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At least 19 records

Dual redundant arm configuration optimization with task-oriented dual arm manipulability

It is shown that the required motion and force trajectories of a given task can be abstracted by a series of desired manipulability ellipsoids, and that a task-oriented dual-arm manipulability measure (TODAMM) can be mathematically defined by quantifying how the manipulability of one arm affects the other and measuring the geometrical closeness between the desired and the actual manipulability ellipsoids. TODAMM can be used in the optimization of dual-arm joint configurations. The task-oriented manipulability measure developed can also be used in the joint configuration optimization of a single arm, providing efficient joint configurations in terms of joint motions and joint torques for the required Cartesian motions and static forces. The dual-arm joint configuration optimization based on TODAMM can be applied to a variety of tasks which require dual-arm cooperation.

Lee, Sukhan

A rule-based systems approach to spacecraft communications configuration optimization

An experimental rule-based system for optimizing user spacecraft communications configurations was developed at NASA to support mission planning for spacecraft that obtain telecommunications services through NASA's Tracking and Data Relay Satellite System. Designated Expert for Communications Configuration Optimization (ECCO), and implemented in the OPS5 production system language, the system has shown the validity of a rule-based systems approach to this optimization problem. The development of ECCO and the incremental optimization method on which it is based are discussed. A test case using hypothetical mission data is included to demonstrate the optimization concept.

Rash, James L.

A rule-based systems approach to spacecraft communications configuration optimization

An experimental rule-based system for optimizing user spacecraft communications configurations was developed at NASA to support mission planning for spacecraft that obtain telecommunications services through NASA's Tracking and Data Relay Satellite System. Designated Expert for Communications Configuration Optimization (ECCO), and implemented in the OPS5 production system language, the system has shown the validity of a rule-based systems approach to this optimization problem. The development of ECCO and the incremental optimizatin method on which it is based are discussed. A test case using hypothetical mission data is included to demonstrate the optimization concept.

Rash, James L.

Optimal Configuration of Human Motion Tracking Systems: A Systems Engineering Approach

Human motion tracking systems represent a crucial technology in the area of modeling and simulation. These systems, which allow engineers to capture human motion for study or replication in virtual environments, have broad applications in several research disciplines including human engineering, robotics, and psychology. These systems are based on several sensing paradigms, including electro-magnetic, infrared, and visual recognition. Each of these paradigms requires specialized environments and hardware configurations to optimize performance of the human motion tracking system. Ideally, these systems are used in a laboratory or other facility that was designed to accommodate the particular sensing technology. For example, electromagnetic systems are highly vulnerable to interference from metallic objects, and should be used in a specialized lab free of metal components.

Henderson, Steve

Aircraft configuration optimization including optimized flight profiles

The Flight Optimization System (FLOPS) is an aircraft configuration optimization program developed for use in conceptual design of new aircraft and in the assessment of the impact of advanced technology. The modular makeup of the program is illustrated. It contains modules for preliminary weights estimation, preliminary aerodynamics, detailed mission performance, takeoff and landing, and execution control. An optimization module is used to drive the overall design and in defining optimized profiles in the mission performance. Propulsion data, usually received from engine manufacturers, are used in both the mission performance and the takeoff and landing analyses. Although executed as a single in-core program, the modules are stored separately so that the user may select the appropriate modules (e.g., fighter weights versus transport weights) or leave out modules that are not needed.

Mccullers, L. A.

Flight Test of an Adaptive Configuration Optimization System for Transport Aircraft

A NASA Dryden Flight Research Center program explores the practical application of real-time adaptive configuration optimization for enhanced transport performance on an L-1011 aircraft. This approach is based on calculation of incremental drag from forced-response, symmetric, outboard aileron maneuvers. In real-time operation, the symmetric outboard aileron deflection is directly optimized, and the horizontal stabilator and angle of attack are indirectly optimized. A flight experiment has been conducted from an onboard research engineering test station, and flight research results are presented herein. The optimization system has demonstrated the capability of determining the minimum drag configuration of the aircraft in real time. The drag-minimization algorithm is capable of identifying drag to approximately a one-drag-count level. Optimizing the symmetric outboard aileron position realizes a drag reduction of 2-3 drag counts (approximately 1 percent). Algorithm analysis of maneuvers indicate that two-sided raised-cosine maneuvers improve definition of the symmetric outboard aileron drag effect, thereby improving analysis results and consistency. Ramp maneuvers provide a more even distribution of data collection as a function of excitation deflection than raised-cosine maneuvers provide. A commercial operational system would require airdata calculations and normal output of current inertial navigation systems; engine pressure ratio measurements would be optional.

Gilyard, Glenn B.

Towards a Self-Configuring Optimization System for Spacecraft Design

In this paper, we propose the use of a set of generic, metaheuristic optimization algorithms, which is configured for a particular optimization problem by an adaptive problem solver based on artificial intelligence and machine learning techniques. We describe work in progress on these principles.

Metaheuristic Optimization Algorithm OASIS

An approximation method for configuration optimization of trusses

Two- and three-dimensional elastic trusses are designed for minimum weight by varying the areas of the members and the location of the joints. Constraints on member stresses and Euler buckling are imposed and multiple static loading conditions are considered. The method presented here utilizes an approximate structural analysis based on first order Taylor series expansions of the member forces. A numerical optimizer minimizes the weight of the truss using information from the approximate structural analysis. Comparisons with results from other methods are made. It is shown that the method of forming an approximate structural analysis based on linearized member forces leads to a highly efficient method of truss configuration optimization.

Hansen, Scott R.

Analytical study of ride smoothing benefits of control system configurations optimized for pilot handling qualities

An analytical study was conducted to evaluate the relative improvements in aircraft ride qualities that resulted from utilizing several control law configurations that were optimized for pilot handling qualities only. The airplane configuration used was an executive jet transport in the approach configuration. The control law configurations included the basic system, a rate feedback system, three command augmentation systems (rate command, attitude command, and rate command/attitude hold), and a control wheel steering system. Both the longitudinal and lateral directional axes were evaluated. A representative example of each control law configuration was optimized for pilot handling qualities on a fixed base simulator. The root mean square airplane responses to turbulence were calculated, and predictions of ride quality ratings were computed by using three models available in the literature.

Powers, B. G.

Task-oriented dual-arm manipulability and its application to configuration optimization

A measure of static manipulability is derived for a dual-redundant-arm (DRA) system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm (DA) manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented DA manipulability measure is defined as the measure of geometrical similarity between the desired and the actual DA manipulability ellipsoids at the selected task points. Mathematical formulas are developed to define task-oriented DRA static manipulability, and their application to the optimization of DRA joint and grasp configurations is demonstrated.

Lee, Sukhan

Configuration optimization of space structures

The objective is to develop a computer aid for the conceptual/initial design of aerospace structures, allowing configurations and shape to be apriori design variables. The topics are presented in viewgraph form and include the following: Kikuchi's homogenization method; a classical shape design problem; homogenization method steps; a 3D mechanical component design example; forming a homogenized finite element; a 2D optimization problem; treatment of volume inequality constraint; algorithms for the volume inequality constraint; object function derivatives--taking advantage of design locality; stiffness variations; variations of potential; and schematics of the optimization problem.

Felippa, Carlos

Method for optimal configuration of an ECLSS on the Space Station Freedom

The establishment of a permanently manned Space Station represents a substantial challenge in the design of a life support system, specifically in the need to supply a large crew for missions of extended duration. The Space Station will evolve by time phased modular increments delivered and supplied by the Space Shuttle and other advanced launch systems. With the addition of each subsequent phase or alteration of mission duties, the requirements of the Station may differ from previous phases of development. With the addition of future crews and pressurized volume throughout the lifetime of the Space Station, change-out of individual subsystems may be necessary in order to meet the performance, safety, and reliability levels required from the Environmental Control and Life Support System (ECLSS). The analysis of this system growth demands the capability for advanced, integrated assessment techniques so that the unique mission drivers during each phase and mission scenario may be identified and evaluated. In order to determine the impacts of the interdependency between the ECLSS, the crew, the various user experiments, and the other distributed systems, consideration must be given to all Space Station resources and requirements during the initial and subsequent evolution phase. Therefore, it is necessary for analysis efforts to study the long term effects of established designs. These studies must quantify the optimal degree of loop closure within the capabilities of existing and future technologies including any resulting maintenance and logistics requirements. In addition, the necessity for subsystem retrofit during the lifetime of the Station must be examined. The source of system requirements due to long term exposure to the microgravity environment is illustrated, the criticality of the ECLSS functions is reviewed, and a method is described to develop an optimal design during each configuration based on the cross-consumption of Station resources. A comparison utilizing this procedure is discussed.

Gould, Marston J.

Momentum accumulation due to solar radiation torque, and reaction wheel sizing, with configuration optimization

This paper has a two-fold objective: determination of yearly momentum accumulation due to solar radiation pressure, and optimum reaction wheel sizing. The first objective is confronted while determining propellant consumption by the attitude control system over a spacecraft's lifetime. This, however, cannot be obtained from the daily momentum accumulation and treating that constant throughout the year, because the orientation of the solar arrays relative to the spacecraft changes over a wide range in a year, particularly if the spacecraft has two arrays, one normal and the other off-normal to different extent at different times to the sun rays. The paper first develops commands for the arrays for tracking the sun, the arrays articulated to earth-pointing spacecraft with two rotational degrees of freedom, and spacecraft in an arbitrary circular orbit. After developing expressions for solar radiation torque due to one or both arrays, arranged symmetrically or asymmetrically relative to the spacecraft bus, momentum accumulation over an orbit and then over a year are determined. The remainder of the paper is concerned with designing reaction wheel configurations. Four-, six-, and three-wheel configurations are considered, and for given torque and momentum requirements, their cant angles with the roll/yaw plane are optimized for minimum power consumption. Finally, their momentum and torque capacities are determined for one-wheel failure scenario, and six configurations are compared and contrasted.

Hablani, Hari B.

Europa Spacecraft Configuration Optimization for the Solar Powered Vehicle

A mission to Europa has been on the minds of NASA and JPL for many years. After the Galileo mission to Jupiter in the 1990s there have been various proposals for missions to the Jovian moon. The most recent proposal, previously named the Europa Clipper, has gone through numerous iterations of spacecraft configurations on its road to becoming an official NASA project in June of 2015. Most of these configurations included options for either multi mission radioisotope thermoelectric generators (MMRTGs) or solar power. In 2014, the decision was made to focus on solar arrays as the source for spacecraft power. The decision to move forward with a baseline design that utilized only solar arrays as its power system meant that some configuration choices had to be re- evaluated. Initially, a configuration was adapted to keep as much of the previous spacecraft design the same while replacing MMRTGs with solar panels. This proved to be difficult as the arrays presented a slew of new challenges that the nuclear vehicle was not optimized for. The solar arrays needed to be large due to Jupiter's substantial distance from the Sun. This meant that many of the instrument and radiator FOVs would now be obstructed, or would receive reflected light and heat from the large panel s. Also, the mass of the panels meant that mounting near the bottom of the spacecraft would be sub-optimal as the wings would cause major disturbance to the vehicle as they oscillated in their deployed state. Another major, and possibly the largest, concern was the fact that as the high gain antenna pointed to Earth for communication, the Ice Penetrating Radar (IPR) would cast a large shadow on the cell -side of the array. This resulted in an estimated 10% power loss to the vehicle. On top of all this, NASA announced the selection of the instruments that would fly on the Europa mission and replace the notional instrument suite that had been used to develop and submit the project proposal. The selected instruments, while not varying widely from the notional suite, did come with a new set of challenges including a size increase over the notional package, thus requiring more room for accommodation. They also introduced new features not previously addressed by the notional package, such as a two-axis gimbal on one of the imagers. Additionally, two new instruments, an ultraviolet plume -hunting spectrograph, and an atmospheric dust analyzer we added to the payload and presented new challenges not previously covered in the proposal. Finally, additional payloads were under consideration, such as a 250kg ejectable payload that would be released at Jupiter and would accomplish flybys of some of the other Jovian moons. All of this resulted in a drastically different "family" of configurations that were capable of addressing these issues, and staying flexible to the numerous potential changes that could come. This paper discusses the details of the various configurations considered to address these items, and the configuration concepts that were selected as the baseline for moving forward with the proposal.

Horner, Matthew D.

Optimal Configuration of an Array of Tabs for Mixing Enhancement in a Shear Layer

The large and small scale vortical motions produced by delta tabs in a two-stream shear layer have been studied experimentally. The tabs were placed at the trailing edge of a splitter plate, mounted in the test section of a wind tunnel, that produced the shear layer. Hot-wire measurements detailed the velocity, vorticity and small scale population distributions in the 3-D space behind the tabs. Small scale structures, which represent the peak in the dissipation spectrum, were identified and counted using the Peak-Valley-Counting technique. The optimal tab inclination angle, theta, and the optimal spanwise spacing, S, for a multiple tab array were identified. The optimal condition was that which maximized the small scale population and generated the strongest streamwise vorticity. Increasing the tab pitch angle from flush to normal to the splitter plate increased the streamwise vorticity as well as the overall small scale population. In fact, the increase in the overall small scale population correlated strongly with the increase in streamwise vorticity intensity. The optimal conditions for peak streamwise vorticity and peak small scale population, with minimum area blockage, were determined to be theta = 45deg and S = 1.5 tab widths.

Foss, J. K.

Jupiter probe heatshield configuration optimization

The effect of initial probe heatshield shape on the total probe mass loss during Jovian entry is considered. Modification of the aerothermal environment and probe entry trajectory due to changing probe heatshield shape is included in a computerized technique designed for rapid assessment of the effect of probe initial shape on heatshield mass loss. Results obtained indicate the importance of trajectory and heating distribution coupling with probe shape and mass change.

Dirling, R. B., Jr.