Search NASA⌕ Search

SEARCH · Search NASA

Results for “DEGREES OF FREEDOM”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 433 records · Page 24

Some notes on shock resolving flux functions. Part 1: Stationary characteristics

Numerical flux functions for solving the Euler equations using exact and/or approximate solutions of the Riemann problem of gasdynamics are discussed. Under certain restrictive conditions, schemes using these flux functions produce systems of equations which can exhibit a single degree of freedom. In some instances, the solutions represented by this degree of freedom are unstable to perturbations. This local instability can seriously degrade the temporal convergence of numerical schemes. This point is demonstrated by numerical example.

Barth, Timothy J.↗

A real-time blade element helicopter simulation for handling qualities analysis

A simulation model which utilizes parallel processing platforms is described in terms of its contributions to improved real-time helicopter simulation. The FLIGHTLAB parallel processing environment is explained, and the relative advantages of the blade element and rotor map models for rigid and elastic articulated blades are discussed. A UH-60 simulation is conducted by means of a rigid model with 14 degrees of freedom, as well as an elastic model with 26 degrees of freedom, to compare trim conditions, longitudinal static margins, and longitudinal and lateral frequency responses. The FLIGHTLAB system is shown to facilitate restructuring for parallel processing as well as the systematic comparison of a variety of models. The system can facilitate the comparison of rigid and elastic blade element rotor models at NASA-Ames and other research facilities.

Du Val, Ronald W.↗

Ground Demonstration of Synchronized Formation Rotations for Precision, Multi-Spacecraft Interferometers

This paper reports the ground demonstration of precision synchronized formation rotations with better than 6 arcmin/5 cm performance in the Formation Control Testbed (FCT). The FCT currently consists of two, five degree-of-freedom, air bearing-levitated robots. The sixth degree-of-freedom, vertical translation, is being added in November 2007. Each robot has a suite of flight-like avionics and actuators, including a star tracker, fiber-optic gyroscopes, reaction wheels, cold-gas thrusters, inter-robot communication, and on-board computers that run the Formation and Attitude Control System software.

ground demonstrations↗

A proposed method for enhanced eigen-pair extraction using finite element methods: Theory and application

The paper covers two distinct parts: theory and application. The goal of this work was the reduction of model size with an increase in eigenvalue/vector accuracy. This method is ideal for the condensation of large truss- or beam-type structures. The theoretical approach involves the conversion of a continuum transfer matrix beam element into an 'Exact' dynamic stiffness element. This formulation is implemented in a finite element environment. This results in the need to solve a transcendental eigenvalue problem. Once the eigenvalue is determined the eigenvectors can be reconstructed with any desired spatial precision. No discretization limitations are imposed on the reconstruction. The results of such a combined finite element and transfer matrix formulation is a much smaller FEM eigenvalue problem. This formulation has the ability to extract higher eigenvalues as easily and as accurately as lower eigenvalues. Moreover, one can extract many more eigenvalues/vectors from the model than the number of degrees of freedom in the FEM formulation. Typically, the number of eigenvalues accurately extractable via the 'Exact' element method are at least 8 times the number of degrees of freedom. In contrast, the FEM usually extracts one accurate (within 5 percent) eigenvalue for each 3-4 degrees of freedom. The 'Exact' element results in a 20-30 improvement in the number of accurately extractable eigenvalues and eigenvectors.

Jara-Almonte, J.↗

Report on the Stanford/Ames direct-link space suit prehensor

Researchers at the Center for Design Research at Stanford University, in collaboration with NASA Ames at Moffet Field, California, are developing hand-powered mechanical prehensors to replace gloves for EVA spacesuits. The design and functional properties of the first version Direct Link Prehensor (DLP) is discussed. It has a total of six degrees-of-freedom and is the most elaborate of three prehensors being developed for the project. The DLP has a robust design and utilizes only linkages and revolute joints for the drive system. With its anthropomorphic configuration of two fingers and a thumb, it is easy to control and is capable of all of the basic prehension patterns such as cylindrical or lateral pinch grasps. Kinematic analysis reveals that, assuming point contacts, a grasped object can be manipulated with three degrees-of-freedom. Yet, in practice more degrees-of-freedom are possible.

Jameson, J. W.↗

Testing the LSST Difference Image Analysis Pipeline Using Synthetic Source Injection Analysis

Abstract We evaluate the performance of the Legacy Survey of Space and Time Science Pipelines Difference Image Analysis (DIA) on simulated images. By adding synthetic sources to galaxies on images, we trace the recovery of injected synthetic sources to evaluate the pipeline on images from the Dark Energy Science Collaboration Data Challenge 2. The pipeline performs well, with efficiency and flux accuracy consistent with the signal-to-noise ratio of the input images. We explore different spatial degrees of freedom for the Alard–Lupton polynomial-Gaussian image subtraction kernel and analyze for trade-offs in efficiency versus artifact rate. Increasing the kernel spatial degrees of freedom reduces the artifact rate without loss of efficiency. The flux measurements with different kernel spatial degrees of freedom are consistent. We also here provide a set of DIA flags that substantially filter out artifacts from the DIA source table. We explore the morphology and possible origins of the observed remaining subtraction artifacts and suggest that given the complexity of these artifact origins, a convolution kernel with a set of flexible bases with spatial variation may be needed to yield further improvements.

Liu, S. (ORCID:0000000244612143)↗

Practical UAV Optical Sensor Bench with Minimal Adjustability

A multiple-pass optical platform eliminates essentially all optical alignment degrees of freedom, save one. A four-pass absorption spectrometer architecture is made rigid by firmly mounting dielectric-coated mirror prisms with no alignment capability to the platform. The laser diode beam is collimated by a small, custom-developed lens, which has only a rotational degree of freedom along the standard optical "z" axis. This degree is itself eliminated by adhesive after laser collimation. Only one degree of freedom is preserved by allowing the laser diode chip and mount subassembly to move relative to the collimating lens by using over-sized mounting holes. This allows full 360 deg motion of a few millimeters relative to the lens, which, due to the high numerical aperture of the lens, provides wide directional steering of the collimated laser beam.

Pilgrim, Jeffrey↗

Attitude and Translation Control of a Solar Sail Vehicle

A report discusses the ability to control the attitude and translation degrees-of-freedom of a solar sail vehicle by changing its center of gravity. A movement of the spacecraft s center of mass causes solar-pressure force to apply a torque to the vehicle. At the compact core of the solar-sail vehicle lies the spacecraft bus which is a large fraction of the total vehicle mass. In this concept, the bus is attached to the spacecraft by two single degree-of-freedom linear tracks. This allows relative movement of the bus in the sail plane. At the null position, the resulting solar pressure applies no torque to the vehicle. But any deviation of the bus from the null creates an offset between the spacecraft center of mass and center of solar radiation pressure, resulting in a solar-pressure torque on the vehicle which changes the vehicle attitude. Two of the three vehicle degrees of freedom can be actively controlled in this manner. The third, the roll about the sunline, requires a low-authority vane/propulsive subsystem. Translation control of the vehicle is achieved by directing the solar-pressure-induced force in the proper inertial direction. This requires attitude control. Attitude and translation degrees-of-freedom are therefore coupled. A guidance law is proposed, which allows the vehicle to stationkeep at an appropriate point on the inertially-rotating Sun-Earth line. Power requirements for moving the bus are minimal. Extensive software simulations have been performed to demonstrate the feasibility of this concept.

Singh, Gurkirpal↗

An assessment of methods for the control of large space structures

Large flexible spacecraft represent highly complex distributed-parameter systems. In theory, a distributed-parameter system possesses an infinite number of degrees of freedom. For practical reasons, however, it must be discretized, which implies truncation. From a structural dynamics point of view, a mathematical model can be made more accurate by retaining an increasing number of degrees of freedom. From a control theory point of view, however, an increasing number of degrees of freedom places severe demands on the reliability of the various control algorithms. There is a difference of at least one order of magnitude between the structural modeling requirements and control theory capability. One of the challenges of large space structures control technology is to bridge this difference.

Meirovitch, L.↗

Description of the Large Gap Magnetic Suspension System (LGMSS) ground-based experiment

A description of the Large Gap Magnetic Suspension System (LGMSS) ground-based experiment is presented. The LGMSS provides five degrees of freedom control of a cylindrical suspended element which is levitated above a floor-mounted array of air core electromagnets. The uncontrolled degree of freedom is rotation about the long axis of the cylinder (roll). Levitation and control forces are produced on a permanent magnet core which is embedded in the cylinder. The cylinder also contains light emitting diodes (LEDs), assorted electrons, and a power supply. The LEDs provide active targets for an optical position measurement system which is being developed in-house at the Langley Research Center. The optical position measurement system will provide six degrees of freedom position information for the LGMSS control system.

Groom, Nelson J.↗

Dynamic response and input identification of MDOF structures subjected to coupled random vector inputs

A method of random dynamic analysis is presented which is based on the classical approach applied to a discretized structure. The method assumes that the system identification is available in the form of natural modes and frequencies. These modes and frequencies can be found from either available solutions or approximately from finite element programs. A computer program has been developed to perform the computations required in the analysis. All computations are performed with transformed modal variables, which results in significant economy since the number of modal degrees of freedom is almost always less than the number of physical degrees of freedom. The program computes the response to force and base inputs which are statistically coupled. A method is also presented for predicting one of the inputs if the second input and the acceleration response at a point on the structure are known. Finally, results are presented for the random response of a rectangular plate subjected to a random pressure and a random base input. The inputs are considered individually and with various degrees of statistical coupling.

Ocallahan, J. C.↗

A global approach for using kinematic redundancy to minimize base reactions of manipulators

An important consideration in the use of manipulators in microgravity environments is the minimization of the base reactions, i.e. the magnitude of the force and the moment exerted by the manipulator on its base as it performs its tasks. One approach which was proposed and implemented is to use the redundant degree of freedom in a kinematically redundant manipulator to plan manipulator trajectories to minimize base reactions. A global approach was developed for minimizing the magnitude of the base reactions for kinematically redundant manipulators which integrates the Partitioned Jacobian method of redundancy resolution, a 4-3-4 joint-trajectory representation and the minimization of a cost function which is the time-integral of the magnitude of the base reactions. The global approach was also compared with a local approach developed earlier for the case of point-to-point motion of a three degree-of-freedom planar manipulator with one redundant degree-of-freedom. The results show that the global approach is more effective in reducing and smoothing the base force while the local approach is superior in reducing the base moment.

Chung, C. L.↗

Optimal control of coupled quantum systems based on the first-order Magnus expansion: Application to multiple dipole-dipole-coupled molecular rotors

This paper presents a method for performing approximate optimal control simulations for quantum systems with multiple coupled degrees of freedom. In this work, the time evolution is simulated using the first-order Magnus expansion in the interaction picture, where the couplings between different degrees of freedom are treated as the perturbation. A numerical implementation procedure is presented that leverages upon pairwise couplings and the separability of the zeroth-order time evolution operator to achieve a reduced computational cost, which is analyzed with respect to the number of degrees of freedom. The formulation is compatible with gradient-free methods to optimize the control field, and a stochastic hill climbing algorithm is adopted for this purpose. As illustrations, optimal control simulations are performed for systems of two and three dipole-dipole-coupled molecular rotors under the influence of a control field. For the two-rotor system, the field is optimized to achieve either orientation or entanglement objectives. For the three-rotor system, the field is optimized either to orient all three rotors in the same direction or to orient one rotor in a particular direction while the other two rotors point in the opposite direction.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Effect of static local distortions vs. dynamic motions on the stability and band gaps of cubic oxide and halide perovskites

Ternary ABX 3 perovskites made of corner-sharing BX 6 octahedra have long featured prominently in solid-state chemistry and condensed matter physics. Still, the joint understanding of their two main subgroups—halides and oxides—has not been fully developed. Indeed, unlike the case in simpler compounds having a single, robust repeated motif (“monomorphous”), certain cubic perovskites can manifest a non-thermal (= intrinsic) distribution of local motifs (“polymorphous networks”). Such static deformations can include positional degrees of freedom (e.g., atomic displacements and octahedral tilting) or magnetic moment degrees of freedom in paramagnets. Unlike thermal motion, such static distortions do not time-average to zero, being an expression of the intrinsic symmetry breaking preference of the chemical bonding. Here, the present study compares electronic structure features of oxide and halide perovskites starting from the static polymorphous distribution of motifs described by Density Functional Theory (DFT) minimization of the internal energy, continuing to finite temperature thermal disorder modeled via finite temperature DFT molecular dynamics. We find that (i) different oxide vs. halide ABX 3 compounds adopt different energy-lowering symmetry-breaking modes. The calculated pair distribution function (PDF) of SrTiO 3 from the first-principles agrees with recently measured PDF. (ii) In both oxides and halides, such static distortions lead to band gap blueshifts with respect to undistorted cubic Pm-3m structure. (iii) For oxide perovskites, high-temperature molecular dynamics simulations initiated from the statically distorted polymorphous structures reveal that the thermally-induced distortions can lead to a band gap redshift. (iv) In contrast, for cubic halide perovskite CsPbI 3 , both the intrinsic distortions and the thermal distortions contribute in tandem to band gap blueshift, the former, intrinsic effect being dominant. (v) In the oxide SrTiO 3 and CaTiO 3 (but not in halide) perovskites, octahedral tilting leads to the emergence of a distinct Γ–Γ direct band gap component as a secondary valley minimum to the well-known indirect R–Γ gap. Understanding such intrinsic vs. thermal effects on oxide vs. halide perovskites holds the potential for designing target electronic properties.

36 MATERIALS SCIENCE↗

Improved stress-intensity factors for semi-elliptical surface cracks in finite-thickness plates

Stress-intensity factors for shallow and deep semi-elliptical surface cracks in plates subjected to tension are presented. To verify the accuracy of the three-dimensional finite-element models employed, convergence was studied by varying the number of degrees of freedom in the models from 1500 to 6900. The 6900 degrees of freedom used here were more than twice the number used in previously reported solutions.

Raju, I. S.↗

Development of structural dynamic test environments for subsystems and components

Structural dynamic environmental test levels were developed for the thematic mapper instrument, components of the Tandberg-Hanssen instrument, and components of the International Ultraviolet Explorer spacecraft using NASTRAN structural models and test data. Both static and dynamic NASTRAN analyses were used. The model size required could be as small as 300 degrees of freedom for the static analysis and as large as 4000 degrees of freedom or more for the high frequency dynamic analysis. An important step in the development of the levels is model verification by test. The launch environments that generally dictate many important features of the design of an instrument or component are steady state acceleration, sinusoidal vibration, and random vibration.

Coladonato, R. J.↗

Stress-intensity factors for a wide range of semi-elliptical surface cracks in finite-thickness plates

Surface cracks are among the more common flaws in aircraft and pressure vessel components. Several calculations of stress-intensity factors for semi-elliptical surface cracks subjected to tension have appeared in the literature. However, some of these solutions are in disagreement by 50-100%. In this paper, stress-intensity factors for shallow and deep semi-elliptical surface cracks in plates subjected to tension are presented. To verify the accuracy of the three-dimensional finite-element models employed, convergence was studied by varying the number of degrees of freedom in the models from 1500 to 6900. The 6900 degrees of freedom used here were more than twice the number used in previously reported solutions. Also, the stress-intensity variations in the boundary-layer region at the intersection of the crack with the free surface were investigated.

Raju, I. S.↗

A short cut integration scheme to determine the dynamic response of a launch vehicle with several payloads

The coupled base motion equations of a system composed of a launch vehicle and several payloads are derived. In previous work it was shown how the special form of these equations allow for a quick and accurate solution both for the response and the loads of the system. In this paper a short-cut version of this direct integration technique is presented and evaluated. The result is a method which, depending on the nature of the structure at hand, vasilates between a full-scale coupled base motion approach and an open loop base drive method. Although completely general, the presented technique is most effective when the number of interface degrees of freedom is relatively small compared to the overall number of degrees of freedom of the system. The S.T.S.-S.T.-O.M.S. Kit system is used as an illustrative example.

Engels, R. C.↗