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A compact differentiation technique (without using indexes) is developed for scalar functions that depend on complex matrix arguments which are combined by operations of complex conjugation, transposition, addition, multiplication, matrix inversion and taking the direct product. The differentiation apparatus is developed in order to simplify the solution of extremum problems of scalar functions of matrix arguments.
Many microgravity space-science experiments require vibratory acceleration levels unachievable without active isolation. The Boeing Corporation's Active Rack Isolation System (ARIS) employs a novel combination of magnetic actuation and mechanical linkages, to address these isolation requirements on the International Space Station (ISS). ARIS provides isolation at the rack (international Standard Payload Rack, or ISPR) level. Effective model-based vibration isolation requires (1) an isolation device, (2) an adequate dynamic (i.e., mathematical) model of that isolator, and (3) a suitable, corresponding controller, ARIS provides the ISS response to the first requirement. In November 1999, the authors presented a response to the second ("A 'Kane's Dynamics' model for the Active Rack Isolation System", Hampton and Beech) intended to facilitate an optimal-controls approach to the third. This paper documents the validation of that high-fidelity dynamic model of ARIS. As before, this model contains the full actuator dynamics, however, the umbilical models are not included in this presentation. The validation of this dynamics model was achieved by utilizing two Commercial Off the Shelf (COTS) software tools: Deneb's ENVISION, and Online Dynamics' AUTOLEV. ENVISION is a robotics software package developed for the automotive industry that employs 3-dimensional (3-D) Computer Aided Design (CAD) models to facilitate both forward and inverse kinematics analyses. AUTOLEV is a DOS based interpreter that is designed in general to solve vector based mathematical problems and specifically to solve Dynamics problems using Kane's method.
Many microgravity space-science experiments require vibratory acceleration levels that are unachievable without active isolation. The Boeing Corporation's active rack isolation system (ARIS) employs a novel combination of magnetic actuation and mechanical linkages to address these isolation requirements on the International Space Station. Effective model-based vibration isolation requires: (1) An isolation device, (2) an adequate dynamic; i.e., mathematical, model of that isolator, and (3) a suitable, corresponding controller. This Technical Memorandum documents the validation of that high-fidelity dynamic model of ARIS. The verification of this dynamics model was achieved by utilizing two commercial off-the-shelf (COTS) software tools: Deneb's ENVISION(registered trademark), and Online Dynamics Autolev(trademark). ENVISION is a robotics software package developed for the automotive industry that employs three-dimensional computer-aided design models to facilitate both forward and inverse kinematics analyses. Autolev is a DOS-based interpreter designed, in general, to solve vector-based mathematical problems and specifically to solve dynamics problems using Kane's method. The simplification of this model was achieved using the small-angle theorem for the joint angle of the ARIS actuators. This simplification has a profound effect on the overall complexity of the closed-form solution while yielding a closed-form solution easily employed using COTS control hardware.
Problems of laminar and turbulent viscous interaction near trailing edges of streamlined bodies are considered. Asymptotic expansions of the Navier-Stokes equations in the limit of large Reynolds numbers are used to describe the local solution near the trailing edge of cusped or nearly cusped airfoils at small angles of attack in compressible flow. A complicated inverse iterative procedure, involving finite-difference solutions of the triple-deck equations coupled with asymptotic solutions of the boundary values, is used to accurately solve the viscous interaction problem. Results are given for the correction to the boundary-layer solution for drag of a finite flat plate at zero angle of attack and for the viscous correction to the lift of an airfoil at incidence. A rational asymptotic theory is developed for treating turbulent interactions near trailing edges and is shown to lead to a multilayer structure of turbulent boundary layers. The flow over most of the boundary layer is described by a Lighthill model of inviscid rotational flow. The main features of the model are discussed and a sample solution for the skin friction is obtained and compared with the data of Schubauer and Klebanoff for a turbulent flow in a moderately large adverse pressure gradient.
Programmable calculator runs simple finite-series approximation for Laplace transform inversions. Utilizing family of orthonormal functions, approximation is used for wide range of transforms, including those encountered in feedback control problems. Method works well as long as F(t) decays to zero as it approaches infinity and so is appliable to most physical systems.
The limb radiance inversion radiometer (LRIR) on Nimbus 6 was the first orbiting infrared limb scanner; it has four channels with which to determine temperature, O3, and H2O in the stratosphere and low mesosphere. The limb infrared monitor of the stratosphere (LIMS) is a similar six-channel instrument which was launched on Nimbus 7 in October 1978 in order to measure O3, H2O, NO2, and HNO3. The instrumentation and inversion techniques are briefly described, and the application of limb scanner data to the study of photochemical, dynamical, and transport problems is discussed.
Earlier studies of the remote sensing of the ozone distribution from satellites in the middle ultraviolet are extended, giving particular attention to the analytic model method. After a brief introduction, the historical background of this subject is presented. This is followed by a summary and review of early work based upon the analytic model. Then a linearized approach to the problem and a linearized equation for a density correction are discussed. These indicate some of the general limitations of the inversion method. Finally the parametrized model approach is reexamined by using both simulated data and some actual satellite data.
Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.
A Kelvin-Helmholtz instability has been identified numerically on an azimuthally symmetric Alfven resonant layer in an axially bounded, straight cylindrical coronal loop. The set of equations is solved numerically as an initial value problem. The linear growth rate of this instability is shown to be approximately proportional to the Alfven driving amplitude and inversely proportional to the width of the Alfven resonant layer. It is also shown that the linear growth rate increases linearly with m - 1 up to a certain m, reaches its maximum value for the mode whose half wavelength is comparable to the Alfven resonant layer width, and decreases at higher azimuthal mode number.
This report provides a scientific assessment of our knowledge concerning the impact of proposed high-speed civil transport (HSCT) aircraft on the atmosphere. It comes at the end of Phase 1 of the Atmospheric Effects of Stratospheric Aircraft element of the NASA High-Speed Research Program. The fundamental problem with stratospheric flight is that pollutant residence times are long because the stratosphere is a region of permanent temperature inversion with stable stratification. Using improved two-dimensional assessment models and detailed fleet emissions scenarios, the assessment examines the possible impact of the range of effluents from aircraft. Emphasis is placed on the effects of NO(x) and H2O on the atmospheric ozone content. Measurements in the plume of an in-flight Concorde supersonic transport indicated a large number of small particles. These measurements, coupled with model sensitivity studies, point out the importance of obtaining a more detailed understanding of the fate of sulfur in the HSCT exhaust. Uncertainties in the current understanding of the processes important for determining the overall effects of HSCT's on the atmosphere are discussed and partially quantified. Research directions are identified to improve the quantification of uncertainties and to reduce their magnitude.
Two efficient mapping algorithms for scheduling the robot inverse dynamics computation consisting of m computational modules with precedence relationship to be executed on a multiprocessor system consisting of p identical homogeneous processors with processor and communication costs to achieve minimum computation time are presented. An objective function is defined in terms of the sum of the processor finishing time and the interprocessor communication time. The minimax optimization is performed on the objective function to obtain the best mapping. This mapping problem can be formulated as a combination of the graph partitioning and the scheduling problems; both have been known to be NP-complete. Thus, to speed up the searching for a solution, two heuristic algorithms were proposed to obtain fast but suboptimal mapping solutions. The first algorithm utilizes the level and the communication intensity of the task modules to construct an ordered priority list of ready modules and the module assignment is performed by a weighted bipartite matching algorithm. For a near-optimal mapping solution, the problem can be solved by the heuristic algorithm with simulated annealing. These proposed optimization algorithms can solve various large-scale problems within a reasonable time. Computer simulations were performed to evaluate and verify the performance and the validity of the proposed mapping algorithms. Finally, experiments for computing the inverse dynamics of a six-jointed PUMA-like manipulator based on the Newton-Euler dynamic equations were implemented on an NCUBE/ten hypercube computer to verify the proposed mapping algorithms. Computer simulation and experimental results are compared and discussed.
This report describes the activities during the fifth six month period of the investigation of acoustic propagation in the atmosphere with a realistic temperature profile. Progress has been achieved in two major directions: comparisons between the lapse model and experimental data taken by NASA during the second tower experiment, and development of a model propagation in an inversion. Data from the second tower experiment became available near the end of 1984 and some comparisons have been carried out, but this work is not complete. Problems with the temperature profiler during the experiment have produced temperature profiles that are difficult to fit the assumed variation of temperature with height, but in cases where reasonable fits have been obtained agreement between the model and the experiments are close. The major weaknesses in the model appear to be the presence of discontinuities in some regions, the low sound levels predicted near the source height, and difficulties with the argument of the Hankel function being outside the allowable range. Work on the inversion model has progressed slowly, and the rays for that case are discussed along with a simple energy conservation model of sound level enhancement in the inversion case.
Delaunay-based derivative-free optimization, ∆DOGS, is an efficient and provably-convergent global optimization method for the problems which has computationally expensive objection function and the analytical expression for the objective function is not available. ∆-DOGS is a novel optimization scheme in the family of response surface methods (RSMs); however, it suffers from the curse of dimensionality since the computational cost increases dramatically as the number of design parameters increases. As a result, the number of design parameters in ∆-DOGS algorithm is relatively low (n.10). To avoid such problems, this paper proposes a combination of derivative-free optimization, seeking the global minimizer of an expensive and nonconvex objective function f(x) and active subspace method, detecting the directions of the most variability using evaluations of the gradient. The contribution of other directions to the objective function is bounded by a sufficiently small constant. This new algorithm iteratively applied Delaunay-based derivative-free optimization to seek the minimizer on the d-dimensional active subspace that has most function variation. Inverse mapping is needed to project data from active subspace to full-model for evaluating function values. This task is overcome by solving an inequality constrained problem that curves the response surface of the objective function. The test results show that this strategy is effective on a handful of optimization problems.
A radial basis function implementation of the meshless local Petrov-Galerkin (MLPG) method is presented to study Euler-Bernoulli beam problems. Radial basis functions, rather than generalized moving least squares (GMLS) interpolations, are used to develop the trial functions. This choice yields a computationally simpler method as fewer matrix inversions and multiplications are required than when GMLS interpolations are used. Test functions are chosen as simple weight functions as in the conventional MLPG method. Compactly and noncompactly supported radial basis functions are considered. The non-compactly supported cubic radial basis function is found to perform very well. Results obtained from the radial basis MLPG method are comparable to those obtained using the conventional MLPG method for mixed boundary value problems and problems with discontinuous loading conditions.
The two body problem was analyzed with a specific drag model. The model treats drag as a force proportional to the vector velocity and inversely proportional to the distance to the center of attraction. The solution is expressed in terms of known functions and is of a simple and compact form. The time of flight is expressed as a quadrature in the true anomaly. The results are: (1) development of a vector differential equation which allows analysis of an infinite number of gravitational and drag models; and (2) obtaining the solution of a linear differential equation using the inverse method of laplace transforms.
An analytic solution to the two-body problem with a specific drag model is obtained. The model treats drag as a force proportional to the vector velocity and inversely proportional to the square of the distance to the center of attraction. The solution is expressed in terms of known functions and is of a simple and compact form. The time-of-flight is expressed as a quadrature in the 'true anomaly'.
Fully three-dimensional magnetohydrodynamic (MHD) turbulence at large kinetic and low magnetic Reynolds numbers is considered in the presence of a strong uniform magnetic field. It is shown by numerical simulation of a model of MHD that the energy inverse cascades to longer length scales when the interaction parameter is large. While the steady-state dynamics of the driven problem is three-dimensional in character, the behavior has resemblance to two-dimensional hydrodynamics. These results have implications in turbulence theory, MHD power generator, planetary dynamos, and fusion reactor blanket design.
Three previous papers have shown that the viscous inviscid numerical methods were capable of calculating separated turbulent flows. The 'Semi-inverse method' and the models of the first author allow the computation of massive separations, stalled flows, and shock wave-boundary layer interactions, in two-dimensional or quasi-three-dimensional conditions, from low speeds to supersonic speeds. The 'Semi-implicit' method for time-consistent coupling allows for the computation of time-accurate transonic separated flow and buffer computations in two-dimensions. The present paper shows that the viscous-inviscid interaction approach is also able to compute the fully three-dimensional flow separation phenomena. The method is based on a thin-layer approximation of the theory of 'Defect-Formulation' that provides the viscous-inviscid splitting of the Navier-Stokes equations. A parametric analytical modelling of the 3D-turbulent velocity profiles is involved. Numerically, the 3D-velocity profiles are discretized in the normal z-direction and driven by parametric integral 3D-equations in direct or inverse modes in the x-direction. The viscous-inviscid coupling is fully 3D and solved the time-consistency problem with an extension of the 'Semi-implicit' method previously suggested in two-dimensions. A 3D inviscid subroutine with TSP approximation is used. Results are obtained for transonic steady flows over wings with shock-induced transonic separation. The method provides results for highly three-dimensional flow separations, such as induced by a three-dimensional through at the wall of a flat plate. The 3D viscous-inviscid coupling and the 3D model of the velocity field provide three-dimensional instantaneous skin-friction lines whose patterns exhibit the same complex topology as Navier-Stokes solvers, with foci, nodes, and saddle-points.