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NASA NTRS2018

Engineering Elegant Systems: Postulates, Principles, and Hypotheses of Systems Engineering

Systems engineering integrated both the system and the organizational engineering disciplines to produce an elegant system. The NASA Systems Engineering Research Consortium has developed systems engineering postulates, principles, and hypotheses defining the physical and social aspects of systems engineering. This paper presents an overview of the current revision of this basis for systems engineering. This basis addresses several key aspects of systems engineering including system specific approach, organizational influences, policy and law impacts, application across the system life cycle, the mathematical basis of systems engineering, decision making, clearly distinguishing verification from validation, and system optimization.

Watson, Michael D.↗
NASA NTRS2018

Engineering Elegant Systems: Postulates, Principles, and Hypotheses of Systems Engineering

Systems engineering integrated both the system and the organizational engineering disciplines to produce an elegant system. The NASA Systems Engineering Research Consortium has developed systems engineering postulates, principles, and hypotheses defining the physical and social aspects of systems engineering. This paper presents an overview of the current revision of this basis for systems engineering. This basis addresses several key aspects of systems engineering including system specific approach, organizational influences, policy and law impacts, application across the system life cycle, the mathematical basis of systems engineering, decision making, clearly distinguishing verification from validation, and system optimization.

Watson, Michael D.↗
NASA NTRS2019

Quantifying the Impact of Systems Interdependencies in Space Systems Architectures

Due to the high number of systems in a space mission architecture and to their complex interactions, identifying risk and critical operational dependencies is not obvious. Traditional systems engineering methodology and risk assessment does not capture the impact of interactions between systems nor the cascading effects of disruptions. Based on these considerations, the Systems Operational Dependency Analysis methodology was developed for use by systems analysts and decision makers. This methodology utilizes a parametric model of interdependencies between systems to quantify the direct and indirect impact of system disruptions on other systems, as well as identify root causes. The results are effective at providing decision support for prioritizing technology investment based on risk reduction associated with potential system disruptions. Expanding on research presented at IAC 2018 and based on a collaboration with NASA Marshall Space Flight Center, this paper applies the Systems Operational Dependency Analysis methodology to NASA Lunar Gateway in collaboration with NASA’s lunar exploration plans. The paper presents a hierarchical representation of the interdependencies between a Gateway habitat’s systems and subsystems, demonstrates quantification of the impact of disruption, and assesses the criticality of the constituent systems and subsystems.

Guariniello, Cesare↗
NASA NTRSDate not supplied

Using Systems Engineering to Develop an Integrated Crew Health and Performance System to Mitigate Risk for Human Exploration Missions

New space exploration missions are currently being designed to take humanity beyond low Earth orbit (LEO) to cis-lunar space, the lunar surface, and eventually to Mars. These missions carry increased risks due to a number of factors, including distance from Earth, exposure to deep space hazards, reduced capacity and ability to resupply and evacuate, and increased communication delays. As distance from Earth grows and mission length increases, a growing proportion of mission risk can be attributed to the “human system.” Almost twenty years ago, the Institute of Medicine in the United States recommended the early and complete integration of the human system into the spacecraft and mission design process to mitigate this increased risk inherent in exploration missions. Exploration missions will require increasing levels of crew self-sufficiency that will challenge the current operational paradigms established in LEO. Enabling progressive Earth independence requires management of the increasingly complex interactions among spacecraft systems and integration of all the data and functions that affect human health and performance into one coordinated system –the Crew Health and Performance (CHP) system. This system is a critical spacecraft system that is analogous to other systems such as propulsion, guidance and navigation, or avionics. Design and integration of the CHP system requires the evidence-based merger of typically disparate disciplines such as medicine, human factors, and life support system design, using systems engineering (SE) practices. SE provides traceability of spacecraft requirements and enables reliable and repeatable trade space analysis of the many competing options for hardware and software to be included in the mission architecture. The approach described here enables spacecraft and mission designers to align the scope of a CHP system with mission specific requirements, decrease risk to the crew, and increase the probability of mission success.

Kerry McGuire↗
NASA NTRSDate not supplied

Using Systems Engineering to Develop an Integrated Crew Health and Performance System to Mitigate Risk for Human Exploration Missions

New space exploration missions are currently being designed to take humanity beyond Low EarthOrbit (LEO) to cis-lunar space, the lunar surface, and eventually to Mars. These missions carryincreased risks due to a number of factors, including distance from Earth, exposure to deep spacehazards, reduced capacity and ability to resupply and evacuate, and increased communication delays.As distance from Earth grows and mission length increases, a growing proportion of overall missionrisk can be attributed to the “human system.” Almost twenty years ago, the Institute of Medicine in theUnited States recommended the early and complete integration of the human system into thespacecraft and mission design process to mitigate this increased risk inherent in exploration missions.Exploration missions will require increasing levels of crew self-sufficiency that will challenge thecurrent operational paradigms established in LEO. Enabling progressive Earth independence requiresmanagement of the increasingly complex interactions among spacecraft systems and integration of allthe data and functions that affect human health and performance into one coordinated system – theCrew Health and Performance (CHP) system. This system is a critical spacecraft system that isanalogous to other systems such as propulsion, guidance and navigation, or avionics. Design andintegration of the CHP system requires the evidence-based merger of typically disparate disciplinessuch as medicine, human factors, and physiological support system design, using systems engineering(SE) practices. The approach described here enables spacecraft and mission designers to align thescope of a CHP system with mission specific requirements, decrease risk to the crew, and increase theprobability of mission success.

Kerry Mcguire↗
NASA NTRSDate not supplied

Understanding and Utilizing PBL Height Data from Multiple Observing Systems in the GEOS System

The accuracy of PBL height simulation is a key issue in many applications including forecasting near surface meteorology and air quality, however, it is a very challenging problem due to the lack of not only comprehensive, global Planetary Boundary Layer (PBL) observations but also a strategy and infrastructure to utilize PBL height data from a variety of sensors. Following the designation of PBL as an incubation class observable in the 2017 Decadal Survey, the PBL Incubation Study Team Report [14] made clear that “a future global PBL observing system requires modeling and data assimilation as essential components.” There is an urgent need for global modeling development in order to utilize Program of Record (POR) observations, assess their impacts, and identify gaps to be filled by future PBL missions. Our overall objective is to develop PBL data assimilation capabilities in the NASA Global Earth Observing System (GEOS), focusing on PBL height from multiple observing systems, to support the assessment and use of future PBL observations. The NASA GEOS system is composed of the GEOS global atmospheric general circulation model (AGCM) and the atmospheric data assimilation system (ADAS). The PBL parameterizations include the “Lock” K-profile scheme driven by surface and cloud-top buoyancy fluxes ([4]), and the “Louis” local scheme for stable conditions based on the Richardson number ([5]). Above the mixed layer defined by the Lock surface plume, shallow cumulus convection is represented by the mass flux scheme of [9]. Additional parameterizations are summarized in [1]. The ADAS employs the hybrid 4D Ensemble- Variational (EnVar) configuration ([15]), with the ensemble providing flow-dependent background error covariance information. The resultant analysis increments are fed back to the forecast model through the 4D incremental analysis update (IAU) approach ([11]). In this study, PBL height data are being or have been generated from radiosondes, GNSS RO, satellite (CATS, CALIPSO and ICESat-2) and ground-based (MPLNET) lidars, and wind profiler. Investigations have been conducted to specify quality marks for PBL height retrievals for the data assimilation purpose. These PBL height data have different strengths and weaknesses ([2], [3], [6], [7], [8], [10]), and the satellite PBL height data provide better global coverage and complement in-situ PBL height data. Radiosondes offer high accuracy and in situ measurement of temperature and humidity profiles, but with poor spatio-temporal sampling. The in-situ observing systems like MPLNET and wind profiler provide long history of PBL height records at each station. The GNSS RO based PBL height is retrieved based on the sharp gradients in refractivity profile that represent the fine vertical structure of temperature and moisture changes above the PBL. However, not all RO refractivity profiles reach the surface depending on location and regime, and RO refractivity retrievals can be negatively biased below 2km. The PBL height data from satellite lidars provide high resolution along track PBL height retrievals, but over land they are affected by previous day convective PBL aerosol and strongly associated with mixing layer and retrievals cannot be made below thick, attenuating clouds. A successful assimilation of PBL height data requires a thorough understanding of the observing method and the retrieval algorithm for each observing system in order to use the PBL height data from multiple observing systems properly. Due to the sensitivity of PBL height data to the observing method and choice of algorithm, it is important to use a model definition appropriate for each observation type to compute differences between PBL height data and model PBL height (OmFs). The GEOS model currently includes two PBL height definitions suitable for direct comparison with observed PBL height, and additional definitions are being added in this study. Evaluation of different model PBL height definitions is underway. Meanwhile, efforts have been made in the GEOS data assimilation system to develop PBL height data assimilation capability. PBL height data can be assimilated using two different approaches. The traditional approach is to construct an observation operator and its tangent linear and adjoint, which link control variables to PBL height data from each observing system. This observation operator can be very complicated, e.g., the lidar-based PBL height observation operator includes the backscatter lidar forward observation operator, the algorithm to derive PBL height from attenuated total backscatter, interpolation, and calculations handling the mismatch between observed and model scales. The other approach is to augment PBL height to the control variable vector, and it is adopted in this study. The latter approach was also used in previous studies, e.g., the assimilation of PBL height data from radiosonde and aircraft in the Real Time Mesoscale Analysis (RTMA) system for a dispersion modelling study ([13]); the PBL height assimilation study using lidar PBL height data at Greensburg, Kansas for a field campaign ([12]). The PBL height assimilation from multiple observing systems in this study allows us to take advantage of the diverse PBL height data that provide much better global coverage collectively under different meteorological conditions and with different temporal and spatial scales. As all the PBL heights are tightly coupled with the PBL thermodynamic variables, the strong correlations, which are provided by the 4D ensemble forecast, enable PBL height data from various sources to interact and combine coherently and provide additional information for PBL temperature and moisture fields. The results of comparisons among PBL height data from different sources and the evaluation of the model PBL height definitions with the PBL height data will be presented, and the PBL height data synergy strategies and preliminary results will also be discussed at the conference.

Y. Zhu↗
NASA NTRS1994

Responses of soybean to ammonium and nitrate supplied in combination to the whole root system or separately in a split-root system

To address the questions of whether allocation of carbohydrates to roots is influenced by ionic form of nitrogen absorbed and whether allocation of carbohydrates to roots in turn influences proportionality between NH4+ and NO3- uptake from mixed sources, NH4+ and NO3- were supplied separately to halves of a split-root hydroponic system and were supplied in combination to a whole-root system. Dry matter accumulation in the split-root system was 18% less in the NH4(+)-fed axis than in the NO3(-)-fed axis. This, however, does not indicate that partitioning of carbohydrate between the two axes was different. Most of the reduction in dry matter accumulation in the NH4(+)-fed axis can be accounted for by the retransport of CH2O equivalents from the root back to the shoot with amino acids produced by NH4+ assimilation. Uptake of NH4+ or NO3- by the respective halves of the split-root system was proportional to the estimated allocation of carbohydrate to that half. When NH4+ and NO3- were supplied to separate halves of the split-root system, the cumulative NH4+ to NO3- uptake ratio was 0.81. When supplied in combination to the whole-root system, the cumulative NH4+ to NO3- uptake ratio was 1.67. Thus, while the shoot may affect total nitrogen uptake through the export of carbohydrates to roots, the shoot (common for halves of the split-root system) apparently does not exert a direct effect on proportionality of NH4+ and NO3- uptake by roots. For whole roots supplied with both NH4+ and NO3-, the restriction in uptake of NO3- may involve a stimulation of NO3- efflux rather than an inhibition of NO3- influx. While only the net uptake of NH4+ and NO3- was measured by ion chromatography, monitoring at approximately hourly intervals during the first 3 days of treatment revealed irregularly occurring intervals of both depletion (net influx) and enrichment (net efflux) in solutions. In the case of NH4+, numbers of net efflux events were similar (21 to 24 out of 65 sequential sampling intervals) whether NH4+ was supplied with NO3- to whole-root systems or separately to an axis of the split-root system. In the case of NO3-, however, the number of net efflux events increased from 8 when NO3- was supplied to a separate axis of the split-root system to between 19 and 24 when NO3- was supplied with NH4+ to whole-root systems.

Non-NASA Center↗
NASA NTRSDate not supplied

The System Complexity Metric (SCM) Predicts System Costs and Failure Rates

A complex system has many parts and interactions and so is difficult to understand. Systems with higher complexity generally have higher costs and failure rates. A System Complexity Metric (SCM) is defined to be the sum of the number of nodes, N, in the system block diagram plus the number of one-way interactions, I, between the nodes. SCM = N + I. SCMs are easily determined by direct inspection of high level block diagrams of life support systems. System cost was found to be directly proportional to SCM. The system MTBF (Mean Time Before Failure) is the inverse of the system failure rate. MTBF = 1/f. The system MTBF was found to be proportional to SCM^(-2.2) for estimated preflight MTBFs. As is typical for systems that are not extensively tested and redesigned to eliminate unexpected failure modes, the life support flight failure rates were about ten times higher than the preflight estimates and the MTBFs one-tenth the preflight estimates. The system MTBF was found to be proportional to SCM^(-2.6) for observed flight MTBFs.

System compleity↗
NASA NTRSDate not supplied

Enabling Interoperability in Earth System Digital Twins (ESDT): Integrating Observations, Models, and AI for Actionable Insights Through NASA'S Intelligent Systems Technology Program

NASA’s Intelligent Systems Technology Program (IST) is driving a paradigm shift in Earth science through the development of Earth System Digital Twins (ESDT). These integrated information systems create a dynamic "digital replica" of the Earth by harmonizing continuous, multi-source observations with high-fidelity models and state-of-the-art artificial intelligence (AI) that enable “What now?”, “What next?”, and “What if?” scenario building. These scenarios are reflected in NASA IST’s series of ESDTs, from the Coastal Zone Digital Twin that integrates complex data on the current state of the Chesapeake Bay to the Terrestrial Environmental Rapid-Replication and Assimilation Hydrometeorological (TerraHydro) AI-based ESDT that forecasts water movement across Earth’s surface, to the Agriculture Land Information System (AgLIS) which can be used to assess optimal planting dates and crop yield estimates. By bridging the gap between vast data archives and actionable insights, these projects enable a system-of-systems approach to understanding complex, interacting Earth processes. This poster will highlight recent innovations and future directions from NASA’s ESDT initiatives: Continuous Data Assimilation & Multi-Source Fusion. A core requirement of the ESDT work is the transition from static models to dynamic "living" replicas. This involves creating frameworks for the continual assimilation of near-real-time data from uncoordinated, heterogeneous sources, including satellite observations and airborne assets, and ground-based Internet of Things (IoT) sensors. These systems link design, operational status, and environmental data, ensuring the digital twin accurately reflects the current state of the physical Earth system. High-Fidelity Hybrid Modeling & Computational Acceleration to enable interactive "what-if" explorations, programs are moving beyond traditional, slow physical solvers by developing fast surrogate machine learning models and Deep Generative Models (DGMs). These hybrid approaches use neural networks to emulate complex physics, such as cloud feedback or ocean dynamics, at a fraction of the original computing cost, often leveraging advanced hardware like Graphics Processing Units (GPUs) to achieve the necessary scale. Federated Ecosystems & Interoperable Frameworks rather than building isolated tools, NASA IST is moving toward federated ESDTs and reusable analytic collaborative frameworks. This theme focuses on interoperability standards and common ontologies that allow specialized digital twins to interact and share data. This system-of-systems architecture supports multi-discipline investigations, such as analyzing how upstream watershed changes impact downstream urban flooding or how wildfire emissions affect regional air quality. By leveraging these advancements, ESDTs empower researchers and decision-makers to conduct real-time analysis and run complex hypothetical scenarios, ultimately improving our understanding of Earth’s evolving systems and informing critical real-world applications.

Earth System↗
NASA NTRS1981

Satellite power system concept development and evaluation program. Volume 2: System definition

The system level results of the system definition studies performed by NASA as a part of the Department of Energy/NASA satellite power system concept development and evaluation program are summarized. System requirements and guidelines are discussed as well as the major elements that comprise the reference system and its design options. Alternative system approaches including different system sizes, solid state amplifier (microwave) concepts, and laser power transmission system cost summaries are reviewed. An overview of the system analysis and planning efforts is included. The overall study led to the conclusion that the reference satellite power system concept is a feasible baseload source of electrical power and, within the assumed guidelines, the minimum cost per kilowatt is achieved at the maximum output of 5 gigawatts to the utility grid. Major unresolved technical issues include maximum allowable microwave power density in the ionosphere and performance/mass characteristics of laser power transmission systems.

Source record↗
NASA NTRS1986

Earth observing system. Data and information system. Volume 2A: Report of the EOS Data Panel

The purpose of this report is to provide NASA with a rationale and recommendations for planning, implementing, and operating an Earth Observing System data and information system that can evolve to meet the Earth Observing System's needs in the 1990s. The Earth Observing System (Eos), defined by the Eos Science and Mission Requirements Working Group, consists of a suite of instruments in low Earth orbit acquiring measurements of the Earth's atmosphere, surface, and interior; an information system to support scientific research; and a vigorous program of scientific research, stressing study of global-scale processes that shape and influence the Earth as a system. The Eos data and information system is conceived as a complete research information system that would transcend the traditional mission data system, and include additional capabilties such as maintaining long-term, time-series data bases and providing access by Eos researchers to relevant non-Eos data. The Working Group recommends that the Eos data and information system be initiated now, with existing data, and that the system evolve into one that can meet the intensive research and data needs that will exist when Eos spacecraft are returning data in the 1990s.

Source record↗
NASA NTRS1989

Reliability and performance evaluation of systems containing embedded rule-based expert systems

A method for evaluating the reliability of real-time systems containing embedded rule-based expert systems is proposed and investigated. It is a three stage technique that addresses the impact of knowledge-base uncertainties on the performance of expert systems. In the first stage, a Markov reliability model of the system is developed which identifies the key performance parameters of the expert system. In the second stage, the evaluation method is used to determine the values of the expert system's key performance parameters. The performance parameters can be evaluated directly by using a probabilistic model of uncertainties in the knowledge-base or by using sensitivity analyses. In the third and final state, the performance parameters of the expert system are combined with performance parameters for other system components and subsystems to evaluate the reliability and performance of the complete system. The evaluation method is demonstrated in the context of a simple expert system used to supervise the performances of an FDI algorithm associated with an aircraft longitudinal flight-control system.

Beaton, Robert M.↗
NASA NTRS1989

A knowledge-based system design/information tool for aircraft flight control systems

Research aircraft have become increasingly dependent on advanced control systems to accomplish program goals. These aircraft are integrating multiple disciplines to improve performance and satisfy research objectives. This integration is being accomplished through electronic control systems. Because of the number of systems involved and the variety of engineering disciplines, systems design methods and information management have become essential to program success. The primary objective of the system design/information tool for aircraft flight control system is to help transfer flight control system design knowledge to the flight test community. By providing all of the design information and covering multiple disciplines in a structured, graphical manner, flight control systems can more easily be understood by the test engineers. This will provide the engineers with the information needed to thoroughly ground test the system and thereby reduce the likelihood of serious design errors surfacing in flight. The secondary objective is to apply structured design techniques to all of the design domains. By using the techniques in the top level system design down through the detailed hardware and software designs, it is hoped that fewer design anomalies will result. The flight test experiences of three highly complex, integrated aircraft programs are reviewed: the X-29 forward-swept wing, the advanced fighter technology integration (AFTI) F-16, and the highly maneuverable aircraft technology (HiMAT) program. Significant operating anomalies and the design errors which cause them, are examined to help identify what functions a system design/information tool should provide to assist designers in avoiding errors.

Mackall, Dale A.↗
NASA NTRS1990

Interaction of feel system and flight control system dynamics on lateral flying qualities

An experimental investigation of the influence of lateral feel system characteristics on fighter aircraft roll flying qualities was conducted using the variable stability USAF NT-33. Forty-two evaluation flights were flown by three engineering test pilots. The investigation utilized the power approach, visual landing task and up-and-away tasks including formation, gun tracking, and computer-generated compensatory attitude tracking tasks displayed on the Head-Up Display. Experimental variations included the feel system frequency, force-deflection gradient, control system command type (force or position input command), aircraft roll mode time constant, control system prefilter frequency, and control system time delay. The primary data were task performance records and evaluation pilot comments and ratings using the Cooper-Harper scale. The data highlight the unique and powerful effect of the feel system of flying qualities. The data show that the feel system is not 'equivalent' in flying qualities influence to analogous control system elements. A lower limit of allowable feel system frequency appears warranted to ensure good lateral flying qualities. Flying qualities criteria should most properly treat the feel system dynamic influence separately from the control system, since the input and output of this dynamic element is apparent to the pilot and thus, does not produce a 'hidden' effect.

Bailey, R. E.↗
NASA NTRS1992

Equations of motion of slung-load systems, including multilift systems

General simulation equations are derived for the rigid body motion of slung-load systems. This work is motivated by an interest in trajectory control for slung loads carried by two or more helicopters. An approximation of these systems consists of several rigid bodies connected by straight-line cables or links. The suspension can be assumed elastic or inelastic. Equations for the general system are obtained from the Newton-Euler rigid-body equations with the introduction of generalized velocity coordinates. Three forms are obtained: two generalize previous case-specific results for single-helicopter systems with elastic and inelastic suspensions, respectively; and the third is a new formulation for inelastic suspensions. The latter is derived from the elastic suspension equations by choosing the generalized coordinates so that motion induced by cable stretching is separated from motion with invariant cable lengths, and by then nulling the stretching coordinates to get a relation for the suspension forces. The result is computationally more efficient than the conventional formulation, is readily integrated with the elastic suspension formulation, and is easily applied to the complex dual-lift and multilift systems. Results are given for two-helicopter systems; three configurations are included and these can be integrated in a single simulation. Equations are also given for some single-helicopter systems, for comparison with the previous literature, and for a multilift system. Equations for degenerate-body approximations (point masses, rigid rods) are also formulated and results are given for dual-lift and multilift systems. Finally, linearlized equations of motion are given for general slung-load systems are presented along with results for the two-helicopter system with a spreader bar.

Cicolani, Luigi S.↗
NASA NTRS1993

The systems engineering overview and process (from the Systems Engineering Management Guide, 1990)

The past several decades have seen the rise of large, highly interactive systems that are on the forward edge of technology. As a result of this growth and the increased usage of digital systems (computers and software), the concept of systems engineering has gained increasing attention. Some of this attention is no doubt due to large program failures which possibly could have been avoided, or at least mitigated, through the use of systems engineering principles. The complexity of modern day weapon systems requires conscious application of systems engineering concepts to ensure producible, operable and supportable systems that satisfy mission requirements. Although many authors have traced the roots of systems engineering to earlier dates, the initial formalization of the systems engineering process for military development began to surface in the mid-1950s on the ballistic missile programs. These early ballistic missile development programs marked the emergence of engineering discipline 'specialists' which has since continued to grow. Each of these specialties not only has a need to take data from the overall development process, but also to supply data, in the form of requirements and analysis results, to the process. A number of technical instructions, military standards and specifications, and manuals were developed as a result of these development programs. In particular, MILSTD-499 was issued in 1969 to assist both government and contractor personnel in defining the systems engineering effort in support of defense acquisition programs. This standard was updated to MIL-STD499A in 1974, and formed the foundation for current application of systems engineering principles to military development programs.

Source record↗
NASA NTRS1993

Expert System for UNIX System Reliability and Availability Enhancement

Highly reliable and available systems are critical to the airline industry. However, most off-the-shelf computer operating systems and hardware do not have built-in fault tolerant mechanisms, the UNIX workstation is one example. In this research effort, we have developed a rule-based Expert System (ES) to monitor, command, and control a UNIX workstation system with hot-standby redundancy. The ES on each workstation acts as an on-line system administrator to diagnose, report, correct, and prevent certain types of hardware and software failures. If a primary station is approaching failure, the ES coordinates the switch-over to a hot-standby secondary workstation. The goal is to discover and solve certain fatal problems early enough to prevent complete system failure from occurring and therefore to enhance system reliability and availability. Test results show that the ES can diagnose all targeted faulty scenarios and take desired actions in a consistent manner regardless of the sequence of the faults. The ES can perform designated system administration tasks about ten times faster than an experienced human operator. Compared with a single workstation system, our hot-standby redundancy system downtime is predicted to be reduced by more than 50 percent by using the ES to command and control the system.

Xu, Catherine Q.↗
NASA NTRS1993

Animation of multi-flexible body systems and its use in control system design

Animation can greatly assist the structural dynamicist and control system analyst with better understanding of how multi-flexible body systems behave. For multi-flexible body systems, the structural characteristics (mode frequencies, mode shapes, and damping) change, sometimes dramatically with large angles of rotation between bodies. With computer animation, the analyst can visualize these changes and how the system responds to active control forces and torques. A characterization of the type of system we wish to animate is presented. The lack of clear understanding of the above effects was a key element leading to the development of a multi-flexible body animation software package. The resulting animation software is described in some detail here, followed by its application to the control system analyst. Other applications of this software can be determined on an individual need basis. A number of software products are currently available that make the high-speed rendering of rigid body mechanical system simulation possible. However, such options are not available for use in rendering flexible body mechanical system simulations. The desire for a high-speed flexible body visualization tool led to the development of the Flexible Or Rigid Mechanical System (FORMS) software. This software was developed at the Center for Simulation and Design Optimization of Mechanical Systems at the University of Iowa. FORMS provides interactive high-speed rendering of flexible and/or rigid body mechanical system simulations, and combines geometry and motion information to produce animated output. FORMS is designed to be both portable and flexible, and supports a number of different user interfaces and graphical display devices. Additional features have been added to FORMS that allow special visualization results related to the nature of the flexible body geometric representations.

Juengst, Carl↗