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NASA NTRS1994

High level language-based robotic control system

This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible. The languages and system allow the programming and control of multiple arms and the use of inward/outward spatial recursions in which every computational step can be related to a transformation from one point in the mechanical robot to another point to name two major advantages.

Rodriguez, Guillermo↗

NASA NTRS1999

Survey of Turbulence Models for the Computation of Turbulent Jet Flow and Noise

The report presents an overview of jet noise computation utilizing the computational fluid dynamic solution of the turbulent jet flow field. The jet flow solution obtained with an appropriate turbulence model provides the turbulence characteristics needed for the computation of jet mixing noise. A brief account of turbulence models that are relevant for the jet noise computation is presented. The jet flow solutions that have been directly used to calculate jet noise are first reviewed. Then, the turbulent jet flow studies that compute the turbulence characteristics that may be used for noise calculations are summarized. In particular, flow solutions obtained with the k-e model, algebraic Reynolds stress model, and Reynolds stress transport equation model are reviewed. Since, the small scale jet mixing noise predictions can be improved by utilizing anisotropic turbulence characteristics, turbulence models that can provide the Reynolds stress components must now be considered for jet flow computations. In this regard, algebraic stress models and Reynolds stress transport models are good candidates. Reynolds stress transport models involve more modeling and computational effort and time compared to algebraic stress models. Hence, it is recommended that an algebraic Reynolds stress model (ASM) be implemented in flow solvers to compute the Reynolds stress components.

Nallasamy, N.↗

NASA NTRS2001

Articulation Management for Intelligent Integration of Information

When combining data from distinct sources, there is a need to share meta-data and other knowledge about various source domains. Due to semantic inconsistencies and heterogeneity of representations, problems arise in combining multiple domains when the domains are merged. The knowledge that is irrelevant to the task of interoperation will be included, making the result unnecessarily complex. This heterogeneity problem can be eliminated by mediating the conflicts and managing the intersections of the domains. For interoperation and intelligent access to heterogeneous information, the focus is on the intersection of the knowledge, since intersection will define the required articulation rules. An algebra over domain has been proposed to use articulation rules to support disciplined manipulation of domain knowledge resources. The objective of a domain algebra is to provide the capability for interrogating many domain knowledge resources, which are largely semantically disjoint. The algebra supports formally the tasks of selecting, combining, extending, specializing, and modifying Components from a diverse set of domains. This paper presents a domain algebra and demonstrates the use of articulation rules to link declarative interfaces for Internet and enterprise applications. In particular, it discusses the articulation implementation as part of a production system capable of operating over the domain described by the IDL (interface description language) of objects registered in multiple CORBA servers.

Maluf, David A.↗

NASA NTRS2002

Motion Planning in a Society of Intelligent Mobile Agents

The majority of the work on this grant involved formal modeling of human-computer integration. We conceptualize computer resources as a multiagent system so that these resources and human collaborators may be modeled uniformly. In previous work we had used modal for this uniform modeling, and we had developed a process-algebraic agent abstraction. In this work, we applied this abstraction (using CSP) in uniformly modeling agents and users, which allowed us to use tools for investigating CSP models. This work revealed the power of, process-algebraic handshakes in modeling face-to-face conversation. We also investigated specifications of human-computer systems in the style of algebraic specification. This involved specifying the common knowledge required for coordination and process-algebraic patterns of communication actions intended to establish the common knowledge. We investigated the conditions for agents endowed with perception to gain common knowledge and implemented a prototype neural-network system that allows agents to detect when such conditions hold. The literature on multiagent systems conceptualizes communication actions as speech acts. We implemented a prototype system that infers the deontic effects (obligations, permissions, prohibitions) of speech acts and detects violations of these effects. A prototype distributed system was developed that allows users to collaborate in moving proxy agents; it was designed to exploit handshakes and common knowledge Finally. in work carried over from a previous NASA ARC grant, about fifteen undergraduates developed and presented projects on multiagent motion planning.

Esterline, Albert C.↗

NASA NTRS1996

High level language-based robotic control system

Rodriguez, Guillermo↗

NASA NTRS2010

Comparison of CFD Predictions with Shuttle Global Flight Thermal Imagery and Discrete Surface Measurements

Surface temperature measurements from the STS-119 boundary-layer transition experiment on the space shuttle orbiter Discovery provide a rare opportunity to assess turbulent CFD models at hypersonic flight conditions. This flight data was acquired by on-board thermocouples and by infrared images taken off-board by the Hypersonic Thermodynamic Infrared Measurements (HYTHIRM) team, and is suitable for hypersonic CFD turbulence assessment between Mach 6 and 14. The primary assessment is for the Baldwin-Lomax and Cebeci-Smith algebraic turbulence models in the DPLR and LAURA CFD codes, respectively. A secondary assessment is made of the Shear-Stress Transport (SST) two-equation turbulence model in the DPLR code. Based upon surface temperature comparisons at eleven thermocouple locations, the algebraic-model turbulent CFD results average 4% lower than the measurements for Mach numbers less than 11. For Mach numbers greater than 11, the algebraic-model turbulent CFD results average 5% higher than the three available thermocouple measurements. Surface temperature predictions from the two SST cases were consistently 3 4% higher than the algebraic-model results. The thermocouple temperatures exhibit a change in trend with Mach number at about Mach 11; this trend is not reflected in the CFD results. Because the temperature trends from the turbulent CFD simulations and the flight data diverge above Mach 11, extrapolation of the turbulent CFD accuracy to higher Mach numbers is not recommended.

Wood, William A.↗

NASA NTRS2003

Software for Training in Pre-College Mathematics

The Intelligent Math Tutor (IMT) is a computer program for training students in pre-college and college-level mathematics courses, including fundamentals, intermediate algebra, college algebra, and trigonometry. The IMT can be executed on a server computer for access by students via the Internet; alternatively, it can be executed on students computers equipped with compact- disk/read-only-memory (CD-ROM) drives. The IMT provides interactive exercises, assessment, tracking, and an on-line graphing calculator with algebraic-manipulation capabilities. The IMT provides an innovative combination of content, delivery mechanism, and artificial intelligence. Careful organization and presentation of the content make it possible to provide intelligent feedback to the student based on performance on exercises and tests. The tracking and feedback mechanisms are implemented within the capabilities of a commercial off-the-shelf development software tool and are written in the Unified Modeling Language to maximize reuse and minimize development cost. The graphical calculator is a standard feature of most college and pre-college algebra and trigonometry courses. Placing this functionality in a Java applet decreases the cost, provides greater capabilities, and provides an opportunity to integrate the calculator with the lessons.

Shelton, Robert O.↗

NASA NTRS2017

Strategies Toward Automation of Overset Structured Surface Grid Generation

An outline of a strategy for automation of overset structured surface grid generation on complex geometries is described. The starting point of the process consists of an unstructured surface triangulation representation of the geometry derived from a native CAD, STEP, or IGES definition, and a set of discretized surface curves that captures all geometric features of interest. The procedure for surface grid generation is decomposed into an algebraic meshing step, a hyperbolic meshing step, and a gap-filling step. This paper will focus primarily on the high-level plan with details on the algebraic step. The algorithmic procedure for the algebraic step involves analyzing the topology of the network of surface curves, distributing grid points appropriately on these curves, identifying domains bounded by four curves that can be meshed algebraically, concatenating the resulting grids into fewer patches, and extending appropriate boundaries of the concatenated grids to provide proper overlap. Results are presented for grids created on various aerospace vehicle components.

overset↗

NASA NTRS2023

Another Geometric Interpretation of Cramer’s Rule

We develop a geometric interpretation of Cramer’s rule as a generalization of projection onto orthogonal basis vectors using the rows of the adjugate. This interpretation makes connections between elementary linear algebra concepts like the solution to linear equations, inner products, and projections. Such connections are useful for introducing broader concepts related to Hilbert spaces and geometric algebras like Grassman algebra. Such connections were essential for the author’s mathematical education as an engineer.

linear algebra↗

NASA NTRS1972

The k-space formulation of the n-dimensional scattering problem

The n-dimensional scattering problem is solved by means of a k-space formulation of the field equations, thereby replacing the conventional integral equation formulation by a set of two algebraic equations in two unknowns in two spaces (the constitutive equation being an algebraic equation in x-space). These equations are solved by an iterative method with the aid of the fast Fourier transform (FFT) algorithm connecting the two spaces, requiring very simple initial approximations. Since algebraic and FFT equations are used, the number of arithmetic multiple-add operations and storage allocations required for a numerical solution are reduced from the order of N sq (for solving the matrix equations resulting from the conventional integral equations) to the order of N(log base 2 of N) and N, respectively (where N is the number of data points required for the specification of the problem). The advantage gained in speed and storage is thus of the order of N/log base 2 of N and N, respectively. This method is thus considerably more efficient than the conventional matrix method, and permits exact numerical solutions for much larger problems. Arguments are presented toward the view that the field equations are more fundamental in k-space. The details and some numerical results of the application of this method to the three-dimensional electromagnetic scattering problems are presented as an example.

Bojarski, N. N.↗

NASA NTRS1978

Extending reliability: Transformational tailoring of abstract mathematical software

Methods for automatically constructing concrete executable programs from an abstract prototype program by applying transformations based on theorems of matrix algebra and on algebraic properties of programming languages are described. These methods provide a user with highly efficient programs tailored to his environment while maintaining the advantages of high reliability and low cost associated with routines from the best mathematical software libraries. Also, the transformations which produce such programs represent a formal codification of rules for writing linear algebra programs.

Boyle, J. M.↗

NASA NTRS1985

A critical evaluation of various turbulence models as applied to internal fluid flows

Models employed in the computation of turbulent flows are described and their application to internal flows is evaluated by examining the predictions of various turbulence models in selected flow configurations. The main conclusions are: (1) the k-epsilon model is used in a majority of all the two-dimensional flow calculations reported in the literature; (2) modified forms of the k-epsilon model improve the performance for flows with streamline curvature and heat transfer; (3) for flows with swirl, the k-epsilon model performs rather poorly; the algebraic stress model performs better in this case; and (4) for flows with regions of secondary flow (noncircular duct flows), the algebraic stress model performs fairly well for fully developed flow, for developing flow, the algebraic stress model performance is not good; a Reynolds stress model should be used. False diffusion and inlet boundary conditions are discussed. Countergradient transport and its implications in turbulence modeling is mentioned. Two examples of recirculating flow predictions obtained using PHOENICS code are discussed. The vortex method, large eddy simulation (modeling of subgrid scale Reynolds stresses), and direct simulation, are considered. Some recommendations for improving the model performance are made. The need for detailed experimental data in flows with strong curvature is emphasized.

Nallasamy, M.↗

NASA NTRS1985

A study of the second and third order closure models of turbulence for prediction of separated shear flows

The hybrid model of the Reynolds-stress turbulence closure is tested for the computation of the flows over a step and disk. Here it is attempted to improve the redistributive action of the turbulence energy among the Reynolds stresses. By evaluating the existing models for the pressure-strain correlation, better coefficients are obtained for the prediction of separating shear flows. Furthermore, the diffusion rate of the Reynolds stresses is reevaluated adopting several algebraic correlations for the triple-velocity products. The models of Cormack et al., Daly-Harlow, Hanjalic-Launder, and Shir were tested for the reattaching shear flows. It was generally observed that all these algebraic models give considerably low values of the triple-velocity products. This is attributed to the fact that none of the algebraic models can take the convective effect of the triple-velocity products into account in the separating shear flows, thus resulting in much lower diffusion rate than Reynolds stresses. In order to improve the evaluation of these quantities correction factors are introduced based on the comparison with some experimental data.

Amano, R. S.↗

NASA NTRS1983

Pfaffian systems and feedback linearization/obstructions

The concept of Cartan-Vessiot filtered Lie algebra/module is defined in terms of previous feedback linearizations constructed through canonical forms of Pfaffian systems associated with nonlinear systems. Nonlinearization/Cartan-Vessiot algebras are regarded as deformations of linear ones. It is shown how certain problems of interest in nonlinear system theory translate over to algebraic problems involving this sort of algebraic structure.

Hermann, R.↗

NASA NTRS1983

On the stabilizability of multivariable systems by minimum order compensation

In this paper, a derivation is provided of the necessary condition, mp equal to or greater than n, for stabilizability by constant gain feedback of the generic degree n, p x m system. This follows from another of the main results, which asserts that generic stabilizability is equivalent to generic solvability of a deadbeat control problem, provided mp equal to or less than n. Taken together, these conclusions make it possible to make some sharp statements concerning minimum order stabilization. The techniques are primarily drawn from decision algebra and classical algebraic geometry and have additional consequences for problems of stabilizability and pole-assignability. Among these are the decidability (by a Sturm test) of the equivalence of generic pole-assignability and generic stabilizability, the semi-algebraic nature of the minimum order, q, of a stabilizing compensator, and the nonexistence of formulae involving rational operations and extraction of square roots for pole-assigning gains when they exist, answering in the negative a question raised by Anderson, Bose, and Jury (1975).

Byrnes, C. I.↗

NASA NTRS1985

Turbulence modelling for complex shear flows

The turbulence models available for the prediction of complex turbulent shear layers are reviewed in this paper, concentrating mainly on three-dimensional flows, flows subjected to curvature and body rotation, separated flows, and vortex flows. A critical review of zero-equation, one-equation, two-equation, algebraic Reynolds stress, and full Reynolds stress models are carried out, with a specific emphasis on their applicability to complex flows. It is concluded that algebraic eddy viscosity models and kappa-epsilon/kappa-omega models, with a constant value of coefficients, are not adequate for complex flows. The models which include a description of stresses, either through an algebraic Reynolds stress model or a full Reynolds stress model, are essential for adequate prediction of these flows. It is recommended that systematic experimental investigations be carried out to isolate various complex interactions in order to understand and model the various effects and to carry out an extension of the present models to include complex flows.

Lakshminarayana, B.↗

NASA NTRS1986

Improvement of the second- and third-moment modeling of turbulence: A study of Reynolds-stress closure model

Four parts of the Reynolds-stress closure modeling are reported: (1) improvement of the k and epsilon equaitons; (2) development of the third-moment transport equation; (3) formulation of the diffusion coefficient of the momentum equation by using the algebraic-stress model of turbulence; and (4) the application of the Reynolds-stress model to a heat exchanger problem. It was demonstrated that the third-moment transport model improved the prediction of the triple-velocity products in the recirculating and reattaching flow regions in comparison with the existing algebraic models for the triple-velocity products. Optimum values for empirical coefficients are obtained for the prediction of the backward-facing step flows. A functional expression is derived for the coefficient of the momentum diffusion by employing the algebraic-stress model. The second-moment closure is applied to a heat transfer problem. The computations for the flow in a corrugated-wall channel show that the second-moment closure improves the prediction of the heat transfer rates by 30% over the k - epsilon model.

Amano, R. S.↗

NASA NTRS1987

On the modelling of non-reactive and reactive turbulent combustor flows

A study of non-reactive and reactive axisymmetric combustor flows with and without swirl is presented. Closure of the Reynolds equations is achieved by three models: kappa-epsilon, algebraic stress and Reynolds stress closure. Performance of two locally nonequilibrium and one equilibrium algebraic stress models is analyzed assuming four pressure strain models. A comparison is also made of the performance of a high and a low Reynolds number model for combustor flow calculations using Reynolds stress closures. Effects of diffusion and pressure-strain models on these closures are also investigated. Two models for the scalar transport are presented. One employs the second-moment closure which solves the transport equations for the scalar fluxes, while the other solves the algebraic equations for the scalar fluxes. In addition, two cases of non-premixed and one case of premixed combustion are considered. Fast- and finite-rate chemistry models are applied to non-premixed combustion. Both show promise for application in gas turbine combustors. However, finite rate chemistry models need to be examined to establish a suitable coupling of the heat release effects on turbulence field and rate constants.

Nikjooy, Mohammad↗