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The underlying mathematical formulation and issues associated with integrated control, structure, and optical design are discussed. Topics addressed include the development of cost functionals, optimization in the vector objective setting, and computational aspects of the optimization problem with special emphasis on model reduction strategies. Results on simple design problems are presented.
Semiautonomous rover vehicle serves as testbed for evaluation of navigation and obstacle-avoidance techniques. Designed to traverse variety of terrains. Concepts developed applicable to robots for service in dangerous environments as well as to robots for exploration of remote planets. Called Robby, vehicle 4 m long and 2 m wide, with six 1-m-diameter wheels. Mass of 1,200 kg and surmounts obstacles as large as 1 1/2 m. Optimized for development of machine-vision-based strategies and equipped with complement of vision and direction sensors and image-processing computers. Front and rear cabs steer and roll with respect to centerline of vehicle. Vehicle also pivots about central axle, so wheels comply with almost any terrain.
This paper focuses on the use of High Performance Fortran (HPF) for important classes of algorithms employed in aerospace applications. HPF is a set of Fortran extensions designed to provide users with a high-level interface for programming data parallel scientific applications, while delegating to the compiler/runtime system the task of generating explicitly parallel message-passing programs. We begin by providing a short overview of the HPF language. This is followed by a detailed discussion of the efficient use of HPF for applications involving multiple structured grids such as multiblock and adaptive mesh refinement (AMR) codes as well as unstructured grid codes. We focus on the data structures and computational structures used in these codes and on the high-level strategies that can be expressed in HPF to optimally exploit the parallelism in these algorithms.
Melt processing of RE123 superconductors has gained importance in recent years. While the first high temperature superconductors (HTSCs) were made using traditional ceramic press and sinter technology, recent fabrication efforts have employed alternate processing techniques including laser ablation and ion beam assisted deposition for thin film fabrication of tapes and wires and melt growth for bulk materials. To optimize these techniques and identify other potential processing strategies, phase relation studies on HTSCs have been conducted on a wide variety of superconducting compounds using numerous processing strategies. This data has enhanced the understanding of these complex systems and allowed more accurate modeling of phase interactions. All of this research has proved useful in identifying processing capabilities for HTSCs but has failed to achieve a breakthrough for wide spread application of these materials. This study examines the role of full to partial substitution of Nd in the Y123 structure under rapid solidification conditions. Aero-acoustic levitation (AAL) was used to levitate and undercool RE123 in pure oxygen binary alloys with RE = Nd an Y along a range of compositions corresponding to Y(x)Nd(1-x) Ba2Cu3O(7-delta) (0 = or < x < or = 0.7) which were melted by a CO2 laser. Higher Y content spheres could not be melted in the AAL and were excluded from this report. Solidification structures were examined using scanning electron microscopy, electron dispersive spectroscopy, and powder x-ray diffraction to characterize microstructures and identify phases.
Product Distribution (PD) theory is the information-theoretic extension of conventional full- rationality game theory to bounded rational games. Here PD theory is used to investigate games in which the players use bounded rational best-response strategies. This investigation illuminates how to determine the optimal organization chart for a corporation, or more generally how to order the sequence of moves of the players / employees so as to optimize an overall objective function. It is then shown that in the continuum-time limit, bounded rational best response games result in a variant of the replicator dynamics of evolutionary game theory. This variant is then investigated for team games, in which the players share the same utility function, by showing that such continuum- limit bounded rational best response is identical to Newton-Raphson iterative optimization of the shared utility function. Next PD theory is used to investigate changing the coordinate system of the game, i.e., changing the mapping from the joint move of the players to the arguments in the utility functions. Such a change couples those arguments, essentially by making each players move be an offered binding contract.
Understanding the atmospheric state and its impact on air quality requires observations of trace gases, aerosols, clouds, and physical parameters across temporal and spatial scales that range from minutes to days and from meters to more than 10,000 kilometers. Observations include continuous local monitoring for particle formation; field campaigns for emissions, local transport, and chemistry; and periodic global measurements for continental transport and chemistry. Understanding includes global data assimilation framework capable of hierarchical coupling, dynamic integration of chemical data and atmospheric models, and feedback loops between models and observations. The objective of the sensor-web system is to observe trace gases, aerosols, clouds, and physical parameters, an integrated observation infrastructure composed of space-borne, air-borne, and in-situ sensors will be simulated based on their measurement physics properties. The objective of the sensor-web operation is to optimally plan for heterogeneous multiple sensors, the sampling strategies will be explored and science impact will be analyzed based on comprehensive modeling of atmospheric phenomena including convection, transport, and chemical process. Topics include system architecture, software architecture, hardware architecture, process flow, technology infusion, challenges, and future direction.
Great progress has been made in both micromechanical resonators and micro-optical resonators over the past decade, and a new field has recently emerged combining these mechanical and optical systems. In such optomechanical systems, the two resonators are strongly coupled with one influencing the other, and their interaction can yield detectable optical signals that are highly sensitive to the mechanical motion. A particularly high-Q optical system is the whispering gallery mode (WGM) resonator, which has many applications ranging from stable oscillators to inertial sensor devices. There is, however, limited coupling between the optical mode and the resonator s external environment. In order to overcome this limitation, a novel type of optomechanical sensor has been developed, offering great potential for measurements of displacement, acceleration, and mass sensitivity. The proposed hybrid device combines the advantages of all-solid optical WGM resonators with high-quality micro-machined cantilevers. For direct access to the WGM inside the resonator, the idea is to radially cut precise gaps into the perimeter, fabricating a mechanical resonator within the WGM. Also, a strategy to reduce losses has been developed with optimized design of the cantilever geometry and positions of gap surfaces.
This paper presents the results of a NASA Innovative Advanced Concept (NIAC) Phase 2 study entitled "An Innovative Solution to NASA's Near-Earth Object (NEO) Impact Threat Mitigation Grand Challenge and Flight Validation Mission Architecture Development." This NIAC Phase 2 study was conducted at the Asteroid Deflection Research Center (ADRC) of Iowa State University in 2012-2014. The study objective was to develop an innovative yet practically implementable mitigation strategy for the most probable impact threat of an asteroid or comet with short warning time (< 5 years). The mitigation strategy described in this paper is intended to optimally reduce the severity and catastrophic damage of the NEO impact event, especially when we don't have sufficient warning times for non-disruptive deflection of a hazardous NEO. This paper provides an executive summary of the NIAC Phase 2 study results. Detailed technical descriptions of the study results are provided in a separate final technical report, which can be downloaded from the ADRC website (www.adrc.iastate.edu).
The Lunar Landing Research Vehicles (LLRVs) and the Lunar Landing Training Vehicles (LLTVs) provided astronaut candidates for the Apollo program with essential experience and confidence required to complete the missions, and contributed to six successful manned landings on the moon. The primary challenge in terrestrial training was being able to replicate the ratio of bank angle to linear acceleration that a pilot would experience in lunar gravity. Presently, as the Artemis program seeks to return humans to the Moon by 2025, engineers are evaluating suitable platforms to serve as an In-Flight Trainer (IFT) or Artemis Lunar Training Vehicle (ALTV) for astronauts training in the task of manual landing. The program is investigating the viability of current technology in the field of electric vertical takeoff and landing (eVTOL) vehicles and is evaluating using a multi tilt-rotor aircraft platform as a candidate platform for a preliminary ALTV. The tilt-rotor capability enables the vehicle attitude to be decoupled from its flight path, which is a crucial requirement in realistically simulating lunar gravity on Earth. Other key considerations include compensating for a lack of aerodynamic forces while flying through the atmosphere of Earth, as well as the ability to simulate the dynamics of multiple different lander designs for the Human Landing System (HLS) program. This paper details the feasibility study and presents a preliminary flight control architecture for an IFT based on a notional multi tilt-rotor platform. The modeling-following control law, based on nonlinear dynamic inversion (NDI), removes the need for gain scheduling because the vehicle operates across a wide range of flight conditions. The inner-loop dynamic control allocation strategy consists of a static portion that is optimized offline for trim while compensating for the difference in gravity and a dynamic portion that is computed in real time. The reference model consists of the full closed-loop dynamics of a generic HLS design. The modularity of the flight control architecture enables evaluation of multiple HLS concepts with minimal modifications to the control law. Simulation results of the multi tilt-rotor configuration following the final portion of the Apollo 11 descent trajectory are shown.
The Lunar Landing Research Vehicles (LLRVs) and the Lunar Landing Training Vehicles (LLTVs) provided astronauts of the Apollo program with essential experience and confidence required to complete the missions, and contributed to six successful manned landings on the moon. The primary challenge in terrestrial training was being able to replicate the ratio of tilt angle to linear acceleration that a pilot would experience in lunar gravity. Presently, as the Artemis program seeks to return humans to the Moon by 2025, engineers are evaluating suitable platforms to serve as an In-Flight Trainer (IFT) or Artemis Lunar Training Vehicle (ALTV) for astronauts training in the task of manual landing. The program is investigating the viability of current technology in the field of electric vertical takeoff and landing (eVTOL) vehicles and is evaluating using a multi-tilt-rotor aircraft platform as a candidate for a preliminary ALTV. The tilt-rotor capability enables the vehicle attitude to be decoupled from its flight path, which is a crucial requirement in realistically simulating lunar gravity on Earth. Other key considerations include compensating for a lack of aerodynamic forces while flying through the atmosphere of Earth, as well as the ability to simulate the dynamics of multiple different lander designs for the Human Landing System (HLS) program. This paper details the feasibility study and presents a preliminary flight control architecture for an IFT based on a notional multi-tilt-rotor platform. The model-following control law, based on nonlinear dynamic inversion (NDI), removes the need for gain scheduling. The inner-loop dynamic control allocation strategy consists of a static portion that is optimized offline for trim while compensating for the difference in gravity and a dynamic portion that is computed in real time. The reference model consists of the full closed-loop dynamics of a generic HLS design. The modularity of the flight control architecture enables evaluation of multiple HLS concepts with minimal modifications to the control law. Simulation results of the multi-tilt-rotor configuration following the final portion of the Apollo 11 descent trajectory are shown.
Of central importance to grasp synthesis algorithms are the assumptions made about the object to be grasped and the sensory information that is available. Many approaches avoid the issue of sensing entirely by assuming that complete information is available. In contrast, this paper proposes an approach to grasp synthesis expressed in terms of units of control that simultaneously change the contact configuration and sense information about the object and the relative manipulator-object pose. These units of control, known as contact relative motions (CRMs), allow the grasp synthesis problem to be recast as an optimal control problem where the goal is to find a strategy for executing CRMs that leads to a grasp in the shortest number of steps. An experiment is described that uses Robonaut, the NASA-JSC space humanoid, to show that CRMs are a viable means of synthesizing grasps. However, because of the limited amount of information that a single CRM can sense, the optimal control problem may be partially observable. This paper proposes expressing the problem as a k-order Markov Decision Process (MDP) and solving it using Reinforcement Learning. This approach is tested in a simulation of a two-contact manipulator that learns to grasp an object. Grasp strategies learned in simulation are tested on the physical Robonaut platform and found to lead to grasp configurations consistently.
Hybrid turbulence modeling strategies that blend between large-eddy simulation and Reynolds-averaged Navier-Stokes promise to make optimal use of the available grid resolution. A delayed detached eddy simulation hybrid turbulence modeling strategy, based on the shear-stress transport turbulence model, was implemented into a finite-volume compressible Navier-Stokes code. Then the flow through a two-dimensional periodic hill channel was simulated. This geometry is a widely accepted benchmark test case for validating hybrid turbulence modeling strategies. The computational grid for the simulation was downloaded from a hybrid turbulence model validation website. The present hybrid turbulence model simulation predicts the size of the separated flow region as well as velocity and Reynolds stress profiles in good agreement with large-eddy simulation reference data.
The problem of structural optimization of helicopter rotor blades with integrated dynamic and aerodynamic design considerations is addressed. Results of recent optimization work on rotor blades for minimum weight with constraints on multiple coupled natural flap-lag frequencies, blade autorotational inertia and centrifugal stress has been reviewed. A strategy has been defined for the ongoing activities in the integrated dynamic/aerodynamic optimization of rotor blades. As a first step, the integrated dynamic/airload optimization problem has been formulated. To calculate system sensitivity derivatives necessary for the optimization recently developed, Global Sensitivity Equations (GSE) are being investigated. A need for multiple objective functions for the integrated optimization problem has been demonstrated and various techniques for solving the multiple objective function optimization are being investigated. The method called the Global Criteria Approach has been applied to a test problem with the blade in vacuum and the blade weight and the centrifugal stress as the multiple objectives. The results indicate that the method is quite effective in solving optimization problems with conflicting objective functions.
The problem of structural optimization of helicopter rotor blades with integrated dynamic and aerodynamic design considerations is addressed. Results of recent optimization work on rotor blades for minimum weight with constraints on multiple coupled natural flap-lag frequencies, blade autorotational inertia and centrifugal stress has been reviewed. A strategy has been defined for the ongoing activities in the integrated dynamic/aerodynamic optimization of rotor blades. As a first step, the integrated dynamic/airload optimization problem has been formulated. To calculate system sensitivity derivatives necessary for the optimization recently developed, Global Sensitivity Equations (GSE) are being investigated. A need for multiple objective functions for the integrated optimization problem has been demonstrated and various techniques for solving the multiple objective function optimization are being investigated. The method called the Global Criteria Approach has been applied to a test problem with the blade in vacuum and the blade weight and the centrifugal stress as the multiple objectives. The results indicate that the method is quite effective in solving optimization problems with conflicting objective functions.
While the reverberation mapping technique is the best available method for measuring black hole mass in active galactic nuclei (AGNs) beyond the local volume, this method has been mainly applied to relatively low-to-moderate luminosity AGNs at low redshift. We present the strategy of the Seoul National University AGN Monitoring Project, which aims at measuring the time delay of the H line emission with respect to AGN continuum, using a sample of relatively high luminosity AGNs out to redshift z ∼ 0.5. We present simulated cross correlation results based on a number of mock light curves, in order to optimally determine monitoring duration and cadence. We describe our campaign strategy based on the simulation results and the availability of observing facilities. We present the sample selection, and the properties of the selected 100 AGNs, including the optical luminosity, expected time lag, black hole mass, and Eddington ratio.
This project was concerned with three related questions of an optimal design of a climate observing system: 1. The spatial sampling characteristics required from an ARGO system. 2. The degree to which surface observations from ARGO can be used to calibrate and test satellite remote sensing observations of sea surface salinity (SSS) as it is anticipated now. 3. The more general design of an climate observing system as it is required in the near future for CLIVAR in the Atlantic. An important question in implementing an observing system is that of the sampling density required to observe climate-related variations in the ocean. For that purpose this project was concerned with the sampling requirements for the ARGO float system, but investigated also other elements of a climate observing system. As part of this project we studied the horizontal and vertical sampling characteristics of a global ARGO system which is required to make it fully complementary to altimeter data with the goal to capture climate related variations on large spatial scales (less thanAttachment: 1000 km). We addressed this question in the framework of a numerical model study in the North Atlantic with an 1/6 horizontal resolution. The advantage of a numerical design study is the knowledge of the full model state. Sampled by a synthetic float array, model results will therefore allow to test and improve existing deployment strategies with the goal to make the system as optimal and cost-efficient as possible. Attachment: "Optimal observations for variational data assimilation".
An aerodynamic design optimization procedure that is based on a evolutionary algorithm known at Differential Evolution is described. Differential Evolution is a simple, fast, and robust evolutionary strategy that has been proven effective in determining the global optimum for several difficult optimization problems, including highly nonlinear systems with discontinuities and multiple local optima. The method is combined with a Navier-Stokes solver that evaluates the various intermediate designs and provides inputs to the optimization procedure. An efficient constraint handling mechanism is also incorporated. Results are presented for the inverse design of a turbine airfoil from a modern jet engine and compared to earlier methods. The capability of the method to search large design spaces and obtain the optimal airfoils in an automatic fashion is demonstrated. Substantial reductions in the overall computing time requirements are achieved by using the algorithm in conjunction with neural networks.
An aerodynamic design optimization procedure that is based on a evolutionary algorithm known at Differential Evolution is described. Differential Evolution is a simple, fast, and robust evolutionary strategy that has been proven effective in determining the global optimum for several difficult optimization problems, including highly nonlinear systems with discontinuities and multiple local optima. The method is combined with a Navier-Stokes solver that evaluates the various intermediate designs and provides inputs to the optimization procedure. An efficient constraint handling mechanism is also incorporated. Results are presented for the inverse design of a turbine airfoil from a modern jet engine. The capability of the method to search large design spaces and obtain the optimal airfoils in an automatic fashion is demonstrated. Substantial reductions in the overall computing time requirements are achieved by using the algorithm in conjunction with neural networks.