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NASA NTRS1988

An application of eigenspace methods to symmetric flutter suppression

An eigenspace assignment approach to the design of parameter insensitive control laws for linear multivariable systems is presented. The control design scheme utilizes constrained optimization techniques to exploit the flexibility in eigenvector assignments to reduce control system sensitivity to changes in system parameters while maintaining performance requirements; it thus provides a systematic approach for choosing values for eigensystem design variables. The methods involve use of the singular value decomposition to provide an exact description of allowable eigenvectors in terms of a minimum number of design parameters. In a design example, the methods are applied to the problem of symmetric flutter suppression in an aeroelastic vehicle. In this example the flutter mode is sensitive to changes in dynamic pressure and eigenspace methods are used to enhance the performance of a stabilizing minimum energy/linear quadratic regulator controller and associated observer. Numerical results indicate that the methods provide feedback control laws that make the stability of the nominal closed loop systems less sensitive to changes in dynamic pressure, while maintaining acceptable control power and robustness constraints.

Fennell, Robert E.↗

NASA NTRS1988

A design methodology for neutral buoyancy simulation of space operations

Neutral buoyancy has often been used in the past for EVA development activities, but little has been done to provide an analytical understanding of the environment and its correlation with space. This paper covers a set of related research topics at the MIT Space Systems Laboratory, dealing with the modeling of the space and underwater environments, validation of the models through testing in neutral buoyancy, parabolic flight, and space flight experiments, and applications of the models to gain a better design methodology for creating meaningful neutral buoyancy simulations. Examples covered include simulation validation criteria for human body dynamics, and for applied torques in a beam rotation task, which is the pacing crew operation for EVA structural assembly. Extensions of the dynamics models are presented for powered vehicles in the underwater environment, and examples given from the MIT Space Telerobotics Research Program, including the Beam Assembly Teleoperator and the Multimode Proximity Operations Device. Future expansions of the modeling theory are also presented, leading to remote vehicles which behave in neutral buoyancy exactly as the modeled system would in space.

Akin, David L.↗

NASA NTRS1989

Glass Coats For Hot Isostatic Pressing

Surface voids sealed from pressurizing gas. Coating technique enables healing of surface defects by hot isostatic pressing (HIP). Internal pores readily closed by HIP, but surface voids like cracks and pores in contact with pressurizing gas not healed. Applied to casting or weldment as thick slurry of two glass powders: one melts at temperature slightly lower than used for HIP, and another melts at higher temperature. For example, powder is glass of 75 percent SiO2 and 25 percent Na2O, while other powder SiO2. Liquid component of slurry fugitive organic binder; for example, mixture of cellulose acetate and acetone. Easy to apply, separates voids from surrounding gas, would not react with metal part under treatment, and easy to remove after pressing.

Ecer, Gunes M.↗

NASA NTRS1988

Calculation of Weibull strength parameters and Batdorf flow-density constants for volume- and surface-flaw-induced fracture in ceramics

The calculation of shape and scale parameters of the two-parameter Weibull distribution is described using the least-squares analysis and maximum likelihood methods for volume- and surface-flaw-induced fracture in ceramics with complete and censored samples. Detailed procedures are given for evaluating 90 percent confidence intervals for maximum likelihood estimates of shape and scale parameters, the unbiased estimates of the shape parameters, and the Weibull mean values and corresponding standard deviations. Furthermore, the necessary steps are described for detecting outliers and for calculating the Kolmogorov-Smirnov and the Anderson-Darling goodness-of-fit statistics and 90 percent confidence bands about the Weibull distribution. It also shows how to calculate the Batdorf flaw-density constants by uing the Weibull distribution statistical parameters. The techniques described were verified with several example problems, from the open literature, and were coded. The techniques described were verified with several example problems from the open literature, and were coded in the Structural Ceramics Analysis and Reliability Evaluation (SCARE) design program.

Pai, Shantaram S.↗

NASA NTRS1988

Utilities for master source code distribution: MAX and Friends

MAX is a program for the manipulation of FORTRAN master source code (MSC). This is a technique by which one maintains one and only one master copy of a FORTRAN program under a program developing system, which for MAX is assumed to be VAX/VMS. The master copy is not intended to be directly compiled. Instead it must be pre-processed by MAX to produce compilable instances. These instances may correspond to different code versions (for example, double precision versus single precision), different machines (for example, IBM, CDC, Cray) or different operating systems (i.e., VAX/VMS versus VAX/UNIX). The advantage os using a master source is more pronounced in complex application programs that are developed and maintained over many years and are to be transported and executed on several computer environments. The version lag problem that plagues many such programs is avoided by this approach. MAX is complemented by several auxiliary programs that perform nonessential functions. The ensemble is collectively known as MAX and Friends. All of these programs, including MAX, are executed as foreign VAX/VMS commands and can easily be hidden in customized VMS command procedures.

Felippa, Carlos A.↗

NASA NTRS1988

Results of an integrated structure-control law design sensitivity analysis

Next generation air and space vehicle designs are driven by increased performance requirements, demanding a high level of design integration between traditionally separate design disciplines. Interdisciplinary analysis capabilities have been developed, for aeroservoelastic aircraft and large flexible spacecraft control for instance, but the requisite integrated design methods are only beginning to be developed. One integrated design method which has received attention is based on hierarchal problem decompositions, optimization, and design sensitivity analyses. This paper highlights a design sensitivity analysis method for Linear Quadratic Cost, Gaussian (LQG) optimal control laws, which predicts change in the optimal control law due to changes in fixed problem parameters using analytical sensitivity equations. Numerical results of a design sensitivity analysis for a realistic aeroservoelastic aircraft example are presented. In this example, the sensitivity of the optimally controlled aircraft's response to various problem formulation and physical aircraft parameters is determined. These results are used to predict the aircraft's new optimally controlled response if the parameter was to have some other nominal value during the control law design process. The sensitivity results are validated by recomputing the optimal control law for discrete variations in parameters, computing the new actual aircraft response, and comparing with the predicted response. These results show an improvement in sensitivity accuracy for integrated design purposes over methods which do not include changess in the optimal control law. Use of the analytical LQG sensitivity expressions is also shown to be more efficient that finite difference methods for the computation of the equivalent sensitivity information.

Gilbert, Michael G.↗

NASA NTRS1988

Expert system validation in prolog

An overview of the Expert System Validation Assistant (EVA) is being implemented in Prolog at the Lockheed AI Center. Prolog was chosen to facilitate rapid prototyping of the structure and logic checkers and since February 1987, we have implemented code to check for irrelevance, subsumption, duplication, deadends, unreachability, and cycles. The architecture chosen is extremely flexible and expansible, yet concise and complementary with the normal interactive style of Prolog. The foundation of the system is in the connection graph representation. Rules and facts are modeled as nodes in the graph and arcs indicate common patterns between rules. The basic activity of the validation system is then a traversal of the connection graph, searching for various patterns the system recognizes as erroneous. To aid in specifying these patterns, a metalanguage is developed, providing the user with the basic facilities required to reason about the expert system. Using the metalanguage, the user can, for example, give the Prolog inference engine the goal of finding inconsistent conclusions among the rules, and Prolog will search the graph intantiations which can match the definition of inconsistency. Examples of code for some of the checkers are provided and the algorithms explained. Technical highlights include automatic construction of a connection graph, demonstration of the use of metalanguage, the A* algorithm modified to detect all unique cycles, general-purpose stacks in Prolog, and a general-purpose database browser with pattern completion.

Stock, Todd↗

NASA NTRS1988

Optimal post-experiment estimation of poorly modeled dynamic systems

Recently, a novel strategy for post-experiment state estimation of discretely-measured dynamic systems has been developed. The method accounts for errors in the system dynamic model equations in a more general and rigorous manner than do filter-smoother algorithms. The dynamic model error terms do not require the usual process noise assumptions of zero-mean, symmetrically distributed random disturbances. Instead, the model error terms require no prior assumptions other than piecewise continuity. The resulting state estimates are more accurate than filters for applications in which the dynamic model error clearly violates the typical process noise assumptions, and the available measurements are sparse and/or noisy. Estimates of the dynamic model error, in addition to the states, are obtained as part of the solution of a two-point boundary value problem, and may be exploited for numerous reasons. In this paper, the basic technique is explained, and several example applications are given. Included among the examples are both state estimation and exploitation of the model error estimates.

Mook, D. Joseph↗

NASA NTRS1986

Procedures and tools for building large Ada systems

Some of the problems unique to building a very large Ada system are addressed. This is done through examples from experience. In the winter of 1985 and 1986, Intermetrics bootstrapped the Ada compiler, which was being built over the last few years. This system consists of about one million lines of full Ada. Over the last few years a number of procedures and tools were adopted for managing the life cycle of each of the many parts of an Ada system. Many of these procedures are well known to most system builders: release management, quality assurance testing; and source file revision control. Others are unique to working in an Ada language environment; i.e., recompilation management, Ada program library management, and managing multiple implementations. First a look is taken at how a large Ada system is broken down into pieces. The Ada definition leaves unspecified a number of issues that the system builder must address: versions, subsystems, multiple implementations, and synchronization of branched development paths. Having introduced how the Ada systems are decomposed, a look is taken, via a series of examples, at how the life cylces of those parts is managed. The procedures and tools used to manage the evolution of the system are examined. It is hoped that other Ada system builders can build upon the experience of the last few years.

Hyde, Ben↗

NASA NTRS1988

Accuracy requirements and benchmark experiments for CFD validation

The role of experiment in the development of Computational Fluid Dynamics (CFD) for aerodynamic flow prediction is discussed. The CFD verification is a concept that depends on closely coordinated planning between computational and experimental disciplines. Because code applications are becoming more complex and their potential for design more feasible, it no longer suffices to use experimental data from surface or integral measurements alone to provide the required verification. Flow physics and modeling, flow field, and boundary condition measurements are emerging as critical data. Four types of experiments are introduced and examples are given that meet the challenge of validation: flow physics experiments; flow modeling experiments; calibration experiments; and verification experiments. Measurement and accuracy requirements for each of these differ and are discussed. A comprehensive program of validation is described, some examples given, and it is concluded that the future prospects are encouraging.

Marvin, Joseph G.↗

NASA NTRS1989

The interpretation of crustal dynamics data in terms of plate motions and regional deformation near plate boundaries

A particularly detailed set of observations in the vicinity of an intraplate, thrust earthquake (M 7.4) in Argentina, indicate a cyclic pattern of deformation very similar to that reported previously for interplate earthquakes. This deformation cycle, which may be characteristic of many seismically active areas, consists of: (1) steady strain accumulation, possibly punctuated by strain reversals; (2) coseismic strain release; (3) a period of continued strain release due to afterslip (persisting for perhaps a year or so); and (4) rapid postseismic strain accumulation which decreases exponentially and grades into steady strain accumulation. Deformation associated with three earthquakes in the U.S. (1940, M7.1 Imperial Valley California; 1964, M8.4 Alaska; 1959, M7.5 Hebgen Lake, Montana) are interpreted in light of this general earthquake cycle and are used to investigate the mechanics of strain release for these events. These examples indicate that large postseismic movements can occur for strike-slip, thrust, and normal fault events, and both viscoelastic relaxation and postseismic after-slip must be incorporated in models of earthquake related deformation. The mechanics of the strain release process revealed by these examples has implications for estimating earthquake repeat times from geodetic observations near active faults.

Solomon, Sean C.↗

NASA NTRS1989

Transmission overhaul and replacement predictions using Weibull and renewel theory

A method to estimate the frequency of transmission overhauls is presented. This method is based on the two-parameter Weibull statistical distribution for component life. A second method is presented to estimate the number of replacement components needed to support the transmission overhaul pattern. The second method is based on renewal theory. Confidence statistics are applied with both methods to improve the statistical estimate of sample behavior. A transmission example is also presented to illustrate the use of the methods. Transmission overhaul frequency and component replacement calculations are included in the example.

Savage, M.↗

NASA NTRS1989

Application and implementation of transient algorithms in computer programs

A brief introduction is given to the nonlinear finite element programs developed at Lawrence Livermore National Laboratory. The four programs are DYNA3D and DYNA2D, which are explicit hydrocodes, and NIKE3D and NIKE2D, which are implicit programs. The main emphasis is on DYNA3D with asides about the other programs. During the past year several new features were added to DYNA3D, and major improvements were made in the computational efficiency of the shell and beam elements. Most of these new features and improvements will eventually make their way into the other programs. The emphasis in the computational mechanics effort was always, and continues to be, efficiency. To get the most out of the supercomputers, all Crays, the programs were vectorized where possible. Several of the more interesting capabilities of DYNA3D will be described and the impact on efficiency will be discussed. Some of the recent work on NIKE3D and NIKE2D will also be presented. In the belief that a single example is worth a thousand equations, the theory is skipped entirely and the examples presented.

Benson, David J.↗

NASA NTRS1989

A weak Hamiltonian finite element method for optimal control problems

A temporal finite element method based on a mixed form of the Hamiltonian weak principle is developed for dynamics and optimal control problems. The mixed form of Hamilton's weak principle contains both displacements and momenta as primary variables that are expanded in terms of nodal values and simple polynomial shape functions. Unlike other forms of Hamilton's principle, however, time derivatives of the momenta and displacements do not appear therein; instead, only the virtual momenta and virtual displacements are differentiated with respect to time. Based on the duality that is observed to exist between the mixed form of Hamilton's weak principle and variational principles governing classical optimal control problems, a temporal finite element formulation of the latter can be developed in a rather straightforward manner. Several well-known problems in dynamics and optimal control are illustrated. The example dynamics problem involves a time-marching problem. As optimal control examples, elementary trajectory optimization problems are treated.

Hodges, Dewey H.↗

NASA NTRS1989

Results of an integrated structure/control law design sensitivity analysis

A design sensitivity analysis method for Linear Quadratic Cost, Gaussian (LQG) optimal control laws, which predicts change in the optimal control law due to changes in fixed problem parameters using analytical sensitivity equations is discussed. Numerical results of a design sensitivity analysis for a realistic aeroservoelastic aircraft example are presented. In this example, the sensitivity of the optimally controlled aircraft's response to various problem formulation and physical aircraft parameters is determined. These results are used to predict the aircraft's new optimally controlled response if the parameter was to have some other nominal value during the control law design process. The sensitivity results are validated by recomputing the optimal control law for discrete variations in parameters, computing the new actual aircraft response, and comparing with the predicted response. These results show an improvement in sensitivity accuracy for integrated design purposes over methods which do not include changes in the optimal control law. Use of the analytical LQG sensitivity expressions is also shown to be more efficient than finite difference methods for the computation of the equivalent sensitivity information.

Gilbert, Michael G.↗

NASA NTRS1989

The role of optimization in the next generation of computer-based design tools

There is a close relationship between design optimization and the emerging new generation of computer-based tools for engineering design. With some notable exceptions, the development of these new tools has not taken full advantage of recent advances in numerical design optimization theory and practice. Recent work in the field of design process architecture has included an assessment of the impact of next-generation computer-based design tools on the design process. These results are summarized, and insights into the role of optimization in a design process based on these next-generation tools are presented. An example problem has been worked out to illustrate the application of this technique. The example problem - layout of an aircraft main landing gear - is one that is simple enough to be solved by many other techniques. Although the mathematical relationships describing the objective function and constraints for the landing gear layout problem can be written explicitly and are quite straightforward, an approximation technique has been used in the solution of this problem that can just as easily be applied to integrate supportability or producibility assessments using theory of measurement techniques into the design decision-making process.

Rogan, J. Edward↗

NASA NTRS1989

An analytical sensitivity method for use in integrated aeroservoelastic aircraft design

Interdisciplinary analysis capabilities have been developed for aeroservoelastic aircraft and large flexible spacecraft, but the requisite integrated design methods are only beginning to be developed. One integrated design method which has received attention is based on hierarchal problem decompositions, optimization, and design sensitivity analyses. This paper highlights a design sensitivity analysis method for Linear Quadratic Gaussian (LQG) optimal control laws, enabling the use of LQG techniques in the hierarchal design methodology. The LQG sensitivity analysis method calculates the change in the optimal control law and resulting controlled system responses due to changes in fixed design integration parameters using analytical sensitivity equations. Numerical results of a LQG design sensitivity analysis for a realistic aeroservoelastic aircraft example are presented. In this example, the sensitivity of the optimal control law and aircraft response for various parameters such as wing bending natural frequency is determined. The sensitivity results computed from the analytical expressions are used to estimate changes in response resulting from changes in the parameters. Comparisons of the estimates with exact calculated responses show they are reasonably accurate for + or - 15 percent changes in the parameters. Evaluation of the analytical expressions is computationally faster than equivalent finite difference calculations.

Gilbert, Michael G.↗

NASA NTRS1989

Turbulence modeling for hypersonic flows

Turbulence modeling for high speed compressible flows is described and discussed. Starting with the compressible Navier-Stokes equations, methods of statistical averaging are described by means of which the Reynolds-averaged Navier-Stokes equations are developed. Unknown averages in these equations are approximated using various closure concepts. Zero-, one-, and two-equation eddy viscosity models, algebraic stress models and Reynolds stress transport models are discussed. Computations of supersonic and hypersonic flows obtained using several of the models are discussed and compared with experimental results. Specific examples include attached boundary layer flows, shock wave boundary layer interactions and compressible shear layers. From these examples, conclusions regarding the status of modeling and recommendations for future studies are discussed.

Marvin, J. G.↗