SEARCH · Search NASA

Results for “rotational transform”

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 163 records · Page 9

All sources NASA NTRS DOE OSTI

NASA NTRS1991

Modeling the spatiotemporal organization of velocity storage in the vestibuloocular reflex by optokinetic studies

1. A generalized three-dimensional state space model of visual vestibular interaction was developed. Matrix and dynamical system operators associated with inputs from the semicircular canals, otolith velocity estimator, and the visual system have been incorporated into the model, which focus on their relationship to the velocity storage integrator. 2. A relationship was postulated between the eigenvalues and the direction of the eigenvectors of the system matrix and the orientation of the spatial vertical. It was assumed that the system matrix for a tilted position was a composition of two linear transformations of the system matrix for the upright position. One transformation modifies the eigenvalues of the system matrix, whereas another rotates the eigenvectors of the system matrix. The pitch and roll eigenvectors rotate with the head, whereas the yaw axis eigenvector remains approximately spatially invariant. 3. Based on the three-dimensional model, a computational procedure was formulated to identify the eigenvalues and eigenvectors of the system matrix with the use of a modification of the marquardt algorithm. With the use of data obtained from a monkey, it was shown that the three-dimensional behavior of velocity storage cannot be predicted solely in terms of its time constants, i.e., the inverse of its eigenvalues. With the use of the same eigenvalues the data could either be fit or not fit, depending on the eigenvector directions. Therefore, it is necessary to specify eigenvector directions when characterizing velocity storage in three dimensions. 4. Parameters found with the use of the Marquardt algorithm were incorporated into the model. Diagonal matrices in a head coordinate frame were introduced for coupling the visual system to the integrator and to the direct optokinetic pathway. Simulations of optokinetic nystagmus (OKN) and optokinetic after-nystagmus (OKAN) were run. The model predicted the behavior of yaw and pitch OKN and OKAN when the animal is upright. It also predicted the cross-coupling in the side down position. The trajectories in velocity space were also accurately simulated. 5. One of the predictions of the model is that when the stimulus direction is along an eigenvector, the trajectory in velocity space is a straight line. Using the "spectral width" of the residuals from a straight line sequence during OKAN, we developed a methodology to estimate how close the OKAN decay was to an eigenvector trajectory. 6. Thus we have developed a model-based approach for studying and interpreting the response characteristics of velocity storage in three dimensions.(ABSTRACT TRUNCATED AT 400 WORDS).

Non-NASA Center↗

NASA NTRS2024

Spacecraft Modeling, Attitude Determination, and Control: Quaternion-Based Approach

Spacecraft attitude determination and control is an important part of a spacecraft to achieve its designed mission. As of today, many spacecrafts have been successfully launched, and most of them have performed well as they were designed. Many research papers have been published to address the attitude determination and control design problems. Several text books are available for students to learn the technology and for engineers to use as references. The most popular spacecraft models for attitude determination algorithms and control design methods are the Euler angle models and the quaternion models . The Euler angle models have been proved very efficient as the linearized models are controllable, and all standard linear control system design methods are directly applicable. The drawbacks related to the Euler angle methods are (a) the designs based on linearized models may not globally stabilize the original nonlinear spacecraft, i.e., the design may not work when the attitude of the spacecraft is far away from the point where the linearization is performed; (b) the models depend on the rotational sequences, this can be error prone if several teams work on the same project and they use different rotational sequences; (c) for any rotational sequence, there is a singular point where the model is not applicable; and (d) since most attitude determination methods use quaternion to represent the spacecraft attitude, there is a need to transform quaternion into Euler angles. On the other hand, for quaternion models, people have found controllers that can globally stabilize nonlinear spacecraft systems; the models do not depend on rotational sequences and they have no singular point; and the quaternion is provided by attitude determination system and ready to use. The main problem with the quaternion model based control system design is that the linearized quaternion model is not controllable. Therefore, most published design methods heavily rely on Lyapunov functions for the nonlinear spacecraft system. But there is no systematic way to obtain a desired Lyapunov functions. Moreover, the Lyapunov function based designs focus on the closed-loop system stability but pay little attention to the closed-loop system performance. In a series of papers, the author proposed some reduced quaternion models which lead to some controllable linearized spacecraft models. Therefore, all standard linear system theory can be directly applied to analyze and design the spacecraft control systems. We showed that, in some cases, the designed control system is not only optimal for the linearized system, but also globally stabilize the original nonlinear system . Clearly, the reduced quaternion models do not depend on rotational sequences. Due to the special structure of the linearized spacecraft model, some most important design methods, such as LQR design and robust pole assignment design are very simple, enjoy the analytical solutions for some problems, have direct connection to the performance measures, such as settling time, rising time , and percentage of overshoot . All these features are attractive for high quality control system designs. The idea mentioned above is then extended to more spacecraft control problems using specific actuators such as magnetic torque bars and control momentum gyroscopes. These types of actuators may not provide exactly desired torques. Most existing methods use different conversions to get approximate solutions, meaning that these actuators may generate a torque close to but not equal to the desired one. Using the reduced quaternion models that incorporate the actuators into the system model, the control inputs are not torques but the operational parameters. The main benefit of this idea is that the control actions are not approximate but accurate. As all actuators have their operational limit, design with input constraints are also considered in this book by using recently developed interior-point optimization techniques. This book grows up from my research on the spacecraft attitude determination and control design methods in more than a decade which is focused on using reduced quaternion models because of their merits stated above. The book provides all necessary background materials on orbital dynamics, rotations and quaternion, frequently used reference frames, transformations between reference frames, space environment and disturbance torques, ephemeris astronomical vector calculations and measurement instruments, spacecraft control actuators and their models, so that the readers will get a global picture and can apply all these information into the spacecraft system modeling, attitude determination, and spacecraft control system designs, which is the main purpose of this book. This book is different from existing books in that we focus on quaternion based spacecraft control system designs and we consider only attitude control system design related problems, from spacecraft modeling, to attitude determination and estimation, to control system design method selection, to control algorithm development, and to the simulation of the control system designs. Moreover, this book addresses different attitude control tasks in the spacecraft life cycle, including spacecraft maneuver, orbit raising, attitude control, and rendezvous. Finally, this book emphasizes the state space design methods rather than the classical frequency design methods.

Attitude determination and control↗

NASA NTRS1991

Vibration-rotation bands of CH in the solar infrared spectrum and the solar carbon abundance

High resolution solar spectra obtained from the ATMOS Fourier Transform Spectrometer (Spacelab 3 flight on April 29-May 6, 1985) have made it possible to identify and measure a large number of lines of the vibration-rotation fundamental bands of the X2 Pi state of CH. From about 100 lines of the 1-0, 2-1, and 3-2 bands and adopting theoretical transition probabilities, a solar carbon abundance of 8.60 + or - 0.05 is derived. This value is compared with new results inferred from other carbon abundance indicators. The final recommended solar abundance of carbon is 8.60 + or - 0.05.

Grevesse, N.↗

NASA NTRS1978

Quaternion from rotation matrix

A quaternion is regarded as a four-parameter representation of a coordinate transformation matrix, where the four components of the quaternion are treated on an equal basis. This leads to a unified, compact, and singularity-free approach to determining the quaternion when the matrix is given.

Shepperd, S. W.↗

NASA NTRS1992

A three-dimensional nonlinear Timoshenko beam based on the core-congruential formulation

A three-dimensional, geometrically nonlinear two-node Timoshenkoo beam element based on the total Larangrian description is derived. The element behavior is assumed to be linear elastic, but no restrictions are placed on magnitude of finite rotations. The resulting element has twelve degrees of freedom: six translational components and six rotational-vector components. The formulation uses the Green-Lagrange strains and second Piola-Kirchhoff stresses as energy-conjugate variables and accounts for the bending-stretching and bending-torsional coupling effects without special provisions. The core-congruential formulation (CCF) is used to derived the discrete equations in a staged manner. Core equations involving the internal force vector and tangent stiffness matrix are developed at the particle level. A sequence of matrix transformations carries these equations to beam cross-sections and finally to the element nodal degrees of freedom. The choice of finite rotation measure is made in the next-to-last transformation stage, and the choice of over-the-element interpolation in the last one. The tangent stiffness matrix is found to retain symmetry if the rotational vector is chosen to measure finite rotations. An extensive set of numerical examples is presented to test and validate the present element.

Crivelli, Luis A.↗

NASA NTRS1986

Modified Denavit-Hartenberg parameters for better location of joint axis systems in robot arms

The Denavit-Hartenberg parameters define the relative location of successive joint axis systems in a robot arm. A recent justifiable criticism is that one of these parameters becomes extremely large when two successive joints have near-parallel rotational axes. Geometrically, this parameter then locates a joint axis system at an excessive distance from the robot arm and, computationally, leads to an ill-conditioned transformation matrix. In this paper, a simple modification (which results from constraining a transverse vector between successive joint rotational axes to be normal to one of the rotational axes, instead of both) overcomes this criticism and favorably locates the joint axis system. An example is given for near-parallel rotational axes of the elbow and shoulder joints in a robot arm. The regular and modified parameters are extracted by an algebraic method with simulated measurement data. Unlike the modified parameters, extracted values of the regular parameters are very sensitive to measurement accuracy.

Barker, L. K.↗

NASA NTRS1974

Extension of Case's method to the two-region critical cylinder and its application as an analytic standard

The normal mode expansion technique is applied to the transformed monoenergetic integral transport equation to develop a solution for the rotationally invariant and axially infinite, critical, two-region cylinder with a finite outer reflector boundary. Isotropic scattering and identical neutron mean free paths in the core and reflector regions are assumed. The solution in terms of singular integral equations is obtained by applying a completeness theorem found for the singular eigenfunctions. Numerical results for a variety of core and reflector multiplying properties and reflector thickness are presented and compared with the results of other method. An example of this type of application is given in a study of approximations inherent in the neutronic design analysis of a small, fast-neutron-spectrum reactor concept proposed as a space power source.

Westfall, R. M.↗

NASA NTRS1984

Registratiom of TM data to digital elevation models

Several problems arise when attempting to register LANDSAT thematic mapper data to U.S. B Geological Survey digital elevation models (DEMs). The TM data are currently available only in a rotated variant of the Space Oblique Mercator (SOM) map projection. Geometric transforms are thus; required to access TM data in the geodetic coordinates used by the DEMs. Due to positional errors in the TM data, these transforms require some sort of external control. The spatial resolution of TM data exceeds that of the most commonly DEM data. Oversampling DEM data to TM resolution introduces systematic noise. Common terrain processing algorithms (e.g., close computation) compound this problem by acting as high-pass filters.

Source record↗

NASA NTRS1987

Evidence for stratospheric hydrogen peroxide

A statistically significant measurement of H2O2 in the stratosphere has been obtained. The results were obtained from the 112.19/cm RQ5 branch of the torsional-rotational spectrum with a remote-sensing far-infrared Fourier transform spectrometer during the Balloon Intercomparison Campaign (BIC-2), on June 20, 1983. The concentration above the balloon gondola is unexpectedly large, corresponding to 0.68 + or - 0.21 parts per billion by volume (ppbv) at an effective altitude of 38.3 km. Below the gondola altitude the concentration of H2O2 is slightly less than expected from the model predictions at 33.2 km (0.19 + or - 0.05 ppbv) and significantly less than expected at 29.3 km (0.08 + or - 0.03 ppbv).

Chance, K. V.↗

NASA NTRS1988

Signal-to-noise limitations in white light holography

A simple derivation is given for the SNR in images reconstructed from incoherent holograms. Dependence is shown to be on the hologram SNR, object complexity, and the number of pixels in the detector. Reconstruction of involved objects becomes possible with high-dynamic-range detectors such as CCDs. White-light holograms have been produced by means of a rotational shear interferometer combined with a chromatic corrector. A digital inverse transform recreated the object.

Ribak, Erez↗

NASA NTRS1992

An improved computational technique for calculating electromagnetic forces and power absorptions generated in spherical and deformed body in levitation melting devices

An improved computational technique for calculating the electromagnetic force field, the power absorption and the deformation of an electromagnetically levitated metal sample is described. The technique is based on the volume integral method, but represents a substantial refinement; the coordinate transformation employed allows the efficient treatment of a broad class of rotationally symmetrical bodies. Computed results are presented to represent the behavior of levitation melted metal samples in a multi-coil, multi-frequency levitation unit to be used in microgravity experiments. The theoretical predictions are compared with both analytical solutions and with the results of previous computational efforts for the spherical samples and the agreement has been very good. The treatment of problems involving deformed surfaces and actually predicting the deformed shape of the specimens breaks new ground and should be the major usefulness of the proposed method.

Zong, Jin-Ho↗

NASA NTRS1992

An Improved Computational Technique for Calculating Electromagnetic Forces and Power Absorptions Generated in Spherical and Deformed Body in Levitation Melting Devices

An improved computational technique for calculating the electromagnetic force field, the power absorption and the deformation of an electromagnetically levitated metal sample is described. The technique is based on the volume integral method, but represents a substantial refinement; the coordinate transformation employed allows the efficient treatment of a broad class of rotationally symmetrical bodies. Computed results are presented to represent the behavior of levitation melted metal samples in a multi-coil, multi-frequency levitation unit to be used in microgravity experiments. The theoretical predictions are compared with both analytical solutions and with the results or previous computational efforts for the spherical samples and the agreement has been very good. The treatment of problems involving deformed surfaces and actually predicting the deformed shape of the specimens breaks new ground and should be the major usefulness of the proposed method.

Zong, Jin-Ho↗

NASA NTRS2021

Sublimation of Laboratory Ices Millimeter/Submillimeter Experiment (SubLIME): Structure-Specific Identifications of Products from UV-photolyzed Methanol Ice

Submillimeter/far-IR spectroscopy was used to detect and quantify organic molecules sublimated after the ultraviolet photolysis (at 12 K) and warm-up (up to 300 K) of a methanol (CH3OH) ice sample. Eleven sublimated photoproducts were uniquely identified: carbon monoxide (CO), formaldehyde (H2CO), ketene (C2H2O), acetaldehyde (CH3CHO), ethylene oxide (CH2OCH2), vinyl alcohol (CH2CHOH), ethanol (CH3CH2OH), dimethyl ether (CH3OCH3), methyl formate (HCOOCH3), glycolaldehyde (HOCH2CHO), and acetone ((CH3)2CO). Two additional products were detected in the photolyzed ice by Fourier-transform infrared (FTIR) spectroscopy: carbon dioxide (CO2) and methane (CH4). The rotational temperatures and gas densities were calculated for the organics containing two or more C atoms via a rotation diagram analysis, and the gas-phase submillimeter/far-IR technique was used in tandem with mass spectrometry and FTIR spectroscopy of the ice during photolysis. The abundance ratios of the sublimated species (normalized to methanol) were compared to those observed in hot cores (Orion-KL, Sagittarius B2(N), and IRAS 16293-2422(B)) and in comets C/2014 Q2 (Lovejoy) and 67P/Churyumov–Gerasimenko.

K M Yocum↗

NASA NTRS2021

Sublimation of Laboratory Ices Millimeter/Submillimeter Experiment (SubLIME): Structure-Specific Identifications of Products from UV-photolyzed Methanol Ice

K. M. Yocum↗

NASA NTRS1984

Laboratory demonstration of image reconstruction for coherent optical system of modular imaging collectors (COSMIC)

The first physical demonstration of the principle of image reconstruction using a set of images from a diffraction-blurred elongated aperture is reported. This is an optical validation of previous theoretical and numerical simulations of the COSMIC telescope array (coherent optical system of modular imaging collectors). The present experiment utilizes 17 diffraction blurred exposures of a laboratory light source, as imaged by a lens covered by a narrow-slit aperture; the aperture is rotated 10 degrees between each exposure. The images are recorded in digitized form by a CCD camera, Fourier transformed, numerically filtered, and added; the sum is then filtered and inverse Fourier transformed to form the final image. The image reconstruction process is found to be stable with respect to uncertainties in values of all physical parameters such as effective wavelength, rotation angle, pointing jitter, and aperture shape. Future experiments will explore the effects of low counting rates, autoguiding on the image, various aperture configurations, and separated optics.

Traub, W. A.↗

NASA NTRS1987

Numerical and analytical study of fluid dynamic forces in seals and bearings

A numerical model based on a transformed, conservative form of the three dimensional Navier-Stokes equation and an analytical model based on lumped fluid parameters are presented and compared with studies of modeled rotor bearing seal systems. The rotor destabilizing factors are related to the rotative character of the flow field. It is shown that these destabilizing factors can be reduced through a decrease in the fluid average circumferential velocity. However, the rotative character of the flow field is a complex three dimensional system with bifurcated secondary flow patterns that significantly alter the fluid circumferential velocity. By transforming the Navier-Stokes equations to those for a rotating observer and using the numerical code PHOENICS-84 with a nonorthogonal body fitted grid, several numerical experiments were carried out to demonstrate the character of this complex flow field. In general, fluid injection and/or preswirl of the flow field opposing the shaft rotation significantly intensified these secondary recirculation zones and thus reduced the average circumferential velocity; injection or preswirl in the direction of rotation significantly weakened these zones.

Tam, L. T.↗

NASA NTRS1989

An improved architecture for video rate image transformations

Geometric image transformations are of interest to pattern recognition algorithms for their use in simplifying some aspects of the pattern recognition process. Examples include reducing sensitivity to rotation, scale, and perspective of the object being recognized. The NASA Programmable Remapper can perform a wide variety of geometric transforms at full video rate. An architecture is proposed that extends its abilities and alleviates many of the first version's shortcomings. The need for the improvements are discussed in the context of the initial Programmable Remapper and the benefits and limitations it has delivered. The implementation and capabilities of the proposed architecture are discussed.

Fisher, Timothy E.↗

NASA NTRS2011

Development of Head Injury Assessment Reference Values Based on NASA Injury Modeling

NASA is developing a new capsule-based, crewed vehicle that will land in the ocean, and the space agency desires to reduce the risk of injury from impact during these landings. Because landing impact occurs for each flight and the crew might need to perform egress tasks, current injury assessment reference values (IARV) were deemed insufficient. Because NASCAR occupant restraint systems are more effective than the systems used to determine the current IARVs and are similar to NASA s proposed restraint system, an analysis of NASCAR impacts was performed to develop new IARVs that may be more relevant to NASA s context of vehicle landing operations. Head IARVs associated with race car impacts were investigated by completing a detailed analysis of all of the 2002-2008 NASCAR impact data. Specific inclusion and exclusion criteria were used to select 4071 impacts from the 4015 recorder files provided (each file could contain multiple impact events). Of the 4071 accepted impacts, 274 were selected for numerical simulation using a custom NASCAR restraint system and Humanetics Hybrid-III 50th percentile numerical dummy model in LS-DYNA. Injury had occurred in 32 of the 274 selected impacts, and 27 of those injuries involved the head. A majority of the head injuries were mild concussions with or without brief loss of consciousness. The 242 non-injury impacts were randomly selected and representative of the range of crash dynamics present in the total set of 4071 impacts. Head dynamics data (head translational acceleration, translational change in velocity, rotational acceleration, rotational velocity, HIC-15, HIC-36, and the Head 3ms clip) were filtered according to SAE J211 specifications and then transformed to a log scale. The probability of head injury was estimated using a separate logistic regression analysis for each log-transformed predictor candidate. Using the log transformation constrains the estimated probability of injury to become negligible as IARVs approach zero. For the parameters head translational acceleration, head translational velocity change, head rotational acceleration, HIC-15, and HIC-36, conservative values (in the lower 95% confidence interval) that gave rise to a 5% risk of any injury occurring were estimated as 40.0 G, 7.9 m/s, 2200 rad/s2, 98.4, and 77.4 respectively. Because NASA is interested in the consequence of any particular injury on the ability of the crew to perform egress tasks, the head injuries that occurred in the NASCAR dataset were classified according to a NASA-developed scale (Classes I - III) for operationally relevant injuries, which classifies injuries on the basis of their operational significance. Additional analysis of the data was performed to determine the probability of each injury class occurring, and this was estimated using an ordered probit model. For head translational acceleration, head translational velocity change, head rotational acceleration, head rotational velocity, HIC-36, and head 3ms clip, conservative values of IARVs that produced a 5% risk of Class II injury were estimated as 50.7 G, 9.5 m/s, 2863 rad/s2, 11.0 rad/s, 30.3, and 46.4 G respectively. The results indicate that head IARVs developed from the NASCAR dataset may be useful to protect crews during landing impact.

Somers, Jeffrey T.↗