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Time variant analysis of large scale constrained rotorcraft systems dynamics - An exploitation of IBM-3090 vector-processor's pipe-lining feature

A generalized algorithmic procedure is presented for handling the constraints in transmissions, which are treated as a multibody system of interconnected rigid/flexible bodies. The type of constraints are classified based on the interconnection of the bodies, assuming one or more points of contact to exist between them. The method is explained through flow charts and configuration/interaction tables. A significant increase in speed of execution is achieved by vectorizing the developed code in computationally intensive areas. The study of an example consisting of two meshing disks rotating at high angular velocity is carried out. The dynamic behavior of the constraint forces associated with the generalized coordinates of the system are plotted by selecting various modes. Applications are intended for the study of dynamic and subsequent prediction of constraint forces at the gear teeth contacting points in helicopter transmissions with the aim of improving performance dependability.

Amirouche, F. M. L.

The Use of Non-Standard Devices in Finite Element Analysis

A general mathematical description of the response behavior of thin-skin pneumatic envelopes and many other membrane and cable structures produces under-constrained systems that pose severe difficulties to analysis. These systems are mobile, and the general mathematical description exposes the mobility. Yet the response behavior of special under-constrained structures under special loadings can be accurately predicted using a constrained mathematical description. The static response behavior of systems that are infinitesimally mobile, such as a non-slack membrane subtended from a rigid or elastic boundary frame, can be easily analyzed using such general mathematical description as afforded by the non-linear, finite element method using an implicit solution scheme if the incremental uploading is guided through a suitable path. Similarly, if such structures are assembled with structural lack of fit that provides suitable self-stress, then dynamic response behavior can be predicted by the non-linear, finite element method and an implicit solution scheme. An explicit solution scheme is available for evolution problems. Such scheme can be used via the method of dynamic relaxation to obtain the solution to a static problem. In some sense, pneumatic envelopes and many other compliant structures can be said to have destiny under a specified loading system. What that means to the analyst is that what happens on the evolution path of the solution is irrelevant as long as equilibrium is achieved at destiny under full load and that the equilibrium is stable in the vicinity of that load. The purpose of this paper is to alert practitioners to the fact that non-standard procedures in finite element analysis are useful and can be legitimate although they burden their users with the requirement to use special caution. Some interesting findings that are useful to the US Scientific Balloon Program and that could not be obtained without non-standard techniques are presented.

Schur, Willi W.

Functional implications of component commonality in operational systems

The application of commonality in a system represents an attempt to reduce costs by reducing the number of unique components. Research in this area has primarily addressed a significant benefit of commonality, the reduction of parts inventories in assemble-to-order manufacturing systems. Likewise, in an operational system subject to component failures, spares inventories are reduced through the increased commonality of components. However, commonality tends to degrade system performance parameters, a degradation that can preclude commonality in resource-constrained systems such as spacecraft. The functional impacts of component commonality on a system is addressed in a manner that allows inclusion in a commonality analysis.

Thomas, Lawrence D.

Probing for Exoplanets Hiding in Dusty Debris Disks: Disk Imaging, Characterization, and Exploration with HST-STIS Multi-roll Coronagraphy

Spatially resolved scattered-light images of circumstellar debris in exoplanetary systems constrain the physical properties and orbits of the dust particles in these systems. They also inform on co-orbiting (but unseen) planets, the systemic architectures, and forces perturbing the starlight-scattering circumstellar material. Using HST/STIS broadband optical coronagraphy, we have completed the observational phase of a program to study the spatial distribution of dust in a sample of ten circumstellar debris systems, and one "mature" protoplanetrary disk all with HST pedigree, using PSF-subtracted multi-roll coronagraphy. These observations probe stellocentric distances greater than or equal to 5 AU for the nearest systems, and simultaneously resolve disk substructures well beyond corresponding to the giant planet and Kuiper belt regions within our own Solar System. They also disclose diffuse very low-surface brightness dust at larger stellocentric distances. Herein we present new results inclusive of fainter disks such as HD92945 (F (sub disk) /F (sub star) = 5x10 (sup -5) confirming, and better revealing, the existence of a narrow inner debris ring within a larger diffuse dust disk. Other disks with ring-like sub-structures and significant asymmetries and complex morphologies include: HD181327 for which we posit a spray of ejecta from a recent massive collision in an exo-Kuiper belt; HD61005 suggested to be interacting with the local ISM; HD15115 and HD32297, discussed also in the context of putative environmental interactions. These disks, and HD15745, suggest that debris system evolution cannot be treated in isolation. For AU Mic's edge-on disk we find out-of-plane surface brightness asymmetries at greater than or equal to 5 AU that may implicate the existence of one or more planetary perturbers. Time resolved images of the MP Mus proto-planetary disk provide spatially resolved temporal variability in the disk illumination. These and other new images from our HST/STIS GO/12228 program enable direct inter-comparison of the architectures of these exoplanetary debris systems in the context of our own Solar System.

stellocentric distances

Equations of motion of a constrained split fairing system during opening.

Description of a constrained split fairing technique for avoiding contamination of a sounding rocket's payload environment by an uncontained explosive actuation device. The development is presented of the equations of motion of the fairing halves during the opening sequence assumed to occur above the sensible atmosphere. It is believed that a significant insight into the general motion results from the solution obtained.

Saunders, R. C., Jr.

Control of mechanical systems with rolling constraints: Application to dynamic control of mobile robots

There are many examples of mechanical systems that require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this article, we develop a unified approach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system. We then discuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mobile robots. Two types of control algorithms for mobile robots are investigated: trajectory tracking and path following. In each case, a smooth nonlinear feedback is obtained to achieve asymptotic input-output stability and Lagrange stability of the overall system. Simulation results are presented to demonstrate the effectiveness of the control algorithms and to compare the performane of trajectory-tracking and path-following algorithms.

Sarkar, Nilanjan

Control System Architectures, Technologies and Concepts for Near Term and Future Human Exploration of Space

Technologies that facilitate the design and control of complex, hybrid, and resource-constrained systems are examined. This paper focuses on design methodologies, and system architectures, not on specific control methods that may be applied to life support subsystems. Honeywell and Boeing have estimated that 60-80Y0 of the effort in developing complex control systems is software development, and only 20-40% is control system development. It has also been shown that large software projects have failure rates of as high as 50-65%. Concepts discussed include the Unified Modeling Language (UML) and design patterns with the goal of creating a self-improving, self-documenting system design process. Successful architectures for control must not only facilitate hardware to software integration, but must also reconcile continuously changing software with much less frequently changing hardware. These architectures rely on software modules or components to facilitate change. Architecting such systems for change leverages the interfaces between these modules or components.

Boulanger, Richard

Acoustic-radiation stress in solids. I - Theory

The general case of acoustic-radiation stress associated with quasi-compressional and quasi-shear waves propagating in infinite and semiinfinite lossless solids of arbitrary crystalline symmetry is studied. The Boussinesq radiation stress is defined and found to depend directly on an acoustic nonlinearity parameter which characterizes the radiation-induced static strain, a stress-generalized nonlinearity parameter which characterizes the stress nonlinearity, and the energy density of the propagating wave. Application of the Boltzmann-Ehrenfest principle of adiabatic invariance to a self-constrained system described by the nonlinear equations of motion allows the acoustic-radiation-induced static strain to be identified with a self-constrained variation in the time-averaged product of the internal energy density and displacement gradient. The time-averaged product is scaled by the acoustic nonlinearity parameter and represents the first-order nonlinearity in the virial theorem. Finally, the relationship between the Boussinesq and the Cauchy radiation stress is obtained in a closed three-dimensional form.

Cantrell, J. H., Jr.

Reactive system verification case study: Fault-tolerant transputer communication

A reactive program is one which engages in an ongoing interaction with its environment. A system which is controlled by an embedded reactive program is called a reactive system. Examples of reactive systems are aircraft flight management systems, bank automatic teller machine (ATM) networks, airline reservation systems, and computer operating systems. Reactive systems are often naturally modeled (for logical design purposes) as a composition of autonomous processes which progress concurrently and which communicate to share information and/or to coordinate activities. Formal (i.e., mathematical) frameworks for system verification are tools used to increase the users' confidence that a system design satisfies its specification. A framework for reactive system verification includes formal languages for system modeling and for behavior specification and decision procedures and/or proof-systems for verifying that the system model satisfies the system specifications. Using the Ostroff framework for reactive system verification, an approach to achieving fault-tolerant communication between transputers was shown to be effective. The key components of the design, the decoupler processes, may be viewed as discrete-event-controllers introduced to constrain system behavior such that system specifications are satisfied. The Ostroff framework was also effective. The expressiveness of the modeling language permitted construction of a faithful model of the transputer network. The relevant specifications were readily expressed in the specification language. The set of decision procedures provided was adequate to verify the specifications of interest. The need for improved support for system behavior visualization is emphasized.

Crane, D. Francis

Mission and System Advantages of Iodine Hall Thrusters

The exploration of alternative propellants for Hall thrusters continues to be of interest to the community. Investments have been made and continue for the maturation of iodine based Hall thrusters. Iodine testing has shown comparable performance to xenon. However, iodine has a higher storage density and resulting higher ΔV capability for volume constrained systems. Iodine's vapor pressure is low enough to permit low-pressure storage, but high enough to minimize potential adverse spacecraft-thruster interactions. The low vapor pressure also means that iodine does not condense inside the thruster at ordinary operating temperatures. Iodine is safe, it stores at sub-atmospheric pressure, and can be stored unregulated for years on end; whether on the ground or on orbit. Iodine fills a niche for both low power (<1kW) and high power (>10kW) electric propulsion regimes. A range of missions have been evaluated for direct comparison of Iodine and Xenon options. The results show advantages of iodine Hall systems for both small and microsatellite application and for very large exploration class missions.

Dankanich, John W.

Attitude stability of spinning flexible spacecraft

The stability of spinning flexible satellites in a force-free environment was analyzed. The satellite was modeled as a rigid core having attached to it a flexible appendage idealized as a collection of particles (point masses) interconnected by springs. Both Liapunov and Routh-Hurwitz stability procedures are used. In the former, the Hamiltonian of the system, constrained through the angular momentum integral so as to admit complete damping, is used as a testing function. Equations of motion are written using the hybrid coordinate formulation, which readily accepts a modal coordinate transformation ultimately allowing truncation to a level amenable to literal stability analysis. Closed form stability criteria are generated for the first mode of a restricted appendage model lying in a plane containing the system center of mass and orthogonal to the spin axis. The effects of spin on flexible bodies are discussed by considering a very elementary particle model. Control of passively unstable spacecraft is briefly considered.

Likins, P. W.

Experiments on the Richtmyer-Meshkov Instability of Incompressible Fluids

Richtmyer-Meshkov (R-M) instability occurs when two different density fluids are impulsively accelerated in the direction normal to their nearly planar interface. The instability causes small perturbations on the interface to grow and possibly become turbulent given the proper initial conditions. R-M instability is similar to the Rayleigh-Taylor (R-T) instability, which is generated when the two fluids undergo a constant acceleration. R-M instability is a fundamental fluid instability that is important to fields ranging from astrophysics to high-speed combustion. For example, R-M instability is currently the limiting factor in achieving a net positive yield with inertial confinement fusion. The experiments described here utilize a novel technique that circumvents many of the experimental difficulties previously limiting the study of the R-M instability. A Plexiglas tank contains two unequal density liquids and is gently oscillated horizontally to produce a controlled initial fluid interface shape. The tank is mounted to a sled on a high speed, low friction linear rail system, constraining the main motion to the vertical direction. The sled is released from an initial height and falls vertically until it bounces off of a movable spring, imparting an impulsive acceleration in the upward direction. As the sled travels up and down the rails, the spring retracts out of the way, allowing the instability to evolve in free-fall until impacting a shock absorber at the end of the rails. The impulsive acceleration provided to the system is measured by a piezoelectric accelerometer mounted on the tank, and a capacitive accelerometer measures the low-level drag of the bearings. Planar Laser-Induced Fluorescence is used for flow visualization, which uses an Argon ion laser to illuminate the flow and a CCD camera, mounted to the sled, to capture images of the interface. This experimental study investigates the instability of an interface between incompressible, miscible liquids with an initial sinusoidal perturbation. The amplitude of the disturbance during the experiment is measured and compared to theory. The results show good agreement (within 10%) with linear stability theory up to nondimensional amplitude ka = 0.7 (wavenumber x amplitude). These results hold true for an initial ka (before acceleration) of -0.7 less than ka less than -0.06, while the linear theory was developed for absolute value of ka much less than 1. In addition, a third order weakly nonlinear perturbation theory is shown to be accurate for amplitudes as large as ka = 1.3, even though the interface becomes double-valued at ka = 1.1. As time progresses, the vorticity on the interface concentrates, and the interface spirals around the alternating sign vortex centers to form a mushroom pattern. At higher Reynolds Number (based on circulation), an instability of the vortex cores has been observed. While time limitations of the apparatus prevent determination of a critical Reynolds Number, the lowest Reynolds Number this vortex instability has been observed at is 5000.

Jacobs, J.

Mission Data System Java Edition Version 7

The Mission Data System framework defines closed-loop control system abstractions from State Analysis including interfaces for state variables, goals, estimators, and controllers that can be adapted to implement a goal-oriented control system. The framework further provides an execution environment that includes a goal scheduler, execution engine, and fault monitor that support the expression of goal network activity plans. Using these frameworks, adapters can build a goal-oriented control system where activity coordination is verified before execution begins (plan time), and continually during execution. Plan failures including violations of safety constraints expressed in the plan can be handled through automatic re-planning. This version optimizes a number of key interfaces and features to minimize dependencies, performance overhead, and improve reliability. Fault diagnosis and real-time projection capabilities are incorporated. This version enhances earlier versions primarily through optimizations and quality improvements that raise the technology readiness level. Goals explicitly constrain system states over explicit time intervals to eliminate ambiguity about intent, as compared to command-oriented control that only implies persistent intent until another command is sent. A goal network scheduling and verification process ensures that all goals in the plan are achievable before starting execution. Goal failures at runtime can be detected (including predicted failures) and handled by adapted response logic. Responses can include plan repairs (try an alternate tactic to achieve the same goal), goal shedding, ignoring the fault, cancelling the plan, or safing the system.

Reinholtz, William K.

Early Radio and X-Ray Observations of the Youngest Nearby Type Ia Supernova PTF 11kly (SN 2011fe)

On August 24 (UT) the Palomar Transient Factory (PTF) discovered PTF11kly (SN 2011fe), the youngest and most nearby type Ia supernova (SN Ia) in decades. We followed this event up in the radio (centimeter and millimeter bands) and X-ray bands, starting about a day after the estimated explosion time. We present our analysis of the radio and X-ray observations, yielding the tightest constraints yet placed on the pre-explosion mass-loss rate from the progenitor system of this supernova. We find a robust limit of M(raised dot) less than or equal to 10(exp -8) (w /100 kilometers per second ) solar mass yr(exp -1) from sensitive X-ray non-detections, as well as a similar limit from radio data, which depends, however, on assumptions about microphysical parameters. We discuss our results in the context of single-degenerate models for SNe Ia and find that our observations modestly disfavor symbiotic progenitor models involving a red giant donor, but cannot constrain systems accreting from main sequence or sub-giant stars, including the popular supersoft channel. In view of the proximity of PTF11kly and the sensitivity of our prompt observations we would have to wait for a long time (decade or longer) in order to more meaningfully probe the circumstellar matter of Ia supernovae.

Horesh, Assaf

High Power Laser Diode Arrays for 2-Micron Solid State Coherent Lidars Applications

Laser diode arrays are critical components of any diode-pumped solid state laser systems, constraining their performance and reliability. Laser diode arrays (LDAs) are used as the pump source for energizing the solid state lasing media to generate an intense coherent laser beam with a high spatial and spectral quality. The solid state laser design and the characteristics of its lasing materials define the operating wavelength, pulse duration, and power of the laser diodes. The pump requirements for high pulse energy 2-micron solid state lasers are substantially different from those of more widely used 1-micron lasers and in many aspects more challenging [1]. Furthermore, the reliability and lifetime demanded by many coherent lidar applications, such as global wind profiling from space and long-range clear air turbulence detection from aircraft, are beyond the capability of currently available LDAs. In addition to the need for more reliable LDAs with longer lifetime, further improvement in the operational parameters of high power quasi-cw LDAs, such as electrical efficiency, brightness, and duty cycle, are also necessary for developing cost-effective 2-micron coherent lidar systems for applications that impose stringent size, heat dissipation, and power constraints. Global wind sounding from space is one of such applications, which is the main driver for this work as part of NASA s Laser Risk Reduction Program. This paper discusses the current state of the 792 nm LDA technology and the technology areas being pursued toward improving their performance. The design and development of a unique characterization facility for addressing the specific issues associated with the LDAs for pumping 2-micron coherent lidar transmitters and identifying areas of technological improvement will be described. Finally, the results of measurements to date on various standard laser diode packages, as well as custom-designed packages with potentially longer lifetime, will be reported.

Amzajerdian, Farzin

M(sub W) = 7.2-7.4 Estimated for A.D. 900 Seattle Fault Earthquake by Modeling the Uplift of a Lidar-Mapped Marine Terrace

Inverse modeling of slip on the Seattle fault system, constrained by elevations of uplifted marine terraces, provides a well-constrained estimate of the magnitude of the largest known upper-crust earthquake in the Puget Sound region within the past 2500 years. The terrace elevations that constrain the slip inversion are extracted from elevation and slope images generated from LIDAR surveys of the Puget Sound collected in 1996-2002. The images reveal a single uplifted terrace, dated to 1000 cal yr B.P. near Restoration Point, which is morphologically continuous along the southern shoreline of Bainbridge Island and is visible at comparable elevations within a 25 km by 12 km region encompassing coastlines of West Seattle, Bremerton, East Bremerton, Port Orchard, and Waterman Point. Considering sea level changes since A.D. 900, the maximum uplift magnitudes of shoreline inner edges approach 9 m and are located at the southernmost coastline of Bainbridge Island and the northern tip of Waterman Point, while tilt magnitudes are modest - approaching 0.1 degrees. For each of several different Seattle fault geometry interpretations, we use a linear inversion code to solve for distributed slip on the fault surfaces. Moment magnitudes of 7.2 to 7.4 are calculated directly from the different slip solutions. In general, the greatest slip of the A.D. 900 event was confined to the frontal thrust of the Seattle fault system and was centered beneath Puget Sound between Restoration Point and Alki Point.

Jordan R. Muller

Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as autonomously as possible. The most important progress in this area has been the work towards efficient path planning for high DOF, highly constrained systems. Other advances include machine vision algorithms for localizing and automatically docking with handrails, the ability of the operator to place obstacles in the robot's virtual environment, autonomous obstacle avoidance techniques, and constraint management.

Badger, Julia