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NASA NTRS1987

Finite element analysis of steady and transiently moving/rolling nonlinear viscoelastic structure. II - Shell and three-dimensional simulations

In a three-part series of papers, a generalized finite element solution strategy is developed to handle traveling load problems in rolling, moving and rotating structure. The main thrust of this section consists of the development of three-dimensional and shell type moving elements. In conjunction with this work, a compatible three-dimensional contact strategy is also developed. Based on these modeling capabilities, extensive analytical and experimental benchmarking is presented. Such testing includes traveling loads in rotating structure as well as low- and high-speed rolling contact involving standing wave-type response behavior. These point to the excellent modeling capabilities of moving element strategies.

Kennedy, Ronald↗

NASA NTRS1980

Finite elements for contact problems in two-dimensional elastodynamics

A finite element approach for contact problems in two dimensional elastodynamics was proposed. Sticking, sliding, and frictional contact were taken into account. The method consisted of a modification of the shape functions, in the contact region, in order to involve the nodes of the contacting body. The formulation was symmetric (both bodies were contactors and targets), in order to avoid interpenetration. Compatibility over the interfaces was satisfied. The method was applied to the impact of a block on a rigid target. It is shown that the formulation can be applied to fluid structure interaction, and to problems involving material nonlinearity.

Zimmermann, T. K.↗

NASA NTRS1996

Free-Surface and Contact Line Motion of Liquid in Microgravity

This project involves fundamental studies of the role of nonlinearity in determining the motion of liquid masses under the principal influences of surface tension, viscosity and inertia. Issues to be explored are relevant to aspects of terrestrial processes, as well as being immediately applicable to fluid management in a low-gravity environment. Specific issues include: (1) the mechanic's of liquid masses in large-amplitude motions, (2) the influence of bounding surfaces on the motion, and (3) the ability of such surfaces to control liquid motion by wetting forces, especially when they are augmented by various surface treatments. Mathematical techniques include asymptotic analysis of the governing equations, for problem simplification, and numerical simulation, using both boundary-element and finite-difference methods. The flow problem is divided into an 'outer' or inviscid potential-flow region and one or more inner, or viscous dominated, regions. Relevant to one inner region, the vicinity of the contact line, we discuss time-dependent simulation of slow droplet motion, on a surface of variable wettability, using the lubrication approximation. The simulation uses a disjoining pressure model and reproduces realistic wetting-dewetting behavior.

Schwartz, Leonard W.↗

NASA NTRS1986

A simple nonlinear joint model

Hertzian contact theory is applied to a butt joint with specially mismatched bearing surfaces to devise a simple mathematical model of nonlinear axial force-displacement behavior in jointed members. Normalized tangent stiffness-force plots, for several values of a joint imperfection parameter, are presented for the sample case of solid structural members of circular section. The results illustrate the potential problem of high joint compliance at low axial-force levels, as well as the generally desirable stiffening and linearizing effects of preload. A nonlinear oscillator problem based on the static model is also formulated and solved to illustrate the effect of amplitude on natural frequency. As expected, natural frequency is low when amplitude is small. The results call attention to the important roles that tight tolerances and preload are expected to play in the design and fabrication of deployable and erectable truss-type space structures.

Fichter, W. B.↗

NASA NTRS1995

Reduction technique for tire contact problems

A reduction technique and a computational procedure are presented for predicting the tire contact response and evaluating the sensitivity coefficients of the different response quantities. The sensitivity coefficients measure the sensitivity of the contact response to variations in the geometric and material parameters of the tire. The tire is modeled using a two-dimensional laminated anisotropic shell theory with the effects of variation in geometric and material parameters, transverse shear deformation, and geometric nonlinearities included. The contact conditions are incorporated into the formulation by using a perturbed Lagrangian approach with the fundamental unknowns consisting of the stress resultants, the generalized displacements, and the Lagrange multipliers associated with the contact conditions. The elemental arrays are obtained by using a modified two-field, mixed variational principle. For the application of the reduction technique, the tire finite element model is partitioned into two regions. The first region consists of the nodes that are likely to come in contact with the pavement, and the second region includes all the remaining nodes. The reduction technique is used to significantly reduce the degrees of freedom in the second region. The effectiveness of the computational procedure is demonstrated by a numerical example of the frictionless contact response of the space shuttle nose-gear tire, inflated and pressed against a rigid flat surface.

Noor, Ahmed K.↗

NASA NTRS1995

Advances in reduction techniques for tire contact problems

Some recent developments in reduction techniques, as applied to predicting the tire contact response and evaluating the sensitivity coefficients of the different response quantities, are reviewed. The sensitivity coefficients measure the sensitivity of the contact response to variations in the geometric and material parameters of the tire. The tire is modeled using a two-dimensional laminated anisotropic shell theory with the effects of variation in geometric and material parameters, transverse shear deformation, and geometric nonlinearities included. The contact conditions are incorporated into the formulation by using a perturbed Lagrangian approach with the fundamental unknowns consisting of the stress resultants, the generalized displacements, and the Lagrange multipliers associated with the contact conditions. The elemental arrays are obtained by using a modified two-field, mixed variational principle. For the application of reduction techniques, the tire finite element model is partitioned into two regions. The first region consists of the nodes that are likely to come in contact with the pavement, and the second region includes all the remaining nodes. The reduction technique is used to significantly reduce the degrees of freedom in the second region. The effectiveness of the computational procedure is demonstrated by a numerical example of the frictionless contact response of the space shuttle nose-gear tire, inflated and pressed against a rigid flat surface. Also, the research topics which have high potential for enhancing the effectiveness of reduction techniques are outlined.

Noor, Ahmed K.↗

NASA NTRS1989

Contact solution algorithms

Two algorithms for obtaining static contact solutions are described in this presentation. Although they were derived for contact problems involving specific structures (a tire and a solid rubber cylinder), they are sufficiently general to be applied to other shell-of-revolution and solid-body contact problems. The shell-of-revolution contact algorithm is a method of obtaining a point load influence coefficient matrix for the portion of shell surface that is expected to carry a contact load. If the shell is sufficiently linear with respect to contact loading, a single influence coefficient matrix can be used to obtain a good approximation of the contact pressure distribution. Otherwise, the matrix will be updated to reflect nonlinear load-deflection behavior. The solid-body contact algorithm utilizes a Lagrange multiplier to include the contact constraint in a potential energy functional. The solution is found by applying the principle of minimum potential energy. The Lagrange multiplier is identified as the contact load resultant for a specific deflection. At present, only frictionless contact solutions have been obtained with these algorithms. A sliding tread element has been developed to calculate friction shear force in the contact region of the rolling shell-of-revolution tire model.

Tielking, John T.↗

NASA NTRS1995

Load transfer in the stiffener-to-skin joints of a pressurized fuselage

Structural analyses are developed to determine the linear elastic and the geometrically nonlinear elastic response of an internally pressurized, orthogonally stiffened, composite material cylindrical shell. The configuration is a long circular cylindrical shell stiffened on the inside by a regular arrangement of identical stringers and identical rings. Periodicity permits the analysis of a unit cell model consisting of a portion of the shell wall centered over one stringer-ring joint. The stringer-ring-shell joint is modeled in an idealized manner; the stiffeners are mathematically permitted to pass through one another without contact, but do interact indirectly through their mutual contact with the shell at the joint. Discrete beams models of the stiffeners include a stringer with a symmetrical cross section and a ring with either a symmetrical or an asymmetrical open section. Mathematical formulations presented for the linear response include the effect of transverse shear deformations and the effect of warping of the ring's cross section due to torsion. These effects are important when the ring has an asymmetrical cross section because the loss of symmetry in the problem results in torsion and out-of-plane bending of the ring, and a concomitant rotation of the joint at the stiffener intersection about the circumferential axis. Data from a composite material crown panel typical of a large transport fuselage structure are used for two numerical examples. Although the inclusion of geometric nonlinearity reduces the 'pillowing' of the shell, it is found that bending is localized to a narrow region near the stiffener. Including warping deformation of the ring into the analysis changes the sense of the joint rotation. Transverse shear deformation models result in increased joint flexibility.

Johnson, Eric R.↗

NASA NTRS1993

Explicit solution techniques for impact with contact constraints

Modern military aircraft transparency systems, windshields and canopies, are complex systems which must meet a large and rapidly growing number of requirements. Many of these transparency system requirements are conflicting, presenting difficult balances which must be achieved. One example of a challenging requirements balance or trade is shaping for stealth versus aircrew vision. The large number of requirements involved may be grouped in a variety of areas including man-machine interface; structural integration with the airframe; combat hazards; environmental exposures; and supportability. Some individual requirements by themselves pose very difficult, severely nonlinear analysis problems. One such complex problem is that associated with the dynamic structural response resulting from high energy bird impact. An improved analytical capability for soft-body impact simulation was developed.

Mccarty, Robert E.↗

NASA NTRS1980

Nonlinear transient analysis by energy minimization: A theoretical basis for the ACTION computer code

The formulation basis for establishing the static or dynamic equilibrium configurations of finite element models of structures which may behave in the nonlinear range are provided. With both geometric and time independent material nonlinearities included, the development is restricted to simple one and two dimensional finite elements which are regarded as being the basic elements for modeling full aircraft-like structures under crash conditions. Representations of a rigid link and an impenetrable contact plane are added to the deformation model so that any number of nodes of the finite element model may be connected by a rigid link or may contact the plane. Equilibrium configurations are derived as the stationary conditions of a potential function of the generalized nodal variables of the model. Minimization of the nonlinear potential function is achieved by using the best current variable metric update formula for use in unconstrained minimization. Powell's conjugate gradient algorithm, which offers very low storage requirements at some slight increase in the total number of calculations, is the other alternative algorithm to be used for extremely large scale problems.

Kamat, M. P.↗

NASA NTRS2003

Finite-Element Methods for Real-Time Simulation of Surgery

Two finite-element methods have been developed for mathematical modeling of the time-dependent behaviors of deformable objects and, more specifically, the mechanical responses of soft tissues and organs in contact with surgical tools. These methods may afford the computational efficiency needed to satisfy the requirement to obtain computational results in real time for simulating surgical procedures as described in Simulation System for Training in Laparoscopic Surgery (NPO-21192) on page 31 in this issue of NASA Tech Briefs. Simulation of the behavior of soft tissue in real time is a challenging problem because of the complexity of soft-tissue mechanics. The responses of soft tissues are characterized by nonlinearities and by spatial inhomogeneities and rate and time dependences of material properties. Finite-element methods seem promising for integrating these characteristics of tissues into computational models of organs, but they demand much central-processing-unit (CPU) time and memory, and the demand increases with the number of nodes and degrees of freedom in a given finite-element model. Hence, as finite-element models become more realistic, it becomes more difficult to compute solutions in real time. In both of the present methods, one uses approximate mathematical models trading some accuracy for computational efficiency and thereby increasing the feasibility of attaining real-time up36 NASA Tech Briefs, October 2003 date rates. The first of these methods is based on modal analysis. In this method, one reduces the number of differential equations by selecting only the most significant vibration modes of an object (typically, a suitable number of the lowest-frequency modes) for computing deformations of the object in response to applied forces.

Basdogan, Cagatay↗

NASA NTRS2012

Determining Wheel-Soil Interaction Loads Using a Meshfree Finite Element Approach Assisting Future Missions with Rover Wheel Design

A wheel experiencing sinkage and slippage events poses a high risk to rover missions as evidenced by recent mobility challenges on the Mars Exploration Rover (MER) project. Because several factors contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc., there are significant benefits to modeling these events to a sufficient degree of complexity. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree finite element approaches enable simulations that capture sufficient detail of wheel-soil interaction while remaining computationally feasible. This study demonstrates some of the large deformation modeling capability of meshfree methods and the realistic solutions obtained by accounting for the soil material properties. A benchmark wheel-soil interaction problem is developed and analyzed using a specific class of meshfree methods called Reproducing Kernel Particle Method (RKPM). The benchmark problem is also analyzed using a commercially available finite element approach with Lagrangian meshing for comparison. RKPM results are comparable to classical pressure-sinkage terramechanics relationships proposed by Bekker-Wong. Pending experimental calibration by future work, the meshfree modeling technique will be a viable simulation tool for trade studies assisting rover wheel design.

Contreras, Michael T.↗

NASA NTRS1993

A global approach to kinematic path planning to robots with holonomic and nonholonomic constraints

Robots in applications may be subject to holonomic or nonholonomic constraints. Examples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Examples of nonholonomic constraints include no-slip constraints on mobile robot wheels, local normal rotation constraints for soft finger and rolling contacts in grasping, and conservation of angular momentum of in-orbit space robots. The above examples all involve equality constraints; in applications, there are usually additional inequality constraints such as robot joint limits, self collision and environment collision avoidance constraints, steering angle constraints in mobile robots, etc. The problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types is addressed. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima.

Divelbiss, Adam↗

NASA NTRS1989

Analytical and computational models of shells; Proceedings of the Symposium, ASME Winter Annual Meeting, San Francisco, CA, Dec. 10-15, 1989

Topics presented include asymptotic analysis and computation for shells, the edge effects in the Reissner-Mindlin plate theory, nonlinear problems of geometrically exact shell theories, and developments in variational methods for high performance plate and shell elements. Also presented are an assumed strain solid element model for geometrically nonlinear shell analysis, shell finite elements with six degrees of freedom per node, hierarchic plate and shell models based on p-extension, and a simple shell element formulation for large-scale elastoplastic analysis. Also discussed are the assessment of computational models for multilayered composite cylinders, shell models for impact analysis, analysis of shell structures subjected to contact-impacts, and the application of shell theory to cardiac mechanics.

Noor, Ahmed K.↗

NASA NTRS1993

Computational mechanics needs study

In order to assess the needs in computational mechanics over the next decade, we formulated a questionnaire and contacted computational mechanics researchers and users in industry, government, and academia. As expected, we found a wide variety of computational mechanics usage and research. This report outlines the activity discussed with those contacts, as well as that in our own organizations. It should be noted that most of the contacts were made before the recent decline of the defense industry. Therefore, areas which are strongly defense-oriented may decrease in relative importance. In order to facilitate updating of this study, names of a few key researchers in each area are included as starting points for future literature surveys. These lists of names are not intended to represent those persons doing the best research in that area, nor are they intended to be comprehensive. They are, as previously stated, offered as starting points for future literature searches. Overall, there is currently a broad activity in computational mechanics in this country, with the breadth and depth increasing as more sophisticated software and faster computers become more available. The needs and desires of the workers in this field are as diverse as their background and organizational products. There seems to be some degree of software development in any organization (although the level of activity is highly variable from one organization to another) which has any research component in its mission. It seems, however, that there is considerable use of commercial software in almost all organizations. In most industrial research organizations, it appears that very little actual software development is contracted out, but that most is done in-house, using a mixture of funding sources. Government agencies vary widely in the ratio of in-house to out-house ratio. There is a considerable amount of experimental verification in most, but not all, organizations. Generally, the amount of experimental verification is more than we expected. Of all the survey contacts, one or two believe that the resources they are allocated are sufficient, but most do not. Some believe they have only half the resources they need. Some see their resource deficits as short-term, while others see it as a trend which will continue or perhaps worsen. The pessimism is stronger in the defense and aerospace industry. When considering only the nonlinear development efforts, there appears to be an even mix of geometric and material nonlinearity. There is not much particular emphasis in linear analysis unless it is in extension of current analysis capabilities to larger problems. The primary exception is concern about modeling of composites, where proven methodologies have trailed element and computer hardware development. Most of the people we spoke to use finite element techniques, but there is some finite difference and boundary element work ongoing. There is also some interest in multiple methods. Coupling of finite elements and boundary elements appears to be of high interest, since the two analysis types are complementary.

Griffin, O. Hayden, Jr.↗

NASA NTRS2003

Nonlinear Gulf Stream Interaction with the Deep Western Boundary Current System: Observations and a Numerical Simulation

Gulf Stream (GS) separation near its observed Cape Hatteras (CH) separation location, and its ensuing path and dynamics, is a challenging ocean modeling problem. If a model GS separates much farther north than CH, then northward GS meanders, which pinch off warm core eddies (rings), are not possible or are strongly constrained by the Grand Banks shelfbreak. Cold core rings pinch off the southward GS meanders. The rings are often re-absorbed by the GS. The important warm core rings enhance heat exchange and, especially, affect the northern GS branch after GS bifurcation near the New England Seamount Chain. This northern branch gains heat by contact with the southern branch water upstream of bifurcation, and warms the Arctic Ocean and northern seas, thus playing a major role in ice dynamics, thermohaline circulation and possible global climate warming. These rings transport heat northward between the separated GS and shelf slope/Deep Western Boundary Current system (DWBC). This region has nearly level time mean isopycnals. The eddy heat transport convergence/divergence enhances the shelfbreak and GS front intensities and thus also increases watermass transformation. The fronts are maintained by warm advection by the Florida Current and cool advection by the DWBC. Thus, the GS interaction with the DWBC through the intermediate eddy field is climatologically important.

Dietrich, David E.↗

NASA NTRS1986

Delamination growth in composite materials

The Double Cantilever Beam (DCB) and the End Notched Flexure (ENF) specimens are employed to characterize MODE I and MODE II interlaminar fracture resistance of graphite/epoxy (CYCOM 982) and graphite/PEEK (APC2) composites. Sizing of test specimen geometries to achieve crack growth in the linear elastic regime is presented. Data reduction schemes based upon beam theory are derived for the ENF specimen and include the effects of shear deformation and friction between crack surfaces on compliance, C, and strain energy release rate, G sub II. Finite element (FE) analyses of the ENF geometry including the contact problem with friction are presented to assess the accuracy of beam theory expressions for C and G sub II. Virtual crack closure techniques verify that the ENF specimen is a pure Mode II test. Beam theory expressions are shown to be conservative by 20 to 40 percent for typical unidirectional test specimen geometries. A FE parametric study investigating the influence of delamination length and depth, span, thickness and material properties on G sub II is presented. Mode I and II interlaminar fracture test results are presented. Important experimental parameters are isolated, such as precracking techniques, rate effects, and nonlinear load-deflection response. It is found that subcritical crack growth and inelastic materials behavior, responsible for the observed nonlinearities, are highly rate-dependent phenomena with high rates generally leading to linear elastic response.

Gillespie, J. W., Jr.↗

NASA NTRS1989

Mixed formulation for frictionless contact problems

Simple mixed finite element models and a computational precedure are presented for the solution of frictionless contact problems. The analytical formulation is based on a form of Reissner's large rotation theory of the structure with the effects of transverse shear deformation included. The contact conditions are incorporated into the formulation by using a perturbed Lagrangian approach with the fundamental unknowns consisting of the internal forces (stress resultants), the generalized displacements, and the Lagrange multipliers associated with the contact conditions. The element characteristic array are obtained by using a modified form of the two-field Hellinger-Reissner mixed variational principle. The internal forces and the Lagrange multipliers are allowed to be discontinuous at interelement boundaries. The Newton-Raphson iterative scheme is used for the solution of the nonlinear algebraic equations, and the determination of the contact area and the contact pressures.

Noor, Ahmed K.↗