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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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At least 397 records · Page 22
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. W., Jr.↗
NASA NTRS1988

Adaptive independent joint control of manipulators - Theory and experiment

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Seraji, H.↗
NASA NTRS1992

Synthesis of actively adjustable springs by antagonistic redundant actuation

A methodology for active spring generation is presented based on antagonistic redundant actuation. Antagonistic properties are characterized using an effective system stiffness. 'Antagonistic stiffness' is generated by preloading a closed-chain (parallel) linkage system. Internal load distribution is investigated along with the necessary conditions for spring synthesis. The performance and stability of a proposed active spring are shown by simulation, and applications are discussed.

Yi, Byung-Ju↗
NASA NTRS1997

Parallel Proximity Detection for Computer Simulation

The present invention discloses a system for performing proximity detection in computer simulations on parallel processing architectures utilizing a distribution list which includes movers and sensor coverages which check in and out of grids. Each mover maintains a list of sensors that detect the mover's motion as the mover and sensor coverages check in and out of the grids. Fuzzy grids are includes by fuzzy resolution parameters to allow movers and sensor coverages to check in and out of grids without computing exact grid crossings. The movers check in and out of grids while moving sensors periodically inform the grids of their coverage. In addition, a lookahead function is also included for providing a generalized capability without making any limiting assumptions about the particular application to which it is applied. The lookahead function is initiated so that risk-free synchronization strategies never roll back grid events. The lookahead function adds fixed delays as events are scheduled for objects on other nodes.

Steinman, Jeffrey S.↗
NASA NTRS1961

Stress Concentrations in Filamentary Structures

Theoretical analyses are made of the stress distributions in a sheet of parallel filaments which carry normal loads and are imbedded in a matrix which carries only shear. In all cases, uniform loading at infinity is assumed and small-deflection elasticity theory is used. Static and dynamic stress-concentration factors due to one or more filaments being broken are determined. Particular attention is paid the dynamic overshoot resulting when the filaments are suddenly broken. The dynamic-response factor increases from 1.15 to 1.27 as the number of broken filaments is increased from one to infinity. A somewhat lower dynamic-response factor is obtained when a hole is suddenly caused in the filament sheet.

Hedgepeth, John M.↗
NASA NTRS1998

Parallel Proximity Detection for Computer Simulations

The present invention discloses a system for performing proximity detection in computer simulations on parallel processing architectures utilizing a distribution list which includes movers and sensor coverages which check in and out of grids. Each mover maintains a list of sensors that detect the mover's motion as the mover and sensor coverages check in and out of the grids. Fuzzy grids are included by fuzzy resolution parameters to allow movers and sensor coverages to check in and out of grids without computing exact grid crossings. The movers check in and out of grids while moving sensors periodically inform the grids of their coverage. In addition, a lookahead function is also included for providing a generalized capability without making any limiting assumptions about the particular application to which it is applied. The lookahead function is initiated so that risk-free synchronization strategies never roll back grid events. The lookahead function adds fixed delays as events are scheduled for objects on other nodes.

Steinman, Jeffrey S.↗
NASA NTRS2017

Ion Velocity Distributions in Dipolarization Events: Beams in the Vicinity of the Plasma Sheet Boundary

Using combined MHD/test particle simulations, we further explore characteristic ion velocity distributions in relation to magnetotail reconnection and dipolarization events, focusing on distributions at and near the plasma sheet boundary layer (PSBL). Simulated distributions right at the boundary are characterized by a single earthward beam, as discussed earlier. However, farther inside, the distributions consist of multiple beams parallel and antiparallel to the magnetic field, remarkably similar to recent Magnetospheric Multiscale observations. The simulations provide insight into the mechanisms: the lowest earthward beam results from direct acceleration at an earthward propagating dipolarization front (DF), with a return beam at somewhat higher energy. A higher-energy earthward beam results from dual acceleration, first near the reconnection site and then at the DF, again with a corresponding return beam resulting from mirroring closer to Earth. Multiple acceleration at the X line or the propagating DF with intermediate bounces may produce even higher-energy beams. Particles contributing to the lower energy beams are found to originate from the PSBL with thermal source energies, increasing with increasing beam energy. In contrast, the highest-energy beams consist mostly of particles that have entered the acceleration region via cross-tail drift with source energies in the suprathermal range.

Birn, J.↗
NASA NTRSDate not supplied

Sparse Linear Algebra Toolkit for Computational Aerodynamics

Finding solutions to sparse linear systems of equations is an essential step in Computational Engineering applications of interest to NASA. Linear systems of equations are composed and solved in almost every computational engineering application. The characteristics of linear systems vary greatly from one application to another. Accordingly, there are a wide variety of methods for the solution of linear systems of equations. The operations and methods prepared by the authors are focused on linear systems of interest to NASA, primarily those associated with Computational Fluid Dynamics (CFD), Aeroelasticity, and Aeroacoustics. The Sparse Linear Algebra Toolkit (SLAT) is a coordinated collection of software featuring operations, methods, and data structures that are useful when solving sparse linear systems of equations on modern computer architectures. The implemented operations and methods are designed and tuned for parallelism in shared memory, in distributed memory, and across the hybrid combination of distributed-shared memory. The toolkit includes novel methods and implementations for modern architectures and facilitates development of new approaches for meeting NASA’s evolving computational engineering challenges using evolving computer architectures that are not available in vendor libraries. In this paper, significant features and interfaces within SLAT are presented and verified for simulations performed with NASA’s CFD solver, FUN3D. The runtime and scaling performance of the Generalized Minimum Residual (GMRES) method implemented in SLAT is analyzed for the linear subproblems within the solution of turbulent Navier-Stokes equations employed in the simulation of high-lift configurations. Prior to this work, the SPARSKIT GMRES implementation was the only Krylov subspace method available within FUN3D. A strong scaling study shows the SLAT GMRES implementation facilitates accurate Reynolds-averaged Navier-Stokes CFD solutions between 15% and 56% faster than the SPARSKIT GMRES implementation.

Stephen L Wood↗
NASA NTRS2024

SOFIA/HAWC+ Far-Infrared Polarimetric Large-area CMZ Exploration Survey. III. Full Survey Data Set

We present the second data release (DR2) of the Far-InfraREd Polarimetric Large-Area CMZ Exploration (FIREPLACE) survey. This survey utilized the Stratospheric Observatory for Infrared Astronomy High-resolution Airborne Wideband Camera plus instrument at 214 μm (E band) at a resolution of 19"6 to observe thermal polarized dust emission throughout the Central Molecular Zone (CMZ). DR2 consists of observations obtained in 2022 covering the region of the CMZ extending from the Brick to the Sgr C molecular clouds (corresponding to a 1° × 0°.75 region of the sky). We combine DR2 with the first FIREPLACE data release (DR1) to obtain full coverage of the CMZ (a 1°.5 × 0°.75 region of the sky). After applying total and polarized intensity significance cuts on the full FIREPLACE data set, we obtain ∼64,000 Nyquist-sampled polarization pseudovectors. The distribution of polarization pseudovectors confirms a bimodal distribution in the CMZ magnetic field orientations, recovering field components that are oriented predominantly parallel or perpendicular to the Galactic plane. This distribution of orientations is similar to what was observed in DR1 and other studies. We also inspect the magnetic fields toward a set of prominent CMZ molecular clouds (the Brick, Three Little Pigs, 50 and 20 km s −1 clouds, circumnuclear disk, CO 0.02-0.02, and Sgr C), revealing spatially varying magnetic fields having orientations that generally trace the total intensity morphologies of the clouds. We find evidence that compression from stellar winds and shear from tidal forces are prominent mechanisms influencing the structure of the magnetic fields.

Molecular clouds↗
NASA NTRS1995

Advanced compilation techniques in the PARADIGM compiler for distributed-memory multicomputers

The PARADIGM compiler project provides an automated means to parallelize programs, written in a serial programming model, for efficient execution on distributed-memory multicomputers. .A previous implementation of the compiler based on the PTD representation allowed symbolic array sizes, affine loop bounds and array subscripts, and variable number of processors, provided that arrays were single or multi-dimensionally block distributed. The techniques presented here extend the compiler to also accept multidimensional cyclic and block-cyclic distributions within a uniform symbolic framework. These extensions demand more sophisticated symbolic manipulation capabilities. A novel aspect of our approach is to meet this demand by interfacing PARADIGM with a powerful off-the-shelf symbolic package, Mathematica. This paper describes some of the Mathematica routines that performs various transformations, shows how they are invoked and used by the compiler to overcome the new challenges, and presents experimental results for code involving cyclic and block-cyclic arrays as evidence of the feasibility of the approach.

Su, Ernesto↗
NASA NTRS1972

Anisotropic pitch angle distribution of 50 eV to 50 keV particles at synchronous altitude.

At times, the electron pitch angle distributions at synchronous orbit have been observed to be highly anisotropic. In the local morning region, distributions concentrated near 90 deg are often observed in particles of less than approximately 2000 V. This anisotropy decreases with increasing energy from 1 keV to the detector's limit at 50 keV. The time development of anisotropy is consistent with production by pitch angle scattering processes which are not effective on electrons with small velocities parallel to the magnetic field. Another type of distribution has been observed with the low-energy (below 1000 V) electrons concentrated parallel and antiparallel to the magnetic field. These distributions are only seen in the dusk sector, but this may be an orbital artifact.

Deforest, S. E.↗
NASA NTRS2009

Porting Gravitational Wave Signal Extraction to Parallel Virtual Machine (PVM)

Laser Interferometer Space Antenna (LISA) is a planned NASA-ESA mission to be launched around 2012. The Gravitational Wave detection is fundamentally the determination of frequency, source parameters, and waveform amplitude derived in a specific order from the interferometric time-series of the rotating LISA spacecrafts. The LISA Science Team has developed a Mock LISA Data Challenge intended to promote the testing of complicated nested search algorithms to detect the 100-1 millihertz frequency signals at amplitudes of 10E-21. However, it has become clear that, sequential search of the parameters is very time consuming and ultra-sensitive; hence, a new strategy has been developed. Parallelization of existing sequential search algorithms of Gravitational Wave signal identification consists of decomposing sequential search loops, beginning with outermost loops and working inward. In this process, the main challenge is to detect interdependencies among loops and partitioning the loops so as to preserve concurrency. Existing parallel programs are based upon either shared memory or distributed memory paradigms. In PVM, master and node programs are used to execute parallelization and process spawning. The PVM can handle process management and process addressing schemes using a virtual machine configuration. The task scheduling and the messaging and signaling can be implemented efficiently for the LISA Gravitational Wave search process using a master and 6 nodes. This approach is accomplished using a server that is available at NASA Ames Research Center, and has been dedicated to the LISA Data Challenge Competition. Historically, gravitational wave and source identification parameters have taken around 7 days in this dedicated single thread Linux based server. Using PVM approach, the parameter extraction problem can be reduced to within a day. The low frequency computation and a proxy signal-to-noise ratio are calculated in separate nodes that are controlled by the master using message and vector of data passing. The message passing among nodes follows a pattern of synchronous and asynchronous send-and-receive protocols. The communication model and the message buffers are allocated dynamically to address rapid search of gravitational wave source information in the Mock LISA data sets.

Thirumalainambi, Rajkumar↗
NASA NTRS1995

Ropes: Support for collective opertions among distributed threads

Lightweight threads are becoming increasingly useful in supporting parallelism and asynchronous control structures in applications and language implementations. Recently, systems have been designed and implemented to support interprocessor communication between lightweight threads so that threads can be exploited in a distributed memory system. Their use, in this setting, has been largely restricted to supporting latency hiding techniques and functional parallelism within a single application. However, to execute data parallel codes independent of other threads in the system, collective operations and relative indexing among threads are required. This paper describes the design of ropes: a scoping mechanism for collective operations and relative indexing among threads. We present the design of ropes in the context of the Chant system, and provide performance results evaluating our initial design decisions.

Haines, Matthew↗
NASA NTRS2001

Applicability of the single equivalent point dipole model to represent a spatially distributed bio-electrical source

Although the single equivalent point dipole model has been used to represent well-localised bio-electrical sources, in realistic situations the source is distributed. Consequently, position estimates of point dipoles determined by inverse algorithms suffer from systematic error due to the non-exact applicability of the inverse model. In realistic situations, this systematic error cannot be avoided, a limitation that is independent of the complexity of the torso model used. This study quantitatively investigates the intrinsic limitations in the assignment of a location to the equivalent dipole due to distributed electrical source. To simulate arrhythmic activity in the heart, a model of a wave of depolarisation spreading from a focal source over the surface of a spherical shell is used. The activity is represented by a sequence of concentric belt sources (obtained by slicing the shell with a sequence of parallel plane pairs), with constant dipole moment per unit length (circumferentially) directed parallel to the propagation direction. The distributed source is represented by N dipoles at equal arc lengths along the belt. The sum of the dipole potentials is calculated at predefined electrode locations. The inverse problem involves finding a single equivalent point dipole that best reproduces the electrode potentials due to the distributed source. The inverse problem is implemented by minimising the chi2 per degree of freedom. It is found that the trajectory traced by the equivalent dipole is sensitive to the location of the spherical shell relative to the fixed electrodes. It is shown that this trajectory does not coincide with the sequence of geometrical centres of the consecutive belt sources. For distributed sources within a bounded spherical medium, displaced from the sphere's centre by 40% of the sphere's radius, it is found that the error in the equivalent dipole location varies from 3 to 20% for sources with size between 5 and 50% of the sphere's radius. Finally, a method is devised to obtain the size of the distributed source during the cardiac cycle.

NASA Discipline Cardiopulmonary↗
NASA NTRS2002

National Combustion Code Parallel Performance Enhancements

The National Combustion Code (NCC) is being developed by an industry-government team for the design and analysis of combustion systems. The unstructured grid, reacting flow code uses a distributed memory, message passing model for its parallel implementation. The focus of the present effort has been to improve the performance of the NCC code to meet combustor designer requirements for model accuracy and analysis turnaround time. Improving the performance of this code contributes significantly to the overall reduction in time and cost of the combustor design cycle. This report describes recent parallel processing modifications to NCC that have improved the parallel scalability of the code, enabling a two hour turnaround for a 1.3 million element fully reacting combustion simulation on an SGI Origin 2000.

Quealy, Angela↗
NASA NTRS1988

Semi-automatic process partitioning for parallel computation

On current multiprocessor architectures one must carefully distribute data in memory in order to achieve high performance. Process partitioning is the operation of rewriting an algorithm as a collection of tasks, each operating primarily on its own portion of the data, to carry out the computation in parallel. A semi-automatic approach to process partitioning is considered in which the compiler, guided by advice from the user, automatically transforms programs into such an interacting task system. This approach is illustrated with a picture processing example written in BLAZE, which is transformed into a task system maximizing locality of memory reference.

Koelbel, Charles↗
NASA NTRS1989

A 2.5 kW cascaded Schwarz converter for 20 kHz power distribution

Because it avoids the high currents in a parallel loaded capacitor, the cascaded Schwarz converter should offer better component utilization than converters with sinusoidal output voltages. The circuit is relatively easy to protect, and it provides a predictable trapezoidal voltage waveform that should be satisfactory for 20-kHz distribution systems. Analysis of the system is enhanced by plotting curves of normalized variables vs. gamma(1), where gamma(1) is proportional to the variable frequency of the first stage. Light-load operation is greatly improved by the addition of a power recycling rectifier bridge that is back biased at medium to heavy loads. Operation has been verified on a 2.5-kW circuit that uses input and output voltages in the same range as those anticipated for certain future spacecraft power systems.

Shetler, Russell E.↗
NASA NTRS1994

Parallel implicit unstructured grid Euler solvers

A mesh-vertex finite volume scheme for solving the Euler equations on triangular unstructured meshes is implemented on an MIMD (multiple instruction/multiple data stream) parallel computer. An explicit four-stage Runge-Kutta scheme is used to solve two-dimensional flow problems. A family of implicit schemes is also developed to solve these problems, where the linear system that arises at each time step is solved by a preconditioned GMRES algorithm. Two partitioning strategies are employed, one that partitions triangles and the other that partitions vertices. The choice of the preconditioner in a distributed memory setting is discussed. All the methods are compared both in terms of elapsed times and convergence rates. It is shown that the implicit schemes offer adequate parallelism at the expense of minimal sequential overhead. The use of a global coarse grid to further minimize this overhead is also investigated. The schemes are implemented on a distributed memory parallel computer, the iPSC/860.

Venkatakrishnan, V.↗