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NASA NTRS1989

Stability analysis of multiple-robot control systems

In a space telerobotic service scenario, cooperative motion and force control of multiple robot arms are of fundamental importance. Three paradigms to study this problem are proposed. They are distinguished by the set of variables used for control design. They are joint torques, arm tip force vectors, and an accelerated generalized coordinate set. Control issues related to each case are discussed. The latter two choices require complete model information, which presents practical modeling, computational, and robustness problems. Therefore, focus is on the joint torque control case to develop relatively model independent motion and internal force control laws. The rigid body assumption allows the motion and force control problems to be independently addressed. By using an energy motivated Lyapunov function, a simple proportional derivative plus gravity compensation type of motion control law is always shown to be stabilizing. The asymptotic convergence of the tracing error to zero requires the use of a generalized coordinate with the contact constraints taken into account. If a non-generalized coordinate is used, only convergence to a steady state manifold can be concluded. For the force control, both feedforward and feedback schemes are analyzed. The feedback control, if proper care has been taken, exhibits better robustness and transient performance.

Wen, John T.↗

NASA NTRS1990

Performance of a supercharged direct-injection stratified-charge rotary combustion engine

A zero-dimensional thermodynamic performance computer model for direct-injection stratified-charge rotary combustion engines was modified and run for a single rotor supercharged engine. Operating conditions for the computer runs were a single boost pressure and a matrix of speeds, loads and engine materials. A representative engine map is presented showing the predicted range of efficient operation. After discussion of the engine map, a number of engine features are analyzed individually. These features are: heat transfer and the influence insulating materials have on engine performance and exhaust energy; intake manifold pressure oscillations and interactions with the combustion chamber; and performance losses and seal friction. Finally, code running times and convergence data are presented.

Bartrand, Timothy A.↗

NASA NTRS1987

A multidomain and multidimensional numerical analysis of flow in fuelside preburner, high pressure turbine, hot gas manifold and main injector assembly of the Space Shuttle main engine

The Space Shuttle Main Engine (SSME) consists of a large number of critical components each serving a special purpose. Any design change in one of these components not only alters its performance but also the performance of the ones in the upstream and in the downstream. To evaluate the effects of such a design change on the flow fields and on SSME's overall performance a multidomain and multidimensional analytical procedure has been developed and applied here to the series of components on the fuel side of the SSME. The results obtained from the multidomain analysis and their comparison with the single-domain solution when the SSME is operating at Full Power Load indicates that the multidomain model shows greater realism. It is concluded that this modeling technique would assist the designer significantly to achieve still higher performance levels of the SSME.

Mukerjee, T.↗

NASA NTRS1991

Room temperature Dy:YLF laser operation at 4.34 micron

A Dy:YLF laser operating on the 6H11/2 to 6H13/2 transition at 4.34 micron and using a laser pumping scheme is reported. This pumping scheme is necessitated by the short upper-laser-level lifetime and the small effective stimulated-emission cross section. A suitable laser for this application is the Er:YLF laser operating at 1.73 micron. A simple model that approximates Dy:YLF laser performance well is presented. Results on laser performance, including a determination of the slope efficiency and threshold as a function of the output mirror reflectivity and a correlation of the pulse length with the laser output energy, are reported. Overall laser efficiency is found to be limited primarily by the ratio of the pump wavelength to laser output wavelength and the terminated four-level laser operation. Spectroscopic results, including the measurement of the absorption spectra and the lifetimes of both the upper- and lower-laser manifolds, are given.

Barnes, Norman P.↗

NASA NTRS1996

Fluid Physics in a Fluctuating Acceleration Environment

We summarize several aspects of an ongoing investigation of the effects that stochastic residual accelerations (g-jitter) onboard spacecraft can have on experiments conducted in a microgravity environment. The residual acceleration field is modeled as a narrow band noise, characterized by three independent parameters: intensity (g(exp 2)), dominant angular frequency Omega, and characteristic correlation time tau. Realistic values for these parameters are obtained from an analysis of acceleration data corresponding to the SL-J mission, as recorded by the SAMS instruments. We then use the model to address the random motion of a solid particle suspended in an incompressible fluid subjected to such random accelerations. As an extension, the effect of jitter on coarsening of a solid-liquid mixture is briefly discussed, and corrections to diffusion controlled coarsening evaluated. We conclude that jitter will not be significant in the experiment 'Coarsening of solid-liquid mixtures' to be conducted in microgravity. Finally, modifications to the location of onset of instability in systems driven by a random force are discussed by extending the standard reduction to the center manifold to the stochastic case. Results pertaining to time-modulated oscillatory convection are briefly discussed.

Thomson, J. Ross↗

NASA NTRS1987

Nonlinear dynamics of attractive magnetic bearings

The nonlinear dynamics of a ferromagnetic shaft suspended by the force of attraction of 1, 2, or 4 independent electromagnets is presented. Each model includes a state variable feedback controller which has been designed using the pole placement method. The constitutive relationships for the magnets are derived analytically from magnetic circuit theory, and the effects of induced eddy currents due to the rotation of the journal are included using Maxwell's field relations. A rotor suspended by four electro-magnets with closed loop feedback is shown to have nine equilibrium points within the bearing clearance space. As the rotor spin speed increases, the system is shown to pass through a Hopf bifurcation (a flutter instability). Using center manifold theory, this bifurcation can be shown to be of the subcritical type, indicating an unstable limit cycle below the critical speed. The bearing is very sensitive to initial conditions, and the equilibrium position is easily upset by transient excitation. The results are confirmed by numerical simulation.

Hebbale, K. V.↗

NASA NTRS1985

New Directions in Asymptotically Stable Finite-dimensional Adaptive Control of Linear Distributed Parameter Systems

Distributed Parameter Systems (DPS), such as systems described by partial differential equations, require infinite-dimensional state space descriptions to correctly model their dynamical behavior. However, any adaptive control algorithm must be finite-dimensional in order to be implemented via on-line digital computers. Finite-dimensional adaptive control of linear DPS requires stability analysis of nonlinear, time-varying, infinite-dimensional systems. The structure of nonadaptive finite-dimensional control of linear DPS is summarized as it relates to the existence of limiting systems for adaptive control. Two candidate schemes for finite-dimensional adaptive control of DPS are described and critical issues in infinite-dimensional stability analysis are discussed, in particular, the invariance principle, center manifold theory, and relationships between input-output and internal stability.

Balas, M. J.↗

NASA NTRS1993

CFD analyses of coolant channel flowfields

The flowfield characteristics in a rocket engine coolant channels are analyzed by means of a numerical model. The channels are characterized by large length to diameter ratios, high Reynolds numbers, and asymmetrical heating. At representative flow conditions, the channel length is approximately twice the hydraulic entrance length so fully developed conditions are reached. The supercritical hydrogen coolant introduces strong property variations that have a major influence on the developing flow and the resulting heat transfer. Comparisons of constant and variable property solutions show substantial differences. The density variation accelerates the fluid in the channels increasing the pressure drop without an accompanying increase in heat flux. Analyses of the inlet configuration suggest that side entry from a manifold can affect the development of the velocity profile because of vortices generated as the flow enters the channel.

Yagley, J. A.↗

NASA NTRS2010

Virtual VMASC: A 3D Game Environment

The advantages of creating interactive 3D simulations that allow viewing, exploring, and interacting with land improvements, such as buildings, in digital form are manifold and range from allowing individuals from anywhere in the world to explore those virtual land improvements online, to training military personnel in dealing with war-time environments, and to making those land improvements available in virtual worlds such as Second Life. While we haven't fully explored the true potential of such simulations, we have identified a requirement within our organization to use simulations like those to replace our front-desk personnel and allow visitors to query, naVigate, and communicate virtually with various entities within the building. We implemented the Virtual VMASC 3D simulation of the Virginia Modeling Analysis and Simulation Center (VMASC) office building to not only meet our front-desk requirement but also to evaluate the effort required in designing such a simulation and, thereby, leverage the experience we gained in future projects of this kind. This paper describes the goals we set for our implementation, the software approach taken, the modeling contribution made, and the technologies used such as XNA Game Studio, .NET framework, Autodesk software packages, and, finally, the applicability of our implementation on a variety of architectures including Xbox 360 and PC. This paper also summarizes the result of our evaluation and the lessons learned from our effort.

Manepalli, Suchitra↗

NASA NTRS1993

Phase 2: HGM air flow tests in support of HEX vane investigation

Following the start of SSME certification testing for the Pratt and Whitney Alternate Turbopump Development (ATD) High Pressure Oxidizer Turbopump (HPOTP), cracking of the leading edge of the inner HEX vane was experienced. The HEX vane, at the inlet of the oxidizer bowl in the Hot Gas Manifold (HGM), accepts the HPOTP turbine discharge flow and turns it toward the Gaseous Oxidizer Heat Exchanger (GOX HEX) coil. The cracking consistently initiated over a specific circumferential region of the hex vane, with other circumferential locations appearing with increased run time. Since cracking had not to date been seen with the baseline HPOTP, a fluid-structural interaction involving the ATD HPOTP turbine exit flowfield and the HEX inner vane was suspected. As part of NASA contract NAS8-36801, Pratt and Whitney conducted air flow tests of the ATD HPOTP turbine turnaround duct flowpath in the MSFC Phase 2 HGM air flow model. These tests included HEX vane strain gages and additional fluctuating pressure gages in the turnaround duct and HEX vane flowpath area. Three-dimensional flow probe measurements at two stations downstream of the turbine simulator exit plane were also made. Modifications to the HPOTP turbine simulator investigated the effects on turbine exit flow profile and velocity components, with the objective of reproducing flow conditions calculated for the actual ATD HPOTP hardware. Testing was done at the MSFC SSME Dynamic Fluid Air Flow (Dual-Leg) Facility, at air supply pressures between 50 and 250 psia. Combinations of turbine exit Mach number and pressure level were run to investigate the effect of flow regime. Information presented includes: (1) Descriptions of turbine simulator modifications to produce the desired flow environment; (2) Types and locations for instrumentation added to the flow model for improved diagnostic capability; (3) Evaluation of the effect of changes to the turbine simulator flowpath on the turbine exit flow environment; and (4) Comparison of the experimental turbine exit flow environment to the environment calculated for the ATD HPOTP.

Cox, G. B., Jr.↗

NASA NTRS2016

Biomolecular Analysis Capability for Cellular and Omics Research on the International Space Station

International Space Station (ISS) assembly complete ushered a new era focused on utilization of this state-of-the-art orbiting laboratory to advance science and technology research in a wide array of disciplines, with benefits to Earth and space exploration. ISS enabling capability for research in cellular and molecular biology includes equipment for in situ, on-orbit analysis of biomolecules. Applications of this growing capability range from biomedicine and biotechnology to the emerging field of Omics. For example, Biomolecule Sequencer is a space-based miniature DNA sequencer that provides nucleotide sequence data for entire samples, which may be used for purposes such as microorganism identification and astrobiology. It complements the use of WetLab-2 SmartCycler"TradeMark", which extracts RNA and provides real-time quantitative gene expression data analysis from biospecimens sampled or cultured onboard the ISS, for downlink to ground investigators, with applications ranging from clinical tissue evaluation to multigenerational assessment of organismal alterations. And the Genes in Space-1 investigation, aimed at examining epigenetic changes, employs polymerase chain reaction to detect immune system alterations. In addition, an increasing assortment of tools to visualize the subcellular distribution of tagged macromolecules is becoming available onboard the ISS. For instance, the NASA LMM (Light Microscopy Module) is a flexible light microscopy imaging facility that enables imaging of physical and biological microscopic phenomena in microgravity. Another light microscopy system modified for use in space to image life sciences payloads is initially used by the Heart Cells investigation ("Effects of Microgravity on Stem Cell-Derived Cardiomyocytes for Human Cardiovascular Disease Modeling and Drug Discovery"). Also, the JAXA Microscope system can perform remotely controllable light, phase-contrast, and fluorescent observations. And upcoming confocal microscopy capability will allow for optical sectioning of biological tissues to determine microanatomical localization of biomarkers. Furthermore, NASA's geneLAB effort addresses integration of genomic, epigenomic, transcriptomic, proteomic and metabolomic datasets, by applying an innovative open source science platform for multi-investigator high throughput utilization of the ISS. In sum, the expanding ISS capability for analysis of biomolecules is enabling innovative research in a broad spectrum of areas such as cellular and molecular biology, biotechnology, tissue engineering, biomedicine, and Omics, providing manifold benefits for humanity.

Guinart-Ramirez, Y.↗

NASA NTRSDate not supplied

Space Needle Returns

STEP is imported into Engineering Sketch Pad. Some bodies where slightly scaled and translated in OpenCSM to create a manifold solid for the downstream meshing process. The braces at the base and columns around the core are omitted because their solids are malformed or created nonmanifold intersections. EGADS provides an initial tessellation of the surface. refine adapted the surface mesh to a curvature and feature size metric. TetGen initially filled the volume. The TetGen mesh is adapted to the Spalding Law of the Wall u+ with refine to provide the initial mesh for flow solution. Solution-based mesh adaptation is performed where FUN3D-FV computes the flow solution with the Reynolds-averaged Navier-Stokes equations coupled to the Spalart-Allmaras turbulence model. The freestream Mach number is 4 approaching 40° from the central axis of the Space Needle. The volume and surface mesh is adapted with refine to reduce estimated interpolation error in Mach number via the multiscale metric. The adapted mesh implicitly resolves the boundary layers, shocks, and expansions. The surface mesh is shown for the lee side with a slice through the volume on the left. Computational schlieren in the lower right shows density variations. A slice of the mesh is colored with Mach number in the upper right where mesh with freestream Mach number is not rendered. The volume mesh contains 64 million vertices. A NASA worm logo is sketched and extruded into a solid in OpenCSM. The worm is unioned to the Space Needle roof to produce the inset mesh image.

mesh↗

NASA NTRS2002

C-H Hot Bands in the Near-IR Emission Spectra of Leonids

The reported infrared (IR) emission spectra from 1999 Leonid fireballs show a 3.4 micron C-H emission band and unidentified bands at longer wavelengths. Upon atmospheric entry, the Leonid meteorites were flash-heated to temperatures around 2400K, which would destroy any organics on the surface of the meteorite grains. We propose that the nu(sub )CH emission band in the Leonid emission spectra arises from matrix-embedded C(sub n)-H-O entities that are protected from instant pyrolysis. Our model is based on IR absorption nu(sub )CH bands, which we observed in laboratory-grown MgO and natural olivine single crystals, where they arise from C(sub n)-H-O units imbedded in the mineral matrix, indicative of aliphatic -CH2- and -CH3 organics. Instead of being pyrolyzed, the C(sub n)-H-O entities in the Leonid trails become vibrationally excited to higher levels n = 1, 2, 3 etc. During de-excitation they emit at 3.4 microns, due to the (0 => 1) transition, and at longer wavelengths, due to hot bands. As a first step toward verifying this hypothesis we measured the C-H vibrational manifold of hexane (C6H14). The calculated positions of the (2 => l ) , (3 => 2), and possibly (4 => 3) hot bands agree with the Leonid emission bands at 3.5, 3.8 and 4.l microns.

Freund, F. T.↗

NASA NTRS1994

Topological analysis of chaotic orbits: Revisiting Hyperion

There is emerging interest in the possibility of chaotic evolution in astrophysical systems. To mention just one example, recent well-sampled ground-based observations of the Saturian satellite Hyperion strongly suggest that it is exhibiting chaotic behavior. We present a general technique, the method of close returns, for the analysis of data from astronomical objects believed to be exhibiting chaotic motion. The method is based on the extraction of pieces of the evolution that exhibit nearly periodic behavior-episodes during which the object stays near in phase space to some unstable periodic orbit. Such orbits generally act as skeletal features, tracing the topological organization of the manifold on which the chaotic dynamics takes place. This method does not require data sets as lengthy as other nonlinear analysis techniques do and is therefore well suited to many astronomical observing programs. Well sampled data covering between twenty and forty characteristic periods of the system have been found to be sufficient for the application of this technique. Additional strengths of this method are its robustness in the presence of noise and the ability for a user to clearly distinguish between periodic, random, and chaotic behavior by inspection of the resulting two-dimensional image. As an example of its power, we analyze close returns in a numerically generated data set, based on a model for Hyperion extensively studied in the literature, corresponding to nightly observations of the satellite. We show that with a small data set, embedded unstable periodic orbits can be extracted and that these orbits can be responsible for nearly periodic behavior lasting a substantial fraction of the observing run.

Boyd, Patricia T.↗

NASA NTRSDate not supplied

Time-Accurate Computational Fluid Dynamics Analysis of a Supersonic Turbine to Assess Structural Mode Excitation

Gas turbines can experience significant unsteady loading during operation which can cause damage such as blade cracking or bearing wear. While computational fluid dynamics (CFD) modeling of full three-dimensional gas turbine flow to verify meanline design performance is standard practice within the industry, the use of time-accurate CFD makes it possible to assess the unsteady loading which can be especially problematic at operating conditions where unsteady fluid loading aligns with structural modes. The Fluid Dynamics branch (ER42) at NASA Marshall Space Flight Center has developed a time-accurate CFD analysis methodology using the unstructured, density-based, Loci-CHEM solver which is capable of simulating the relative motion required for turbomachinery applications through sliding interface meshes. The highly-parallel unstructured solver allows for full three-dimensional, time-accurate simulation of turbines including upstream and downstream components such as manifolds, nozzles, and stators, any of which could excite a turbine structural mode. Recently, Loci-CHEM was used to analyze the FASTRAC supersonic turbine to assess the loading on the rotor. Overall performance and time-averaged loading on the rotor was computed, including the axial force over the entire rotor disk which is required for force balance calculations on the turbopump. The FASTRAC turbine has supersonic nozzles upstream of the rotor that result in significant unsteady loading on the rotor blades at multiples of the nozzle pass frequency. The unsteady blade pressure loading was decomposed into the frequency domain for direct use in structural forced response analysis. Utilizing this type of CFD analysis coupled with structural analysis has proven to be a valuable tool in identifying structural modes that are being excited by unsteady fluid loading.

M.V. Fischels↗

NASA NTRSDate not supplied

Time-Accurate Computational Fluid Dynamics Analysis of a Supersonic Turbine to Assess Structural Mode Excitation

M V Fischels↗

NASA NTRS2008

Laboratory-Model Integrated-System FARAD Thruster

Pulsed inductive plasma accelerators are spacecraft propulsion devices in which energy is stored in a capacitor and then discharged through an inductive coil. The device is electrodeless, inducing a plasma current sheet in propellant located near the face of the coil. The propellant is accelerated and expelled at a high exhaust velocity (order of 10 km/s) through the interaction of the plasma current with an induced magnetic field. The Faraday Accelerator with RF-Assisted Discharge (FARAD) thruster [1,2] is a type of pulsed inductive plasma accelerator in which the plasma is preionized by a mechanism separate from that used to form the current sheet and accelerate the gas. Employing a separate preionization mechanism in this manner allows for the formation of an inductive current sheet at much lower discharge energies and voltages than those found in previous pulsed inductive accelerators like the Pulsed Inductive Thruster (PIT). In a previous paper [3], the authors presented a basic design for a 100 J/pulse FARAD laboratory-version thruster. The design was based upon guidelines and performance scaling parameters presented in Refs. [4, 5]. In this paper, we expand upon the design presented in Ref. [3] by presenting a fully-assembled and operational FARAD laboratory-model thruster and addressing system and subsystem-integration issues (concerning mass injection, preionization, and acceleration) that arose during assembly. Experimental data quantifying the operation of this thruster, including detailed internal plasma measurements, are presented by the authors in a companion paper [6]. The thruster operates by first injecting neutral gas over the face of a flat, inductive acceleration coil and at some later time preionizing the gas. Once the gas is preionized current is passed through the acceleration coil, inducing a plasma current sheet in the propellant that is accelerated away from the coil through electromagnetic interaction with the time-varying magnetic field. Neutral gas is injected over the face of the acceleration coil through a fast-acting valve that feeds a central distribution manifold. The thruster is designed to preionize the gas using an RF-frequency ringing signal produced by a discharging Vector Inversion Generator (VIG). The acceleration stage consists of a multiple-turn, multiple-strand spiral induction coil (see Fig. 1, left panel) and is designed for operation at discharge energies on the order of 100 J/pulse. Several different pulsed power train modules can be used to drive current through the acceleration coil. One such power train is based upon the Bernardes and Merryman circuit topology, which restricts voltage reversal on the capacitor banks and can be clamped to eliminate current reversal in the coil. A second option is a pulse-compression-ring power train (see Fig. 1, right panel), which takesa temporally broad, low current pulse and transforms it into a short, high current pulse.

Polzin, K.A.↗

NASA NTRS1993

CFD analyses of coolant channel flowfields

The flowfield characteristics in rocket engine coolant channels are analyzed by means of a numerical model. The channels are characterized by large length to diameter ratios, high Reynolds numbers, and asymmetrical heating. At representative flow conditions, the channel length is approximately twice the hydraulic entrance length so that fully developed conditions would be reached for a constant property fluid. For the supercritical hydrogen that is used as the coolant, the strong property variations create significant secondary flows in the cross-plane which have a major influence on the flow and the resulting heat transfer. Comparison of constant and variable property solutions show substantial differences. In addition, the property variations prevent fully developed flow. The density variation accelerates the fluid in the channels increasing the pressure drop without an accompanying increase in heat flux. Analyses of the inlet configuration suggest that side entry from a manifold can affect the development of the velocity profile because of vortices generated as the flow enters the channel. Current work is focused on studying the effects of channel bifurcation on the flow field and the heat transfer characteristics.

Yagley, Jennifer A.↗