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Algorithms for serial and parallel computation of forward dynamics of multiple-link robotic manipulators by conjugate-gradient method developed. Parallel algorithms have potential for speedup of computations on multiple linked, specialized processors implemented in very-large-scale integrated circuits. Such processors used to stimulate dynamics, possibly faster than in real time, for purposes of planning and control.
During the assembly flights of the Space Station Freedom (SSF), the Orbiter will either dock with the SSF and retract to the final berthed position, or will grapple the SSF using the Shuttle Remote Manipulator System (SRMS) and maneuver the SRMS coupled vehicles to their final berthed position. The SRMS method is expected to take approximately one to one and a half hours to complete and require periodic attitude corrections by either the Orbiter or the SSF reaction control system (RCS) or continuous control by a control moment gyro (CMG) system with RCS desaturation as required. Free drift of the attached vehicles is not currently thought to be acceptable because the desired system attitude will quickly deteriorate due to unbalanced gravity gradient and aerodynamic torques resulting in power generation problems, thermodynamic control problems, and communications problems. This paper deals with the simulation and control of the SRMS during trunnion/latch interaction dynamics and during RCS maneuvers. The SRMS servo drive joints have highly non-linear elastic characteristics which tend to degrade sensitive control strategies. In addition the system natural frequencies are extremely low and depend on the drive joint deflections and SRMS geometric position. The lowest mean period of oscillation for the Orbiter/SRMS/SSF(MB6) system in brakes hold mode positioned near the final berthed position is approximately 120 seconds. A detailed finite element model of the SRMS has been developed and used in a newly developed SRMS systems dynamics simulation to investigate the non-linear transient response dynamics of the Orbiter/SRMS/SSF systems. The present SRMS control strategy of brakes only recommended by the Charles Draper Labs is contrasted with a robust controller developed by the authors. The robust controller uses an optimal inear quadratic regulator (LQR) to optimally place the closed-loop poles of a multivariable continuous-time system within the common region of an open sector with the sector angle plus or minus 45 degrees from the negative real axis, and the left-hand side of a parallel to the imaginary axis in the complex s-plane. This guarantees that the critical damping ratio for the desired control modes is equal to or in excess of 0.707. The matrix sign function is used for solving the Riccati equations which appear in the controller design procedure. Fast and stable algorithms have recently been developed for the computation of the matrix sign function. Simulation results are given which demonstrate the potential CSI involvement for the current SRMS control system and the proposed control system.
A domain decomposition method for implicit schemes that require significantly less storage and is several times faster than factorization algorithms is proposed. The transient domain decomposition method is an extension of the finite element tearing and interconnecting (FETI) method for the solution of static problems. Serial and parallel performance results obtained using the CRAY Y-MP/8 and the iPSC-860/128 systems demonstrate that the FETI method is superior to both serial and parallel direct methods.
The propagation characteristics of waves upstream and downstream of quasi-parallel shocks are investigated by using 2D hybrid simulations. At low Alfven Mach numbers, M(A) below about 2, the shock is initially associated with upstream phase-standing whistlers. At later times, backstreaming ions excite longer-wavelength whistlers via the right-hand resonant ion/ion instability. These waves propagate along the magnetic field at a group velocity no smaller than the upstream flow speed, so that the waves remain in the upstream region. At higher MA (above about 3), these waves are convected back into the shock, causing its reformation and downstream perturbations. Shock transmitted waves mode-convert into Alfven/ion-cyclotron waves which have a wave vector along the shock normal (pointing upstream) and convect downstream. The 2D simulation results confirm our earlier suggestion that the upstream waves should be field aligned, and that their convection into the downstream is associated with linear mode conversion into the Alfven/ion-cyclotron branch.
We consider the stability of a circularly polarized Alfven wave (the pump wave) which propagates parallel to the ambient magnetic field. Only parallel-propagating perturbations are considered, and we ignore dispersive effects due to the ion cyclotron frequency. The dissipationless MHD equations are used throughout; thus possibibly important effects arising from Landau and transit time damping are omitted. We derive a series of analytical approximations to the dispersion relation using A = (Delta B/B(sub O))(exp 2) as a small expansion parameter; Delta B is the pump amplitude, and B(sub O) is the ambient magnetic field strength. We find that the plasma beta (the square of the ratio of the sound speed to the Alfven speed) plays a crucial role in determining the behavior of the parametric instabilities of the pump. If 0 less than beta less than 1 we find the familiar result that the pump decays into a forward propagating sound wave and a backward propagating Alfven wave with maximum growth rate gamma(sub max) varies A(sup 1/2), but beta cannot be too close to 0 or to 1. If beta approx. 1, we find gamma(sub max) varies A(sup 3/4), if beta greater than 1, we find gamma(sub max) varies A(sup 3/2), while if beta approx. 0, we obtain gamma(sub max) varies A(sup 1/3); moreover, if beta approx. 0 there is a nearly purely growing instability. In constrast to the familiar decay instability, for which the backward propagating Alfven wave has lower frequency and wavenumber than the pump, we find that if beta greater than or approx. equal to 1 the instability is really a beat instability which is dominated by a transverse wave which is forward propagating and has frequency and wavenumber which are nearly twice the pump values. Only the decay instability for 0 less than beta less than 1 can be regarded as producing two recognizable normal modes, namely, a sound wave and an Alfven wave. We discuss how the different characteristics of the instabilities may affect the evolution of Alfven waves in the solar wind. However, for a solar wind in which beta approx. 1 the growth times of the instabilities are probably too long for these instabilities to have an appreciable effect inside 1 AU.
Individual droplets with diameters ranging from about 2 mm to 5 mm were burned under microgravity conditions in air at 1 bar with an ambient temperature of 300 K. Each droplet was tethered by a silicon carbide fiber of 80 mm or 150 mm diameter to keep it in view of video recording, and, in some tests, a forced air flow was applied in a direction parallel to the fiber axis. Methanol, two methanol-water mixtures, two methanol-dodecanol mixtures, and two heptane-hexadecane mixtures were the fuels. Droplet diameters were measured as functions of time and compared with existing theoretical predictions. The prediction that methanol droplets extinguish at diameters that increase with increasing initial droplet diameter is verified by these experiments. In addition, the quasi-steady burning rate constant of the heptane-hexadecane mixtures appears to decrease with increasing droplet diameter; obscuration consistent with very heavy sooting, but without the formation of soot shells, is observed for the largest of these droplets. Forced convective flow around methanol droplets was found to increase the burning rate and to produce a ratio of downstream-to-upstream flame radius that remained constant as the droplet size decreased, a trend in agreement with earlier results obtained at higher convective velocities for smaller droplets having larger flame standoff ratios. There are a number of implications of the experimental results regarding droplet-combustion theory.
We introduce a new benchmark for measuring the performance of parallel input/ouput. This benchmark has flexible initialization. size. and scaling properties that allows it to satisfy seven criteria for practical parallel I/O benchmarks. We obtained performance results while running on the a SGI Origin2OOO computer with various numbers of processors: with 4 processors. the performance was 68.9 Mflop/s with 0.52 of the time spent on I/O, with 8 processors the performance was 139.3 Mflop/s with 0.50 of the time spent on I/O, with 16 processors the performance was 173.6 Mflop/s with 0.43 of the time spent on I/O. and with 32 processors the performance was 259.1 Mflop/s with 0.47 of the time spent on I/O.
The objective of this work was to use direct numerical simulation (DNS) techniques to study the physics of noise generation by a high-speed turbulent jet. A Mach 0.9, Reynolds number 3,600 jet was selected because of available experimental data. New numerical methods for generating disturbances at the nozzle and computing far-field sound were developed and reported in the course of this work. Over 25 million mesh points were used in the simulations which ran for over 50,000 timesteps and required over 50,000 processor hours on state-of-the-art parallel computer systems to complete. Figures show a visualization of the jet and sound field, a comparison of the mean flow development with the experiment, a directivity comparison with the experiment, and time spectrum comparison with the experiment. Agreement is seen to be excellent. These are fully document in the attached references. Full details of the work, detailed achievements and conclusions are discussed in appendices, which are copies of publications that resulted from this work. We have studied noise mechanisms in supersonic jets, the refraction of sound by turbulence in subsonic jets, and noise sources in conjunction with a DNS of a Mach 0.9 jet.
An amplifier developed under a Small Business Innovation Research (SBIR) contract will have applications for both satellite and terrestrial communications. This power amplifier uses an innovative series bias arrangement of active devices to achieve over 40-percent efficiency at Ka-band frequencies with an output power of 0.66 W. The amplifier is fabricated on a 2.0- by 3.8-square millimeter chip through the use of Monolithic Microwave Integrated Circuit (MMIC) technology, and it uses state-of-the-art, Pseudomorphic High-Electron-Mobility Transistor (PHEMT) devices. Although the performance of the MMIC chip depends on these high-performance devices, the real innovations here are a unique series bias scheme, which results in a high-voltage chip supply, and careful design of the on-chip planar output stage combiner. This design concept has ramifications beyond the chip itself because it opens up the possibility of operation directly from a satellite power bus (usually 28 V) without a dc-dc converter. This will dramatically increase the overall system efficiency. Conventional microwave power amplifier designs utilize many devices all connected in parallel from the bias supply. This results in a low-bias voltage, typically 5 V, and a high bias current. With this configuration, substantial I(sup 2) R losses (current squared times resistance) may arise in the system bias-distribution network. By placing the devices in a series bias configuration, the total current is reduced, leading to reduced distribution losses. Careful design of the on-chip planar output stage power combiner is also important in minimizing losses. Using these concepts, a two-stage amplifier was designed for operation at 33 GHz and fabricated in a standard MMIC foundry process with 0.20-m PHEMT devices. Using a 20-V bias supply, the amplifier achieved efficiencies of over 40 percent with an output power of 0.66 W and a 16-dB gain over a 2-GHz bandwidth centered at 33 GHz. With a 28-V bias, a power level of 1.1 W was achieved with a 12-dB gain and a 36-percent efficiency. This represents the best reported combination of power and efficiency at this frequency. In addition to delivering excellent power and gain, this Ka-band MMIC power amplifier has an efficiency that is 10 percent greater than existing designs. The unique design offers an excellent match for spacecraft applications since the amplifier supply voltage is closely matched to the typical value of spacecraft bus voltage. These amplifiers may be used alone in applications of 1 W or less, or several may be combined or used in an array to produce moderate power, Ka-band transmitters with minimal power combining and less thermal stress owing to the combination of excellent efficiency and power output. The higher voltage operation of this design may also save mass and power because the dc-dc power converter is replaced with a simpler voltage regulator.
Here, we examine homogeneous MHD turbulence in terms of truncated Fourier series. The ideal MHD equations and the associated statistical theory of absolute equilibrium ensembles are symmetric under P, C and T. However, the presence of invariant helicities, which are pseudoscalars under P and C, dynamically breaks this symmetry. This occurs because the surface of constant energy in phase space has disjoint parts, called components: while ensemble averages are taken over all components, a dynamical phase trajectory is confined to only one component. As the Birkhoff-Khinchin theorem tells us, ideal MHD turbulence is thus non-ergodic. This non-ergodicity manifests itself in low-wave number Fourier modes that have large mean values (while absolute ensemble theory predicts mean values of zero). Therefore, we have coherent structure in ideal MHD turbulence. The level of non-ergodicity and amount of energy contained in the associated coherent structure depends on the values of the helicities, as well as on the presence, or not, of a mean magnetic field and/or overall rotation. In addition to the well known cross and magnetic helicities, we also present a new invariant, which we call the parallel helicity, since it occurs when mean field and rotation axis are aligned. The question of applicability of these results to real (i.e., dissipative) MHD turbulence is also examined. Several long-time numerical simulations on a 64(exp 3) grid are given as examples. It is seen that coherent structure begins to form before decay dominates over nonlinearity. The connection of these results with inverse spectral cascades, selective decay, and magnetic dynamos is also discussed.
An acoustic analogy is developed based on the Euler equations for broadband shock-associated noise (BBSAN) that directly incorporates the vector Green s function of the linearized Euler equations and a steady Reynolds-Averaged Navier-Stokes solution (SRANS) to describe the mean flow. The vector Green s function allows the BBSAN propagation through the jet shear layer to be determined. The large-scale coherent turbulence is modeled by two-point second order velocity cross-correlations. Turbulent length and time scales are related to the turbulent kinetic energy and dissipation rate. An adjoint vector Green s function solver is implemented to determine the vector Green s function based on a locally parallel mean flow at different streamwise locations. The newly developed acoustic analogy can be simplified to one that uses the Green s function associated with the Helmholtz equation, which is consistent with a previous formulation by the authors. A large number of predictions are generated using three different nozzles over a wide range of fully-expanded jet Mach numbers and jet stagnation temperatures. These predictions are compared with experimental data from multiple jet noise experimental facilities. In addition, two models for the so-called fine-scale mixing noise are included in the comparisons. Improved BBSAN predictions are obtained relative to other models that do not include propagation effects.
Most deep space missions return data to Earth using links operating at a single frequency band. Indeed, their data requirements are low enough that bandwidth regulations do not constrain the system. In contrast, spacecraft such as Kepler or Europa Clipper are transitioning to a new operational paradigm where engineering and science data are transmitted through simultaneous links operating at different frequency bands (henceforth termed multi-band links). This ensures, for instance, that critical data is correctly received using a well characterized X-band link, while science data at a much larger data rate can be returned efficiently (both in terms of bandwidth and energy) through a Ka-band link.Having a spacecraft establish two simultaneous links with a ground station opens a large span of potential improvements for space communications and mission operations. In this paper, we consider the problem of running a Licklider Transmission Protocol (LTP) session over a multi-band link. LTP is an implementation of a selective Automatic Repeat reQuest (ARQ) protocol, i.e. it ensures correct delivery of data over an error prone link with potentially long propagation delays. To maximize its efficiency in deep space environments, LTP operates in deferred-ACK mode and is typically included as one of the core protocols in the Delay Tolerant Networking (DTN) suite.The contributions of this paper are as follows: First, we propose an extension to LTP for multi-band links (denoted MBLTP) and sketch how it can be implemented without modifying the current definition of LTP data units. Next, we develop bounds on the performance of MBLTP when transmitting a single data file over a multi-band link. Three metrics are considered, file expected delivery time, total energy spent and bundle jitter. The results of the analytic model are first benchmarked against simulations to ensure validity, and then compared against the performance of both traditional LTP and Parallel LTP (PLTP).We demonstrate that MBLTP can significantly reduce the latency and jitter with which data products are delivered to destination over a deep space link compared to LTP at moderate energy cost. Similarly, we also demonstrate that MBLTP outperforms PLTP in all considered metrics.
We have designed and implemented a set of highly efficient and highly scalable algorithms for an unstructured computational package, the PSAS data assimilation package, as demonstrated by detailed performance analysis of systematic runs on up to 512-nodes of an Intel Paragon. The preconditioned Conjugate Gradient solver achieves a sustained 18 Gflops performance. Consequently, we achieve an unprecedented 100-fold reduction in time to solution on the Intel Paragon over a single head of a Cray C90. This not only exceeds the daily performance requirement of the Data Assimilation Office at NASA's Goddard Space Flight Center, but also makes it possible to explore much larger and challenging data assimilation problems which are unthinkable on a traditional computer platform such as the Cray C90.
Sprays occur in a wide variety of industrial and power applications and in the processing of materials. A liquid spray is a phase flow with a gas as the continuous phase and a liquid as the dispersed phase (in the form of droplets or ligaments). Interactions between the two phases, which are coupled through exchanges of mass, momentum, and energy, can occur in different ways at different times and locations involving various thermal, mass, and fluid dynamic factors. An understanding of the flow, combustion, and thermal properties of a rapidly vaporizing spray requires careful modeling of the rate-controlling processes associated with the spray's turbulent transport, mixing, chemical kinetics, evaporation, and spreading rates, as well as other phenomena. In an attempt to advance the state-of-the-art in multidimensional numerical methods, we at the NASA Lewis Research Center extended our previous work on sprays to unstructured grids and parallel computing. LSPRAY, which was developed by M.S. Raju of Nyma, Inc., is designed to be massively parallel and could easily be coupled with any existing gas-phase flow and/or Monte Carlo probability density function (PDF) solver. The LSPRAY solver accommodates the use of an unstructured mesh with mixed triangular, quadrilateral, and/or tetrahedral elements in the gas-phase solvers. It is used specifically for fuel sprays within gas turbine combustors, but it has many other uses. The spray model used in LSPRAY provided favorable results when applied to stratified-charge rotary combustion (Wankel) engines and several other confined and unconfined spray flames. The source code will be available with the National Combustion Code (NCC) as a complete package.
In this paper an example of bounce-phase-clustered ions such as earlier reported by Mellwain (1976), Quinn (1978) and Quinn and Mellwain (1979) is examined in detail. The cluster has small pitch angle, but investigation of the energy time dispersion properties of the cluster reveals that it was formed at the equator. The acceleration region extended over about 2.4 earth radii along the field direction. It is suggested that the ion cluster is set up by acceleration during a transient convection surge, and the properties of such a process are discussed.
Investigation of parallel gap soldering of electrical leads resulted in recommendation on material preparation, equipment, process control, and visual inspection criteria to ensure reliable solder joints. The recommendations will minimize problems in heat-dwell time, amount of solder, bridging conductors, and damage of circuitry.
The author has identified the following significant results. Preliminary analysis of DCS data from the USGS Verde River stream flow measuring site indicates the DCS system is furnishing high quality data more frequently than had been expected. During the 43-day period between Nov. 3, and Dec. 15, 1972, 552 DCS transmissions were received during 193 data passes. The amount of data received far exceeded the single high quality transmission per 12-hour period expected from the DCS system. The digital-parallel ERTS-1 data has furnished sufficient to accurately compute mean daily gage heights. These in turn, are used to compute average daily streamflow rates during periods of stable or slowly changing flow conditions. The digital-parallel data has also furnished useful information during peak flow periods. However, the serial-digital DCS capability, currently under development for transmitting streamflow data, should provide data of greater utility for determining times of flood peaks.
The angular distribution of electrons and ions at times of spacecraft charging were examined for several charging events. Generally it was found that electrons measured perpendicular to the Earth's magnetic field are more intense and more energetic than those measured parallel to the magnetic field during charging events. During the substorm charging injection, the electron spectra harden at all angles to the magnetic field as the evolution of the charging spectra is monitored by the P78-2 satellites. An example of the onset of charging and the changes in the electron distributions is examined. The evolution of the electrons from a 'soft' plasma sheet distribution to a 'hard' charging distribution is compared with the charging of Kapton on the satellite and the spacecraft frame potential. The ions are used to determine the spacecraft potential. Evidence of periodic surface potential variations related to particle anisotropies are presented and discussed.