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NASA NTRS1992

Neural network based decomposition in optimal structural synthesis

The present paper describes potential applications of neural networks in the multilevel decomposition based optimal design of structural systems. The generic structural optimization problem of interest, if handled as a single problem, results in a large dimensionality problem. Decomposition strategies allow for this problem to be represented by a set of smaller, decoupled problems, for which solutions may either be obtained with greater ease or may be obtained in parallel. Neural network models derived through supervised training, are used in two distinct modes in this work. The first uses neural networks to make available efficient analysis models for use in repetitive function evaluations as required by the optimization algorithm. In the second mode, neural networks are used to represent the coupling that exists between the decomposed subproblems. The approach is illustrated by application to the multilevel decomposition-based synthesis of representative truss and frame structures.

Hajela, P.↗

NASA NTRS1990

Reduction of vortex-induced vibration in vane geometries

Computations using a time-accurate, compressible Navier-Stokes flow model were conducted to analyze both unsteady laminar and turbulent flows over two curved configurations of vanes which were shaped to treat a 4.0 kHz vibration problem which has occurred in several SSMEs. This problem involves vortex shedding from vanes which causes excessive vane vibration and cracking. The original vane configuration exhibited strong flow-induced vibrations at a Strouhal number near 0.19 for a the first bending mode excitation. Scalloping of the leading edge raised the frequency of the vane's first torsional mode, which in turn increased the onset flow velocity at lock-in. Beveling the vane's trailing edge eliminated vortex shedding at the trailing edge, which decoupled the flow oscillation from the vibrating wave. A modified vane configuration with a beveled trailing edge at a 30 deg angle was also studied.

Liu, B. L.↗

NASA NTRS1992

A parametric analysis of radiative structure in aerobrake shock layers

A broad-spectrum version of the NEQAIR code was modified to account for self-absorption and applied to AFE flowfields calculated by the LAURA code with a variety of kinetic models. The resulting radiative fluxes were obtained in a decoupled fashion from the flowfield solver along the vehicle's stagnation streamline. The radiative flux obtained was broken down by causative process to study the radiative structure of the AFE's flowfield for the various kinetic models. In addition, the radiative fluxes for several points on a typical AFE trajectory were analyzed to examine how the radiative structure changes as the vehicle completes its aeropass. Only two radiative processes dominated the stagnation radiative flux, and the flow field conditions near the wal were found to exert considerable influence over the radiative flux to the wall.

Greendyke, Robert B.↗

NASA NTRS1992

Motion and force control of multiple robotic manipulators

This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Wen, John T.↗

NASA NTRS1992

A computer model for one-dimensional mass and energy transport in and around chemically reacting particles, including complex gas-phase chemistry, multicomponent molecular diffusion, surface evaporation, and heterogeneous reaction

Various chemically reacting flow problems highlighting chemical and physical fundamentals rather than flow geometry are presently investigated by means of a comprehensive mathematical model that incorporates multicomponent molecular diffusion, complex chemistry, and heterogeneous processes, in the interest of obtaining sensitivity-related information. The sensitivity equations were decoupled from those of the model, and then integrated one time-step behind the integration of the model equations, and analytical Jacobian matrices were applied to improve the accuracy of sensitivity coefficients that are calculated together with model solutions.

Cho, S. Y.↗

NASA NTRS1992

A technique for global monitoring of net solar irradiance at the ocean surface. I - Model

An accurate long-term (84-month) climatology of net surface solar irradiance over the global oceans from Nimbus-7 earth radiation budget (ERB) wide-field-of-view planetary-albedo data is generated via an algorithm based on radiative transfer theory. Net surface solar irradiance is computed as the difference between the top-of-atmosphere incident solar irradiance (known) and the sum of the solar irradiance reflected back to space by the earth-atmosphere system (observed) and the solar irradiance absorbed by atmospheric constituents (modeled). It is shown that the effects of clouds and clear-atmosphere constituents can be decoupled on a monthly time scale, which makes it possible to directly apply the algorithm with monthly averages of ERB planetary-albedo data. Compared theoretically with the algorithm of Gautier et al. (1980), the present algorithm yields higher solar irradiance values in clear and thin cloud conditions and lower values in thick cloud conditions.

Frouin, Robert↗

NASA NTRS1992

Dependence of hydrogen arcjet operation on electrode geometry

The dependence of 2kW hydrogen arcjet performance on cathode to anode electrode spacing was evaluated at specific impulses of 900 and 1000 s. Less than 2 absolute percent change in efficiency was measured for the spacings tested which did not repeat the 14 absolute percent variation reported in earlier work with similar electrode designs. A different nozzle configuration was used to quantify the variation in hydrogen arcjet performance over an extended range of electrode spacing. Electrode gap variation resulted in less than 3 absolute percent change in efficiency. These null results suggested that electrode spacing is decoupled from hydrogen arcjet ignition. The dependence of breakdown voltage on mass flow rate and electrode agreed with Paschen curves for hydrogen. Preliminary characterization of the dependence of hydrogen arcjet ignition on rates of pulse repetition and pulse voltage rise were also included for comparison with previous results obtained using simulated hydrazine.

Pencil, Eric J.↗

NASA NTRS1992

Structural dynamics for new launch vehicles

An overview is presented of current studies that will permit more robust designs and reduce the safety hazards of maximum dynamic pressure during launches. Key considerations in the assessment of future operable launch capabilities are the dynamics problems that arise during the initial minutes of transition from the static configuration on the launch pad to the attainment of orbital velocity. Attention is given to a typical attempt to achieve robustness that involves creating a design in which the first bending mode will have a high enough frequency to allow decoupling between the autopilot design and the flexible body dynamics.

Neighbors, Joyce↗

NASA NTRS1993

Optimization Of A Computational Grid

In improved method of generation of computational grid, grid-generation process decoupled from definition of geometry. Not necessary to redefine boundary. Instead, continuous boundaries in physical domain specified, and then grid points in computational domain mapped onto continuous boundaries.

Pearce, Daniel G.↗

NASA NTRS1992

Recent advances in multidisciplinary optimization of rotorcraft

A joint activity involving NASA and Army researchers at NASA LaRC to develop optimization procedures to improve the rotor blade design process by integrating appropriate disciplines and accounting for all of the important interactions among the disciplines is described. The disciplines involved include rotor aerodynamics, rotor dynamics, rotor structures, airframe dynamics, and acoustics. The work is focused on combining these five key disciplines in an optimization procedure capable of designing a rotor system to satisfy multidisciplinary design requirements. Fundamental to the plan is a three-phased approach. In phase 1, the disciplines of blade dynamics, blade aerodynamics, and blade structure are closely coupled while acoustics and airframe dynamics are decoupled and are accounted for as effective constraints on the design for the first three disciplines. In phase 2, acoustics is integrated with the first three disciplines. Finally, in phase 3, airframe dynamics is integrated with the other four disciplines. Representative results from work performed to date are described. These include optimal placement of tuning masses for reduction of blade vibratory shear forces, integrated aerodynamic/dynamic optimization, and integrated aerodynamic/dynamic/structural optimization. Examples of validating procedures are described.

Adelman, Howard M.↗

NASA NTRS1992

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

Mann, R. C.↗

NASA NTRS1992

Automation of the targeting and reflective alignment concept

The automated alignment system, described herein, employs a reflective, passive (requiring no power) target and includes a PC-based imaging system and one camera mounted on a six degree of freedom robot manipulator. The system detects and corrects for manipulator misalignment in three translational and three rotational directions by employing the Targeting and Reflective Alignment Concept (TRAC), which simplifies alignment by decoupling translational and rotational alignment control. The concept uses information on the camera and the target's relative position based on video feedback from the camera. These relative positions are converted into alignment errors and minimized by motions of the robot. The system is robust to exogenous lighting by virtue of a subtraction algorithm which enables the camera to only see the target. These capabilities are realized with relatively minimal complexity and expense.

Redfield, Robin C.↗

NASA NTRS1992

A stochastic optimal feedforward and feedback control methodology for superagility

A new control design methodology is developed: Stochastic Optimal Feedforward and Feedback Technology (SOFFT). Traditional design techniques optimize a single cost function (which expresses the design objectives) to obtain both the feedforward and feedback control laws. This approach places conflicting demands on the control law such as fast tracking versus noise atttenuation/disturbance rejection. In the SOFFT approach, two cost functions are defined. The feedforward control law is designed to optimize one cost function, the feedback optimizes the other. By separating the design objectives and decoupling the feedforward and feedback design processes, both objectives can be achieved fully. A new measure of command tracking performance, Z-plots, is also developed. By analyzing these plots at off-nominal conditions, the sensitivity or robustness of the system in tracking commands can be predicted. Z-plots provide an important tool for designing robust control systems. The Variable-Gain SOFFT methodology was used to design a flight control system for the F/A-18 aircraft. It is shown that SOFFT can be used to expand the operating regime and provide greater performance (flying/handling qualities) throughout the extended flight regime. This work was performed under the NASA SBIR program. ICS plans to market the software developed as a new module in its commercial CACSD software package: ACET.

Halyo, Nesim↗

NASA NTRS1992

A plan for spacecraft automated rendezvous

An automated rendezvous approach has been developed that utilizes advances in technology to reduce real-time/near real-time flight operations support personnel to an acceptable level that is near the minimum without jeopardizing the success of the mission. The on-board flight targeting uses a rule-based system to select the pursuit vehicle phasing orbits and uses precise navigation updates from the pursuit/target spacecraft made possible by the global positioning system receivers/processors on both spacecraft to adjust the phasing orbits and achieve rendezvous. The ascent-to-orbit targeting for the pursuit vehicle has been successfully decoupled from the on-orbit orbit transfer phasing targeting. Typical launch window data have been developed for the heavy lift launch vehicle and cargo transfer vehicle for a Space Station Freedom rendezvous mission.

Deaton, A. W.↗

NASA NTRS1992

Multi-axis transient vibration testing of space objects: Test philosophy, test facility, and control strategy

IABG has been using various servohydraulic test facilities for many years for the reproduction of service loads and environmental loads on all kinds of test objects. For more than 15 years, a multi-axis vibration test facility has been under service, originally designed for earthquake simulation but being upgraded to the demands of space testing. First tests with the DFS/STM showed good reproduction accuracy and demonstrated the feasibility of transient vibration testing of space objects on a multi-axis hydraulic shaker. An approach to structural qualification is possible by using this test philosophy. It will be outlined and its obvious advantages over the state-of-the-art single-axis test will be demonstrated by example results. The new test technique has some special requirements to the test facility exceeding those of earthquake testing. Most important is the high reproduction accuracy demanded for a sophisticated control system. The state-of-the-art approach of analog closed-loop control circuits for each actuator combined with a static decoupling network and an off-line iterative waveform control is not able to meet all the demands. Therefore, the future over-all control system is implemented as hierarchical full digital closed-loop system on a highly parallel transputer network. The innermost layer is the digital actuator controller, the second one is the MDOF-control of the table movement. The outermost layer would be the off-line iterative waveform control, which is dedicated only to deal with the interaction of test table and test object or non-linear effects. The outline of the system will be presented.

Lachenmayr, Georg↗

NASA NTRS1992

Approaches to control of the large angle magnetic suspension test fixture

The Large Angle Magnetic Suspension Test Fixture is a five degree-of-freedom system, developed and built at NASA Langley Research Center. It is intended for study of control techniques in magnetic suspension systems with large angular capabilities. In this study, steps have been taken to prove the system in practice, using the existing hardware. A classical control approach, using dual phase advance compensators, is applied in simulation and hardware. A single decoupled degree-of-freedom of the system is stabilized and controlled in simulation. The procedure is then employed for all five degrees-of-freedom. The design and implementation of an analog and a digital controller are described. Results from simulation and the actual system are compared and analyzed. The ability to the system to sustain suspension over a large angular range has been proven in hardware.

Ghofrani, Mehran↗

NASA NTRS1992

Geodynamic contributions to global climatic change

Orbital and rotational variations perturb the latitudinal and seasonal pattern of incident solar radiation, producing major climatic change on time scales of 10(exp 4)-10(exp 6) years. The orbital variations are oblivious to internal structure and processes, but the rotational variations are not. A program of investigation whose objective would be to explore and quantify three aspects of orbital, rotational, and climatic interactions is described. An important premise of this investigation is the synergism between geodynamics and paleoclimate. Better geophysical models of precessional dynamics are needed in order to accurately reconstruct the radiative input to climate models. Some of the paleoclimate proxy records contain information relevant to solid Earth processes, on time scales which are difficult to constrain otherwise. Specific mechanisms which will be addressed include: (1) climatic consequences of deglacial polar motion; and (2) precessional and climatic consequences of glacially induced perturbations in the gravitational oblateness and partial decoupling of the mantle and core. The approach entails constructing theoretical models of the rotational, deformational, radiative, and climatic response of the Earth to known orbital perturbations, and comparing these with extensive records of paleoclimate proxy data. Several of the mechanisms of interest may participate in previously unrecognized feed-back loops in the climate dynamics system. A new algorithm for estimating climatically diagnostic locations and seasons from the paleoclimate time series is proposed.

Bills, Bruce G.↗

NASA NTRS1992

Late quaternary time series of Arabian Sea productivity: Global and regional signals

Modern annual floral and faunal production in the northwest Arabian Sea derives primarily from upwelling induced by strong southwest winds during June, July, and August. Indian Ocean summer monsoon winds are, in turn, driven by differential heating between the Asian continent and the Indian ocean to the south. This differential heating produces a strong pressure gradient resulting in southwest monsoon winds and both coastal and divergent upwelling off the Arabian Peninsula. Over geologic time scales (10(exp 4) to 10(exp 6) years), monsoon wind strength is sensitive to changes in boundary conditions which influence this pressure gradient. Important boundary conditions include the seasonal distribution of solar radiation, global ice volume, Indian Ocean sea surface temperature, and the elevation and albedo of the Asian continent. To the extent that these factors influence monsoon wind strength, they also influence upwelling and productivity. In addition, however, productivity associated with upwelling can be decoupled from the strength of the summer monsoon winds via ocean mechanisms which serve to inhibit or enhance the nutrient supply in the intermediate waters of the Indian Ocean, the source for upwelled waters in the Arabian Sea. To differentiate productivity associated with wind-induced upwelling from that associated with other components of the system such as nutrient sequestering in glacial-age deep waters, we employ a strategy which monitors independent components of the oceanic and atmospheric subsystems. Using sediment records from the Owen Ridge, northwest Arabian Sea, we monitor the strength of upwelling and productivity using two independent indicators, percent G. bulloides and opal accumulation. We monitor the strength of southwest monsoon winds by measuring the grain-size of lithogenic dust particles blown into the Arabian Sea from the surrounding deserts of the Somali and Arabian Peninsulas. Our current hypothesis is that the variability associated with the 41 kyr power in the G. bulloides and opal accumulation records derive from nutrient availability in the intermediate waters which are upwelled via monsoon winds. This hypothesis is testable by comparison with Cd records of intermediate and deep waters of the Atlantic and Indian Ocean.

Clemens, Steven C.↗