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NASA NTRS1989

On the dynamic singularities in the control of free-floating space manipulators

It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance.

Papadopoulos, E.↗

NASA NTRS2001

Models of Protocellular Structure, Function and Evolution

In the absence of any record of protocells, the most direct way to test our understanding of the origin of cellular life is to construct laboratory models that capture important features of protocellular systems. Such efforts are currently underway in a collaborative project between NASA-Ames, Harvard Medical School and University of California. They are accompanied by computational studies aimed at explaining self-organization of simple molecules into ordered structures. The centerpiece of this project is a method for the in vitro evolution of protein enzymes toward arbitrary catalytic targets. A similar approach has already been developed for nucleic acids in which a small number of functional molecules are selected from a large, random population of candidates. The selected molecules are next vastly multiplied using the polymerase chain reaction. A mutagenic approach, in which the sequences of selected molecules are randomly altered, can yield further improvements in performance or alterations of specificities. Unfortunately, the catalytic potential of nucleic acids is rather limited. Proteins are more catalytically capable but cannot be directly amplified. In the new technique, this problem is circumvented by covalently linking each protein of the initial, diverse, pool to the RNA sequence that codes for it. Then, selection is performed on the proteins, but the nucleic acids are replicated. Additional information is contained in the original extended abstract.

New, Michael H.↗

NASA NTRS2008

Probing Inflation via Cosmic Microwave Background Polarimetry

The Cosmic Microwave Background (CMB) has been a rich source of information about the early Universe. Detailed measurements of its spectrum and spatial distribution have helped solidify the Standard Model of Cosmology. However, many questions still remain. Standard Cosmology does not explain why the early Universe is geometrically flat, expanding, homogenous across the horizon, and riddled with a small anisotropy that provides the seed for structure formation. Inflation has been proposed as a mechanism that naturally solves these problems. In addition to solving these problems, inflation is expected to produce a spectrum of gravitational waves that will create a particular polarization pattern on the CMB. Detection of this polarized signal is a key test of inflation and will give a direct measurement of the energy scale at which inflation takes place. This polarized signature of inflation is expected to be -9 orders of magnitude below the 2.7 K monopole level of the CMB. This measurement will require good control of systematic errors, an array of many detectors having the requisite sensitivity, and a reliable method for removing polarized foregrounds, and nearly complete sky coverage. Ultimately, this measurement is likely to require a space mission. To this effect, technology and mission concept development are currently underway.

Chuss, David T.↗

NASA NTRS2004

Fractal Variation with Changing Line Length: A Potential Problem for Planetary Lava Flow Identification

Fractals are objects that are generally self similar at all scales. Coastlines, mountains, river systems, planetary orbits and some mathematical objects are all examples of fractals. Bruno et al. used the structured walk model of Richardson to establish that lava flows are fractals and that lava flow morphology could be determined by looking at the fractal dimension of flow margins. They determined that Hawaiian a.a flows have fractal dimensions that range from 1.05 to 1.09 and that the pahoehoe lava flows have a fractal dimension from 1.13 to 1.23. We have analyzed a number of natural and simulated lava flow margins and find that the fractal dimension varies according to the number and length of rod lengths used in the structured walk method. The potential variation we find in our analyses is sufficiently large so that unambiguous determination of lava flow morphology is problematic for some flows. We suggest that the structured walk method can provide meaningful fractal dimensions if rod lengths employed in the analysis provide a best-fit residual of greater than 0.98, as opposed to the 0.95 cutoff used in previous studies. We also find that the use of more than 4 rod lengths per analysis also reduces ambiguity in the results.

Hudson, Richard K.↗

NASA NTRS1988

Recent developments in structural sensitivity analysis

Recent developments are reviewed in two major areas of structural sensitivity analysis: sensitivity of static and transient response; and sensitivity of vibration and buckling eigenproblems. Recent developments from the standpoint of computational cost, accuracy, and ease of implementation are presented. In the area of static response, current interest is focused on sensitivity to shape variation and sensitivity of nonlinear response. Two general approaches are used for computing sensitivities: differentiation of the continuum equations followed by discretization, and the reverse approach of discretization followed by differentiation. It is shown that the choice of methods has important accuracy and implementation implications. In the area of eigenproblem sensitivity, there is a great deal of interest and significant progress in sensitivity of problems with repeated eigenvalues. In addition to reviewing recent contributions in this area, the paper raises the issue of differentiability and continuity associated with the occurrence of repeated eigenvalues.

Haftka, Raphael T.↗

NASA NTRS1992

Robust Assignment Of Eigensystems For Flexible Structures

Improved method for placement of eigenvalues and eigenvectors of closed-loop control system by use of either state or output feedback. Applied to reduced-order finite-element mathematical model of NASA's MAST truss beam structure. Model represents deployer/retractor assembly, inertial properties of Space Shuttle, and rigid platforms for allocation of sensors and actuators. Algorithm formulated in real arithmetic for efficient implementation. Choice of open-loop eigenvector matrix and its closest unitary matrix believed suitable for generating well-conditioned eigensystem with small control gains. Implication of this approach is that element of iterative search for "optimal" unitary matrix appears unnecessary in practice for many test problems.

Juang, Jer-Nan↗

NASA NTRS2002

Galvanic Liquid Applied Coating System For Protection of Embedded Steel Surfaces from Corrosion

Corrosion of reinforcing steel in concrete is an insidious problem facing Kennedy Space Center (KSC), other Government Agencies, and the general public. These problems include KSC launch support structures, highway bridge infrastructure, and building structures such as condominium balconies. Due to these problems, the development of a Galvanic Liquid Applied Coating System would be a breakthrough technology having great commercial value for the following industries: Transportation, Infrastructure, Marine Infrastructure, Civil Engineering, and the Construction Industry. This sacrificial coating system consists of a paint matrix that may include metallic components, conducting agents, and moisture attractors. Similar systems have been used in the past with varying degrees of success. These systems have no proven history of effectiveness over the long term. In addition, these types of systems have had limited success overcoming the initial resistance between the concrete/coating interface. The coating developed at KSC incorporates methods proven to overcome the barriers that previous systems could not achieve. Successful development and continued optimization of this breakthrough system would produce great interest in NASA/KSC for corrosion engineering technology and problem solutions. Commercial patents on this technology would enhance KSC's ability to attract industry partners for similar corrosion control applications.

Curran, Joseph↗

NASA NTRS2008

Black Hole Mergers as Probes of Structure Formation

Intense structure formation and reionization occur at high redshift, yet there is currently little observational information about this very important epoch. Observations of gravitational waves from massive black hole (MBH) mergers can provide us with important clues about the formation of structures in the early universe. Past efforts have been limited to calculating merger rates using different models in which many assumptions are made about the specific values of physical parameters of the mergers, resulting in merger rate estimates that span a very wide range (0.1 - 104 mergers/year). Here we develop a semi-analytical, phenomenological model of MBH mergers that includes plausible combinations of several physical parameters, which we then turn around to determine how well observations with the Laser Interferometer Space Antenna (LISA) will be able to enhance our understanding of the universe during the critical z 5 - 30 structure formation era. We do this by generating synthetic LISA observable data (total BH mass, BH mass ratio, redshift, merger rates), which are then analyzed using a Markov Chain Monte Carlo method. This allows us to constrain the physical parameters of the mergers. We find that our methodology works well at estimating merger parameters, consistently giving results within 1- of the input parameter values. We also discover that the number of merger events is a key discriminant among models. This helps our method be robust against observational uncertainties. Our approach, which at this stage constitutes a proof of principle, can be readily extended to physical models and to more general problems in cosmology and gravitational wave astrophysics.

Alicea-Munoz, E.↗

NASA NTRS2017

The Failure of Correlation to Describe Out-of-Plane Carbon=Carbon Bending

Carbon-carbon multiply bonded systems are improperly described with standard correlation methods and basis sets. For computations of vibrational modes, the out-of- plane bends can be reported as imaginary at worst or simply too low at best. Utilizing the simplest of aromatic structures (cyclopropenylidene) and various levels of theory, this work diagnoses this known behavior for the first time. A combined 1-particle and n-particle basis set effect conspire to produce these non-physical results. When moving from sp2 to sp3 hybridization in the carbon atoms, the larger number of basis functions overcorrects the energy. This is exacerbated by correlation methods. These allow for occupation of the π and π∗ orbitals in the expanded wave function that combine with the hydrogen s orbitals. As a result, the improperly described space can be further and non-physically stabilized by post-Hartree-Fock correlation. This represents a fundamental problem with at least Hartree-Fock based methods of all flavors in describing carbon. Beyond being a flaw in quantum chemical theory, other repercussions will be present in computations regarding spectroscopy as well as energy and environmental studies where highly-accurate hydrocabon vibrational transitions or thermochemical data are needed.

Fortenberry, Ryan C.↗

NASA NTRS2024

Harnessing Collaborative Learning Automata to Guide Multi-objective Optimization based Inverse Analysis for Structural Damage Identification

Structural damage identification based on physical models is often transformed into an optimization problem that minimizes the difference between measurement information of structure being monitored and the model prediction in the parametric space. However, the objective function in this context often exhibits multimodality, involving high-dimensional variables due to the reliance on finite element models for damage identification. These features pose challenges to optimization algorithms, where entrapment in local solutions can lead to false positives and false negatives in damage identification. In this research, we propose a reinforcement learning based multi-swarm optimizer to tackle such challenges in pursuit of a small yet diverse solution set that can capture the true damage scenario as one of the solutions. The proposed method leverages the flexibility of the particle swarm optimizer and incorporates novel strategies of metaheuristics to realize targeted improvement. To enable the particle swarm to adaptively select the appropriate search strategy based on the current environment, we adopt the learning automata technique, which sidesteps the need for reward strategy selection that is usually ad hoc at each step of the search. The integration harnesses the automatic learning and self-adaptation capabilities of learning automata, enabling the particles to navigate based on environmental signals. This leads to accumulated probabilities tied to advantageous movements, fostering an adaptive exploration of particles in the search space. The proposed approach is first validated through implementing into benchmark test cases with comparisons. It is then applied to structural damage identification with piezoelectric admittance experimental signals. `The results highlight the capability of the algorithm to identify a small solution set with high accuracy to match the actual damage scenario.

Yang Zhang↗

NASA NTRS1990

A combined finite element-boundary element formulation for solution of two-dimensional problems via CGFFT

A method for the computation of electromagnetic scattering from arbitrary two-dimensional bodies is presented. The method combines the finite element and boundary element methods leading to a system for solution via the conjugate gradient Fast Fourier Transform (FFT) algorithm. Two forms of boundaries aimed at reducing the storage requirement of the boundary integral are investigated. It is shown that the boundary integral becomes convolutional when a circular enclosure is chosen, resulting in reduced storage requirement when the system is solved via the conjugate gradient FFT method. The same holds for the ogival enclosure, except that some of the boundary integrals are not convolutional and must be carefully treated to maintain O(N) memory requirement. Results for several circular and ogival structures are presented and shown to be in excellent agreement with those obtained by traditional methods.

Collins, Jeffery D.↗

NASA NTRS1979

Potential mapping with charged-particle beams

Experimental methods of mapping the equipotential surfaces near some structure of interest rely on the detection of charged particles which have traversed the regions of interest and are detected remotely. One method is the measurement of ion energies for ions created at a point of interest and expelled from the region by the fields. The ion energy at the detector in eV corresponds to the potential where the ion was created. An ionizing beam forms the ions from background neutrals. The other method is to inject charged particles into the region of interest and to locate their exit points. A set of several trajectories becomes a data base for a systematic mapping technique. An iterative solution of a boundary value problem establishes concepts and limitations pertaining to the mapping problem.

Robinson, J. W.↗

NASA NTRS1991

Experiences at Langley Research Center in the application of optimization techniques to helicopter airframes for vibration reduction

A NASA/industry rotorcraft structural dynamics program known as Design Analysis Methods for VIBrationS (DAMVIBS) was initiated at Langley Research Center in 1984 with the objective of establishing the technology base needed by the industry for developing an advanced finite-element-based vibrations design analysis capability for airframe structures. As a part of the in-house activities contributing to that program, a study was undertaken to investigate the use of formal, nonlinear programming-based, numerical optimization techniques for airframe vibrations design work. Considerable progress has been made in connection with that study since its inception in 1985. This paper presents a unified summary of the experiences and results of that study. The formulation and solution of airframe optimization problems are discussed. Particular attention is given to describing the implementation of a new computational procedure based on MSC/NASTRAN and CONstrained function MINimization (CONMIN) in a computer program system called DYNOPT for the optimization of airframes subject to strength, frequency, dynamic response, and fatigue constraints. The results from the application of the DYNOPT program to the Bell AH-1G helicopter are presented and discussed.

Murthy, T. Sreekanta↗

NASA NTRS1991

Experiences at Langley Research Center in the application of optimization techniques to helicopter airframes for vibration reduction

Sreekanta Murthy, T.↗

NASA NTRS1995

Static stability of a three-dimensional space truss

In order to deploy large flexible space structures it is necessary to develop support systems that are strong and lightweight. The most recent example of this aerospace design need is vividly evident in the space station solar array assembly. In order to accommodate both weight limitations and strength performance criteria, ABLE Engineering has developed the Folding Articulating Square Truss (FASTMast) support structure. The FASTMast is a space truss/mechanism hybrid that can provide system support while adhering to stringent packaging demands. However, due to its slender nature and anticipated loading, stability characterization is a critical part of the design process. Furthermore, the dire consequences surely to result from a catastrophic instability quickly provide the motivation for careful examination of this problem. The fundamental components of the space station solar array system are the (1) solar array blanket system, (2) FASTMast support structure, and (3) mast canister assembly. The FASTMast once fully deployed from the canister will provide support to the solar array blankets. A unique feature of this structure is that the system responds linearly within a certain range of operating loads and nonlinearly when that range is exceeded. The source of nonlinear behavior in this case is due to a changing stiffness state resulting from an inability of diagonal members to resist applied loads. The principal objective of this study was to establish the failure modes involving instability of the FASTMast structure. Also of great interest during this effort was to establish a reliable analytical approach capable of effectively predicting critical values at which the mast becomes unstable. Due to the dual nature of structural response inherent to this problem, both linear and nonlinear analyses are required to characterize the mast in terms of stability. The approach employed herein is one that can be considered systematic in nature. The analysis begins with one and two-dimensional failure models of the system and its important components. From knowledge gained through preliminary analyses a foundation is developed for three-dimensional analyses of the FASTMast structure. The three-dimensional finite element (FE) analysis presented here involves a FASTMast system one-tenth the size of the actual flight unit. Although this study does not yield failure analysis results that apply directly to the flight article, it does establish a method by which the full-scale mast can be evaluated.

Shaker, John F.↗

NASA NTRS2009

Massively Parallel Dantzig-Wolfe Decomposition Applied to Traffic Flow Scheduling

Optimal scheduling of air traffic over the entire National Airspace System is a computationally difficult task. To speed computation, Dantzig-Wolfe decomposition is applied to a known linear integer programming approach for assigning delays to flights. The optimization model is proven to have the block-angular structure necessary for Dantzig-Wolfe decomposition. The subproblems for this decomposition are solved in parallel via independent computation threads. Experimental evidence suggests that as the number of subproblems/threads increases (and their respective sizes decrease), the solution quality, convergence, and runtime improve. A demonstration of this is provided by using one flight per subproblem, which is the finest possible decomposition. This results in thousands of subproblems and associated computation threads. This massively parallel approach is compared to one with few threads and to standard (non-decomposed) approaches in terms of solution quality and runtime. Since this method generally provides a non-integral (relaxed) solution to the original optimization problem, two heuristics are developed to generate an integral solution. Dantzig-Wolfe followed by these heuristics can provide a near-optimal (sometimes optimal) solution to the original problem hundreds of times faster than standard (non-decomposed) approaches. In addition, when massive decomposition is employed, the solution is shown to be more likely integral, which obviates the need for an integerization step. These results indicate that nationwide, real-time, high fidelity, optimal traffic flow scheduling is achievable for (at least) 3 hour planning horizons.

Rios, Joseph Lucio↗

NASA NTRS1989

Frequency response modeling and control of flexible structures: Computational methods

The dynamics of vibrations in flexible structures can be conventiently modeled in terms of frequency response models. For structural control such models capture the distributed parameter dynamics of the elastic structural response as an irrational transfer function. For most flexible structures arising in aerospace applications the irrational transfer functions which arise are of a special class of pseudo-meromorphic functions which have only a finite number of right half place poles. Computational algorithms are demonstrated for design of multiloop control laws for such models based on optimal Wiener-Hopf control of the frequency responses. The algorithms employ a sampled-data representation of irrational transfer functions which is particularly attractive for numerical computation. One key algorithm for the solution of the optimal control problem is the spectral factorization of an irrational transfer function. The basis for the spectral factorization algorithm is highlighted together with associated computational issues arising in optimal regulator design. Options for implementation of wide band vibration control for flexible structures based on the sampled-data frequency response models is also highlighted. A simple flexible structure control example is considered to demonstrate the combined frequency response modeling and control algorithms.

Bennett, William H.↗

NASA NTRS1984

Efficient calculation of optimum design sensitivity

Two methods for obtaining the sensitivity of an optimized design to changes in problem parameters are presented. The first-order method uses gradient information to estimate the required sensitivity. The second-order method uses second derivatives of the design objective and constraint functions to provide a quadratic approximation to the new design which results from changing the specified parameter. It is shown that the sensitivity of the optimized design may be discontinuous with respect to the new parameter. This discontinuity is accounted for in the present methods. These methods are compared to a previous approach based on the Kuhn-Tucker necessary conditions for optimality. It is shown that the present methods provide the appropriate sensitivity information in an efficient manner. The methods are demonstrated by a structural synthesis example.

Vanderplaats, G. N.↗