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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 37 records · Page 2

Minimization of vibration in elastic beams with time-variant boundary conditions

This paper presents an innovative method for minimizing the vibration of structures with time-variant boundary conditions (supports). The elastic body is modeled in two ways: (1) the first model is a letter seven type beam with a movable mass not to exceed the lower tip; (2) the second model has an arm that is a hollow beam with an inside mass with adjustable position. The complete solutions to both problems are carried out where the body is undergoing large rotation. The quasi-static procedure is used for the time-variant boundary conditions. The method developed employs partial differential equations governing the motion of the beam, including the effects of rigid-body motion, time-variant boundary conditions, and calculus of variations. The analytical solution is developed using Laplace and Fourier transforms. Examples of elastic robotic arms are given to illustrate the effectiveness of the methods developed.

Amirouche, F. M. L.↗

Rigid body mode identification of the PAH-2 helicopter using the eigensystem realization algorithm

The rigid body modes of the PAH-2 'Tiger' helicopter were identified using the Eigensystem Realization Algorithm (ERA). This work complements ground vibration tests performed using DLR's traditional phase resonance technique and the ISSPA (Identification of Structural System Parameters) method. Rigid body modal parameters are important for ground resonance prediction. Time-domain data for ERA were obtained by inverse Fourier transformation of frequency response functions measured with stepped-sine excitation. Mode purity (based on the Phase Resonance Criterion) was generally equal to or greater than corresponding results obtained in the ground vibration tests. All identified natural frequencies and mode shapes correlate well with corresponding ground vibration test results. The modal identification approach discussed in this report has become increasingly attractive in recent years due to the steadily declining cost and increased performance of scientific computers. As illustrated in this application, modern time-domain methods can be successfully applied to data acquired using DLR's existing test equipment. Some suggestions are made for future applications of time domain modal identification in this manner.

Schenk, Axel↗

Simplified model of statistically stationary spacecraft rotation and associated induced gravity environments

A stochastic model of spacecraft motion was developed based on the assumption that the net torque vector due to crew activity and rocket thruster firings is a statistically stationary Gaussian vector process. The process had zero ensemble mean value, and the components of the torque vector were mutually stochastically independent. The linearized rigid-body equations of motion were used to derive the autospectral density functions of the components of the spacecraft rotation vector. The cross-spectral density functions of the components of the rotation vector vanish for all frequencies so that the components of rotation were mutually stochastically independent. The autospectral and cross-spectral density functions of the induced gravity environment imparted to scientific apparatus rigidly attached to the spacecraft were calculated from the rotation rate spectral density functions via linearized inertial frame to body-fixed principal axis frame transformation formulae. The induced gravity process was a Gaussian one with zero mean value. Transformation formulae were used to rotate the principal axis body-fixed frame to which the rotation rate and induced gravity vector were referred to a body-fixed frame in which the components of the induced gravity vector were stochastically independent. Rice's theory of exceedances was used to calculate expected exceedance rates of the components of the rotation and induced gravity vector processes.

Fichtl, G. H.↗

RMCProfile7 : reverse Monte Carlo for multiphase systems

This work introduces a completely rewritten version of the programRMCProfile(version 7), big-box, reverse Monte Carlo modelling software for analysis of total scattering data. The major new feature ofRMCProfile7is the ability to refine multiple phases simultaneously, which is relevant for many current research areas such as energy materials, catalysis and engineering. Other new features include improved support for molecular potentials and rigid-body refinements, as well as multiple different data sets. An empirical resolution correction and calculation of the pair distribution function as a back-Fourier transform are now also available.RMCProfile7is freely available for download at https://rmcprofile.ornl.gov/.

Chemistry↗

Equations of motion for a flexible spacecraft-lumped parameter idealization

The equations of motion for a flexible vehicle capable of arbitrary translational and rotational motions in inertial space accompanied by small elastic deformations are derived in an unabridged form. The vehicle is idealized as consisting of a single rigid body with an ensemble of mass particles interconnected by massless elastic structure. The internal elastic restoring forces are quantified in terms of a stiffness matrix. A transformation and truncation of elastic degrees of freedom is made in the interest of numerical integration efficiency. Deformation dependent terms are partitioned into a hierarchy of significance. The final set of motion equations are brought to a fully assembled first order form suitable for direct digital implementation. A FORTRAN program implementing the equations is given and its salient features described.

Storch, Joel↗

Fast and versatile sequence-independent protein docking for nanomaterials design using RPXDock

Computationally designed multi-subunit assemblies have shown considerable promise for a variety of applications, including a new generation of potent vaccines. One of the major routes to such materials is rigid body sequence-independent docking of cyclic oligomers into architectures with point group or lattice symmetries. Current methods for docking and designing such assemblies are tailored to specific classes of symmetry and are difficult to modify for novel applications. Here we describe RPXDock, a fast, flexible, and modular software package for sequence-independent rigid-body protein docking across a wide range of symmetric architectures that is easily customizable for further development. RPXDock uses an efficient hierarchical search and a residue-pair transform ( RPX ) scoring method to rapidly search through multidimensional docking space. We describe the structure of the software, provide practical guidelines for its use, and describe the available functionalities including a variety of score functions and filtering tools that can be used to guide and refine docking results towards desired configurations.

59 BASIC BIOLOGICAL SCIENCES↗

Contact dynamics math model

The Space Station Mechanism Test Bed consists of a hydraulically driven, computer controlled six degree of freedom (DOF) motion system with which docking, berthing, and other mechanisms can be evaluated. Measured contact forces and moments are provided to the simulation host computer to enable representation of orbital contact dynamics. This report describes the development of a generalized math model which represents the relative motion between two rigid orbiting vehicles. The model allows motion in six DOF for each body, with no vehicle size limitation. The rotational and translational equations of motion are derived. The method used to transform the forces and moments from the sensor location to the vehicles' centers of mass is also explained. Two math models of docking mechanisms, a simple translational spring and the Remote Manipulator System end effector, are presented along with simulation results. The translational spring model is used in an attempt to verify the simulation with compensated hardware in the loop results.

Glaese, John R.↗

Lie–Poisson Neural Networks (LPNets): Data-based computing of Hamiltonian systems with symmetries

An accurate data-based prediction of the long-term evolution of Hamiltonian systems requires a network that preserves the appropriate structure under each time step. Every Hamiltonian system contains two essential ingredients: the Poisson bracket and the Hamiltonian. Hamiltonian systems with symmetries, whose paradigm examples are the Lie–Poisson systems, have been shown to describe a broad category of physical phenomena, from satellite motion to underwater vehicles, fluids, geophysical applications, complex fluids, and plasma physics. The Poisson bracket in these systems comes from the symmetries, while the Hamiltonian comes from the underlying physics. We view the symmetry of the system as primary, hence the Lie–Poisson bracket is known exactly, whereas the Hamiltonian is regarded as coming from physics and is considered not known, or known approximately. Using this approach, we develop a network based on transformations that exactly preserve the Poisson bracket and the special functions of the Lie–Poisson systems (Casimirs) to machine precision. We present two flavors of such systems: one, where the parameters of transformations are computed from data using a dense neural network (LPNets), and another, where the composition of transformations is used as building blocks (G-LPNets). We also show how to adapt these methods to a larger class of Poisson brackets. We apply the resulting methods to several examples, such as rigid body (satellite) motion, underwater vehicles, a particle in a magnetic field, and others. The methods developed in this paper are important for the construction of accurate data-based methods for simulating the long-term dynamics of physical systems.

Data-based modeling↗

Finite element approach for transient analysis of multibody systems

A three-dimensional, finite element based formulation for the transient dynamics of constrained multibody systems with trusslike configurations is presented. A convected coordinate system is used to define the rigid-body motion of individual elements in the system. Deformation of each element is defined relative to its convected coordinate system. The formulation is oriented toward joint-dominated structures. Through a series of sequential transformations, the joint degree of freedom is built into the equations of motion of the element to reduce geometric constraints. Based on the derivation, a general-purpose code has been developed. Two examples are presented to illustrate the application of the code.

Wu, Shih-Chin↗

A comparison of the pitching and plunging response of an oscillating airfoil

An oscillating SC1095 airfoil model was tested for its aerodynamic stability in a rigid body with a single degree of freedom pitch about its quarter chord, and also in a rigid body with single degree of freedom plunge. The ability of pitching data to model plunging motions was evaluated. A one to one correspondence was established between pairs of pitching and plunging motions according to the potential flow transformation formula alpha=ikh. The imposed variables of the experiment were mean incidence angle, amplitude of motion, free stream velocity, and oscillatory frequency. Results indicate that significant differences exist between the aerodynamic responses to the motions, particularly at high load conditions. At high load conditions, the normal force for equivalent pitch is significantly greater than that for true pitch at the geometric incidence angle.

Carta, F. O.↗

Hexagonal Distributed Embedded Energy Converters (HexDEECs)

Distributed Embedded Energy Converter Technologies (DEEC-Tec) is a new domain for marine renewable energy research that utilizes a conglomeration of small distributed embedded energy converters (DEECs) that, in aggregate, form larger metamaterial frameworks. These resulting DEEC-Tec metamaterials can then, in turn, be used to construct flexible ocean wave energy converters called flexWECs. DEEC-Tec enables flexWECs: (i) to be inherently broad-banded ocean wave frequency energy converters and (ii) to have an inherent lack of highly loaded rigid bodies. The DEEC-Tec domain also benefits the marine renewable energy domain by inherently availing ways that marine energy can be harvested and converted that heretofore has not yet been considered possible: real-time execution of transforming topologies (e.g., actively changing a flexWEC's shape and form) and morphologies (e.g., actively changing a flexWEC's stiffness and damping throughout its entire structure). Presented, is one specific type of DEEC, a HexDEEC, that shows promise in aiding the adoption and further development of the DEEC-Tec domain - it is a small energy transducer being developed by the United States National Renewable Energy Laboratory. The HexDEEC is a small (characteristic length approximating a centimeter) energy transducer that converts the dynamic deformations of an elastomer into electricity through a charging-discharging cycle of a capacitor whose capacitance is varied by those elastic deformations. The HexDEEC is composed of a hyperelastic hexagonal housing (nominally silicon rubber) with six electrodes on its inner faces. The upper three electrodes share the same charge while the lower three electrodes oppose the upper electrode charges. Externally, the HexDEEC has two arms extending away from the middle vertices of the hexagon. Via principles governing the relationship between electrical capacitance and electrical potential (voltage and charge), electricity is generated when the HexDEEC's arms are dynamically pulled or released under tensile loading as doing so causes the distance between the upper and lower sets of electrodes to change - varying the energy converter's overall capacitance. Analytical and numerical modeling have already been used to estimate the electrical energy produced by a HexDEEC. The cursory models approximate the HexDEEC as a parallel plate variable capacitor - simplifying from six to two opposing plates with a constant dielectric volume between those two plates. To account for the elastic HexDEEC material properties, software such as SolidWorks and STAR-CCM+ have been used to generate hyperelastic models; notably, Mooney-Rivlin based models. Individual HexDEECs have been fabricated by drawing uncured liquid silicon rubber into molds via vacuum pressure. To simplify manufacturing, HexDEEC sub-components - e.g., electrodes, wires - can be placed within those molds such that they are directly embedded into the hexagonal housing during the curing process. Furthermore, DEEC-Tec metamaterials can be created by interweaving or sequentially layering multiple HexDEEC strands together. The HexDEEC based metamaterial could then generate electricity through its gross deformations. Ultimately, HexDEECs represent a specific type of energy transducer that can be leveraged, by the DEEC-Tec domain, to create metamaterials used to construct novel flexWECs.

DEEC-Tec↗

Simplified and refined finite element approaches for determining stresses and internal forces in geometrically nonlinear structural analysis

Two methods for determining stresses and internal forces in geometrically nonlinear structural analysis are presented. The simplified approach uses the mid-deformed structural position to evaluate strains when rigid body rotation is present. The important feature of this approach is that it can easily be used with a general-purpose finite-element computer program. The refined approach uses element intrinsic or corotational coordinates and a geometric transformation to determine element strains from joint displacements. Results are presented which demonstrate the capabilities of these potentially useful approaches for geometrically nonlinear structural analysis.

Robinson, J. C.↗

Control of large flexible spacecraft by the independent modal-space control method

The problem of control of a large-order flexible structure in the form of a plate-like lattice by the Independent Modal-Space Control (IMSC) method is presented. The equations of motion are first transformed to the modal space, thus obtaining internal (plant) decoupling of the system. Then, the control laws are designed in the modal space for each mode separately, so that the modal equations of motion are rendered externally (controller) decoupled. This complete decoupling applies both to rigid-body modes and elastic modes. The application of linear optimal control, in conjunction with a quadratic performance index, is first reviewed. A solution for high-order systems is proposed here by the IMSC method, whereby the problem is reduced to a number of modal minimum-fuel problems for the controlled modes.

Meirovitch, L.↗

Time-optical spinup maneuvers of flexible spacecraft

Attitude controllers for spacecraft have been based on the assumption that the bodies being controlled are rigid. Future spacecraft, however, may be quite flexible. Many applications require spinning up/down these vehicles. In this work the minimum time control of these maneuvers is considered. The time-optimal control is shown to possess an important symmetry property. Taking advantage of this property, the necessary and sufficient conditions for optimality are transformed into a system of nonlinear algebraic equations in the control switching times during one half of the maneuver, the maneuver time, and the costates at the mid-maneuver time. These equations can be solved using a homotopy approach. Control spillover measures are introduced and upper bounds on these measures are obtained. For a special case these upper bounds can be expressed in closed form for an infinite dimensional evaluation model. Rotational stiffening effects are ignored in the optimal control analysis. Based on a heuristic argument a simple condition is given which justifies the omission of these nonlinear effects. This condition is validated by numerical simulation.

Singh, G.↗

Parallel algorithms for computation of the manipulator inertia matrix

The development of an O(log2N) parallel algorithm for the manipulator inertia matrix is presented. It is based on the most efficient serial algorithm which uses the composite rigid body method. Recursive doubling is used to reformulate the linear recurrence equations which are required to compute the diagonal elements of the matrix. It results in O(log2N) levels of computation. Computation of the off-diagonal elements involves N linear recurrences of varying-size and a new method, which avoids redundant computation of position and orientation transforms for the manipulator, is developed. The O(log2N) algorithm is presented in both equation and graphic forms which clearly show the parallelism inherent in the algorithm.

Amin-Javaheri, Masoud↗

An analysis of general chain systems

A general analysis of dynamic systems consisting of connected rigid bodies is presented. The number of bodies and their manner of connection is arbitrary so long as no closed loops are formed. The analysis represents a dynamic finite element method, which is computer-oriented and designed so that nonworking, interval constraint forces are automatically eliminated. The method is based upon Lagrange's form of d'Alembert's principle. Shifter matrix transformations are used with the geometrical aspects of the analysis. The method is illustrated with a space manipulator.

Passerello, C. E.↗

A NASTRAN DMAP alter for the coupling of modal and physical coordinate substructures

A method is described to derive a generalized coordinate model consisting of flexible cantilever modes and rigid body modes from a physical coordinate model using a direct matrix abstraction procedure alter to rigid format 3. This model can readily be coupled to other substructures using modal synthesis techniques. It allows the use of a reduced size model for structural analyses while maintaining the capability of recovering the accelerations, forces, stresses, etc., from the original, large, complex model. This output recovery is accomplished with the use of a loads transformation matrix which relates the output parameters to the modal coordinate accelerations. In addition, a method is described to synthesize structural models consisting of hybrid coordinates for use in dynamic response analyses where one structure is described using physical coordinates and the other using generalized modal coordinates.

Wilson, T. L.↗

Finite element appendage equations for hybrid coordinate dynamic analysis.

The increasingly common practice of idealizing a spacecraft as a collection of interconnected rigid bodies to some of which are attached linearly elastic flexible appendages leads to equations of motion expressed in terms of a combination of discrete coordinates describing the arbitrary rotational motions of the rigid bodies and distributed or modal coordinates describing the small, time-varying deformations of the appendages: such a formulation is said to employ a hybrid system of coordinates. In the present paper the existing literature is extended to provide hybrid coordinate equations of motion for a finite element model of a flexible appendage attached to a rigid base undergoing unrestricted motions and some of the advantages of the finite element approach are noted. Transformations to the modal coordinates appropriate for the general case are provided.

Likins, P. W.↗