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At least 1,369 records · Page 76

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NASA NTRS1989

Algorithmic considerations of integrated design for CSI on a hypercube architecture

An approach is presented to the integrated design problem for actively controlled large, flexible mechanical systems for which Control Structure Interaction (CSI) problems are of concern. The two coupled design problems were identified as the optimal Structural Design problem the optimal Controller Design problem. These two problems can be addressed within a decision making loop that would consider each separately, and then sequentially analyze the effects of one on the other. Embedded in such a loop would be the simulation and coordination tasks as part of the decision tools required in a total (software) package. All of the above are compute-intensive tasks. In any such task, possible decompositions and gains due to the inherent parallelism have to be exploited. The problems under consideration, as applied to large flexible mechanical structures, are particularly suited to be mapped onto multicomputer systems in a hypercube topology.

Oezguener, UE.↗

NASA NTRS1990

Project WISH: The Emerald City

The preliminary design of a permanently manned autonomous space oasis (PEMASO), including its pertinent subsystems, was performed during the 1990 Winter and Spring quarters. The purpose for the space oasis was defined and the preliminary design work was started with emphasis placed on the study of orbital mechanics, power systems and propulsion systems. A rotating torus was selected as the preliminary configuration, and overall size, mass and location of some subsystems within the station were addressed. Computer software packages were utilized to determine station transfer parameters and thus the preliminary propulsion requirements. Power and propulsion systems were researched to determine feasible configurations and many conventional schemes were ruled out. Vehicle dynamics and control, mechanical and life support systems were also studied. For each subsystem studied, the next step in the design process to be performed during the continuation of the project was also addressed.

Oz, Hayrani↗

NASA NTRS1988

Tubular space truss structure for SKITTER 2 robot

The Skitter 2 is a three legged transport vehicle designed to demonstrate the principle of a tripod walker in a multitude of environments. The tubular truss model of Skitter 2 is a proof of principal design. The model will replicate the operational capabilities of Skitter 2 including its ability to self-right itself. The project's focus was on the use of light weight tubular members in the final structural design. A strong design for the body was required as it will undergo the most intense loading. Triangular geometry was used extensively in the body, providing the required structural integrity and eliminating the need for cumbersome shear panels. Both the basic femur and tibia designs also relied on the strong geometry of the triangle. An intense literature search aided in the development of the most suitable weld techniques, joints, linkages, and materials required for a durable design. The hinge design features the use of spherical rod end bearings. In order to obtain a greater range of mobility in the tibia, a four-bar linkage was designed which attaches both to the femur and the tibia. All component designs, specifically the body, femur, and the tibia were optimized using the software package IDEAS 3.8A Supertab. The package provided essential deformation and stress analysis information on each component's design. The final structure incurred only a 0.0544 inch deflection in a maximum (worst case) loading situation. The highest stress experienced by any AL6061-T6 tubular member was 1920 psi. The structural integrity of the final design facilitated the use of Aluminum 6061-T6 tubing. The tubular truss structure of Skitter 2 is an effective and highly durable design. All facets of the design are structurally sound and cost effective.

Beecham, Richard↗

NASA NTRS1989

A geometric comparison of video camera-captured raster data to vector-parented raster data generated by the X-Y digitizing table

The relative accuracy of a georeferenced raster data set captured by the Megavision 1024XM system using the Videk Megaplus CCD cameras is compared to a georeferenced raster data set generated from vector lines manually digitized through the ELAS software package on a Summagraphics X-Y digitizer table. The study also investigates the amount of time necessary to fully complete the rasterization of the two data sets, evaluating individual areas such as time necessary to generate raw data, time necessary to edit raw data, time necessary to georeference raw data, and accuracy of georeferencing against a norm. Preliminary results exhibit a high level of agreement between areas of the vector-parented data and areas of the captured file data where sufficient control points were chosen. Maps of 1:20,000 scale were digitized into raster files of 5 meter resolution per pixel and overall error in RMS was estimated at less than eight meters. Such approaches offer time and labor-saving advantages as well as increasing the efficiency of project scheduling and enabling the digitization of new types of data.

Swalm, C.↗

NASA NTRS1990

Grid generation for computational CFD of full aerodynamic configurations

It is now possible to compute flow about very complex three-dimensional aerodynamic configurations. Grid generation is an essential part of such computations and a basic capability has been demonstrated. The present problems are: (1) choosing among the competing approaches (structured, unstructured or rectangular); (2) automating and packaging software for grid generation; (3) assessing and assuring grid quality; (4) solid boundary-surface representation and grid generation on solid boundaries; (5) automated domain decomposition (structured grids); (6) grid adaption during the flow solution process. This paper discusses some of the capabilities in the computation of complex three-dimensional grids and addresses some of he current challenges.

Smith, Robert E.↗

NASA NTRS1990

Space Station Freedom Disturbance Simulation and Management Tool

The design and functions of the Disturbance Simulation and Management Tool, (DMST), a software package developed to evaluate the effects of design changes and disturbance inputs on the Space Station dynamic environment, are described. DMST is a menu-driven interactive package, written in the PRO-MATLAB, which incorporates methods such as FEM model reduction, mode synthesis, and discrete-time numerical simulation. Particular attention is given to the main-menu options, including building a payload and payload-pointing-system (PPS) configuration, selecting disturbance inputs, running PPS and lab-module microgravity-environment (MGE) simulations, calculating limits to meet PPS and MGE requirements, and performing MGE spectral analyses using power-spectral density or shock spectra. Typical numerical results are presented in graphs.

Lisman, Sima S.↗

NASA NTRS1990

Order (n) DISCOS for multibody systems with gear reduction

Recent developments in O(n) algorithms (where n is the number of bodies in the system) and parallel processing have drastically reduced the computer time needed to simulate systems involving many bodies. This paper presents a gear-reduction model for the O(n) version of DISCOS, a standard software package for simulation and analysis of flexible multibody systems. The gear-reduction model allows the accurate modeling of harmonic drives, which are commonly used in robot joints. The formulation has been implemented and validated with known results. The gear model can also be used for gear-train, rack-and-pinion, and screw joints.

Chun, Hon M.↗

NASA NTRS1991

Expert Script Generator

Program provides additional level of interface to facilitate use of telerobotic system. ESG (Expert Script Generator) is software package automatically generating high-level task objective commands from complex menu-driven language of the NASA Intelligent Systems Research Laboratory (ISRL). Makes telerobotics laboratory accessible to researchers not familiar with comprehensive language developed by ISRL for interacting with various systems of ISRL test bed. Incorporates expert-system technology to capture typical rules of operation that skilled operator uses. Result: operator interfact optimizing ability of system to perform task remotely in hazardous environment, in timely manner, and without undue stress to operator, while minimizing change for operator erros that damage equipment. Written in CLIPS.

Sliwa, Nancy E.↗

NASA NTRS1991

Software Models Impact Stresses

Generalized Impact Stress Software designed to assist engineers in predicting stresses caused by variety of impacts. Program straightforward, simple to implement on personal computers, "user friendly", and handles variety of boundary conditions applied to struck body being analyzed. Applications include mathematical modeling of motions and transient stresses of spacecraft, analysis of slamming of piston, of fast valve shutoffs, and play of rotating bearing assembly. Provides fast and inexpensive analytical tool for analysis of stresses and reduces dependency on expensive impact tests. Written in FORTRAN 77. Requires use of commercial software package PLOT88.

Hanshaw, Timothy C.↗

NASA NTRS1990

Thermal balance testing of the Anik-E spacecraft

Spar Aerospace, Ltd. of Canada has recently completed the first of two infrared thermal balance/thermal vacuum tests on Canada's next generation of telecommunication satellites: Anik-E. Anik-E is a two spacecraft program using a three axis stabilized GE 5000 series bus as the vehicle for its payload. The infrared test setup consists of the mechanical hardware required to support the spacecraft within the thermal vacuum chamber and the infrared rig which supports the spacecraft. Spar developed a software package which calculated the lamp positions to provide the necessary uniform heat flux, based on the required heat inputs on the various isothermal zones of the spacecraft for the different phases of the tests. Infrared heat sensors, radiometers, were installed on the spacecraft surfaces. These were connected to the facility data processing system and continually monitored the flux absorbed by the various spacecraft surfaces. The test set up had distinct advantages. It enabled testing to progress directly from the thermal balance to thermal vacuum. Waveguide runs were installed for the communications portion of the testing prior to pumpdown. This precluded the requirement to return to ambient to reconfigure the setup.

Golob, Alex↗

NASA NTRS1990

Some aspects of robotics calibration, design and control

The main objective is to introduce techniques in the areas of testing and calibration, design, and control of robotic systems. A statistical technique is described that analyzes a robot's performance and provides quantitative three-dimensional evaluation of its repeatability, accuracy, and linearity. Based on this analysis, a corrective action should be taken to compensate for any existing errors and enhance the robot's overall accuracy and performance. A comparison between robotics simulation software packages that were commercially available (SILMA, IGRIP) and that of Kennedy Space Center (ROBSIM) is also included. These computer codes simulate the kinematics and dynamics patterns of various robot arm geometries to help the design engineer in sizing and building the robot manipulator and control system. A brief discussion on an adaptive control algorithm is provided.

Tawfik, Hazem↗

NASA NTRS1991

SSSFD manipulator engineering using statistical experiment design techniques

The Satellite Servicer System Flight Demonstration (SSSFD) program is a series of Shuttle flights designed to verify major on-orbit satellite servicing capabilities, such as rendezvous and docking of free flyers, Orbital Replacement Unit (ORU) exchange, and fluid transfer. A major part of this system is the manipulator system that will perform the ORU exchange. The manipulator must possess adequate toolplate dexterity to maneuver a variety of EVA-type tools into position to interface with ORU fasteners, connectors, latches, and handles on the satellite, and to move workpieces and ORUs through 6 degree of freedom (dof) space from the Target Vehicle (TV) to the Support Module (SM) and back. Two cost efficient tools were combined to perform a study of robot manipulator design parameters. These tools are graphical computer simulations and Taguchi Design of Experiment methods. Using a graphics platform, an off-the-shelf robot simulation software package, and an experiment designed with Taguchi's approach, the sensitivities of various manipulator kinematic design parameters to performance characteristics are determined with minimal cost.

Barnes, John↗

NASA NTRS1991

Stacking-sequence optimization for buckling of laminated plates by integer programming

Integer-programming formulations for the design of symmetric and balanced laminated plates under biaxial compression are presented. Both maximization of buckling load for a given total thickness and the minimization of total thickness subject to a buckling constraint are formulated. The design variables that define the stacking sequence of the laminate are zero-one integers. It is shown that the formulation results in a linear optimization problem that can be solved on readily available software. This is in contrast to the continuous case, where the design variables are the thicknesses of layers with specified ply orientations, and the optimization problem is nonlinear. Constraints on the stacking sequence such as a limit on the number of contiguous plies of the same orientation and limits on in-plane stiffnesses are easily accommodated. Examples are presented for graphite-epoxy plates under uniaxial and biaxial compression using a commercial software package based on the branch-and-bound algorithm.

Haftka, Raphael T.↗

NASA NTRS1991

GEMPAK5 user's guide, version 5.0

GEMPAK is a general meteorological software package used to analyze and display conventional meteorological data as well as satellite derived parameters. The User's Guide describes the GEMPAK5 programs and input parameters and details the algorithms used for the meteorological computations.

Desjardins, Mary L.↗

NASA NTRS1991

GEMPAK5. Part 1: GEMPAK5 programmer's guide, version 5.0

GEMPAK is a general meteorological software package used to analyze and display conventional meteorological data as well as satellite derived parameters. The Programmer's Guide describes the subroutines which can be used to build new GEMPAK programs. Part 1 contains GEMPAK subroutines.

Desjardins, Mary L.↗

NASA NTRS1991

GEMPAK5. Part 2: GEMPLT programmer's guide, version 5.0

GEMPAK is a general meteorological software package used to analyze and display conventional meteorological data as well as satellite derived parameters. The GEMPAK Programmer's Guide describes the subroutines which can be used in the GEMPAK graphics and transformation subsystem, GEMPLT.

Desjardins, Mary L.↗

NASA NTRS1991

Parallel computations and control of adaptive structures

The equations of motion for structures with adaptive elements for vibration control are presented for parallel computations to be used as a software package for real-time control of flexible space structures. A brief introduction of the state-of-the-art parallel computational capability is also presented. Time marching strategies are developed for an effective use of massive parallel mapping, partitioning, and the necessary arithmetic operations. An example is offered for the simulation of control-structure interaction on a parallel computer and the impact of the approach presented for applications in other disciplines than aerospace industry is assessed.

Park, K. C.↗

NASA NTRS1989

An approximate methods approach to probabilistic structural analysis

A major research and technology program in Probabilistic Structural Analysis Methods (PSAM) is currently being sponsored by the NASA Lewis Research Center with Southwest Research Institute as the prime contractor. This program is motivated by the need to accurately predict structural response in an environment where the loadings, the material properties, and even the structure may be considered random. The heart of PSAM is a software package which combines advanced structural analysis codes with a fast probability integration (FPI) algorithm for the efficient calculation of stochastic structural response. The basic idea of PAAM is simple: make an approximate calculation of system response, including calculation of the associated probabilities, with minimal computation time and cost, based on a simplified representation of the geometry, loads, and material. The deterministic solution resulting should give a reasonable and realistic description of performance-limiting system responses, although some error will be inevitable. If the simple model has correctly captured the basic mechanics of the system, however, including the proper functional dependence of stress, frequency, etc. on design parameters, then the response sensitivities calculated may be of significantly higher accuracy.

Mcclung, R. C.↗