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The results of a numerical integration of the Euler equations for a rigid earth model covering a time span of 250 years are compared with Kinoshita's (1977) theory for the forced nutations and with a new nutation series by Kinoshita and Souchay. Numerical corrections to some of the analytically derived nutation terms are presented.
The global linearization (inversion) of rigid-body rotational dynamics is reviewed, and representations in terms of quaternions and direction cosines are compared. Certain properties common to quaternions and direction cosines that make their use preferable to Euler angles and that simplify the inversion procedure are described. Applications of the inversion procedure for state estimation and attitude control are discussed. To avoid complexities caused by aerodynamics, an example of direct inversion for linear feedback control of spacecraft attitude is given.
There has been a growing interest in the development of new and efficient algorithms for multibody dynamics in recent years. Serial rigid multibody systems form the basic subcomponents of general multibody systems, and a variety of algorithms to solve the serial chain forward dynamics problem have been proposed. In this paper, the economy of representation and analysis tools provided by the spatial operator algebra are used to clarify the inherent structure of these algorithms, to identify those that are similar, and to study the relationships among the ones that are distinct. For the purposes of this study, the algorithms are categorized into three classes: algorithms that require the explicit computation of the mass matrix, algorithms that are completely recursive in nature, and algorithms of intermediate complexity. In addition, alternative factorizations for the mass matrix and closed form expressions for its inverse are derived. These results provide a unifying perspective, within which these diverse dynamics algorithms arise naturally as a consequence of a progressive exploitation of the structure of the mass matrix.
An effort has been made to weave powder-impregnated tow into a two-dimensional preform, controlling process variables to obtain high flexural rigidity in the warp direction and greater flexibility in the fill direction. The resulting prepregs have been consolidated into laminates with LaRC-TPI matrices. Complementary SEM and DSC studies have been performed to deepen understanding of the relationship between tow flexibility and heat treatment. Attention is also given to the oven temperature and residence time variables' effects on power/fiber fusion.
Humans consistently err in their percepts of rotational motion viewed through an aperture. Such errors provide insight into the constraints observers use to interpret retinal images. In the first of two experiments, the subjects consistently perceived the fixed center of rotation for an unmarked line viewed through an aperture as located on the line, regardless of its actual location. Accuracy greatly improved with visible line endings. This finding was extended to explain why a square appears nonrigid when it rotates behind a partial occluder. This illusion is theorized to result from observers misperceiving the center of rotation of the unmarked square sides. In this situation, the subjects seemed unable to apply an object rigidity constraint across apertures. These findings support a conceptualization of the visual system in which consistent local information must be clearly present before prior knowledge can be used to interpret retinal stimulation.
A plausible explanation is provided for the existence of the subsidiary maximum in the annual mean cosmic ray diurnal anisotropy, observed during the declining phase (1982-85) of the solar activity cycle 21. For this period, the values of the limiting primary rigidity (Rc), applicable to the steady state diurnal anisotropy, are quite large. Also, the annual mean magnitudes (B) of the interplanetary magnetic field (IMF) are very high. The data for Rc and B are reviewed for 1964-1987 period. A correlation is found to exist between the two parameters.
Humans consistently err in their percepts of rotational motion viewed through an aperture. Such errors provide insight into the constraints observers use to interpret retinal images. In the first of two experiments, Ss consistently perceived the fixed center of rotation for an unmarked line viewed through an aperture as located on the line, regardless of its actual location. Accuracy greatly improved with visible line endings. This finding was extended to explain why a square appears nonrigid when it rotates behind a partial occluder. This illusion may result from observers misperceiving the center of rotation of the unmarked square sides. In this situation, Ss seemed unable to apply an object rigidity constraint across apertures. These findings support a conceptualization of the visual system in which consistent local information must be clearly present before prior knowledge can be used to interpret retinal stimulation.
A piloted comparison of rigid and aeroelastic blade-element rotor models was conducted at the Crew Station Research and Development Facility (CSRDF) at Ames Research Center. FLIGHTLAB, a new simulation development and analysis tool, was used to implement these models in real time using parallel processing technology. Pilot comments and quantitative analysis performed both on-line and off-line confirmed that elastic degrees of freedom significantly affect perceived handling qualities. Trim comparisons show improved correlation with flight test data when elastic modes are modeled. The results demonstrate the efficiency with which the mathematical modeling sophistication of existing simulation facilities can be upgraded using parallel processing, and the importance of these upgrades to simulation fidelity.
A piloted comparison of rigid and aeroelastic blade-element rotor models was conducted at the Crew Station Research and Development Facility (CSRDF) at Ames Research Center. A simulation development and analysis tool, FLIGHTLAB, was used to implement these models in real time using parallel processing technology. Pilot comments and qualitative analysis performed both on-line and off-line confirmed that elastic degrees of freedom significantly affect perceived handling qualities. Trim comparisons show improved correlation with flight test data when elastic modes are modeled. The results demonstrate the efficiency with which the mathematical modeling sophistication of existing simulation facilities can be upgraded using parallel processing, and the importance of these upgrades to simulation fidelity.
In this paper, we demonstrate that, in fact, two momentum wheel actuators can be used to control the attitude of a rigid spacecraft and that arbitrary reorientation maneuvers of the spacecraft can be accomplished in a specific sense. The complete spacecraft dynamics cannot be stabilized to an equilibrium attitude. However, the spacecraft equations are small time locally controllable in a reduced nonlinear sense. The reduced spacecraft dynamics cannot be asymptotically stabilized to an equilibrium attitude using a time-invariant continuous feedback control law, but a discontinuous feedback control strategy is constructed which asymptotically stabilizes an equilibrium attitude of the spacecraft. Consequently, arbitrary reorientation of the spacecraft can be accomplished using this discontinuous feedback control strategy.
A significant amount of both qualitative and quantitative information about structures can be derived from the elastic-rigid structural coupling matrices, and from the effective modal inertias and masses. Typical finite-element analysis programs do not provide this information as part of the regular output. This report presents an easy way to develop the necessary information from ordinary program output, and shows how to deal with alternative origins for the reference coordinate system.
The attitude stabilization of a rigid spacecraft using control torques supplied by gas jet actuators about only two of its principal axes is considered. First, the case where the uncontrolled principal axis of the spacecraft is not an axis of symmetry is considered. In this case, the complete spacecraft dynamics are small time locally controllable. However, the spacecraft cannot be asymptotically stabilized to an equilibrium attitude using time-invariant continuous feedback. A discontinuous stabilizing feedback control strategy is constructed which stabilizes the spacecraft to an equilibrium attitude. Next, the case where the uncontrolled principal axis of the spacecraft is an axis of symmetry is considered. In this case, the complete spacecraft dynamics are not even accessible. However, the spacecraft dynamics are strongly accessible and small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized to an equilibrium attitude using time-invariant continuous feedback, but again a discontinuous stabilizing feedback control strategy is constructed. In both cases, the discontinuous feedback controllers are constructed by switching between one of several feedback functions.
The following are presented: the experimental procedure and the results that have been performed to determine the axial rigidity of the strut-node joint; and the method for modifying a simple testing machine to make it capable of performing more accurate tests over a specific load range and able to accept larger test assemblies.
Our calculations of the upper cutoff primary rigidity (Rc), applicable to the solar diurnal anisotropy, have been extended to cover the declining phase of the solar activity cycle 21. The calculated values of Rc now encompass a complete solar magnetic cycle (1965-1987). We found that the values of Rc were very large for the 1982-1985 period, almost twice as large as those observed previously for the periods of maximum solar activity. The largest value occurred in 1983. Also, the value obtained at the solar activity minimum year of 1986 was about twice as large as that obtained in 1965. Our results are compared with those reported by others.
A discrete momentum-conserving explicit time integration is presented. The accurate feature and simplicity of the present algorithm are realized by a mid-point implicit formula for integrating the Euler parameters and a second-order discrete momentum-conserving form of the central difference algorithm, respectively. The accuracy and robustness of the algorithm is demonstrated by example problems which exhibit large overall rigid motions under holonomic constraints.
For molecular crystals, a procedure is proposed for interpreting experimentally determined atomic mean square anisotropic displacement parameters (ADPs) in terms of the overall molecular vibration together with internal vibrations with the assumption that the molecule consists of a set of linked rigid segments. The internal librations (molecular torsional or bending modes) are described using the variable internal coordinates of the segmented body. With this procedure, the experimental ADPs obtained from crystal structure determinations involving six small molecules (sym-trinitrobenzene, adenosine, tetra-cyanoquinodimethane, benzamide, alpha-cyanoacetic acid hydrazide and N-acetyl-L-tryptophan methylamide) have been analyzed. As a consequence, vibrational corrections to the bond lengths and angles of the molecule are calculated as well as the frequencies and force constants for each internal torsional or bending vibration.
The near-wall region plays an essential role in turbulent boundary layers: it is a region of high shear; the peak rate of production and peak intensity of turbulence occurs there; and the peak rate of dissipation occurs right at the wall. Nevertheless, this region has received less attention from modelers than have more nearly homogeneous flows. One reason for this is that when the boundary layer is near equilibrium, experimental data can be used to prescribe the flow in the wall layer. Another reason is that most turbulence models are developed under assumptions of near homogeneity. This is a poor approximation in the wall region. A single-point moment closure model for the strongly non-homogeneous A turbulent flow near a rigid boundary is developed.
This thesis presents the method of moment distribution modified to include the effect of axial load upon the bending moments. This modification makes it possible to analyze accurately complex structures, such as rigid fuselage trusses, that heretofore had to be analyzed by approximate formulas and empirical rules. The method is simple enough to be practicable even for complex structures, and it gives a means of analysis for continuous beams that is simpler than the extended three-moment equation now in common use. When the effect of axial load is included, it is found that the basic principles of moment distribution remain unchanged, the only difference being that the factors used, instead of being constants for a given member, become functions of the axial load. Formulas have been developed for these factors, and curves plotted so that their applications requires no more work than moment distribution without axial load. Simple problems have been included to illustrate the use of the curves.