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NASA NTRS1989

Controlling flexible structures: A survey of methods

Most of the presently available control system design techniques applicable to flexible structure problems were developed to design controllers for rigid body systems. Although many of these design methods can be applied to flexible dynamics problems, recently developed techniques may be more suitable for flexible structure controller design. The purpose of this presentation is to examine briefly the peculiarities of the dynamics of flexible structures and to stimulate discussion about top level controller design approaches when designing controllers for flexible structures. Presented here is a suggestion of a set of categories of design methods for designing controllers for flexible structures as well as a discussion of the advantages and disadvantages of each category. No attempt has been made herein to select one category of design techniques as the best for flexible structure controller design. Instead, it is hoped that the structure suggested by these categories will facilitate further discussion on the merits of particular methods that will eventually point to those design techniques suitable for further development.

Benson, Russell A.↗

NASA NTRS1998

Free-Suspension Residual Flexibility Testing of Space Station Pathfinder: Comparison to Fixed-Base Results

Application of the free-suspension residual flexibility modal test method to the International Space Station Pathfinder structure is described. The Pathfinder, a large structure of the general size and weight of Space Station module elements, was also tested in a large fixed-base fixture to simulate Shuttle Orbiter payload constraints. After correlation of the Pathfinder finite element model to residual flexibility test data, the model was coupled to a fixture model, and constrained modes and frequencies were compared to fixed-base test. modes. The residual flexibility model compared very favorably to results of the fixed-base test. This is the first known direct comparison of free-suspension residual flexibility and fixed-base test results for a large structure. The model correlation approach used by the author for residual flexibility data is presented. Frequency response functions (FRF) for the regions of the structure that interface with the environment (a test fixture or another structure) are shown to be the primary tools for model correlation that distinguish or characterize the residual flexibility approach. A number of critical issues related to use of the structure interface FRF for correlating the model are then identified and discussed, including (1) the requirement of prominent stiffness lines, (2) overcoming problems with measurement noise which makes the antiresonances or minima in the functions difficult to identify, and (3) the use of interface stiffness and lumped mass perturbations to bring the analytical responses into agreement with test data. It is shown that good comparison of analytical-to-experimental FRF is the key to obtaining good agreement of the residual flexibility values.

Tinker, Michael L.↗

NASA NTRS2004

Improved Thin, Flexible Heat Pipes

Flexible heat pipes of an improved type are fabricated as layers of different materials laminated together into vacuum- tight sheets or tapes. In comparison with prior flexible heat pipes, these flexible heat pipes are less susceptible to leakage. Other advantages of these flexible heat pipes, relative to prior flexible heat pipes, include high reliability and greater ease and lower cost of fabrication. Because these heat pipes are very thin, they are highly flexible. When coated on outside surfaces with adhesives, these flexible heat pipes can be applied, like common adhesive tapes, to the surfaces of heat sinks and objects to be cooled, even if those surfaces are curved.

Rosenfeld, John H.↗

NASA NTRS2003

Zipper Connectors for Flexible Electronic Circuits

Devices that look and function much like conventional zippers on clothing have been proposed as connectors for flexible electronic circuits. Heretofore, flexible electronic circuits have commonly included rigid connectors like those of conventional rigid electronic circuits. The proposed zipper connectors would make it possible to connect and disconnect flexible circuits quickly and easily. Moreover, the flexibility of zipper connectors would make them more (relative to rigid connectors) compatible with flexible circuits, so that the advantages of flexible circuitry could be realized more fully. Like a conventional zipper, a zipper according to the proposal would include teeth anchored on flexible tapes, a slider with a loosely attached clasp, a box at one end of the rows of mating teeth, and stops at the opposite ends. The tapes would be made of a plastic or other dielectric material. On each of the two mating sides of the zipper, metal teeth would alternate with dielectric (plastic) teeth, there being two metal teeth for each plastic one. When the zipper was closed, each metal tooth from one side would be in mechanical and electrical contact with a designated metal tooth from the other side, and these mating metal teeth would be electrically insulated from the next pair of mating metal teeth by an intervening plastic tooth. The metal teeth would be soldered or crimped to copper tabs. Wires or other conductors connected to electronic circuits would be soldered or crimped to the ends of the tabs opposite the teeth.

Barnes, Kevin N.↗

DOE OSTI2025

Ionic‐Liquid Free and Flexible Transistors Made of 2D Material Inks

The development of thin-film transistors (TFTs) using 2D materials is crucial for enabling scalable, low-cost, and flexible electronics. Currently, 2D TFTs with the highest performance have been achieved by using ionic-liquid gating (ILG), a technique suited for proof-of-concept studies. However, ILG suffers from slow switching speeds, temperature sensitivity, poor long-term stability, and integration challenges, making it unsuitable for practical use. Moreover, typical fabrication methods for 2D TFTs involve harsh conditions such as strong acids or high temperatures (>300 °C), limiting integration with flexible substrates. This work provides the first demonstration of an ILG-free, all-2D-material TFT fabricated onto a flexible substrate. Water-based graphene and hexagonal boron nitride (h-BN) inks are printed to deposit the electrodes and dielectric layers, respectively. The MoS 2 channel is produced via supramolecular interfacial self-assembly, yielding uniform, monolayer-rich films transferable to rigid and flexible substrates. The resulting TFTs operate below 3 V, exhibit negligible leakage current, and achieve field-effect mobilities up to 0.46 cm 2 V −1 s −1 (rising to 2.47 cm 2 V −1 s −1 with silver electrodes) measured under ambient conditions, while maintaining excellent mechanical flexibility. This work establishes a low-cost and scalable solution-processable platform for flexible electronics based on 2D materials that match requirements for practical applications.

2D materials↗

DOE OSTI2025

DFAT: A web-based toolkit for estimating demand flexibility in building-to-grid integration

Demand Flexibility Assessment Tool (DFAT) is an open source web-based tool that estimates the demand flexibility potential of common control strategies in commercial buildings. The toolkit features a demand flexibility estimation tool that contains two calculators, basic and advanced, based on the level of input of customer data. The basic version calculates demand shed metrics for the control strategy “global temperature adjustment” and “cycle on/off compressors” using customer building information, local weather data, and electrical meter data. The advanced version, which uses detailed HVAC equipment data, calculates demand flexibility metrics for control strategies such as static pressure reset, global temperature adjustment, and cycle on/off compressors. In addition to the demand flexibility estimation tool, this toolkit offers a benchmarking tool that helps facility operators, aggregators, and utility resource managers assess demand flexibility opportunities, quantify/verify performance, and compare their performance against that of their peers.

Leong, Michael↗

DOE OSTI2025

Investigation of the Effect of Framework Flexibility on CO 2 Adsorption in SIFSIX-3-Cu Using a Machine-Learned Force Field

Metal–organic frameworks (MOFs) offer promise as selective CO 2 sorbents, but successful MOF sorbent materials need high CO 2 binding affinity and selectivity for CO 2 over water. This work focuses on the use of machine-learned force fields (MLFFs) to model CO 2 adsorption in flexible MOFs, with a focus on SIFSIX-3-Cu, an anion-pillared MOF known for its high CO 2 affinity. A preliminary high-throughput screening of over 900 anion-pillared MOFs was performed using rigid UFF+DDEC6 force fields to predict zero-loading heats of adsorption for CO 2 and H 2 O. SIFSIX-3-Cu was selected for further computational study due to its predicted CO 2 heat of adsorption and experimental relevance. A DeePMD-based MLFF was trained to reproduce DFT (PBE+D3) energies and forces, with an iterative sampling scheme combining molecular dynamics, geometry optimization, random geometric insertion, and NVT Monte Carlo-based configuration generation to capture both attractive and repulsive regions of the potential energy surface. Flexibility of the MOF was explicitly included, contrasting with previous models that approximated the MOF as rigid. Hybrid Monte Carlo/molecular dynamics (MC/MD) simulations with the MLFF produced CO 2 adsorption isotherms in good agreement with experimental data at direct air capture (DAC) pressures (e.g., 40 Pa), in contrast to previous overestimations of CO 2 sorption by models with rigid structures. Bond and angle histogram analysis showed that MOF flexibility increased the variance of fluorine–fluorine diagonal distances at adsorption sites, resulting in a lower predicted sorption for flexible, asymmetric SIFSIX-3-Cu pore geometries compared to the rigid, symmetric DFT-optimized SIFSIX-3-Cu pore geometry. A detailed description of flexibility afforded by the MLFF resulted in an accurately predicted CO 2 uptake (0.88 mmol/g) at low pressure (40 Pa) compared to the experimentally measured value (1.24 mmol/g). In conclusion, these results underscore the importance of including framework flexibility when modeling adsorption phenomena in MOFs, particularly for low-pressure applications.

adsorption↗

DOE OSTI2025

Business Models for Scaling Demand Flexibility Volume III – Stakeholder ecosystem management challenges, and lessons learned from U.S. programs

Load growth at the grid edge is driving increased attention to the distribution system and its ability to enable customer technology adoption in an affordable and timely manner. Key industry stakeholders, including electric utilities and regulators, can benefit from strategies to manage and balance customer needs with infrastructure investments, such as demand flexibility. This report focuses on demand flexibility—the ability to reduce, shift, shed, generate, or modulate loads in response to building and grid needs—to reduce the need for costly grid upgrades by deferring investment needs and increase system reliability by shifting electricity usage during periods of high risk. Specifically, we focus on the emerging characteristics of business models for demand flexibility as a framework to understand how demand flexibility programs generate value. In this report, we focus on demand flexibility program stakeholder ecosystem management strategies, which provide information on value delivery and describe how program implementers leverage partner capabilities and collaborate to deliver customer and grid benefits. This report discusses the role of stakeholder ecosystem management in demand flexibility programs, identifies existing challenges to effective stakeholder management, and describes lessons learned. This report is part of a series that includes reports on value propositions, customer relationship management strategies, and program life cycle.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2025

Business Models for Scaling Demand Flexibility Volume II – Customer relationship management strategies, challenges, and lessons learned from U.S. programs

Load growth at the grid edge is driving increased attention to the distribution system and its ability to enable customer technology adoption in an affordable and timely manner. Key industry stakeholders, including electric utilities and regulators, can benefit from strategies to manage and balance customer needs with infrastructure investments, such as demand flexibility. This report focuses on demand flexibility—the ability to reduce, shift, shed, generate, or modulate loads in response to building and grid needs—to reduce the need for costly grid upgrades by deferring investment needs and increase system reliability by shifting electricity usage during periods of high risk. Specifically, we focus on the emerging characteristics of business models for demand flexibility as a framework to understand how demand flexibility programs generate value. In this report, we focus on demand flexibility program customer relationship management strategies, which provide information on value creation and focus on ensuring customers can navigate programs smoothly. This report discusses the role of customer relationship management strategies in demand flexibility programs, characterizes customer relationship management strategies that can be considered during program design and implementation, identifies existing challenges to customer relationship management strategies, and describes lessons learned. This report is part of a series that includes reports on value propositions, stakeholder ecosystem management, and program life cycle.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2025

Business Models for Scaling Demand Flexibility Volume IV – Program life cycle challenges and lessons learned from U.S. programs

Load growth at the grid edge is driving increased attention to the distribution system and its ability to enable customer technology adoption in an affordable and timely manner. Key industry stakeholders, including electric utilities and regulators, can benefit from strategies to manage and balance customer needs with infrastructure investments, such as demand flexibility. This report focuses on demand flexibility—the ability to reduce, shift, shed, generate, or modulate loads in response to building and grid needs—to reduce the need for costly grid upgrades by deferring investment needs and increase system reliability by shifting electricity usage during periods of high risk. Specifically, we focus on the emerging characteristics of business models for demand flexibility as a framework to understand how demand flexibility programs generate value. In this report, we focus on the life cycle of demand flexibility programs, which provides information on value creation and describes the various deployment phases program implementers navigate from initial program conceptualization through to program expansion and replication to new customer segments and regions. This report characterizes the key phases of the demand flexibility program life cycle, identifies existing challenges across the program deployment phases, and describes lessons learned. This report is part of a series that includes reports on customer relationship management strategies, stakeholder ecosystem management, and program life cycle.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRS1972

A wind-tunnel evaluation of analytical techniques for predicting static stability and control characteristics of flexible aircraft

An experimental evaluation of analytical techniques for predicting certain stability and control characteristics of a large flexible aircraft is presented. Analytical methods based on both the model approach and flexibility influence coefficients are developed to predict the aerodynamic characteristics of a flexible airplane. These methods are then applied to a flexibly scaled model of a supersonic transport configuration. Comparisons of wind-tunnel data, calculations based on the model approach, and flexibility influence coefficients are presented over the Mach number range from 0.6 to 2.7. An examination of the results obtained from this study indicates that both analytical techniques predict reasonably well the effect of flexibility on the basic longitudinal characteristics and that both techniques give generally comparable results.

Abel, I.↗

NASA NTRS1973

Nonlinear transient analysis of multi-mass flexible rotors - theory and applications

The equations of motion necessary to compute the transient response of multi-mass flexible rotors are formulated to include unbalance, rotor acceleration, and flexible damped nonlinear bearing stations. A method of calculating the unbalance response of flexible rotors from a modified Myklestad-Prohl technique is discussed in connection with the method of solution for the transient response. Several special cases of simplified rotor-bearing systems are presented and analyzed for steady-state response, stability, and transient behavior. These simplified rotor models produce extensive design information necessary to insure stable performance to elastic mounted rotor-bearing systems under varying levels and forms of excitation. The nonlinear journal bearing force expressions derived from the short bearing approximation are utilized in the study of the stability and transient response of the floating bush squeeze damper support system. Both rigid and flexible rotor models are studied, and results indicate that the stability of flexible rotors supported by journal bearings can be greatly improved by the use of squeeze damper supports. Results from linearized stability studies of flexible rotors indicate that a tuned support system can greatly improve the performance of the units from the standpoint of unbalanced response and impact loading. Extensive stability and design charts may be readily produced for given rotor specifications by the computer codes presented in this analysis.

Kirk, R. G.↗

NASA NTRS1988

Vibration and Control of Flexible Rotor Supported by Magnetic Bearings

Active vibration control of flexible rotors supported by magnetic bearings is discussed. Using a finite-element method for a mathematical model of the flexible rotor, the eigenvalue problem is formulated taking into account the interaction between a mechanical system of the flexible rotor and an electrical system of the magnetic bearings and the controller. However, for the sake of simplicity, gyroscopic effects are disregarded. It is possible to adapt this formulation to a general flexible rotor-magnetic bearing system. Controllability with and without collocation sensors and actuators located at the same distance along the rotor axis is discussed for the higher order flexible modes of the test rig. In conclusion, it is proposed that it is necessary to add new active control loops for the higher flexible modes even in the case of collocation. Then it is possible to stabilize for the case of uncollocation by means of this method.

Nonami, Kenzou↗

NASA NTRS1988

The equations of motion for a general orbiting large space flexible system

General motion equations in compact form using dyadic notation are developed for an orbiting flexible body of arbitrary shape. The equations are applied to three typical flexible space systems: a flexible beam, a flexible plate, and a flexible shallow spherical shell in orbit. The inertia dyadic of these flexible bodies may be calculated using the equations which have been obtained.

Xing, Guangqian↗

NASA NTRS1990

On dynamics and control of multi-link flexible space manipulators

In this paper dynamics, inverse dynamics, and control problems for multi-link flexible space manipulators are presented. In deriving the flexible manipulator dynamics the following are assumed: flexible deformations are relatively small; angular rates of the links are much smaller than their fundamental frequencies; nonlinear terms (centrifugal and Coriolis forces) in the flexible manipulator model are the same as those in the rigid body model. These assumptions are reasonable for large space manipulators, such as the space crane. Flexible displacements are measured with respect to the rigid body configuration, for which a linear time-varying system is obtained. The inverse dynamics problem consists of determination of joint torques, given tip trajectory, such that joint angles in flexible configuration are equal to the angles in the rigid body configuration. The manipulator control system consists of the feedforward compensation and feedback control loops. Simulation results of a two-link space crane with large payload show that the performance of this linearized dynamics and control approach is reasonable and robust subject to parameter variations during slew operations.

Gawronski, W.↗

NASA NTRS1991

An inverse dynamic tracking control for bracing a flexible manipulator

The goal of this research is to produce a braced manipulator that is flexible. In order to brace the manipulator against a surface, a tip position tracking control becomes essential to avoid large impacts on contact, and to control the force after contact. If we consider the characteristics of the flexible manipulator, the control task may be characterized as a tracking control of a nonlinear, noncolocated, nonminimum-phase system with uncertainties. First, the author introduces the staged positioning concept and provides a conceptual background for the bracing strategy. Second, a single link flexible manipulator is modeled by the assumed-modes method, and the validity of the model is verified with experimental results. Third, a time domain inverse dynamic method is proposed to cancel out the nonminimum-phase positive zeros which cannot be cancelled by feedback controls. Fourth, a tracking controller is designed to control the end point of a flexible manipulator without any overshoot or residual vibrations. Its perfect tracking or asymptotic tracking performance is analyzed and discussed for zero and non-zero initial condition cases. Finally, impact phenomena are investigated, and contact force control of a flexible bracing manipulator is presented to set up a control scenerio for such a manipulator. The proposed control scheme is implemented on a single link flexible manipulator, and analyzed and evaluated with simulations and experiments.

Source record↗

NASA NTRS1990

Simulation and analysis of flexibly jointed manipulators

Modeling, simulation, and analysis of robot manipulators with non-negligible joint flexibility are studied. A recursive Newton-Euler model of the flexibly jointed manipulator is developed with many advantages over the traditional Lagrange-Euler methods. The Newton-Euler approach leads to a method for the simulation of a flexibly jointed manipulator in which the number of computations grows linearly with the number of links. Additionally, any function for the flexibility between the motor and link may be used permitting the simulation of nonlinear effects, such as backlash, in a uniform manner for all joints. An analysis of the control problems for flexibly jointed manipulators is presented by converting the Newton-Euler model to a Lagrange-Euler form. The detailed structure available in the model is used to examine linearizing controllers and shows the dependency of the control on the choice of flexible model and structure of the manipulator.

Murphy, Steve H.↗

NASA NTRS1992

On the coupling between a supersonic boundary layer and a flexible surface

The coupling between a two-dimensional, supersonic, laminar boundary layer and a flexible surface is studied using direct numerical computations of the Navier-Stokes equations coupled with the plate equation. The flexible surface is forced to vibrate by plane acoustic waves at normal incidence emanated by a sound source located on the side of the flexible surface opposite to the boundary layer. The effect of the source excitation frequency on the surface vibration and boundary layer stability is analyzed. We find that, for frequencies near the fifth natural frequency of the surface or lower, large disturbances are introduced in the boundary layer which may alter its stability characteristics. The interaction between a stable two-dimensional disturbance of Tollmien-Schlichting (TS) type with the vibrating surface is also studied. We find that the disturbance level is higher over the vibrating flexible surface than that obtained when the surface is rigid, which indicates a strong coupling between flow and structure. However, in the absence of the sound source the disturbance level over the rigid and flexible surfaces are identical. This result is due to the high frequency of the TS disturbance which does not couple with the flexible surface.

Frendi, Abdelkader↗