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At least 937 records · Page 52
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

On discrete control of nonlinear systems with applications to robotics

Much progress has been reported in the areas of modeling and control of nonlinear dynamic systems in a continuous-time framework. From implementation point of view, however, it is essential to study these nonlinear systems directly in a discrete setting that is amenable for interfacing with digital computers. But to develop discrete models and discrete controllers for a nonlinear system such as robot is a nontrivial task. Robot is also inherently a variable-inertia dynamic system involving additional complications. Not only the computer-oriented models of these systems must satisfy the usual requirements for such models, but these must also be compatible with the inherent capabilities of computers and must preserve the fundamental physical characteristics of continuous-time systems such as the conservation of energy and/or momentum. Preliminary issues regarding discrete systems in general and discrete models of a typical industrial robot that is developed with full consideration of the principle of conservation of energy are presented. Some research on the pertinent tactile information processing is reviewed. Finally, system control methods and how to integrate these issues in order to complete the task of discrete control of a robot manipulator are also reviewed.

Eslami, Mansour↗
NASA NTRS1990

Ion precipitation from the inner plasma sheet due to stochastic diffusion

Plasma sheet ions do not conserve their first adiabatic invariant when the magnetic field is appreciably tail-like. They do conserve a different adiabatic invariant but only to linear, rather than exponential, accuracy in the appropriate small parameter. Thus significant stochastic diffusion can occur for particles crossing the separatrix dividing the segments of orbits on which the particles cross and do not cross the tail midplane. Such ions can escape the plasma sheet and precipitate into the atmosphere. Stochastic scattering is strongest from those field lines where the ion's Larmor period in the normal component of the neutral sheet magnetic field approximately equals its bounce period. By comparing the rates of stochastic ion loss and convection in the tail, it is possible to estimate the location and thickness of the inner edge of the ion plasma sheet created by stochastic ion loss. Ions of different masses precipitate into the atmosphere at slightly different locations. Since wave particle interactions are not needed, this precipitation will always occur and should be particularly evident during quiet geomagnetic conditions, when it is less likely to be masked by other precipitation mechanisms.

Zelenyi, L.↗
NASA NTRS1990

Finite-element schemes for extended integrations of atmospheric models

Of the two finite-element models presently used to investigate the effect of the conservation of integral invariants, by means of finite-element discretization schemes of the shallow-water equations, in order to serve as a paradigm of long-term atmospheric-model integrations, the first employs rectangular elements and conserves total energy, while the second uses triangular elements and a high-accuracy two-stage Numerov-Galerkin method. Attention is given to critical times for numerical nonlinear instability, as well as to the determination of the critical degree of dissipation entailed by the achievement of stable long-term integrations. Relative computational efficiency and accuracy comparisons are presented for the two finite-element schemes.

Steppeler, J.↗
NASA NTRS1991

Overview Of Methods For Computation Of Shocks

NASA technical memorandum provides systematic overview of class of conservative finite-difference shock-capturing numerical-integration methods for solution of hyperbolic conservation laws. Unified and generalized formulation for one class of methods presented.

Yee, H. C.↗
NASA NTRS1990

Numerical study of supersonic combustors by multi-block grids with mismatched interfaces

A three dimensional, finite rate chemistry, Navier-Stokes code was extended to a multi-block code with mismatched interface for practical calculations of supersonic combustors. To ensure global conservation, a conservative algorithm was used for the treatment of mismatched interfaces. The extended code was checked against one test case, i.e., a generic supersonic combustor with transverse fuel injection, examining solution accuracy, convergence, and local mass flux error. After testing, the code was used to simulate the chemically reacting flow fields in a scramjet combustor with parallel fuel injectors (unswept and swept ramps). Computational results were compared with experimental shadowgraph and pressure measurements. Fuel-air mixing characteristics of the unswept and swept ramps were compared and investigated.

Moon, Young J.↗
NASA NTRS1991

Computational modelling of dump combustors flowfield

A computational model aimed at predicting the flowfield of dump combustors is presented. The turbulent combustion model is based on the conserved scalar approach and on a convenient specification of its probability density function, which reduces the computation of the mean density to a closed form. Turbulence is modeled by means of the k-epsilon model. The averaged conservation equations are solved by a technique based on a staggered grid and on the SIMPLE solver. The computational model is applied to a simple dump combustor to assess the computer time requirements and accuracy. The turbulent combustion model is shown to reduce the computer time by an order of magnitude when compared to evaluating the mean density by numerical quadrature.

Lentini, D.↗
NASA NTRS1991

Multivariable control of the Space Shuttle remote manipulator system using H2 and H(infinity) optimization

Three linear controllers are desiged to regulate the end effector of the Space Shuttle Remote Manipulator System (SRMS) operating in Position Hold Mode. In this mode of operation, jet firings of the Orbiter can be treated as disturbances while the controller tries to keep the end effector stationary in an orbiter-fixed reference frame. The three design techniques used include: the Linear Quadratic Regulator (LQR), H2 optimization, and H-infinity optimization. The nonlinear SRMS is linearized by modelling the effects of the significant nonlinearities as uncertain parameters. Each regulator design is evaluated for robust stability in light of the parametric uncertanties using both the small gain theorem with an H-infinity norm and the less conservative micro-analysis test. All three regulator designs offer significant improvement over the current system on the nominal plant. Unfortunately, even after dropping performance requirements and designing exclusively for robust stability, robust stability cannot be achieved. The SRMS suffers from lightly damped poles with real parametric uncertainties. Such a system renders the micro-analysis test, which allows for complex peturbations, too conservative.

Prakash, OM, II↗
NASA NTRS1990

Numerical study of supersonic combustors by multi-block grids with mismatched interfaces

A three-dimensional, finite-rate chemistry, Navier-Stokes code has been extended to a multi-block with mismatched interface code for practical calculations of supersonic combustors. To ensure global conservation, a conservative algorithm was used for the treatment of mismatched interfaces. The extended code was checked against one test case, i.e., a generic supersonic combustor with transverse fuel injection, examining solution accuracy, convergence, and local mass flux error. After testing, the code was used to simulate the chemically reacting flow fields in a scramjet combustor with parallel fuel injectors (unswept and swept ramps). Computational results were compared with experimental shadowgraph and pressure measurements. Fuel-air mixing characteristics of the unswept and swept ramps were compared and investigated.

Moon, Young J.↗
NASA NTRS1990

Causal compensated perturbations in cosmology

A theoretical framework is developed to calculate linear perturbations in the gravitational and matter fields which arise causally in response to the presence of stiff matter sources in a FRW cosmology. It is shown that, in order to satisfy energy and momentum conservation, the gravitational fields of the source must be compensated by perturbations in the matter and gravitational fields, and the role of such compensation in containing the initial inhomogeneities in their subsequent evolution is discussed. A complete formal solution is derived in terms of Green functions for the perturbations produced by an arbitrary source in a flat universe containing cold dark matter. Approximate Green function solutions are derived for the late-time density perturbations and late-time gravitational waves in a universe containing a radiation fluid. A cosmological energy-momentum pseudotensor is defined to clarify the nature of energy and momentum conservation in the expanding universe.

Veeraraghavan, Shoba↗
NASA NTRS1991

Calculation of flow about two-dimensional bodies by means of the velocity-vorticity formulation on a staggered grid

A method for calculating the incompressible viscous flow about two-dimensional bodies, utilizing the velocity-vorticity form of the Navier-Stokes equations using a staggered-grid formulation is presented. The solution is obtained by employing an alternative-direction implicit method for the solution of the block tridiagonal matrix resulting from the finite-difference representation of the governing equations. The boundary vorticity and the conservation of mass are calculated implicitly as a part of the solution. The mass conservation is calculated to machine zero for the duration of the computation. Calculations for the flow about a circular cylinder, a 2-pct thick flat plate at 90-deg incidence, an elliptic cylinder at 45-deg incidence, and a NACA 0012, with and without a deflected flap, at - 90-deg incidence are performed and compared with the results of other numerical investigations.

Stremel, Paul M.↗
NASA NTRS1991

Solution of the hydrodynamic device model using high-order non-oscillatory shock capturing algorithms

A micron n+ - n - n+ silicon diode is simulated via the hydrodynamic model for carrier transport. The numerical algorithms employed are for the non-steady case, and a limiting process is used to reach steady state. The simulation employs shock capturing algorithms, and indeed shocks, or very rapid transition regimes, are observed in the transient case for the coupled system, consisting of the potential equation and the conservation equations describing charge, momentum, and energy transfer for the electron carriers. These algorithms, termed essentially nonoscillatory, were successfully applied in other contexts to model the flow in gas dynamics, magnetohydrodynamics, and other physical situations involving the conservation laws in fluid mechanics. The method here is first order in time, but the use of small time steps allows for good accuracy. Runge-Kutta methods allow one to achieve higher accuracy in time if desired. The spatial accuracy is of high order in regions of smoothness.

Fatemi, Emad↗
NASA NTRS1991

A Runge-Kutta discontinuous finite element method for high speed flows

A Runge-Kutta discontinuous finite element method is developed for hyperbolic systems of conservation laws in two space variables. The discontinuous Galerkin spatial approximation to the conservation laws results in a system of ordinary differential equations which are marched in time using Runge-Kutta methods. Numerical results for the two-dimensional Burger's equation show that the method is (p+1)-order accurate in time and space, where p is the degree of the polynomial approximation of the solution within an element and is capable of capturing shocks over a single element without oscillations. Results for this problem also show that the accuracy of the solution in smooth regions is unaffected by the local projection and that the accuracy in smooth regions increases as p increases. Numerical results for the Euler equations show that the method captures shocks without oscillations and with higher resolution than a first-order scheme.

Bey, Kim S.↗
NASA NTRS1991

Simulation of cryogenic liquid flows with vapor bubbles

Liquid flows in rocket engine components (such as bearings, seals, and pumps) often involve the formation of vapor bubbles due to local superheating of the fluid (either boiling or cavitation). Under the present effort, an analysis has been developed for liquid flows with vapor bubbles, based on a combined Eulerian-Lagrangian technique, in which the continuous (liquid) phase is treated by solving a system of Eulerian conservation equations, while the discrete (vapor bubble) phase is dealt with by integrating Lagrangian equations of motion in computational coordinates. Vapor bubbles of changing size can be accommodated easily by this analysis, and models for the simulation of bubble formation, growth, and motion have been included. The effect of bubble motion and other bubble processes on the continuous (liquid) phase has been accounted for by appropriate bubble mass, momentum, and energy interchange source terms in the Eulerian conservation equations. To demonstrate the viability of the resulting procedure, the cavitating flow of liquid oxygen through a simplified model of a labyrinth seal has been successfully calculated.

De Jong, Frederik J.↗
NASA NTRS1991

Neutral line chaos and phase space structure

Phase space structure and chaos near a neutral line are studied with numerical surface-of-section (SOS) techniques and analytic methods. Results are presented for a linear neutral line model with zero crosstail electric field. It was found that particle motion can be divided into three regimes dependening on the value of the conserved canonical momentum, Py, and the conserved Hamiltonian, h. The phase space structure, using Poincare SOS plots, is highly sensitive to bn = Bn/B0 variations, but not to h variations. It is verified that the slow motion preserves the action, Jz, as evaluated by Sonnerup (1971), when the period of the fast motion is smaller than the time scale of the slow motion. Results show that the phase space structure and particle chaos depend sensitively upon Py and bn, but are independent of h.

Burkhart, Grant R.↗
NASA NTRS1991

Calculation of unsteady airfoil loads with and without flap deflection at -90 degrees incidence

A method has been developed for calculating the viscous flow about airfoils with and without deflected flaps at -90 deg incidence. This unique method provides for the direct solution of the incompressible Navier-Stokes equations by means of a fully coupled implicit technique. The solution is calculated on a body-fitted computational mesh incorporating a staggered grid method. The vorticity is determined at the node points, and the velocity components are defined at the mesh-cell sides. The staggered-grid orientation provides for accurate representation of vorticity at the node points and for the conservation of mass at the mesh-cell centers. The method provides for the direct solution of the flow field and satisfies the conservation of mass to machine zero at each time-step. The results of the present analysis and experimental results obtained for a XV-15 airfoil are compared. The comparisons indicate that the calculated drag reduction caused by flap deflection and the calculated average surface pressure are in excellent agreement with the measured results. Comparisons of the numerical results of the present method for several airfoils demonstrate the significant influence of airfoil curvature and flap deflection on the predicted download.

Stremel, Paul M.↗
NASA NTRS1991

Line narrowing of AgGaSe2 optical parametric oscillator by injection seeding

Solid-state lasers are developed for atmospheric applications. Optical parametric oscillators (OPO) are being investigated as sources of tunable radiation in the 2.5-12 micron range where development of conventional lasers is subject to numerous difficulties. Parametric oscillation is a nonlinear optical technique for converting laser output to longer wavelengths. Incident photons, typically from a pulsed pump laser, are converted into two photons of longer wavelength, while satisfying energy conservation. The particular split of energy is determined by momentum conservation; the wavelength of interest is usually selected by angle orientation of the nonlinear material with respect to the direction of propagation of the pump beam. An OPO based on AgGaSe2 was considered.

Watson, George H.↗
NASA NTRS1991

The turbomachine blading design using S2-S1 approach

The boundary conditions corresponding to the design problem when the blades being simulated by the bound vorticity distribution are presented. The 3D flow is analyzed by the two steps S2 - S1 approach. In the first step, the number of blades is supposed to be infinite, the vortex distribution is transformed into an axisymmetric one, so that the flow field can be analyzed in a meridional plane. The thickness distribution of the blade producing the flow channel striction is taken into account by the modification of metric tensor in the continuity equation. Using the meridional stream function to define the flow field, the mass conservation is satisfied automatically. The governing equation is deduced from the relation between the azimuthal component of the vorticity and the meridional velocity. The value of the azimuthal component of the vorticity is provided by the hub to shroud equilibrium condition. This step leads to the determination of the axisymmetric stream sheets as well as the approximate camber surface of the blade. In the second step, the finite number of blades is taken into account, the inverse problem corresponding to the blade to blade flow confined in each stream sheet is analyzed. The momentum equation implies that the free vortex of the absolute velocity must be tangential to the stream sheet. The governing equation for the blade to blade flow stream function is deduced from this condition. At the beginning, the upper and the lower surfaces of the blades are created from the camber surface obtained from the first step with the assigned thickness distribution. The bound vorticity distribution and the penetrating flux conservation applied on the presumed blade surface constitute the boundary conditions of the inverse problem. The detection of this flux leads to the rectification of the geometry of the blades.

Luu, T. S.↗
NASA NTRS1992

Essentially nonoscillatory postprocessing filtering methods

High order accurate centered flux approximations used in the computation of numerical solutions to nonlinear partial differential equations produce large oscillations in regions of sharp transitions. Here, we present a new class of filtering methods denoted by Essentially Nonoscillatory Least Squares (ENOLS), which constructs an upgraded filtered solution that is close to the physically correct weak solution of the original evolution equation. Our method relies on the evaluation of a least squares polynomial approximation to oscillatory data using a set of points which is determined via the ENO network. Numerical results are given in one and two space dimensions for both scalar and systems of hyperbolic conservation laws. Computational running time, efficiency, and robustness of method are illustrated in various examples such as Riemann initial data for both Burgers' and Euler's equations of gas dynamics. In all standard cases, the filtered solution appears to converge numerically to the correct solution of the original problem. Some interesting results based on nonstandard central difference schemes, which exactly preserve entropy, and have been recently shown generally not to be weakly convergent to a solution of the conservation law, are also obtained using our filters.

Lafon, F.↗