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Finite element modeling is dominated by geometric modeling type operations. Therefore, an effective interface to geometric modeling requires access to both the model and the modeling functionality used to create it. The use of a dynamic interface that addresses these needs through the use of boundary data structures and geometric operators is discussed.
A computerized modeling tool, under development for the transient modeling of an extravehicular activity atmospheric control subsystem is described. This subsystem includes the astronaut, temperature control, moisture control, CO2 removal, and oxygen make-up components. Trade studies evaluating competing components and subsystems to guide the selection and development of hardware for lunar and Martian missions will use this modeling tool. The integrated modeling tool uses the Advanced System for Process Engineering (ASPEN) to accomplish pseudosteady-state simulations, and the general environmental thermal control and life support program (G189A) to manage overall control of the run and transient input output, as well as transient modeling computations and database functions. Flow charts and flow diagrams are included.
Research results on general serial robotic manipulators modeled with structural compliances are presented. Two compliant manipulator modeling approaches, distributed and lumped parameter models, are used in this study. System dynamic equations for both compliant models are derived by using the first and second order influence coefficients. Also, the properties of compliant manipulator system dynamics are investigated. One of the properties, which is defined as inaccessibility of vibratory modes, is shown to display a distinct character associated with compliant manipulators. This property indicates the impact of robot geometry on the control of structural oscillations. Example studies are provided to illustrate the physical interpretation of inaccessibility of vibratory modes. Two types of controllers are designed for compliant manipulators modeled by either lumped or distributed parameter techniques. In order to maintain the generality of the results, neither linearization is introduced. Example simulations are given to demonstrate the controller performance. The second type controller is also built for general serial robot arms and is adaptive in nature which can estimate uncertain payload parameters on-line and simultaneously maintain trajectory tracking properties. The relation between manipulator motion tracking capability and convergence of parameter estimation properties is discussed through example case studies. The effect of control input update delays on adaptive controller performance is also studied.
Two suites of geomagnetic field models were generated at the request of Los Alamos National Lab. concerning Strategic Defense Initiative (SDI) research. The first is a progression of five models incorporating MAGSAT data and data from a sequence of batches as a priori information. The batch sequence is: post 1979.5 observatory data, post 1980 land survey and selected aeromagnetic and marine survey data, a special White Sands (NM) area survey by Project Magnet with some additional post 1980 marine survey data, and finally DE-2 satellite data. These models are of 13th deg and order in their main field terms, and deg and order 10 in their first derivative temporal terms. The second suite consists of four models based solely upon post 1983.5 observatory and survey data. They are of deg and order 10 in main field and 8 in a first deg Taylor series. A comprehensive error analysis was applied to both series, which accounted for error sources such as the truncated core and crustal fields, and the neglected Sq and low deg crustal fields. Comparison of the power spectrum of the MGST (10/81) model with those of this series show good agreement.
Simulations of an aeroelastically scaled wind-tunnel model were developed for hot-bench testing of a digital controller. The digital controller provided active flutter-suppression, rolling-maneuver-load alleviation, and plant estimation. To achieve an acceptable time scale for the hot-bench application, the mathematical model of the wind-tunnel model was reduced from 220 states to approximately 130 states while assuring that the required accuracy was preserved for all combinations of 10 inputs and 56 outputs. The reduction was achieved by focussing on a linear, aeroelastic submodel of the full mathematical model and by applying a method based on the internally balanced realization of a dynamic system. The error-bound properties of the internally balanced realization significantly contribute to its utility in the model reduction process. The reduction method and the results achieved are described.
K. Schatten (1991) recently developed a method for combining his prediction model with our chaotic model. The philosophy behind this combined model and his method of combination is explained. Because the Schatten solar prediction model (KS) uses a dynamo to mimic solar dynamics, accurate prediction is limited to long-term solar behavior (10 to 20 years). The Chaotic prediction model (SA) uses the recently developed techniques of nonlinear dynamics to predict solar activity. It can be used to predict activity only up to the horizon. In theory, the chaotic prediction should be several orders of magnitude better than statistical predictions up to that horizon; beyond the horizon, chaotic predictions would theoretically be just as good as statistical predictions. Therefore, chaos theory puts a fundamental limit on predictability.
A methodology for optimizing organization of data obtained by NASA earth and space missions is discussed. The methodology uses a concept based on semantic data modeling techniques implemented in a hierarchical storage model. The modeling is used to organize objects in mass storage devices, relational database systems, and object-oriented databases. The semantic data modeling at the metadata record level is examined, including the simulation of a knowledge base and semantic metadata storage issues. The semantic data model hierarchy and its application for efficient data storage is addressed, as is the mapping of the application structure to the mass storage.
Free, equatorially trapped sinusoidal wave solutions to a linear model on an equatorial beta plane are used to fit the Geosat altimetric sea level observations in the tropical Pacific Ocean. The Kalman filter technique is used to estimate the wave amplitude and phase from the data. The estimation is performed at each time step by combining the model forecast with the observation in an optimal fashion utilizing the respective error covariances. The model error covariance is determined such that the performance of the model forecast is optimized. It is found that the dominant observed features can be described qualitatively by basin-scale Kelvin waves and the first meridional-mode Rossby waves. Quantitatively, however, only 23 percent of the signal variance can be accounted for by this simple model.
The paper examines the requirements for the reuse of computational models employed in model-based reasoning (MBR) to support automated inference about mechanisms. Areas in which the theory of MBR is not yet completely adequate for using the information that simulations can yield are identified, and recent work in these areas is reviewed. It is argued that using MBR along with simulations forces the use of specific fault models. Fault models are used so that a particular fault can be instantiated into the model and run. This in turn implies that the component specification language needs to be capable of encoding any fault that might need to be sensed or diagnosed. It also means that the simulation code must anticipate all these faults at the component level.
Four models of outboard floats (N.A.C.A. models 51-A, 51-B, 51-C, and 51-D) were tested in the N.A.C.A. tank to determine their hydrodynamic characteristics and in the 20-foot wind tunnel to determine their aerodynamic drag. The results of the tests, together with comparisons of them, are presented in the form of charts. From the comparisons, the order of merit of the models is estimated for each factor considered. The best compromise between the various factors seems to be given by model 51-D. This model is the only one in the series with a transverse step.
Tests were made in the NACA tank and in the NACA 7 by 10 foot wind tunnel on two models of transverse step floats and three models of pointed step floats considered to be suitable for use with single float seaplanes. The object of the program was the reduction of water resistance and spray of single float seaplanes without reducing the angle of dead rise believed to be necessary for the satisfactory absorption of the shock loads. The results indicated that all the models have less resistance and spray than the model of the Mark V float and that the pointed step floats are somewhat superior to the transverse step floats in these respects. Models 41-D, 61-A, and 73 were tested by the general method over a wide range of loads and speeds. The results are presented in the form of curves and charts for use in design calculations.
Three models of V-bottom floats for twin-float seaplanes (N.A.C.A. models 57-A, 57-B, and 57-C) having angles of dead rise of 20 degrees, 25 degrees, and thirty degrees, respectively, were tested in the N.A.C.A. tank and in the N.A.C.A. 7- by 10-foot wind tunnel. Within the range investigated, the effect of angle of dead rise on water resistance was found to be negligible at speeds up to and including the hump speed, and water resistance was found to increase with angle of dead rise at planing speeds. The height of the spray at the hump speed decreased with increase in angle of dead rise and the aerodynamic drag increased with dead rise. Lengthening the forebody of model 57-B decreased the water resistance and the spray at speeds below the hump speed. Spray strips provided an effective means for the control of spray with the straight V sections used in the series but considerably increased the aerodynamic drag. Charts for the determination of the water resistance and the static properties of the model with 25 degrees dead rise and for the aerodynamic drag of all the models are included for use in design.
The objective of Phase I of this research effort was to develop an advanced mathematical-empirical model of SSME steady-state performance. Task 6 of Phase I is to develop component specific modification strategy for baseline case influence coefficient matrices. This report describes the background of SSME performance characteristics and provides a description of the control variable basis of three different gains models. The procedure used to establish influence coefficients for each of these three models is also described. Gains model analysis results are compared to Rocketdyne's power balance model (PBM).
Research will be undertaken in this contract in the area of Modeling Resource and Facilities Enhancement to include computer, technical and educational support to NASA investigators to facilitate model implementation, execution and analysis of output; to provide facilities linking USRA and the NASA/EADS Computer System as well as resident work stations in ESAD; and to provide a centralized location for documentation, archival and dissemination of modeling information pertaining to NASA's program. Additional research will be undertaken in the area of Numerical Model Scale Interaction/Convective Parameterization Studies to include implementation of the comparison of cloud and rain systems and convective-scale processes between the model simulations and what was observed; and to incorporate the findings of these and related research findings in at least two refereed journal articles.
An anisotropic viscoplasticity model is developed as an extension of the well known Bodner model. The extension is made by replacing the effective stress of the isotropic Bodner model by one involving invariants for transverse isotropy. The resulting model retains the simplicity of Bodner's in the ease with which the material constants are determined experimentally. It allows a representation of strong initial anisotropy yet is based on the scalar state variable under the assertion that induced anisotropy is negligible relative to the strong initial anisotropy. Temperature dependence is taken as in the original Bodner theory. Account is made of fiber volume fraction through nonlinear rules of mixture applied to the stress history and anisotropy parameters. Focus is on the theoretical development of the model, however, application to a W/Cu composite is in progress and will be reported as a sequel to this report.
The general building contractor is presented with an information model as an approach for deriving a high-level work plan of construction activities applied to road building. Road construction activities are represented in a Road Plan Model (RPM), which is modeled in the ISO standard STEP/EXPRESS and adopts various concepts from the GARM notation. The integration with the preceding road design stage and the succeeding phase of resource scheduling is discussed within the framework of a Road Construction Model. Construction knowledge is applied to the road design and the terrain model of the surrounding road infrastructure for the instantiation of the RPM. Issues regarding the implementation of a road planner application supporting the RPM are discussed.
Markov models represent an extremely attractive tool for the reliability analysis of many systems. However, Markov model state space grows exponentially with the number of components in a given system. Thus, for very large systems Markov modeling techniques alone become intractable in both memory and CPU time. Often a particular subsystem can be found within some larger system where the dependence of the larger system on the subsystem is of a particularly simple form. This simple dependence can be used to decompose such a system into one or more subsystems. A hierarchical technique is presented which can be used to evaluate these subsystems in such a way that their reliabilities can be combined to obtain the reliability for the full system. This hierarchical approach is unique in that it allows the subsystem model to pass multiple aggregate state information to the higher level model, allowing more general systems to be evaluated. Guidelines are developed to assist in the system decomposition. An appropriate method for determining subsystem reliability is also developed. This method gives rise to some interesting numerical issues. Numerical error due to roundoff and integration are discussed at length. Once a decomposition is chosen, the remaining analysis is straightforward but tedious. However, an approach is developed for simplifying the recombination of subsystem reliabilities. Finally, a real world system is used to illustrate the use of this technique in a more practical context.
High order horizontal diffusion of the form K Delta(exp 2m) is widely used in spectral models as a means of preventing energy accumulation at the shortest resolved scales. In the spectral context, an implicit formation of such diffusion is trivial to implement. The present note describes an efficient method of implementing implicit high order diffusion in global finite difference models. The method expresses the high order diffusion equation as a sequence of equations involving Delta(exp 2). The solution is obtained by combining fast Fourier transforms in longitude with a finite difference solver for the second order ordinary differential equation in latitude. The implicit diffusion routine is suitable for use in any finite difference global model that uses a regular latitude/longitude grid. The absence of a restriction on the timestep makes it particularly suitable for use in semi-Lagrangian models. The scale selectivity of the high order diffusion gives it an advantage over the uncentering method that has been used to control computational noise in two-time-level semi-Lagrangian models.