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NASA NTRS2014

Analysis of Active Figure Control Effects on Mounting Strategy for X-Ray Optics

As part of ongoing development efforts at MSFC, we have begun to investigate mounting strategies for highly nested x-ray optics in both full-shell and segmented configurations. The analytical infrastructure for this effort also lends itself to investigation of active strategies. We expect that a consequence of active figure control on relatively thin substrates is that errors are propagated to the edges, where they might affect the effective precision of the mounting points. Based upon modeling, we describe parametrically, the conditions under which active mounts are preferred over fixed ones, and the effect of active figure corrections on the required number, locations, and kinematic characteristics of mounting points.

Kolodziejczak, Jeffrey J.↗

NASA NTRS2014

Active Figure Control Effects on Mounting Strategy for X-Ray Optics

As part of ongoing development efforts at MSFC, we have begun to investigate mounting strategies for highly nested xray optics in both full-shell and segmented configurations. The analytical infrastructure for this effort also lends itself to investigation of active strategies. We expect that a consequence of active figure control on relatively thin substrates is that errors are propagated to the edges, where they might affect the effective precision of the mounting points. Based upon modeling, we describe parametrically, the conditions under which active mounts are preferred over fixed ones, and the effect of active figure corrections on the required number, locations, and kinematic characteristics of mounting points.

Kolodziejczak, Jeffery J.↗

NASA NTRS1975

Computer program system for dynamic simulation and stability analysis of passive and actively controlled spacecraft. Volume 1. Theory

A theoretical development and associated digital computer program system is presented. The dynamic system (spacecraft) is modeled as an assembly of rigid and/or flexible bodies not necessarily in a topological tree configuration. The computer program system may be used to investigate total system dynamic characteristics including interaction effects between rigid and/or flexible bodies, control systems, and a wide range of environmental loadings. Additionally, the program system may be used for design of attitude control systems and for evaluation of total dynamic system performance including time domain response and frequency domain stability analyses. Volume 1 presents the theoretical developments including a description of the physical system, the equations of dynamic equilibrium, discussion of kinematics and system topology, a complete treatment of momentum wheel coupling, and a discussion of gravity gradient and environmental effects. Volume 2, is a program users' guide and includes a description of the overall digital program code, individual subroutines and a description of required program input and generated program output. Volume 3 presents the results of selected demonstration problems that illustrate all program system capabilities.

Bodley, C. S.↗

NASA NTRS2008

The Formation of Filament Threads in a Sheared Magnetic Field

This slide presentation reviews the mechanism that form the filament threads in the sheared magnetic field of the solar photosphere. There are observations of the filaments, a chart showing the magnetic field configuration for the filaments, and charts that show the thermal instability, and thermal conduction. Discussion of the question "How is it possible for a magnetic field to inhibit heat flow in a coronal plasma without simultaneously restricting the mass flow required for the growth of density condensations?" is reviewed. Equations that are used in the model are given. The characteristics of dynamic condensations are reviewed. There are charts that show the density perturbations for principal dynamic condensation mode and 1st harmonic. The characteristics of the kinematic condensations are also discussed. The types of perturbations that were studied are: (1) Generic perturbation with T(sub 0) < T(sub c) (2) Generic perturbation with T(sub 0) = T(sub c) (3) Random perturbation with T(sub 0)< T(sub c).

condensational instability↗

NASA NTRS1989

Recursive linearization of multibody dynamics equations of motion

The equations of motion of a multibody system are nonlinear in nature, and thus pose a difficult problem in linear control design. One approach is to have a first-order approximation through the numerical perturbations at a given configuration, and to design a control law based on the linearized model. Here, a linearized model is generated analytically by following the footsteps of the recursive derivation of the equations of motion. The equations of motion are first written in a Newton-Euler form, which is systematic and easy to construct; then, they are transformed into a relative coordinate representation, which is more efficient in computation. A new computational method for linearization is obtained by applying a series of first-order analytical approximations to the recursive kinematic relationships. The method has proved to be computationally more efficient because of its recursive nature. It has also turned out to be more accurate because of the fact that analytical perturbation circumvents numerical differentiation and other associated numerical operations that may accumulate computational error, thus requiring only analytical operations of matrices and vectors. The power of the proposed linearization algorithm is demonstrated, in comparison to a numerical perturbation method, with a two-link manipulator and a seven degrees of freedom robotic manipulator. Its application to control design is also demonstrated.

Lin, Tsung-Chieh↗

NASA NTRS1998

Design Selection and Analysis of a Swept and Leaned Stator Concept

This report describes a theoretical design and analysis study of the benefits of vane sweep and lean for reducing rotor- stator interaction tone noise. It is shown that the kinematic relationship between the rotor wakes and stator vanes is the principal factor in determining the achievable noise reductions. Vane sweep and lean control rotor wake skewing as seen by the stator vanes and hence influence the number of wake intersections per vane. An increase in the number of intersections reduces noise levels. Hence, to reduce rotor-stator noise, van sweep and lean must be chosen in such a way as to increase wake intersections per vane. A simple design rule is thus proposed which requires a sweep configuration that puts the vane tip downstream of its root and a vane lean that is in the direction of the rotor rotation. A detailed comparison of the predicted and measured noise reductions for a swept and leaned stator is then carried out. Overall, these comparisons show that the predicted benefits of a swept and leaned stator are in good agreement, qualitative as well as quantitative, with the measured reductions for the fan speeds relevant to noise certification procedure. Furthermore, the results also demonstrate the validity of design criterion and the theoretical tools used in this study.

Envia, Edmane↗

NASA NTRS2005

Mapping From an Instrumented Glove to a Robot Hand

An algorithm has been developed to solve the problem of mapping from (1) a glove instrumented with joint-angle sensors to (2) an anthropomorphic robot hand. Such a mapping is needed to generate control signals to make the robot hand mimic the configuration of the hand of a human attempting to control the robot. The mapping problem is complicated by uncertainties in sensor locations caused by variations in sizes and shapes of hands and variations in the fit of the glove. The present mapping algorithm is robust in the face of these uncertainties, largely because it includes a calibration sub-algorithm that inherently adapts the mapping to the specific hand and glove, without need for measuring the hand and without regard for goodness of fit. The algorithm utilizes a forward-kinematics model of the glove derived from documentation provided by the manufacturer of the glove. In this case, forward-kinematics model signifies a mathematical model of the glove fingertip positions as functions of the sensor readings. More specifically, given the sensor readings, the forward-kinematics model calculates the glove fingertip positions in a Cartesian reference frame nominally attached to the palm. The algorithm also utilizes an inverse-kinematics model of the robot hand. In this case, inverse-kinematics model signifies a mathematical model of the robot finger-joint angles as functions of the robot fingertip positions. Again, more specifically, the inverse-kinematics model calculates the finger-joint commands needed to place the fingertips at specified positions in a Cartesian reference frame that is attached to the palm of the robot hand and that nominally corresponds to the Cartesian reference frame attached to the palm of the glove. Initially, because of the aforementioned uncertainties, the glove fingertip positions calculated by the forwardkinematics model in the glove Cartesian reference frame cannot be expected to match the robot fingertip positions in the robot-hand Cartesian reference frame. A calibration must be performed to make the glove and robot-hand fingertip positions correspond more precisely. The calibration procedure involves a few simple hand poses designed to provide well-defined fingertip positions. One of the poses is a fist. In each of the other poses, a finger touches the thumb. The calibration subalgorithm uses the sensor readings from these poses to modify the kinematical models to make the two sets of fingertip positions agree more closely.

Goza, Michael↗

NASA NTRS1987

Minimum time attitude slewing maneuvers of a rigid spacecraft

The problems of large-angle attitude maneuvers of a spacecraft have gained much consideration in recent years. The configurations of the spacecraft considered are: completely rigid, a combination of rigid and flexible parts, or gyrostat-type systems. The performance indices usually include minimum torque integration, power criterion, and frequency-shaped cost functionals. The minimum time slewing problem of a rigid spacecraft was examined. Optimal control theory (Maximum Principal) was applied to the slewing motion of a general rigid spacecraft. Control torque about all three axes was computed. The equations for the system are composed of the Euler dynamical equations in the spacecraft body axes and the quaternion kinematical equation. By introducing the costates for the quaternion and the angular velocity, the Hamiltonian of the system can be formed and the optimal control obtained. Finally the methods are applied to the SCOLE slewing motion. The control variables include three control moments on the Shuttle and two control forces on the reflector. Numerical results are discussed.

Li, Feiyue↗

NASA NTRS2013

A Kinematic Calibration Process for Flight Robotic Arms

The Mars Science Laboratory (MSL) robotic arm is ten times more massive than any Mars robotic arm before it, yet with similar accuracy and repeatability positioning requirements. In order to assess and validate these requirements, a higher-fidelity model and calibration processes were needed. Kinematic calibration of robotic arms is a common and necessary process to ensure good positioning performance. Most methodologies assume a rigid arm, high-accuracy data collection, and some kind of optimization of kinematic parameters. A new detailed kinematic and deflection model of the MSL robotic arm was formulated in the design phase and used to update the initial positioning and orientation accuracy and repeatability requirements. This model included a higher-fidelity link stiffness matrix representation, as well as a link level thermal expansion model. In addition, it included an actuator backlash model. Analytical results highlighted the sensitivity of the arm accuracy to its joint initialization methodology. Because of this, a new technique for initializing the arm joint encoders through hardstop calibration was developed. This involved selecting arm configurations to use in Earth-based hardstop calibration that had corresponding configurations on Mars with the same joint torque to ensure repeatability in the different gravity environment. The process used to collect calibration data for the arm included the use of multiple weight stand-in turrets with enough metrology targets to reconstruct the full six-degree-of-freedom location of the rover and tool frames. The follow-on data processing of the metrology data utilized a standard differential formulation and linear parameter optimization technique.

Collins, Curtis L.↗

NASA NTRS1987

Studies of the Virgo cluster. VI - Morphological and kinematical structure of the Virgo cluster

The structure of the Virgo cluster is analyzed on the basis of the positions, Hubble types, and radial velocities of 1277 Virgo cluster galaxies. The surface distribution of galaxies is considered according to type, and is discussed using maps, isopleths, strip counts, and radial-density distributions. It is found that the Virgo cluster shows pronounced double structure. The main concentration has a large velocity dispersion and is made up predominantly of early-type galaxies, while the secondary concentration has a much smaller velocity dispersion and contains late types. There is a strong spatial segregation of the Hubble types, the early-type galaxies being more concentrated toward the cluster center. There is significant substructure in the cluster core. The irregularity of the Virgo cluster in both configuration and velocity space shows that the core and the envelope are still forming, and hence that the cluster is young.

Binggeli, Bruno↗

NASA NTRS1976

The oblique impingement of an axisymmetric jet

The mechanics of the oblique impingement of an axisymmetric jet on a plane surface are examined in detail. The stagnation point is discussed. A schematic drawing of the problem and coordinate system used to describe the flow field are given. The kinematic features of the flow above the plate are examined in the context of the conservation of mass, the vorticity of the jet, and the vorticity introduced by the jetplate interaction. The dynamic features of the flow are examined in terms of the surface pressure distribution and the cause-effect relationships which exist between the pressure and velocity/vorticity distributions. Flow calculations performed are given. The investigation is relevant to the flow resulting from the interaction of the propulsion jet with the main airfoil (STOL aircraft), and is appropriate to an over- or under- wing configuration.

Foss, J. F.↗

NASA NTRS1989

Flap-lag stability data for a small-scale isolated hingeless rotor in forward flight

An isolated, hingeless rotor with discrete flap and lead-lag flexures and relatively rigid blades was tested in the Aeroflightdynamics Directorate's 7- by 10-Foot Wind Tunnel. The lead-lag stability of a structurally simple rotor configuration in forward flight was determined. The model tested had no cyclic pitch control, and was therefore operated untrimmed at several collective pitch angles, at shaft angles from 0 deg to -20 deg, and at advance ratios as high as 0.55. Two inplane natural frequencies, 0.61/rev and 0.72/rev, were tested for configuration both with and without structural flap lag coupling. Concomitant hover testing of the model was also conducted. Representative plots of the frequency and damping data are presented to show general trends, and complete tabular data and model properties information are included for use in detailed correlation exercises. The most prominent feature of the forward flight data is an abrupt increase in damping with advance ratio at certain high-speed, high shaft-angle conditions, with high flapping loads. The hover data are consistent with previous experimental and theoretical results for hingeless rotors without kinematic couplings. Overall, the data quality is very good and the data are expected to be useful in the development and validation of rotor aeroelastic stability analyses.

Mcnulty, Michael J.↗

NASA NTRSDate not supplied

TriTruss Packaging and Deployment Trade Study

An architecture and feasibility study of next generation In-Space Assembled Telescopes (iSAT) concluded that robotic in-space assembly of modular components is necessary to enable large (>15-meter diameter) primary apertures. The iSAT study recommended that the foundational structure be assembled from modular TriTruss modules that are packaged for launch, deployed on-orbit and robotically assembled into the final configuration. This paper will describe and summarize the results of a trade study that investigated viable concept of operations (ConOps) for the packaging and deployment (P&D) of individual planar TriTruss modules that could be assembled to form a large aperture iSAT. The ideal TriTruss P&D concept is defined as one that: allows for efficient packaging; has sufficient geometric versatility to be launch vehicle independent; provides a stiff and lightweight structure; has low mechanical complexity; and has component modularity. The P&D concept should allow for prelaunch subsystem or utility integration if required. The concept would be kinematically simple and be robotically deployed using a minimum number of specialized tools. In this first phase of an ongoing more comprehensive trade study, concepts were proposed and then evaluated based on initial metrics representing features of an ideal P&D concept. The P&D concepts evaluated are categorized as: core collapse, face collapse, and erectable structures. Sub-scale models were constructed to help understand the kinematics and mechanical complexity required to enable P&D. Based on a weighting scale, the most promising candidate P&D concepts have selected and will undergo more rigorous structural design, analysis, and testing in the study’s next phase. The ultimate goal of the comprehensive trade study will be to recommend a single TriTruss design and associated P&D concept that will be built and evaluated at NASA Langley Research Center’s In-Space Assembly Laboratory.

in-space assembly (ISA)↗

NASA NTRS1995

Effects of Delaminations on the Damped Dynamic Characteristics of Composite Laminates: Mechanics and Experiments

Analytical and experimental work is presented on the damped free-vibration of delaminated laminates and beams. A laminate theory is developed where the unknown kinematic perturbations induced by a delamination crack are treated as additional degrees of freedom. The generalized stiffness, inertia and damping matrices of the laminate are formulated. An analytical solution is developed for the prediction of natural frequencies, modes and modal damping in composite beams with delamination cracks. Evaluations of the mechanics on various cantilever beams with a central delamination are performed. Experimental results for the modal frequencies and damping of composite beams with a single delamination are also presented and correlations between analytical predictions and measured data are shown. The effects of delamination vary based on crack size, laminate configuration, and mode order. The implications of the mechanics in developing delamination detection techniques are also discussed.

Saravanos, D. A.↗

NASA NTRS2020

Simulation of a Full-Scale Crash Test of a Fokker F28 Fellowship Aircraft

In June 2019, a full-scale crash test of a Fokker F28 Fellowship aircraft was conducted as part of a joint National Aeronautics and Space Administration/Federal Aviation Administration (NASA/FAA) project to investigate the performance of transport aircraft under realistic crash conditions. The test objectives were to provide data for assessment of transport aircraft crash worthiness and to generate test data for model validation. The test article was loaded with transport aircraft seats in a 3+2 configuration. A total of 24 instrumented Anthropomorphic Test Devices (ATDs) were placed in the seats and restrained. The test article weighed 33,306-lb. and, during the crash test, impacted a 2-ft. high soil bed at 65.3-ft/s forward and 31.8-ft/s vertical velocity. The full-scale crash test was simulated using the commercial nonlinear explicit transient dynamic finite element code, LSDYNA®. This paper will provide a description of the test article and the crash test conditions, document the F28 full-scale model development, and present test-analysis comparisons in several categories including inertial properties, kinematic responses, structural acceleration responses, and airframe deformation and failure. In addition, test-analysis results will be quantified based on the International Organization for Standardization (ISO) 16250 curve comparison methodology.

Jackson, Karen E.↗

NASA NTRS1990

A kinematical/numerical analysis of rotor-stator interaction noise

In this study, the unsteady, thin-layer Navier-Stokes equations are solved using a system of patched grids for a rotor-stator configuration of an axial turbine. The study examines the plurality of spinning modes that are present in such an interaction. The propagation of these modes is analyzed and appropriate grid spacing chosen in the far upstream and downstream regions to attenuate reflections from the computational boundaries. In addition, radiating boundary conditions are implemented based on the farfield acoustical behavior of the flow field. Results in the form of pressure amplitudes and the spectra of turbine tones are presented. Numerical results and experimental data are compared wherever possible. The numerical results are also shown to conform with the predictions of a kinematical analysis of the flowfield.

Rangwalla, Akil A.↗

NASA NTRS2014

Calibration and Validation of a Finite ELement Model of THor-K Anthropomorphic Test Device for Aerospace Safety Applications

The THOR anthropomorphic test device (ATD) has been developed and continuously improved by the National Highway Traffic Safety Administration to provide automotive manufacturers an advanced tool that can be used to assess the injury risk of vehicle occupants in crash tests. Recently, a series of modifications were completed to improve the biofidelity of THOR ATD [1]. The updated THOR Modification Kit (THOR-K) ATD was employed at Wright-Patterson Air Base in 22 impact tests in three configurations: vertical, lateral, and spinal [2]. Although a computational finite element (FE) model of the THOR had been previously developed [3], updates to the model were needed to incorporate the recent changes in the modification kit. The main goal of this study was to develop and validate a FE model of the THOR-K ATD. The CAD drawings of the THOR-K ATD were reviewed and FE models were developed for the updated parts. For example, the head-skin geometry was found to change significantly, so its model was re-meshed (Fig. 1a). A protocol was developed to calibrate each component identified as key to the kinematic and kinetic response of the THOR-K head/neck ATD FE model (Fig. 1b). The available ATD tests were divided in two groups: a) calibration tests where the unknown material parameters of deformable parts (e.g., head skin, pelvis foam) were optimized to match the data and b) validation tests where the model response was only compared with test data by calculating their score using CORrelation and Analysis (CORA) rating system. Finally, the whole ATD model was validated under horizontal-, vertical-, and lateral-loading conditions against data recorded in the Wright Patterson tests [2]. Overall, the final THOR-K ATD model developed in this study is shown to respond similarly to the ATD in all validation tests. This good performance indicates that the optimization performed during calibration by using the CORA score as objective function is not test specific. Therefore confidence is provided in the ATD model for uses in predicting response in test conditions not performed in this study such those observed in the spacecraft landing. Comparison studies with ATD and human models may also be performed to contribute to future changes in THOR ATD design in an effort to improve its biofidelity, which has been traditionally based on post-mortem human subject testing and designer experience.

Putnam, J. B.↗

NASA NTRSDate not supplied

Development of a Full-Scale Finite Element Model of the Fokker F28 Fellowship Aircraft and Crash Simulation Predictions

In June 2019, a full-scale crash test of a Fokker F28 Fellowship aircraft was conducted as part of a joint National Aeronautics and Space Administration/Federal Aviation Administration (NASA/FAA) project to investigate the performance of transport aircraft under realistic crash conditions. The test objectives were to provide data for assessment of transport aircraft crashworthiness under realistic impact conditions and to generate test data for model validation. The test article was loaded with transport aircraft seats in a 3+2 configuration. A total of 24 instrumented ATDs were placed in the seats and restrained. The test article weighed 33,306-lb. (15,107.3-kg) and, during the crash test, impacted a 2-ft. (0.61-m) high soil bed at 65.3-ft/s (19.9-m/s) forward and 31.8-ft/s (9.7-m/s) vertical velocity. The full-scale aircraft crash test was simulated using the commercial nonlinear explicit transient dynamic finite element code, LS-DYNA. This paper will provide a description of the test article and the crash test conditions, document the F28 full-scale model development, and present test-analysis comparisons. The test-analysis comparisons include inertial properties, kinematic responses, structural acceleration responses, and structural deformation and failure.

Karen E Jackson↗