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NASA NTRS2003

Inertial sensor and method of use

The inertial sensor of the present invention utilizes a proof mass suspended from spring structures forming a nearly degenerate resonant structure into which a perturbation is introduced, causing a split in frequency of the two modes so that the mode shape become uniquely defined, and to the first order, remains orthogonal. The resonator is provided with a mass or inertia tensor with off-diagonal elements. These off-diagonal elements are large enough to change the mode shape of the two nearly degenerate modes from the original coordinate frame. The spring tensor is then provided with a compensating off-diagonal element, such that the mode shape is again defined in the original coordinate frame. The compensating off-diagonal element in the spring tensor is provided by a biasing voltage that softens certain elements in the spring tensor. Acceleration disturbs the compensation and the mode shape again changes from the original coordinate frame. By measuring the change in the mode shape, the acceleration is measured.

Gutierrez, Roman C.↗

NASA NTRSDate not supplied

Real-Time State Estimation of Structural Modes for an Aeroelastic Wind Tunnel Model

A method is presented for estimating displacements, velocities, and accelerations of structural modes in generalized coordinates from measured sensor data in real time. Specifically, strain data from conventional strain gauges and fiber optic strain sensors (FOSS) were combined with the strain modes (obtained from a finite element model) in a least-squares estimator to produce structural mode displacement estimates and uncertainties. Likewise, accelerometer data were combined with displacement mode shapes in a second least-squares estimator to produce structural mode acceleration estimates. A Kalman filter was then used to refine the displacement estimates and obtain velocity estimates. The method was applied to the half-span wind tunnel test article used in the NASA-Boeing collaboration called the Integrated Adaptive Wing Technology Maturation (IAWTM) project. The technique was found to be useful for real-time control and system identification applications.

Jared A. Grauer↗

NASA NTRSDate not supplied

Method for Real-Time State Estimation of Structural Modes for an Aeroelastic Wind Tunnel Model

A method for estimating displacements, velocities, and accelerations of structural modes in generalized coordinates from measured sensor data in real time is developed and demonstrated. Data from conventional strain gauges and fiber optic strain sensors (FOSS) were combined with strain mode shapes to produce least-squares estimates of the structural mode displacements. Similarly, accelerometer data were combined with displacement mode shapes to estimate structural mode accelerations. Estimates were then combined using a Kalman filter to refine the displacement estimates and produce structural mode velocity estimates. The approach was demonstrated using simulation data for the NASA-Boeing collaboration called the Integrated Adaptive Wing Technology Maturation (IAWTM) project in both a stable open-loop condition and an unstable condition where estimated displacement and velocity states were used for feedback control. Results supported the feasibility of using this approach for feedback control and system identification applications for wind tunnel tests.

Aeroservoelasticity↗

NASA NTRS1977

Floating reference frames for flexible spacecraft

Floating reference frames which move with the flexible body under dynamic analysis offer the advantages of a linear vibration analysis in the presence of large system rotations. When the deformations of an elastic continuum are expanded in terms of the free-free modes on an unconstrained system, the rigid body modes are found to be fixed in a reference frame called the Tisserand frame, with respect to which the relative momentum is zero. This result also guarantees the independence of small variations of frame motions and coordinates for all modes with nonzero natural frequencies, a condition which can greatly simplify the formulation of equations of motion. A Modified Tisserand Constraint is introduced in order to define a floating reference frame with similar properties for an elastic body which contains spinning rotors.

Canavin, J. R.↗

NASA NTRS1971

A method for determining the response of space shuttle to atmospheric turbulence. Volume 2: Computer program description and usage instructions

A description is given of a computer program which calculates the response of an elastic aerospace vehicle to random and discrete turbulence. The program uses vibration modes as generalized coordinates. Inputs to the program include modal information, generalized aerodynamic forces, flight data, stability augmentation system description, and description of the disturbing function. Program outputs include tabulations of the ratio of root-mean-square response to root-mean-square turbulence and response upward zero crossings per second, and SC4020 plots of transfer functions, response power spectral densities, and Nyquist stability traces.

Huntington, R.↗

NASA NTRS1992

Hybrid analytical technique for the nonlinear analysis of curved beams

The application of a two-step hybrid technique to the geometrically nonlinear analysis of curved beams is used to demonstrate the potential of hybrid analytical techniques in nonlinear structural mechanics. The hybrid technique is based on successive use of the perturbation method and a classical direct variational procedure. The functions associated with the various-order terms in the perturbation expansion of the fundamental unknowns, and their sensitivity derivatives with respect to material and geometric parameters of the beam, are first obtained by using the perturbation method. These functions are selected as coordinate functions (or modes) and the classical direct variational technique is then used to compute their amplitudes. The potential of the proposed hybrid technique for nonlinear analysis of structures is discussed. The effectiveness of the hybrid technique is demonstrated by means of numerical examples. The symbolic computation system Mathematica is used in the present study. The tasks performed on Mathematica include: (1) generation of algebraic expressions for the perturbation functions of the different response quantities and their sensitivity derivatives: and (2) determination of the radius of convergence of the perturbation series.

Noor, A. K.↗

NASA NTRS1999

Experimentally Determined Crack Location and Mixed Mode Stress Intensity Factors

This presentation first examines five strain field equations: the two modes of the Westergaard equations, and a mixed mode; the generalized coordinate system, and the significance testing of coefficients. It also discusses the weighted multiple linear least squares method, which shows why it is difficult to find the crack tip. The presentation then discusses the experiments to examine stress intensity. Lastly, comparison of finite element method results and experimental results is reviewed.

Zachary, Loren W.↗

NASA NTRS1992

Time simulation of flutter with large stiffness changes

Time simulation of flutter, involving large local structural changes, is formulated with a state-space model that is based on a relatively small number of generalized coordinates. Free-free vibration modes are first calculated for a nominal finite-element model with relatively large fictitious masses located at the area of structural changes. A low-frequency subset of these modes is then transformed into a set of structural modal coordinates with which the entire simulation is performed. These generalized coordinates and the associated oscillatory aerodynamic force coefficient matrices are used to construct an efficient time-domain, state-space model for a basic aeroelastic case. The time simulation can then be performed by simply changing the mass, stiffness, and damping coupling terms when structural changes occur. It is shown that the size of the aeroelastic model required for time simulation with large structural changes at a few apriori known locations is similar to that required for direct analysis of a single structural case. The method is applied to the simulation of an aeroelastic wind-tunnel model. The diverging oscillations are followed by the activation of a tip-ballast decoupling mechanism that stabilizes the system but may cause significant transient overshoots.

Karpel, Mordechay↗

NASA NTRS1992

Time simulation of flutter with large stiffness changes

Time simulation of flutter, involving large local structural changes, is formulated with a state-space model that is based on a relatively small number of generalized coordinates. Free-free vibration modes are first calculated for a nominal finite-element model with relatively large fictitious masses located at the area of structural changes. A low-frequency subset of these modes is then transformed into a set of structural modal coordinates with which the entire simulation is performed. These generalized coordinates and the associated oscillatory aerodynamic force coefficient matrices are used to construct an efficient time-domain, state-space model for basic aeroelastic case. The time simulation can then be performed by simply changing the mass, stiffness and damping coupling terms when structural changes occur. It is shown that the size of the aeroelastic model required for time simulation with large structural changes at a few a priori known locations is similar to that required for direct analysis of a single structural case. The method is applied to the simulation of an aeroelastic wind-tunnel model. The diverging oscillations are followed by the activation of a tip-ballast decoupling mechanism that stabilizes the system but may cause significant transient overshoots.

Karpel, M.↗

NASA NTRSDate not supplied

Using Distributed Fiber-optic Strain Sensing to Estimate Generalized Modal Coordinates from Flight-test Data

A method for estimating the generalized modal coordinates of an aircraft during flight has been developed. The Fiber-optic Sensing System (FOSS) offers an efficient and cost-effective method of measuring the strain at thousands of points along the wings. The estimation of modal coordinates was implemented as a two-step process. First, a maximum likelihood method is used to estimate the statistical properties of the sensors and generalized modal coordinates. Second, the strain mode shapes from the finite element model are used along with the statistical properties from the first step to estimate the generalized modal coordinates over time. Using simulated data from the X-56A Multi-Utility Technology Testbed (MUTT), different methods of modal coordinate estimation were compared to demonstrate the benefits and weaknesses of each. These were compared against the exact solution and an ordinary least squares (a more traditional method) estimate. Modal coordinate estimation methods were then applied to flight-test data from the X-56A aircraft to show that the method continues to work well with actual test data. The new estimation method provides insights unavailable from more classical approaches.

Jeffrey Ouellette↗

NASA NTRS1989

Telerobotic research for in-space structural assembly and servicing

The paper reviews Langley's Telerobotic Technology Program and the recent and planned research in automated space assembly. Research areas include multiple manipulator coordination and control, automatic modes, evaluation of control modalities for teleoperated tasks, active sensing for world modeling and control, and architectures for distributed telerobotic systems. Studies of master/slave teleoperators performing representative space tasks showed that current teleoperator systems can be used to accomplish remote space operations. These studies also identified that research is required to improve the systems to reduce operator workload and task completion time. Closed-loop noncontact and contact sensor based control for automatic acquisition, positioning, and active compliance have been developed. A control structure for multiple manipulator coordination and control with manual, shared, and automatic modes performing space type tasks is being evaluated.

Meintel, Alfred J., Jr.↗

NASA NTRS1997

Improvements in Block-Krylov Ritz Vectors and the Boundary Flexibility Method of Component Synthesis

A method of dynamic substructuring is presented which utilizes a set of static Ritz vectors as a replacement for normal eigenvectors in component mode synthesis. This set of Ritz vectors is generated in a recurrence relationship, proposed by Wilson, which has the form of a block-Krylov subspace. The initial seed to the recurrence algorithm is based upon the boundary flexibility vectors of the component. Improvements have been made in the formulation of the initial seed to the Krylov sequence, through the use of block-filtering. A method to shift the Krylov sequence to create Ritz vectors that will represent the dynamic behavior of the component at target frequencies, the target frequency being determined by the applied forcing functions, has been developed. A method to terminate the Krylov sequence has also been developed. Various orthonormalization schemes have been developed and evaluated, including the Cholesky/QR method. Several auxiliary theorems and proofs which illustrate issues in component mode synthesis and loss of orthogonality in the Krylov sequence have also been presented. The resulting methodology is applicable to both fixed and free- interface boundary components, and results in a general component model appropriate for any type of dynamic analysis. The accuracy is found to be comparable to that of component synthesis based upon normal modes, using fewer generalized coordinates. In addition, the block-Krylov recurrence algorithm is a series of static solutions and so requires significantly less computation than solving the normal eigenspace problem. The requirement for less vectors to form the component, coupled with the lower computational expense of calculating these Ritz vectors, combine to create a method more efficient than traditional component mode synthesis.

Carney, Kelly Scott↗

NASA NTRS1974

Acoustic theory of axisymmetric multisectioned ducts

Equations are developed for the acoustic field in a duct system which is made up of a number of connected circular and annular ducts. These equations are suitable for finding the acoustic field inside of and radiated from an aircraft turbofan engine. Acoustic modes are used as generalized coordinates in order to develop a set of matrix equations for the acoustic field. Equations for these modes are given for circular and annular ducts with uniform flow. Modal source equations are derived for point acoustic sources. General equations for mode transmission and reflection are developed and detailed equations are derived for ducts with multiple sections of acoustic treatment and for ducts with circumferential splitter rings. The general theory is applied to the special case of a uniform area circular duct with multisection liners and it is shown that the mode reflection effects are proportional to differences of the acoustic admittances of adjacent liners. A numerical example is given which shows that multisection liners may provide greater noise suppression than uniform liners.

Zorumski, W. E.↗

NASA NTRS1992

Global Temperature and Salinity Pilot Project

Data exchange and data management programs have been evolving over many years. Within the international community there are two main programs to support the exchange, management and processing of real time and delayed mode data. The Intergovernmental Oceanographic Commission (IOC) operate the International Oceanographic Data and Information Exchange (IODE) program which coordinates the exchange of delayed mode data between national oceanographic data centers, World Data Centers and the user community. The Integrated Global Ocean Services System is a joint IOC/World Meteorological Organization (WMO) program for the exchange and management of real-time data. These two programs are complemented by mechanisms that have been established within scientific programs to exchange and manage project data sets. In particular TOGA and WOCE have identified a data management requirement and established the appropriate infrastructure to achieve this. Where GTSPP fits into this existing framework is discussed.

Searle, Ben↗

NASA NTRS1992

Utilizing semantic networks to database and retrieve generalized stochastic colored Petri nets

Previous work has introduced the Planning Coordinator (PCOORD), a coordinator functioning within the hierarchy of the Intelligent Machine Mode. Within the structure of the Planning Coordinator resides the Primitive Structure Database (PSDB) functioning to provide the primitive structures utilized by the Planning Coordinator in the establishing of error recovery or on-line path plans. This report further explores the Primitive Structure Database and establishes the potential of utilizing semantic networks as a means of efficiently storing and retrieving the Generalized Stochastic Colored Petri Nets from which the error recovery plans are derived.

Farah, Jeffrey J.↗

NASA NTRS1981

A user's guide for DTIZE an interactive digitizing and graphical editing computer program

A guide for DTIZE, a two dimensional digitizing program with graphical editing capability, is presented. DTIZE provides the capability to simultaneously create and display a picture on the display screen. Data descriptions may be permanently saved in three different formats. DTIZE creates the picture graphics in the locator mode, thus inputting one coordinate each time the terminator button is pushed. Graphic input devices (GIN) are also used to select function command menu. These menu commands and the program's interactive prompting sequences provide a complete capability for creating, editing, and permanently recording a graphical picture file. DTIZE is written in FORTRAN IV language for the Tektronix 4081 graphic system utilizing the Plot 80 Distributed Graphics Library (DGL) subroutines. The Tektronix 4953/3954 Graphic Tablet with mouse, pen, or joystick are used as graphics input devices to create picture graphics.

Thomas, C. C.↗

NASA NTRS2000

Crew/Automation Interaction in Space Transportation Systems: Lessons Learned from the Glass Cockpit

The progressive integration of automation technologies in commercial transport aircraft flight decks - the 'glass cockpit' - has had a major, and generally positive, impact on flight crew operations. Flight deck automation has provided significant benefits, such as economic efficiency, increased precision and safety, and enhanced functionality within the crew interface. These enhancements, however, may have been accrued at a price, such as complexity added to crew/automation interaction that has been implicated in a number of aircraft incidents and accidents. This report briefly describes 'glass cockpit' evolution. Some relevant aircraft accidents and incidents are described, followed by a more detailed description of human/automation issues and problems (e.g., crew error, monitoring, modes, command authority, crew coordination, workload, and training). This paper concludes with example principles and guidelines for considering 'glass cockpit' human/automation integration within space transportation systems.

Rudisill, Marianne↗

NASA NTRS1971

Dynamic analysis of large structures by modal synthesis techniques.

Several criteria that may be used to evaluate the merits of some of the existing techniques for the dynamic analysis of large structures which involve division into substructures or components are examined. These techniques make use of component displacement modes to synthetize global systems of generalized coordinates and, for that reason, they have come to be known as modal synthesis or component mode methods. Two techniques have been found to be particularly useful - i.e., the modal synthesis method with fixed attachment modes, and the modal synthesis method with free attachment modes. These two methods are treated in detail, and general flow charts are presented for guidance in computer programming.

Hurty, W. C.↗