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Software aspects of control-structure interaction (CSI) analysis are discussed. The following subject areas are covered: (1) implementation of a partitioned algorithm for simulation of large CSI problems; (2) second-order discrete Kalman filtering equations for CSI simulations; and (3) parallel computations and control of adaptive structures.
It is suggested that asymptotic results for the behavior of thin shells can be incorporated in a general computer code for the analysis of a complex shell structure. The advantage when compared to existing finite difference or finite element codes is a substantial reduction in computational labor with the capability of working to a specified level of accuracy. A reduction in user preparation time and dependance on user judgment is also gained, since mesh spacing can be internally generated. The general theory is described in this paper, as well as the implementation in the computer code FAST 1 (Functional Algorithm for Shell Theory) for the analysis of the general axisymmetric shell structure with axisymmetric loading.
A genetic algorithm code, JavaGenes, was written in Java and used to evolve pharmaceutical drug molecules and digital circuits. JavaGenes was run under the Condor cycle-scavenging batch system managing 100-170 desktop SGI workstations. Genetic algorithms mimic biological evolution by evolving solutions to problems using crossover and mutation. While most genetic algorithms evolve strings or trees, JavaGenes evolves graphs representing (currently) molecules and circuits. Java was chosen as the implementation language because the genetic algorithm requires random splitting and recombining of graphs, a complex data structure manipulation with ample opportunities for memory leaks, loose pointers, out-of-bound indices, and other hard to find bugs. Java garbage-collection memory management, lack of pointer arithmetic, and array-bounds index checking prevents these bugs from occurring, substantially reducing development time. While a run-time performance penalty must be paid, the only unacceptable performance we encountered was using standard Java serialization to checkpoint and restart the code. This was fixed by a two-day implementation of custom checkpointing. JavaGenes is minimally integrated with Condor; in other words, JavaGenes must do its own checkpointing and I/O redirection. A prototype Java-aware version of Condor was developed using standard Java serialization for checkpointing. For the prototype to be useful, standard Java serialization must be significantly optimized. JavaGenes is approximately 8700 lines of code and a few thousand JavaGenes jobs have been run. Most jobs ran for a few days. Results include proof that genetic algorithms can evolve directed and undirected graphs, development of a novel crossover operator for graphs, a paper in the journal Nanotechnology, and another paper in preparation.
The objective of this program is to develop technology needed for structural evaluation of alternative space construction concepts. Those concepts are as follows: interactive effects on dynamic performance of various environment and self-generated disturbance; new materials concepts, failure mechanisms, and non-destructive evaluation/failure detection; develop stable control algorithms and design effective combination of hierarchical and adaptive controls; and assess control-structure integrated performance and stability.
Advanced method of acoustic pulse reflectivity testing developed for use in determining sizes and locations of failures within structures. Used to detect breaks in electrical transmission lines, detect faults in optical fibers, and determine mechanical properties of materials. In method, structure vibrationally excited with acoustic pulse (a "ping") at one location and acoustic response measured at same or different location. Measured acoustic response digitized, then processed by finite-impulse-response (FIR) filtering algorithm unique to method and based on acoustic-wave-propagation and -reflection properties of structure. Offers several advantages: does not require training, does not require prior knowledge of mathematical model of acoustic response of structure, enables detection and localization of multiple failures, and yields data on extent of damage at each location.
In the field of vibration testing, the interaction between the structure being tested and the instrumentation hardware used to perform the test is a critical issue. This is particularly true when testing massive structures (e.g. satellites), because due to physical design and manufacturing limits, the dynamics of the testing facility often couples with the test specimen one in the frequency range of interest. A further issue in this field is the standard use of a closed loop real-time vibration control scheme, which could potentially shift poles and change damping of the aforementioned coupled system. Virtual shaker testing is a novel approach to deal with these issues. It means performing a simulation which closely represents the real vibration test on the specific facility by taking into account all parameters which might impact the dynamic behavior of the specimen. In this paper, such a virtual shaker testing approach is developed. It consists of the following components: (1) Either a physical-based or an equation-based coupled electro-mechanical lumped parameter shaker model is created. The model parameters are obtained from manufacturer's specifications or by carrying out some dedicated experiments; (2) Existing real-time vibration control algorithm are ported to the virtual simulation environment; and (3) A structural model of the test object is created and after defining proper interface conditions structural modes are computed by means of the well-established Craig-Bampton CMS technique. At this stage, a virtual shaker test has been run, by coupling the three described models (shaker, control loop, structure) in a co-simulation routine. Numerical results have eventually been correlated with experimental ones in order to assess the robustness of the proposed methodology.
Rainfall is a key link in the hydrologic cycle and is a primary heat source for the atmosphere. The vertical distribution of latent heat release, which is accompanied by rainfall, modulates the large-scale circulations of the tropics and in turn can impact midlatitude weather. This latent heat release is a consequence of phase changes between vapor, liquid, and solid water. Present largescale weather and climate models can simulate latent heat release only crudely, thus reducing their confidence in predictions on both global and regional scales. This paper represents the first attempt to use NASA Tropical Rainfall Measuring Mission (TRMM) rainfall information to estimate the four-dimensional structure of global monthly latent heating profiles over the global tropics from December 1997 to October 2000. The Goddard Convective-Stratiform. Heating (CSH) algorithm and TRMM precipitation radar data are used for this study. We will examine and compare the latent heating structures between 1997-1998 (winter) ENSO and 1998-2000 (non-ENSO). We will also examine over the tropics. The seasonal variation of heating over various geographic locations (i.e., oceanic vs continental; Indian oceans vs west Pacific; Africa vs S. America) will be also examined and compared. In addition, we will examine the relationship between latent heating (max heating level) and SST. The period of interest also coincides with several TRMM field campaigns that recently occurred over the South China Sea in 1998 (SCSMEX), Brazil in 1999 (TRMM-LBA), and in the central Pacific in 1999 (KWAJEX). Sounding diagnosed Q1 budgets from these experiments could provide a means of validating the retrieved profiles of latent heating from the CSH algorithm.
The OMI cloud pressure product is necessary for accounting for cloud effects on the mission- critical total ozone product. One of the OM1 cloud pressure algorithms uses UV measurements to derive cloud pressures from the high frequency structure of top- of-atmosphere reflectance caused by rotational Raman scattering (RRS) in the atmosphere. RRS results in filling-in of Fraunhofer lines in the backscatter UV spectra (also known as the Ring effect). The magnitude of filling-in of the Fraunhofer lines is roughly proportional to the average number of solar photon scatterings in the atmosphere above the clouds. This property of RRS is used to deduce an effective cloud pressure. The cloud pressure algorithm retrieves the cloud pressure and cloud fraction using a concept of the Mixed Lambert Equivalent Reflectivity (MLER) also used for the TOMS-V8 OM1 total column ozone algorithm. Currently, this OMI total column ozone algorithm utilizes information about cloud top pressures from a climatology based on IR measurements. The IR-derived cloud top pressure is known to be lower than UV-derived cloud top pressure because UV radiation penetrates clouds deeper than IR radiation. That is why the UV-derived cloud pressure may be more consistent withthe total ozone algorithm. We estimate total column ozone differences caused by replacing the cloud pressure climatology with cloud pressures retrieved from GOME data same as used for retrieval of ozone.
Finite difference methods are more successful if the accompanying grid has lines which are smooth and nearly orthogonal. The development of an algorithm which produces such a grid when given the boundary description. Topological considerations in structuring the grid generation mapping are discussed. The concept of the degree of a mapping and how it can be used to determine what requirements are necessary if a mapping is to produce a suitable grid is examined. The grid generation algorithm uses a mapping composed of bicubic B-splines. Boundary coefficients are chosen so that the splines produce Schoenberg's variation diminishing spline approximation to the boundary. Interior coefficients are initially chosen to give a variation diminishing approximation to the transfinite bilinear interpolant of the function mapping the boundary of the unit square onto the boundary grid. The practicality of optimizing the grid by minimizing a functional involving the Jacobian of the grid generation mapping at each interior grid point and the dot product of vectors tangent to the grid lines is investigated. Grids generated by using the algorithm are presented.
For the future space systems, on-orbit identification (ID) capability will be required to complement on-orbit control, due to the fact that the dynamics of large space structures, spacecrafts, and antennas will not be known sufficiently from ground modeling and testing. The computational requirements for ID of flexible structures such as the space station (SS) or the large deployable reflectors (LDR) are however, extensive due to the large number of modes, sensors, and actuators. For these systems the ID algorithm operations need not be computed in real-time, only in near real-time, or an appropriate mission time. Consequently the space systems will need advanced processors and efficient parallel processing algorithm design and architectures to implement the identification algorithms in near real-time. The MAX computer currently being developed may handle such computational requirements. The purpose is to specify the on-board computational requirements for dynamic and static identification for large space structures. The computational requirements for six ID algorithms are presented in the context of three examples: the JPL/AFAL ground antenna facility, the space station (SS), and the large deployable reflector (LDR).
The TRMM Precipitation Radar (PR) measures the vertical profile of reflectivity from which the surface rain rate is estimated after attenuation corrections in the 2A21 algorithm. Characteristics of the vertical reflectivity profile is important for various reasons ranging from scientific to instrument algorithms. It is well known that different types of precipitation such as stratiform or convection, have different heating profiles. The vertical profile of reflectivity can provide information on precipitation classification. The vertical reflectivity structure also provides information on precipitation processes such as growth and aggregation. In terms of TRMM algorithms, an independent estimate of the vertical profiles are also extremely important since the PR returns can be attenuated in the rain layer near the surface. Corrections for attenuation are required in the lowest few kilometers, necessitating some assumptions about the rain size distributions and the reflectivity profile below the lowest measurement unaffected by the surface return. Furthermore, some assumptions about the vertical reflectivity profile are required for Ground Validation (GV) radars, since their lowest scan may be 1 or more kilometers above the surface. Statistics on the vertical reflectivity and Doppler structure are presented from the ER-2 Doppler Radar (EDOP) which participated in several TRMM field campaigns (TEFLUN-A, TEFLUN-B, and LBA) and CAMEX-3. The ER-2 aircraft overflew diverse precipitation types during these campaigns. EDOP is an X-band (9.6 GHz) radar for which returns are less attenuated than at the TRMM PR frequency. The EDOP profiles are first corrected for attenuation using the SRT method. The data from all the ER-2 campaigns are then classified by type (convection, stratiform, and other) and then statistics were performed on the vertical reflectivity and Doppler profiles in the form of CFAD's. These CFADs are compared and discussed. The computed CFAD's indicate significant differences as a function of precipitation type and location (hurricane versus non-hurricane, Brazil versus Florida). The implications of these profiles will be discussed.
Several direct simulations of 3-D homogeneous, compressible turbulence are presented with emphasis on the differences with incompressible turbulent simulations. A fully spectral collocation algorithm, periodic in all directions coupled with a 3rd order Runge-Kutta time discretization scheme is sufficient to produce well-resolved flows at Taylor Reynolds numbers below 40 on grids of 128x128x128. A Helmholtz decomposition of velocity is useful to differentiate between the purely compressible effects and those effects solely due to vorticity production. In the context of homogeneous flows, this decomposition in unique. Time-dependent energy and dissipation spectra of the compressible and solenoidal velocity components indicate the presence of localized small scale structures. These structures are strongly a function of the initial conditions. Researchers concentrate on a regime characterized by very small fluctuating Mach numbers Ma (on the order of 0.03) and density and temperature fluctuations much greater than sq Ma. This leads to a state in which more than 70 percent of the kinetic energy is contained in the so-called compressible component of the velocity. Furthermore, these conditions lead to the formation of curved weak shocks (or shocklets) which travel at approximately the sound speed across the physical domain. Various terms in the vorticity and divergence of velocity production equations are plotted versus time to gain some understanding of how small scales are actually formed. Possible links with Burger turbulence are examined. To visualize better the dynamics of the flow, new graphic visualization techniques have been developed. The 3-D structure of the shocks are visualized with the help of volume rendering algorithms developed in-house. A combination of stereographic projection and animation greatly increase the number of visual cues necessary to properly interpret the complex flow.
A new equilvalent plate analysis formulation is described which is capable of modeling aircraft wing structures with a general planform such as cranked wing boxes. Multiple trapezoidal segments are used to represent such planforms. A Ritz solution technique is used in conjunction with global displacement functions which encompass all the segments. This Ritz solution procedure is implemented efficiently into a computer program so that it can be used by rigorous optimization algorithms for application in early preliminary design. A direct method to interface this structural analysis procedure with aerodynamic programs for use in aeroelastic calculations is described. This equivalent plate analysis procedure is used to calculate the static deflections and stresses and vibration frequencies and modes of an example wing configuration. The numerical results are compared with results from a finite element model of the same configuration to illustrate typical levels of accuracy and computation times resulting from use of this procedure.
A new equivalent plate analysis formulation is described which is capable of modeling aircraft wing structures with a general planform such as cranked wing boxes. Multiple trapezoidal segments are used to represent such planforms. A Ritz solution technique is used in conjunction with global displacement functions which encompass all the segments. This Ritz solution procedure is implemented efficiently into a computer program so that it can be used by rigorous optimization algorithms for application in early preliminary design. A direct method to interface this structural analysis procedure with aerodynamic programs for use in aeroelastic calculations is described. This equivalent plate analysis procedure is used to calculate the static deflections and stresses and vibration frequencies and modes of an example wing configuration. The numerical results are compared with results from a finite element model of the same configuration to illustrate typical levels of accuracy and computation times resulting from use of this procedure.
Several models were built at NASA Langley and used to demonstrate the following nonlinear behavior: internal resonance in a free response, principal parametric resonance and subcritical instability in a cantilever beam-lumped mass structure, combination resonance in a parametrically excited flexible beam, autoparametric interaction in a two-degree-of-freedom system, instability of the linear solution, saturation of the excited mode, subharmonic bifurcation, and chaotic responses. A video tape documenting these phenomena was made. An attempt to identify a simple structure consisting of two light-weight beams and two lumped masses using the Eigensystem Realization Algorithm showed the inherent difficulty of using a linear based theory to identify a particular nonlinearity. Preliminary results show the technique requires novel interpretation, and hence may not be useful for structural modes that are coupled by a guadratic nonlinearity. A literature survey was also completed on recent work in parametrically excited nonlinear system. In summary, nonlinear systems may possess unique behaviors that require nonlinear identification techniques based on an understanding of how nonlinearity affects the dynamic response of structures. In this was, the unique behaviors of nonlinear systems may be properly identified. Moreover, more accutate quantifiable estimates can be made once the qualitative model has been determined.
Extreme ultraviolet (EUV) waves are large-scale propagating disturbances observed in the solar corona, frequently associated with coronal mass ejections and flares. They appear as faint, extended structures propagating from a source region across the structured solar corona. To measure these waves, we have constructed the Automated Wave Analysis and REduction (AWARE) algorithm. AWARE is implemented in two stages. In the first stage, we use simple image processing techniques to isolate the propagating, brightening wave fronts as they move across the corona. In the second stage, AWARE measures the distance, velocity and acceleration of that wave front across the Sun. We explore the use of the Huygens principle, dynamic time warping and a simple parametric representation of the wave front as potential methods for detecting and tracking non-radial EUV wave propagation.
NASA ARC's Coded Structures Laboratory (CSL) is developing autonomous construction, maintenance, and reconfiguration technologies to meet long-duration and deep space infrastructure needs, in accordance with long-term NASA goals of "in-space reliance" and "mass-less exploration." We seek to achieve these capabilities by utilizing a "programmable meta-material" approach that integrates emerging advances in materials (mechanical meta-materials), manufacturing (cooperative mobile robotics), and autonomy (multi-agent planning algorithms). Through the ARMADAS project, we have shown assembly of high-performance engineered cellular materials using multiple cooperating mobile robotic assemblers. In this paper, we describe how such a programmable meta-material architecture may shift the paradigm of how we design, build, manufacture, and operate future space infrastructure and assets. The core of a programmable meta-material architecture consists of 3 main technology sub-areas: the structure, the assembly agents, and the assembly algorithms. We co-design these systems to ensure an adaptable system that can create and reconfigure structures from a base set of building block components. From this core technology, we can branch out and expand the capability of the system through additional secondary component types and robotic agents to perform activities such as inspections, maintenance, repair, payload installation, or perform power and communications interconnect. As these technologies mature, future designers will be able to utilize the system to rapidly integrate and operate assets in space or on planetary surfaces from a set of well-tested part library, or create their own modules to integrate into the system. A core trait to the development of this system is the automation approach. Because of the modular and functional discrete (pixel-like) nature of the structural system, a diverse set of powerful algorithms for analysis, planning, and simulation can be adapted and leveraged to optimize construction, maintenance, and dynamic reorganization (as hardware with programmable form and function). With an ability to free the design space from launch vehicle constraints and fundamentally shift how a mission is designed and conducted, we discuss the influence of a programmable meta-material architecture on mission design, build, and operations. For the "design phase", we discuss project lifecycle effects, costs, time, and performance. For the "build phase", we discuss reusability, ISRU, manufacturing, material logistics, and scalability. And for "operations", we discuss autonomy, maintenance and upgrades, reliability, and reconfiguration. Autonomy and modularity are the primary enabling traits of this system. Engineering systems that utilize a modular and reconfiguration building block approach such as digital communication and computation systems, currently lead all other areas of technology in size and complexity scalability. NASA is extending the benefits and flexibility of digital systems to hardware systems, to optimize materials lifecycle management and expand our space exploration mission capabilities.
In the last few years various methods of identifying structural dynamics models from modal testing data have appeared. This paper presents a comparison of four of these algorithms: the Eigensystem Realization Algorithm (ERA), the modified version ERA/DC where DC indicates that it makes use of data correlations, the Q-Markov Cover algorithm, and an algorithm due to Moonen, DeMoor, Vandenberghe and Vandewalle. The comparison is made using a five mode computer model of the 20 meter Mini-Mast truss structure at NASA Langley Research Center, and various noise levels are superimposed to produce simulated data. The results show that for the example considered ERA/DC generally gives the best results; that ERA/DC is always at least as good as ERA which is shown to be a special case of ERA/DC; that Q-Markov requires the use of significantly more data than ERA/DC to produce comparable results; and that in some situations Q-Markov cannot produce comparable results.