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NASA NTRS1989

The architecture of Newton, a general-purpose dynamics simulator

The architecture for Newton, a general-purpose system for simulating the dynamics of complex physical objects, is described. The system automatically formulates and analyzes equations of motion, and performs automatic modification of this system equations when necessitated by changes in kinematic relationships between objects. Impact and temporary contact are handled, although only using simple models. User-directed influence of simulations is achieved using Newton's module, which can be used to experiment with the control of many-degree-of-freedom articulated objects.

Cremer, James F.↗

NASA NTRS1989

Modal identities for multibody elastic spacecraft: An aid to selecting modes for simulation

The question: Which set of modes furnishes a higher fidelity math model of dynamics of a multibody, deformable spacecraft (hinges-free or hinges-locked vehicle modes) is answered. Two sets of general, discretized, linear equations of motion of a spacecraft with an arbitrary number of deformable appendages, each articulated directly to the core body, are obtained using the above two families of modes. By a comparison of these equations, ten sets of modal identities are constructed which involve modal momenta coefficients and frequencies associated with both classes of modes. The sums of infinite series that appear in the identities are obtained in terms of mass, and first and second moments of inertia of the appendages, core body, and vehicle by using certain basic identities concerning appendage modes. Applying the above identities to a four-body spacecraft, the hinges-locked vehicle modes are found to yield a higher fidelity model than hinges-free modes, because the latter modes have nonconverging modal coefficients; a characteristic proved and illustrated.

Hablani, Hari B.↗

DOE OSTI2023

Grand challenges in the design, manufacture, and operation of future wind turbine systems

Abstract. Wind energy is foundational for achieving 100 % renewable electricity production, and significant innovation is required as the grid expands and accommodates hybrid plant systems, energy-intensive products such as fuels, and a transitioning transportation sector. The sizable investments required for wind power plant development and integration make the financial and operational risks of change very high in all applications but especially offshore. Dependence on a high level of modeling and simulation accuracy to mitigate risk and ensure operational performance is essential. Therefore, the modeling chain from the large-scale inflow down to the material microstructure, and all the steps in between, needs to predict how the wind turbine system will respond and perform to allow innovative solutions to enter commercial application. Critical unknowns in the design, manufacturing, and operability of future turbine and plant systems are articulated, and recommendations for research action are laid out. This article focuses on the many unknowns that affect the ability to push the frontiers in the design of turbine and plant systems. Modern turbine rotors operate through the entire atmospheric boundary layer, outside the bounds of historic design assumptions, which requires reassessing design processes and approaches. Traditional aerodynamics and aeroelastic modeling approaches are pressing against the limits of applicability for the size and flexibility of future architectures and flow physics fundamentals. Offshore wind turbines have additional motion and hydrodynamic load drivers that are formidable modeling challenges. Uncertainty in turbine wakes complicates structural loading and energy production estimates, both around a single plant and for downstream plants, which requires innovation in plant operations and flow control to achieve full energy capture and load alleviation potential. Opportunities in co-design can bring controls upstream into design optimization if captured in design-level models of the physical phenomena. It is a research challenge to integrate improved materials into the manufacture of ever-larger components while maintaining quality and reducing cost. High-performance computing used in high-fidelity, physics-resolving simulations offer opportunities to improve design tools through artificial intelligence and machine learning, but even the high-fidelity tools are yet to be fully validated. Finally, key actions needed to continue the progress of wind energy technology toward even lower cost and greater functionality are recommended.

17 WIND ENERGY↗

NASA NTRS2004

Error Modeling of Multi-baseline Optical Truss: Application to SIM Metrology Truss Field Dependent Error - Part II

The current design of the Space Interferometry Mission (SIM) employs a 19 laser-metrology-beam system (also called L19 external metrology truss) to monitor changes of distances between the fiducials of the flight system's multiple baselines. The function of the external metrology truss is to aid in the determination of the time-variations of the interferometer baseline. The largest contributor to truss error occurs in SIM wide-angle observations when the articulation of the siderostat mirrors (in order to gather starlight from different sky coordinates) brings to light systematic errors due to offsets at levels of instrument components (which include comer cube retro-reflectors, etc.). This error is labeled external metrology wide-angle field-dependent error. Physics-based model of field-dependent error at single metrology gauge level is developed and linearly propagated to errors in interferometer delay. In this manner delay error sensitivity to various error parameters or their combination can be studied using eigenvalue/eigenvector analysis. Also validation of physics-based field-dependent model on SIM testbed lends support to the present approach. As a first example, dihedral error model is developed for the comer cubes (CC) attached to the siderostat mirrors. Then the delay errors due to this effect can be characterized using the eigenvectors of composite CC dihedral error. The essence of the linear error model is contained in an error-mapping matrix. A corresponding Zernike component matrix approach is developed in parallel, first for convenience of describing the RMS of errors across the field-of-regard (FOR), and second for convenience of combining with additional models. Average and worst case residual errors are computed when various orders of field-dependent terms are removed from the delay error. Results of the residual errors are important in arriving at external metrology system component requirements. Double CCs with ideally co-incident vertices reside with the siderostat. The non-common vertex error (NCVE) is treated as a second example. Finally combination of models, and various other errors are discussed.

comer cube retro-reflector↗

NASA NTRS1990

Magnetic cleanliness verification approach on tethered satellite

Magnetic cleanliness testing was performed on the Tethered Satellite as the last step of an articulated verification campaign aimed at demonstrating the capability of the satellite to support its TEMAG (TEthered MAgnetometer) experiment. Tests at unit level and analytical predictions/correlations using a dedicated mathematical model (GANEW program) are also part of the verification activities. Details of the tests are presented, and the results of the verification are described together with recommendations for later programs.

Messidoro, Piero↗

NASA NTRS1990

The real-time learning mechanism of the Scientific Research Associates Advanced Robotic System (SRAARS)

Scientific research associates advanced robotic system (SRAARS) is an intelligent robotic system which has autonomous learning capability in geometric reasoning. The system is equipped with one global intelligence center (GIC) and eight local intelligence centers (LICs). It controls mainly sixteen links with fourteen active joints, which constitute two articulated arms, an extensible lower body, a vision system with two CCD cameras and a mobile base. The on-board knowledge-based system supports the learning controller with model representations of both the robot and the working environment. By consecutive verifying and planning procedures, hypothesis-and-test routines and learning-by-analogy paradigm, the system would autonomously build up its own understanding of the relationship between itself (i.e., the robot) and the focused environment for the purposes of collision avoidance, motion analysis and object manipulation. The intelligence of SRAARS presents a valuable technical advantage to implement robotic systems for space exploration and space station operations.

Chen, Alexander Y.↗

NASA NTRS2005

NASA Tech Briefs, March 2005

Topics covered include: Scheme for Entering Binary Data Into a Quantum Computer; Encryption for Remote Control via Internet or Intranet; Coupled Receiver/Decoders for Low-Rate Turbo Codes; Processing GPS Occultation Data To Characterize Atmosphere; Displacing Unpredictable Nulls in Antenna Radiation Patterns; Integrated Pointing and Signal Detector for Optical Receiver; Adaptive Thresholding and Parameter Estimation for PPM; Data-Driven Software Framework for Web-Based ISS Telescience; Software for Secondary-School Learning About Robotics; Fuzzy Logic Engine; Telephone-Directory Program; Simulating a Direction-Finder Search for an ELT; Formulating Precursors for Coating Metals and Ceramics; Making Macroscopic Assemblies of Aligned Carbon Nanotubes; Ball Bearings Equipped for In Situ Lubrication on Demand; Synthetic Bursae for Robots; Robot Forearm and Dexterous Hand; Making a Metal-Lined Composite-Overwrapped Pressure Vessel; Ex Vivo Growth of Bioengineered Ligaments and Other Tissues; Stroboscopic Goggles for Reduction of Motion Sickness; Articulating Support for Horizontal Resistive Exercise; Modified Penning-Malmberg Trap for Storing Antiprotons; Tumbleweed Rovers; Two-Photon Fluorescence Microscope for Microgravity Research; Biased Randomized Algorithm for Fast Model-Based Diagnosis; Fast Algorithms for Model-Based Diagnosis; Simulations of Evaporating Multicomponent Fuel Drops; Formation Flying of Tethered and Nontethered Spacecraft; and Two Methods for Efficient Solution of the Hitting- Set Problem.

Source record↗

NASA NTRSDate not supplied

Power and Propulsion Element Steerable High Gain Antenna Lunar Transit Thermal Analysis Tracking Methodology

The Power and Propulsion Element (PPE) is an ion thruster propulsion spacecraft developed as an element of Space Reactor (SR-1) Freedom to provide propulsion, communications and power for the spacecraft. PPE was originally being developed for the use with the lunar orbiting space station Gateway as one of the first two planned elements. PPE was to be launched with the Habitation and Logistics Outpost (HALO) element in a configuration called the Co-Manifested Vehicle (CMV) that would arrive at a Near-Rectilinear Halo Orbit (NRHO) around the Moon via a lunar transit spiral trajectory phase. The PPE communication system is equipped with two Steerable High Gain Antennas (SHGA) each steered by a two-axis gimbal (TAG) mechanism. A thermal analysis was conducted during the near-Earth spiral phase of the mission using Thermal Desktop (TD). This analysis utilized multiple axis Earth tracking articulators in combination with SINDA system internal environmental heating symbols to produce accurate Earth ground station tracking communication system temperatures. This presentation provides an overview of the communication system thermal model and the analysis methodology.

Thermal Analysis↗

NASA NTRS1988

An approach to articulating expert system rule bases

A rule-base generation procedure is developed for expert systems used to diagnose anomalies in the performance of mechanical plants and similar engineering systems. The method is based on construction of a failure-mode information-propagation model (FIPM). Details of the FIPM procedure are discussed and illustrated with diagrams; reference is made to a sample application involving the turbopump of the high-pressure oxidizer for the Space Shuttle main engine.

Abernethy, Ken↗

DOE OSTI2020

Leveraging the Higgs to Discover Physics Beyond the Standard Model (Final Technical Report)

The discovery of an apparently Standard Model-like Higgs at the Large Hadron Collider (LHC) heralds the start of a new era in particle physics. While the Higgs marks the completion of the Standard Model framework, it offers far more opportunities in the search for physics beyond the Standard Model. The Higgs boson raises a pressing theoretical problem known as the hierarchy problem: why is an elementary scalar particle so light when quantum corrections tie its mass to the highest energy scales? The Higgs also provides an unprecedented experimental opportunity as a bellwether of new physics: it may be merely the first of several states in the electroweak symmetry breaking sector, while its production and decays may provide unique evidence for additional particles. Research supported by this award leveraged the Higgs boson to explore new physics from both directions, developing novel approaches to solving the hierarchy problem posed by the Higgs boson and directly employing the Higgs as a new tool for discovery. Given that null results at the LHC and other experiments have begun to endanger conventional approaches to the hierarchy problem, research supported by the award identified original solutions to the hierarchy problem wherein the lightest degrees of freedom protecting the Higgs boson carry no Standard Model quantum numbers and thus evade existing searches. The PI's approach combined standard tools of quantum field theory with novel applications of the orbifold reduction of continuous symmetries to define the framework of "neutral naturalness'' and explore its experimental consequences across the energy, intensity, and cosmic frontiers. In employing the Higgs directly as a tool for discovery, research supported by this award articulated a systematic approach to searching for extensions of the Higgs sector at the LHC and pursued four key avenues through which the Higgs can be used to uncover new physics across a range of experiments: (1) as a direct final state probe; (2) as an indirect probe through its couplings; (3) as a portal to states neutral under the Standard Model; and (4) as a source of exotic processes in displaced decays.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

NASA NTRS2004

Stability Analysis of the Slowed-Rotor Compound Helicopter Configuration

The stability and control of rotors at high advance ratio are considered. Teetering, articulated, gimbaled, and rigid hub types are considered for a compound helicopter (rotor and fixed wing). Stability predictions obtained using an analytical rigid flapping blade analysis, a rigid blade CAMRAD II model, and an elastic blade CAMRAD II model are compared. For the flapping blade analysis, the teetering rotor is the most stable, 5howing no instabilities up to an advance ratio of 3 and a Lock number of 18. With an elastic blade model, the teetering rotor is unstable at an advance ratio of 1.5. Analysis of the trim controls and blade flapping shows that for small positive collective pitch, trim can be maintained without excessive control input or flapping angles.

Johnson, Wayne↗

NASA NTRS2007

Stability Analysis of the Slowed-Rotor Compound Helicopter Configuration

The stability and control of rotors at high advance ratio are considered. Teetering, articulated, gimbaled, and rigid hub types are considered for a compound helicopter (rotor and fixed wing). Stability predictions obtained using an analytical rigid flapping blade analysis, a rigid blade CAMRAD II model, and an elastic blade CAMRAD II model are compared. For the flapping blade analysis, the teetering rotor is the most stable, showing no instabilities up to an advance ratio of 3 and a Lock number of 18. A notional elastic blade model of a teetering rotor is unstable at an advance ratio of 1.5, independent of pitch frequency. Analysis of the trim controls and blade flapping shows that for small positive collective pitch, trim can be maintained without excessive control input or flapping angles.

Floros, Matthew W.↗

NASA NTRSDate not supplied

Assessment of Control Algorithms for Mars Entry Vehicles With Flap-Based Trajectory Control Under Uncertainty

Flap-based steering systems on blunt-body entry vehicles may improve flight performance relative to heritage bank-angle steering systems. Successful implementation of articulating aerodynamic flaps on a hypersonic entry vehicle requires an active control system to map angle of attack and sidelip angle commands to flap deflection commands. Here, a successive-linearization model prective control algorithm, as a linear quadratic regulator, are formulated, designed, and assessed to address this multiple input multiple output control problem. These two control algorithms are assessed under uncertainty in Monte Carlo simulations for various control profiles and vehicle configurations. Results indicate that while both control algorithms provide successful command tracking under uncertainty, the model predictive controller provides a lower mean and integral error, as well as greater robustness, relative to the linear-quadratic regulator.

Daniel L Engel↗

NASA NTRS2013

Support Routines for In Situ Image Processing

This software consists of a set of application programs that support ground-based image processing for in situ missions. These programs represent a collection of utility routines that perform miscellaneous functions in the context of the ground data system. Each one fulfills some specific need as determined via operational experience. The most unique aspect to these programs is that they are integrated into the large, in situ image processing system via the PIG (Planetary Image Geometry) library. They work directly with space in situ data, understanding the appropriate image meta-data fields and updating them properly. The programs themselves are completely multimission; all mission dependencies are handled by PIG. This suite of programs consists of: (1)marscahv: Generates a linearized, epi-polar aligned image given a stereo pair of images. These images are optimized for 1-D stereo correlations, (2) marscheckcm: Compares the camera model in an image label with one derived via kinematics modeling on the ground, (3) marschkovl: Checks the overlaps between a list of images in order to determine which might be stereo pairs. This is useful for non-traditional stereo images like long-baseline or those from an articulating arm camera, (4) marscoordtrans: Translates mosaic coordinates from one form into another, (5) marsdispcompare: Checks a Left Right stereo disparity image against a Right Left disparity image to ensure they are consistent with each other, (6) marsdispwarp: Takes one image of a stereo pair and warps it through a disparity map to create a synthetic opposite- eye image. For example, a right eye image could be transformed to look like it was taken from the left eye via this program, (7) marsfidfinder: Finds fiducial markers in an image by projecting their approximate location and then using correlation to locate the markers to subpixel accuracy. These fiducial markets are small targets attached to the spacecraft surface. This helps verify, or improve, the pointing of in situ cameras, (8) marsinvrange: Inverse of marsrange . given a range file, re-computes an XYZ file that closely matches the original. . marsproj: Projects an XYZ coordinate through the camera model, and reports the line/sample coordinates of the point in the image, (9) marsprojfid: Given the output of marsfidfinder, projects the XYZ locations and compares them to the found locations, creating a report showing the fiducial errors in each image. marsrad: Radiometrically corrects an image, (10) marsrelabel: Updates coordinate system or camera model labels in an image, (11) marstiexyz: Given a stereo pair, allows the user to interactively pick a point in each image and reports the XYZ value corresponding to that pair of locations. marsunmosaic: Extracts a single frame from a mosaic, which will be created such that it could have been an input to the original mosaic. Useful for creating simulated input frames using different camera models than the original mosaic used, and (12) merinverter: Uses an inverse lookup table to convert 8-bit telemetered data to its 12-bit original form. Can be used in other missions despite the name.

Deen, Robert G.↗

NASA NTRS2006

Solar Sails

The Solar Sail Propulsion investment area has been one of the three highest priorities within the In-Space Propulsion Technology (ISPT) Project. In the fall of 2003, the NASA Headquarters' Science Mission Directorate provided funding and direction to mature the technology as far as possible through ground research and development from TRL 3 to 6 in three years. A group of experts from government, industry, and academia convened in Huntsville, Alabama to define technology gaps between what was needed for science missions to the inner solar system and the current state of the art in ultra1ightweight materials and gossamer structure design. This activity set the roadmap for development. The centerpiece of the development would be the ground demonstration of scalable solar sail systems including masts, sails, deployment mechanisms, and attitude control hardware and software. In addition, new materials would be subjected to anticipated space environments to quantify effects and assure mission life. Also, because solar sails are huge structures, and it is not feasible to validate the technology by ground test at full scale, a multi-discipline effort was established to develop highly reliable analytical models to serve as mission assurance evidence in future flight program decision-making. Two separate contractor teams were chosen to develop the SSP System Ground Demonstrator (SGD). After a three month conceptual mission/system design phase, the teams developed a ten meter diameter pathfinder set of hardware and subjected it to thermal vacuum tests to compare analytically predicted structural behavior with measured characteristics. This process developed manufacturing and handling techniques and refined the basic design. In 2005, both contractor teams delivered 20 meter, four quadrant sail systems to the largest thermal vacuum chamber in the world in Plum Brook, Ohio, and repeated the tests. Also demonstrated was the deployment and articulation of attitude control mechanisms. In conjunction with these tests, the stowed sails were subjected to launch vibration and ascent vent tests. Other investments studied radiation effects on the solar sail materials, investigated spacecraft charging issues, developed shape measuring techniques and instruments, produced advanced trajectory modeling capabilities, and identified and resolved gossamer structure dynamics issues. Technology validation flight and application to a He1iophysics science mission is on the horizon.

Young, Roy↗

NASA NTRS2004

A Study on the Requirements for Fast Active Turbine Tip Clearance Control Systems

This paper addresses the requirements of a control system for active turbine tip clearance control in a generic commercial turbofan engine through design and analysis. The control objective is to articulate the shroud in the high pressure turbine section in order to maintain a certain clearance set point given several possible engine transient events. The system must also exhibit reasonable robustness to modeling uncertainties and reasonable noise rejection properties. Two actuators were chosen to fulfill such a requirement, both of which possess different levels of technological readiness: electrohydraulic servovalves and piezoelectric stacks. Identification of design constraints, desired actuator parameters, and actuator limitations are addressed in depth; all of which are intimately tied with the hardware and controller design process. Analytical demonstrations of the performance and robustness characteristics of the two axisymmetric LQG clearance control systems are presented. Takeoff simulation results show that both actuators are capable of maintaining the clearance within acceptable bounds and demonstrate robustness to parameter uncertainty. The present model-based control strategy was employed to demonstrate the tradeoff between performance, control effort, and robustness and to implement optimal state estimation in a noisy engine environment with intent to eliminate ad hoc methods for designing reliable control systems.

DeCastro, Jonathan A.↗

NASA NTRS1991

Large Angle Transient Dynamics (LATDYN) demonstration problem manual

LATDYN is a computer code for modeling the Large Angle Transient Dynamics of structures. The objective in developing the code was to investigate new techniques for analyzing flexible deformation and control/structure interaction problems associated with large angular motions of spacecraft. Such motions may consist of pointing the entire spacecraft or articulation of individual components, events which occur frequently during construction, operation, and maintenance of large spacecraft. This type of analysis is beyond the routine capability of conventional analytical tools without simplifying assumptions. In some instances, the motion may be sufficiently slow and the spacecraft (or component) sufficiently rigid to simplify the analysis of dynamics and controls by making pseudo-static and/or rigid body assumptions. LATDYN introduces a new approach to the problem by combining finite element structural analysis, multi-body dynamics, and control system analysis in a single tool. It includes a new type of finite element that can deform and rotate through large angles at the same time, and which can be connected to other finite elements either rigidly or through mechanical joints. LATDYN also provides symbolic capabilities for modeling control systems which are interfaced directly with the finite element structural model. Thus, the nonlinear equations representing the structural model are integrated along with the equations representing sensors, processing, and controls as a coupled system.

Wu, Shih-Chin↗

NASA NTRS1992

A study of the rotor wake of a small-scale rotor model in forward flight using laser light sheet flow visualization with comparisons to analytical models

An experimental investigation was conducted in the 14 by 22 ft subsonic tunnel at NASA Langley Research Center to quantify the rotor wake behind a scale model helicopter rotor in forward flight (mu = 0.15 and 0.23) at one thrust level (C sub T = 0.0064). The rotor system used in the present test consisted of a four-bladed, fully articulated hub and utilized blades of rectangular planform with a NACA-0012 airfoil section. A laser light sheet, seeded with propylene glycol smoke, was used to visualize the flow in planes parallel and perpendicular to the freestream flow. Quantitative measurements of vortex location, vertical skew angle, and vortex particle void radius were obtained for vortices in the flow; convective velocities were obtained for blade tip vortices. Comparisons were made between the experimental results and the wake geometry generated by computational predictions. The results of these comparisons show that the interaction between wake vortex structures is an important consideration for correctly predicting the wake geometry.

Ghee, Terence A.↗