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NASA NTRS2020

Multibody Based Digital Astronaut Dynamics Simulation

BACKGROUND: This study provides the Software, Robotics, & Simulation Division at the NASA Johnson Space Center with a verification tool for multibody dynamics simulation requiring human motion. The motivation stems from current studies of several Vibration Isolation & Stabilization(VIS)system designs that attenuate the moments and forces which would be transmitted to a spacecraft during an exercise. A multibody dynamics model for a proposed VIS was available previously[1], therefore modeling of the VIS was not needed for this work. The interest here is in creating the multibody dynamics model of an astronaut in motion which may be utilized independently or while attached to a mechanism. An existing simulation [2] that utilizes OpenSim [3,4] and an in-house multibody dynamics package (MBDyn) [5] is used in order to verify the astronaut model. The main advantage this model will have over the existing simulation is that everything will be processed in one tool. METHODS AND RESULTS: Creating the simulation required; estimation of Body Segment Inertial Parameters (BSIP),a multibody model of the human-VIS system, joint acceleration profiles, and input files for MBDyn, which is used for this analysis. The scaling factors provided by Dumas et al. [6] are utilized in estimating the BSIP. Anthropometric data are used for estimating these parameters, the Anthropometric Survey of US Army Personnel (ANSUR II) [7] was the source. The astronaut model consists of 15 bodies, 14 joints and 32 degrees of freedom, with the dynamics topology generated using the center of mass locations and anthropometric data. MBDyn has an option for prescribed joint motion (PJM), which requires joint acceleration data as input. The joint angle data is first obtained from a motion capture system and then processed through code that has been created to generate approximate joint acceleration profiles. The topology tree for the astronaut model begins at the right foot up to the pelvis where there is one branch for going down the left leg and another for the torso. The torso branch leads to branches for the arms and a leaf body for the head/neck segment. For attachment to the VIS, the heel of the right foot is connected to the VIS platform through a fixed joint, resembling a foot restraint. The left foot does not attach to the platform in order to prevent a system with a closed loop. Topology and symmetry of the astronaut model were verified through kinematic analysis. Further verification of the forces and moments transmitted to the VIS were verified against the existing simulation. There was a satisfactory level of agreement when testing a simple motion, for example, rocking back and forth. Full exercise motions are to be tested soon. The main outcome has been a novel application of MBDyn for biomechanics modeling that is now available for dynamic simulations involving human motion. The estimation of BSIP was another useful result of this study, requiring only 15 inputs for generating mass properties of a theoretical astronaut model. Expansion on this work is possible by going through an alternative route in obtaining the joint motion data. Instead of high-tech and often expensive motion capture systems, an individual may watch videos with high focus and at a slow motion for each individual segment in order to determine the initial and final time and angle for that specific degree of freedom. Synthetic trajectories may also be created if there is no video reference available.

F N Matari↗

NASA NTRS2000

Formal Analysis of the Remote Agent Before and After Flight

This paper describes two separate efforts that used the SPIN model checker to verify deep space autonomy flight software. The first effort occurred at the beginning of a spiral development process and found five concurrency errors early in the design cycle that the developers acknowledge would not have been found through testing. This effort required a substantial manual modeling effort involving both abstraction and translation from the prototype LISP code to the PROMELA language used by SPIN. This experience and others led to research to address the gap between formal method tools and the development cycle used by software developers. The Java PathFinder tool which directly translates from Java to PROMELA was developed as part of this research, as well as automatic abstraction tools. In 1999 the flight software flew on a space mission, and a deadlock occurred in a sibling subsystem to the one which was the focus of the first verification effort. A second quick-response "cleanroom" verification effort found the concurrency error in a short amount of time. The error was isomorphic to one of the concurrency errors found during the first verification effort. The paper demonstrates that formal methods tools can find concurrency errors that indeed lead to loss of spacecraft functions, even for the complex software required for autonomy. Second, it describes progress in automatic translation and abstraction that eventually will enable formal methods tools to be inserted directly into the aerospace software development cycle.

Havelund, Klaus↗

NASA NTRS2018

A Benchmark Example for Delamination Propagation Predictions Based on the Single Leg Bending Specimen Under Quasi-Static and Fatigue Loading

Benchmark examples based on Single Leg Bending (SLB) specimens with equal and unequal bending arm thicknesses were used to assess the performance of delamination prediction capabilities in finite element codes. First, the development of the quasi-static benchmark cases using the Virtual Crack Closure Technique (VCCT) is discussed in detail. Second, based on the quasi-static benchmark results, additional benchmark cases to assess delamination propagation under fatigue loading are created. Third, the application is demonstrated for the commercial finite element code Abaqus Standard 2018. The benchmark cases are compared to results obtained from VCCT-based, automated quasi-static propagation analysis. A comparison with results from automated fatigue propagation analysis was not performed at this point since the current version of Abaqus does not include this capability under variable mixed-mode conditions. In general, good agreement between the results obtained from the quasi-static propagation analysis and the benchmark results were achieved. Overall, the benchmarking procedure proved valuable for analysis verification.

Krueger, Ronald↗

NASA NTRSDate not supplied

A Benchmark Example for Delamination Propagation Predictions Based on the Single Leg Bending Specimen under Quasi-static and Fatigue Loading

Ronald Krueger↗

NASA NTRSDate not supplied

Eigenvalue Sensitivity Computations for Linear Stability Theory

To realize the drag reduction benefit of boundary-layer transition control strategies, it is crucial to integrate transition prediction into the vehicle design through an optimization process. The integration of transition prediction based on linear stability analysis into adjoint d design optimization requires coupling an adjoint enabled computational fluid dynamics (CFD) solver with an adjoint enabled linear stability code. In particular, the boundary-layer transition location is often predicted using the N-factor method based on linear stability theory (LST). Thus, sensitivity of the linear-stability eigenvalues constitute an essential building block for optimizing the laminar flow performance. The present paper describes an implementation of LST eigenvalue sensitivity analysis that can be easily coupled with a CFD solver. Specifically, we describe a discrete adjoint formulation for the transition location prediction based on the N-factor method. The verification of this formulation is carried out by comparing the adjoint-based sensitivity of the local growth rate of a given instability mode with respect to the disturbance frequency, and the adjoint-based sensitivity of the transition location with respect to spanwise wavenumber with those sensitivities computed using a finite-difference approximation. Finally, the adjoint LST formulation is applied to flat-plate boundary-layer flows at transonic, supersonic, and hypersonic conditions, to determine the behavior and sensitivities of the transition location with respect to a range of disturbance spanwise wavenumbers.

Boundary Layer Transition↗

NASA NTRS1982

Radiative transfer model for heterogeneous 3-D scenes

A general mathematical framework for simulating processes in heterogeneous 3-D scenes is presented. Specifically, a model was designed and coded for application to radiative transfers in vegetative scenes. The model is unique in that it predicts (1) the directional spectral reflectance factors as a function of the sensor's azimuth and zenith angles and the sensor's position above the canopy, (2) the spectral absorption as a function of location within the scene, and (3) the directional spectral radiance as a function of the sensor's location within the scene. The model was shown to follow known physical principles of radiative transfer. Initial verification of the model as applied to a soybean row crop showed that the simulated directional reflectance data corresponded relatively well in gross trends to the measured data. However, the model can be greatly improved by incorporating more sophisticated and realistic anisotropic scattering algorithms

Kimes, D. S.↗

NASA NTRS2012

Material Model Evaluation of a Composite Honeycomb Energy Absorber

A study was conducted to evaluate four different material models in predicting the dynamic crushing response of solid-element-based models of a composite honeycomb energy absorber, designated the Deployable Energy Absorber (DEA). Dynamic crush tests of three DEA components were simulated using the nonlinear, explicit transient dynamic code, LS-DYNA . In addition, a full-scale crash test of an MD-500 helicopter, retrofitted with DEA blocks, was simulated. The four material models used to represent the DEA included: *MAT_CRUSHABLE_FOAM (Mat 63), *MAT_HONEYCOMB (Mat 26), *MAT_SIMPLIFIED_RUBBER/FOAM (Mat 181), and *MAT_TRANSVERSELY_ANISOTROPIC_CRUSHABLE_FOAM (Mat 142). Test-analysis calibration metrics included simple percentage error comparisons of initial peak acceleration, sustained crush stress, and peak compaction acceleration of the DEA components. In addition, the Roadside Safety Verification and Validation Program (RSVVP) was used to assess similarities and differences between the experimental and analytical curves for the full-scale crash test.

Jackson, Karen E.↗

NASA NTRS1993

Integrated design of the CSI evolutionary structure: A verification of the design methodology

One of the main objectives of the Controls-Structures Interaction (CSI) program is to develop and evaluate integrated controls-structures design methodology for flexible space structures. Thus far, integrated design methodologies for a class of flexible spacecraft, which require fine attitude pointing and vibration suppression with no payload articulation, have been extensively investigated. Various integrated design optimization approaches, such as single-objective optimization, and multi-objective optimization, have been implemented with an array of different objectives and constraints involving performance and cost measures such as total mass, actuator mass, steady-state pointing performance, transient performance, control power, and many more. These studies have been performed using an integrated design software tool (CSI-DESIGN CODE) which is under development by the CSI-ADM team at the NASA Langley Research Center. To date, all of these studies, irrespective of the type of integrated optimization posed or objectives and constraints used, have indicated that integrated controls-structures design results in an overall spacecraft design which is considerably superior to designs obtained through a conventional sequential approach. Consequently, it is believed that validation of some of these results through fabrication and testing of a structure which is designed through an integrated design approach is warranted. The objective of this paper is to present and discuss the efforts that have been taken thus far for the validation of the integrated design methodology.

Maghami, Peiman G.↗

NASA NTRSDate not supplied

Towards Formalization of Advanced Linear Algebra with Applications to Dynamical Systems using PVS

Linear Algebra is essential for numerous aerospace problems of interest. Formal reasoning about hybrid systems that contain variables modeled by differential equations rely on concepts from Linear Algebra such as eigenvalues, matrix decompositions, and matrix valued functions. For example, the long-term dynamics of a system of differential equations depend on the stability/instability of its equilibrium points, which often reduces to an eigenvalue problem. This talk will embark on a quest to formalize theorems and results about eigenvalues and eigenvectors using PVS. We shall start our journey with 2 x 2 complex matrices, where we will apply our PVS code to a simple example of a dynamical system. Since it can be difficult or impossible to give simple expressions of eigenvalues for larger matrices (i.e. 5 x 5 or higher), we then move towards specifying the power method for verified computation of eigenvalue approximations in PVS. This effort requires development of multivariate complex arithmetic. At the end of the day, having such additions to the PVS NASA libraries will help move towards the use of formal methods to verify concepts of control theory and system level verification.

Linear Algebra↗

NASA NTRS1994

An analysis code for the Rapid Engineering Estimation of Momentum and Energy Losses (REMEL)

Nonideal behavior has traditionally been modeled by defining efficiency (a comparison between actual and isentropic processes), and subsequent specification by empirical or heuristic methods. With the increasing complexity of aeropropulsion system designs, the reliability of these more traditional methods is uncertain. Computational fluid dynamics (CFD) and experimental methods can provide this information but are expensive in terms of human resources, cost, and time. This report discusses an alternative to empirical and CFD methods by applying classical analytical techniques and a simplified flow model to provide rapid engineering estimates of these losses based on steady, quasi-one-dimensional governing equations including viscous and heat transfer terms (estimated by Reynold's analogy). A preliminary verification of REMEL has been compared with full Navier-Stokes (FNS) and CFD boundary layer computations for several high-speed inlet and forebody designs. Current methods compare quite well with more complex method results and solutions compare very well with simple degenerate and asymptotic results such as Fanno flow, isentropic variable area flow, and a newly developed, combined variable area duct with friction flow solution. These solution comparisons may offer an alternative to transitional and CFD-intense methods for the rapid estimation of viscous and heat transfer losses in aeropropulsion systems.

Dechant, Lawrence J.↗

NASA NTRSDate not supplied

Automatic Generation of Guard-Stable Floating-Point Code

In floating-point programs, test instability occurs when the control flow of a conditional statement diverges from its ideal execution under real arithmetic. This phenomenon is caused by the presence of round-off errors in floating-point computations. Writing programs that correctly handle test instability often require expertise on finite precision computations and rounding errors. This paper presents a fully automatic tool chain that generates and formally verifies a test-stable floating-point C program from its functional specification in real arithmetic. The generated program is instrumented to soundly detect when unstable tests may occur and, in these cases, to issue a warning. The proposed approach combines the PRECiSA floating-point static analyzer, the Frama-C software verification suite, and the PVS theorem prover.

Floating-Point Arithmetic↗

NASA NTRS1995

Experimental Verification of a Progressive Damage Model for IM7/5260 Laminates Subjected to Tension-Tension Fatigue

The durability and damage tolerance of laminated composites are critical design considerations for airframe composite structures. Therefore, the ability to model damage initiation and growth and predict the life of laminated composites is necessary to achieve structurally efficient and economical designs. The purpose of this research is to experimentally verify the application of a continuum damage model to predict progressive damage development in a toughened material system. Damage due to monotonic and tension-tension fatigue was documented for IM7/5260 graphite/bismaleimide laminates. Crack density and delamination surface area were used to calculate matrix cracking and delamination internal state variables to predict stiffness loss in unnotched laminates. A damage dependent finite element code predicted the stiffness loss for notched laminates with good agreement to experimental data. It was concluded that the continuum damage model can adequately predict matrix damage progression in notched and unnotched laminates as a function of loading history and laminate stacking sequence.

Coats, Timothy W.↗

NASA NTRS1996

User's Manual for Space Debris Surfaces (SD_SURF)

A unique collection of computer codes, Space Debris Surfaces (SD_SURF), have been developed to assist in the design and analysis of space debris protection systems. SD_SURF calculates and summarizes a vehicle's vulnerability to space debris as a function of impact velocity and obliquity. An SD_SURF analysis will show which velocities and obliquities are the most probable to cause a penetration. This determination can help the analyst select a shield design which is best suited to the predominant penetration mechanism. The analysis also indicates the most suitable parameters for development or verification testing. The SD_SURF programs offer the option of either FORTRAN programs and Microsoft EXCEL spreadsheets and macros. The FORTRAN programs work with BUMPERII version 1.2a or 1.3 (Cosmic released). The EXCEL spreadsheets and macros can be used independently or with selected output from the SD_SURF FORTRAN programs.

Elfer, N. C.↗

NASA NTRS1995

Space Debris Surfaces (Computer Code): Probability of No Penetration Versus Impact Velocity and Obliquity

A unique collection of computer codes, Space Debris Surfaces (SD_SURF), have been developed to assist in the design and analysis of space debris protection systems. SD_SURF calculates and summarizes a vehicle's vulnerability to space debris as a function of impact velocity and obliquity. An SD_SURF analysis will show which velocities and obliquities are the most probable to cause a penetration. This determination can help the analyst select a shield design that is best suited to the predominant penetration mechanism. The analysis also suggests the most suitable parameters for development or verification testing. The SD_SURF programs offer the option of either FORTRAN programs or Microsoft-EXCEL spreadsheets and macros. The FORTRAN programs work with BUMPERII. The EXCEL spreadsheets and macros can be used independently or with selected output from the SD_SURF FORTRAN programs. Examples will be presented of the interaction between space vehicle geometry, the space debris environment, and the penetration and critical damage ballistic limit surfaces of the shield under consideration.

Elfer, N.↗

NASA NTRS2003

Adaptation of SUBSTOR for controlled-environment potato production with elevated carbon dioxide

The SUBSTOR crop growth model was adapted for controlled-environment hydroponic production of potato (Solanum tuberosum L. cv. Norland) under elevated atmospheric carbon dioxide concentration. Adaptations included adjustment of input files to account for cultural differences between the field and controlled environments, calibration of genetic coefficients, and adjustment of crop parameters including radiation use efficiency. Source code modifications were also performed to account for the absorption of light reflected from the surface below the crop canopy, an increased leaf senescence rate, a carbon (mass) balance to the model, and to modify the response of crop growth rate to elevated atmospheric carbon dioxide concentration. Adaptations were primarily based on growth and phenological data obtained from growth chamber experiments at Rutgers University (New Brunswick, N.J.) and from the modeling literature. Modified-SUBSTOR predictions were compared with data from Kennedy Space Center's Biomass Production Chamber for verification. Results show that, with further development, modified-SUBSTOR will be a useful tool for analysis and optimization of potato growth in controlled environments.

NASA Discipline Life Support Systems↗

NASA NTRS2008

Verification of a Constraint Force Equation Methodology for Modeling Multi-Body Stage Separation

This paper discusses the verification of the Constraint Force Equation (CFE) methodology and its implementation in the Program to Optimize Simulated Trajectories II (POST2) for multibody separation problems using three specially designed test cases. The first test case involves two rigid bodies connected by a fixed joint; the second case involves two rigid bodies connected with a universal joint; and the third test case is that of Mach 7 separation of the Hyper-X vehicle. For the first two cases, the POST2/CFE solutions compared well with those obtained using industry standard benchmark codes, namely AUTOLEV and ADAMS. For the Hyper-X case, the POST2/CFE solutions were in reasonable agreement with the flight test data. The CFE implementation in POST2 facilitates the analysis and simulation of stage separation as an integral part of POST2 for seamless end-to-end simulations of launch vehicle trajectories.

Tartabini, Paul V.↗

NASA NTRS2014

Rapid State Space Modeling Tool for Rectangular Wing Aeroservoelastic Studies

This paper introduces a modeling and simulation tool for aeroservoelastic analysis of rectangular wings with trailing edge control surfaces. The inputs to the code are planform design parameters such as wing span, aspect ratio and number of control surfaces. A doublet lattice approach is taken to compute generalized forces. A rational function approximation is computed. The output, computed in a few seconds, is a state space aeroservoelastic model which can be used for analysis and control design. The tool is fully parameterized with default information so there is little required interaction with the model developer. Although, all parameters can be easily modified if desired.The focus of this paper is on tool presentation, verification and validation. This process is carried out in stages throughout the paper. The rational function approximation is verified against computed generalized forces for a plate model. A model composed of finite element plates is compared to a modal analysis from commercial software and an independently conducted experimental ground vibration test analysis. Aeroservoelastic analysis is the ultimate goal of this tool. Therefore the flutter speed and frequency for a clamped plate are computed using V-g and V-f analysis. The computational results are compared to a previously published computational analysis and wind tunnel results for the same structure. Finally a case study of a generic wing model with a single control surface is presented. Verification of the state space model is presented in comparison to V-g and V-f analysis. This also includes the analysis of the model in response to a 1-cos gust.

Modeling and Simulation↗

NASA NTRS2005

MSAP Hardware Verification: Testing Multi-Mission System Architecture Platform Hardware Using Simulation and Bench Test Equipment

The Multi-Mission System Architecture Platform (MSAP) project aims to develop a system of hardware and software that will provide the core functionality necessary in many JPL missions and can be tailored to accommodate mission-specific requirements. The MSAP flight hardware is being developed in the Verilog hardware description language, allowing developers to simulate their design before releasing it to a field programmable gate array (FPGA). FPGAs can be updated in a matter of minutes, drastically reducing the time and expense required to produce traditional application-specific integrated circuits. Bench test equipment connected to the FPGAs can then probe and run Tcl scripts on the hardware. The Verilog and Tcl code can be reused or modified with each design. These steps are effective in confirming that the design operates according specifications.

Crossin, Kent R.↗