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NASA NTRS2012

Minimal Coordinate Formulation of Contact Dynamics in Operational Space

In recent years, complementarity techniques have been developed for modeling non-smooth contact and collision dynamics problems for multi-link robotic systems. Normally, in this approach, a linear complementarity problem (LCP) is set up using 6n non-minimal coordinates for a system with n links together with all the unilateral constraints and inter-link bilateral constraints on the system. In this paper, we use operational space dynamics to develop a complementarity formulation for contact and collision dynamics that uses minimal coordinates. The use of such non-redundant coordinates results in much smaller size LCP problems and the automatic enforcement of the inter-link bilateral constraints. Furthermore, we exploit operational space low-order computational algorithms to overcome some of the bottlenecks in using minimal coordinates.

contact dynamics↗

NASA NTRS2014

Application of Sequential Quadratic Programming to Minimize Smart Active Flap Rotor Hub Loads

In an analytical study, SMART active flap rotor hub loads have been minimized using nonlinear programming constrained optimization methodology. The recently developed NLPQLP system (Schittkowski, 2010) that employs Sequential Quadratic Programming (SQP) as its core algorithm was embedded into a driver code (NLP10x10) specifically designed to minimize active flap rotor hub loads (Leyland, 2014). Three types of practical constraints on the flap deflections have been considered. To validate the current application, two other optimization methods have been used: i) the standard, linear unconstrained method, and ii) the nonlinear Generalized Reduced Gradient (GRG) method with constraints. The new software code NLP10x10 has been systematically checked out. It has been verified that NLP10x10 is functioning as desired. The following are briefly covered in this paper: relevant optimization theory; implementation of the capability of minimizing a metric of all, or a subset, of the hub loads as well as the capability of using all, or a subset, of the flap harmonics; and finally, solutions for the SMART rotor. The eventual goal is to implement NLP10x10 in a real-time wind tunnel environment.

HUB LOADS↗

NASA NTRS2016

Real-Time Adaptive Least-Squares Drag Minimization for Performance Adaptive Aeroelastic Wing

This paper contains a simulation study of a real-time adaptive least-squares drag minimization algorithm for an aeroelastic model of a flexible wing aircraft. The aircraft model is based on the NASA Generic Transport Model (GTM). The wing structures incorporate a novel aerodynamic control surface known as the Variable Camber Continuous Trailing Edge Flap (VCCTEF). The drag minimization algorithm uses the Newton-Raphson method to find the optimal VCCTEF deflections for minimum drag in the context of an altitude-hold flight control mode at cruise conditions. The aerodynamic coefficient parameters used in this optimization method are identified in real-time using Recursive Least Squares (RLS). The results demonstrate the potential of the VCCTEF to improve aerodynamic efficiency for drag minimization for transport aircraft.

Aeroservoelasticity↗

NASA NTRS1975

Optimization of system reliability by the sequential unconstrained minimization technique

The reliability of a complex system was optimized by a new approach for implementing the sequential unconstrained minimization technique (SUMT) with the aid of Hooke and Jeeves pattern search and heuristic programming. Two optimization problems were considered. In the first, the system reliability was maximized subject to a nonlinear weight constraint. In the second, the weight of the system was minimized without violating the requirements of the minimal system reliability and the minimum reliability for each component. The sensitivities of the system reliability and that of the system weight to the reliability of each component were determined under optimal conditions.

Hwang, C. L.↗

NASA NTRS1976

An algorithm for constructing minimal order inverses

In this paper an algorithm is presented for constructing minimal order inverses of linear, time invariant, controllable and observable, multivariable systems. By means of simple matrix operations, a 'state-overdescribed' system is first constructed which is an inverse of the given multivariable system. A simple Gauss-Jordan type reduction procedure is then used to remove the redundancy in the state vector of the inverse system to obtain a minimal order inverse. When the given multivariable system is not invertible, the algorithm enables a minimal order inverse of an invertible subsystem to be constructed. Numerical examples are given to illustrate the use of the algorithm.

Patel, R. V.↗

NASA NTRS1977

Optimization of active control systems to suppress flutter and minimize turbulence response

A method for optimizing an active control system which will suppress flutter and minimize the response of a lifting surface to atmospheric turbulence is presented. A mathematical search method is developed which will find a control law which will cause an active control system to flutter at a specified freestream velocity, air density, and Mach number. With the flutter velocity of the system held constant, the control law is then modified in such a way that the peak output power spectral density function of the angular response of a lifting surface (as a result of atmospheric turbulence) is minimized for a specified flight velocity which is less than the flutter velocity. The von Karman generalized power spectrum for the transverse components of turbulence is used in an example problem to increase the flutter velocity and minimize the turbulence response of a simplified delta-wing model which has leading and trailing edge control surfaces.

Rudisill, C. S.↗

NASA NTRS1979

NEWSUMT: A FORTRAN program for inequality constrained function minimization, users guide

A computer program written in FORTRAN subroutine form for the solution of linear and nonlinear constrained and unconstrained function minimization problems is presented. The algorithm is the sequence of unconstrained minimizations using the Newton's method for unconstrained function minimizations. The use of NEWSUMT and the definition of all parameters are described.

Miura, H.↗

NASA NTRS1984

Some minimization calculations concerning the effect of horizontal eddy momentum fluxes on the equilibrium zonal mean motions

A simplified linear two-level zonally averaged atmospheric model is used to determine the minimum zonal kinetic energy (ZKE) plus the zonal available potential energy (ZAPE) of equilibrium states for any distribution of horizontal eddy momentum fluxes. The model assumes fixed thermal forcing except for coefficients of the longwave radiative response to temperature. Some distinctive features of the model solutions are described. It is found that: the states of minimum ZKE or minimum ZKE + ZAPE contain a jet stream; the structure of the zonal winds is dependent on thermal forcing; the horizontal eddy momentum fluxes which minimize ZKE or ZKE + ZAPE can be up-gradient everywhere with respect to the upper level zonal mean zonal winds, or down-gradient depending on the thermal forcing; ZKE minimization results in a jet stream at 54 deg latitude independent of external parameters. The minimization of ZKE + ZAPE results in a jet stream at 35 deg latitude for a planet of the earth's radius and similar static stability.

Schneider, E. K.↗

NASA NTRS1987

Finite-element grid improvement by minimization of stiffness matrix trace

A new and simple method of finite-element grid improvement is presented. The objective is to improve the accuracy of the analysis. The procedure is based on a minimization of the trace of the stiffness matrix. For a broad class of problems this minimization is seen to be equivalent to minimizing the potential energy. The method is illustrated with the classical tapered bar problem examined earlier by Prager and Masur. Identical results are obtained.

Kittur, Madan G.↗

NASA NTRS1989

Finite-element grid improvement by minimization of stiffness matrix trace

Kittur, Madan G.↗

NASA NTRS1989

Minimal inversion, command matching and disturbance decoupling in multivariable systems

The present treatment of the related problems of minimal inversion and perfect output control in linear multivariable systems uses a simple analytical expression for the inverse of a square multivariate system's transfer-function matrix to construct a minimal-order inverse of the system. Because the poles of the minimal-order inverse are the transmission zeros of the system, necessary and sufficient conditions for the inverse system's stability are simply stated in terms of the zero polynomial of the original system. A necessary and sufficient condition for the existence of the required controllers is that the plant zero polynomial be neither identical to zero nor unstable.

Seraji, H.↗

NASA NTRS1989

A methodology for formulating a minimal uncertainty model for robust control system design and analysis

In the design and analysis of robust control systems for uncertain plants, the technique of formulating what is termed an M-delta model has become widely accepted and applied in the robust control literature. The M represents the transfer function matrix M(s) of the nominal system, and delta represents an uncertainty matrix acting on M(s). The uncertainty can arise from various sources, such as structured uncertainty from parameter variations or multiple unstructured uncertainties from unmodeled dynamics and other neglected phenomena. In general, delta is a block diagonal matrix, and for real parameter variations the diagonal elements are real. As stated in the literature, this structure can always be formed for any linear interconnection of inputs, outputs, transfer functions, parameter variations, and perturbations. However, very little of the literature addresses methods for obtaining this structure, and none of this literature addresses a general methodology for obtaining a minimal M-delta model for a wide class of uncertainty. Since have a delta matrix of minimum order would improve the efficiency of structured singular value (or multivariable stability margin) computations, a method of obtaining a minimal M-delta model would be useful. A generalized method of obtaining a minimal M-delta structure for systems with real parameter variations is given.

Belcastro, Christine M.↗

NASA NTRS1989

Minimizing distortion and internal forces in truss structures by simulated annealing

Inaccuracies in the length of members and the diameters of joints of large truss reflector backup structures may produce unacceptable levels of surface distortion and member forces. However, if the member lengths and joint diameters can be measured accurately it is possible to configure the members and joints so that root-mean-square (rms) surface error and/or rms member forces is minimized. Following Greene and Haftka (1989) it is assumed that the force vector f is linearly proportional to the member length errors e(sub M) of dimension NMEMB (the number of members) and joint errors e(sub J) of dimension NJOINT (the number of joints), and that the best-fit displacement vector d is a linear function of f. Let NNODES denote the number of positions on the surface of the truss where error influences are measured. The solution of the problem is discussed. To classify, this problem was compared to a similar combinatorial optimization problem. In particular, when only the member length errors are considered, minimizing d(sup 2)(sub rms) is equivalent to the quadratic assignment problem. The quadratic assignment problem is a well known NP-complete problem in operations research literature. Hence minimizing d(sup 2)(sub rms) is is also an NP-complete problem. The focus of the research is the development of a simulated annealing algorithm to reduce d(sup 2)(sub rms). The plausibility of this technique is its recent success on a variety of NP-complete combinatorial optimization problems including the quadratic assignment problem. A physical analogy for simulated annealing is the way liquids freeze and crystallize. All computational experiments were done on a MicroVAX. The two interchange heuristic is very fast but produces widely varying results. The two and three interchange heuristic provides less variability in the final objective function values but runs much more slowly. Simulated annealing produced the best objective function values for every starting configuration and was faster than the two and three interchange heuristic.

Kincaid, Rex K.↗

NASA NTRS1994

Active minimization of energy density in three-dimensional enclosures

The objective of this research project is to further investigate and develop a novel approach for actively controlling the sound field in enclosures. Typically the acoustic field in an enclosure has been controlled by minimizing the sum of the squared pressures from several microphones distributed throughout the enclosure. The approach being investigated in this project involves minimizing the acoustic energy density at the sensor locations, rather than the squared pressure. Previous research in a simple one-dimensional enclosure showed that improved global attenuation of the acoustic field is often obtained by minimizing the energy density, rather than the pressure. The current project builds on the previous research by extending the method of controlling the acoustic energy density to three-dimensional enclosures. The results will establish if improved control can still be expected in a more general enclosure. Pending successful results, the method could be applied to control problems such as attenuating the acoustic noise in an aircraft fuselage, an automobile cabin, or other general enclosures. The research project was set up as a two-year project designed to achieve both numerical and experimental results. The primary focus of the first year of research (now being completed) was on the analytical/numerical modeling of the method of controlling the acoustic energy density. During the second year, the research focuses on experimental verification of the approach and extending our understanding of the method.

Sommerfeldt, Scott D.↗

NASA NTRS1994

The sensitivity to parametric variation in direct minimization techniques

Solutions of some objective analysis techniques are known to depend upon the subjective values of internal parameters. The change in the solution per change in the parameter is the sensitivity. Parameters with low sensitivity can be varied with large increments during preliminary searches for near-optimal parameter values. Only terms with high sensitivity must be thoroughly investigated once the parameters are determined to be close to optimal. Both absolute and relative sensitivities are discussed and a sensitivity-based definition of the solution uncertainty is proposed. The sensitivity of direct minimization analysis to parametric variation is evaluated using a set of 'response functions' that characterize different aspects of the solution. It is shown that solutions of direct minimization techniques have low absolute sensitivity. Two examples are used to illustrate the usefulness of the technique. Both involved measurements of air-sea quantities (e.g., wind stress and latent heat flux) from a variety of data sources using a direct minimization technique. The examples demonstrate that sensitivity analysis is capable of quantifying regional sensitivities as well as indicating the magnitude and relationship between the various parameters.

Meyers, S. D.↗

NASA NTRS1996

Active minimization of energy density in three-dimensional enclosures

The objective of this study was to further investigate and develop a novel approach for actively controlling the sound field in enclosures that is based on the acoustic energy density. Typically the acoustic field in an enclosure has been controlled by minimizing the sum of the squared pressures from several microphones distributed throughout the enclosure. The approach investigated in this study involved minimizing the acoustic energy density at the sensor locations, rather than the squared pressure. Research previous to this study in a simple one-dimensional enclosure showed that improved global attenuation of the acoustic field is often obtained by minimizing the energy density, rather than the pressure. The current study built on the previous research by extending the method of controlling the acoustic energy density to three-dimensional enclosures. The study was intended to help establish if improved control can still be expected in a more general enclosure. The study was designed to be both analytical/numerical and experimental in nature.

Sommerfeldt, Scott D.↗

NASA NTRS1999

Development of a Multiobjective Optimization Procedure for Sonic Boom Minimization

A design optimization procedure for improved sonic boom and aerodynamic performance of high speed aircraft is presented. The multiobjective optimization procedure simultaneously minimizes the sonic boom at a given distance from the aircraft and the drag-to-lift ratio (C(sub D)/C(sub L)) Of the aircraft. Upper and lower bounds are also imposed on the lift coefficient. The Kreisselmeier - Steinhauser function is used for the multiobjective optimization formulation. A discrete semi-analytical aerodynamic sensitivity analysis procedure coupled with an analytical grid sensitivity analysis technique is used for evaluating design sensitivities. The use of the semi-analytical sensitivity analysis techniques results in significant computational savings. The flow equations are solved using a three-dimensional parabolized Navier-Stokes solver. Sonic boom analysis is performed using an extrapolation procedure. A nonlinear programming technique and an approximate analysis procedure are used for the optimization. The optimization procedure developed is applied to the design of two high speed configurations, namely, a doubly swept wing-body configuration and a delta wing-body configuration. For the two sweep case only, minimization of the first peak in the pressure signature is performed first by optimizing only the nose radius and length of the aircraft. Minimization of the second peak in the pressure signature is performed next by optimizing only the wing geometric parameters. Significant improvements are obtained in the sonic boom characteristics and the aerodynamic performance of the wing-body configurations.

Narayan, J. R.↗

NASA NTRS1997

Jerk Minimization Method for Vibration Control in Buildings

In many vibration minimization control problems for high rise buildings subject to strong earthquake loads, the emphasis has been on a combination of minimizing the displacement, the velocity and the acceleration of the motion of the building. In most cases, the accelerations that are involved are not necessarily large but the change in them (jerk) are abrupt. These changes in magnitude or direction are responsible for most building damage and also create discomfort like motion sickness for inhabitants of these structures because of the element of surprise. We propose a method of minimizing also the jerk which is the sudden change in acceleration or the derivative of the acceleration using classical linear quadratic optimal controls. This was done through the introduction of a quadratic performance index involving the cost due to the jerk; a special change of variable; and using the jerk as a control variable. The values of the optimal control are obtained using the Riccati equation.

Abatan, Ayo O.↗