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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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NASA NTRS1987

A TREETOPS simulation of the Hubble Space Telescope-High Gain Antenna interaction

Virtually any project dealing with the control of a Large Space Structure (LSS) will involve some level of verification by digital computer simulation. While the Hubble Space Telescope might not normally be included in a discussion of LSS, it is presented to highlight a recently developed simulation and analysis program named TREETOPS. TREETOPS provides digital simulation, linearization, and control system interaction of flexible, multibody spacecraft which admit to a point-connected tree topology. The HST application of TREETOPS is intended to familiarize the LSS community with TREETOPS by presenting a user perspective of its key features.

Sharkey, John P.↗

NASA NTRS1987

Notes on implementation of Coulomb friction in coupled dynamical simulations

A coupled dynamical system is defined as an assembly of rigid/flexible bodies that may be coupled by kinematic connections. The interfaces between bodies are modeled using hinges having 0 to 6 degrees of freedom. The equations of motion are presented for a mechanical system of n flexible bodies in a topological tree configuration. The Lagrange form of the D'Alembert principle was employed to derive the equations. The equations of motion are augmented by the kinematic constraint equations. This augmentation is accomplished via the method of singular value decomposition.

Vandervoort, R. J.↗

NASA NTRS1989

Computationally efficient algorithm for the dynamics of multi-link mechanisms

A computationally efficient algorithm for the dynamics of multi-rigid-link mechanisms is presented which is applicable to on-board processing for robotic manipulator control systems. A formulation of the equations of motion for such systems is presented which results in a solution algorithm of the order the number of system degrees of freedom. The formulation is presented for tree topology systems, where the chain topology of typical manipulators is a subset. Comparison of this algorithm is made with existing multibody simulation programs to illustrate the increased computational efficiency.

Singh, R. P.↗

NASA NTRS1989

Spatial operator algebra framework for multibody system dynamics

The Spatial Operator Algebra framework for the dynamics of general multibody systems is described. The use of a spatial operator-based methodology permits the formulation of the dynamical equations of motion of multibody systems in a concise and systematic way. The dynamical equations of progressively more complex grid multibody systems are developed in an evolutionary manner beginning with a serial chain system, followed by a tree topology system and finally, systems with arbitrary closed loops. Operator factorizations and identities are used to develop novel recursive algorithms for the forward dynamics of systems with closed loops. Extensions required to deal with flexible elements are also discussed.

Rodriguez, G.↗

NASA NTRS1989

An order (n) algorithm for the dynamics simulation of robotic systems

The formulation of an Order (n) algorithm for DISCOS (Dynamics Interaction Simulation of Controls and Structures), which is an industry-standard software package for simulation and analysis of flexible multibody systems is presented. For systems involving many bodies, the new Order (n) version of DISCOS is much faster than the current version. Results of the experimental validation of the dynamics software are also presented. The experiment is carried out on a seven-joint robot arm at NASA's Goddard Space Flight Center. The algorithm used in the current version of DISCOS requires the inverse of a matrix whose dimension is equal to the number of constraints in the system. Generally, the number of constraints in a system is roughly proportional to the number of bodies in the system, and matrix inversion requires O(p exp 3) operations, where p is the dimension of the matrix. The current version of DISCOS is therefore considered an Order (n exp 3) algorithm. In contrast, the Order (n) algorithm requires inversion of matrices which are small, and the number of matrices to be inverted increases only linearly with the number of bodies. The newly-developed Order (n) DISCOS is currently capable of handling chain and tree topologies as well as multiple closed loops. Continuing development will extend the capability of the software to deal with typical robotics applications such as put-and-place, multi-arm hand-off and surface sliding.

Chun, H. M.↗

NASA NTRS1989

Recursive Newton-Euler formulation of manipulator dynamics

A recursive Newton-Euler procedure is presented for the formulation and solution of manipulator dynamical equations. The procedure includes rotational and translational joints and a topological tree. This model was verified analytically using a planar two-link manipulator. Also, the model was tested numerically against the Walker-Orin model using the Shuttle Remote Manipulator System data. The hinge accelerations obtained from both models were identical. The computational requirements of the model vary linearly with the number of joints. The computational efficiency of this method exceeds that of Walker-Orin methods. This procedure may be viewed as a considerable generalization of Armstrong's method. A six-by-six formulation is adopted which enhances both the computational efficiency and simplicity of the model.

Nasser, M. G.↗

NASA NTRS1989

Parallel processing environment for multi-flexible body dynamics

The implementation of a dynamics solution algorithm with inherent parallelism which is applicable to the dynamics of large flexible space structures is described. The algorithm is unique in that parts of the solution can be computed simultaneously by working with different branches of its tree topology. The algorithm exhibits close to 0(n) type behavior. The data flow within the solution algorithm is discussed along with results from its implementation in a multiprocessing environment. A model of the United States Space Station is used as an example. The results show that, with fast multiple scalar processors, an efficient algorithm, and symbolically generated equations of motion, real-time performance can be achieved with present-day hardware technology, even with complex dynamical models.

Venugopal, Ravi↗

NASA NTRS1990

A Space Station/Payload Pointing System simulation using TREETOPS

A rigid body model of NASA's Space Station (SS)/Payload Pointing System (PPS) was built and simulated using the multibody, large angle simulation package TREETOPS, whose name refers to the tree-topology class of structures that may be simulated. SS/PPS data from a previous feasibility study utilizing the MultiOptimal Differential Equation language was used as a test case to evaluate the built-in dynamical formulation capabilities of TREETOPS. The simulation results showed close agreement with NASA-Goddard data, demonstrating the validity of the nonlinear, large angle, multi-degree of freedom TREETOPS model.

Ram, Mohan↗

NASA NTRS1990

Simulation of cooperating robot manipulators on a mobile platform

The dynamic equations of motion for two manipulators holding a common object on a freely moving mobile platform are developed. The full dynamic interactions from arms to platform and arm-tip to arm-tip are included in the formulation. The development of the closed chain dynamics allows for the use of any solution for the open topological tree of base and manipulator links. In particular, because the system has 18 degrees of freedom, recursive solutions for the dynamic simulation become more promising for efficient calculations of the motion. Simulation of the system is accomplished through a MATLAB program, and the response is visualized graphically using the SILMA Cimstation.

Murphy, Steve H.↗

NASA NTRS1992

Spatial Operator Algebra for multibody system dynamics

Rodriguez, G.↗

NASA NTRS1992

Physical and digital simulations for IVA robotics

Space based materials processing experiments can be enhanced through the use of IVA robotic systems. A program to determine requirements for the implementation of robotic systems in a microgravity environment and to develop some preliminary concepts for acceleration control of small, lightweight arms has been initiated with the development of physical and digital simulation capabilities. The physical simulation facilities incorporate a robotic workcell containing a Zymark Zymate II robot instrumented for acceleration measurements, which is able to perform materials transfer functions while flying on NASA's KC-135 aircraft during parabolic manuevers to simulate reduced gravity. Measurements of accelerations occurring during the reduced gravity periods will be used to characterize impacts of robotic accelerations in a microgravity environment in space. Digital simulations are being performed with TREETOPS, a NASA developed software package which is used for the dynamic analysis of systems with a tree topology. Extensive use of both simulation tools will enable the design of robotic systems with enhanced acceleration control for use in the space manufacturing environment.

Hinman, Elaine↗

NASA NTRS2007

Newton-Euler Dynamic Equations of Motion for a Multi-body Spacecraft

The Magnetospheric MultiScale (MMS) mission employs a formation of spinning spacecraft with several flexible appendages and thruster-based control. To understand the complex dynamic interaction of thruster actuation, appendage motion, and spin dynamics, each spacecraft is modeled as a tree of rigid bodies connected by spherical or gimballed joints. The method presented facilitates assembling by inspection the exact, nonlinear dynamic equations of motion for a multibody spacecraft suitable for solution by numerical integration. The building block equations are derived by applying Newton's and Euler's equations of motion to an "element" consisting of two bodies and one joint (spherical and gimballed joints are considered separately). Patterns in the "mass" and L'force" matrices guide assembly by inspection of a general N-body tree-topology system. Straightforward linear algebra operations are employed to eliminate extraneous constraint equations, resulting in a minimum-dimension system of equations to solve. This method thus combines a straightforward, easily-extendable, easily-mechanized formulation with an efficient computer implementation.

Stoneking, Eric↗

NASA NTRS2009

Constraint Embedding for Multibody System Dynamics

This paper describes a constraint embedding approach for the handling of local closure constraints in multibody system dynamics. The approach uses spatial operator techniques to eliminate local-loop constraints from the system and effectively convert the system into tree-topology systems. This approach allows the direct derivation of recursive O(N) techniques for solving the system dynamics and avoiding the expensive steps that would otherwise be required for handling the closedchain dynamics. The approach is very effective for systems where the constraints are confined to small-subgraphs within the system topology. The paper provides background on the spatial operator O(N) algorithms, the extensions for handling embedded constraints, and concludes with some examples of such constraints.

Jain, Abhinandan↗

DOE OSTI2020

Multi-Level Optimal Power Flow Solver in Large Distribution Networks: Preprint

Solving optimal power flow (OPF) problem for large distribution networks incurs high computational complexity. We consider a large multi-phase distribution networks of tree topology with deep penetration of active devices. We divide the network into collaborating areas featuring subtree topology and subareas featuring subsubtree topology. We design a multi-level implementation of the primal-dual gradient algorithm for solving the voltage regulation OPF problems while preserving nodal voltage information and topological information within areas and subareas. Numerical results on a 4,521-node system verifies that the proposed algorithm can significantly improve computational speed without compromising any optimality.

41 EE - Solar Energy Technologies Office (EE-4S)↗

DOE OSTI2020

An investigation of irreproducibility in maximum likelihood phylogenetic inference

Phylogenetic trees are essential for studying biology, but their reproducibility under identical parameter settings remains unexplored. Here, we find that 3515 (18.11%) IQ-TREE-inferred and 1813 (9.34%) RAxML-NG-inferred maximum likelihood (ML) gene trees are topologically irreproducible when executing two replicates (Run1 and Run2) for each of 19,414 gene alignments in 15 animal, plant, and fungal phylogenomic datasets. Notably, coalescent-based ASTRAL species phylogenies inferred from Run1 and Run2 sets of individual gene trees are topologically irreproducible for 9/15 phylogenomic datasets, whereas concatenation-based phylogenies inferred twice from the same supermatrix are reproducible. Our simulations further show that irreproducible phylogenies are more likely to be incorrect than reproducible phylogenies. These results suggest that a considerable fraction of single-gene ML trees may be irreproducible. Increasing reproducibility in ML inference will benefit from providing analyses’ log files, which contain typically reported parameters (e.g., program, substitution model, number of tree searches) but also typically unreported ones (e.g., random starting seed number, number of threads, processor type).

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRS1968

Topological formulation of network functions without generation of k-trees.

Linear network analysis by topological formulas for derivation of k-tree terms without generation of k-trees of graph

Chan, S. P.↗

NASA NTRS1987

Design of Software for Design of Finite Element for Structural Analysis

The concepts of software engineering which allow a user of the finite element method to describe a model, to collect and to check the model data in a data base as well as to form the matrices required for a finite element calculation are examined. Next the components of the model description are conceived including the mesh tree, the topology, the configuration, the kinematic boundary conditions, the data for each element, and the loads. The possibilities for description and review of the data are considered. The concept of the segments for the modularization of the programs follows the components of the model description. The significance of the mesh tree as a globular guiding structure will be understood in view of the principle of the unity of the model, the mesh tree, and the data base. The user-friendly aspects of the software system will be summarized: the principle of language communication, the data generators, error processing, and data security.

Helfrich, Reinhard↗

DOE OSTI2024

Distributed Augmentation, Hypersweeps, and Branch Decomposition of Contour Trees for Scientific Exploration

Contour trees describe the topology of level sets in scalar fields and are widely used in topological data analysis and visualization. A main challenge of utilizing contour trees for large-scale scientific data is their computation at scale using highperformance computing. To address this challenge, recent work has introduced distributed hierarchical contour trees for distributed computation and storage of contour trees. However, effective use of these distributed structures in analysis and visualization requires subsequent computation of geometric properties and branch decomposition to support contour extraction and exploration. In this work, we introduce distributed algorithms for augmentation, hypersweeps, and branch decomposition that enable parallel computation of geometric properties, and support the use of distributed contour trees as query structures for scientific exploration. Finally, we evaluate the parallel performance of these algorithms and apply them to identify and extract important contours for scientific visualization.

97 MATHEMATICS AND COMPUTING↗