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NASA NTRS1988

The dynamics and control of the in-orbit SCOLE configuration

The study of the dynamics of the Spacecraft Control Laboratory Experiment (SCOLE) is extended to emphasize the synthesis of control laws for both the linearized system as well as the large amplitude slewing maneuvers required to rapidly reorient the antenna line of sight. For control of the system through small amplitude displacements from the nominal equilibrium position LQR techniques are used to develop the control laws. Pontryagin's maximum principle is applied to minimize the time required for the slewing of a general rigid spacecraft system. The minimum slewing time is calculated based on a quasi-linearization algorithm for the resulting two point boundary value problem. The effect of delay in the control input on the stability of a continuously acting controller (designed without considering the delay) is studied analytically for a second order plant. System instability can result even for delays which are only a small fraction of the natural period of motion.

Bainum, Peter M.↗

NASA NTRS1990

Suppression of biodynamic interference in head-tracked teleoperation

Results are reported from an experimental simulation study examining improvements achievable in pointing and tracking precision using dynamic display shifting in helmet-mounted displays. The experiment was conducted in a 6-deg-of-freedom motion base simulator with an emulated helmet-mounted sight. It is shown that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination is considered to exhibit the best overall display dynamics by each of the subjects.

Lifshitz, S.↗

NASA NTRS1992

Dust transport into Martian polar latitudes

The presence of suspended dust in the Martian atmosphere, and its return to the planet's surface, is implicated in the formation of the polar layered terrain and the dichotomy in perennial CO2 polar cap retention in the two hemispheres. A three dimensional model was used to study Martian global dust storms. The model accounts for the interactive feedbacks between the atmospheric thermal and dynamical states and an evolving radiatively active suspended dust load. Results from dust storm experiments, as well as from simulations in which there is interest in identifying the conditions under which surface dust lifting occurs at various locations and times, indicate that dust transport due to atmospheric eddy motions is likely to be important in the arrival of suspended dust at polar latitudes. The layered terrain in both polar regions of Mars is interpreted as the reality of cyclical episodes of volatile (CO2, H2O) and dust deposition.

Murphy, J. R.↗

NASA NTRS1993

Linear theory of fast reconnection at an X-type neutral point

A complete analytic theory of dynamic linear reconnection at an X-type neutral point is developed. An eigenmode analysis, using cylindrical coordinates centered on the neutral point, extends the work of Craig & McClymont (1991) to include nonazimuthally symmetric perturbations on the flux function. It is demonstrated that all physically significant disturbances, both reconnective and nonreconnective, decay resistively on a 'fast' time scale. The significance of the linear theory is discussed within the general context of steady state and dynamic reconnection studies. Disturbances can be expected to focus explosively in the vicinity of the neutral point. This suggests the formation of a 'flux pile-up' current layer in which the bulk of the magnetic energy is released as heat rather than kinetic energy of mass motion.

Craig, I. J. D.↗

NASA NTRS2003

Numerical Models of Human Circulatory System under Altered Gravity: Brain Circulation

A computational fluid dynamics (CFD) approach is presented to model the blood flow through the human circulatory system under altered gravity conditions. Models required for CFD simulation relevant to major hemodynamic issues are introduced such as non-Newtonian flow models governed by red blood cells, a model for arterial wall motion due to fluid-wall interactions, a vascular bed model for outflow boundary conditions, and a model for auto-regulation mechanism. The three-dimensional unsteady incompressible Navier-Stokes equations coupled with these models are solved iteratively using the pseudocompressibility method and dual time stepping. Moving wall boundary conditions from the first-order fluid-wall interaction model are used to study the influence of arterial wall distensibility on flow patterns and wall shear stresses during the heart pulse. A vascular bed modeling utilizing the analogy with electric circuits is coupled with an auto-regulation algorithm for multiple outflow boundaries. For the treatment of complex geometry, a chimera overset grid technique is adopted to obtain connectivity between arterial branches. For code validation, computed results are compared with experimental data for steady and unsteady non-Newtonian flows. Good agreement is obtained for both cases. In sin-type Gravity Benchmark Problems, gravity source terms are added to the Navier-Stokes equations to study the effect of gravitational variation on the human circulatory system. This computational approach is then applied to localized blood flows through a realistic carotid bifurcation and two Circle of Willis models, one using an idealized geometry and the other model using an anatomical data set. A three- dimensional anatomical Circle of Willis configuration is reconstructed from human-specific magnetic resonance images using an image segmentation method. The blood flow through these Circle of Willis models is simulated to provide means for studying gravitational effects on the brain circulation under auto-regulation.

Kim, Chang Sung↗

NASA NTRS2006

Relationship Between Vortex Meander and Ambient Turbulence

Efforts are currently underway to increase the capacity of airports by use of closely-spaced parallel runways. If such an objective is to be achieved safely and efficiently during both visual and instrument flight conditions, it will be necessary to develop more precise methods for the prediction of the motion and spread of the hazard posed by the lift-generated vortex-wakes of aircraft, and their uncertainties. The purpose of the present study is to relate the motion induced in vortex filaments by turbulence in the ambient flow field to the measured turbulence in the flow field. The problem came about when observations made in the two largest NASA wind tunnels indicated that extended exposure of vortex wakes to the turbulence in the wind tunnel air stream causes the centers of the vortices to meander about with time at a given downstream station where wake measurements are being made. Although such a behavior was expected, the turbulence level based on the maximum amplitude of meander was much less than the root-mean-squared value measured in the free-stream of the wind tunnel by use of hot-film anemometers. An analysis of the time-dependent motion of segments of vortex filaments as they interact with an eddy, indicates that the inertia of the filaments retards their motion enough in the early part of their travel to account for a large part of the difference in the two determinations of turbulence level. Migration of vortex filaments from one turbulent eddy to another (probably with a different orientation), is believed to account for the remainder of the difference. Methods that may possibly be developed for use in the measurement of the magnitude of the more intense eddies in turbulent flow fields and how they should be adjusted to predict vortex meander are then discussed.

Rossow, Vernon J.↗

NASA NTRS2008

A Dynamic Analysis of Hydrodynamic Wave Journal Bearings

The purpose of this paper is to study the dynamic behavior of a three-wave journal bearing using a transient approach. The transient analysis permits the determination of the rotor behavior after the fractional frequency whirl appears. The journal trajectory is determined by solving a set of nonlinear equations of motion using the Runge-Katta method. The fluid film forces are computed by integrating the transient Reynolds equation at each time step location of the shaft with respect to the bearing. Because of the large values of the rotational speeds, turbulent effects were included in the computations. The influence of the temperature on the viscosity was also considered. Numerical results were compared to experimenta1 results obtained at the NASA Glenn Research Center. Comparisons of the theoretical results with experimental data were found to be in good agreement. The numerical and experimental results showed that the fluid film of a three-wave journal bearing having a diameter of 30 mm, a length of 27 mm, and a wave amplitude ratio greater than 0.15 is stable even at rotational speeds of 60,000 RPM. For lower wave amplitude ratios, the threshold speed at which the fluid film becomes unstable depends on the wave amplitude and on the supply pocket pressure. Even if the fluid film is unstable, the wave bearing maintains the whirl orbit inside the bearing clearance.

Ene, Nicoleta M.↗

NASA NTRS2011

Characterizing Observed Limit Cycles in the Cassini Main Engine Guidance Control System

The Cassini spacecraft dynamics-related telemetry during long Main Engine (ME) burns has indicated the presence of stable limit cycles between 0.03-0.04 Hz frequencies. These stable limit cycles cause the spacecraft to possess non-zero oscillating rates for extended periods of time. This indicates that the linear ME guidance control system does not model the complete dynamics of the spacecraft. In this study, we propose that the observed limit cycles in the spacecraft dynamics telemetry appear from a stable interaction between the unmodeled nonlinear elements in the ME guidance control system. Many nonlinearities in the control system emerge from translating the linear engine gimbal actuator (EGA) motion into a spacecraft rotation. One such nonlinearity comes from the gear backlash in the EGA system, which is the focus of this paper. The limit cycle characteristics and behavior can be predicted by modeling this gear backlash nonlinear element via a describing function and studying the interaction of this describing function with the overall dynamics of the spacecraft. The linear ME guidance controller and gear backlash nonlinearity are modeled analytically. The frequency, magnitude, and nature of the limit cycle are obtained from the frequency response of the ME guidance controller and nonlinear element. In addition, the ME guidance controller along with the nonlinearity is simulated. The simulation response contains a limit cycle with similar characterstics as predicted analytically: 0.03-0.04 Hz frequency and stable, sustained oscillations. The analytical and simulated limit cycle responses are compared to the flight telemetry for long burns such as the Saturn Orbit Insertion and Main Engine Orbit Trim Maneuvers. The analytical and simulated limit cycle characteristics compare well with the actual observed limit cycles in the flight telemetry. Both have frequencies between 0.03-0.04 Hz and stable oscillations. This work shows that the stable limit cycles occur due to the interaction between the unmodeled nonlinear elements and linear ME guidance controller.

stable limit cycle↗

NASA NTRS2015

Background Noises Versus Intraseasonal Variation Signals: Small vs. Large Convective Cloud Objects From CERES Aqua Observations

During inactive phases of Madden-Julian Oscillation (MJO), there are plenty of deep but small convective systems and far fewer deep and large ones. During active phases of MJO, a manifestation of an increase in the occurrence of large and deep cloud clusters results from an amplification of large-scale motions by stronger convective heating. This study is designed to quantitatively examine the roles of small and large cloud clusters during the MJO life cycle. We analyze the cloud object data from Aqua CERES (Clouds and the Earth's Radiant Energy System) observations between July 2006 and June 2010 for tropical deep convective (DC) and cirrostratus (CS) cloud object types according to the real-time multivariate MJO index, which assigns the tropics to one of the eight MJO phases each day. The cloud object is a contiguous region of the earth with a single dominant cloud-system type. The criteria for defining these cloud types are overcast footprints and cloud top pressures less than 400 hPa, but DC has higher cloud optical depths (=10) than those of CS (<10). The size distributions, defined as the footprint numbers as a function of cloud object diameters, for particular MJO phases depart greatly from the combined (8-phase) distribution at large cloud-object diameters due to the reduced/increased numbers of cloud objects related to changes in the large-scale environments. The medium diameter corresponding to the combined distribution is determined and used to partition all cloud objects into "small" and "large" groups of a particular phase. The two groups corresponding to the combined distribution have nearly equal numbers of footprints. The medium diameters are 502 km for DC and 310 km for cirrostratus. The range of the variation between two extreme phases (typically, the most active and depressed phases) for the small group is 6-11% in terms of the numbers of cloud objects and the total footprint numbers. The corresponding range for the large group is 19-44%. In terms of the probability density functions of radiative and cloud physical properties, there are virtually no differences between the MJO phases for the small group, but there are significant differences for the large groups for both DC and CS types. These results suggest that the intreseasonal variation signals reside at the large cloud clusters while the small cloud clusters represent the background noises resulting from various types of the tropical waves with different wavenumbers and propagation speeds/directions.

Xu, Kuan-Man↗

NASA NTRS2021

Modeling the Effects of Liquid-to-Gas Density Ratio on Slosh Dynamics

Mechanical models are commonly used in Guidance, Navigation and Controls (GN&C) system-level models to represent propellant slosh forces on launch vehicles and spacecraft. The slosh model parameters are typically predicted using semi-empirical analytical methods that are based on experimental data for high liquid-to-gas density ratios (such as water and air at standard sea level conditions). Model parameter calculations typically neglect any contribution to slosh dynamics from the gas phase. However, some cryogenic propellant systems operate in conditions where the density ratio can be orders of magnitude smaller. Analytical and computational modeling was used in this effort to investigate the effects of liquid-to-gas density ratio on slosh dynamics. No experimental data nor previous studies are available at this time that quantify the effect of liquid-to-gas density ratio on slosh dynamics. However, in a recent CFD study, results showed that density ratio can have a significant effect on slosh model parameters. In this study, a dual pendulum slosh model was created that distinctly represents both liquid and gas phase dynamics. Solution of the model, which invokes the Euler-Lagrange equations of motion, demonstrates that slosh frequency is a combination of liquid slosh frequency and gas phase slosh frequency. Additionally, it shows that slosh mass is reduced due to the opposing motion of the gas phase with respect to that of the liquid phase. The slosh model parameter trends were verified using Computational Fluid Dynamics (CFD) analysis results for various liquid-to-gas density ratios, tanks, and fill levels.

Christopher D Moore↗

NASA NTRS1994

Coupled 2-dimensional cascade theory for noise and unsteady aerodynamics of blade row interaction in turbofans. Volume 1: Theory development and parametric studies

Typical analytical models for interaction between rotor and stator in a turbofan analyze the effect of wakes from the rotor impinging on the stator, producing unsteady loading, and thereby generating noise. Reflection/transmission characteristics of the rotor are sometimes added in a separate calculation. In those models, there is a one-to-one relationship between wake harmonics and noise harmonics; that is, the BPF (blade passing frequency) wake harmonic causes only the BPF noise harmonic, etc. This report presents a more complete model in which flow tangency boundary conditions are satisfied on two cascades in relative motion for several harmonics simultaneously. By an extension of S.N. Smith's code for two dimensional flat plate cascades, the noise generation/frequency scattering/blade row reflection problem is solved in a single matrix inversion. It is found that the BPF harmonic excitation of the stator scatters considerable energy in the higher BPF harmonics due to relative motion between the blade rows. Furthermore, when swirl between the rotor and stator is modeled, a 'mode trapping' effect occurs which explains observations on fans operating at rotational speeds below BFP cuton: the BPF mode amplifies between blade rows by multiple reflections but cannot escape to the inlet and exit ducts. However, energy scattered into higher harmonics does propagate and dominates the spectrum at two and three times BPF. This report presents the complete derivation of the theory, comparison with a previous (more limited) coupled rotor/stator interaction theory due to Kaji and Okazaki, exploration of the mode trapping phenomenon, and parametric studies showing the effects of vane/blade ratio and rotor/stator interaction. For generality, the analysis applies to stages where the rotor is either upstream or downstream of the stator and to counter rotation stages. The theory has been coded in a FORTRAN program called CUP2D, documented in Volume 2 of this report. It is concluded that the new features of this analysis - unsteady coupling, frequency scattering, and flow turning between rotor and stator - have a profound effect on noise generation caused by rotor/stator interaction. Treating rotors and stators as isolated cascades is not adequate for noise analysis and prediction.

Hanson, Donald B.↗

NASA NTRSDate not supplied

Functional Task Tests in Partial Gravity During Parabolic Flight

BACKGROUND Critical mission tasks that are required by crews immediately after landing on a planetary surface are seat egress, jump, and walk. To be able to define an effective and comprehensive countermeasure strategy for preserving crew performance during exploration-class missions, there is a need to understand how these functional tasks are actually performed in partial gravity such as on the Moon or Mars. We propose to study the performance in the execution of these tasks during the partial gravity and hypergravity phases of parabolic flight. These tasks will be completed using the same equipment and procedures as the Standard Measures Sensorimotor protocol, which is performed by astronauts returning from spaceflight and by ground-based subjects after prolonged axial body unloading during bed rest. HYPOTHESIS We hypothesize that partial gravity during parabolic flight will cause acute changes in vestibular, proprioceptive, and sensorimotor functions, and these changes will impact the performance of mission critical tasks such as standing, walking, and jumping. The largest changes in performance are expected at the lowest gravity level (0.25g) because subjects will no longer be able to use the gravitational reference for the perception of vertical. Ultimately, this information could be used to assess performance risks and inform the design of countermeasures for NASA exploration-class human missions. METHODS Twelve subjects will be tested during three flights of 30 parabolas, including 10 parabolas at 0.25g, 10 parabolas at 0.5g and 10 parabolas at 0.75g. Subject also will perform tests in 1g between parabolas and in hypergravity (1.8g) during the pull-out phases. Subjects will perform the same tasks as those tested on astronauts returning from spaceflight: sit-to-stand and obstacle walk, tandem walk, jump down, and recovery from fall. Measurements will include: (a) the time for the subject to complete the test (sit-to-stand and obstacle walk, recovery from fall); (b) the time elapsed between the start of motion and the stabilization of upright posture (recovery from fall, jump down); (c) the mean sway speed during quiet standing (recovery from fall, jump down); (d) changes in heart rate and blood pressure (recovery from fall); (e) the percentage of correct steps and torso acceleration (tandem walk); and (f) the severity of motion sickness symptoms. RELEVANCE Although gravitational dose-response curves have been obtained for some biochemical systems in animals, these dose-responses are unknown for most human physiologic systems. Our study will compare the outcomes of 5 functional task tests in 0.25g, 0.5g, 0.75g, 1g, and 1.8g with those previously obtained in ground-based subjects after prolonged axial body unloading and in astronauts immediately after spaceflight. This comparison will help understanding the true extent of functional task performance deficits in partial gravity. The dose-response relationship between gravity level and task performance decrement also will help determining the gravity threshold for these functional tasks. ACKNOWLEDGEMENT This work is supported by the NASA’s Human Research Program Human Health Countermeasures Element

Gilles Clement↗

NASA NTRS1972

Cable Connected Spinning Spacecraft, 1. the Canonical Equations, 2. Urban Mass Transportation, 3

Work on the dynamics of cable-connected spinning spacecraft was completed by formulating the equations of motion by both the canonical equations and Lagrange's equations and programming them for numerical solution on a digital computer. These energy-based formulations will permit future addition of the effect of cable mass. Comparative runs indicate that the canonical formulation requires less computer time. Available literature on urban mass transportation was surveyed. Areas of the private rapid transit concept of urban transportation are also studied.

Sitchin, A.↗

NASA NTRS1979

Concepts for reference frames in geodesy and geodynamics - The reference directions

The paper discusses a study that establishes a reference frame, moving with the earth (in some average sense), in which the geometric and dynamical behavior of the earth can be monitored, and whose motion with respect to inertial space can also be determined. Emphasis is placed on the fact that the reference directions at an observation point on the earth surface, are defined by fundamental vectors for both space and time. The interrelationships between this space- and time-variant angular parameter are illustrated in a commutative diagram and tower of triads. Although the model tower is also space- and time-variant, its variations are described by adopted parameters using our current knowledge of the earth.

Grafarend, E. W.↗

NASA NTRS1984

The effect of rotation on turbulence structure

Rotating turbulent channel flow has been simulated numerically using the large-eddy-simulation technique. With a three-dimensional, time-dependent, numerical simulation of turbulence, it was possible to obtain detailed flow-field information which had not been available previously from experiments. This information was used to study the structure and statistical properties of the flow with externally imposed rotation. It was found that in agreement with experimental observations, the Coriolis force introduced by the system rotation could stabilize/destabilize turbulence. The large-scale motion observed in the experiment was also found to exist in the computed flow field.

Kim, J.↗

NASA NTRS1984

Some real-time simulation applications to Space Shuttle approach and landing design and test

In the present discussion of the roles played by real time, man-in-the-loop engineering simulation in the development of NASA Space Shuttle approaches and landings, attention is given to the function of the simulator as a design and verification tool. Aspects of the problem posed by Shuttle landings, and the difficulties involved in this problem's quantification, are noted. Recent results of control system studies for pitch axis control, using fixed- and motion-base simulators, are discussed.

Law, H. G., III↗

NASA NTRS1990

Structure of turbulence at high shear rate

The structure of homogeneous turbulence subject to high shear rate has been investigated by using three-dimensional, time-dependent numerical simulations of the Navier-Stokes equations. This study indicates that high shear rate alone is sufficient for generation of the streaky structures, and that the presence of a solid boundary is not necessary. Evolution of the statistical correlations is examined to determine the effect of high shear rate on the development of anisotropy in turbulence. It is shown that the streamwise fluctuating motions are enhanced so profoundly that a highly anisotropic turbulence state with a 'one-component' velocity field and 'two-component' vorticity field develops asymptotically as total shear increases. Because of high-shear rate, rapid distortion theory predicts remarkably well the anisotropic behavior of the structural quantities.

Lee, Moon Joo↗

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↗