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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 NTRS1985

Exterior dimension of fat fractals

Geometric scaling properties of fat fractal sets (fractals with finite volume) are discussed and characterized via the introduction of a new dimension-like quantity which is called the exterior dimension. In addition, it is shown that the exterior dimension is related to the 'uncertainty exponent' previously used in studies of fractal basin boundaries, and it is shown how this connection can be exploited to determine the exterior dimension. Three illustrative applications are described, two in nonlinear dynamics and one dealing with blood flow in the body. Possible relevance to porous materials and ballistic driven aggregation is also noted.

Grebogi, C.↗
NASA NTRS1985

Sudden stratospheric warmings as catastrophes

The sudden stratospheric warming (SSW) process is qualitatively studied using a conceptual and numerical approach guided by catastrophe theory. A simple example of a catastrophe taken from nonlinear dynamics is given, and results from previous modelling studies of SSW are interpreted in light of catastrophe theory. Properties of this theory such as hysteresis, cusp, and triggering essential to SSW are numerically demonstrated using the truncated quasi-geostrophic beta-plane model of Holton and Mass (1976). A qualitative explanation of the transition from the steady regime to the vacillation regime is given for the Holton and Mass model in terms of the topographically induced barotropic Rossby wave instability. Some implications for the simulation and prediction of SSW are discussed.

Chao, W. C.↗
NASA NTRS1985

Parameter identification for a robotic manipulator arm

The development is described of a nonlinear dynamic model for large oscillations of a robotic manipulator arm about a single joint. Optimization routines are formulated and implemented for the identification of electrical and physical parameters from dynamic data taken from an industrial robot arm. Special attention is given to the role of sensitivity in the formulation of robust models of this motion. The importance of actuator effects in the reduction of sensitivity is established and used to develop an electromechanical model of the manipulator system.

Brewer, D. W.↗
NASA NTRS1985

Bifurcation theory applied to aircraft motions

The bifurcation theory is used to analyze the nonlinear dynamic stability characteristics of single-degree-of-freedom motions of an aircraft or a flap about a trim position. The bifurcation theory analysis reveals that when the bifurcation parameter, e.g., the angle of attack, is increased beyond a critical value at which the aerodynamic damping vanishes, a new solution representing finite-amplitude periodic motion bifurcates from the previously stable steady motion. The sign of a simple criterion, cast in terms of aerodynamic properties, determines whether the bifurcating solution is stable (supercritical) or unstable (critical). For the pitching motion of a flap-plate airfoil flying at supersonic/hypersonic speed, and for oscillation of a flap at transonic speed, the bifurcation is subcritical, implying either that exchanges of stability between steady and periodic motion are accompanied by hysteresis phenomena, or that potentially large aperiodic departures from steady motion may develop. On the other hand, for the rolling oscillation of a slender delta wing in subsonic flight (wing rock), the bifurcation is found to be supercritical. This and the predicted amplitude of the bifurcation periodic motion are in good agreement with the experiments.

Hui, W. H.↗
NASA NTRS1986

Using PCDS to study the influence of UV flux variation on the middle atmosphere

The value of the Pilot Climate Data System (PCDS) in examining the influences of short-period solar flux variations on the middle atmosphere was demonstrated. Several Nimbus satellite data sets proposed for the study exist in the PCDS. Planned for retrieval through the PCDS are ozone mixing ratios and cumulative ozone profiles available from the Backscatter Ultraviolet Spectrophotometer on Nimbus-4. Also to be accessed are Nimbus-7 data sets that will provide ozone and nitrogen dioxide mixing ratios, temperature profiles from the Limb Infrared Monitor of the Stratosphere, and ozone mixing ratio profiles from the Solar Backscatter Ultraviolet Spectrophotometer. Bypassing the time-consuming process of reading raw data tapes, the researchers plan to transfer the PCDS processed data to an IBM PC at Iowa State University. The IBM PC will serve as an intermediate vehicle for transferring the data to the NOAA CYBER 840 at Boulder, Colorado, where research will continue on both an eight-layer radiative-photochemical numerical model and on a nonlinear dynamical model. in this research are the FGGE and ERB data sets. These relevant data sets also reside in the PCDS. Problems associated with remote access to the PCDS were discussed in regard to all the PCDS data sets.

Heilman, W.↗
NASA NTRS1986

Robust detection, isolation and accommodation for sensor failures

The objective is to extend the recent advances in robust control system design of multivariable systems to sensor failure detection, isolation, and accommodation (DIA), and estimator design. This effort provides analysis tools to quantify the trade-off between performance robustness and DIA sensitivity, which are to be used to achieve higher levels of performance robustness for given levels of DIA sensitivity. An innovations-based DIA scheme is used. Estimators, which depend upon a model of the process and process inputs and outputs, are used to generate these innovations. Thresholds used to determine failure detection are computed based on bounds on modeling errors, noise properties, and the class of failures. The applicability of the newly developed tools are demonstrated on a multivariable aircraft turbojet engine example. A new concept call the threshold selector was developed. It represents a significant and innovative tool for the analysis and synthesis of DiA algorithms. The estimators were made robust by introduction of an internal model and by frequency shaping. The internal mode provides asymptotically unbiased filter estimates.The incorporation of frequency shaping of the Linear Quadratic Gaussian cost functional modifies the estimator design to make it suitable for sensor failure DIA. The results are compared with previous studies which used thresholds that were selcted empirically. Comparison of these two techniques on a nonlinear dynamic engine simulation shows improved performance of the new method compared to previous techniques

Emami-Naeini, A.↗
NASA NTRS1985

Errors in reduction methods

A mathematical basis is given for comparing the relative merits of various techniques used to reduce the order of large linear and nonlinear dynamics problems during their numerical integration. In such techniques as Guyan-Irons, path derivatives, selected eigenvectors, Ritz vectors, etc., the nth order initial value problem of /y(dot) = f(y) for t greater than 0, y(0) given/ is typically reduced to the mth order (m is much less than n) problem of /z(dot) = g(z) for t greater than 0, z(0) given/ by the transformation y = Pz where P changes from technique to technique. This paper gives an explicit approximate expression for the reduction error e-i in terms of P and the Jacobian of f. It is shown that: (a) reduction techniques are more accurate when the time rate of change of the response y is relatively small; (b) the change in response between two successive stations contributes to the errors at future stations after the change in response is transformed by a filtering matrix H, defined in terms of P; (c) the error committed at a station propagates to future stations by a mixing and scaling matrix G, defined in terms of P, Jacobian and of f, and time increment h. The paper discusses the conditions under which the reduction errors may be minimized and gives guidelines for selecting the reduction basis vector, i.e., the columns of P.

Utku, S.↗
NASA NTRS1986

Determination of lift and drag characteristics of Space Shuttle Orbiter using maximum likelihood estimation technique

This paper presents the technique and results of maximum likelihood estimation used to determine lift and drag characteristics of the Space Shuttle Orbiter. Maximum likelihood estimation uses measurable parameters to estimate nonmeasurable parameters. The nonmeasurable parameters for this case are elements of a nonlinear, dynamic model of the orbiter. The estimated parameters are used to evaluate a cost function that computes the differences between the measured and estimated longitudinal parameters. The case presented is a dynamic analysis. This places less restriction on pitching motion and can provide additional information about the orbiter such as lift and drag characteristics at conditions other than trim, instrument biases, and pitching moment characteristics. In addition, an output of the analysis is an estimate of the values for the individual components of lift and drag that contribute to the total lift and drag. The results show that maximum likelihood estimation is a useful tool for analysis of Space Shuttle Orbiter performance and is also applicable to parameter analysis of other types of aircraft.

Trujillo, B. M.↗
NASA NTRS1987

Position Control for Non-linear, Multiple-Link Robots

Several approaches to complicated control problem examined. Report surveys methods for controlling motion of robot manipulators. Applies to coupled, highly nonlinear multiple-link robots. Presents adaptive control technique based on discrete linear model of robot arm, obtained by linearizing nonlinear dynamical equations about nominal trajectory. Parameters of model calculated with adaptive parameter-identification algorithm. Based on system model, optimal control input computed using position and velocity feedback.

Seraji, H.↗
NASA NTRS1986

Physics through the 1990s: Condensed-matter physics

The volume presents the current status of condensed-matter physics from developments since the 1970s to opportunities in the 1990s. Topics include electronic structure, vibrational properties, critical phenomena and phase transitions, magnetism, semiconductors, defects and diffusion, surfaces and interfaces, low-temperature physics, liquid-state physics, polymers, nonlinear dynamics, instabilities, and chaos. Appendices cover the connections between condensed-matter physics and applications of national interest, new experimental techniques and materials, laser spectroscopy, and national facilities for condensed-matter physics research. The needs of the research community regarding support for individual researchers and for national facilities are presented, as are recommendations for improved government-academic-industrial relations.

Source record↗
NASA NTRS1987

The role of three-dimensional shapes in the break-up of charged drops

The nonlinear dynamics of nonaxisymmetric inviscid charged conducting drops near the Rayleigh charge limit (R = 4) is investigated analytically. It is shown that only axisymmetric spheroid drops bifurcate from the sphere family when the charge is increased, that oblate spheroids at R greater than 4 are unstable to nonaxisymmetric disturbances governing drop breakup, and that prolate spheroids at R less than 4 are unstable only to axisymmetric disturbances tending to increase the length of the drop along its symmetry axis. The effects of external electric fields and rigid-body rotation are also analyzed, and the solutions for the amplitude equations at R just less than 4 (equivalent to the dynamical equations of the Henon-Heiles Hamiltonian) are explored.

Natarajan, R.↗
NASA NTRS1988

Parameter identification and sensitivity analysis for a robotic manipulator arm

The development of a nonlinear dynamic model for large oscillations of a robotic manipulator arm about a single joint is described. Optimization routines are formulated and implemented for the identification of electrical and physical parameters from dynamic data taken from an industrial robot arm. Special attention is given to difficulties caused by the large sensitivity of the model with respect to unknown parameters. Performance of the parameter identification algorithm is improved by choosing a control input that allows actuator emf to be included in an electro-mechanical model of the manipulator system.

Brewer, D. W.↗
NASA NTRS1987

Evolution of the axial electron cyclotron maser instability, with applications to solar microwave spikes

The nonlinear evolution of cyclotron radiation from streaming and gyrating electrons in an external magnetic field is analyzed. The nonlinear dynamics of both the fields and the particles are treated fully relativistically and self-consistently. The model includes a background plasma and electrostatic effects. The analytical and numerical results show that a substantial portion of the beam particle energy can be converted to electromagnetic wave energy at frequencies far above the electron cyclotron frequency. In general, the excited radiation can propagate parallel to the magnetic field and, hence, escape gyrothermal absorption at higher cyclotron harmonics. The high-frequency Doppler-shifted cyclotron instability can have saturation efficiencies far higher than those associated with well-known instabilities of the electron cyclotron maser type. Although the analysis is general, the possibility of using this model to explain the intense radio emission observed from the sun is explored in detail.

Vlahos, Loukas↗
NASA NTRS1987

Deterministic representation of chaos with application to turbulence

Chaotic motions of nonlinear dynamical systems are decomposed into mean components and fluctuations. The approach is based upon the concept that the fluctuations driven by the instability of the original (unperturbed) motion grow until a new stable state is approached. The Reynolds-type equations written for continuous as well as for finite-degrees-of-freedom dynamical systems are closed by using this stabilization principle. The theory is applied to conservative systems, to strange attractors and to turbulent motions.

Zak, M.↗
NASA NTRS1988

New class of control laws for robotic manipulators. I - Nonadaptive case. II - Adaptive case

A new class of exponentially stabilizing control laws for joint level control of robot arms is discussed. Closed-loop exponential stability has been demonstrated for both the set point and tracking control problems by a slight modification of the energy Lyapunov function and the use of a lemma which handles third-order terms in the Lyapunov function derivatives. In the second part, these control laws are adapted in a simple fashion to achieve asymptotically stable adaptive control. The analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and uses a parameterization based on physical (time-invariant) quantities.

Wen, John T.↗
NASA NTRS1987

Symbolic modeling of flexible manipulators

An algorithm is presented to symbolically derive the full nonlinear dynamic equations of motion of multilink flexible manipulators. Lagrange's assumed modes method is the basis of new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is applied to model a two-link flexible arm by means of a commercially available symbolic manipulation program. The advantages of the algorithm and simulation results are discussed.

Cetinkunt, Sabri↗
NASA NTRS1988

Performance of lightweight manipulators under joint variable feedback control - Analytical study of limitations

The performance limitations of joint-variable-feedback-controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite-dimensional time-domain manipulator model is used in the study. Fine-motion analysis results agree very well with the previously reported results of infinite-dimensional frequency-domain models. The limitations of a class of adaptive controllers in high-speed gross motion control are studied. Manipulation speeds are quantified as low, medium, or high with reference to the arm flexibility and dynamic nonlinearities.

Cetinkunt, Sabri↗
NASA NTRS1988

The robust application of computed torque control to manipulators subject to saturation

A technique is presented which allows use of an exact linearization (EL) control for robot manipulators for those cases when actuator saturation cannot be ignored. A modification of a nonlinear dynamic compensation technique that has been successfully used in the feedback amplifiers is applied to a case of a nonredundant manipulator. Computer simulation for a two-link planar robot arm illustrates the advantages of the modified computed torque technique compared to the traditional linear full state control.

Lokshin, Anatole↗