ALBERT

Description: Control system experiments are described that were carried out on flexible structure facilities at the Jet Propulsion Laboratory (JPL) and the Wright-Patterson Air Force Base (WPAFB). The feedback controllers were designed using the technique of weighted gap optimization to increase structural damping and achieve robust control.

Description: Cavitation of the oil film in a dynamically loaded journal bearing was studied using high-speed photography and pressure measurement simultaneously. Comparison of the visual and pressure data provided considerable insight into the occurence and non-occurrence of cavitation. It was found that (1), cavitation typically occurred in the form of one bubble with the pressure in the cavitation bubble close to the absolute zero; and (2), for cavitation-producing operating conditions, cavitation did not always occur; with the oil film then supporting a tensile stress.

Description: Tests were performed measuring the locations and geometries of delaminations in Fiberite T300/976 graphite/epoxy, Fiberite IM7/977-2 graphite-toughened epoxy, and ICI APC-2 graphite/PEEK plates subjected to transverse impact loads. The data provide specific information on the effects of impactor velocity, impactor mass, material, thickness of back ply group, difference in fiber orientation between adjacent ply groups, plate thickness, and impactor nose radius. The data were compared to the results of the Finn-Springer model. The model was found to describe the data with reasonable accuracy.

Description: The results of a study of the effects of impact damage on compression-loaded trapezoidal-corrugation sandwich and semi-sandwich graphite-thermoplastic panels are presented. Sandwich panels with two identical face sheets and a trapezoidal corrugated core between them, and semi-sandwich panels with a corrugation attached to a single skin are considered in this study. Panels were designed, fabricated and tested. The panels were made using the manufacturing process of thermoforming, a less-commonly used technique for fabricating composite parts. Experimental results for unimpacted control panels and panels subjected to impact damage prior to loading are presented. Little work can be found in the literature about these configurations of thermoformed panels.

Description: The conditions under which global and local singularities may arise in structural optimization are examined. Examples of these singularities are presented, and a framework is given within which the singularities can be recognized. It is shown, in particular, that singularities can be identified through the analysis of stress-displacement relations together with compatibility conditions or the displacement-stress relations derived by the integrated force method of structural analysis. Methods of eliminating the effects of singularities are suggested and illustrated numerically.

Description: The vibration isolation problem is formulated as a 1D kinematic problem. The geometry of the stochastic wall trajectories arising from the stroke constraint is defined in terms of their significant extrema. An optimal control solution for the minimum acceleration return path determines a lower bound on platform mean square acceleration. This bound is expressed in terms of the probability density function on the significant maxima and the conditional fourth moment of the first passage time inverse. The first of these is found analytically while the second is found using a Monte Carlo simulation. The rms acceleration lower bound as a function of available space is then determined through numerical quadrature.

Description: The vibrations of a flexible rotor are controlled using piezoelectric actuators. The controller includes active analog components and a hybrid interface with a digital computer. The computer utilizes a grid search algorithm to select feedback gains that minimize a vibration norm at a specific operating speed. These gains are then downloaded as active stillnesses and dampings with a linear fit throughout the operating speed range to obtain a very effective vibration control.

Description: An analytical and experimental investigation of a vibratory system with a clearance was conducted. A finite element model and an equivalent single-degree-of-freedom closed-form solution were used to determine the dynamic parameters and response of an experimental structure interacting with a gap. The closed-form solution is obtained by taking advantage of the piecewise linearity of the system. Results from these solution methods are in agreement with experimental data. The results also suggest that the closed-form solution approximates the response of the experimental structure with accuracy greater than that of the finite element model. The closed-form solution was also used to determine the gap size of the structure. The parameter identification procedure utilized in this study appears to be simple to use and can be readily extended to other types of piecewise-linear multi-degree-of-freedom systems.

Description: An account is given of an inspection method that has been successfully used to assess the postimpact damage and residual strength of syntactic (glass microspheres in epoxy matrix) foam-core sandwich panels with hybrid (carbon and glass fiber-reinforced) composite skins, which inherently possess high damage tolerance. SEM establishes that the crushing of the microspheres is responsible for the absorption of most of the impact energy. Damage tolerance is a function of the localization of damage by that high impact energy absorption.

Description: A new mathematical approach for quantifying the mechanical properties of elastomeric materials under biaxial loads is presented. Specific equations relating principal strains and principal true stresses for a homogeneous, isotropic, and elastic material are proposed that resemble the conventional Hooke's law of linear elasticity. The predicted stresses are compared to those from three different sets of experimental data and to stresses from three different theories based on Rivlin's work-of-deformation approach. The proposed approach is considered to be of benefit to design engineers involved in a broad range of rubber products.

Description: Extensive experimental investigation has been carried out on used flight bearings of the high pressure oxidizer turbopumps (HPOTP) of the space shuttle main engine (SSME) in order to determine the dominant wear modes, their extent, and causes. The paper presents the methodology, various surface analysis techniques used, results, and discussion. The mode largely responsible for premature bearing wear has been identified as adhesive/shear peeling of the upper layers of bearing balls and rings. This mode relies upon the mechanisms of scale formation, breakdown, and removal, all of which are greatly enhanced by the heavy oxidation environment of the HPOTP. Major causes of the high wear rates appear to be lubrication and cooling, both inadequate for the imposed conditions of operation. Numerous illustrations and evidence are provided.

Description: A method is presented for calculating the locations, shapes, and sizes of delaminations which occur in a fiber reinforced composite plate subjected to transverse static or dynamic (impact) loads. The plate may be simply supported, clamped, or free along its edges. A model of the delamination formation was developed. This model was then coupled with a finite element analysis. The model and the finite element analysis were implemented by a computer code which can be used to estimate the load at which damage is initiated as well as the locations, shapes, and sizes of the delaminations.

Description: Nonlinear finite-element structural analyses were performed on the first stage high-pressure fuel turbopump blade of the Space Shuttle Main Engine. The analyses examined the structural response and the dynamic characteristics at typical operating conditions. Single crystal material PWA-1480 was considered for the analyses. Structural response and the blade natural frequencies with respect to the crystal orientation were investigated. The analyses were conducted based on typical test stand engine cycle. Influence of combined thermal, aerodynamic, and centrifugal loadings was considered. Results obtained showed that the single crystal secondary orientation effects on the maximum principal stresses are not highly significant.

Description: A method for deriving constrained or fixed-base modes and frequencies from free-free modes of a structure with mass-loaded boundaries is developed. Problems associated with design and development of test fixtures can be avoided with such an approach. The analytical methodology presented is used to assess applicability of the mass-additive method for three types of structures and to determine the accuracy of derived constrained modes and frequencies. Results show that mass loading of the boundaries enables local interface modes to be measured within a desired frequency bandwidth, thus allowing constrained modes to be derived with considerably fewer free-free modes than for unloaded boundaries. Good convergence was obtained for a simple beam and a truss-like Shuttle payload, both of which had well-spaced modes and stiff interface support structures. Slow convergence was obtained for a space station module prototype, a shell-like structure having high modal density.

Description: An algorithm for a general, multilevel structural optimization by substructuring is derived, based on the linear decomposition concept that is rooted in the Bellman's Optimality Criterion enhanced with the optimum sensitivity derivatives used as a means to account for coupling among the subproblems, each of which is limited to optimization of a substructure. The algorithm applies also to those multidisciplinary problems whose subproblems form a hierarchy similar to that of substructures. In systems where the subproblems communicate with each other at the same level, the decomposition becomes non-hierarchic and the system may be optimized as a whole based on the derivatives of the system behavior with respect to the design variables computed by a method that bypasses finite differencing on the system analysis. When a multidisciplinary system includes a structure as its part, a hybrid, hierarchic/non-hierarchic decomposition applies. Numerical examples and references to computational experience accumulated to date illustrate the discussion.

Description: This paper discusses two schemes for doing finite element K calibration in the frequency domain. The baseline scheme uses the definition of K as a limit toward the crack tip. The limiting process requires using a very fine mesh around the crack tip making the scheme computationally very expensive. It is shown that the behavior of K as a function of frequency is very similar to a modal response. Taking advantage of this, a more efficient scheme involves a modal analysis of the cracked sheet and scaling the response to that of the static stress intensity. In this way, only a static K calibration need be performed. All the examples shown are for a frequency range spanning multiple resonances and with two levels of damping.

Description: An analysis was undertaken to determine the effect of fluid film compressibility on the performance of fluid film bearings. A new version of the Reynolds equation was developed, using a polytropic expansion, for both steady-state and dynamic conditions. Polytropic exponents from 1 (isothermal) to 1000 (approaching an incompressible liquid) were evaluated for two bearing numbers, selected from a range of practical interest for cryogenic application, and without cavitation. Bearing loads were insensitive to fluid compressibility for low bearing numbers, as was expected. The effect of compressibility on attitude angle was significant, even when the bearing number was low. A small amount of fluid compressibility was enough to obtain stable running conditions. Incompressible liquid lacked stability at all conditions. Fluid compressibility can be used to control the bearing dynamic coefficients, thereby influencing the dynamic behavior of the rotor-bearing system.

Description: An analytical calibration of the Stable Poisson Loaded (SPL) specimen is presented. The specimen configuration is similar to the ASTM E-561 compact-tension specimen with displacement controlled wedge loading used for R-curve determination. The crack mouth opening displacements (CMODs) are produced by the diametral expansion of an axially compressed cylindrical pin located in the wake of a machined notch. Due to the unusual loading configuration, a three-dimensional finite element analysis was performed with gap elements simulating the contact between the pin and specimen. In this report, stress intensity factors, CMODs, and crack displacement profiles, are reported for different crack lengths and different contacting conditions. It was concluded that the computed stress intensity factor decreases sharply with increasing crack length thus making the SPL specimen configuration attractive for fracture testing of brittle, high modulus materials.

Description: This paper presents a design methodology for a laminated composite stiffened panel, subjected to multiple in-plane loads and bending moments. Design variables include the skin and stiffener ply orientation angles and stiffener geometry variables. Optimum designs are sought which minimize structural weight and satisfy mechanical performance requirements. Two types of mechanical performance requirements are placed on the panel, maximum strain and minimum strength. Minimum weight designs are presented which document that the choice of mechanical performance requirements cause changes in the optimum design. The effects of lay-up constraints which limit the ply angles to user specified values, such as symmetric or quasi-isotropic laminates, are also investigated.

Description: Analytical models for piezoelectric actuators, adapted from flat plate concepts, are developed for noise and vibration control applications associated with vibrating circular cylinders. The loadings applied to the cylinder by the piezoelectric actuators for the bending and in-plane force models are approximated by line moment and line force distributions, respectively, acting on the perimeter of the actuator patch area. Coupling between the cylinder and interior acoustic cavity is examined by studying the modal spectra, particularly for the low-order cylinder modes that couple efficiently with the cavity at low frequencies. Within the scope of this study, the in-plane force model produced a more favorable distribution of low-order modes, necessary for efficient interior noise control, than did the bending model.

Description: The traditional approach used in modeling of composites reinforced by three-dimensional (3-D) braids is to assume a simple unit cell geometry of a 3-D braided structure with known fiber volume fraction and orientation. In this article, we first examine 3-D braiding methods in the light of braid structures, followed by the development of geometric models for 3-D braids using a unit cell approach. The unit cell geometry of 3-D braids is identified and the relationship of structural parameters such as yarn orientation angle and fiber volume fraction with the key processing parameters established. The limiting geometry has been computed by establishing the point at which yarns jam against each other. Using this factor makes it possible to identify the complete range of allowable geometric arrangements for 3-D braided preforms. This identified unit cell geometry can be translated to mechanical models which relate the geometrical properties of fabric preforms to the mechanical responses of composite systems.

Description: Major issues and recent advances in the structural dynamics of rotating systems are summarized. The objectives and benefits of such systems are briefly discussed. Directions for future research are suggested.

Description: Recent advances in structural design for control are reviewed. Attention is given to adaptive structures, passive damping, ground testing, and system identification. Directions for future research are suggested.

Description: The benefits of structural dynamics modeling methods in aerospace structures are reviewed. Four major issues in structural dynamics modeling are discussed which encompass most of its subdisciplines: reduced order modeling, constraints in problems with large motions, computational strategies, and fundamental methods. Directions for future research in these areas are addressed.

Description: To simulate the dynamical motion of articulated, multiflexible body structures, one can use multibody simulation packages such as DISCOS. To this end, one must supply appropriate reduced-order models for all of the flexible components involved. The component modes projection and assembly model reduction (COMPARE) methodology is one way to construct these reduced-order component models, which when reassembled capture important system input-to-output mapping of the full-order model at multiple system configurations of interest. In conjunction, we must also supply component damping matrices which when reassembled generate a system damping matrix that has certain desirable properties. The problem of determining the damping factors of components' modes to achieve a given system damping matrix is addressed here. To this end, we must establish from first principles a matrix-algebraic relation between the system's modal damping matrix and the components' modal damping matrices. An unconstrained/constrained optimization problem can then be formulated to determine the component modes' damping factors that best satisfy that matrix-algebraic relation. The effectiveness of the developed methodology, called ModeDamp, has been successfully demonstrated on a high-order, finite element model of the Galileo spacecraft.

Description: This paper presents an alternative to the correlation of individual components of a mode shape vectors by directly examining the sensitivity of the cross-orthogonality between test and analytical mode shapes. If the test and analysis mode shapes are identical, the diagonal elements of the cross-orthogonality will be identical to the test orthogonality matrix, so the cross-orthogonality matrix provides a concise measure of the 'closeness' between test and analysis mode shapes. There are two major advantages to the cross-orthogonality correlation approach. The first is that a direct correlation of this matrix will more directly meet the goal of the correlation effort (measured by cross-orthogonality). Secondly, and more importantly, the correlation of cross-orthogonality greatly reduces the amount of data that needs to be handled when compared to the correlation of mode shapes.

Description: A finite element solution for the structural behavior of a scientific balloon has been obtained using a non-linear finite element code. The pneumatic skin is modelled by shell elements that are given a small artificial bending stiffness to overcome numerical problems yet the membrane solution remains unaffected. Validation of the analysis approach is provided through strain measurements on a small scale balloon that exhibits all essential features of a full scale balloon.

Description: The Long Duration Exposure Facility (LDEF) micrometeoroid/space debris impact data has been reduced in terms that are convenient for evaluating the overall quantitative effect on material properties. Impact crater flux has been evaluated as a function of angle from velocity vector and as a function of crater size. This data is combined with spall data from flight and ground testing to calculate effective solar absorption and emittance values versus time. Results indicate that the surface damage from micrometeoroid/space debris does not significantly affect the overall surface optical thermal physical properties. Of course the local damage around impact craters radically alter optical properties. Damage to composites and solar cells on an overall basis was minimal.

Description: High fidelity elastic system modeling algorithms are discussed. The particular system studied is the Space Shuttle Remote Manipulator System (RMS) undergoing full articulated motion. The model incorporates flexibility via a methodology the author has been developing. The technique is based in variational principles, so rigorous boundary condition generation and weak formulations for the associated partial differential equations are realized, yet the analyst need not integrate by parts. The methodology is formulated using vector-dyad notation with minimal use of tensor notation, therefore the technique is believed to be affable to practicing engineers. The objectives of this work are as follows: (1) determine the efficacy of the modeling method; and (2) determine if the method affords an analyst advantages in the overall modeling and simulation task. Generated out of necessity were Mathematica algorithms that quasi-automate the modeling procedure and simulation development. The project was divided into sections as follows: (1) model development of a simplified manipulator; (2) model development of the full-freedom RMS including a flexible movable base on a six degree of freedom orbiter (a rigid-body is attached to the manipulator end-effector); (3) simulation development for item 2; and (4) comparison to the currently used model of the flexible RMS in the Structures and Mechanics Division of NASA JSC. At the time of the writing of this report, items 3 and 4 above were not complete.

Description: Prediction of whether a pressurized cylinder will fail catastrophically when impacted by a projectile has important applications ranging from perforation of an airplane's skin by a failed turbine blade to meteorite impact of a space station habitation module. This report summarizes the accomplishment of one task for a project whose aim is to simulate numerically the outcome of a high velocity impact of pressure vessels. A finite element patch covering the vicinity of a growing crack has been constructed to estimate the J-integral (crack driving force) during the impact. Explicit expressions for the J-integral through the nodal values of displacement, strain, and stress have been written. The patch is to be used repeatedly to estimate the amount of crack growth during the time of the impact. The resulting crack size is to be compared to an estimated critical crack size for the pressurized cylinder.

Description: We attempt in this paper to develop a model for the flow through brush seals and determine their elastic behavior in order to predict the dependence of brush/journal clearance on geometry and operating conditions. Several idealizations regarding brush seal configuration, flow conditions, and elastic behavior are made in the analysis in order to determine closed form parametric dependence. This formulation assumes that there is no initial interference between the bristle tip and the rotor. Also, interbristle, bristle-backing plate, and bristle-rotor friction is neglected. The bristle bundle or the brush seal as it is alternately called is assumed homogeneous and isotropic on a macroscopic scale so that a physical property like permeability is uniform. The fluid is assumed to be homogeneous, incompressible, viscous, and flowing under steady conditions. A schematic of a brush seal is shown. If the nominal bristle-shaft interference is absent then under static conditions the bristles may deflect axially due to the imposed pressure differential. This axial deflection may create a clearance permitting leakage flow in excess of that which occurs through the porous matrix formed by the bristle bundles. Under dynamic conditions the Couette flow created by shaft motion could be strong enough to cause bristle deflection and once again a clearance may develop. The paper proposes a means to determine this clearance (or at least describe its parametric dependence on geometry and operating conditions) under static as well as dynamic conditions.

Description: The compliant metallic seal combines the noncontact feature of the labyrinth seal, the low leakage of a mechanical seal, and the compliant nature of the brush seal. It consists of several thin metallic elements or leaves mounted within a ring which is press fit into the housing, and in form, sort of resembles a lip seal sections wiping the shaft. A second set of overlapping cover leaves are placed on top of the shaft riding leaves which reduces leakage and provides stiffness. The leaves can be straight or angle cut. The shaft riding fingers are designed with mismatched curvature to provide lift off similar to the Rayleigh lift pads in mechanical seals with leading edge clearances nearly twice those of the trailing edge as as shown by Fleming to be optimal for gas flows in convergent seal passages. Leading edge clearances range from 300 to 500 microinches. Balance pockets beneath the leaves provide fluid film feed to the 'Rayleigh lift' surface and the proper balance ratio (mechanical seal) when combined with the static pressure and film pressure. The leaves flex in the radial direction and accommodate thermomechanical behavior as well as axial motion and angular misalignment. In the static mode, there is a net closing force on the leaves. The seals were tested to 70 psi at speeds to 16,000 rpm or surface speeds to 330 fps and temperatures from ambient to 440 F. A slow cycle through the rig critical at 10,000 rpm induced a radial vibration response of 0.004 to 0.005 inch were accommodated by the seal. Preliminary performance data are encouraging demonstrating hydrodynamic liftoff and noncontacting operation at pressure and speeds typical of gas turbine engines. The leakage performance data are significantly better than commercial labyrinth and brush seals which should be expected as this design incorporates the features of the low leakage face or mechanical seal along with the flexibility of the brush configuration.

Description: A brief overview of the transient dynamics capabilities at Sandia National Laboratories, with an emphasis on recent new developments and current research is presented. In addition, the Sandia National Laboratories (SNL) Engineering Analysis Code Access System (SEACAS), which is a collection of structural and thermal codes and utilities used by analysts at SNL, is described. The SEACAS system includes pre- and post-processing codes, analysis codes, database translation codes, support libraries, Unix shell scripts for execution, and an installation system. SEACAS is used at SNL on a daily basis as a production, research, and development system for the engineering analysts and code developers. Over the past year, approximately 190 days of CPU time were used by SEACAS codes on jobs running from a few seconds up to two and one-half days of CPU time. SEACAS is running on several different systems at SNL including Cray Unicos, Hewlett Packard PH-UX, Digital Equipment Ultrix, and Sun SunOS. An overview of SEACAS, including a short description of the codes in the system, are presented. Abstracts and references for the codes are listed at the end of the report.

Description: Numerical simulation of vehicle crashworthiness and occupant protection are addressed. The vehicle crashworthiness design objectives are to design the vehicle structure for optimum impact energy absorption, and to design the restraint system (seatbelts, airbags, bolsters, etc.) for optimum occupant protection. The following approaches are taken; a major part of the impact energy is to be absorbed by the vehicle structure; the restraint components will provide protection against the remaining crash energy; certain vehicle components are designed to deform under specific types and speeds of impact in a desired mode for sound energy management; structural components such as front side rails, rear rails, door structure and pillars undergo large amounts of deformation; and with properly designed geometry and material these components assist in mitigating the effects of impact.

Description: The impact analysis of composite aircraft structures is discussed. Topics discussed include: background remarks on aircraft crashworthiness; comments on modeling strategies for crashworthiness simulation; initial study of simulation of progressive failure of an aircraft component constructed of composite material; and research direction in composite characterization for impact analysis.

Description: Due to the unavailability and, later, prohibitive cost of the computational power required, many phenomena in nonlinear dynamic systems have in the past been addressed in terms of linear systems. Linear systems respond to periodic inputs with periodic outputs, and may be characterized in the time domain or in the frequency domain as convenient. Reduction to the frequency domain is frequently desireable to reduce the amount of computation required for solution. Nonlinear systems are only soluble in the time domain, and may exhibit a time history which is extremely sensitive to initial conditions. Such systems are termed chaotic. Dynamic buckling, aeroelasticity, fatigue analysis, control systems and electromechanical actuators are among the areas where chaotic vibrations have been observed. Direct transient analysis over a long time period presents a ready means of simulating the behavior of self-excited or externally excited nonlinear systems for a range of experimental parameters, either to characterize chaotic behavior for development of load spectra, or to define its envelope and preclude its occurrence.

Description: A robotic rover vehicle designed for use in the exploration of the Lunar surface is described. The Robotic All-Terrain Lunar Exploration Rover (RATLER) is a four wheeled all-wheel-drive dual-body vehicle. A uniquely simple method of chassis articulation is employed which allows all four wheels to remain in contact with the ground, even while climbing over step-like obstacles as large as 1.3 wheel diameters. Skid steering and modular construction are used to produce a simple, rugged, highly agile mobility chassis with a reduction in the number of parts required when compared to current designs being considered for planetary exploration missions. The design configuration, mobility parameters, and performance of several existing RATLER prototypes are discussed.

Description: Incorporation of polyethylene glycols into fibrous substrates produces several improved functional properties when they are insolubilized by crosslinking with a methylolamide resin or by polyacetal formation by their reaction with glyoxal. The range of molecular weights of polyols that may be insolubilized is broad as are the curing conditions (0.25-10 min at 80-200C). Most representative fiber types and blends (natural and synthetic) and all types of fabric constructions (woven, nonwoven and knit) have been modified by incorporation of the bound polyols. The most novel property is the thermal adaptability of the modified substrates to many climatic conditions. This adaptability is due to the high latent heat of the crosslinked polyols that function as phase change materials, the hydrophilic nature of the crosslinked polymer and its enhanced thermal conductivity. Other enhanced properties imparted to fabrics include flex and flat abrasion, antimicrobial activity, reduced static charge, resistance to oily soils, resiliency, wind resistance and reduced lint loss. Applications commercialized in the U.S. and Japan include sportswear and skiwear. Several examples of electric sets of properties useful for specific end uses are given. In addition, other uses are biomedical horticultural, aerospace, indoor insulation, automotive interiors and components and packaging material.

Description: The characteristics of magnetic bearings used to support a three mass flexible rotor operated at speeds up to 14,000 RPM are discussed. The magnetic components of the bearing are of a type reported in the literature previously, but the earlier analog controls were replaced by digital ones. Analog-to-digital and digital-to-analog converters and digital control software were installed in an AT&T PC. This PC-based digital controller was used to operate one of the magnetic bearings on the test rig. Basic proportional-derivative control was applied to the bearings, and the bearing stiffness and damping characteristics were evaluated. Particular attention is paid to the frequency dependent behavior of the stiffness and damping properties, and comparisons are made between the actual controllers and ideal proportional-derivative control.

Description: Magnetic bearings are just beginning to be flown in spacecraft systems, but their development spans more than 50 years. The promise of completely noncontacting, unlubricated rotating systems operating at speeds substantially beyond the range of conventional bearings, and with no wear and virtually no vibration, has provided the incentive to develop magnetic bearing technology for many diverse applications. Earnshaw theorized in 1842 that stable magnetic suspension is not possible in all three spatial directions unless the magnetic field is actively controlled. Since that time, researchers have attempted to successfully support spinning rotors in a stable manner. Development of magnetic suspension systems over the past fifty years has included progress on both passive (permanent magnet) and active (electromagnet) systems. The improvements in bearing load capacity, stiffness, and damping characteristics are traced. The trends in rotor size, rotational kinetic energy, and improvements in active control systems capabilities are also reviewed. Implications of superconductivity on suspension system design and performance are discussed.

Description: The University of Virginia examined the design of actuators for both single-degree-of-freedom (SDOF) and multiple-degree-of-freedom (MDOF) active microgravity isolation systems. For SDOF systems, two actuators were considered: a special large gap magnetic actuator and a large stroke Lorentz actuator. The magnetic actuator was viewed to be of greater difficulty than the Lorentz actuator with little compelling technical advantage and was dropped from consideration. A Lorentz actuator was designed and built for the SDOF test rig using magnetic circuit and finite element analysis. The design and some experimental results are discussed. The University also examined the design of actuators for MDOF isolation systems. This includes design of an integrated 1 cm gap 6-DOF noncontacting magnetic suspension system and of a 'coarse' follower which permits the practical extension of magnetic suspension to large strokes. The proposed 'coarse' actuator was a closed kinematic chain manipulator known as a Stewart Platform. The integration of the two isolation systems together, the isolation tasks assigned to each, and possible control architectures were also explored. The results of this research are examined.

Description: Magnetic bearings are subject to performance limits which are quite different from those of conventional bearings. These are due in part to the inherent nonlinearity of the device and in part to its electrical nature. Three important nonideal behaviors are presented: peak force capacity, force slew rate limitation, and sensitivity to rotor motion at large displacements. The problem of identifying the dynamic requirements of a magnetic bearing when used to support a known structure subject to known loads is discussed in the context of these limitations. Several simple design tools result from this investigation.

Description: This project, jointly sponsored by Rocketdyne and CSTAR, involves the development of laser joining of materials which have heretofore been impractical to bond. Of particular interest are joints between stainless steel and copper and also aluminum 6061 to aluminum 2219. CSTAR has a unique opportunity in this area since both the process and development and diagnostics are of interest to industry. Initial results using the pulse tailored laser welding technique developed in CLA for joining crack sensitive materials have proven promising for the aluminum joints based upon metallurgical and electronic microprobe analysis. A declaration of success requires additional mechanical testing. A CW technique has been applied to the stainless-copper joining with some preliminary success. These joints are of significant interest for aeronautics and rocket propulsion applications and the project is expected to continue.

Description: Slewing of large payloads will require control torque and angular momentum storage capacities that are large in comparison to the capabilities of available control moment gyros (CMG's). SatCon Technology Corporation is currently designing a CMG which may be employed as a slew actuator for large spacecraft or other payloads. The slew actuator employs a type of magnetic bearing which may be used in high load applications. The magnetic bearing is also used to fully gimbal the suspended rotor of the slew actuator. The use of magnetic bearings in angular momentum exchange actuators has the primary advantage that physical contact between the rotor and stator is eliminated. This leads to greatly extended life, increased reliability, and reduced vibrations. Several actuators operating on magnetic bearings have been demonstrated in previous research efforts. These were sized for use in small satellites. For conventional magnetic bearings, which employ magnetic cores, high torsional loading may require that the magnetic structure be excessively massive. An alternative magnetic bearing design which employs a superconducting coil and eliminates conventional magnetic structures is discussed. The baseline approach is to replace the field coil of a conventional magnetic bearing with the superconducting coil.

Description: The design and shop test results are given for a high-speed eight-stage centrifugal compressor supported by active magnetic bearings. A brief summary of the basic operation of active magnetic bearings and the required rotor dynamics analysis are presented with specific attention given to design considerations for optimum rotor stability. The concerns for retrofits of magnetic bearings in existing machinery are discussed with supporting analysis of a four-stage centrifugal compressor. The current status of industrial machinery in North America using this new support system is presented and recommendations are given on design and analysis requirements for successful machinery operation of either retrofit or new design turbomachinery.

Description: Development plans for a prototype servocontrolled machine with 1 angstrom resolution of linear motion and 50 mm range of travel are described. Two such devices could then be combined to produce a two dimensional machine for probing large planar objects with atomic resolution, the Angstrom Resolution Measuring Machine (ARMM).

Description: A magnetic thrust bearing can be employed to take thrust loads in rotating machinery. The design and construction of a prototype magnetic thrust bearing for a high load per weight application is described. The theory for the bearing is developed. Fixtures were designed and the bearing was tested for load capacity using a universal testing machine. Various shims were employed to have known gap thicknesses. A comparison of the theory and measured results is presented.

Description: A brief description for a proposed new pointing mechanism which requires no mechanical gimbals, is virtually friction free, and is vibration isolated from a ground support system or vehicle is presented. The device uses electromagnetic forces for support levitation and pointing, both being accomplished from a ground reference thereby leaving the payload virtually free from a remotely located command center. Solid pointing angles of almost 2(pi) steradians are achievable, limited only by structural interference. A third degree-of-freedom tilt axis can be added at will, but will not be elaborated. Although the system is primarily intended for space vehicles in a micro-gravity environment, earth-ground support is possible with superconducting electromagnets.

Description: Electromagnetic actuators that use a current-carrying coil (which is placed in a magnetic field) to generate mechanical force are conceptually attractive components for active control of rotating shafts. In one concept that is being tested in the laboratory, the control forces from such actuators are applied on the flexibly supported bearing housings of the rotor. Development of this concept into a practical reality requires a clear and thorough understanding of the role of electromechanical parameters of these actuators in delivering the right amount of control force at the right phase into the rotor. The electromechanical parameters of the actuators investigated are the mass of the armature, stiffness of its suspension, electrical resistance, and inductance of the coils. Improper selection of these parameters can result in degradation in their performance, leading to mistuning between the actuator and the rotor. Through a simple analysis, it is shown that use of such mistuned actuators could result in sharp fluctuations in the phase of the control force delivered into the rotor around the critical speeds. These sharp fluctuations in phase, called 'Phase Glitches', are undesirable. Hence, future designs of controllers should take into account the undesirable mistuning effects between the actuator and the rotor caused by the phase glitches.

Description: The concept of magnetic levitation is not a new one and can be easily traced back to the 1800's. It is only recently, however, that the congruous technologies of electronic control systems, power electronics, and magnetic materials have begun to merge to make the magnetic suspension device a viable product. A brief overview of an active magnetic bearing technology is provided. Case histories of various turbomachinery in North America presently operating on magnetic bearings are reviewed. Finally, projections are made as to the space related machinery that may be benefited by incorporating magnetic bearings into the equipment design.

Description: A Gas Vessel Assembly has been developed that delivers purified, very low moisture content gas at two different output pressures. High pressure gas is delivered at up to 6,700 psi, and low pressure gas regulated to 130 psi is also delivered via a second outlet over a wide range of flow rates. The device is extremely lightweight (less than 1 lb) and compact, affords maximum mechanical integrity, high reliability (0.9999 at 95 percent confidence level), and offers extremely long storage life. Specialized design and fabrication techniques are employed that guarantee gas purity and negligible leakage for more than 20 years, in widely varying conditions of storage temperature, humidity, altitude, and vibration environments. The technology offers unique advantages in fast, high pressure discharge applications. For example, when combined with a cryostat, cryogenic temperatures can be achieved such as those used in missile seeker technology. The technology has many additional applications such as: emergency power sources for safety devices such as those needed in nuclear power plants, refineries, collision cushioning devices, superconductor cooling devices, emergency egress systems, miniature mechanical devices that employ gas bearings, and other areas where long storage, extremely high reliability and/or high energy density sources are required.

Description: A local-remote telerobot system for single- and dual-arm supervised autonomy, shared control, and teleoperation has been demonstrated. The system is composed of two distinct parts: the local site, where the operator resides; and the remote site, where the robots reside. The system could be further separated into dual local sites communicating with a common remote site. This is valuable for potential space missions where a space based robotic system may be controlled either by a space based operator or by a ground based operator. Also, multiple modes of control integrated into a common system are valuable for satisfying different servicing scenarios. The remote site single arm control system is described, and its parameterization for different supervised autonomous control, shared control, and teleoperation tasks are given. Experimental results are also given for selected tasks. The tasks include compliant grasping, orbital replacement unit changeout, bolt seating and turning, electronics card removal and insertion, and door opening.

Description: Composite structures have the potential to be cost-effective, structurally efficient primary aircraft structures. The Advanced Composites Technology (ACT) Program has the goal to develop the technology to exploit this potential for heavily loaded aircraft structures. As part of the ACT Program, Lockheed Aeronautical Systems Company completed the design and fabrication of the Technology Integration Box Beam (TIBB). The TIBB is an advanced composite prototype structure for the center wing section of the C-130 aircraft. Lockheed subjected the TIBB to downbending, upbending, torsion and combined upbending and torsion load conditions to verify the design. The TIBB failed at 83 percent of design ultimate load for the combined upbending and torsion load condition. The objective of this paper is to describe the mechanisms that led to the failure of the TIBB. The results of a comprehensive analytical and experimental study are presented. Analytical results include strain and deflection results from both a global analysis of the TIBB and a local analysis of the failure region. These analytical results are validated by experimental results from the TIBB tests. The analytical and experimental results from the TIBB tests are used to determine a sequence of events that resulted in failure of the TIBB. A potential cause of failure is high stresses in a stiffener runout region. Analytical and experimental results are also presented for a stiffener runout specimen that was used to simulate the TIBB failure mechanisms.

Description: Approximately 20.4 sq m of Teflon thermal blankets on the nonspinning Long Duration Exposure Facility (LDEF) were exposed to the orbital debris and micrometeoroid environment in low-Earth orbit (LEO) for approximately 5.7 years. Each blanket consisted of an outer layer (approximately 125 micron thick) of FEP Teflon that was backed by a vapor-deposited metal mirror (Inconel; less than 1 micron thick). The inner surface consisted of organic binders and Chemglaze thermal protective paint (approximately 50 micron thick) resulting in a somewhat variable, total blanket thickness of approximately 180 to 200 microns. There was at least one of these blankets, each exposing approximately 1.2 sq m of surface area, on nine of LDEF's 12 principal pointing directions, the exceptions being Rows 3, 9, and 12. As a consequence, these blankets represent a significant opportunity for micrometeoroid and debris studies, in general, and specifically they provide an opportunity to address those issues that require information about pointing direction (i.e., spatial density of impact events as a function of instrument orientation). During deintegration of the LDEF spacecraft at KSC, all penetration holes greater than or equal to 300 micron in diameter were documented and were recently synthesized in terms of spatial density as a function of LDEF viewing direction by. The present report describes ongoing cratering and penetration experiments in pure Teflon targets, which are intended to establish the relationships between crater or penetration-hole diameters and the associated projectile dimensions at laboratory velocities (i.e., 6 km/s). The ultimate objective of these efforts is to extract reliable mass-frequencies and associated fluxes of hypervelocity particles in LEO.

Description: For practical reasons, experimental studies of collisional fragmentation must at times rely on explosives to fragment a target body. For example, Housen et al., described experiments in which spheres were fragmented in a pressurized atmosphere. Explosives were used because impacts could not be performed in the pressure chamber. Explosives can also be used to study targets much larger than those which can be disrupted by conventional light-gas guns, thereby allowing size- and rate-effects to be investigated. The purpose of this study is to determine the charge burial depth required to simulate various aspects of collisions.

Description: Several tests of the Rocketdyne configuration of the Space Shuttle Main Engine (SSME) High Pressure Fuel Turbopump (HPFTP) Turbine have been completed in the Turbine Test Equipment (TTE) at Marshall Space Flight Center. The tests involved using scaled performance parameters and model measurements to predict the performance of the turbine. The overall performance has been the primary objective of the tests to date, but more detailed measurements are also of interest. During the most recent test of the Rocketdyne configuration of the HPFTP turbine with smooth rotor blades, several different measurement techniques were used to study the turbine inlet and exit velocity profiles, boundary layer thicknesses, turbulence intensities, etc. Data has been obtained using various hot film probes and three-hole cobra probes. Laser Velocimeter measurements were also made. The test plan and test data will be presented and discussed as well as lessons learned on how to obtain the various types of data.

Description: Dust-sized olivine particles were fired at a copper plate using the Space Power Institute hypervelocity facility, simulating micrometeoroid damage from natural debris to spacecraft in low-Earth orbit (LEO). Techniques were developed for measuring crater volume, particle volume, and particle velocity, with the particle velocities ranging from 5.6 to 8.7 km/s. A roughly linear correlation was found between crater volume and particle energy which suggested that micrometeoroids follow standard hypervelocity relationships. The residual debris analysis showed that for olivine impacts of up to 8.7 km/s, particle residue is found in the crater. By using the Space Power Institute hypervelocity facility, micrometeoroid damage to satellites can be accurately modeled.

Description: Hydraulic actuators are currently used to operate the propellant control valves (PCV) for the space shuttle main engine (SSME) and other rocket engines. These actuators are characterized by large power to weight ratios, large force capabilities, and rapid accelerations, which favor their use in control valve applications. However, hydraulic systems are also characterized by susceptibility to contamination, which leads to frequent maintenance requirements. The Control Mechanisms Branch (EP34) of the Component Development Division of the Propulsion Laboratory at the Marshall Space Flight Center (MSFC) has been investigating the application of electromechanical actuators as replacements for the hydraulic units in PCV's over the last few years. This report deals with some testing and analysis of a PCV electromechanical actuator (EMA) designed and fabricated by HR Textron, Inc. This prototype actuator has undergone extensive testing by EP34 personnel since early 1993. At this time, the performance of the HR Textron PCV EMA does not meet requirements for position tracking.

Description: San Andres employed the NBS software package MIPROPS to account for density's dependence on pressure in the simulation of liquid annular seals. His example on a LH2 seal showed a significant change in the mass coefficient compared to a constant density model. San Andres, Yang, and Childs extended this analysis by including the pressure and temperature dependence of density, specific heat, viscosity, volumetric expansion, and thermal conductivity in a coupled solution of the energy, momentum, and continuity equations. Their example showed very significant changes in stiffness and inertia for a high speed (38,000 rpm), large L/D ratio (0.5) LOX seal, as compared to their constant temperature results. The current research rederived the San Andres-Yang-Childs (SYC) analysis and extended it to include not only the Moody friction model of SYC but also the Hir's friction model. The derivation begins with obtaining the local differential equations of continuity, momentum, and energy conservation in the seal. These equations are averaged across the film thickness to obtain the resulting 'bulk flow' differential equations. Shear stress and convective heat loss through the stator (seal) and rotor are related to the Moody and Hir's friction factor model. The Holman analogy is employed to relate heat conduction in or out of the fluid film's boundary layer to the friction induced shear stress.

Description: The floor of the Core Module Simulator (CMS) is required to support various combinations of dead load and live load during the testing process. Even though there is published data on the structural capability of the grating, it is not always evident if the combined loadings with joint loads will cause structural failure.

Description: The MPMS mechanism possess two revolute degrees-of-freedom and allows the user to measure the mass, center of gravity, and the inertia tensor of an unknown mass. The dynamics of the Mass Properties Measurement System (MPMS) from the Lagrangian approach to illustrate the dependency of the motion on the unknown parameters.

Description: The robotics lab at the Kennedy Space Center is investigating the possibility of using a 'serpentine' manipulator for Shuttle inspection and payload processing. Serpentine manipulators are characterized by a large number of degrees of freedom giving them a high degree of redundancy. This redundancy allows them to be used to reach confined areas while avoiding collisions with their environment. In this paper, the author describes a new approach to controlling the joint rates for an n degree of freedom robot such that it moves its end effector to a desired position while simultaneously avoiding collision of any part of the robot arm with obstacles. Joint rates which move the end effector toward the target are found via a Lyapunov stability function. The gradient of an obstacle cost function indicates the direction toward obstacle collision in the joint space. The component of the end effector joint rates orthogonal to the obstacle gradient becomes the commanded joint rates. A notional eleven DOF model is used to numerically demonstrate the efficacy of the control law.

Description: NASA Langley developments in response calculations needed for failure and life predictions are discussed. Topics covered include: structural failure analysis in concurrent engineering; accuracy of independent regional modeling demonstrated on classical example; functional interface method accurately joins incompatible finite element models; interface method for insertion of local detail modeling extended to curve pressurized fuselage window panel; interface concept for joining structural regions; motivation for coupled 2D-3D analysis; compression panel with discontinuous stiffener coupled 2D-3D model and axial surface strains at the middle of the hat stiffener; use of adaptive refinement with multiple methods; adaptive mesh refinement; and studies on quantity effect of bow-type initial imperfections on reliability of stiffened panels.

Description: A recently developed high-temperature fatigue life prediction computer code is presented and an example of its usage given. The code discussed is based on the Total Strain version of Strainrange Partitioning (TS-SRP). Included in this code are procedures for characterizing the creep-fatigue durability behavior of an alloy according to TS-SRP guidelines and predicting cyclic life for complex cycle types for both isothermal and thermomechanical conditions. A reasonably extensive materials properties database is included with the code.

Description: Three parallel computational simulation methods are being developed at the LeRC Structural Mechanics Branch (SMB) for composite structures failure and life analysis: progressive fracture CODSTRAN; hierarchical methods for high-temperature composites; and probabilistic evaluation. Results to date demonstrate that these methods are effective in simulating composite structures failure/life/reliability.

Description: Titanium metal matrix composites are being evaluated for structural applications on advanced hypersonic vehicles. These composites are reinforced with ceramic fibers such as silicon carbide, SCS-6. This combination of matrix and fiber results in a high stiffness, high strength composite that has good retention of properties even at elevated temperatures. However, significant thermal stresses are developed within the composite between the fiber and the matrix due to the difference in their respective coefficients of thermal expansion. In addition to the internal stresses that are generated due to thermal cycling, the overall laminate will be subjected to considerable mechanical loads during the thermal cycling. In order to develop life prediction methodology, one must be able to predict the stresses and strains that occur in the composite's constituents during the complex loading. Thus the purpose is to describe such an analytical tool, VISCOPLY.

Description: With the advent of advanced materials in rotating gas turbine engine components, the methodologies for life prediction of these parts must also increase in sophistication and capability. Pratt & Whitney's view of generic requirements for composite component life prediction systems are presented, efforts underway to develop these systems are discussed, and industry participation in key areas requiring development is solicited.

Description: An analytical model was developed for predicting the response of laminated composites with or without a cutout and subjected to in-plane tensile and shear loads. Material damage resulting from the loads in terms of matrix cracking, fiber-matrix shearing, and fiber breakage was considered in the model. Delamination, an out-of-plane failure mode, was excluded from the model.

Description: The need for enhanced and improved performance of structural components subject to severe cyclic thermal/mechanical loadings, such as in the aerospace industry, requires development of appropriate solution technologies involving time-dependent inelastic analyses. Such analyses are mandatory to predict local stress-strain response and to assess more accurately the cyclic life time of structural components. The NASA-Lewis Research Center is cognizant of this need. As a result of concerted efforts at Lewis during the last few years, several such finite element solution technologies (in conjunction with the finite element program MARC) were developed and successfully applied to numerous uniaxial and multiaxial problems. These solution technologies, although developed for use with MARC program, are general in nature and can easily be extended for adaptation with other finite element programs such as ABAQUS, ANSYS, etc. The description and results obtained from two such inelastic finite element solution technologies are presented. The first employs a classical (non-unified) creep-plasticity model. An application of this technology is presented for a hypersonic inlet cowl-lip problem. The second of these technologies uses a unified creep-plasticity model put forth by Freed. The structural component for which this finite element solution technology is illustrated, is a cylindrical rocket engine thrust chamber. The advantages of employing a viscoplastic model for nonlinear time-dependent structural analyses are demonstrated. The life analyses for cowl-lip and cylindrical thrust chambers are presented. These analyses are conducted by using the stress-strain response of these components obtained from the corresponding finite element analyses.

Description: The results of the so-called energetic approach to fracture with particular attention to the issue of energy dissipation due to crack propagation are applied to the case of a crack with cohesive zone. The thermodynamic admissibility of subcritical crack growth (SCG) is discussed together with some hypotheses that lead to the derivation of SCG laws. A two-phase cohesive zone model for discontinuous crack growth is presented and its thermodynamics analyzed, followed by an example of its possible application.

Description: The evolution of high-temperature, creep-fatigue, life-prediction methods used for cyclic crack initiation is traced from inception in the late 1940's. The methods reviewed are material models as opposed to structural life prediction models. Material life models are used by both structural durability analysts and by material scientists. The latter use micromechanistic models as guidance to improve a material's crack initiation resistance. Nearly one hundred approaches and their variations have been proposed to date. This proliferation poses a problem in deciding which method is most appropriate for a given application. Approaches were identified as being combinations of thirteen different classifications. This review is intended to aid both developers and users of high-temperature fatigue life prediction methods by providing a background from which choices can be made. The need for high-temperature, fatigue-life prediction methods followed immediately on the heels of the development of large, costly, high-technology industrial and aerospace equipment immediately following the second world war. Major advances were made in the design and manufacture of high-temperature, high-pressure boilers and steam turbines, nuclear reactors, high-temperature forming dies, high-performance poppet valves, aeronautical gas turbine engines, reusable rocket engines, etc. These advances could no longer be accomplished simply by trial and error using the 'build-em and bust-em' approach. Development lead times were too great and costs too prohibitive to retain such an approach. Analytic assessments of anticipated performance, cost, and durability were introduced to cut costs and shorten lead times. The analytic tools were quite primitive at first and out of necessity evolved in parallel with hardware development. After forty years more descriptive, more accurate, and more efficient analytic tools are being developed. These include thermal-structural finite element and boundary element analyses, advanced constitutive stress-strain-temperature-time relations, and creep-fatigue-environmental models for crack initiation and propagation. The high-temperature durability methods that have evolved for calculating high-temperature fatigue crack initiation lives of structural engineering materials are addressed. Only a few of the methods were refined to the point of being directly useable in design. Recently, two of the methods were transcribed into computer software for use with personal computers.

Description: The ideas associated with the subsequent viewgraphs are summarized. The primary motivation behind this presentation is to observe that certain macroscopic, microscopic, and submicroscopic phenomena are being understood that have basic influence on understanding the durability and high temperature sensitivity of polymers and polymer-based composites. This understanding covers important issues of long term stability with respect to residual stresses and deformations which can have very deleterious effects on structures used for long periods of time as a result of the heat-involving manufacturing process. Beyond this, important progress is being made in understanding the nonlinear material response of polymers in the fracture context, because the nonlinear mechanics of the material at the tip of a crack, either propagating or ready to do so, is being understood with increasing precision.

Description: The purpose is to provide an end-user's perspective on the state of the art in life prediction and failure analysis by focusing on subsonic transport fuselage issues being addressed in the NASA/Boeing Advanced Technology Composite Aircraft Structure (ATCAS) contract and a related task-order contract. First, some discrepancies between the ATCAS tension-fracture test database and classical prediction methods is discussed, followed by an overview of material modeling work aimed at explaining some of these discrepancies. Finally, analysis efforts associated with a pressure-box test fixture are addressed, as an illustration of modeling complexities required to model and interpret tests.

Description: A linear-quadratic-gaussian (LQG) regulator controller design for an acceleration-augmented active magnetic bearing (AMB) is outlined. Acceleration augmentation is a key feature in providing improved dynamic performance of the controller. The optimal control formulation provides a convenient method of trading-off fast transient response and force attenuation as control objectives.

Description: A split-ring brush seal was fabricated, installed between two labyrinth-honeycomb shroud seals, and tested in the fourth-stage turbine of a T-700 engine. The annealed Haynes 25 bristles rubbed directly against the nonconditioned, irregular Rene 80 turbine blade shroud surface. A total of 21 hr of cyclic and steady-state data were taken with surface speeds of 335 m/s (1100 ft/s) and shroud temperatures to 620 C (1150 F). Wear appeared to be rapid initially, with an orange flash of hot brush fragments during the first engine startup, to minimal after 10 hr of operation. The brush survived the testing but experienced some bristle pullouts and severe bristle wear; some turbine interface wear and possible material transfer was noted. Future design concerns center on tribological behavior at the interface with or without lubricants.

Description: The bristles of a 38.1-mm (1.5-in.) diameter brush seal were flexed by a tapered, 40-tooth rotor operating at 2600 rpm that provided sharp leading-edge impact of the bristles with hard rubbing of the rotor lands. Three separate tests were run with the same brush accumulating over 1.3 x 10(exp 9) flexure cycles while deteriorating 0.2 mm (0.008 in.) radially. In each, the test bristle incursion depth varied from 0.130 to 0.025 mm (0.005 to 0.001 in.) or less (start to stop), and in the third test the rotor was set 0.25 mm (0.010 in.) eccentric. Runout varied from 0.025 to 0.076 mm (0.001 to 0.003 in.) radially. The bristles wore but did not pull out, fracture, or fragment. Bristle and rotor wear debris were deposited as very fine, nearly amorphous, highly porous materials at the rotor groove leading edges and within the rotor grooves. The land leading edges showed irregular wear and the beginning of a convergent groove that exhibited sharp, detailed wear at the land trailing edges. Surface grooving, burnishing, 'whipping', and hot spots and streaks were found. With a smooth-plug rotor, post-test leakage increased 30 percent over pretest leakage.

Description: The explicit transient dynamics technology in use today for simulating the impact and subsequent transient dynamic response of a structure has its origins in the 'hydrocodes' dating back to the late 1940's. The growth in capability in explicit transient dynamics technology parallels the growth in speed and size of digital computers. Computer software for simulating the explicit transient dynamic response of a structure is characterized by algorithms that use a large number of small steps. In explicit transient dynamics software there is a significant emphasis on speed and simplicity. The finite element technology used to generate the spatial discretization of a structure is based on a compromise between completeness of the representation for the physical processes modelled and speed in execution. That is, since it is expected in every calculation that the deformation will be finite and the material will be strained beyond the elastic range, the geometry and the associated gradient operators must be reconstructed, as well as complex stress-strain models evaluated at every time step. As a result, finite elements derived for explicit transient dynamics software use the simplest and barest constructions possible for computational efficiency while retaining an essential representation of the physical behavior. The best example of this technology is the four-node bending quadrilateral derived by Belytschko, Lin and Tsay. Today, the speed, memory capacity and availability of computer hardware allows a number of the previously used algorithms to be 'improved.' That is, it is possible with today's computing hardware to modify many of the standard algorithms to improve their representation of the physical process at the expense of added complexity and computational effort. The purpose is to review a number of these algorithms and identify the improvements possible. In many instances, both the older, faster version of the algorithm and the improved and somewhat slower version of the algorithm are found implemented together in software. Specifically, the following seven algorithmic items are examined: the invariant time derivatives of stress used in material models expressed in rate form; incremental objectivity and strain used in the numerical integration of the material models; the use of one-point element integration versus mean quadrature; shell elements used to represent the behavior of thin structural components; beam elements based on stress-resultant plasticity versus cross-section integration; the fidelity of elastic-plastic material models in their representation of ductile metals; and the use of Courant subcycling to reduce computational effort.

Description: The objective is to describe three research thrusts in crashworthiness analysis: adaptivity; mixed time integration, or subcycling, in which different timesteps are used for different parts of the mesh in explicit methods; and methods for contact-impact which are highly vectorizable. The techniques are being developed to improve the accuracy of calculations, ease-of-use of crashworthiness programs, and the speed of calculations. The latter is still of importance because crashworthiness calculations are often made with models of 20,000 to 50,000 elements using explicit time integration and require on the order of 20 to 100 hours on current supercomputers. The methodologies are briefly reviewed and then some example calculations employing these methods are described. The methods are also of value to other nonlinear transient computations.

Description: The automotive industry has used computational methods for crashworthiness since the early 1970's. These methods have ranged from simple lumped parameter models to full finite element models. The emergence of the full finite element models in the mid 1980's has significantly altered the research direction. However, there remains a need for both simple, rapid modeling methods and complex detailed methods. Some directions for continuing research are discussed.

Description: Two components of a structure which are located side by side, will come in contact by certain force and will transfer the compressive force along the contact area. If the force acts in the opposite direction, the elements will separate and no force will be transferred. If this contact is modeled, the load path will be correctly represented, and the load redistribution results in more realistic stresses in the structure. This is accomplished by using different sets of rigid elements for different loading conditions, or by creating multipoint constraint sets. Comparison of these two procedures is presented for a 4 panel unit (PU) stowage drawer installed in an experiment rack in the Spacelab Life Sciences (SLS-2) payload.

Description: The purpose of this study is to create, test and document a procedure to integrate mathematical optimization algorithms with COSMIC NASTRAN. This procedure is very important to structural design engineers who wish to capitalize on optimization methods to ensure that their design is optimized for its intended application. The OPTNAST computer program was created to link NASTRAN and design optimization codes into one package. This implementation was tested using two truss structure models and optimizing their designs for minimum weight, subject to multiple loading conditions and displacement and stress constraints. However, the process is generalized so that an engineer could design other types of elements by adding to or modifying some parts of the code.

Description: In determining the natural modes and frequencies of a linear elastic structure, Guyan reduction is often used to reduce the size of the mass and stiffness matrices and the solution of the reduced system is obtained first. The reduced system modes are then expanded to the size of the original system by using a static transformation linking the retained degrees of freedom to the omitted degrees of freedom. In the present paper, the transformation matrix of Guyan reduction is modified to include additional terms from a series accounting for the inertial effects. However, the inertial terms are dependent on the unknown frequencies. A practical approximation is employed to compute the inertial terms without any iteration. This new transformation is implemented in NASTRAN using a DMAP sequence alter. Numerical examples using a cantilever beam illustrate the necessary condition for allowing a large number of additional terms in the proposed series correction of Guyan reduction. A practical example of a large model of the Plasma Motor Generator module to be flown on a Delta launch vehicle is also presented.

Description: The QUAD4 and TRIA3 elements are the primary plate/shell elements in NASTRAN. These elements enable the user to analyze thin plate/shell structures for membrane, bending and shear phenomena. They are also very new elements in the NASTRAN library. These elements are extremely versatile and constitute a substantially enhanced analysis capability in NASTRAN. However, with the versatility comes the burden of understanding a myriad of modeling implications and their effect on accuracy and analysis quality. The validity of many aspects of these elements were established through a series of benchmark problem results and comparison with those available in the literature and obtained from other programs like MSC/NASTRAN and CSAR/NASTRAN. Never-the-less such a comparison is never complete because of the new and creative use of these elements in complex modeling situations. One of the important features of QUAD4 and TRIA3 elements is the offset capability which allows the midsurface of the plate to be noncoincident with the surface of the grid points. None of the previous elements, with the exception of bar (beam), has this capability. The offset capability played a crucial role in the design of QUAD4 and TRIA3 elements. It allowed modeling layered composites, laminated plates and sandwich plates with the metal and composite face sheets. Even though the basic implementation of the offset capability is found to be sound in the previous applications, there is some uncertainty in relatively simple applications. The main purpose of this paper is to test the integrity of the offset capability and provide guidelines for its effective use. For the purpose of simplicity, references in this paper to the QUAD4 element will also include the TRIA3 element.

Description: This paper explains how NASTRAN can be utilized advantageously in the preliminary design cycle. The initial portion of the preliminary design process lends itself to programs that can produce multiple configurations or variations on a particular design with minimal cost or effort. The latter portion of the process encompasses refining the design and adding more detailed analyses (particularly for other disciplines). A method for quickly generating balanced spacecraft loading conditions for use in preliminary design and analysis also is explained. The following additional sections are included: Background, Symbols, Analytical Process, Aerodynamic Load Distributions, NASTRAN Applications, Conclusion and References.

Description: The SWAS (Submillimeter Wave Astronomy Satellite) solar array system is described. It is an innovative approach to meet the missions requirements. The SWAS satellite provides a three axis stabilized platform to survey a variety of galactic cloud structures. This system includes highly reliable, lightweight launch latch, deployment, and lock mechanisms, and solar array panels that provide the maximum solar cell area. The design of the solar arrays are the result of system trades that included instrument and spacecraft thermal constraints, attitude control system maneuvering rates and pointing accuracies, the power system, and the spacecraft structure.

Description: The objectives are to explore the utility and the limitations of the Amontons-Coulomb friction model and to explore design of experiments issues which underlie competent testing.

Description: The topics are presented in viewgraph form and include the following: introduction and definitions of terms; friction concepts; lubrication technology concepts; wear technology concepts; and tribological transitions. This document is designed for educators who seek to teach these concepts to their students.

Description: The following are presented: the experimental procedure and the results that have been performed to determine the axial rigidity of the strut-node joint; and the method for modifying a simple testing machine to make it capable of performing more accurate tests over a specific load range and able to accept larger test assemblies.

Description: The objective of this experiment is to determine the level of tensile strength of uncemented, dry, granular materials. The experimental apparatus does not lend itself to a direct measurement of the material's tensile strength, but must be analyzed as a stress field problem in order to arrive at a tensile strength value. The experiment, and subsequent analysis, serve to instruct the student on the influence of gravitationally induced stresses in frictional granular materials, the importance and difficulty of accurately describing the entire failure envelope for granular materials in the low mean stress range, and the fundamental principles of material modeling.

Description: A method for automated data collection has been developed for a Charpy impact tester. A potentiometer is connected to the pivot point of the hammer and measures the angular displacement of the hammer. This data is collected with a computer and, through appropriate software, accurately records the energy absorbed by the specimen. The device can be easily calibrated with minimal effort.

Description: A mass spectrometric 'Dynamic Delta' method for the measurement of gas permeability of polymeric membranes has been developed. The method is universally applicable for measurement of the permeability of any gas through polymeric membrane materials. The usual large sample size of more than 100 square centimeters required for other methods is not necessary for this new method which requires a size less than one square centimeter. The new method should fulfill requirements and find applicability for industrial materials such as food packaging, contact lenses and other commercial materials where gas permeability or permselectivity properties are important.

Description: The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

Description: The implementation of a disturbance rejection controller for a 6-DOF PUMA manipulator mounted on a 3-DOF platform was described. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Experimental results are presented for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities. Robotic manipulators were proposed as a means of reducing the amount of extra vehicular activity time required for space station assembly and maintenance. The proposed scenario involves a robotic manipulator attached to some mobile platform, such as a spacecraft, satellite, or the space station itself. Disturbances in the platform position and attitude may prevent the manipulator from successfully completing the task. The possibility of using the manipulator to compensate for platform disturbances was explored. The problem of controlling a robotic manipulator on a mobile platform has received considerable attention in the past few years. Joshi and Desrochers designed a nonlinear feedback control law to carry out tasks (with respect to the robot base frame) in the presence of roll, pitch and yaw disturbances in the platform axes. Dubowsky, Vance, and Torres proposed a time-optimal planning algorithm for a robotic manipulator mounted on a spacecraft, subject to saturation limits in the attitude control reaction jets. Papadopoulos and Dubowsky developed a general framework for analyzing the control of free-floating space manipulator systems. Most recently, Torres and Dubowsky have presented a technique called the enhanced disturbance map to find manipulator trajectories that reduce the effect of disturbances in the spacecraft position and attitude. One common assumption in the literature is that the disturbance signal is exactly known. If this is the case, then the end-effector location can be calculated without relying on direct end-point sensing. However, this assumption is invalid if there is a significant delay in the platform position and attitude measurements, or if the kinematics of the platform are not well known, or if the platform is a non-rigid structure. In the more likely case that only the nominal platform location and upper bound on the disturbance signal are known, direct end-point sensing is needed to measure the end-effector location.