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NASA NTRS1987

Software simulation of time delay in teleoperation

Research done in the Space Robotics Laboratory at the University of Atlanta at Huntsville on the effects of time delay on teleoperation is discussed. The laboratory is configured around a Puma 562 robot with 6 degrees of freedom. A custom designed joystick controller with two joysticks, each with three degrees of freedom, is used to control the robot. These joysticks are connected to the robot controller through an analog to digital interface. Joystick calibration, a computer program called Joystick, and the VAL 2 robot control language are discussed.

Goode, K. Wayne↗

NASA NTRS1989

Time evolution from linear to nonlinear stages in magnetohydrodynamic parametric instabilities

The nonlinear evolution of the magnetohydrodynamic (MHD) parametric instability of wave fluctuations propagating along an unperturbed magnetic field is investigated. Both a magnetohydrodynamic perturbation-theoretical approach and a nonlinear MHD simulation are used. It is shown that high harmonic waves are rapidly excited by wave-wave coupling, and that the wave spectrum evolves from a state containing a small number of degrees of freedom in k space to one which contains a large number of degrees of freedom. It is found that the spectral evolution prior to nonlinear saturation is well described by the prturbation theory. During this stage, the ratio of the growth rate of the nth harmonic wave to the linear growth rate of the fundamental wave is n. The nonlinear saturation stage is characterized by a frequency shift of the fundamental wave that destroys the wave-wave resonance condition which, in turn, causes the wave amplitude to cease its growth.

Hoshino, M.↗

NASA NTRS1992

The large-angle magnetic suspension test fixture

As part of a NASA effort to develop the technology and techniques required to demonstrate the magnetic suspension of objects over wide ranges of attitudes, a small-scale demonstration project was undertaken. The objectives here are to suspend a cylindrical element containing a permanent magnet core, to demonstrate stability and control in five degrees-of-freedom, and to permit controlled rotation of the model in one degree-of-freedom over the full range of 360 deg. Further constraints are that all suspension and control electromagnets are to be behind a flat plane, located some distance from the model. Since this is a ground-based experiment and in order to maintain generality, the plane is chosen to be horizontal with the model levitated above the plane by repulsive forces.

Britcher, Colin P.↗

NASA NTRS1995

Nozzle Flow with Vibrational Nonequilibrium

Flow of nitrogen gas through a converging-diverging nozzle is simulated. The flow is modeled using the Navier-Stokes equations that have been modified for vibrational nonequilibrium. The energy equation is replaced by two equations. One equation accounts for energy effects due to the translational and rotational degrees of freedom, and the other accounts for the affects due to the vibrational degree of freedom. The energy equations are coupled by a relaxation time which measures the time required for the vibrational energy component to equilibrate with the translational and rotational energy components. An improved relaxation time is used in this thesis. The equations are solved numerically using the Steger-Warming flux vector splitting method and the Implicit MacCormack method. The results show that uniform flow is produced outside of the boundary layer. Nonequilibrium exists in both the converging and diverging nozzle sections. The boundary layer region is characterized by a marked increase in translational-rotational temperature. The vibrational temperature remains frozen downstream of the nozzle, except in the boundary layer.

Landry, John Gary↗

NASA NTRS2011

JWST Wavefront Control Toolbox

A Matlab-based toolbox has been developed for the wavefront control and optimization of segmented optical surfaces to correct for possible misalignments of James Webb Space Telescope (JWST) using influence functions. The toolbox employs both iterative and non-iterative methods to converge to an optimal solution by minimizing the cost function. The toolbox could be used in either of constrained and unconstrained optimizations. The control process involves 1 to 7 degrees-of-freedom perturbations per segment of primary mirror in addition to the 5 degrees of freedom of secondary mirror. The toolbox consists of a series of Matlab/Simulink functions and modules, developed based on a "wrapper" approach, that handles the interface and data flow between existing commercial optical modeling software packages such as Zemax and Code V. The limitations of the algorithm are dictated by the constraints of the moving parts in the mirrors.

Shin, Shahram Ron↗

NASA NTRS2012

Cumulative Measurement Errors for Dynamic Testing of Space Flight Hardware

Located at the NASA Johnson Space Center in Houston, TX, the Six-Degree-of-Freedom Dynamic Test System (SDTS) is a real-time, six degree-of-freedom, short range motion base simulator originally designed to simulate the relative dynamics of two bodies in space mating together (i.e., docking or berthing). The SDTS has the capability to test full scale docking and berthing systems utilizing a two body dynamic docking simulation for docking operations and a Space Station Remote Manipulator System (SSRMS) simulation for berthing operations. The SDTS can also be used for nonmating applications such as sensors and instruments evaluations requiring proximity or short range motion operations. The motion base is a hydraulic powered Stewart platform, capable of supporting a 3,500 lb payload with a positional accuracy of 0.03 inches. The SDTS is currently being used for the NASA Docking System testing and has been also used by other government agencies. The SDTS is also under consideration for use by commercial companies. Examples of tests include the verification of on-orbit robotic inspection systems, space vehicle assembly procedures and docking/berthing systems. The facility integrates a dynamic simulation of on-orbit spacecraft mating or de-mating using flight-like mechanical interface hardware. A force moment sensor is used for input during the contact phase, thus simulating the contact dynamics. While the verification of flight hardware presents unique challenges, one particular area of interest involves the use of external measurement systems to ensure accurate feedback of dynamic contact. The measurement systems for the test facility have two separate functions. The first is to take static measurements of facility and test hardware to determine both the static and moving frames used in the simulation and control system. The test hardware must be measured after each configuration change to determine both sets of reference frames. The second function is to take dynamic measurements during hardware motion and contact. While performing dynamic testing of an active docking system, researchers found that the data from the motion platform, test hardware and two external measurement systems exhibited frame offsets and rotational errors. While the errors were relatively small when considering the motion scale overall, they substantially exceeded the individual accuracies for each component. After evaluating both the static and dynamic measurements, researchers found that the static measurements introduced significantly more error into the system than the dynamic measurements even though, in theory, the static measurement errors should be smaller than the dynamic. In several cases, the magnitude of the errors varied widely for the static measurements. Upon further investigation, researchers found the larger errors to be a consequence of hardware alignment issues, frame location and measurement technique whereas the smaller errors were dependent on the number of measurement points. This paper details and quantifies the individual and cumulative errors of the docking system and describes methods for reducing the overall measurement error. The overall quality of the dynamic docking tests for flight hardware verification was improved by implementing these error reductions.

Winnitoy, Susan↗

NASA NTRS1990

Suspension systems for ground testing large space structures

A research program is documented for the development of improved suspension techniques for ground vibration testing of large, flexible space structures. The suspension system must support the weight of the structure and simultaneously allow simulation of the unconstrained rigid-body movement as in the space environment. Exploratory analytical and experimental studies were conducted for suspension systems designed to provide minimum vertical, horizontal, and rotational degrees of freedom. The effects of active feedback control added to the passive system were also investigated. An experimental suspension apparatus was designed, fabricated, and tested. This test apparatus included a zero spring rate mechanism (ZSRM) designed to support a range of weights from 50 to 300 lbs and provide vertical suspension mode frequencies less than 0.1 Hz. The lateral suspension consisted of a pendulum suspended from a moving cart (linear bearing) which served to increase the effective length of the pendulum. The torsion suspension concept involved dual pendulum cables attached from above to a pivoting support (bicycle wheel). A simple test structure having variable weight and stiffness characteristics was used to simulate the vibration characteristics of a large space structure. The suspension hardware for the individual degrees of freedom was analyzed and tested separately and then combined to achieve a 3 degree of freedom suspension system. Results from the exploratory studies should provide useful guidelines for the development of future suspension systems for ground vibration testing of large space structures.

Gold, Ronald R.↗

DOE OSTI2025

Conservative Spin-Magnitude Change in Orbital Evolution in General Relativity

We show that physical scattering observables for compact spinning objects in general relativity can depend on additional degrees of freedom in the spin tensor beyond those described by the spin vector alone. The impulse, spin kick, and leading-order waveforms exhibit such a nontrivial dependence. A signal of this additional structure is the change in the magnitude of the spin vector under conservative Hamiltonian evolution, similar to our previous studies in electrodynamics. These additional degrees of freedom describe dynamical mass multipoles of compact objects and decouple for black holes. We also show that the conservative impulse, spin kick, and change of the additional degrees of freedom are encoded in the eikonal phase.

Classical black holes↗

NASA NTRS1990

Development of a sensor coordinated kinematic model for neural network controller training

A robotic benchmark problem useful for evaluating alternative neural network controllers is presented. Specifically, it derives two camera models and the kinematic equations of a multiple degree of freedom manipulator whose end effector is under observation. The mapping developed include forward and inverse translations from binocular images to 3-D target position and the inverse kinematics of mapping point positions into manipulator commands in joint space. Implementation is detailed for a three degree of freedom manipulator with one revolute joint at the base and two prismatic joints on the arms. The example is restricted to operate within a unit cube with arm links of 0.6 and 0.4 units respectively. The development is presented in the context of more complex simulations and a logical path for extension of the benchmark to higher degree of freedom manipulators is presented.

Jorgensen, Charles C.↗

NASA NTRS2016

Further Development and Assessment of a Broadband Liner Optimization Process

The utilization of advanced fan designs (including higher bypass ratios) and shorter engine nacelles has highlighted a need for increased fan noise reduction over a broader frequency range. Thus, improved broadband liner designs must account for these constraints and, where applicable, take advantage of advanced manufacturing techniques that have opened new possibilities for novel configurations. This work focuses on the use of an established broadband acoustic liner optimization process to design a variable-depth, multi-degree of freedom liner for a high speed fan. Specifically, in-duct attenuation predictions with a statistical source model are used to obtain optimum impedance spectra over the conditions of interest. The predicted optimum impedance information is then used with acoustic liner modeling tools to design a liner aimed at producing impedance spectra that most closely match the predicted optimum values. The multi-degree of freedom design is carried through design, fabrication, and testing. In-duct attenuation predictions compare well with measured data and the multi-degree of freedom liner is shown to outperform a more conventional liner over a range of flow conditions. These promising results provide further confidence in the design tool, as well as the enhancements made to the overall design process.

Nark, Douglas M.↗

NASA NTRS1994

Stiffness-generated rigid-body mode shapes for Lanczos eigensolution with SUPORT DOF by way of a MSC/NASTRAN DMAP alter

When using all MSC/NASTRAN eigensolution methods except Lanczos, the analyst can replace the coupled system rigid-body modes calculated within DMAP module READ with mass orthogonalized and normalized rigid-body modes generated from the system stiffness. This option is invoked by defining MSC/NASTRAN r-set degrees of freedom via the SUPORT bulk data card. The newly calculated modes are required if the rigid-body modes calculated by the eigensolver are not 'clean' due to numerical roundoffs in the solution. When performing transient structural dynamic load analysis, the numerical roundoffs can result in inaccurate rigid-body accelerations which affect steady-state responses. Unfortunately, when using the Lanczos method and defining r-set degrees of freedom, the rigid-body modes calculated within DMAP module REIGL are retained. To overcome this limitation and to allow MSC/NASTRAN to handle SUPORT degrees of freedom identically for all eigensolvers, a DMAP Alter has been written which replaces Lanczos-calculated rigid-body modes with stiffness-generated rigid-body modes. The newly generated rigid-body modes are normalized with respect to the system mass and orthogonalized using the Gram-Schmidt technique. This algorithm has been implemented as an enhancement to an existing coupled loads methodology.

Abdallah, Ayman A.↗

NASA NTRS2019

System, Apparatus and Method for Pedal Control

An apparatus, method, and system for controlling motion in six degrees of freedom is described. The apparatus includes a support structure, a first pedal and a second pedal. A first set of three independent articulating mechanisms is operatively connected to the support structure and the first pedal. The first set of three independent articulating mechanisms, in combination, enable motion of the first pedal in three control axes corresponding to three discrete degrees of freedom. A second set of three independent articulating mechanisms, operatively connected to the second pedal, enable motion, in combination, in three control axes corresponding to a discrete second set of three degrees of freedom. The apparatus may also include first and second sensors configured to detect the motion of the first and second pedals.

Love, Stanley G.↗

NASA NTRS1993

Issac, Jason Cherian ses in transonic flow

Flutter analysis of a two degree of freedom airfoil in compressible flow is performed using a state-space representation of the unsteady aerodynamic behavior. Indicial response functions are used to represent the normal force and moment response of the airfoil. The structural equations of motion of the airfoil with bending and torsional degrees of freedom are coupled to the unsteady air loads and the aeroelastic system so modelled is solved as an eigenvalue problem to determine the stability. The aeroelastic equations are also directly integrated with respect to time and the time-domain results compared with the results from the eigenanalysis. A good agreement is obtained. The derivatives of the flutter speed obtained from the eigenanalysis are calculated with respect to the mass and stiffness parameters by both analytical and finite-difference methods for various transonic Mach numbers. The experience gained from the two degree of freedom model is applied to study the sensitivity of the flutter response of a wing with respect to various shape parameters. The parameters being considered are as follows: (1) aspect ratio; (2) surface area of the wing; (3) taper ratio; and (4) sweep. The wing deflections are represented by Chebyshev polynomials. The compressible aerodynamic state-space model used for the airfoil section is extended to represent the unsteady aerodynamic forces on a generally laminated tapered skewed wing. The aeroelastic equations are solved as an eigenvalue problem to determine the flutter speed of the wing. The derivatives of the flutter speed with respect to the shape parameters are calculated by both analytical and finite difference methods.

Issac, Jason Cherion↗

DOE OSTI2023

Lattice instability and magnetic phase transitions in strongly correlated MnAs

Using variable temperature x-ray total scattering in magnetic field, we study the interaction between lattice and magnetic degrees of freedom in MnAs, which loses its ferromagnetic order and hexagonal ('H') lattice symmetry at 318 K to recover the latter and become a true paramagnet when the temperature is increased to 400 K. Our results show that the 318 K transition is accompanied by highly anisotropic displacements of Mn atoms that appear as a lattice degree of freedom bridging the 'H' and orthorhombic phases of MnAs. This is a rare example of a lowering of an average crystal symmetry due to an increased displacive disorder emerging on heating. Furthermore, our results also show that magnetic and lattice degrees of freedom appear coupled but not necessarily equivalent control variables for triggering phase transitions in strongly correlated systems in general and in particular in MnAs.

36 MATERIALS SCIENCE↗

DOE OSTI2020

Solving gyrokinetic systems with higher-order time dependence

We discuss theoretical and numerical aspects of gyrokinetics as a Lagrangian field theory when the field perturbation is introduced into the symplectic part. A consequence is that the field equations and particle equations of motion in general depend on the time derivatives of the field. The most well-known example is when the parallel vector potential is introduced as a perturbation, where a time derivative of the field arises only in the equations of motion, so an explicit equation for the fields may still be written. We will consider the conceptually more problematic case where the time-dependent fields appear in both the field equations and equations of motion, but where the additional term in the field equations is formally small. The conceptual issues were described by Burby (J. Plasma Phys., vol. 82 (3), 2016, 905820304): these terms lead to apparent additional degrees of freedom to the problem, so that the electric field now requires an initial condition, which is not required in low-frequency (Darwin) Vlasov–Maxwell equations. Also, the small terms in the Euler–Lagrange equations are a singular perturbation, and these two issues are interlinked. For well-behaved problems the apparent additional degrees of freedom are spurious, and the physically relevant solution may be directly identified. Because we needed to assume that the system is well behaved for small perturbations when deriving gyrokinetic theory, we must continue to assume that when solving it, and the physical solutions are thus the regular ones. The spurious nature of the singular degrees of freedom may also be seen by changing coordinate systems so the varying field appears only in the Hamiltonian. We then describe how methods appropriate for singular perturbation theory may be used to solve these asymptotic equations numerically. We then describe a proof-of-principle implementation of these methods for an electrostatic strong-flow gyrokinetic system; two basic test cases are presented to illustrate code functionality.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2023

Soliton formation and topology manipulation of coupled spins via ultrafast re-magnetization

The major goal of the project was to explore the properties of magnetic order driven far out of equilibrium by optical excitations. These include fundamental questions related to the interplay of magnetic, structural and electronic degrees of freedom in materials that are optically excited. These problems break down in short term quenching of the magnetization as a results of the energy of the optical pulse studying how the energy of the optical pulse and the angular momentum of the magnetization flow between the different degrees of freedom. This is followed by the longer time re-emergence of the magnetism as the system cools. Within this goal we explored the formation of solitons, both with and without non-trivial topology, via rapid re-magnetization processes after optical-driven ultrafast demagnetization. Guided by theory, we predict that turbulence and modulational instabilities will drive the formation of solitons, including dispersive shock waves, magnon droplets, and skyrmions. In the case of topological defect formation, i.e. skyrmion generation, related processes have long been predicted based on general principles of symmetry-breaking phase transitions; the density of topological defects in a long-range-ordered phase can be controlled by varying the quench rate through the second-order phase transition, i.e. the Kibble-Zurek (KZ) mechanism. We, more broadly, had the goal to study a range of other emergent magnetic behaviors after optical excitation. While great attention has been given to ultrafast demagnetization, less is known of the subsequent spin dynamics and coupling to the lattice. What is increasingly appreciated is that ultrafast demagnetization leads to spin currents that can carry angular momentum from the rapidly demagnetized sample. These spin currents appear in many ways but fundamentally controls demagnetization, drives interactions between regions of the material, and control the spin resulting structure. They can be probed many ways including THz emission which, in turn, gives insight into the demagnetization processes. Simultaneously if there is magneto-elastic coupling ultrafast demagnetization can drive structural excitations that are not expected from thermal energy added to the lattice. We explored a range of complex phenomena that arise from photo-excitation of magnetic systems with the coupling of electronic, magnetic and structural degrees of freedom. We have made a number of fundamental discoveries that are reflected in our publications list with additional work still being prepared for publication. Highlights of this work include (i) ultra-efficient, nonlinear THz surface acoustics (ii) spin-current-mediated rapid magnon localization and coalescence, (iii) spin-wave soliton formation in ferromagnetic FePt nanoparticles, (iv) dynamic phonon coupling in elemental antiferromagnetic Cr, (v) THz emission from Co/Pt bilayers and FeRh/Pt bilayers, (vi) theoretical investigation of spin hydrodynamics, solitons and shock waves, and (vii) ultrafast perturbation of magnetic domains by optical pumping.

36 MATERIALS SCIENCE↗

NASA NTRS1997

Computational Issues in Damping Identification for Large Scale Problems

Two damping identification methods are tested for efficiency in large-scale applications. One is an iterative routine, and the other a least squares method. Numerical simulations have been performed on multiple degree-of-freedom models to test the effectiveness of the algorithm and the usefulness of parallel computation for the problems. High Performance Fortran is used to parallelize the algorithm. Tests were performed using the IBM-SP2 at NASA Ames Research Center. The least squares method tested incurs high communication costs, which reduces the benefit of high performance computing. This method's memory requirement grows at a very rapid rate meaning that larger problems can quickly exceed available computer memory. The iterative method's memory requirement grows at a much slower pace and is able to handle problems with 500+ degrees of freedom on a single processor. This method benefits from parallelization, and significant speedup can he seen for problems of 100+ degrees-of-freedom.

Pilkey, Deborah L.↗

NASA NTRS1986

Analysis of separation of a two-stage winged launch vehicle

The feasibility of separating a two-stage winged, parallel configured launch vehicle at Mach 3 has been determined. The two-stage fully-reusable launch vehicle is comprised of an orbiter, which can be used alone as a single-stage-to-orbit vehicle, and a booster which is identical to the baseline orbiter design. A three-degree-of-freedom analysis was conducted on the ascent trajectory of the two-stage concept to determine the optimum staging conditions. The booster provides all propellant for both stages using a crossfeed system until staging occurs. After staging, the empty booster glides back to the launch site for a horizontal landing. To analyze the separation maneuver, the six-degree-of-freedom equations of motion for both stages were numerically integrated using a computer program which incorporates analytically derived interference aerodynamic data. The necessary conditions for a successful separation were determined and required the use of active controls on both the orbiter and booster. Once the booster and orbiter were separated, a three-degree-of-freedom analysis was conducted on the booster's glideback trajectory.

Naftel, J. C.↗