Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “unstructured”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 757 records · Page 42
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Remote servicing of space systems

Space systems are difficult to maintain on orbit. The difficulty arises from the limited ability and availability of the astronaut work force in the hazardous space environment. Remote robotic manipulation can free the astronaut from the hazardous working environment while also increasing the work force. However, remote robotic servicing is not without its own set of problems and limitations, such as communication time delay and unstructured worksites. Tests and test equipment are described which are designed to increase the understanding of the remote servicing problems and to allow development of potential solutions. A half scale satellite mockup was developed for evaluating and improving upon the design of replaceable subsystems, such as batteries and electronic boxes. A servicer system, that includes a six degree of freedom PUMA 560 robot and interchangeable end effectors (tools), was developed to aid in driving out servicer design requirements. The results include the time delay impact on servicing timelines and requirements for the servicer system.

Collins, S. L.↗
NASA NTRS1986

Feedback system design with an uncertain plant

A method is developed to design a fixed-parameter compensator for a linear, time-invariant, SISO (single-output single-output) plant model characterized by significant structured, as well as unstructured, uncertainty. The controller minimizes the H(infinity) norm of the worst-case sensitivity function over the operating band and the resulting feedback system exhibits robust stability and robust performance. It is conjectured that such a robust nonadaptive control design technique can be used on-line in an adaptive control system.

Milich, D.↗
NASA NTRS1987

Finite element flux-corrected transport (FEM-FCT) for the Euler and Navier-Stokes equations

A high resolution finite element method for the solution of problems involving high speed compressible flows is presented. The method uses the concepts of flux-corrected transport and is presented in a form which is suitable for implementation on completely unstructured triangular or tetrahedral meshes. Transient and steady-state examples are solved to illustrate the performance of the algorithm.

Lohner, Rainald↗
NASA NTRS1988

The temperature structure, mass, and energy flow in the corona and inner solar wind

Remote-sensing and in situ data are used to constrain a radiative energy balance model in order to study the radial variations of coronal temperatures, densities, and outflow speeds in several types of coronal holes and in an unstructured quiet region of the corona. A one-fluid solar wind model is used which takes into account the effects of radiative and inward conductive losses in the low corona and the chromospheric-coronal transition region. The results show that the total nonradiative energy input in magnetically open coronal regions is 5 + or - 10 to the 5th ergs/sq cm, and that most of the energy heating the coronal plasma is dissipated within 2 solar radii of the solar surface.

Withbroe, George L.↗
NASA NTRS1988

An adaptive remeshing method for finite element thermal analysis

A finite element remeshing approach that makes use of quadrilateral and triangular elements is described. The approach uses the solution on a previous mesh to create a new mesh. Meshes are completely unstructured with highly refined elements in regions of steep gradients and larger elements where gradients are smaller. Studies of convergence rates for heat conduction problems with exact solutions show that for problems with highly localized solution variations, the remeshing approach gives smaller solution errors with fewer unknowns than refinement of uniform, structured meshes.

Thornton, Earl A.↗
NASA NTRS1988

Robustness analysis based on passivity

A technique of robust stability analysis for multivariable control systems is introduced. Existing tools in the literature are mostly based on small gain type of conditions such as the H(infinity)-norm or mu measure. In contrast, the approach presented is motivated by passivity theory. The natural energy Lyapunov function associated with a passive system allows robustness to be analyzed with Lyapunov stability theory. Consequently, nonlinear and time-varying perturbations can be considered within the same framework. For unstructured uncertainties, the robustness margin is characterized in terms of an index related to the Hermitian part of a transfer function. If the uncertainties contain additional diagonal structure, stability margins are obtained for variations of each uncertain block in both positive and negative directions. Applications of this robustness analysis technique are illustrated.

Wen, John T.↗
NASA NTRS1989

Generation of three-dimensional body-fitted grids by solving hyperbolic and parabolic partial differential equations

Hyperbolic grid generation procedures are described which have been used in external flow simulations about complex configurations. For many practical applications a single well-ordered (i.e., structured) grid can be used to mesh an entire configuration, in other problems, composite or unstructured grid procedures are needed. Although the hyperbolic partial differential equation grid generation procedure has mainly been utilized to generate structured grids, extension of the procedure to semiunstructured grids is briefly described. Extensions of the methodology are also described using two-dimensional equations.

Steger, Joseph L.↗
NASA NTRS1987

Space telerobotic systems: Applications and concepts

The definition of a variety of assembly, servicing, and maintenance missions has led to the generation of a number of space telerobot concepts. The remote operation of a space telerobot is seen as a means to increase astronaut productivity. Dexterous manipulator arms are controlled from the Space Shuttle Orbiter cabin or a Space Station module. Concepts for the telerobotic work system have been developed by the Lyndon B. Johnson Space Center through contracts with the Grumman Aerospace Corporation and Marin Marietta Corporation. These studies defined a concept for a telerobot with extravehicular activity (EVA) astronaut equivalent capability that would be controlled from the Space Shuttle. An evolutionary development of the system is proposed as a means of incorporating technology advances. Early flight testing is seen as needed to address the uncertainties of robotic manipulation in space. Space robotics can be expected to spin off technology to terrestrial robots, particularly in hazardous and unstructured applications.

Jenkins, L.↗
NASA NTRS1987

Multi-limbed locomotion systems for space construction and maintenance

A well developed technology of coordination of multi-limbed locomotory systems is now available. Results from a NASA sponsored study of several years ago are presented. This was a simulation study of a three-limbed locomotion/manipulation system. Each limb had six degrees of freedom and could be used either as a locomotory grasping hand-holds, or as a manipulator. The focus of the study was kinematic coordination algorithms. The presentation will also include very recent results from the Adaptive Suspension Vehicle Project. The Adaptive Suspension Vehicle (ASV) is a legged locomotion system designed for terrestrial use which is capable of operating in completely unstructured terrain in either a teleoperated or operator-on-board mode. Future development may include autonomous operation. The ASV features a very advanced coordination and control system which could readily be adapted to operation in space. An inertial package with a vertical gyro, and rate gyros and accelerometers on three orthogonal axes provides body position information at high bandwidth. This is compared to the operator's commands, injected via a joystick to provide a commanded force system on the vehicle's body. This system is, in turn, decomposed by a coordination algorithm into force commands to those legs which are in contact with the ground.

Waldron, K. J.↗
NASA NTRS1987

A natural-language interface to a mobile robot

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

Michalowski, S.↗
NASA NTRS1987

Task planning and control synthesis for robotic manipulation in space applications

Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. Results of work in assembly task representation, discrete task planning, and control synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning of manipulatiuon operations in unstructured environments are summarized. Assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. Discrete task planning uses the configuration map which facilitates search over a space of discrete operations parameters in sequential operations in order to achieve required goals in the space of bounded configuration sets.

Sanderson, A. C.↗
NASA NTRS1988

Finite element Euler computations in three dimensions

A two-step explicit FEM solution algorithm for the three-dimensional compressible Euler and Navier-Stokes equations based on unstructured triangular and tetrahedral grids is described and demonstrated. The method represents an extension and refinement of the algorithms presented by Loehner et al. (1984 and 1985), Peraire et al. (1987), and Morgan et al. (1987). The formulation and numerical implementation are outlined; the mesh generation, data structures, and adaptive remeshing are explained; and results for a two-dimensional airfoil, a three-dimensional engine air intake, a B747 in landing configuration, and a generic fighter aircraft are presented in extensive graphics and discussed in detail.

Peraire, Jaime↗
NASA NTRS1988

Finite element solution of the Euler equations in two and three dimensions

The paper presents a finite element procedure for solving the equations of compressible flow over bodies of arbitrary geometry. The numerical solution algorithm employed is an explicit two-step version of a second order Taylor-Galerkin scheme. The discretization of the computational domain into unstructured meshes of triangles in two dimensions and tetrahedra in three dimensions is performed by an automatic mesh generator. In the approach, the mesh generator is coupled to the finite element solver to produce an adaptive remeshing procedure.

Peiro, J.↗
NASA NTRS1988

NASA research and development for space telerobotics

The goal of this research is to explore and prove out robust concepts for telerobotic support of space servicing, assembly, maintenance, and telescience tasks. This goal is being addressed through a program of coordinated work in artificial intelligence, robotics, and human factors. The general research objective is the fusion of robot sensing and manipulation, teleoperation, and human and machine cognitive skills into an effective architecture for supervised task automation. NASA is evaluating results of this research program in a ground laboratory telerobot testbed under development at JPL. The testbed development activity includes integrated technology demonstrations. The demonstrations will show telerobot capabilities to perform tasks of increasing complexity, and duration in increasingly unstructured environments. The first such demonstration is the ground-based grappling, dockling, and servicing of a satellite taskboard.

Schenker, Paul S.↗
NASA NTRS1989

Visualization of three-dimensional CFD solutions

The implementation is described of the FLOWVIS flow visualization package on a graphics supercomputer that provides real-time interactive investigation of three-dimensional CFD solutions on structured and unstructured meshes. The data structures are briefly described and the methods of visualizing flow fields are examined, including surface plots, particle paths, and planar displays in the flow field. Preliminary results using the package and work in progress are discussed.

Modiano, David L.↗
NASA NTRS1989

An adaptive implicit/explicit finite element scheme for compressible viscous high speed flow

An adaptive implicit/explicit finite element procedure for the solution of three-dimensional problems of steady compressible viscous high-speed flows is presented. In the vicinity of solid walls, a grid-exhibiting structure in the normal direction is employed, while away from this region the grid is totally unstructured. The implicit form of the algorithm is used near solid walls, with the grid structure being utilized in an equation solution approach based upon line relaxation. The explicit form of the algorithm is used elsewhere. Grid adaptation is achieved by means of adaptive remeshing. To illustrate the performance of the proposed method, solutions are obtained for the problems of shock-boundary layer interaction and shock-shock interaction on a swept cylindrical leading edge. Comparisons are made with experimental observations.

Hassan, O.↗
NASA NTRS1989

A Navier-Stokes solver for high speed equilibrium flows and application to blunt bodies

This paper presents a finite element method for the solution of Navier-Stokes equations with the assumption of thermodynamic and chemical equilibrium. The method employs an upwind finite element technique with an implicit time-marching scheme for the solution, and uses an adaptively generated unstructured triangular mesh with several layers of quadrilateral elements near solid walls. The complexity associated with the assumption that the flow is in equilibrium is treated consistently, and the inviscid flux Jacobian matrices are derived. Several problems involving inviscid and viscous hypersonic flow past blunt are solved. Results are compared with other numerical results and experimental data, and generally good agreement is observed.

Prabhu, Ramadas K.↗
NASA NTRS1989

Calculations of rotational flows using stream function

The stream function equation is solved for steady two-dimensional (and axisymmetric) rotational flows. Both finite differences and finite volumes discretization techniques are studied, using generalized body fitted coordinates and unstructured staggered grids, respectively. For inviscid transonic flows, a new artificial viscosity scheme which does not produce any artificial vorticity is introduced, for the stability of the mixed flow calculations and for capturing shocks. The solution of Euler equations, in primitive variables, are also considered. The effects of the artificial viscosity and numerical boundary conditions on the total enthalpy and the vorticity distributions are demonstrated.

Hafez, M.↗