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NASA NTRS2017

Comparison of EKF and UKF for Robotic Missions to Mars

The batched Kalman lter works well for a wide variety of orbit determination scenarios but requires linearized approximations to the underlying dynamical system. Furthermore, implementation depends on the computation of partial derivatives for all measurements and parameters used in the lter, a non-trivial task even when analytical derivations are possible. To address these limitations, many extensions and modi - cations to the linear Kalman lter have been proposed over the years since Kalman's initial publication. Our investigation examines two popular variants of the Kalman lter, namely the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF), within the context of spacecraft missions to Mars. The EKF relies on the same mathematical basis as the classic version of the lter, however it sequentially updates the linearization as the ltering process is conducted. In contrast, the UKF is built upon the unscented transform which samples the nearby solution space and numerically propagates perturbed trajectories as part of the update / estimation process. We assess the performance of the ltering algorithms under a variety of mission scenarios with the goal of establishing decision criteria for which implementation to use under di ering circumstances.

Ely, Todd↗

NASA NTRS2000

Modeling the Dynamics of the Middle Atmosphere and Lower Thermosphere Under the Influence of Gravity Waves

Our Numerical Spectral Model (NSM), which extends from the ground up into the thermosphere, is non-linear, time-dependent and has been employed for 2D and 3D applications. The standard version of the NSM incorporates Hines' Doppler Spread Parameterization for small scale gravity waves (GW), but planetary waves generated in the troposphere have also been incorporated. The NSM has been applied to describe: (1) the anomalous seasonal variations of the zonal circulation and temperature in the upper mesosphere, (2) the equatorial oscillations (quasi-biennial and semi-annual oscillations (QBO and SAO)) extending from the stratosphere into the upper mesosphere, (3) the diurnal and semi-diurnal tides, and (4) the planetary waves that are excited in the mesosphere. With the emphasis to provide understanding, we present here results from numerical experiments with the NSM that shed light on the GW processes that are of central importance in the mesosphere and lower thermosphere. These are our conclusions: (1) The large semiannual variations in the diurnal tide (DT), with peak amplitudes observed around equinox, are produced primarily by GW interactions that involve, in part, planetary waves. The DT, like planetary waves, tends to be amplified by GW momentum deposition, which reduces also the vertical wavelength, but variations in eddy viscosity associated with GW interactions are also important. (2) The semidiurnal tide (SDT) and its phase in particular, is strongly influenced by the mean zonal circulation. The SDT, individually, is also amplified by GW. But the DT filters out GW such that the GW interaction effectively reduces the amplitude of the SDT, producing a strong nonlinear interaction between the DT and SDT. (3) Without external time dependent energy or momentum sources, planetary waves (PW) are generated in the model for zonal wavenumbers 1 to 4, which have amplitudes in the mesosphere above 50 km as large as 40 m/s and periods between 50 and 2 days. The waves are generated primarily during solstice conditions, which indicates that the baroclinic instability (associated with the GW induced reversal in the latitudinal temperature gradient) is playing an important role. Numerical experiment show that GW, directly, also greatly amplify the PW. A common feature of the PW generated in summer and winter is that their vertical wavelengths throughout the mesosphere are large, which indicates that the waves are not propagating freely but are generated throughout the region. Another common feature is that the PW propagate preferentially westward in summer and eastward in winter, being launched from the westward and eastward zonal winds that prevail respectively in summer and winter at altitudes below 80 km. (4) Planetary waves generated internally by baroclinic instability and GW interaction produce large amplitude modulations of the DT and SDT. In summary we conclude that GW play major roles in generating and amplifying the dynamical components in the MLT region and, acting principally through wave filtering, produce important non-linear interactions between the components.

Mayr, H. G.↗

NASA NTRS1982

Blade loss transient dynamic analysis of turbomachinery

This paper reports on work completed to develop an analytical method for predicting the transient non-linear response of a complete aircraft engine system due to the loss of a fan blade, and to validate the analysis by comparing the results against actual blade loss test data. The solution, which is based on the component element method, accounts for rotor-to-casing rubs, high damping and rapid deceleration rates associated with the blade loss event. A comparison of test results and predicted response show good agreement except for an initial overshoot spike not observed in test. The method is effective for analysis of large systems.

Stallone, M. J.↗

NASA NTRS2020

Squash-Box Feasibility Driven Differential Dynamic Programming

Recently, Differential Dynamic Programming (DDP) and other similar algorithms have become the solvers of choice when performing non-linear Model Predictive Control (nMPC) with modern robotic devices. The reason is that they have a lower computational cost per iteration when compared with off-the-shelf Non-Linear Programming (NLP) solvers, which enables its online operation. However, they cannot handle constraints, and are known to have poor convergence capabilities. In this paper, we propose a method to solve the optimal control problem with control bounds through a squashing function (i.e., a sigmoid, which is bounded by construction). It has been shown that a naive use of squashing functions damage the convergence rate. To tackle this, we first propose to add a quadratic barrier that avoids the difficulty of the plateau produced by the sigmoid. Second, we add an outer loop that adapts both the sigmoid and the barrier; it makes the optimal control problem with the squashing function converge to the original control-bounded problem. To validate our method, we present simulation results for different types of platforms including a multi-rotor, a biped, a quadruped and a humanoid robot.

Navarro, Angel Santamaria↗

NASA NTRS2006

An Agent-Based Model for Analyzing Control Policies and the Dynamic Service-Time Performance of a Capacity-Constrained Air Traffic Management Facility

Simple agent-based models may be useful for investigating air traffic control strategies as a precursory screening for more costly, higher fidelity simulation. Of concern is the ability of the models to capture the essence of the system and provide insight into system behavior in a timely manner and without breaking the bank. The method is put to the test with the development of a model to address situations where capacity is overburdened and potential for propagation of the resultant delay though later flights is possible via flight dependencies. The resultant model includes primitive representations of principal air traffic system attributes, namely system capacity, demand, airline schedules and strategy, and aircraft capability. It affords a venue to explore their interdependence in a time-dependent, dynamic system simulation. The scope of the research question and the carefully-chosen modeling fidelity did allow for the development of an agent-based model in short order. The model predicted non-linear behavior given certain initial conditions and system control strategies. Additionally, a combination of the model and dimensionless techniques borrowed from fluid systems was demonstrated that can predict the system s dynamic behavior across a wide range of parametric settings.

Conway, Sheila R.↗

NASA NTRS1997

An Experimental Investigation on the Static Equilibria and Dynamics of Liquid Bridges

A liquid bridge is a volume of liquid held between two or more solid supports. In the case of small disk supports with a sharp edge, the contact line between the bridge and the support disk will be anchored along the edge of the disk. For these cases the solid presents a geometrical singularity and the contact angle is indeterminate within a given range. This dissertation presents research conducted on liquid bridges with anchored contact lines. The three major topics covered are: determining the role of support geometry on static equilibria, liquid bridge dynamical behavior, and forces exerted by a liquid bridge on a support structure. The work was primarily experimental and conducted in a "Plateau tank" that allowed for the simulation of equivalent low-gravity conditions. The main thrust of the experimental work involved the use of a high resolution optical measurement system for imaging the dynamic zone shape, measurement of the static and dynamic contact angles and non-invasive analysis of excited surface modes. The liquid bridge was manipulated by computer controlled linear actuators which allowed precise control over the physical characteristics of the bridge. Experiments have been carried out to locate a bifurcation point along the maximum volume axisymmetric stability margin. Below the critical slenderness the bifurcation from an axisymmetric to a stable nonaxisymmetric configuration is supercritical. However, above this critical slenderness, the bifurcation is subcritical. A series of experiments analyzed the effect on axisymmetric bridge stability by using support disks of different radii, The shape behavior as transition points were approached, as well as the limiting case of a vanishing support radius was investigated. Experiments were performed to determine the resonant frequencies of axisymmetric bridges subject to lateral vibrations. Anomolous results led to a series of experiments to characterize nonlinearities present in the dynamic bridge shape. Finally, an attempt was made to experimentally measure the force exerted by the bridge on the lower support disk. This was done through use of a force balance apparatus. Particular attention was paid to the behavior of the bridge as the minimum volume stability limit was approached.

Resnick, Andrew Howard↗

NASA NTRS1985

The HEAO-2 Guest Investigator Program: Non-linear growth of instabilities in line-driven stellar winds

The linear instability of line-driven stellar winds to take proper account of the dynamical effect of scattered radiation were analyzed. It is found that: (1) the drag effect of the mean scattered radiation does greatly reduce the contribution of scattering lines to the instability at the very base of the wind, but the instability growth rate associated with such lines rapidly increases as the flow moves outward from the base, reaching more than 50% of the growth rate for pure absorption lines within a stellar radius of the surface, and eventually reaching 80% of that rate at large radii; (2) perturbations in the scattered radiation field may be important for the propagation of wind disturbances, but they have little effect on the wind instability; and (3) the contribution of strongly shadowed lines to the wind instability is often reduced compared to that of unshadowed lines, but their overall effect is not one of damping in the outer parts of the wind. It is concluded that, even when all scattering effects are taken into account, the bulk of the flow in a line-driven stellar wind is still highly unstable.

Rybicki, G. B.↗

NASA NTRS1979

Stochastic modeling of the time-averaged equations for climate dynamics

Two analyses on climate dynamics are presented, both based on a simplified set of barotropic equations for representing large scale non-linear atmospheric circulation characteristics. The statistical properties of the set of equations were investigated for small values of a parameter k sub o, corresponding to the physical case of large zonal westerlies and relatively weak eddy motions. The effect of seasonal type forcing on the solution of these equations was also studied and some preliminary numerical results are presented.

Spreiter, J. R.↗

NASA NTRS1996

Spray Combustion Modeling with VOF and Finite-Rate Chemistry

A spray atomization and combustion model is developed based on the volume-of-fluid (VOF) transport equation with finite-rate chemistry model. The gas-liquid interface mass, momentum and energy conservation laws are modeled by continuum surface force mechanisms. A new solution method is developed such that the present VOF model can be applied for all-speed range flows. The objectives of the present study are: (1) to develop and verify the fractional volume-of-fluid (VOF) cell partitioning approach into a predictor-corrector algorithm to deal with multiphase (gas-liquid) free surface flow problems; (2) to implement the developed unified algorithm in a general purpose computational fluid dynamics (CFD) code, Finite Difference Navier-Stokes (FDNS), with droplet dynamics and finite-rate chemistry models; and (3) to demonstrate the effectiveness of the present approach by simulating benchmark problems of jet breakup/spray atomization and combustion. Modeling multiphase fluid flows poses a significant challenge because a required boundary must be applied to a transient, irregular surface that is discontinuous, and the flow regimes considered can range from incompressible to highspeed compressible flows. The flow-process modeling is further complicated by surface tension, interfacial heat and mass transfer, spray formation and turbulence, and their interactions. The major contribution of the present method is to combine the novel feature of the Volume of Fluid (VOF) method and the Eulerian/Lagrangian method into a unified algorithm for efficient noniterative, time-accurate calculations of multiphase free surface flows valid at all speeds. The proposed method reformulated the VOF equation to strongly couple two distinct phases (liquid and gas), and tracks droplets on a Lagrangian frame when spray model is required, using a unified predictor-corrector technique to account for the non-linear linkages through the convective contributions of VOF. The discontinuities within the sharp interface will be modeled as a volume force to avoid stiffness. Formations of droplets, tracking of droplet dynamics and modeling of the droplet breakup/evaporation, are handled through the same unified predictor-corrector procedure. Thus the new algorithm is non-iterative and is flexible for general geometries with arbitrarily complex topology in free surfaces. The FDNS finite-difference Navier-Stokes code is employed as the baseline of the current development. Benchmark test cases of shear coaxial LOX/H2 liquid jet with atomization/combustion and impinging jet test cases are investigated in the present work. Preliminary data comparisons show good qualitative agreement between data and the present analysis. It is indicative from these results that the present method has great potential to become a general engineering design analysis and diagnostics tool for problems involving spray combustion.

Chen, Yen-Sen↗

NASA NTRS1988

Real-time optical image processing techniques

Nonlinear real-time optical processing on spatial pulse frequency modulation has been pursued through the analysis, design, and fabrication of pulse frequency modulated halftone screens and the modification of micro-channel spatial light modulators (MSLMs). Micro-channel spatial light modulators are modified via the Fabry-Perot method to achieve the high gamma operation required for non-linear operation. Real-time nonlinear processing was performed using the halftone screen and MSLM. The experiments showed the effectiveness of the thresholding and also showed the needs of higher SBP for image processing. The Hughes LCLV has been characterized and found to yield high gamma (about 1.7) when operated in low frequency and low bias mode. Cascading of two LCLVs should also provide enough gamma for nonlinear processing. In this case, the SBP of the LCLV is sufficient but the uniformity of the LCLV needs improvement. These include image correlation, computer generation of holograms, pseudo-color image encoding for image enhancement, and associative-retrieval in neural processing. The discovery of the only known optical method for dynamic range compression of an input image in real-time by using GaAs photorefractive crystals is reported. Finally, a new architecture for non-linear multiple sensory, neural processing has been suggested.

Liu, Hua-Kuang↗

NASA NTRS2001

Model of Wave Driven Flow Oscillation for Solar Cycle

At low latitudes in the Earth's atmosphere, the observed zonal flow velocities are dominated by the semi-annual and quasi-biennial oscillations with periods of 6 months and 20 to 32 months respectively. These terrestrial oscillations, the SAO and QBO respectively, are driven by wave-mean flow interactions due to upward propagating planetary-scale waves (periods of days) and small-scale gravity waves (periods of hours). We are proposing (see also Mayr et al., GRL, 2001) that such a mechanism may drive long period oscillations (reversing flows) in stellar and planetary interiors, and we apply it to the Sun. The reversing flows would occur below the convective envelope where waves can propagate. We apply a simplified, one dimensional, analytical flow model that incorporates a gravity wave parameterization due to Hines (1997). Based on this analysis, our estimates show that relatively small wave amplitudes less than 10 m/s can produce zonal flow amplitudes of 20 m/s, which should be sufficient to generate the observed variations in the magnetic field. To produce the 22-year period of oscillation, a low buoyancy frequency must be chosen, and this places the proposed flow in a region that is close to (and below) the base of the convective envelope. Enhanced turbulence associated with this low stability should help to generate the dynamo currents. With larger stability at deeper levels in the solar interior, the model can readily produce also oscillations with much longer periods. To provide an understanding of the fluid dynamics involved, we present numerical results from a 2D model for the terrestrial atmosphere that exemplify the non-linear nature of the wave interaction for which a mechanical analog is the escapement mechanism of the clock.

Mayr, Hans G.↗

NASA NTRS2009

Parameter Estimation for a Hybrid Adaptive Flight Controller

This paper expands on the hybrid control architecture developed at the NASA Ames Research Center by addressing issues related to indirect adaptation using the recursive least squares (RLS) algorithm. Specifically, the hybrid control architecture is an adaptive flight controller that features both direct and indirect adaptation techniques. This paper will focus almost exclusively on the modifications necessary to achieve quality indirect adaptive control. Additionally this paper will present results that, using a full non -linear aircraft model, demonstrate the effectiveness of the hybrid control architecture given drastic changes in an aircraft s dynamics. Throughout the development of this topic, a thorough discussion of the RLS algorithm as a system identification technique will be provided along with results from seven well-known modifications to the popular RLS algorithm.

Campbell, Stefan F.↗

NASA NTRS1996

Conversion-Integration of MSFC Nonlinear Signal Diagnostic Analysis Algorithms for Realtime Execution of MSFC's MPP Prototype System

NASA's advanced propulsion system Small Scale Magnetic Disturbances/Advanced Technology Development (SSME/ATD) has been undergoing extensive flight certification and developmental testing, which involves large numbers of health monitoring measurements. To enhance engine safety and reliability, detailed analysis and evaluation of the measurement signals are mandatory to assess its dynamic characteristics and operational condition. Efficient and reliable signal detection techniques will reduce the risk of catastrophic system failures and expedite the evaluation of both flight and ground test data, and thereby reduce launch turn-around time. During the development of SSME, ASRI participated in the research and development of several advanced non- linear signal diagnostic methods for health monitoring and failure prediction in turbomachinery components. However, due to the intensive computational requirement associated with such advanced analysis tasks, current SSME dynamic data analysis and diagnostic evaluation is performed off-line following flight or ground test with a typical diagnostic turnaround time of one to two days. The objective of MSFC's MPP Prototype System is to eliminate such 'diagnostic lag time' by achieving signal processing and analysis in real-time. Such an on-line diagnostic system can provide sufficient lead time to initiate corrective action and also to enable efficient scheduling of inspection, maintenance and repair activities. The major objective of this project was to convert and implement a number of advanced nonlinear diagnostic DSP algorithms in a format consistent with that required for integration into the Vanderbilt Multigraph Architecture (MGA) Model Based Programming environment. This effort will allow the real-time execution of these algorithms using the MSFC MPP Prototype System. ASRI has completed the software conversion and integration of a sequence of nonlinear signal analysis techniques specified in the SOW for real-time execution on MSFC's MPP Prototype. This report documents and summarizes the results of the contract tasks; provides the complete computer source code; including all FORTRAN/C Utilities; and all other utilities/supporting software libraries that are required for operation.

Jong, Jen-Yi↗

NASA NTRS1983

Dynamics and control of forward swept wing aircraft

Aspects of non-zero differential game theory with application to multivariable control synthesis and optimal linear control law design using optimum parameter sensitivity analysis are discussed.

Schmidt, D. K.↗

NASA NTRS1978

Filtering of non-linear instabilities

For Courant numbers larger than one and cell Reynolds numbers larger than two, oscillations and in some cases instabilities are typically found with implicit numerical solutions of the fluid dynamics equations. This behavior has sometimes been associated with the loss of diagonal dominance of the coefficient matrix. It is shown that these problems can be related to the choice of the spatial differences, with the resulting instability related to aliasing or nonlinear interaction. Appropriate filtering can reduce the intensity of these oscillations and possibly eliminate the instability. These filtering procedures are equivalent to a weighted average of conservation and nonconservation differencing. The entire spectrum of filtered equations retains a three point character as well as second order spatial accuracy. Burgers equation was considered as a model.

Khosla, P. K.↗

NASA NTRS1993

Reply to the comment by Y. Ricard, R. Sabadini, and G. Spada

We welcome this opportunity which Drs. Ricard, Sabadini and Spada (RSS) have offered us to elaborate on some points concerning the connection between convective circulations and rotational dynamics. The relationship of the linear viscoelastic normal-mode theory to other approaches, such as viscous and the non-linear viscoelastic treatments, can be found in Moser et al. (1993). We will address the issues raised by RSS by first going over the reference system. This will be followed by a discussion concerning long-term polar wander and relative angular momentum. We will also go over the issues concerning the off-diagonal terms in the total moment of inertia and polar wander.

Moser, Jiri↗

NASA NTRS1999

Ocean Wave Studies with Applications to Ocean Modeling and Improvement of Satellite Altimeter Measurements

Combining analysis of satellite data (altimeter, scatterometer, high-resolution visible and infrared images, etc.) with mathematical modeling of non-linear wave processes, we investigate various ocean wave fields (on scales from capillary to planetary), their role in ocean dynamics and turbulent transport (of heat and biogeochemical quantities), and their effects on satellite altimeter measuring accuracy. In 1998 my attention was focused on long internal gravity waves (10 to 1000 km), known also as baroclinic inertia-gravity (BIG) waves. We found these waves to be a major factor of altimeter measurements "noise," resulting in a greater uncertainty [up to 10 cm in terms of sea surface height (SSH) amplitude] in the measured SSH signal than that caused by the sea state bias variations (up to 5 cm or so). This effect still remains largely overlooked by the satellite altimeter community. Our studies of BIG waves address not only their influence on altimeter measurements but also their role in global ocean dynamics and in transport and turbulent diffusion of biogeochemical quantities. In particular, in collaboration with Prof Peter Weichman, Caltech, we developed a theory of turbulent diffusion caused by wave motions of most general nature. Applied to the problem of horizontal turbulent diffusion in the ocean, the theory yielded the effective diffusion coefficient as a function of BIG wave parameters obtainable from satellite altimeter data. This effort, begun in 1997, has been successfully completed in 1998. We also developed a theory that relates spatial fluctuations of scalar fields (such as sea surface temperature, chlorophyll concentration, drifting ice concentration, etc.) to statistical characteristics of BIG waves obtainable from altimeter measurements. A manuscript is in the final stages of preparation. In order to verify the theoretical predictions and apply them to observations, we are now analyzing Sea-viewing Wide Field of view Sensor (SeaWiFS) and Field of view Sensor (SeaWiFS) and Advanced Very High-Resolution Radiometer (AVHRR) data on sea surface temperature (SST) and chlorophyll concentration jointly with TOPEX/POSEIDON data on SSH variations.

Glazman, Roman E.↗

NASA NTRS1993

Testing higher-order Lagrangian perturbation theory against numerical simulation. 1: Pancake models

We present results showing an improvement of the accuracy of perturbation theory as applied to cosmological structure formation for a useful range of quasi-linear scales. The Lagrangian theory of gravitational instability of an Einstein-de Sitter dust cosmogony investigated and solved up to the third order is compared with numerical simulations. In this paper we study the dynamics of pancake models as a first step. In previous work the accuracy of several analytical approximations for the modeling of large-scale structure in the mildly non-linear regime was analyzed in the same way, allowing for direct comparison of the accuracy of various approximations. In particular, the Zel'dovich approximation (hereafter ZA) as a subclass of the first-order Lagrangian perturbation solutions was found to provide an excellent approximation to the density field in the mildly non-linear regime (i.e. up to a linear r.m.s. density contrast of sigma is approximately 2). The performance of ZA in hierarchical clustering models can be greatly improved by truncating the initial power spectrum (smoothing the initial data). We here explore whether this approximation can be further improved with higher-order corrections in the displacement mapping from homogeneity. We study a single pancake model (truncated power-spectrum with power-spectrum with power-index n = -1) using cross-correlation statistics employed in previous work. We found that for all statistical methods used the higher-order corrections improve the results obtained for the first-order solution up to the stage when sigma (linear theory) is approximately 1. While this improvement can be seen for all spatial scales, later stages retain this feature only above a certain scale which is increasing with time. However, third-order is not much improvement over second-order at any stage. The total breakdown of the perturbation approach is observed at the stage, where sigma (linear theory) is approximately 2, which corresponds to the onset of hierarchical clustering. This success is found at a considerable higher non-linearity than is usual for perturbation theory. Whether a truncation of the initial power-spectrum in hierarchical models retains this improvement will be analyzed in a forthcoming work.

Buchert, T.↗