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At least 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
NASA NTRS1977

Aeroelastic Analysis for Rotorcraft in Flight or in a Wind Tunnel

An analytical model is developed for the aeroelastic behavior of a rotorcraft in flight or in a wind tunnel. A unified development is presented for a wide class of rotors, helicopters, and operating conditions. The equations of motion for the rotor are derived using an integral Newtonian method, which gives considerable physical insight into the blade inertial and aerodynamic forces. The rotor model includes coupled flap-lag bending and blade torsion degrees of freedom, and is applicable to articulated, hingeless, gimballed, and teetering rotors with an arbitrary number of blades. The aerodynamic model is valid for both high and low inflow, and for axial and nonaxial flight. The rotor rotational speed dynamics, including engine inertia and damping, and the perturbation inflow dynamics are included. For a rotor on a wind-tunnel support, a normal mode representation of the test module, strut, and balance system is used. The aeroelastic analysis for the rotorcraft in flight is applicable to a general two-rotor aircraft, including single main-rotor and tandem helicopter configurations, and side-by-side or tilting proprotor aircraft configurations.

Johnson, W.↗
NASA NTRS1996

Dynamics and Control of Articulated Anisotropic Timoshenko Beams

The paper illustrates the use of continuum models in control design for stabilizing flexible structures. A 6-DOF anisotropic Timoshenko beam with discrete nodes where lumped masses or actuators are located provides a sufficiently rich model to be of interest for mathematical theory as well as practical application. We develop concepts and tools to help answer engineering questions without having to resort to ad hoc heuristic ("physical") arguments or faith. In this sense the paper is more mathematically oriented than engineering papers and vice versa at the same time. For instance we make precise time-domain solutions using the theory of semigroups of operators rather than formal "inverse Laplace transforms." We show that the modes arise as eigenvalues of the generator of the semigroup, which are then related to the eigenvalues of the stiffness operator. With the feedback control, the modes are no longer orthogonal and the question naturally arises as to whether there is still a modal expansion. Here we prove that the eigenfunctions yield a biorthogonal Riesz basis and indicate the corresponding expansion. We prove mathematically that the number of eigenvalues is nonfinite, based on the theory of zeros of entire functions. We make precise the notion of asymptotic modes and indicate how to calculate them. Although limited by space, we do consider the root locus problem and show for instance that the damping at first increases as the control gain increases but starts to decrease at a critical value, and goes to zero as the gain increases without bound. The undamped oscillatory modes remain oscillatory and the rigid-body modes go over into deadbeat modes. The Timoshenko model dynamics are translated into a canonical wave equation in a Hilbert space. The solution is shown to require the use of an "energy" norm which is no more than the total energy: potential plus kinetic. We show that, under an appropriate extension of the notion of controllability, rate feedback with a collocated sensor can stabilize the structure in the sense that all modes are damped and the energy decays to zero. An example, non-numeric, is worked out in some detail illustrating the concepts and theory developed.

Balakrishnan, A. V.↗
NASA NTRS2006

Application of State Analysis and Goal-Based Operations to a MER Mission Scenario

State Analysis is a model-based systems engineering methodology employing a rigorous discovery process which articulates operations concepts and operability needs as an integrated part of system design. The process produces requirements on system and software design in the form of explicit models which describe the behavior of states and the relationships among them. By applying State Analysis to an actual MER flight mission scenario, this study addresses the specific real world challenges of complex space operations and explores technologies that can be brought to bear on future missions. The paper describes the tools currently used on a daily basis for MER operations planning and provides an in-depth description of the planning process, in the context of a Martian day's worth of rover engineering activities, resource modeling, flight rules, science observations, and more. It then describes how State Analysis allows for the specification of a corresponding goal-based sequence that accomplishes the same objectives, with several important additional benefits.

mission planning↗
NASA NTRS1985

Finite state modelling of unsteady aerodynamics and its application to a rotor dynamic problem

The paper presents a method for formulating finite state unsteady aerodynamic models in the time domain from frequency domain unsteady aerodynamics. The method is based on recognizing that the lift deficiency function represents an aerodynamic transfer function and utilizes the Bode plot technique, used in control systems engineering, to construct approximation to the lift deficiency function. Indicial response functions for both fixed wing and rotary wing applications are obtained, using these finite state unsteady aerodynamic models. It is shown that the rotary wing indicial response function is oscillatory and thus it is fundamentally different when compared to the fixed wing indicial response function which is nonoscillatory. Certain aspects of the finite state aerodynamic model are demonstrated by applying it to the flapping dynamics of an articulated helicopter rotor blade. The influence of unsteady aerodynamics on the damping characteristics of the rotor is examined. The same problem is also treated by using a different unsteady aerodynamic model, namely dynamic inflow. Based on a comparison of the results obtained with these two unsteady aerodynamic models, useful conclusions are drawn regarding some fundamental features of these theories.

Friedmann, P. P.↗
NASA NTRS1990

Dynamics and control of multipayload platforms - The Middeck Active Control Experiment (MACE)

A flight experiment entitled the Middeck Active Control Experiment (MACE) proposed by the Space Engineering Research Center (SERC) at the Massachusetts Institute of Technology is described. The objective of this program is to investigate and validate the modeling of the dynamics of an actively controlled flexible, articulating, multibody platform free floating in zero gravity. A rationale and experimental approach for the program are presented. The rationale shows that on-orbit testing, coupled with ground testing and a strong analytical program, is necessary in order to fully understand both how flexibility of the platform affects the pointing problem, as well as how gravity perturbs this structural flexibility causing deviations between 1-and 0-gravity behavior. The experimental approach captures the essential physics of multibody platforms, by identifying the appropriate attributes, tests, and performance metrics of the test article, and defines the tests required to successfully validate the analytical framework.

Miller, David W.↗
NASA NTRS1990

The MODE family of on-orbit experiments: The Middeck Active Control Experiment (MACE)

A flight experiment entitled the Middeck Active Control Experiment (MACE), proposed by the Space Engineering Research Center (SERC) at the Massachusetts Institute of Technology, is described. This is the second in a family of flight experiments being developed at MIT. The first is the Middeck 0-Gravity Dynamics Experiment (MODE) which investigates the nonlinear behavior of contained fluids and truss structures in zero gravity. The objective of the MACE program is to investigate and validate the modeling of the dynamics of an actively controlled flexible, articulating, multibody platform free floating in zero gravity. A rationale and experimental approach for the program are presented. The rationale shows that on-orbit testing, coupled with ground testing and a strong analytical program, is necessary in order to fully understand both how flexibility of the platform affects the pointing problem, as well as how gravity perturbs this structural flexibility causing deviations between 1- and 0-gravity behavior. The experimental approach captures the essential physics of multibody platforms, by identifying the appropriate attributes, tests, and performance metrics of the test article and defines the tests required to successfully validate the analytical framework.

Crawley, Edward F.↗
NASA NTRS1990

Integrated controls-structures design methodology development for a class of flexible spacecraft

Future utilization of space will require large space structures in low-Earth and geostationary orbits. Example missions include: Earth observation systems, personal communication systems, space science missions, space processing facilities, etc., requiring large antennas, platforms, and solar arrays. The dimensions of such structures will range from a few meters to possibly hundreds of meters. For reducing the cost of construction, launching, and operating (e.g., energy required for reboosting and control), it will be necessary to make the structure as light as possible. However, reducing structural mass tends to increase the flexibility which would make it more difficult to control with the specified precision in attitude and shape. Therefore, there is a need to develop a methodology for designing space structures which are optimal with respect to both structural design and control design. In the current spacecraft design practice, it is customary to first perform the structural design and then the controller design. However, the structural design and the control design problems are substantially coupled and must be considered concurrently in order to obtain a truly optimal spacecraft design. For example, let C denote the set of the 'control' design variables (e.g., controller gains), and L the set of the 'structural' design variables (e.g., member sizes). If a structural member thickness is changed, the dynamics would change which would then change the control law and the actuator mass. That would, in turn, change the structural model. Thus, the sets C and L depend on each other. Future space structures can be roughly divided into four mission classes. Class 1 missions include flexible spacecraft with no articulated appendages which require fine attitude pointing and vibration suppression (e.g., large space antennas). Class 2 missions consist of flexible spacecraft with articulated multiple payloads, where the requirement is to fine-point the spacecraft and each individual payload while suppressing the elastic motion. Class 3 missions include rapid slewing of spacecraft without appendages, while Class 4 missions include general nonlinear motion of a flexible spacecraft with articulated appendages and robot arms. Class 1 and 2 missions represent linear mathematical modeling and control system design problems (except for actuator and sensor nonlinearities), while Class 3 and 4 missions represent nonlinear problems. The development of an integrated controls/structures design approach for Class 1 missions is addressed. The performance for these missions is usually specified in terms of (1) root mean square (RMS) pointing errors at different locations on the structure, and (2) the rate of decay of the transient response. Both of these performance measures include the contributions of rigid as well as elastic motion.

Maghami, P. G.↗
NASA NTRS1979

Experimental investigation of effects of blade tip geometry on loads and performance for an articulated rotor system

Wind-tunnel tests of an aeroelastically designed helicopter rotor model were carried out to determine the effects on dynamic response and aerodynamic performance of varying the design of the outboard 8 percent of the blade lengths. Four different blade tip geometries or shapes having different amounts of planform sweep, thickness and chordwise taper, and anhedral angle were studied. Each configuration was tested at several shaft angles of attack for advance ratios of 0.20, 0.30, 0.35, and 0.40. For each combination of shaft angle and advance ratio, rotor lift was varied over a wide range to include high lift conditions.

Weller, W. H.↗
NASA NTRS2017

Medical Systems Engineering to Support Mars Mission Crew Autonomy

Human spaceflight missions to Mars face exceptionally challenging resource limitations that far exceed those faced before. Increasing transit times, decreasing opportunity for resupply, communications challenges, and extended time to evacuate a crew to definitive medical care dictate a level of crew autonomy in medical care that is beyond the current medical model. To approach this challenge, a medical systems engineering approach is proposed that relies on a clearly articulated Concept of Operations and risk analysis tools that are in development at NASA. This paper proposes an operational clinical model with key terminology and concepts translated to a controls theory paradigm to frame a common language between clinical and engineering teams. This common language will be used for design and validation of an exploration medical system that is fully integrated into a Mars transit vehicle. This approach merges medical simulation, human factors evaluation techniques, and human-in-the-loop testing in ground based analogs to tie medical hardware and software subsystem performance and overall medical system functionality to metrics of operational medical autonomy. Merging increases in operational clinical autonomy with a more restricted vehicle system resource scenario in interplanetary spaceflight will require an unprecedented level of medical and engineering integration. Full integration of medical capabilities into a Mars vehicle system may require a new approach to integrating medical system design and operations into the vehicle Program structure. Prior to the standing-up of a Mars Mission Program, proof of concept is proposed through the Human Research Program.

Antonsen, Erik↗
NASA NTRS2002

Application of LES (Large Eddy Simulation) to Understanding and Parameterizing the Arctic Cloudy Boundary Layer

The GEWEX (Global Energy and Water Cycle Experiment) Cloud Systems Studies Working Group 5 Polar Clouds was formed largely to exploit the enormous potential of the FIRE.ACE (FIRE Arctic Cloud Experiment) and SHEBA (Surface Heat Budget of the Arctic Ocean) data sets to improve parameterizations of clouds, radiation, and atmospheric boundary layer processes in the polar regions. The web page for this project is a clearinghouse of information for polar clouds in general and specifically for FIRE.ACE and SHEBA modelling activities. Note that the GCSS Working Group and Polar Clouds leverages heavily the FIRE.ACE investment, since it involves a large group of international scientists and has adopted the modelling goals and other issues related to cloud and radiation processes that are articulated by the FIRE.ACE Science Plan. The supplemental funds in this proposal are targeted at providing the continued coordination for the GCSS Working Group on Polar Clouds, which will insure that final FIRE.ACE project objectives regarding modelling and cloud and radiative processes are achieved.

Curry, Judith↗
NASA NTRS2007

Intelligent Entity Behavior Within Synthetic Environments

This paper describes some elements in the development of realistic performance and behavior in the synthetic entities (players) which support Modeling and Simulation (M&S) applications, particularly military training. Modern human-in-the-loop (virtual) training systems incorporate sophisticated synthetic environments, which provide: 1. The operational environment, including, for example, terrain databases; 2. Physical entity parameters which define performance in engineered systems, such as aircraft aerodynamics; 3. Platform/system characteristics such as acoustic, IR and radar signatures; 4. Behavioral entity parameters which define interactive performance, including knowledge/reasoning about terrain, tactics; and, 5. Doctrine, which combines knowledge and tactics into behavior rule sets. The resolution and fidelity of these model/database elements can vary substantially, but as synthetic environments are designed to be compose able, attributes may easily be added (e.g., adding a new radar to an aircraft) or enhanced (e.g. Amending or replacing missile seeker head/ Electronic Counter Measures (ECM) models to improve the realism of their interaction). To a human in the loop with synthetic entities, their observed veridicality is assessed via engagement responses (e.g. effect of countermeasures upon a closing missile), as seen on systems displays, and visual (image) behavior. The realism of visual models in a simulation (level of detail as well as motion fidelity) remains a challenge in realistic articulation of elements such as vehicle antennae and turrets, or, with human figures; posture, joint articulation, response to uneven ground. Currently the adequacy of visual representation is more dependant upon the quality and resolution of the physical models driving those entities than graphics processing power per Se. Synthetic entities in M&S applications traditionally have represented engineered systems (e.g. aircraft) with human-in-the-loop performance characteristics (e.g. visual acuity) included in the system behavioral specification. As well, performance affecting human parameters such as experience level, fatigue and stress are coming into wider use (via AI approaches) to incorporate more uncertainty as to response type as well as performance (e.g. Where an opposing entity might go and what it might do, as well as how well it might perform).

Kruk, R. V.↗
NASA NTRS2005

Predictive Interfaces for Long-Distance Tele-Operations

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

Wheeler, Kevin R.↗
NASA NTRS1992

The Enabler: A reevaluation of design concepts and construction of a scaled model

The basic objective of the student's work this quarter was to make an in depth examination of the design concepts used on the lunar vehicle 'The Enabler'. Several changes were made to the vehicle including a redesigned wheel, a more compact boom and a reduced articulation angle. The vehicle's final dimensions were determined through an optimization process by defining mathematical equations for several of the vehicle's defined objectives. These included the ability to scale a one meter object, traverse a one meter crevice, and maintain a wheel-to-wheel clearance of three inches while at maximum articulation. The final dimensions of the vehicle were used to construct an approximate 1/4 scale model of the chassis and wheels. The boom, however, was constructed on a 1/5 scale (from the original design). This was due to the redesign of the boom and the limitations of the constructing material and PVC fittings.

Bess, David↗
NASA NTRS1991

Model rotor icing tests in the NASA. Lewis Icing Research Tunnel

Tests of a lightly instrumented two bladed teetering rotor and a heavily instrumented subscale articulated main rotor were conducted in the NASA Lewis Icing Research Tunnel (IRT). The first was an OH-58 tail rotor which had a diameter of 1.575 m and a blade chord of 0.133 m, and was mounted on a NASA designed test rig. The second, a four bladed articulated rotor, had a diameter of 1.83 m with 0.124 m chord blades specifically fabricated for the experiment. This rotor was mounted on a Sikorsky Aircraft Powered Force Model, which enclosed a rotor balance and other measurement systems. The models were exposed to variations in temperature, liquid water content, and medium droplet diameter, and were operated over ranges of advance ratio, shaft angle, tip Mach number (rotor speed), and weight coefficient to determine the effect of these parameters on ice accretion. In addition to strain gage and balance data, the test was documented with still, video, and high speed photography, ice profile tracing, and ice molds. The sensitivity is presented of the model rotors to the test parameter and a comparison of the results to theoretical predictions.

Flemming, Robert J.↗
NASA NTRS1990

Component model reduction via the projection and assembly method

This paper explains the projection and assembly model reduction method which has been used to derive reduced order component models for the Galileo spacecraft. Assembly of reduced order component models produces a reduced order system model which can then be used in multibody simulation codes for efficient run times. The methodology is explained and a proof is given showing the exact reproduction of selected significant system modes. Frequency bounds are obtained for all modes produced when the reduced order components are assembled. The projection and assembly method is demonstrated on two examples. The first example is a simplified model of the Galileo spacecraft, while the second example is the model of the Galileo spacecraft in its early mission configuration. When articulation of components is allowed, the method may not reproduce all system modes precisely. Remedies for this problem are suggested.

Kissel, Glen J.↗
NASA NTRS1989

A study of fundamental issues in higher harmonic control using aeroelastic simulation

This paper describes a higher harmonic control (HHC) study of a four-bladed helicopter rotor using a coupled flap-lag-torsional aeroelastic stability and response analysis which incorporates finite-state, time-domain aerodyamics. The rotor trim condition is determined using a simplified flap-lag-torsional aeroelastic analysis. Deterministic and cautious controllers based on local and global HHC models are implemented to reduce 4/rev hub loads on roughly equivalent articulate and hingeless rotors. Results obtained for the case when the objective function requires reduction of hub shears alone are compared with results obtained when hub shears and moments are reduced simultaneously. The effects of HHC on blade aeroelastic stability are also considered. Finally, the power requirements for implementing HHC on a hingeless rotor are compared with those obtained for an articulated rotor. It is concluded that hingeless rotors require considerably more power and higher control angles than comparable articulated rotors.

Robinson, Lawson H.↗
NASA NTRS1993

Real-time dynamics simulation of the Cassini spacecraft using DARTS. Part 1: Functional capabilities and the spatial algebra algorithm

This paper describes the Dynamics Algorithms for Real-Time Simulation (DARTS) real-time hardware-in-the-loop dynamics simulator for the National Aeronautics and Space Administration's Cassini spacecraft. The spacecraft model consists of a central flexible body with a number of articulated rigid-body appendages. The demanding performance requirements from the spacecraft control system require the use of a high fidelity simulator for control system design and testing. The DARTS algorithm provides a new algorithmic and hardware approach to the solution of this hardware-in-the-loop simulation problem. It is based upon the efficient spatial algebra dynamics for flexible multibody systems. A parallel and vectorized version of this algorithm is implemented on a low-cost, multiprocessor computer to meet the simulation timing requirements.

Jain, A.↗