Search NASA⌕ Search

SEARCH · Search NASA

Results for “direct kinematic methods”

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.

At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Vertical velocity in cirrus case obtained from wind profiler

Cirrus clouds play an important role in the climate and general circulation because they significantly modulate the radiation properties of the atmosphere. However understanding the processes that govern their presence is made difficult by their high altitude, variable thickness, complex microphysical structure, and relatively little knowledge of the vertical motion field. In the FIRE 2 (First International Satellite Cloud Climatology Regional Experiment) experiment, a 404 MHz wind profiler was set up to provide continuous measurements of clear air wind field at Parsons, Kansas. Simultaneously, the NOAA wind profiler network supplied a wider spacial scale observation. On 26 Nov. 1991, the most significant cirrus cloud phenomena during the experiment with a jet streak at 250 Mb occurred. Analyses of the vertical wind velocity are made by utilizing different methods based on wind profiler data, among them the direct measurements from CSU wind profiler and NOAA network wind profilers, VAD (Velocity Azimuth Display) technique and the kinematic method.

Song, Ran↗
NASA NTRS1985

Generation of spiral bevel gears with zero kinematical errors and computer aided simulation of their meshing and contact

There is proposed a method for generation of Gleason's spiral bevel gears which provides the following properties of meshing and contact: (1) the contact normal keeps its original direction within the neighborhood of the main contact point; (2) the contact ellipse moves along the gear tooth surface; and (3) the kinematical errors caused by Gleason's method of cutting are almost zero. Computer programs for the simulation of meshing and bearing contact are developed.

Litvin, F. L.↗
NASA NTRS1989

Direct method for solution of three-dimensional unsteady incompressible Navier-Stokes equations

A three-dimensional, unsteady analysis for the velocity-vorticity formulation of the Navier-Stokes (NS) equations is described. This formulation highlights the natural separation of the spin dynamics of a fluid particle from its translational kinematics. This separation is exploited to produce a single pass direct inversion of the full unsteady NS operator without the need to iterate either the future wall vorticity or the nonlinear vorticity convection terms. The method has uniform second-order accuracy in time and space. As an example, it is applied to the problem of the three-dimensional flow within a shear-driven cubical box. Results are obtained for Re = 100, 400, and 1000 using a preliminary (25, 25, 25) mesh.

Osswald, G. A.↗
NASA NTRS1992

Computing high-speed flows past an oscillating cylinder near a vertical wall

A computational method to simulate unsteady flows involving moving rigid boundaries and interference has been developed. The method is used to solve inviscid equations governing the fluid flow and the dynamic equations governing the motion of rigid bodies. A second-order accurate, upwind-biased, and alterating-direction-implicit method is used to solve the governing equations of the flow. A kinematic domain decomposition (KDD) procedure is extended to treat 3D problems with a high degree of accuracy and generality. The method under consideration is applied to both transonic and supertransonic flows. Both cases involve flow past a cylinder which is forced to pitch sinusoidally near a vertical wall. Benefits of the proposed approach include accurate calculation of the flow around 3D moving multiple bodies with interference; reduction of a numerical error; in particular, the dispersion error which strongly affects wave propagation; and minimization of the phase error which is accumulated according to the time advance procedure.

Yen, Guan-Wei↗
NASA NTRS2009

A New Spectroscopic and Interferometric Study of the Young Stellar Object V645 Cyg

Aims. We present the results of high-resolution optical spectroscopy, low-resolution near-IR spectroscopy and near-infrared speckle interferometry of the massive young stellar object candidate V645 Cyg that were taken in order to refine its fundamental parameters and properties of its circumstellar envelope. Methods. Speckle interferometry in the H- and K-bands and an optical spectrum in the range 5200-6680 A with a spectral resolving power of R = 60000 were obtained at the 6 m telescope of the Russian Academy of Sciences. Another optical spectrum in the range 4300-10500 A with R = 79000 was obtained at the 3.6m CFHT. A low-resolution spectrum in the ranges 0.46-1.4 and 1.4-2.5 microns with a R approx. 800 and approx. 700, respectively, were obtained at the 3m Shain telescope of the Lick Observatory. Results. Using a new kinematic method based on non-linear modeling of the neutral hydrogen density profile in the direction toward the object, we suggest a new a distance D = 4.2+/-0.2 kpc. We also suggest a new estimate for the star's effective temperature, T(sub eff) approx. 25000 K. We have resolved the object in both H- and K-bands. Using a two-component ring fit, we derived a compact component size of 18 mas and 15 mas in the H- and K-band, respectively, which correspond to 37 and 33 AU at the new distance. Analysis of our and previously published data shows a approx. 2 mag drop of the near-infrared brightness of V645 Cyg in the beginning of the 1980 s. At the same time, the cometary nebular condensation N1 seems to fade in this wavelength range with respect to the N0 object, which represent the star with a nearly pole-on optically-thick disk and an optically-thin envelope. Conclusions. We conclude that V645 Cyg is a young massive main-sequence star, which recently emerged from its cocoon. and already passed the protostellar accretion stage. The presence of accretion is not necessary to account for the high observed luminosity of (2.6) x 10(exp 4) Solar Mass/yr. The receding part of a strong, mostly uniform outflow with a terminal velocity of approx.800 km/s is only blocked from view far from the star, where forbidden lines form. The near-infrared size of the source is consistent with the dust sublimation distance near this hot and luminous star and is the largest among young stellar objects observed interferometrically to-date.

Miroshinichenko, A. S.↗
NASA NTRS1977

Blade fragment energy analysis

Two classes of fan blade fragments were considered in an analysis of blade fragment energy. The first, of relatively small size (.15 pound) and energy, tends to rebound from the fan and case when liberated in an FOD encounter. These small fragments have relatively low secondary damage potential and are less demanding in terms of protection. The larger fan blade fragments are ejected in a more direct release trajectory with higher energy and hence can represent a higher potential hazard. Simplified analytical methods were used to describe blade fragment energy transfer kinematics, establish fragment energy levels, evaluate damage potential and configure protection. The approach, methodology, and application are discussed as a possible building block for other applications. Development of effective local protection using Kevlar is also discussed. Analysis methods developed and applied to the rebound fragment problem and to the large direct release fragment problem are described.

Oconnor, M. A., Jr.↗
NASA NTRS1992

Robust adaptive kinematic control of redundant robots

The paper presents a general method for the resolution of redundancy that combines the Jacobian pseudoinverse and augmentation approaches. A direct adaptive control scheme is developed to generate joint angle trajectories for achieving desired end-effector motion as well as additional user defined tasks. The scheme ensures arbitrarily small errors between the desired and the actual motion of the manipulator. Explicit bounds on the errors are established that are directly related to the mismatch between actual and estimated pseudoinverse Jacobian matrix, motion velocity and the controller gain. It is shown that the scheme is tolerant of the mismatch and consequently only infrequent pseudoinverse computations are needed during a typical robot motion. As a result, the scheme is computationally fast, and can be implemented for real-time control of redundant robots. A method is incorporated to cope with the robot singularities allowing the manipulator to get very close or even pass through a singularity while maintaining a good tracking performance and acceptable joint velocities. Computer simulations and experimental results are provided in support of the theoretical developments.

Tarokh, M.↗
NASA NTRS2012

Characteristics of Kinematics of a Coronal Mass Ejection During the 2010 August 1 CME-CME Interaction Event

We study the interaction of two successive coronal mass ejections (CMEs) during the 2010 August 1 events using STEREO/SECCHI COR and HI data. We obtain the direction of motion for both CMEs by applying several independent reconstruction methods and find that the CMEs head in similar directions. This provides evidence that a full interaction takes place between the two CMEs that can be observed in the HI1 field-of-view. The full de-projected kinematics of the faster CME from Sun to Earth is derived by combining remote observations with in situ measurements of the CME at 1 AU. The speed profile of the faster CME (CME2; (is) approximately 1200 km s−1) shows a strong deceleration over the distance range at which it reaches the slower, preceding CME (CME1; (is) approximately 700 km s−1). By applying a drag-based model we are able to reproduce the kinematical profile of CME2 suggesting that CME1 represents a magnetohydrodynamic obstacle for CME2 and that, after the interaction, the merged entity propagates as a single structure in an ambient flow of speed and density typical for quiet solar wind conditions. Observational facts show that magnetic forces may contribute to the enhanced deceleration of CME2. We speculate that the increase in magnetic tension and pressure, when CME2 bends and compresses the magnetic field lines of CME1, increases the efficiency of drag.

HI data↗
NASA NTRS1989

Design of an adaptive controller for a telerobot manipulator

The design of a joint-space adaptive control scheme is presented for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with 7 degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Lyapunov direct method, an adatation algorithm is derived which adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly-varying. The implementation of the derived control scheme does not need the computation of the manipulator dynamics, which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payloads while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗
NASA NTRS1993

Joint-space Lyapunov-based direct adaptive control of a kinematically redundant telerobot manipulator

This paper presents the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with seven degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Liupunov direct method, we derive an adaptation algorithm that adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payload while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗
NASA NTRS1991

Direct adaptive impedance control of manipulators

An adaptive scheme for controlling the end-effector impedance of robot manipulators is presented. The proposed control system consists of three subsystems: a simple filter which characterizes the desired dynamic relationship between the end-effector position error and the end-effector/environment contact force, an adaptive controller which produces the Cartesian-space control input required to provide this desired dynamic relationship, and an algorithm for mapping the Cartesian-space control input to a physically realizable joint-space control torque. The controller does not require knowledge of either the structure or the parameter values of the robot dynamics, and it is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme represents a very general and computationally efficient approach to controlling the impedance of both nonredundant and redundant manipulators. Furthermore, the method can be applied directly to trajectory tracking in free-space motion by removing the impedance filter.

Colbaugh, R.↗
NASA NTRS1983

Spiral-bevel geometry and gear train precision

A new aproach to the solution of determination of surface principal curvatures and directions is proposed. Direct relationships between the principal curvatures and directions of the tool surface and those of the principal curvatures and directions of generated gear surface are obtained. The principal curvatures and directions of geartooth surface are obtained without using the complicated equations of these surfaces. A general theory of the train kinematical errors exerted by manufacturing and assembly errors is discussed. Two methods for the determination of the train kinematical errors can be worked out: (1) with aid of a computer, and (2) with a approximate method. Results from noise and vibration measurement conducted on a helicopter transmission are used to illustrate the principals contained in the theory of kinematic errors.

Litvin, F. L.↗
NASA NTRS1993

Rate determination from vector observations

Vector observations are a common class of attitude data provided by a wide variety of attitude sensors. Attitude determination from vector observations is a well-understood process and numerous algorithms such as the TRIAD algorithm exist. These algorithms require measurement of the line of site (LOS) vector to reference objects and knowledge of the LOS directions in some predetermined reference frame. Once attitude is determined, it is a simple matter to synthesize vehicle rate using some form of lead-lag filter, and then, use it for vehicle stabilization. Many situations arise, however, in which rate knowledge is required but knowledge of the nominal LOS directions are not available. This paper presents two methods for determining spacecraft angular rates from vector observations without a priori knowledge of the vector directions. The first approach uses an extended Kalman filter with a spacecraft dynamic model and a kinematic model representing the motion of the observed LOS vectors. The second approach uses a 'differential' TRIAD algorithm to compute the incremental direction cosine matrix, from which vehicle rate is then derived.

Weiss, Jerold L.↗
NASA NTRS2002

Integrated INS/GPS Navigation from a Popular Perspective

Inertial navigation, blended with other navigation aids, Global Positioning System (GPS) in particular, has gained significance due to enhanced navigation and inertial reference performance and dissimilarity for fault tolerance and anti-jamming. Relatively new concepts based upon using Differential GPS (DGPS) blended with Inertial (and visual) Navigation Sensors (INS) offer the possibility of low cost, autonomous aircraft landing. The FAA has decided to implement the system in a sophisticated form as a new standard navigation tool during this decade. There have been a number of new inertial sensor concepts in the recent past that emphasize increased accuracy of INS/GPS versus INS and reliability of navigation, as well as lower size and weight, and higher power, fault tolerance, and long life. The principles of GPS are not discussed; rather the attention is directed towards general concepts and comparative advantages. A short introduction to the problems faced in kinematics is presented. The intention is to relate the basic principles of kinematics to probably the most used navigation method in the future-INS/GPS. An example of the airborne INS is presented, with emphasis on how it works. The discussion of the error types and sources in navigation, and of the role of filters in optimal estimation of the errors then follows. The main question this paper is trying to answer is 'What are the benefits of the integration of INS and GPS and how is this, navigation concept of the future achieved in reality?' The main goal is to communicate the idea about what stands behind a modern navigation method.

Omerbashich, Mensur↗
NASA NTRS1990

Constrained trajectory optimization for kinematically redundant arms

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths.

Carignan, Craig R.↗
NASA NTRS1989

Modeling of control forces for kinematical constraints in the dynamics of multibody systems: A new approach

Conventionally kinematical constraints in multibody systems are treated similar to geometrical constraints and are modeled by constraint reaction forces which are perpendicular to constraint surfaces. However, in reality, one may want to achieve the desired kinematical conditions by control forces having different directions in relation to the constraint surfaces. The conventional equations of motion for multibody systems subject to kinematical constraints are generalized by introducing general direction control forces. Conditions for the selections of the control force directions are also discussed. A redundant robotic system subject to prescribed end-effector motion is analyzed to illustrate the methods proposed.

Ider, Sitki Kemal↗
NASA NTRS1995

Direct Adaptive Impedance Control Of Redundant Manipulators

Method of controlling mechanical impedance of end effector of robotic manipulator related to method described in "Adaptive Impedance Control of Redundant Manipulators" (NPO-18606). Present method does not require detailed knowledge and computation of dynamics and inverse kinematic transformation of manipulator. Provides for control globally stable in presence of bounded disturbances. Applicable to both nonredundant and redundant manipulators performing tasks involving impacts between manipulator and objects in its environment, and controlled contact between end effector and object, such as deburring.

Seraji, Homayoun↗
NASA NTRS2024

Redundancy Parameterization and Inverse Kinematics of 7-DOF Revolute Manipulators

Seven degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance. This DOF does not change the end effector motion and must be parameterized to fully specify the joint angles for a given end effector pose. For 7-DOF revolute (7R) manipulators, we introduce the generalized shoulder-elbow-wrist (SEW) angle, a generalization of the widely-used conventional SEW angle but with an arbitrary reference direction function, along with Jacobian expressions and singularity analysis. Other redundancy parameterizations including the conventional SEW angle encounter an algorithmic singularity along a line in the workspace. We introduce a reference direction function choice called the stereographic SEW angle which has a singularity only along a half-line and can be placed out of reach. We prove such a singularity is unavoidable for any parameterization. Finally, using the general SEW angle and the subproblem decomposition method, we provide efficient singularity-robust inverse kinematics solutions for 7R manipulators which are often closed-form but may involve a 1D or (in general) 2D search. Search-based solutions may be converted to finding polynomial roots. Examples are available in a publicly accessible repository.

Kinematics↗