundancy resolution for kinematically redundant robots through the Jacobian null space

We present a unified formulation for the inverse kinematics of redundant arms, based on a special formulation of the null space of the Jacobian. By extending (appropriately re-scaling) previously used null space parameterizations, we obtain, in a unified fashion, the manipulability measure, the null space projector, and particular solutions for the joint velocities. We obtain the minimum norm pseudo-inverse solution as a projection from any particular solution, and the method provides an intuitive visualization of the self-motion. The result is a computationally efficient, consistent approach to computing redundant robot inverse kinematics.

Chen, Yu-Che↗

NASA NTRS1992

A feasibility study of hand kinematics for EVA analysis using magnetic resonance imaging

A new method for analyzing the kinematics of joint motion using magnetic resonance imaging (MRI) is described. The reconstruction of the metacarpalphalangeal joint of the left index finger into a 3D graphic display is shown. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones are obtained and processed by analyzing the screw motion of the joint. Landmark positions are chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily 2D planar motion of this joint is then studied using a method of constructing coordinate systems using three or more points. A transformation matrix based on a world coordinate system describes the location and orientation of the local target coordinate system. The findings show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove design for EVA.

Dickenson, Reuben D.↗

NASA NTRS1991

A dynamical systems analysis of the kinematics of time-periodic vortex shedding past a circular cylinder

Computer flow simulation aided by dynamical systems analysis is used to investigate the kinematics of time-periodic vortex shedding past a two-dimensional circular cylinder in the context of the following general questions: (1) Is a dynamical systems viewpoint useful in the understanding of this and similar problems involving time-periodic shedding behind bluff bodies; and (2) Is it indeed possible, by adopting such a point of view, to complement previous analyses or to understand kinematical aspects of the vortex shedding process that somehow remained hidden in previous approaches. We argue that the answers to these questions are positive. Results are described.

Ottino, Julio M.↗

NASA NTRS1994

A method to determine the kinematics of the lower limbs of a subject pedaling a bicycle using encoders and accelerometers

The goal of this research was to determine kinematic parameters of the lower limbs of a subject pedaling a bicycle. An existing measurement system was used as the basis to develop the model to determine position and acceleration of the limbs. The system consists of an ergometer instrumented to provide position of the pedal (foot), accelerometers to be attached to the lower limbs to measure accelerations, a recorder used for filtering, and a computer instrumented with an A/D board and a decoder board. The system is designed to read and record data from accelerometers and encoders. Software has been developed for data collection, analysis and presentation. Based on the measurement system, a two dimensional analytical model has been developed to determine configuration (position, orientation) and kinematics (velocities, accelerations). The model has been implemented in software and verified by simulation. An error analysis to determine the system's accuracy shows that the expected error is well within the specifications of practical applications. When the physical hardware is completed, NASA researchers hope to use the system developed to determine forces exerted by muscles and forces at articulations. This data will be useful in the development of countermeasures to minimize bone loss experienced by astronauts in microgravity conditions.

Liu, Shih-Ching↗

NASA NTRS1994

Kinematic misalignments in remnants of multiple mergers

Observations indicate that the rotation and minor axes in elliptical galaxies are usually well aligned. However, computer models of dissipationless mergers of pairs of disk galaxies have failed to establish such a correlation, implying that most ellipticals probably did not originate in this manner. Here we consider remnants produced from repeated merging in small groups of a half-dozen or so disk galaxies and find that the internal kinematics of such objects are more representative of actual elliptical galaxies. Although our coverage of parameter space is not complete, the remnants produced in our simulations invariably possess small kinematic misalignments. These results suggest that the majority of elliptical galaxies have had evolutionary histories more complex than those envisaged by simple merger hypotheses.

Weil, Melinda L.↗

NASA NTRS1994

Kinematic structure of the 30 Doradus giant H II region

We have used the echelle CCD spectrograph on the Cerro Tololo Inter-American Observatory (CTIO) 4 m telescope to map the nebular velocity field in the 30 Doradus giant H II region. The kinematics of 30 Dor are very complex. The outer regions are charaterized by a smooth velocity field, but its turbulent velocity, 30-40 km/s Full Width Half Maximum (FWHM), is considerably higher than those in most smaller H II regions. In the central 9 min core, multiple velocity components are observed at most positions. The velocity field is dominated by a large number of expanding structures, ranging in size from 1 to 100 pc and expansion velocities of 20-200 km/s, and often organized into large hierarchical networks. The integral of these complex expanding structures in 30 Dor produces a surprisingly simple profile with a broad Gaussian core and faint extended wings. Several fast-expanding shells, with diameters of 2-20 pc, expansion velocities of 100-300 km/s, and kinetic energies of 0.5-10 x 10(exp 50) ergs have been identified. The large fast-expanding shells and networks are coincident with extended X-ray sources and are probably associated with supernova remnants embedded in supershells produced by the combined effects of stellar winds and supernovae from OB associations. We have used the intensity-calibrated echelle spectra to determine the basic physical and dynamical properties of the kinematic features in 30 Dor. The expanding shells contain roughly half of the kinetic energy in the 30 Dor complex, and this energy is several times higher than the gravitational binding energy of the region. The energetic requirements of the gas are consistent with the observed stellar content of 30 Dor, if the gas is accelerated by a combination of stellar winds and supernovae. Extrapolating the current energy injection rate in the nebula over the lifetime of the OB complex suggest that 30 Dor and its vicinity will evolve into a supergiant shell as seen in the LMC and other nearby galaxies.

Chu, You-Hua↗

NASA NTRS1995

First direct comparison of high and low ionization line kinematics in active galactic nuclei

We present first results of a comparison of emission line shift properties for the high (HILs) and low (LILs) ionization lines in 43 low-reshift quasars. We identify a core sample of C IV lambda 1549 and hydrogen beta profiles with a wide distribution of red- and blueshifts (less than or equal to +/- 1000 km/sec). We also identify two tails in this distribution: one with large hydrogen beta redshifts (greater than or equal to 2000 km/sec) and another with large C IV blueshifts (greater than or equal to 1500 km/sec). The tails are mutually exclusive. All objects with extreme hydrogen beta redshift are radio loud, and all objects with extreme C IV blueshift are radio quiet. The core samples of smaller shifts can be most simply divided into: (1) hydrogen beta - a redshifted radio-loud population (related to the tail) and a radio-quiet population with mean shift near zero, and (2) C IV - a blueshifted radio-quiet population (related to the tail) and a radio-loud population with mean shift near zero. The results suggest fundamentally different kinematics for the HILs and LILs. They also suggest very different kinematics for radio-loud and radio-quiet active galactic nuclei. They also favor a predominance of radial motion in a large fraction of the sample.

Sulentic, J. W.↗

NASA NTRS1995

The spatial distribution, kinematics, and dynamics of the galaxies in the region of Abell 2634 and 2666

A total of 663 galaxies with known redshifts in a 12 deg x 12 deg field centered on A2634, including 211 new measurements, are used to study in detail the structure of the region. In it we find six main galaxy concentrations: the nearby clusters A2634 and A2666, two groups in the vicinity of A2634, and two distant clusters at approximately 18,000 (A2622) and approximately 37,000 km/s seen in projection near the core of A2634. For A2634, the most richly sampled of those concentrations, we are able to apply strict cluster membership criteria. Two samples - one containing 200 galaxies within 2 deg from the cluster center and a second, magnitude-limited, of 118 galaxies within the central half degree - are used to examine the structure, kinematics, dynamics, and morphological segregation of the cluster. We show that early type galaxies appear to be a relaxed system, while the spiral population eschews the center of the cluster and exhibits both a multimodal velocity distribution and a much larger velocity dispersion that the ellipticals. We propose that the spiral galaxies of A2634 represent a dynamically young cluster population. For the galaxy component of A2634, we find no evidence of significant substructure in the central regions. We also conclude that the adoption of lenient membership criteria that ignore the dynamical complexity of A2634 are unlikely to be responsible for the conflicting results reported on the motion of this cluster with respect ot the CMB. The kinematical and dynamical analysis is extended to A2634's close companion, A2666, and the two distant background clusters.

Scodeggio, Marco↗