SEARCH · Engineering Papers

Results for “Singularity”

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 37 records · Page 2

All sources NASA NTRS DOE OSTI

NASA NTRS1991

Singularities in water waves and Rayleigh-Taylor instability

Singularities in inviscid two-dimensional finite-amplitude water waves and inviscid Rayleigh-Taylor instability are discussed. For the deep water gravity waves of permanent form, through a combination of analytical and numerical methods, results describing the precise form, number, and location of singularities in the unphysical domain as the wave height is increased are presented. It is shown how the information on the singularity in the unphysical region has the same form as for deep water waves. However, associated with such a singularity is a series of image singularities at increasing distances from the physical plane with possibly different behavior. Furthermore, for the Rayleigh-Taylor problem of motion of fluid over a vacuum and for the unsteady water wave problem, integro-differential equations valid in the unphysical region are derived, and how these equations can give information on the nature of singularities for arbitrary initial conditions is shown.

Tanveer, S.↗

NASA NTRS1992

The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities.

Williams, Robert L., III↗

NASA NTRS1991

Singularities in water waves and Rayleigh-Taylor instability

Tanveer, S.↗

NASA NTRS1992

Large-scale sparse singular value computations

Four numerical methods for computing the singular value decomposition (SVD) of large sparse matrices on a multiprocessor architecture are presented. Lanczos and subspace iteration-based methods for determining several of the largest singular triplets (singular values and corresponding left and right-singular vectors) for sparse matrices arising from two practical applications: information retrieval and seismic reflection tomography are emphasized. The target architectures for implementations are the CRAY-2S/4-128 and Alliant FX/80. The sparse SVD problem is well motivated by recent information-retrieval techniques in which dominant singular values and their corresponding singular vectors of large sparse term-document matrices are desired, and by nonlinear inverse problems from seismic tomography applications which require approximate pseudo-inverses of large sparse Jacobian matrices.

Berry, Michael W.↗

NASA NTRS1979

Singular perturbations and the sounding rocket problem

In this paper, Goddard's problem of maximizing the final altitude of a sounding rocket (a singular problem of optimal control) is analyzed using singular perturbation methods. The problem is first cast in singular perturbation form and then solved to zero order by adding boundary-layer corrections to the reduced solution. For a quadratic drag law, a closed-form solution is obtained, although consideration of a numerical example indicates that this solution is not useful for practical sounding rockets. However, use of state variable transformations allows a very accurate numerical approximation to be constructed. It is concluded that application of singular perturbation methods to the well-known sounding rocket problem indicates that these methods may have utility in dealing with singular problems of optimal control.

Ardema, M. D.↗

NASA NTRS1980

Stress singularities at the vertex of a cylindrically anisotropic wedge

The plane elasticity problem for a cylindrically anisotropic solid is formulated. The form of the solution for an infinite wedge shaped domain with various homogeneous boundary conditions is derived and the nature of the stress singularity at the vertex of the wedge is studied. The characteristic equations giving the stress singularity and the angular distribution of the stresses around the vertex of the wedge are obtained for three standard homogeneous boundary conditions. The numerical examples show that the singular behavior of the stresses around the vertex of an anisotropic wedge may be significantly different from that of the isotropic material. Some of the results which may be of practical importance are that for a half plane the stress state at r = 0 may be singular and for a crack the power of stress singularity may be greater or less than 1/2.

Delale, F.↗

NASA NTRS1982

Application of matrix singular value properties for evaluating gain and phase margins of multiloop systems

A stability margin evaluation method in terms of simultaneous gain and phase changes in all loops of a multiloop system is presented. A universal gain-phase margin evaluation diagram is constructed by generalizing an existing method using matrix singular value properties. Using this diagram and computing the minimum singular value of the system return difference matrix over the operating frequency range, regions of guaranteed stability margins can be obtained. Singular values are computed for a wing flutter suppression and a drone lateral attitude control problem. The numerical results indicate that this method predicts quite conservative stability margins. In the second example if the eigenvalue magnitude is used instead of the singular value, as a measure of nearness to singularity, more realistic stability margins are obtained. However, this relaxed measure generally cannot guarantee global stability.

Mukhopadhyay, V.↗

NASA NTRS1984

Singular value decomposition with systolic arrays

Systolic arrays for determining the singular value decomposition of a mxn, m n, matrix A of bandwidth w are presented. After A has been reduced to bidiagonal form B by means of Givens plane rotations, the singular values of B are computed by the Golub-Reinsch iteration. The products of plane rotations form the matrices of left and right singular vectors. Assuming each processor can compute or supply a plane rotation, O(wn) processors accomplish the reduction to bidiagonal form in O(np) steps, where p is the number of superdiagonals. A constant number of processors then determines each singular value in about 6n steps. The singular vectors are computed by rerouting the rotations through the arrays used for the reduction to bidiagonal form, or else along the way by employing another rectangular array of O(wm) processors.

Ipsen, I. C. F.↗

NASA NTRS1984

Singular value decomposition with systolic arrays

Systolic arrays for determining the singular value decomposition of a mxn, m greater than or equal to n, matrix A of bandwidth w are presented. After A has been reduced to bidiagonal form B by means of Givens plane rotations, the singular values of B are computed by the Golub-Reinsch iteration. The products of plane rotations form the matrices of left and right singular vectors. Assuming each processor can compute or supply a plane rotation, O(wn) processors accomplish the reduction to bidiagonal form in O(np) steps, where p is the number of superdiagonals. A constant number of processors then determines each singular value in about 6n steps. The singular vectors are computed by rerouting the rotations through the arrays used for the reduction to bidiagonal form, or else along the way by employing another rectangular array of O(wm) processors.

Ipsen, I.↗

NASA NTRS1990

Treatment of singularities in a middle-crack tension specimen

A three-dimensional finite-element analysis of a middle-crack tension specimen subjected to mode I loading was performed to study the stress singularity along the crack front. The specimen was modeled using 20-node isoparametric elements with collapsed nonsingular elements at the crack front. The displacements and stresses from the analysis were used to estimate the power of singularities, by a log-log regression analysis, along the crack front. Analyses showed that finite-sized cracked bodies have two singular stress fields. Because of two singular stress fields near the free surface and the classical square root singularity elsewhere, the strain energy release rate appears to be an appropriate parameter all along the crack front.

Shivakumar, K. N.↗

NASA NTRS1990

Classification of singular configurations for redundant manipulators

A general methodology is presented for the singularity analysis of kinematically redundant manipulators. The singular configurations are classified based on the possibility of reconfiguration into a nonsingular posture using self-motion. A procedure is presented to test for the possibility of self-motion at a singular configuration. Necessary and sufficient conditions for admissible tangent vectors at the singular configuration are presented, as well as a method to construct such vectors. Sufficient conditions are derived for instances when the singular system can be reconfigured into a nonsingular state by displacements along the admissible null vectors.

Bedrossian, Nazareth S.↗

NASA NTRS1993

Singularity in structural optimization

The conditions under which global and local singularities may arise in structural optimization are examined. Examples of these singularities are presented, and a framework is given within which the singularities can be recognized. It is shown, in particular, that singularities can be identified through the analysis of stress-displacement relations together with compatibility conditions or the displacement-stress relations derived by the integrated force method of structural analysis. Methods of eliminating the effects of singularities are suggested and illustrated numerically.

Patnaik, S. N.↗

NASA NTRS1995

A well-posed numerical method to track isolated conformal map singularities in Hele-Shaw flow

We present a new numerical method for calculating an evolving 2D Hele-Shaw interface when surface tension effects are neglected. In the case where the flow is directed from the less viscous fluid into the more viscous fluid, the motion of the interface is ill-posed; small deviations in the initial condition will produce significant changes in the ensuing motion. This situation is disastrous for numerical computation, as small round-off errors can quickly lead to large inaccuracies in the computed solution. Our method of computation is most easily formulated using a conformal map from the fluid domain into a unit disk. The method relies on analytically continuing the initial data and equations of motion into the region exterior to the disk, where the evolution problem becomes well-posed. The equations are then numerically solved in the extended domain. The presence of singularities in the conformal map outside of the disk introduces specific structures along the fluid interface. Our method can explicitly track the location of isolated pole and branch point singularities, allowing us to draw connections between the development of interfacial patterns and the motion of singularities as they approach the unit disk. In particular, we are able to relate physical features such as finger shape, side-branch formation, and competition between fingers to the nature and location of the singularities. The usefulness of this method in studying the formation of topological singularities (self-intersections of the interface) is also pointed out.

Baker, Gregory↗

NASA NTRS2006

Singular-Arc Time-Optimal Trajectory of Aircraft in Two-Dimensional Wind Field

This paper presents a study of a minimum time-to-climb trajectory analysis for aircraft flying in a two-dimensional altitude dependent wind field. The time optimal control problem possesses a singular control structure when the lift coefficient is taken as a control variable. A singular arc analysis is performed to obtain an optimal control solution on the singular arc. Using a time-scale separation with the flight path angle treated as a fast state, the dimensionality of the optimal control solution is reduced by eliminating the lift coefficient control. A further singular arc analysis is used to decompose the original optimal control solution into the flight path angle solution and a trajectory solution as a function of the airspeed and altitude. The optimal control solutions for the initial and final climb segments are computed using a shooting method with known starting values on the singular arc The numerical results of the shooting method show that the optimal flight path angle on the initial and final climb segments are constant. The analytical approach provides a rapid means for analyzing a time optimal trajectory for aircraft performance.

Nguyen, Nhan↗

NASA NTRS2010

A Singular Perturbation Approach for Time-Domain Assessment of Phase Margin

This paper considers the problem of time-domain assessment of the Phase Margin (PM) of a Single Input Single Output (SISO) Linear Time-Invariant (LTI) system using a singular perturbation approach, where a SISO LTI fast loop system, whose phase lag increases monotonically with frequency, is introduced into the loop as a singular perturbation with a singular perturbation (time-scale separation) parameter Epsilon. First, a bijective relationship between the Singular Perturbation Margin (SPM) max and the PM of the nominal (slow) system is established with an approximation error on the order of Epsilon(exp 2). In proving this result, relationships between the singular perturbation parameter Epsilon, PM of the perturbed system, PM and SPM of the nominal system, and the (monotonically increasing) phase of the fast system are also revealed. These results make it possible to assess the PM of the nominal system in the time-domain for SISO LTI systems using the SPM with a standardized testing system called "PM-gauge," as demonstrated by examples. PM is a widely used stability margin for LTI control system design and certification. Unfortunately, it is not applicable to Linear Time-Varying (LTV) and Nonlinear Time-Varying (NLTV) systems. The approach developed here can be used to establish a theoretical as well as practical metric of stability margin for LTV and NLTV systems using a standardized SPM that is backward compatible with PM.

Zhu, J. Jim↗

NASA NTRS1977

On the singular behavior of linear acoustic theory in near-sonic duct flows

The propagation of sound in a converging-diverging duct containing a quasi-one-dimensional steady flow with a high subsonic throat Mach number is studied. The behavior of linearized acoustic theory at the throat of the duct is shown to be singular, and the explicit form of the singularity is determined for two special types of area variation. Numerically computed results showing the development of the singularity are presented. The singularity implies that linearized acoustic theory is invalid for sound propagating through a throat carrying a near-sonic flow.

Myers, M. K.↗

NASA NTRS1981

Boundary-layer effects in composite laminates: Free-edge stress singularities, part 6

A rigorous mathematical model was obtained for the boundary-layer free-edge stress singularity in angleplied and crossplied fiber composite laminates. The solution was obtained using a method consisting of complex-variable stress function potentials and eigenfunction expansions. The required order of the boundary-layer stress singularity is determined by solving the transcendental characteristic equation obtained from the homogeneous solution of the partial differential equations. Numerical results obtained show that the boundary-layer stress singularity depends only upon material elastic constants and fiber orientation of the adjacent plies. For angleplied and crossplied laminates the order of the singularity is weak in general.

Wanag, S. S.↗

NASA NTRS1982

Singularity embedding method in potential flow calculations

The so-called H-type mesh is used in a finite-element (or finite-volume) calculation of the potential flow past an airfoil. Due to coordinate singularity at the leading edge, a special singular trial function is used for the elements neighboring the leading edge. The results using the special singular elements are compared to those using the regular elements. It is found that the unreasonable pressure distribution obtained by the latter is removed by the embedding of the singular element. Suggestions to extend the present method to transonic cases are given.

Jou, W. H.↗