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Cabauw Experimental Results from the Project for Intercomparison of Land-Surface Parameterization Schemes

In the Project for Intercomparison of Land-Surface Parameterization Schemes phase 2a experiment, meteorological data for the year 1987 from Cabauw, the Netherlands, were used as inputs to 23 land-surface flux schemes designed for use in climate and weather models. Schemes were evaluated by comparing their outputs with long-term measurements of surface sensible heat fluxes into the atmosphere and the ground, and of upward longwave radiation and total net radiative fluxes, and also comparing them with latent heat fluxes derived from a surface energy balance. Tuning of schemes by use of the observed flux data was not permitted. On an annual basis, the predicted surface radiative temperature exhibits a range of 2 K across schemes, consistent with the range of about 10 W/m in predicted surface net radiation. Most modeled values of monthly net radiation differ from the observations by less than the estimated maximum monthly observational error (+/- 10 W/sq m). However, modeled radiative surface temperature appears to have a systematic positive bias in most schemes; this might be explained by an error in assumed emissivity and by models' neglect of canopy thermal heterogeneity. Annual means of sensible and latent heat fluxes, into which net radiation is partitioned, have ranges across schemes of 30 W/sq m and 25 W/sq m, respectively. Annual totals of evapotranspiration and runoff, into which the precipitation is partitioned, both have ranges of 315 mm. These ranges in annual heat and water fluxes were approximately halved upon exclusion of the three schemes that have no stomatal resistance under non-water-stressed conditions. Many schemes tend to underestimate latent heat flux and overestimate sensible heat flux in summer, with a reverse tendency in winter. For six schemes, root-mean-square deviations of predictions from monthly observations are less than the estimated upper bounds on observation errors (5 W/m for sensible beat flux and 10 W/m for latent heat flux). Actual runoff at the site is believed to be dominated by vertical drainage to ground water, but several schemes produced significant amounts of runoff as overland flow or interflow. There is a range across schemes of 184 mm (40% of total pore volume) in the simulated annual mean root-zone soil moisture. Unfortunately, no measurements of soil moisture were available for model evaluation. A theoretical analysis suggested that differences in boundary conditions used in various schemes are not sufficient to explain the large variance in soil moisture. However, many of the extreme values of soil moisture could be explained in terms of the particulars of experimental setup or excessive evapotranspiration.

Chen, Tian Hong↗

A computationally efficient error-based adaptive control scheme for kinematically redundant manipulators

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Liapunov direct method under the assumption that the manipulator performs noncompliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗

Position control of redundant manipulators using an adaptive error-based control scheme

A Cartesian-space control scheme is developed to control the motion of kinematically redundant manipulators with 7 degrees of freedom (DOF). The control scheme consists mainly of proportional derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories. The adaptation law is derived using the concept of model reference adaptive control (MRAC) and Lyapunov direct method under the assumption that the manipulator performs non-compliant and slowly-varying motions. The developed control scheme is computationally efficient because its implementation does not require the computation of the manipulator dynamics. Computer simulation performed to evaluate the control scheme performance is presented and discussed.

Nguyen, Charles C.↗

Capaciflector-based virtual force control and centering

This report presents a novel concept of force control, called virtual force control. The virtual force concept avoids sudden step transition of position control to contact force control resulting in contact force disturbance when a robot end-effector makes contact with the environment. A virtual force/position control scheme consists of two loops: the force control loop and the position control loop. While the position control loop regulates the free motion, the force control loop regulates the contact force after making contact with the environment and the virtual force measured by a range sensor called capaciflector in the virtual environment. After presenting the concept of virtual force control, the report introduces a centering scheme in which the virtual force controller is employed to measure three points on a cone so that its center can be located. Experimental results of a one-degree-of-freedom virtual force control scheme applied in berthing an orbital replaceable unit are reported and compared with those of conventional pure contact force control cases.

Nguyen, Charles C.↗

Sensitivity analysis for the dynamic response of thermoviscoplastic shells of revolution

A computational procedure is presented for evaluating the sensitivity coefficients of the dynamic axisymmetric, fully-coupled, thermoviscoplastic response of shells of revolution. The analytical formulation is based on Reissner's large deformation shell theory with the effects of large-strain, transverse shear deformation, rotatory inertia and moments turning around the normal to the middle surface included. The material model is chosen to be viscoplasticity with strain hardening and thermal hardening, and an associated flow rule is used with a von Mises effective stress. A mixed formulation is used for the shell equations with the fundamental unknowns consisting of six stress resultants, three generalized displacements and three velocity components. The energy-balance equation is solved using a Galerkin procedure, with the temperature as the fundamental unknown. Spatial discretization is performed in one dimension (meridional direction) for the momentum and constitutive equations of the shell, and in two dimensions (meridional and thickness directions) for the energy-balance equation. The temporal integration is performed by using an explicit central difference scheme (leap-frog method) for the momentum equation; a predictor-corrector version of the trapezoidal rule is used for the energy-balance equation; and an explicit scheme consistent with the central difference method is used to integrate the constitutive equations. The sensitivity coefficients are evaluated by using a direct differentiation approach. Numerical results are presented for a spherical cap subjected to step loading.

Kulkarni, Makarand↗

Full potential integral solution for transonic flows with and without embedded Euler domains

Two methods are presented to solve for the transonic airfoil flow problems. The first method is based on the integral equation solution of the full-potential equation in terms of the velocity field, and a Shock Capturing-Shock Fitting (SCSF) scheme has been developed. The SCSF-scheme consists of a shock-capturing part and a shock-fitting part in which shock panels are introduced at the shock location. The sock panels are fitted and crossed by using the Rankine-Hugoniot relations. The second method is based on coupling the integral equation of the full-potential equation with the pseudo time integration of Euler equations in a small embedded region around the shock. The integral solution provides the initial and boundary conditions for the Euler domain. This scheme is named as the Integral Equation-Embedded Euler (IEEE) scheme. The two methods are applied to NACA 0012 and NACA 64A010A over a wide range of Mach numbers, and the reults are in good agreement with the experimental data and other computational results. The schemes converge within a number of iterations which is one-order of magnitude less than the finite-difference schemes.

Kandil, Osama A.↗

Linear multivariable control of robot manipulators

The paper presents a simple scheme for the linear multivariable control of multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-derivative type and achieves stability and pole placement. This controller reduces any initial tracking error to zero as desired. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in an overall control scheme.

Seraji, H.↗

Design of multivariable controllers for robot manipulators

The paper presents a simple method for the design of linear multivariable controllers for multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and achieves pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in the overall control scheme. The proposed scheme is simple and can be implemented for real-time control of robot manipulators.

Seraji, H.↗

Application of laminar flow control to supersonic transport configurations

The feasibility and impact of implementing a laminar flow control system on a supersonic transport configuration were investigated. A hybrid laminar flow control scheme consisting of suction controlled and natural laminar flow was developed for a double-delta type wing planform. The required suction flow rates were determined from boundary layer stability analyses using representative wing pressure distributions. A preliminary design of structural modifications needed to accommodate suction through a perforated titanium skin was carried out together with the ducting and systems needed to collect, compress and discharge the suction air. The benefits of reduced aerodynamic drag were weighed against the weight, volume and power requirement penalties of suction system installation in a mission performance and sizing program to assess the net benefits. The study showed a feasibility of achieving significant laminarization of the wing surface by use of a hybrid scheme, leading to an 8.2 percent reduction in the cruise drag. This resulted in an 8.5 percent reduction in the maximum takeoff weight and a 12 percent reduction in the fuel burn after the inclusion of the LFC system installation penalties. Several research needs were identified for a resolution of aerodynamics, structural and systems issues before these potential benefits could be realized in a practical system.

Parikh, P. G.↗

An approach to multivariable control of manipulators

The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms - implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and is designed to achieve pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. Simple and explicit expressions of computation of the feedforward and feedback gains are obtained based on the linearized model of robot dynamics. This leads to computationally efficient schemes for either on-line gain computation or off-line gain scheduling to account for variations in the linearized robot model due to changes in the operating point. The joint control scheme is extended to direct control of the end-effector motion in Cartesian space. Simulation results are given for illustration.

Seraji, H.↗

A study of air-to-ground sound propagation using an instrumented meteorological tower

The results of an exploratory NASA study, leading to a better understanding of the effects of meteorological conditions on the propagation of aircraft noise, are reported. The experimental program utilized a known sound source fixed atop an instrumented meteorological tower. The basic experimental scheme consisted of measuring the amplitude of sound radiated toward the ground along a line of microphones fixed to a tower guy wire. Experimental results show the feasibility of this approach in the acquisition of data indicating the variations encountered in the time-averaged and instantaneous amplitudes of propagated sound. The investigation included a consideration of ground reflections, a comparison of measured attenuations with predicted atmospheric absorption losses, and an evaluation of the amplitude fluctuations of recorded sound pressures.

Kasper, P. K.↗

Terminal area guidance along curved paths: A stochastic control approach

Stochastic control theory is applied to the problem of designing a digital flight compensator for terminal guidance along a helical flight path as a prelude to landing. The development of aircraft, wind, and measurement models is discussed along with a control scheme consisting of feedback gains multiplying estimate of the aircraft and wind states obtained from a Kalman one step predictor. Preliminary results are presented which indicate that the compensator performs satisfactorily in the presence of both steady winds and gusts.

Quaranta, J. E.↗

Recent developments in the Green's function method

A recent computational development on the Green's function method (the method used in the computer program SOUSSA: Steady, Oscillatory and Unsteady Subsonic and Supersonic Aerodynamics) is presented. A scheme consisting of combined numerical (Gaussian quadrature) and analytical procedures for the evaluation of the source and doublet integrals used in the program is presented. This combination results in 80 to 90% reduction in computer time.

Tseng, K.↗

A double shooting scheme for certain unstable and singular boundary value problems

A scheme is presented to obtain the unique bounded solution for an exponentially unstable linear system. The scheme consists of choosing random data at large initial values and integrating forwards and backwards until accurate regular boundary values are obtained. Proofs of convergence are given for the case that the homogeneous equation has an exponential dichotomy. Applications to other types of problems are discussed and numerical results are presented.

Bayliss, A.↗

Quantum nondemolition measurements - Comment on recent developments

The limitations of the detectability of extremely weak signals (gravitational radiation for instance) imposed by Heisenberg's uncertainty principle on the sequential determination of those signals have been explored recently. A variety of schemes have been proposed to circumvent these limitations. Although all of the earlier attempts have been proven fruitless a recent proposal seems to be quite promising. The scheme, consisting of two harmonic oscillators interacting with each other in a peculiar way, allows for an exact analytical solution which is derived here. If it can be assumed that the expectation value of one of the canonical variables of the total system suffices to monitor the weak signal it can be shown that, in the absence of thermal noise, arbitrarily weak signals can in principle be measured without interference from the uncertainty principle.

Von Roos, O.↗

Effect of subjectively enhancing the initial vorticity field in a short-range numerical forecast

The paper tests a simple method to incorporate subsynoptic-scale information into the initial conditions of a forecast model. The amplitude, orientation and vertical structure of the vorticity field associated with the subsynoptic-scale disturbance are estimated subjectively; this is done using a combination of climatological and physical models together with all available data. The initial values of geopotential are then obtained in the vicinity of the subsynoptic-scale disturbance, as over the rest of the domain, through the balance equation. Two sets of initial conditions are tested in 12-hr forecasts using a six-layer version of a primitive equation forecast model (Anthes and Warner, 1978). The analysis schemes consisted of (1) a careful subjective analysis of radiosonde data with a high-resolution objective interpolation, and (2) the same preceding analysis but including data derived from the enhanced vorticity fields in the vicinity of the subsynoptic-scale disturbance. The results are discussed in some detail.

Fried, G. D.↗

NASA Pioneer: Venus reverse playback telemetry program TR 78-2

During the entry of the Pioneer Venus Atmospheric Probes into the Venus atmosphere, there were several events (RF blackout and data rate changes) which caused the ground receiving equipment to lose lock on the signal. This caused periods of data loss immediately following each one of these disturbing events which lasted until all the ground receiving units (receiver, subcarrier demodulator, symbol synchronizer, and sequential decoder) acquired lock once more. A scheme to recover these data by off-line data processing was implemented. This scheme consisted of receiving the S band signals from the probes with an open loop reciever (requiring no lock up on the signal) in parallel with the closed loop receivers of the real time receiving equipment, down converting the signals to baseband, and recording them on an analog recorder. The off-line processing consisted of playing the analog recording in the reverse direction (starting with the end of the tape) up, converting the signal to S-band, feeding the signal into the "real time" receiving system and recording on digital tape, the soft decisions from the symbol synchronizer.

Modestino, J. W.↗

Numerical simulation of large-scale ocean-atmosphere coupling and the ocean's role in climate

The problem of reducing model generated sigma coordinate data to pressure levels is considered. A mass consistent scheme for performing budget analyses is proposed, wherein variables interpolated to a given pressure level are weighted according to the mass between a nominal pressure level above and either a nominal pressure level below or the Earth's surface, whichever is closer. The method is applied to the atmospheric energy cycle as simulated by the OSU two level atmospheric general circulation model. The results are more realistic than sigma coordinate analyses with respect to eddy decomposition, and are in agreement with the sigma coordinate evaluation of the numerical energy sink. Comparison with less sophisticated budget schemes indicates superiority locally, but not globally.

Gates, W. L.↗