NASTRAN interfacing modules within the Integrated Analysis Capability (IAC) Program

The IAC program provides the framework required for the development of an extensive multidisciplinary analysis capability. Several NASTRAN related capabilities were developed which can all be expanded in a routine manner to meet in-house unique needs. Plans are to complete the work discussed herein and to provide it to the engineering community through COSMIC. Release is to be after the current IAC Level 2 contract work on the IAC executive system is completed and meshed with the interfacing modules and analysis capabilities under development at the GSFC

Reduced order feedback control equations for linear time and frequency domain analysis

An algorithm was developed which can be used to obtain the equations. In a more general context, the algorithm computes a real nonsingular similarity transformation matrix which reduces a real nonsymmetric matrix to block diagonal form, each block of which is a real quasi upper triangular matrix. The algorithm works with both defective and derogatory matrices and when and if it fails, the resultant output can be used as a guide for the reformulation of the mathematical equations that lead up to the ill conditioned matrix which could not be block diagonalized

Time and frequency domain analysis of sampled data controllers via mixed operation equations

Specification of the mathematical equations required to define the dynamic response of a linear continuous plant, subject to sampled data control, is complicated by the fact that the digital components of the control system cannot be modeled via linear ordinary differential equations. This complication can be overcome by introducing two new mathematical operations; namely, the operation of zero order hold and digial delay. It is shown that by direct utilization of these operations, a set of linear mixed operation equations can be written and used to define the dynamic response characteristics of the controlled system. It also is shown how these linear mixed operation equations lead, in an automatable manner, directly to a set of finite difference equations which are in a format compatible with follow on time and frequency domain analysis methods

IAC control system analysis development

The MultiOptimal Differential Equation Language (MODEL) is described. It provides a means for generating numerical solutions to systems of differential equations using a digital computer. The notation of this language is similar to that usually used in describing physical systems by differential equations. Thus, the learning process is simplified, programming becomes easier, and debugging is more readily accomplished. Programs written in the MultiOptimal Differential Equation Language are machine translated into FORTRAN 4 code which is optimal in several respects. The interactive version of MODEL makes use of interactive system routines so that the user may observe the solution as it is being generated and interact with the program in a manner similar to that associated with analog simulation. The DISCOS-Control version of the MODEL simulation language is used to describe the control system for a plant which is modelled by the DISCOS program. DISCOS plant variables may be referenced in the control system description and all the sensor signals, coupling torques, momentum devices and external loads are automatically linked to the DISCOS plant model

Thermodynamic ground states of platinum metal nitrides

The thermodynamic stabilities of various phases of the nitrides of the platinum metal elements are systematically studied using density functional theory. It is shown that for the nitrides of Rh, Pd, Ir and Pt two new crystal structures, in which the metal ions occupy simple tetragonal lattice sites, have lower formation enthalpies at ambient conditions than any previously proposed structures. The region of stability with respect to those structures extends to 17 GPa for PtN2. Calculations show that the PtN2 simple tetragonal structures at this pressure are thermodynamically stable also with respect to phase separation. The fact that the local density and generalized gradient approximations predict different values of the absolute formation enthalpies as well different relative stabilities between simple tetragonal and the pyrite or marcasite structures are further discussed.Comment: 5 pages, 4 figure

Consequences of a Change in the Galactic Environment of the Sun

The interaction of the heliosphere with interstellar clouds has attracted interest since the late 1920's, both with a view to explaining apparent quasi-periodic climate "catastrophes" as well as periodic mass extinctions. Until recently, however, models describing the solar wind - local interstellar medium (LISM) interaction self-consistently had not been developed. Here, we describe the results of a two-dimensional (2D) simulation of the interaction between the heliosphere and an interstellar cloud with the same properties as currently, except that the neutral H density is increased from the present value of n(H) ~ 0.2 cm^-3 to 10 cm^-3. The mutual interaction of interstellar neutral hydrogen and plasma is included. The heliospheric cavity is reduced considerably in size (approximately 10 - 14 AU to the termination shock in the upstream direction) and is highly dynamical. The interplanetary environment at the orbit of the Earth changes markedly, with the density of interstellar H increasing to ~2 cm^-3. The termination shock itself experiences periods where it disappears, reforms and disappears again. Considerable mixing of the shocked solar wind and LISM occurs due to Rayleigh-Taylor-like instabilities at the nose, driven by ion-neutral friction. Implications for two anomalously high concentrations of 10Be found in Antarctic ice cores 33 kya and 60 kya, and the absence of prior similar events, are discussed in terms of density enhancements in the surrounding interstellar cloud. The calculation presented here supports past speculation that the galactic environment of the Sun moderates the interplanetary environment at the orbit of the Earth, and possibly also the terrestrial climate.Comment: 23 pages, 2 color plates (jpg), 3 figures (eps

The N-BOD2 user's and programmer's manual

A general purpose digital computer program was developed and designed to aid in the analysis of spacecraft attitude dynamics. The program provides the analyst with the capability of automatically deriving and numerically solving the equations of motion of any system that can be modeled as a topological tree of coupled rigid bodies, flexible bodies, point masses, and symmetrical momentum wheels. Two modes of output are available. The composite system equations of motion may be outputted on a line printer in a symbolic form that may be easily translated into common vector-dyadic notation, or the composite system equations of motion may be solved numerically and any desirable set of system state variables outputted as a function of time

A vector-dyadic development of the equations of motion for N-coupled flexible bodies and point masses

The equations of motion for a system of coupled flexible bodies, rigid bodies, point masses, and symmetric wheels were derived. The equations were cast into a partitioned matrix form in which certain partitions became nontrivial when the effects of flexibility were treated. The equations are shown to contract to the coupled rigid body equations or expand to the coupled flexible body equations all within the same basic framework. Furthermore, the coefficient matrix always has the computationally desirable property of symmetry. Making use of the derived equations, a comparison was made between the equations which described a flexible body model and those which described a rigid body model of the same elastic appendage attached to an arbitrary coupled body system. From the comparison, equivalence relations were developed which defined how the two modeling approaches described identical dynamic effects

An order (n) algorithm for the dynamics simulation of robotic systems

The formulation of an Order (n) algorithm for DISCOS (Dynamics Interaction Simulation of Controls and Structures), which is an industry-standard software package for simulation and analysis of flexible multibody systems is presented. For systems involving many bodies, the new Order (n) version of DISCOS is much faster than the current version. Results of the experimental validation of the dynamics software are also presented. The experiment is carried out on a seven-joint robot arm at NASA's Goddard Space Flight Center. The algorithm used in the current version of DISCOS requires the inverse of a matrix whose dimension is equal to the number of constraints in the system. Generally, the number of constraints in a system is roughly proportional to the number of bodies in the system, and matrix inversion requires O(p exp 3) operations, where p is the dimension of the matrix. The current version of DISCOS is therefore considered an Order (n exp 3) algorithm. In contrast, the Order (n) algorithm requires inversion of matrices which are small, and the number of matrices to be inverted increases only linearly with the number of bodies. The newly-developed Order (n) DISCOS is currently capable of handling chain and tree topologies as well as multiple closed loops. Continuing development will extend the capability of the software to deal with typical robotics applications such as put-and-place, multi-arm hand-off and surface sliding