ALBERT

Description: A group of fifteen students in the Electrical Engineering Department at the University of Maryland, College Park, has been involved in a design project under the sponsorship of NASA Headquarters, NASA Goddard Space Flight Center and the Systems Research Center (SRC) at UMCP. The goal of the NASA/USRA project was to first obtain a refinement of the design work done in Spring 1986 on the proposed Mobile Remote Manipulator System (MRMS) for the Space Station. This was followed by design exercises involving the OMV and two armed service vehicle. Three students worked on projects suggested by NASA Goddard scientists for ten weeks this past summer. The knowledge gained from the summer design exercise has been used to improve our current design of the MRMS. To this end, the following program was undertaken for the Fall semester 1986: (1) refinement of the MRMS design; and (2) addition of vision capability to our design.

Description: The project selected by the U.S. Naval Academy and NASA Goddard Space Flight Center for the 1986-87 NASA/USRA University Advanced Design Program was a variable artificial gravity facility, an adjunct to the Space Station. Recently, Goddard Space Flight Center had proposed that a formal study be conducted by NASA to investigate the question of whether an artificial gravity capability should be added to the Space Station. Therefore, not only does this project fit the goals of the Design Program, but it was a timely and interesting project. The variable artificial gravity was generated by a spinning module, and became an adjunct to the Space Station. It was planned that as much of the Space Station technology as possible be incorporated into the design. The components of the system were inserted into orbit. The specific design parameters were essentially open. The primary design objectives were: (1) The highest gravity level sufficient to prevent bone calcium loss in astronauts. (2) The cost of the Space Station should not be increased by more than 20 percent. (3) The number of launches to orbit the Space Station should not be increased by more than 30 percent. A secondary design objective was to investigate whether this design was suitable for a long duration space flight, such as a mission to Mars, or if the design is easily and inexpensively modified for such a mission.

Description: The small, chemically primitive objects of the solar system, comets and asteroids, are one of the most important frontiers remaining for future planetary exploration. So stated the Solar System Exploration Committee of the NASA Advisory Council in its 1986 report 'Planetary Exploration Through the Year 2000.' The Halley's comet flyby missions completed last spring raised more questions than were answered about the nature of comets. The next mission to a comet must be able to explore some of these questions. In the late 1990's, a spacecraft might be built to explore the hazardous area surrounding a comet nucleus. Rigorous pointing requirements for remote sensing instruments will place a considerable burden on their attendant control systems. To meet these requirements we have pursued the initial design and analysis of a multi-bodied comet explorer spacecraft. Sized so as to be built on-orbit after the space station is operational, the spacecraft is comprised of Orbit Replaceable Unit (ORU) subsystems, packaged into two major components: a three-axis controlled instrument platform and a spinning, detached comet dust shield. Such a configuration decouples the dynamics of dust impaction from the stringent pointing out requirements of the imaging experiments. At the same time, it offers an abundance of simple analysis problems that may be carried out by undergraduates. These problems include the following: Selection of subsystem components, sizing trade studies, investigation of three-axis and simple spin dynamics, design of simple control systems, orbit determination, and intercept trajectory generation. Additionally, such topics as proposal writing project management, human interfacing, and costing have been covered. A new approach to design teaching has been taken, whereby students will 'learn by teaching.' They are asked to decompose trade options into a set of 'if-then' rules, which then 'instruct' the Mechanically Intelligent Designer (MIND) expert design system in how to carry out a design.

Description: The detailed design of a small beam-powered trans-atmospheric vehicle, 'The Apollo Lightcraft,' was selected as the project for the design course. The vehicle has a lift-off gross weight of about six (6) metric tons and the capability to transport 500 kg of payload (five people plus spacesuits) to low Earth orbit. Beam power was limited to 10 gigawatts. The principal goal of this project is to reduce the low-Earth-orbit payload delivery cost by at least three orders of magnitude below the space shuttle orbiter--in the post 2020 era. The completely reusable, single-stage-to-orbit, shuttle craft will take off and land vertically, and have a reentry heat shield integrated with its lower surface--much like the Apollo command module. At the appropriate points along the launch trajectory, the combined cycle propulsion system will transition through three or four air breathing modes, and finally a pure rocket mode for orbital insertion. As with any revolutionary flight vehicle, engine development must proceed first. Hence, the objective for the spring semester propulsion course was to design and perform a detailed theoretical analysis on an advanced combined-cycle engine suitable for the Apollo Light craft. The analysis indicated that three air breathing cycles will be adequate for the mission, and that the ram jet cycle is unnecessary.

Description: An analytical study was performed to predict and assess the effect of actuator and sensor errors on the performance of a shape control procedure for flexible space structures using applied temperatures. Approximate formulas were derived for the expected value and variance of the rms distortion ratio (ratio of rms distortions with and without corrections) based on the assumption of zero-mean normally distributed random errors in measured distortions and actuator output temperatures. Studies were carried out for a 55-meter radiometer antenna reflector distorted from its ideal parabolic shape by nonuniform orbital heating. The first study consisted of varying the sensor and actuator errors for the case of 12 actuators and computing the distortion ratio. In the second study, sensor and actuator errors were prescribed and the effect of increasing the number of actuators was evaluated.

Description: The isothermal and thermomechanical fatigue (TMF) crack initiation response of a hypothetical material was analyzed. Expected thermomechanical behavior was evaluated numerically based on simple, isothermal, cyclic stress-strain-time characteristics and on strainrange versus cyclic life relations that have been assigned to the material. The attempt was made to establish basic minimum requirements for the development of a physically accurate TMF life-prediction model. A worthy method must be able to deal with the simplest of conditions: that is, those for which thermal cycling, per se, introduces no damage mechanisms other than those found in isothermal behavior. Under these assumed conditions, the TMF life should be obtained uniquely from known isothermal behavior. The ramifications of making more complex assumptions will be dealt with in future studies. Although analyses are only in their early stages, considerable insight has been gained in understanding the characteristics of several existing high-temperature life-prediction methods. The present work indicates that the most viable damage parameter is based on the inelastic strainrange.

Description: Crack extension in elastic-plastic material involves energy dissipation through the creation of new crack surfaces and additional yielding around the crack front. An analytical procedure, using a two-dimensional elastic-plastic finite element method, was developed to calculate the energy dissipation components during a quasi-static crack extension. The fracture of an isotropic compact specimen was numerically simulated using the critical crack-tip-opening-displacement (CTOD) growth criterion. Two specimen sizes were analyzed for three values of critical CTOD. Results from the analysis showed that the total energy dissipation rate consisted of three components: the crack separation energy rate, the plastic energy dissipation rate, and the residual strain energy rate. All three energy dissipation components and the total energy dissipation rate initially increased with crack extension and finally reached constant values.

Description: The use of the compromise decision support problem in hierarchical design of structural systems is described. The mathematical template that supports the underlying precepts of hierarchical design in the context of the decision support problem technique is presented. A structural example that demonstrates the efficacy of the approach is included.

Description: A study was conducted to investigate the stress ratio effect on cyclic debond growth behavior in adhesively bonded composite joints. The system studied consisted of graphite/epoxy adherends bonded with a toughened epoxy adhesive. This study showed that the strain energy release rate range was the driving factor for cyclic debonding of the tested bonded system when subjected to cyclic loads with different stress ratios for both mode I and mixed mode I-II loadings.

Description: A simple matrix expression is obtained for the strain components of a beam in which the magnitudes of neither beam displacements nor rotations are explicitly restricted. The only kinematical restrictions are that: (1) strains are small compared to unity and (2) components of local rotation, a newly identified kinematical quantity, are of the order of the strains to a fractional power equal to at least one half. Local rotations are defined as the change of orientation of material elements off the beam reference axis relative to those on the beam reference axis. Local rotations appear explicitly in the resulting strain expressions, facilitating the treatment of both open- and closed-section beams in applications of the theory. The resulting strain components are expressed in a local Cartesian coordinate system and can be calculated directly in that way. Thus, one can use a curvilinear coordinate system that is natural to the beam problem without the complications that usually surround such an approach. Examples show the simplicity and the generality of the present approach as well as why previously published results differ among themselves concerning tension-torsion coupling.

Description: Two computational techniques are developed analytically to generate global approximation vectors for use in the nonlinear large-deflection analysis of symmetric structures with asymmetric boundary conditions. One method is based on linear combinations of FEM-generated symmetric and antisymmetric vector components, while the other employs a preconditioned-conjugate-gradient technique. The derivation of the procedures is explained in detail, and their effectiveness is evaluated in sample computations for an elliptic toroid and a cylindrical panel; the results are presented in tables and graphs and characterized.

Description: The wave propagation in a circular plate after impact by a cylindrical projectile is studied. In the vicinity of impact, the pressure is computed numerically. An intense pressure pulse is generated that peaks 0.2 microns after impact, then drops sharply to a plateau. The response of the plate is determined adopting a modal solution of Mindlin's equations. Velocity and acceleration histories display both propagating and dispersive features.

Description: A unified set of composite micromechanics equations is summarized and described. This unified set is for predicting the ply microstresses when the ply stresses are known. The set consists of equations of simple form for predicting three-dimensional stresses (six each) in the matrix, fiber, and interface. Several numerical examples are included to illustrate use and computational effectiveness of the equations in this unified set. Numerical results from these examples are discussed with respect to their significance on microcrack formation and, therefore, damage initiation in fiber composites.

Description: The acoustic damping for single modes of a finite rectangular panel, simply supported in an infinite baffle, is theoretically determined from the ratio of the acoustic energy radiated per cycle to the vibratory energy of the panel. Asymptotic solutions for the low-frequency region are presented for a panel mode driven at an arbitrary frequency and for a panel mode vibrating at its natural frequency. Curves of acoustic damping for a panel mode vibrating at resonance, as a function of the panel thickness-to-length ratio, are presented for various panel aspect ratios. For panels vibrating below the critical frequency, the damping depends on the aspect ratio with square panels developing the smallest value. For panels vibrating above the critical frequency, the damping is nearly independent of the aspect ratio.

Description: The development status and applicational range of techniques in computational structural mechanics (CSM) are evaluated with a view to advances in computational models for material behavior, discrete-element technology, quality assessment, the control of numerical simulations of structural response, hybrid analysis techniques, techniques for large-scale optimization, and the impact of new computing systems on CSM. Primary pacers of CSM development encompass prediction and analysis of novel materials for structural components, computational strategies for large-scale structural calculations, and the assessment of response prediction reliability together with its adaptive improvement.

Description: An impulsive plasma injection has been used to study charge neutralization of the Space Shuttle Orbiter while it was emitting an electron beam into space. This investigation was performed by Space Experiments with Particle Accelerators on Spacelab-1. A plasma consisting of 10 to the 19th argon ion-electron pairs was injected into space for 1 ms while an electron beam was also being emitted into space. The electron beam energy and current were as high as 5 keV and 300 mA. While the orbiter potential was positive before the plasma injection and began to decrease during the plasma injection, it was near zero for 6 to 20 ms after the plasma injection. The recovery time to the initial level of charging varied from 10 to 100 ms. In a laboratory test in a large space chamber using the same flight hardware, the neutralization time was 8-17 ms and the recovery time was 11-20 ms. The long duration of the neutralization effect in space can be explained by a model of diffusion of the cold plasma which is produced near the Orbiter by charge exchange between the neutral argon atoms and the energetic argon ions during plasma injection.

Description: A new unified computational approach for applicability to nonlinear/linear thermal-structural problems is presented. Basic concepts of the approach including applicability to nonlinear and linear thermal structural mechanics are first described via general formulations. Therein, the approach is demonstrated for thermal stress and thermal-structural dynamic applications. The proposed transfinite element approach focuses on providing a viable hybrid computational methodology by combining the modeling versatility of contemporary finite element schemes in conjunction with transform techniques and the classical Bubnov-Galerkin schemes. Comparative samples of numerical test cases highlight the capabilities of the proposed concepts.

Description: A method is developed for sensitivity analysis and optimization of nodal point locations in connection with vibration reduction. A straightforward derivation of the expression for the derivative of nodal locations is given, and the role of the derivative in assessing design trends is demonstrated. An optimization process is developed which uses added lumped masses on the structure as design variables to move the node to a preselected location - for example, where low response amplitude is required or to a point which makes the mode shape nearly orthogonal to the force distribution, thereby minimizing the generalized force. The optimization formulation leads to values for added masses that adjust a nodal location while minimizing the total amount of added mass required to do so. As an example, the node of the second mode of a cantilever box beam is relocated to coincide with the centroid of a prescribed force distribution, thereby reducing the generalized force substantially without adding excessive mass. A comparison with an optimization formulation that directly minimizes the generalized force indicates that nodal placement gives essentially a minimum generalized force when the node is appropriately placed.

Description: The Space Station will be a multipurpose space facility to acquire and exploit unique knowledge with a planned lifetime of greater than 20 years. It will include laboratories for science and manufacturing, provide a platform for earth and interplanetary observations, conduct satellite servicing, and serve as a transportation node for potential manned geosynchronous, lunar, and Mars missions. Environmental safety considerations and limited manpower resources require the extensive use of intelligent systems and flexible robotics on the Space Station. Design accommodations must be planned in advance to allow incorporation of these advancing technologies on the evolutionary Space Station.

Description: The stringent attitude determination accuracy and faster slew maneuver requirements demanded by present-day spacecraft control systems motivate the development of recursive nonlinear filters for attitude estimation. This paper presents the second-order filter development for the estimation of attitude quaternion using three-axis gyro and star tracker measurement data. Performance comparisons have been made by computer simulation of system models and filter mechanization. It is shown that the second-order filter consistently performs better than the extended Kalman filter when the performance index of the root sum square estimation error of the quaternion vector is compared. The second-order filter identifies the gyro drift rates faster than the extended Kalman filter. The uniqueness of this algorithm is the online generation of the time-varying process and measurement noise covariance matrices, derived as a function or the process and measurement nonlinearity, respectively.

Description: This ASTM Round Robin was conducted to evaluate the state of the art in stress analysis of adhesively bonded joint specimens. Specifically, the participants were asked to calculate the strain-energy-release rate for two different geometry cracked lap shear (CLS) specimens at four different debond lengths. The various analytical techniques consisted of 2- and 3-dimensional finite element analysis, beam theory, plate theory, and a combination of beam theory and finite element analysis. The results were examined in terms of the total strain-energy-release rate and the mode I to mode II ratio as a function of debond length for each specimen geometry. These results basically clustered into two groups: geometric linear or geometric nonlinear analysis. The geometric nonlinear analysis is required to properly analyze the CLS specimens. The 3-D finite element analysis gave indications of edge closure plus some mode III loading. Each participant described his analytical technique and results. Nine laboratories participated.

Description: The present study evaluates a higher-order modal method proposed by Leung for transient structural analysis entitled the force-derivative method. This method repeatedly integrates by parts with respect to time the convolution-integral form of the structural response to produce successively better approximations to the contribution of the higher modes which are neglected in the modal summation. Comparisons are made of the force-derivative, the mode-displacement, and the mode-acceleration methods for several numerical example problems for various times, levels of damping, and forcing functions. The example problems include a tip-loaded cantilevered beam and a simply-supported multispan beam. The force-derivative method is shown to converge to an accurate solution in fewer modes than either the mode-displacement or the mode-acceleration methods. In addition, for problems in which there are a large number of closely-spaced frequencies whose mode shapes have a negligible contribution to the response, the force derivative method is very effective in representing the effect of the important, but otherwise neglected, higher modes.

Description: Standard means of representing finite rotation in rigid-body kinematics, including orientation angles, Euler parameters, and Rodrigues parameters, are reviewed and compared. General kinematical relations for a beam theory that treats arbitrarily large rotation are then presented. The standard methods of representing finite rotations are applied to these kinematical expressions, and comparison is made among the standard methods and additional methods found in the literature, such as quasi-coordinates and linear combinations of projection angles. The method of Rodrigues parameters is shown to stand out for both its simplicity and generality when applied to beam kinematics, a result that is really missing from the literature.

Description: A simple computational procedure is presented for reducing the size of the analysis model for a symmetric structure with asymmetric boundary conditions to that of the corresponding structure with symmetric boundary conditions. The procedure is based on approximating the asymmetric response of the structure by a linear combination of symmetric and antisymmetric global approximation vectors (or modes). The key elements of the procedure are (1) restructuring the governing finite-element equations to delineate the contributions to the symmetric and antisymmetric components of the asymmetric response, (2) successive application of the finite element method and the classical Rayleigh-Ritz technique. The finite-element method is first used to generate a few global approximation vectors (or modes). Then the amplitudes of these modes are computed by using the Rayleigh-Ritz technique. The effectiveness of the computational procedure is demonstrated by means of numerical examples of linear static problems of shells, and its potential for solving nonlinear problems is discussed.

Description: Thermal, elastic, and feedback analyses are applied to the case of a beam with a distributed thermal actuator. The actuator is capable of producing a thermal gradient across the section of the beam. One candidate for such an actuator uses the Peltier effect, which appears in certain semiconductors. These devices act as heat pumps when a voltage is applied, causing a temperature gradient. It is shown that the thermal gradients can induce deflection in the beam. If the thermal gradients are applied in the proper sense to a vibrating beam, it is possible to increase the vibration damping exhibited by the structure. Experimental results are given for a cantilever beam, whose first vibrational mode damping ratio was increased from 0.81 to 7.4 percent with simple lead compensation.

Description: The coupled bending-bending-torsional equations of dynamic motion of rotating, linearly pretwisted blades are derived including large precone, second degree geometric nonlinearities and Coriolis effects. The equations are solved by the Galerkin method and a linear perturbation technique. Accuracy of the present method is verified by conparisons of predicted frequencies and steady state deflections with those from MSC/NASTRAN and from experiments. Parametric results are generated to establish where inclusion of only the second degree geometric nonlinearities is adequate. The nonlinear terms causing torsional divergence in thin blades are identified. The effects of Coriolis terms and several other structurally nonlinear terms are studied, and their relative importance is examined.

Description: The linear-quadratic Gaussian/loop-transfer-recovery method is used to synthesize a fine-pointing control system for a large space antenna. A finite-element model for the 122-m hoop/column antenna is employed, and a compensator, utilizing attitudes sensors and torque actuators, is designed which achieves pointing performance while maintaining stability robustness to unmodeled dynamics. Inclusion of the rigid-body modes plus the first three elastic modes is found to be necessary to achieve a 0.1-rad/s bandwidth. Results are obtained by employing a modification of the standard robustness recovery procedure, which reduces the conservative nature of the design methodology. Performance degradation is encountered due to the presence of unavoidable invariant zeros within the design bandwidth.

Description: The proposed development of the Space Station is examined. The functions and advantages of the Space Station are described. The use of a solar array system for power generation on the Station is studied; the capabilities of various other generation systems are also evaluated. The Space Station's development schedule is discussed.

Description: A free-flying platform of about 4 x 17 m overall dimensions, carrying a variety of imaging and sounding payloads, calls for an intelligent structure with active dynamic control of structural resonances. The actuators for such a structure must be lightweight, require low power, and allow integration into the structure without degradation of its integrity; the dc-to-100 Hz dynamic range required may entail several types of actuators, as is presently emphasized. Broadband damping of higher-order modes requires modeling of the structure with a distributed array of sensors and actuators.

Description: Several factors, such as body size and shape, and the number of arms and their placement, will influence how well the Flight Telerobotic Servicer (FTS) is suited to its potential duties for the Space Station Program. In order to examine the implications of these configuration options, eight specific 2, 3, and 4 armed FTS configuration were simulated and used to perform a Space Station Orbital Replacement Unit (ORU) exchange. The strengths and weaknesses of each configuration were evaluated. Although most of the configurations examined were able to perform the exchange, several of the 3 and 4 arm configurations had operational advantages. The results obtained form these simulations are specific to the assumptions associated with the ORU exchange scenario examined. However, they do illustrate the general interrelationships and sensitivities which need to be understood.

Description: Teleoperator experiments were conducted which have demonstrated that a realistic, complex task, typical of those accomplished on-orbit by EVA astronauts, can be done in a smooth, timely manner with manipulators remotely controlled by humans. The real concerns were: (1) do manipulators have sufficient dexterity for these tasks, (2) can sufficient information from the remote site be provided to permit adequate teleoperator control, (3) can reasonable times relative to EVA times be achieved, (4) can the task be completed without frequent and/or damaging impacts among the task components and the manipulators? Positive answers were found to all of these concerns. Tasks times, operator fatigue, and smoothness of operation could be improved by designing the task components and the manipulators for greater compatibility. The data recorded supplements a data base of performance metrics for the same task done in the water immersion training facility as well as space flight and provides management with an objective basis for deciding how and where to apply manipulators in space.

Description: The preliminary design phase of the Space Station has uncovered a large number of potential uses of automation and robotics, most of which deal with the assembly and operation of the Station. If NASA were to vigorously push automation and robotics concepts in the design, the Station crew would probably be free to spend a substantial portion of time on payload activities. However, at this point NASA has taken a conservative attitude toward automation and robotics. For example, the belief is that robotics should evolve through telerobotics and that uses of artificial intelligence should be initially used in an advisory capacity. This conservativeness is in part due to the new and untested nature of automation and robotics; but, it is also due to emphases plased on designing the Station to the so-called upfront cost without thoroughly understanding the life cycle cost. Presumably automation and robotics has a tendency to increase the initial cost of the Space Station but could substantially reduce the life cycle cost. To insure that NASA will include some form of robotic capability, Congress directed to set aside funding. While this stimulates the development of robotics, it does not necessarily stimulate uses of artificial intelligence. However, since the initial development costs of some forms of artificial intelligence, such as expert systems, are in general lower than they are for robotics one is likely to see several expert systems being used on the Station.

Description: The prediction of fatigue crack growth is an important element of effective fracture control for metallic structures and mechanical components, especially in the aerospace industry. The prediction techniques available and applied today are mostly based on fatigue crack growth measurements determined in constant amplitude testing. However, while many service loadings are constant amplitude, many more loadings are random amplitude. An investigation to determine which statistics of random loadings are relevant to fatigue crack closure was conducted. The fundamentals of random processes and crack closure are briefly reviewed, then the relevance of certain random process parameters to the crack closure calculation are discussed qualitatively. A course for further research is outlined.

Description: An analytic technique for accounting for the joint effects of Earth oblateness and atmospheric drag on close-Earth satellites is investigated. The technique is analytic in the sense that explicit solutions to the Lagrange planetary equations are given; consequently, no numerical integrations are required in the solution process. The atmospheric density in the technique described is represented by a rotating spherical exponential model with superposed effects of the oblate atmosphere and the diurnal variations. A computer program implementing the process is discussed and sample output is compared with output from program NSEP (Numerical Satellite Ephemeris Program). NSEP uses a numerical integration technique to account for atmospheric drag effects.

Description: The feasibility of using piezoelectric actuators to control the flexural oscillations of large structures in space is investigated. Flexural oscillations are excited by impulsive loads. The vibratory response can degrade the pointing accuracy of cameras and antennae, and can cause high stresses at structural node points. Piezoelectric actuators have the advantage of exerting localized bending moments. In this way, vibration is controlled without exciting rigid body modes. The actuators are used in collocated sensor/driver pairs to form a feedback control system. The sensor produces a voltage that is proportional to the dynamic stress at the sensor location, and the driver produces a force that is proportional to the voltage applied to it. The analog control system amplifies and phase shifts the sensor signal to produce the voltage signal that is applied to the driver. The feedback control is demonstrated to increase the first mode damping in a cantilever beam by up to 100 percent, depending on the amplifier gain. The damping efficiency of the control system when the piezoelectrics are not optimally positioned at points of high stress in the beam is evaluated.

Description: A method is presented to accurately and economically calculate steady state frequency responses based on the analysis of large finite element models with nonproportional damping effects. The new method is a hybrid of the traditional nonproportional and proportional damping solution methods. It captures the advantages of each computational approach without the burden of their respective shortcomings, as demonstrated with comparative analysis performed on a large finite element model.

Description: Identification of the system parameters of a randomly excited structure may be treated using a variety of statistical techniques. Of all these techniques, the Random Decrement is unique in that it provides the homogeneous component of the system response. Using this quality, a system identification technique was developed based on a least-squares fit of the signatures to estimate the mass, damping, and stiffness matrices of a linear randomly excited system. The results of an experiment conducted on an offshore platform scale model to verify the validity of the technique and to demonstrate its application in damage detection are presented.

Description: Around resonance, the force transmitted by an exciter into a structure will be smaller or greater than a reference force generated by its coils due to electromechanical interaction. A simple analysis is presented which reveals how this phenomenon of force drop-off is controlled by three factors. The first factor, called Armature Mass Factor, describes a purely mechanical interaction between the structure and the exciter. The electromechanical energy conversion and its interaction with the structure yields two additional factors, called Electrical Resistance and Electrical Inductance Factors. They describe the effects of coil resistance, inductance and magnetic field strength relative to structural damping and stiffness. Present analysis indicates that, under proper circumstances, more than 90 percent of the force drop-off can be eliminated if armature-to-structure mass ratio is smaller or equal to half of modal loss factor.

Description: This analysis includes the structural response to shock and vibration and evaluates the maximum deflections and material stresses and the potential for the occurrence of elastic instability, fatigue and fracture. The required computations are often performed by means of finite element analysis (FEA) computer programs in which the structure is simulated by a finite element model which may contain thousands of elements. The formulation of a finite element model can be time consuming, and substantial additional modeling effort may be necessary if the structure requires significant changes after initial analysis. Rapid methods for obtaining rough estimates of the structural response to shock and vibration are presented for the purpose of providing guidance during the initial mechanical design configuration stage.

Description: An analysis of the total impulse obtained from a buried explosive charge can be calculated from displacement versus time points taken from successive film frames of high speed motion pictures of the explosive event. The indicator of that motion is a pole and baseplate (photopole), which is placed on or within the soil overburden. Here, researchers are concerned with the precision of the impulse calculation and ways to improve that precision. Also examined here is the effect of each initial condition on the curve fitting process. It is shown that the zero initial velocity criteria should not be applied due to the linear acceleration versus time character of the cubic power series. The applicability of the new method to photopole data records whose early time motions are obscured is illustrated.

Description: Future activities in space will require the use of large structures and high power availability in order to fully exploit opportunities in Earth and stellar observations, space manufacturing and the development of optimum space transportation vehicles. Although these large systems will have increased capabilities, the associated development costs will be high, and will dictate long life with minimum maintenance. The Space Station provides a concrete example of such a system; it is approximately one hundred meters in major dimensions and has a life requirement of thirty years. Numerous mechanical components will be associated with these systems, a portion of which will be exposed to the space environment. If the long life and low maintenance goals are to be satisfied, lubricants and lubrication concepts will have to be carefully selected. Current lubrication practices are reviewed with the intent of determining acceptability for the long life requirements. The effects of exposure of lubricants and lubricant binders to the space environment are generally discussed. Potential interaction of MoS2 with atomic oxygen, a component of the low Earth orbit environment, appears to be significant.

Description: Conceptual efforts to develop a Space Station based system for docking and/or berthing the NSTS Orbiter are described. Past docking and berthing systems are reviewed, the general requirements and options for mating the Orbiter and Space Station are discussed, and the rationale for locating the system on the Station is established. One class of Station-based system is developed in several variations and evaluated with respect to weight distribution, loads, safety, reliability, viewing, and maintainability. An evolutionary presentation of the variations provides insight into the development process and the problems encountered. An overall evaluation of the Station-based variations compared to an optimized Orbiter-based system demonstrates the potential benefits of this approach as well as the issues that must be resolved to realize the benefits.

Description: A design is presented for a pneumatic ejection system capable of ejecting a spin stabilized satellite from the cargo bay of space vehicles. This system was orginally designed for use on the Spacelab 6 shuttle mission, but is now being considered for use with expendable rockets for launching satellites. The ejection system was designed to launch a 150 lb satellite at an initial ejection velocity of 32 ft/sec with a spin rate of 30 rev/min. The ejection system consists of a pneumatic cylinder, satellite retaining mechanism, and bearing assembly to allow the satellite to rotate during the spin up phase. As the cylinder is pressurized rapidly causing movement of the actuation piston, the mechanism automatically releases the spinning satellite by retracting a pneumatic locking pin and three spring loaded holddown pins. When the piston reaches the end of its stroke, it encounters a crushable aluminum honeycomb shock absorber which decelerates the piston and retaining mechanism. The assembly is designed for multiple uses except for the crushable shock absorber and pyrotechnic valves. The advantage of the design is discussed and patent no. and date given.

Description: Experimental Assembly of Structures in EVA (EASE) objectives, experimental protocol, neutral buoyancy simulation, task time distribution, assembly task performance, metabolic rate/biomedical readouts are summarized. This presentation is shown in charts, figures, and graphs.

Description: Space shuttle glow intensity measurements show large differences when the data from different missions are compared. In particular, on the 41-G mission the space shuttle ram glow was observed to display an unusually low intensity. Subsequent investigation of this measurement and earlier measurements suggest that there was a significant difference in temperature of the glow producing ram surfaces. The highly insulating properties coupled with the high emissivity of the shuttle tile results in surfaces that cool quickly when exposed to deep space on the night side of the orbit. The increased glow intensity is consistent with the hypothesis that the glow is emitted from excited NO2. The excited NO2 is likely formed through three body recombination (OI + NO + M = NO2*) where ramming of OI interacts with weakly surface bound NO. The NO is formed from atmospheric OI and NI which is scavenged by the spacecraft moving through the atmosphere. It is postulated that the colder surfaces retain a thicker layer of NO thereby increasing the probability of the reaction. It has been found from the glow intensity/temperature data that the bond energy of the surface bound precursor, leading to the chemical recombination producing the glow, is approximately 0.14 eV. A thermal analysis of material samples of STS-8 was made and the postulated temperature change of individual material samples prior to the time of glow measurements above respective samples are consistent with the thermal effect on glow found for the orbiter surface.

Description: The overall objective of this program is to demonstrate the applicability of NASA-developed advanced constitutive and life damage models for calculating cyclic structural response and crack initiation in selected components of reusable space propulsion systems. The computer model resulting from this program will enable the user to produce an accurate life prediction of hot gas path, life limiting components of propulsion systems such as the space shuttle main engine (SSME). Previously developed computer models addressing constitutive modeling and life damage will be combined in an advanced finite element analysis to generate a sophisticated baseline life prediction program. A material data base will be established for the constitutive and life models parametrically involving temperature, strain range, strain rate, mean strain/stress, and dwell time. The verified computer program will be used to accomplish the life predictions of three SSME critical components as evidence of the model functionality.

Description: A common method of treating the mean stress effect on fatigue life is to displace the elastic line on a Manson-Coffin-Basquin diagram while retaining the position of the plastic line. Manson and Halford pointed out that this procedure implies that mean stress significantly affects the cyclic stress-strain curve. Actually, however, they showed experimentally and by more general reasoning, that mean stress has little, if any, effect on the cyclic stress-strain curve. Thus, they concluded that it is necessary to displace the plastic line as well as the elastic line in order to keep the cyclic stress-strain curve unaltered. Another way to express the common displacement of the two lines is to keep the lines in place and change the horizontal coordinate to include a term relating to the displacement. Thus, instead of life, 2N sub f, as the horizontal coordinate, a new coordinate can become 2N sub f (1-sigma sub m/sigma sub f) superscript 1/b, thereby displacing both the elastic and plastic lines by an amount (1-sigma sub m/sigma sub f) superscript 1/b where sigma sub m is the mean stress and sigma sub f is the intercept of the elastic line at N sub f = 1/2 cycles and b is the slope of the elastic line.

Description: Virtually any project dealing with the control of a Large Space Structure (LSS) will involve some level of verification by digital computer simulation. While the Hubble Space Telescope might not normally be included in a discussion of LSS, it is presented to highlight a recently developed simulation and analysis program named TREETOPS. TREETOPS provides digital simulation, linearization, and control system interaction of flexible, multibody spacecraft which admit to a point-connected tree topology. The HST application of TREETOPS is intended to familiarize the LSS community with TREETOPS by presenting a user perspective of its key features.

Description: A study of the interface problems between the Space Station Structure (vibrations) and the Payload Pointing Control System was undertaken. A major goal of the study was to identify any bounding factors that might limit the achievement of required pointing accuracies. A major result is that the space station will have a disturbance-rich environment and the background levels will be large enough to impact the pointing of some of the payloads. The need for an interface vibration specification between the structure and the payloads was identified.

Description: The Control of Flexible Structures II (CPFS) program is a complex and ambitious undertaking which addresses several critical technology areas. Among them are modeling, structural dynamics, control, and ground testing issues, which are also applicable to other large space structure programs being contemplated. This effort requires early integration of controls and structural dynamic considerations. Several technological advances must be achieved in the areas of system modeling, control synthesis and methodology, sensor/actuator development, and ground testing techniques for system evaluation and on-orbit performance prediction and verification. This program offers an opportunity for the integration of several disciplines to produce technology advances which will benefit many future programs.

Description: An optimal control solution process was developed for a general class of nonlinear dynamical systems. The method combines control theory, perturbation methods, and Van Loan's recent matrix exponential results. A variety of applications support the practical utility of this method. Nonlinear rigid body optimal maneuvers are routinely solved. Flexible body dynamical systems of an order greater than 40 were solved. The method fails occasionally due to poor convergence of the perturbation expansion or numerical difficulties associated with computing the matrix exponential. The method is attractive because it appears to be a good candidate for semi-automation; no initial guess is required, and it usually converges at 2nd or 3rd order in minutes of machine time.

Description: The feasibility of using piezoelectric ceramics as both sensors and actuators for vibration suppression in a lightweight, flimsy structure was demonstrated. Multimode control was achieved using one sensor and actuator pair. The Positive Position Feedback control strategy requires only knowledge of the natural frequencies of the structure. Implementation of the Positive Position Feedback used only strain measurements to achieve damping, no velocities, or acceleration are needed. All spillover is stabilizing for sufficient small gains.

Description: The Hubble Space Telescope features the most exacting line of sight jitter requirement thus far imposed on a spacecraft pointing system. Consideration of the fine pointing requirements prompted an attempt to isolate the telescope from the low level vibration disturbances generated by the attitude control system reaction wheels. The primary goal was to provide isolation from axial component of wheel disturbance without compromising the control system bandwidth. A passive isolation system employing metal springs in parallel with viscous fluid dampers was designed, fabricated, and space qualified. Stiffness and damping characteristics are deterministic, controlled independently, and were demonstrated to remain constant over at least five orders of input disturbance magnitude. The damping remained purely viscous even at the data collection threshold of .16 x .000001 in input displacement, a level much lower than the anticipated Hubble Space Telescope disturbance amplitude. Vibration attenuation goals were obtained and ground test of the vehicle has demonstrated the isolators are transparent to the attitude control system.

Description: A detailed dynamic analysis is performed of a vibrating beam with bending stiffness periodic in the spatial coordinate. Using a perturbation expansion technique the free vibration solution is obtained in a closed-form, and the effects of system parameters on beam response are explored. It is found that periodic stiffness acts to modulate the modal displacements from the characteristic shape of a simple sine wave. The results are verified by a finite element solution and through experimental testing.

Description: Loads analysis for structural dynamic systems is usually performed by finite element models. Because of the complexity of the structural system, the model contains large number of degree-of-freedom. The large model is necessary since details of the stress, loads and responses due to mission environments are computed. However, a simplified model is needed for other tasks such as pre-test analysis for modal testing, and control-structural interaction studies. A systematic method of model reduction for modal test analysis is presented. Perhaps it will be of some help in developing a simplified model for the control studies.

Description: Numerical procedures that can accomplish model reductions for space trusses were developed. Three techniques are presented that can be implemented using current capabilities within NASTRAN. The proposed techniques accomplish their model reductions numerically through use of NASTRAN structural analyses and as such are termed numerical in contrast to the previously developed analytical techniques. Numerical procedures are developed that permit reductions of large truss models containing full modeling detail of the truss and its joints. Three techniques are presented that accomplish these model reductions with various levels of structural accuracy. These numerical techniques are designated as equivalent beam, truss element reduction, and post-assembly reduction methods. These techniques are discussed in detail.

Description: The problem and long term objectives for the precision pointing and control of flexible spacecraft are given. The four basic objectives are stated in terms of two principle tasks. Under Task 1, robust low order controllers, improved structural modeling methods for control applications and identification methods for structural dynamics are being developed. Under Task 2, a lab test experiment for verification of control laws and system identification algorithms is being developed. For Task 1, work has focused on robust low order controller design and some initial considerations for structural modeling in control applications. For Task 2, work has focused on experiment design and fabrication, along with sensor selection and initial digital controller implementation. Conclusions are given.

Description: The transient analysis of trusses having nonlinear joints can be accomplished using the residual force technique. The technique was applied a two degree of freedom spring mass system, a four bay planar truss, and an actual ten bay deployable truss. Joints chosen for analysis were the nonlinear gap joints and the linear Voigt joints. Results from the nonlinear gap analyses generally indicate that coupling between the modes can display some interesting effects during free vibration. One particularly interesting effect was that the damping of the structure appeared to be higher than could be accounted for from modal damping alone. Energy transferral from the lower to the higher modes was found to exist as a result of the modal coupling. The apparently increased damping was due to the fact that the energy transferred to the higher modes is inherently dissipated more quickly. Another interesting phenomenon was that the lower modes could drive the higher modes even during free vibration and that these modes could display a rather large quasi-steady state behavior even when modal damping was present. Gaps were also found to increase the amplitude and period of the free vibration response as expected.

Description: A 203rd order simulation model was developed to evaluate the space station customer accommodation payload pointing and micro-g requirements. The simulation shows the pointing errors on the telescope are significantly smaller than at the base of the telescope. The pointing results could change when the parametric studies are performed. The results show the micro-g requirement is met with an active isolation system.

Description: The NASA Langley Research Center has assembled a flexible grid on which control systems research can be accomplished on a two-dimensional structure that has many physically distributed sensors and actuators. The grid is a rectangular planar structure that is suspended by two cables attached to one edge so that out of plane vibrations are normal to gravity. There are six torque wheel actuators mounted to it so that torque is produced in the grid plane. Also, there are six rate gyros mounted to sense angular motion in the grid plane and eight accelerometers that measure linear acceleration normal to the grid plane. All components can be relocated to meet specific control system test requirements. Digital, analog, and hybrid control systems capability is provided in the apparatus. To date, research on this grid has been conducted in the areas of system and parameter identification, model estimation, distributed modal control, hierarchical adaptive control, and advanced redundancy management algorithms. The presentation overviews each technique and presents the most significant results generated for each area.

Description: On-line pulse control for vibration suppression in a flexible spacecraft was evaluated. A continuous beam vs. a truss was modeled. A linear finite element model was used to determine the truss characteristics. Control issues outlined are ED pulse actuator development, pseudo pulse algorithm development, and large nonlinear simulation problems.

Description: An NASA program is discussed which was initiated to make direct comparisons of control laws for, first, a mathematical problem, than an experimental test article is being assembled under the cognizance of the Spacecraft Control Branch. The physical apparatus will consist of a softly supported dynamic model of an antenna attached to the Shuttle by a flexible beam. The control objective will include the task of directing the line of sight of the Shuttle/antenna configuration toward a fixed target, under conditions of noisy data, limited control authority and random disturbances. A workshop will be planned to discuss and compare results of the design challange.

Description: Studies were performed to determine location for proof mass actuators, if a significant reduction in the number of sensors would work, and to design a control law to meet requirements for line of sight error and actuators. Conclusions are drawn and briefly discussed.

Description: Vector differential equations for distributed structures; discretization (in space) of distributed structures; and parameter identification for the Spacecraft Control Laboratory Experiment (SCOLE) are examined.

Description: Mathematical expressions for slew maneuver dynamics are presented. The total kinetic energy expression of the system is given as T = T(0) + T(1) + T(2), where T(0), T(1), and T(2) refer to the kinetic energies of the shuttle, the flexible beam, and the tip mass (the reflector), respectively. The specific equations for each of these are defined and integrated into the total energy expression. Using the chain rule in the Lagrange equations and an expression allowing the transformation of the orbiter angular velocity from the inertial frame to the body-fixed frame, the rotational equations are obtained. Finally, the vibration equations for the beam are derived, again using the Lagrange equations.

Description: The parametric study of the in-plane Spacecraft Control Laboratory Experiment (SCOLE) system, the Floquet Stability Analysis, and three dimensional formulations of the SCOLE system dynamics are examined. Control issues are discussed, such as: control of large structures with delayed input in continuous time; control with delayed input in discrete time; control law design for SCOLE using Linear Quadratic Gaussian (LQC)/TRR technique; and optimal torque control for SCOLE slewing maneuvers.

Description: An advanced (segmented) combustor liner supplied by Pratt and Whitney Aircraft was tested in the structural component test rig at Lewis Research Center. It was found that the segmented liner operated at much lower temperatures than the conventional liner (about 400 F lower) for the same heat flux. At the lower temperatures and low thermal gradients, little distortion to the segments was observed. The operating conditions were not severe enough to distort or damage the segmented liner.

Description: The following conclusions were drawn from this study of creep thresholds and thermomechanical response: (1) creep threshold can be determined using the latest electrohydraulic test equipment, providing that test durations are short and relatively large accumulations of creep strain are used in defining the threshold; (2) significant creep strains were measured under monotonic loading as stress levels as low as 4 ksi at temperatures predicted for solar receiver service; and (3) the material exhibited creep ratchetting during simulated service cycles, a result not predicted by analysis using current constitutive models for Haynes 188.

Description: It was shown that the proposed data analysis method, based on inelastic strain-time response, can be used effectively to represent cyclic response at elevated temperatures for Hastelloy-X. A high level of confidence in this method was built by making comparisons of the experimental and fitted data in two forms. Because of this level of confidence, the analysis was taken one step further and inelastic strain rates were calculated from the derivatives of the fit equations.

Description: A continuum theory is presented for representing the high temperature, time dependent, hereditary deformation behavior of metallic composites that can be idealized as pseudohomogeneous continua with locally definable directional characteristics. Homogenization of textured materials (molecular, granular, fibrous) and applicability of continuum mechanics in structural applications depends on characteristic body dimensions, the severity of gradients (stress, temperature, etc.) in the structure and the relative size of the internal structure (cell size) of the material. The point of view taken here is that the composite is a material in its own right, with its own properties that can be measured and specified for the composite as a whole.

Description: The fourth and final year of the HOST project with the initial objective of developing a unified constitutive model for finite element structural analysis of turbine engine hot section components is discussed. The final year's work was primarily concerned with the study of nonisothermal problems and the potential for thermal history effects to occur explicitly in the constitutive equations.

Description: A new method is proposed for characterizing and predicting the thermal fatigue behavior of materials. The method is based on three innovations in characterizing high temperature material behavior: (1) the bithermal concept of fatigue testing; (2) advanced, nonlinear, cyclic constitutive models; and (3) the total strain version of traditional strainrange partitioning.

Description: The objectives of this research were to determine the predominant modes of degradation of a plasma sprayed thermal barrier coating (TBC) system, and then to develop and verify life prediction models accounting for these degradation modes. The TBC system consists of a low pressure plasma sprayed (LPPS) bond coat layer of Ni-22Cr-10Al-O.3Y, an air plasma sprayed (APS) yttria partially stabilized zirconia (ZrO sub 2-8Y sub 2 O sub 3) top coat on a conventionally cast Rene 80 (Ni base) substrate. Thermal cycle testing of TBCs was employed to evaluate the effect of coating edges, bond coat oxidation, bond coat creep, top coat thickness, and bond coat thickness.

Description: The basic objective of this investigation is the quantitative determination of stress states in a model thermal barrier coating (TBC) as it cools in the air to 600 C from an assumed stress-free state at 700 C. This model is intended to represent a thin plasma-sprayed zirconia-yttria ceramic layer with a nickel chromium-aluminum-yttrium bond coat on a cylindrical substrate made of nickel-based superalloys typically found in gas turbines.

Description: A brief description of the implementation in MARK, the general purpose finite element structural analysis code, of two viscoplastic models developed by Robinson is given. One model is for isotropic materials and the other is for metal matrix composites. Also presented are analytical results obtained for hot section components using these models.

Description: The objective was to develop and verify a series of interdisciplinary modeling and analysis techniques specialized to address hot section components. These techniques incorporate data as well as theoretical methods from many diverse areas, including cycle and performance analysis, heat transfer analysis, linear and nonlinear stress analysis, and mission analysis.

Description: The advantages of a newly developed code are demonstrated by comparisons of the analysis with existing theoretical data as well as with other available finite element programs. The new program shows promise to significantly reduce the computer time. It also permits accurate and efficient structural analysis of engine hot section components.

Description: The Mechanics of Materials Model (MOMM) is a three-dimensional inelastic structural analysis code for use as an early design stage tool for hot section components. MOMM is a stiffness method finite element code that uses a network of beams to characterize component behavior. The MOMM contains three material models to account for inelastic material behavior. These include the simplified material model, which assumes a bilinear stress-strain response; the state-of-the-art model, which utilizes the classical elastic-plastic-creep strain decomposition; and Walker's viscoplastic model, which accounts for the interaction between creep and plasticity that occurs under cyclic loading conditions.

Description: Shape optimization of unconstrained and constrained damping layers is completed. The specific problem analyzed is a cantilever beam loaded at its tip by a harmonic force. Finite element modeling and mathematical programming techniques are used to obtain the solution. Performance measures are taken to be reduction of maximum diplacement and increase in fatigue lifetime. Results include the improvement, over the uniform treatment case, of these measures when the profile of the damping layer is optimized.

Description: It is shown how unique isolator forces and corresponding forces can be chosen by superimposing a minimum settling time onto the limiting performance of the shock isolation system. Basically, this means that the system which has reached the peak value of the performance index is settled to rest in minimum time.

Description: The response of a penetrator structure to a spatially distributed mechanical impulse with a magnitude approaching field test force levels (1-2 Mlb) were measured. The frequency response function calculated from the response to this unique forcing function is compared to frequency response functions calculated from response to point forces of about 2000 pounds. The results show that the strain gages installed on the penetrator case respond similiarly to a point, axial force and to a spatially distributed, axial force. This result suggests that the distributed axial force generated in a penetration event may be reconstructed as a point axial force when the penetrator behaves in linear manner.

Description: A comprehensive parametric study was carried out to establish design guidelines for favorable tradeoffs between damping benefits and the associated stiffness, strength and weight penalties in a rhombic joint. The results are compared with the corresponding tradeoffs for a double-lap joint made of the same materials.

Description: An analysis of an idealized passive vibration-cancelling two-terminal mount with one degree of freedom at each mechanical terminal isolating a nonrigid machine from a nonrigid foundation is presented. To evaluate a vibration-cancelling (VC) mount, its effectiveness as a function of frequency is compared with the effectiveness of both conventional and compound mounts isolating a rigid machine from a nonrigid foundation. The comparisons indicate that a carefully designed and manufactured VC mount should provide substantially greater vibration reduction at its cancellation frequency than either a conventional or compound mount having the same low frequency stiffness, i.e., stiffness at the natural frequency of the machine mount system.

Description: A general method is presented for determining the dynamic torsional/axial response of linear structures composed of either tapered bars or shafts to transient excitations. The method consists of formulating and solving the dynamic problem in the Laplace transform domain by the finite element method and obtaining the response by a numerical inversion of the transformed solution. The derivation of the torsional and axial stiffness matrices is based on the exact solution of the transformed governing equation of motion, and it consequently leads to the exact solution of the problem. The solution permits treatment of the most practical cases of linear tapered bars and shafts, and employs modeling of structures with only one element per member which reduces the number of degrees of freedom involved. The effects of external viscous or internal viscoelastic damping are also taken into account.

Description: The development of a docking system for aerospace vehicles has identified the need for reusable and variably controlled attenuators/actuators for energy absorption and compliance. One approach to providing both the attenuator and the actuator functions is by way of an electromechanical attenuator/actuator (EMAA) as opposed to a hydraulic system. The use of the electromechanical devices is considered to be more suitable for a space environment because of the absence of contamination from hydraulic fluid leaks and because of the cost effectiveness of maintenance. A smart EMAA that uses range/rate/attitude sensor information to preadjust a docking interface to eliminate misalignments and to minimize contact and stroking forces is described. A prototype EMAA was fabricated and is being tested and evaluated. Results of preliminary testing and analysis already performed have established confidence that this concept is feasible and will provide the desired reliability and low maintenance for repetitive long term operation typical of Space Station requirements.