THE TRANSFORMATION BETWEEN CARTESIAN AND CONIC COORDINATES RESEARCH
Transformation between cartesian and conic coordinates
CARTESIAN COORDINATE↗
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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Improved State Estimation in Distorted Magnetic Fields
The magnetic field of the Earth – besides varying naturally – may be disturbed locally by the (man-made) environment. State estimation and corresponding navigation frameworks that use magnetometers on-board of mobile platforms suffer from severe performance loss or failure upon local magnetic distortions if these are not detected and mitigated adequately. Advanced estimators include the magnetic variation in the state vector. However, Cartesian coordinates, although widely used in the literature, suffer from observability issues when it comes to disturbance detection. This paper shows the importance of representing the magnetic variation in a spherical coordinate system and subsequent improvements with respect to the common representation in Cartesian coordinates. The spherical representation improves estimator consistency and allows for accurate and fast mitigation of magnetic disturbances through consistent statistical tests which leads to better system state estimates in magnetically distorted areas. The approach is validated by performing tests with simulated and real-world data on embedded hardware.
Brommer, Christian↗
Estimating Aeroheating of a 3D Body Using a 2D Flow Solver
A method for rapidly estimating the aeroheating, shear stress, and other properties of hypersonic flow about a three-dimensional (3D) blunt body has been devised. First, the geometry of the body is specified in Cartesian coordinates. The surface of the body is then described by its derivatives, coordinates, and principal curvatures. Next, previously relatively simple equations are used to find, for each desired combination of angle of attack and meridional angle, a scaling factor and the shape of an equivalent axisymmetric body. These factors and equivalent shapes are entered as inputs into a previously developed computer program that solves the two-dimensional (2D) equations of flow in a non-equilibrium viscous shock layer (VSL) about an axisymmetric body. The coordinates in the output of the VSL code are transformed back to the Cartesian coordinates of the 3D body, so that computed flow quantities can be registered with locations in the 3D flow field of interest. In tests in which the 3D bodies were elliptic paraboloids, the estimates obtained by use of this method were found to agree well with solutions of 3D, finite-rate-chemistry, thin-VSL equations for a catalytic body.
Scott, Carl D.↗
Solution of axisymmetric fluid structure interaction problems with NASTRAN
The solution of axisymmetric acoustic fluid structure interaction problems, employing the NASTRAN computer program is presented. A previously developed 3-D Cartesian Coordinates pressure element formulation is adapted especially for axisymmetric elements. Analogous to the 3-D Cartesian Coordinate predecessor, the fluid portion of the problem is modeled with finite elements wherein one of the displacement components serves as a dummy variable for the pressure unknowns. Two alternatives for implementation of the analogy are presented: (1) an approximate method by which dummy values of G, and nu are used to approximately invoke the analogy wherein the accuracy of the approximation is made as close as desired to the proper analogy within an arbitrary small parameter epsiton; (2) an exact method whereby the NASTRAN FORTRAN coding is slightly changed to invoke the analogy exactly. Comparison of the finite element solution to the exact solution to the same problem is given.
Kalinowski, A. J.↗
Video-Game-Like Engine for Depicting Spacecraft Trajectories
GoView is a video-game-like software engine, written in the C and C++ computing languages, that enables real-time, three-dimensional (3D)-appearing visual representation of spacecraft and trajectories (1) from any perspective; (2) at any spatial scale from spacecraft to Solar-system dimensions; (3) in user-selectable time scales; (4) in the past, present, and/or future; (5) with varying speeds; and (6) forward or backward in time. GoView constructs an interactive 3D world by use of spacecraft-mission data from pre-existing engineering software tools. GoView can also be used to produce distributable application programs for depicting NASA orbital missions on personal computers running the Windows XP, Mac OsX, and Linux operating systems. GoView enables seamless rendering of Cartesian coordinate spaces with programmable graphics hardware, whereas prior programs for depicting spacecraft trajectories variously require non-Cartesian coordinates and/or are not compatible with programmable hardware. GoView incorporates an algorithm for nonlinear interpolation between arbitrary reference frames, whereas the prior programs are restricted to special classes of inertial and non-inertial reference frames. Finally, whereas the prior programs present complex user interfaces requiring hours of training, the GoView interface provides guidance, enabling use without any training.
Upchurch, Paul R.↗
Robust recognition of handwritten numerals based on dual cooperative network
An approach to robust recognition of handwritten numerals using two operating parallel networks is presented. The first network uses inputs in Cartesian coordinates, and the second network uses the same inputs transformed into polar coordinates. How the proposed approach realizes the robustness to local and global variations of input numerals by handling inputs both in Cartesian coordinates and in its transformed Polar coordinates is described. The required network structures and its learning scheme are discussed. Experimental results show that by tracking only a small number of distinctive features for each teaching numeral in each coordinate, the proposed system can provide robust recognition of handwritten numerals.
Lee, Sukhan↗
Configuration space representation in parallel coordinates
By means of a system of parallel coordinates, a nonprojective mapping from R exp N to R squared is obtained for any positive integer N. In this way multivariate data and relations can be represented in the Euclidean plane (embedded in the projective plane). Basically, R squared with Cartesian coordinates is augmented by N parallel axes, one for each variable. The N joint variables of a robotic device can be represented graphically by using parallel coordinates. It is pointed out that some properties of the relation are better perceived visually from the parallel coordinate representation, and that new algorithms and data structures can be obtained from this representation. The main features of parallel coordinates are described, and an example is presented of their use for configuration space representation of a mechanical arm (where Cartesian coordinates cannot be used).
Fiorini, Paolo↗
Computer coordination of limb motion for a three-legged walking robot
Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.
Klein, C. A.↗
Mesh generation by conformal and quasiconformal mappings
It is pointed out that many recent advances in the finite-difference solution of elliptic equations have been limited to regions whose boundary contours coincide with coordinate lines of the Cartesian coordinate system. The reason for this is related to the fact that in the case of an arbitrary curvilinear coordinate system the original equation becomes much more complex. However, there is no added complexity if an orthogonal coordinate system is generated from a conformal mapping. In the present investigation, a finite difference method developed for the construction of conformal mappings has been generalized to construct quasi-conformal mappings. It is expected that the use of more sophisticated numerical algorithms could lead to improvements in both speed and accuracy. Quasi-conformal mappings have applications not only in the solution of elliptic equations but also in other areas such as orthogonal mesh generation on surfaces and the solution of certain fluid flow problems.
Mastin, C. W.↗
A General-Coordinate Formulation For Boundary-Layer Flow
Formulation for solution of equations of boundary-layer flow in general body-fitted curvilinear coordinates retains velocities in Cartesian coordinates. Increases stability of numerical simulations by avoiding coordinate source terms. In formulation, curvilinear coordinates do not have to be orthogonal, and much of software developed previously for use in numerical simulations of flow based on Navier-Stokes equations used.
Steger, Joseph L.↗
Tracking algorithms using log-polar mapped image coordinates
The use of log-polar image sampling coordinates rather than conventional Cartesian coordinates offers a number of advantages for visual tracking and docking of space vehicles. Pixel count is reduced without decreasing the field of view, with commensurate reduction in peripheral resolution. Smaller memory requirements and reduced processing loads are the benefits in working environments where bulk and energy are at a premium. Rotational and zoom symmetries of log-polar coordinates accommodate range and orientation extremes without computational penalties. Separation of radial and rotational coordinates reduces the complexity of several target centering algorithms, described below.
Weiman, Carl F. R.↗
Sonic Boom Propagation Model Based on a Single-Ray Jacobian
A sonic boom is a nonlinear event whose propagation can be modeled involving two stages. The first stage consists of ray path calculations using linear approximations, while the second stage deals with a nonlinear transport of the acoustic energy along these paths. This presentation discusses a second-order finite difference numerical approach used to predict the ray paths in range-dependent atmospheres and compares it to existing finite difference schemes. The approach is validated using exact solutions obtained for stratified atmospheres. In the second stage, the geometrical spreading effect needed in determining sonic boom waveforms from a Burgers' equation is obtained using a method that only needs a single ray rather than four rays required by most existing sonic boom propagation codes. The single-ray method calculates the Jacobian, associated with the coordinate transformation from a suitable ray coordinate system to the Cartesian coordinate system, directly from the ray tracing equations. While the four-ray method approximates the geometrical spreading using a finite difference scheme involving the four rays, the single-ray method does not rely on this approximation and instead depends purely on the acoustical kinematic properties of the atmosphere. Comparisons of results using these two methods are discussed.
sonic boom↗
Relativistic perturbations on the motion and tracking of the LAGEOS satellite
The modifications to Geodyn to substitute the Einstein gravitational theory for Newtonian gravitation are described. This results in modifications to both the satellite equations of motion and to the modeling of satellite tracking measurements. Since the Newtonian theory is a very close approximation to the Einstein theory (or general theory of relativity), observable deviations from Newtonian theory are small, and the applicable equations of motion or observation equations can be formulated so that they differ only by small terms which are denoted as relativistic perturbations. In the implementation of the Einstein theory in an orbital data reduction program, station coordinates and satellite coordinates which resemble the normal Cartesian coordinates are considered.
Martin, C. F.↗
On the Theory of Thin Shallow Shells
This report is concerned with the theory of thin shallow shells. It does not employ the lines of curvature as the coordinate system, but employs "almost cartesian coordinates" or the coordinates obtained by cutting the surface into two mutually orthogonal systems of parallel planes.
Nazarov, A. A.↗
Dynamic analysis of a 6 DOF CKCM robot end-effector for dual-arm telerobot systems
A dynamical analysis is performed for a six DOF robot end-effector built to study telerobotic service and maintenance of NASA hardwares in space. The design of the end-effector is based on the concept of closed-kinematic chain mechanism capable of performing precise motion in a small workspace. After presenting a closed-form solution for the inverse kinematic problem, the Lagrangian approach is used to derive a set of equations of motion for the end-effector where the generalized coordinates are selected to be the Cartesian coordinates. A computer simulation study shows that the centrifugal and Coriolis terms can be neglected for slow motion.
Nguyen, Charles C.↗
Conformal coordinates associated with uniformly accelerated motion
Specific problems in the theory of relativity are often simplified by an appropriate choice of the coordinate system. Restricted conformal coordinates provide an especially simple analysis of motion with uniform acceleration, known as hyperbolic motion. Conformal coordinates x', t' may be obtained from Cartesian coordinates x, t by the transformation x'+ct'=F(x+ct) and x'-ct'=G(x-ct), where c is the velocity of light. A variable motion of the x' system is determined by the choice of the functions F and G.
Jones, R. T.↗
Computer modeling of polymers
A Polymer Molecular Analysis Display System (p-MADS) was developed for computer modeling of polymers. This method of modeling allows for the theoretical calculation of molecular properties such as equilibrium geometries, conformational energies, heats of formations, crystal packing arrangements, and other properties. Furthermore, p-MADS has the following capabilities: constructing molecules from internal coordinates (bonds length, angles, and dihedral angles), Cartesian coordinates (such as X-ray structures), or from stick drawings; manipulating molecules using graphics and making hard copy representation of the molecules on a graphics printer; and performing geometry optimization calculations on molecules using the methods of molecular mechanics or molecular orbital theory.
Green, Terry J.↗
Reducing Errors by Use of Redundancy in Gravity Measurements
A methodology for improving gravity-gradient measurement data exploits the constraints imposed upon the components of the gravity-gradient tensor by the conditions of integrability needed for reconstruction of the gravitational potential. These constraints are derived from the basic equation for the gravitational potential and from mathematical identities that apply to the gravitational potential and its partial derivatives with respect to spatial coordinates. Consider the gravitational potential in a Cartesian coordinate system {x1,x2,x3}. If one measures all the components of the gravity-gradient tensor at all points of interest within a region of space in which one seeks to characterize the gravitational field, one obtains redundant information. One could utilize the constraints to select a minimum (that is, nonredundant) set of measurements from which the gravitational potential could be reconstructed. Alternatively, one could exploit the redundancy to reduce errors from noisy measurements. A convenient example is that of the selection of a minimum set of measurements to characterize the gravitational field at n3 points (where n is an integer) in a cube. Without the benefit of such a selection, it would be necessary to make 9n3 measurements because the gravitygradient tensor has 9 components at each point. The problem of utilizing the redundancy to reduce errors in noisy measurements is an optimization problem: Given a set of noisy values of the components of the gravity-gradient tensor at the measurement points, one seeks a set of corrected values - a set that is optimum in that it minimizes some measure of error (e.g., the sum of squares of the differences between the corrected and noisy measurement values) while taking account of the fact that the constraints must apply to the exact values. The problem as thus posed leads to a vector equation that can be solved to obtain the corrected values.
Kulikov, Igor↗