SEARCH · Search NASA
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Report presents improved algorithms for controlling kinematically redundant robotic manipulators, producing unique configuration for each end-effector location. Furthermore, they generally produce configurations in which no interference between robot boom and payload or base structures. Report presents comparison between various other robot-kinematic algorithms.
The luminosities and kinematics of lower main sequence stars in a spectroscopically selected sample covering spectral types K 3 to M 5 are determined using Hipparcos parallaxes and proper motions. The stars separate into two kinematically distinct components, called young disk and old disk components. The young component has velocity dispersion (30, 17, 12) km/s in the U, V and W directions, respectively, and features an asymmetric drift of 8 km/s, a vertex deviation of 10 +/- 3 deg and an absolute magnitude of 10.48 mag at color (R - I)(sub Kron) = 1.0 mag. The respective features of the old component are: (56, 34, 31) km/s, 28 km/s and 0.6 mag at the same color. The slope and intrinsic width of the magnitude calibration of each component are determined. The analysis is used to investigate the possible presence of residual systematic discrepancies of the model with Hipparcos data. There are indications of a possible underestimation of the parallax errors.
A simple kinematically consistent expression for the longitudinal two-point correlation function related to both the integral length scale and the Taylor microscale is obtained. On the inner scale, in a region of width inversely proportional to the turbulent Reynolds number, the function has the appropriate curvature at the origin. The expression for two-point correlation is related to the nonlinear cascade rate, or dissipation epsilon, a quantity that is carried as part of a typical single-point turbulence closure simulation. Constructing an expression for the two-point correlation whose curvature at the origin is the Taylor microscale incorporates one of the fundamental quantities characterizing turbulence, epsilon, into a model for the two-point correlation function. The integral of the function also gives, as is required, an outer integral length scale of the turbulence independent of viscosity. The proposed expression is obtained by kinematic arguments; the intention is to produce a practically applicable expression in terms of simple elementary functions that allow an analytical evaluation, by asymptotic methods, of diverse functionals relevant to single-point turbulence closures. Using the expression devised an example of the asymptotic method by which functionals of the two-point correlation can be evaluated is given.
A simple matrix expression is obtained for the strain components of a beam in which the displacements and rotations are large. The only restrictions are on the magnitudes of the strain and of the local rotation, a newly-identified kinematical quantity. The local rotation is defined as the change of orientation of material elements relative to the change of orientation of the beam reference triad. The vectors and tensors in the theory are resolved along orthogonal triads of base vectors centered along the undeformed and deformed beam reference axes, so Cartesian tensor notation is used. Although a curvilinear coordinate system is natural to the beam problem, the complications usually associated with its use are circumvented. Local rotations appear explicitly in the resulting strain expressions, facilitating the treatment of beams with both open and closed cross sections in applications of the theory. The theory is used to obtain the kinematical relations for coupled bending, torsion extension, shear deformation, and warping of an initially curved and twisted beam.
In 1991 The Welding Institute of the United Kingdom patented the Friction Stir Welding (FSW) process. In FSW a rotating pin-tool is inserted into a weld seam and literally stirs the faying surfaces together as it moves up the seam. By April 2000 the American Welding Society International Welding and Fabricating Exposition featured several exhibits of commercial FSW processes and the 81st Annual Convention devoted a technical session to the process. The FSW process is of interest to Marshall Space Flight Center (MSFC) as a means of avoiding hot-cracking problems presented by the 2195 aluminum-lithium alloy, which is the primary constituent of the Lightweight Space Shuttle External Tank. The process has been under development at MSFC for External Tank applications since the early 1990's. Early development of the FSW process proceeded by cut-and-try empirical methods. A substantial and complex body of data resulted. A theoretical model was wanted to deal with the complexity and reduce the data to concepts serviceable for process diagnostics, optimization, parameter selection, etc. A first step in understanding the FSW process is to determine the kinematics, i.e., the flow field in the metal in the vicinity of the pin-tool. Given the kinematics, the dynamics, i.e., the forces, can be targeted. Given a completed model of the FSW process, attempts at rational design of tools and selection of process parameters can be made.
In this paper the alternate forms of the relative attitude kinematics and relative dynamics equations are presented. These developments are different from the earlier developments that have been presented in other publications. The current forms of equations have the advantage of being simpler than earlier ones. These equations are applied in developing the necessary kinematics and dynamics for relative navigation in formation flying and virtual platforms. These equations also have application in the implementation of nonlinear full state feedback and nonlinear output feedback control for large attitude angle acquisition and tracking. This paper presents simulations from such a full state feedback control application.
This paper discusses theoretical foundations of quantitative image-based measurements for extracting and reconstructing geometric, kinematic and dynamic properties of observed objects. New results are obtained by using a combination of methods in perspective geometry, differential geometry. radiometry, kinematics and dynamics. Specific topics include perspective projection transformation. perspective developable conical surface, perspective projection under surface constraint, perspective invariants, the point correspondence problem. motion fields of curves and surfaces. and motion equations of image intensity. The methods given in this paper arc useful for determining morphology and motion fields of deformable bodies such as elastic bodies. viscoelastic mediums and fluids.
The High Resolution Airborne Wideband Camera (HAWC) and the Submillimeter And Far Infrared Experiment (SAFIRE) will use identical Adiabatic Demagnetization Refrigerators (ADR) to cool their bolometer detectors to 200mK and 100mK, respectively. In order to minimize thermal loads on the salt pill, a Kevlar@ suspension system is used to hold it in place. An innovative, kinematic suspension system is presented. The suspension system is unique in that it consists or two parts that can be assembled and tensioned offline, and later bolted onto the salt pill. The resulting assembly constrains each degree of freedom only once, yielding a kinematic, tensile structure.
Ethyl cyanide (CH3CH2CN) emission and absorption have been imaged with the Very Large Array (VLA) toward SgrB2(N-LMH) by means of the 5(sub 15)-4(sub 14) rotational transition at 43.5 GHz (lambda approx. 7 mm). The 1.5" x 1.4" VLA beam shows two principal sources of ethyl cyanide emission: an unresolved source approx. 5" north of the LMH that is kinematically consistent with simple expansion, contraction, or small-scale turbulence, and the resolved LMH core source itself that shows kinematics indicating an edge-on rotating disk that extends 23" (approx. 0.1 pc) in the approximate east-west direction. A search for the 7(sub 07)-6(sub 06) rotational transition of the amino acid glycine (NH2CH2COOH) at 43.7 GHz toward SgrB2(N-LMH) gave negative results.
We examine the kinematics of 26 CMEs of the morphological main sequence of CMEs, those having the classic three-part bubble structure of (1) a bright front eveloping (2) a dark cavity within which rides (3) a bright blob/filamentary feature. Each CME is observed in Yohkoh/SXT images to originate from near the limb (> or equal to 0.7 R(sub Sun) from disk center). The basic data (from the SOHO LASCO CME Catalog) for the kinematics of each CME are the sequence of LASCO images of the CME, the time of each image, the measured radial distance of the front edge of the CME in each image, and the measured angular extent of the CME. About half of our CMEs (12) occur with a flare, and the rest (14) occur without a flare. While the average linear-fit speed of the flare CMEs (1000 km/s) is twice that of the non-flare CMEs (510 km/s), the flare CMEs and the non-flare CMEs are similar in that some have nearly flat velocity-height (radial extent) profiles (little acceleration), some have noticeably falling velocity profiles (noticeable deceleration), and the rest have velocity profiles that rise considerably through the outer corona (blatant acceleration). This suggests that in addition to sharing similar morphology, main-sequence CMEs all have basically the same driving mechanism. The observed radial progression of each of our 26 CMEs is fit by a simple model magnetic plasmoid that is in pressure balance with the radial magnetic field in the outer corona and that propels itself outward by magnetic expansion, doing no net work on its surroundings. On average over the 26 CMEs, this model fits the observations as well as the assumption of constant acceleration. This is compatible with main-sequence CMEs being magnetically driven, basically magnetic explosions, with the velocity profile in the outer corona being largely dictated by the initial Alfien speed in the CME (when the front is at approx. 3 (sub Sun), analogous to the mass of a main-sequence star dictating the luminosity.
Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.
This paper describes our analysis of the complex head-neck system using a combination of experimental and modeling approaches. Dynamical analysis of head movements and EMG activation elicited by perturbation of trunk position has examined functional contributions of biomechanically and neurally generated forces in lumped systems with greatly simplified kinematics. This has revealed that visual and voluntary control of neck muscles and the dynamic and static vestibulocollic and cervicocollic reflexes preferentially govern head-neck system state in different frequency domains. It also documents redundant control, which allows the system to compensate for lesions and creates a potential for substantial variability within and between subjects. Kinematic studies have indicated the existence of reciprocal and co-contraction strategies for voluntary force generation, of a vestibulocollic strategy for stabilizing the head during body perturbations and of at least two strategies for voluntary head tracking. Each strategy appears to be executed by a specific muscle synergy that is presumably optimized to efficiently meet the demands of the task.
Astronauts exposed to the microgravity conditions encountered during space flight exhibit postural and gait instabilities upon return to earth that could impair critical postflight performance. The aim of the present study was to determine the effects of microgravity exposure on astronauts' performance of two-footed jump landings. Nine astronauts from several Space Shuttle missions were tested both preflight and postflight with a series of voluntary, two-footed downward hops from a 30-cm-high step. A video-based, three-dimensional motion-analysis system permitted calculation of body segment positions and joint angular displacements. Phase-plane plots of knee, hip, and ankle angular velocities compared with the corresponding joint angles were used to describe the lower limb kinematics during jump landings. The position of the whole-body center of mass (COM) was also estimated in the sagittal plane using an eight-segment body model. Four of nine subjects exhibited expanded phase-plane portraits postflight, with significant increases in peak joint flexion angles and flexion rates following space flight. In contrast, two subjects showed significant contractions of their phase-plane portraits postflight and three subjects showed insignificant overall changes after space flight. Analysis of the vertical COM motion generally supported the joint angle results. Subjects with expanded joint angle phase-plane portraits postflight exhibited larger downward deviations of the COM and longer times from impact to peak deflection, as well as lower upward recovery velocities. Subjects with postflight joint angle phase-plane contraction demonstrated opposite effects in the COM motion. The joint kinematics results indicated the existence of two contrasting response modes due to microgravity exposure. Most subjects exhibited "compliant" impact absorption postflight, consistent with decreased limb stiffness and damping, and a reduction in the bandwidth of the postural control system. Fewer subjects showed "stiff" behavior after space flight, where contractions in the phase-plane portraits pointed to an increase in control bandwidth. The changes appeared to result from adaptive modifications in the control of lower limb impedance. A simple 2nd-order model of the vertical COM motion indicated that changes in the effective vertical stiffness of the legs can predict key features of the postflight performance. Compliant responses may reflect inflight adaptation due to altered demands on the postural control system in microgravity, while stiff behavior may result from overcompensation postflight for the presumed reduction in limb stiffness inflight.
We examined the lower limb joint kinematics observed during pre- and postflight treadmill walking performed by seven subjects from three Space Shuttle flights flown between March 1992 and February 1994. Basic temporal characteristics of the gait patterns, such as stride time and duty cycle, showed no significant changes after flight. Evaluation of phaseplane variability across the gait cycle suggests that postflight treadmill walking is more variable than preflight, but the response throughout the course of a cycle is joint dependent and, furthermore, the changes are subject dependent. However, analysis of the phaseplane variability at the specific locomotor events of heel strike and toe off indicated statistically significant postflight increases in knee variability at the moment of heel strike and significantly higher postflight hip joint variability at the moment of toe off. Nevertheless, the observation of component-specific variability was not sufficient to cause a change in the overall lower limb joint system stability, since there was no significant change in an index used to evaluate this at both toe off and heel strike. The implications of the observed lower limb kinematics for head and gaze control during locomotion are discussed in light of a hypothesized change in the energy attenuation capacity of the musculoskeletal system in adapting to weightlessness.
We present a kinematic study of the evolution of coronal mass ejections (CMEs) in the solar wind. Specifically, we consider the effects of: (1) spherical expansion; and (2) uniform expansion due to pressure gradients between the Interplanetary CME (ICME) and the ambient solar wind. We compare these results with an MHD model, which allows us to isolate these effects from the combined kinematic and dynamical effects, which are included in MHD models. They also provide compelling evidence that the fundamental cross section of so-called "force-free" flux ropes (or magnetic clouds) is neither circular or elliptical, but rather a convex-outward, "pancake" shape. We apply a force-free fitting to the magnetic vectors from the MHD simulation to assess how the distortion of the flux rope affects the fitting. In spite of these limitations, force-free fittings, which are straightforward to apply, do provide an important description of a number of parameters, including the radial dimension, orientation and chirality of the ICME.
We present a kinematic study of the evolution of coronal mass ejections (CMEs) in the solar wind. Specifically, we consider the effects of (1) spherical expansion and (2) uniform expansion due to pressure gradients between the interplanetary CME (ICME) and the ambient solar wind. We compare these results with an MHD model that allows us to isolate these effects h m the combined kinematic and dynamical effects, which are included in MHD models. They also provide compelling evidence that the fundamental cross section of so-called "force-free" flux ropes (or magnetic clouds) is neither circular or elliptical, but rather a convex-outward, "pancake" shape. We apply a force-free fit to the magnetic vectors from the MHD simulation to assess how the distortion of the flux rope affects the fit. In spite of these limitations, force-free fits, which are straightforward to apply, do provide an important description of a number of parameters, including the radial dimension, orientation, and chirality of the ICME. Subject headings: MHD - solar wind - Sun: activity - Sun: corona - Sun: coronal mass ejections (CMEs) - On-line material color figures Sun: magnetic fields
There are few scientific publications comparing human locomotion between motorized and nonmotorized treadmills. Lakomy (1987) and Gamble et al (1988) reported that forward lean is greater on a nonmotorized treadmill to aid in the generation of horizontal force necessary for belt propulsion, but there are no data concerning lower limb kinematics. During long-term spaceflight, astronauts use locomotive exercise to mitigate the physiological effects caused by long-term exposure to microgravity. A critical decision for mission planners concerns the requirements for a treadmill to be used during potential trips to the Moon and Mars. Treadmill operation in an un-powered configuration could reduce mission resource demands, but also may impact the efficacy of treadmill exercise countermeasures. To ascertain the most appropriate type of treadmill to be used, it is important to understand biomechanical differences between motorized (M) and nonmotorized (NM) locomotion. The purpose of this evaluation was to test for differences in lower limb kinematics that occur during M and NM treadmill locomotion at two speeds. It was hypothesized that hip and knee joint angle trajectories would differ between the conditions.
Synthetic Aperture Radar (SAR) provides a detailed view of the Arctic ice cover. When processed with the RADARSAT Geophysical Processor System (RGPS), it provides estimates of sea ice motion and deformation over large regions of the Arctic for extended periods of time. The deformation is dominated by the appearance of linear kinematic features that have been associated with the presence of leads. The RGPS deformation products are based on the assumption that the displacement and velocity are smooth functions of the spatial coordinates. However, if the dominant deformation of multiyear ice results from the opening, closing and shearing of leads, then the displacement and velocity can be discontinuous. This presentation discusses the kinematics associated with strong discontinuities that describe possible jumps in displacement or velocity. Ice motion from SAR data are analyzed using this framework. It is assumed that RGPS cells deform due to the presence of a lead. The lead orientation is calculated to optimally account for the observed deformation. It is shown that almost all observed deformation can be represented by lead opening and shearing. The procedure used to reprocess motion data to account for leads will be described and applied to regions of the Beaufort Sea. The procedure not only provides a new view of ice deformation, it can be used to obtain information about the presence of leads for initialization and/or validation of numerical simulations.