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At least 469 records · Page 26
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

On the representation and estimation of spatial uncertainty

This paper describes a general method for estimating the nominal relationship and expected error (covariance) between coordinate frames representing the relative locations of objects. The frames may be known only indirectly through a series of spatial relationships, each with its associated error, arising from diverse causes, including positioning errors, measurement errors, or tolerances in part dimensions. This estimation method can be used to answer such questions as whether a camera attached to a robot is likely to have a particular reference object in its field of view. The calculated estimates agree well with those from an independent Monte Carlo simulation. The method makes it possible to decide in advance whether an uncertain relationship is known accurately enough for some task and, if not, how much of an improvement in locational knowledge a proposed sensor will provide. The method presented can be generalized to six degrees of freedom and provides a practical means of estimating the relationships (position and orientation) among objects, as well as estimating the uncertainty associated with the relationships.

Smith, Randall C.↗
NASA NTRS1986

Geomagnetic temporal change: 1903-1982 - A spline representation

The secular variation of the earth's magnetic field is itself subject to temporal variations. These are investigated with the aid of the coefficients of a series of spherical harmonic models of secular variation deduced from data for the interval 1903-1982 from the worldwide network of magnetic observatories. For some studies it is convenient to approximate the time variation of the spherical harmonic coefficients with a smooth, continuous, function; for this a spline fitting is used. The phenomena that are investigated include periodicities, discontinuities, and correlation with the length of day. The numerical data presented will be of use for further investigations and for the synthesis of secular variation at any place and at any time within the interval of the data - they are not appropriate for temporal extrapolations.

Langel, R. A.↗
NASA NTRS1987

Parametric representation of heat and moisture fluxes in cloud-topped mixed layers

The Betts (1973, 1978) parametrization of heat and moisture fluxes is tested using measurements made in thin, broken, and solid stratocumulus clouds by the NCAR Electra off the California coast in June 1976. The turbulence data are used to determine updraft-downdraft properties, heat and moisture fluxes, spectra, and cospectra. From the convective properties, vertical mass flux profiles are obtained and examined for consistency. A convective scaling which is appropriate for cloud-topped mixed layers is discussed. The results demonstrate the usefulness of a mass flux formulation in modeling applications for cloud conditions varying between solid and broken.

Penc, Richard S.↗
NASA NTRS1987

Representation of the vaporization behavior of turbulent polydisperse sprays by 'equivalent' monodisperse sprays

The concept of using an equivalent monodisperse spray to represent the vaporization behavior of polydisperse sprays has been examined by numerically solving two turbulent vaporizing sprays. One involves the injection of Freon-11 in a still environment, whereas the other is a methanol spray in a still but hot environment. The use of three different mean sizes, namely, Sauter mean diameter, volume median diameter, and surface-area mean diameter, has been investigated. Results indicate a good degree of correlation between the polydisperse spray and its equivalent monodisperse sprays represented by the volume median diameter and the Sauter mean diameter, the former giving slightly better results. The surface-area mean diameter does not provide as good a correlation as the other two mean diameters.

Aggarwal, S. K.↗
NASA NTRS1987

An efficient representation of spatial information for expert reasoning in robotic vehicles

The previous generation of robotic vehicles and drones was designed for a specific task, with limited flexibility in executing their mission. This limited flexibility arises because the robotic vehicles do not possess the intelligence and knowledge upon which to make significant tactical decisions. Current development of robotic vehicles is toward increased intelligence and capabilities, adapting to a changing environment and altering mission objectives. The latest techniques in artificial intelligence (AI) are being employed to increase the robotic vehicle's intelligent decision-making capabilities. This document describes the design of the SARA spatial database tool, which is composed of request parser, reasoning, computations, and database modules that collectively manage and derive information useful for robotic vehicles.

Scott, Steven↗
NASA NTRS1987

Analytic representations of secondary-electron spectra

A general method for systematizing a bulk of data on the secondary-electron spectrum into a small number of indices is shown. The method is based on thorough examination of the mathematical physics that governs the spectrum. Several examples of the analysis of recent experimental data on proton impact are presented.

Inokuti, Mitio↗
NASA NTRS1987

Deterministic representation of chaos with application to turbulence

Chaotic motions of nonlinear dynamical systems are decomposed into mean components and fluctuations. The approach is based upon the concept that the fluctuations driven by the instability of the original (unperturbed) motion grow until a new stable state is approached. The Reynolds-type equations written for continuous as well as for finite-degrees-of-freedom dynamical systems are closed by using this stabilization principle. The theory is applied to conservative systems, to strange attractors and to turbulent motions.

Zak, M.↗
NASA NTRS1988

Cluster-based representation of hydraulic systems

The authors present a technique for structural abstraction applicable to the domain of pressurized hydraulic systems. Valves, when closed, functionally isolate clusters of components; when opened, neighboring clusters are merged. A cluster can only be in the one of two qualitative states-stable, where pressures are equal throughout and no flow occurs, or unstable, where flow from high-pressure source(s) to low-pressure sink(s) occurs. Reasoning in terms of clusters is shown to facilitate the generation and explanation of plans for operating and troubleshooting hydraulic systems.

Farley, Arthur M.↗
NASA NTRS1986

Extending the granularity of representation and control for the MIL-STD CAIS 1.0 node model

The Common APSE (Ada 1 Program Support Environment) Interface Set (CAIS) (DoD85) node model provides an excellent baseline for interfaces in a single-host development environment. To encompass the entire spectrum of computing, however, the CAIS model should be extended in four areas. It should provide the interface between the engineering workstation and the host system throughout the entire lifecycle of the system. It should provide a basis for communication and integration functions needed by distributed host environments. It should provide common interfaces for communications mechanisms to and among target processors. It should provide facilities for integration, validation, and verification of test beds extending to distributed systems on geographically separate processors with heterogeneous instruction set architectures (ISAS). Additions to the PROCESS NODE model to extend the CAIS into these four areas are proposed.

Rogers, Kathy L.↗
NASA NTRS1986

A study of the use of abstract types for the representation of engineering units in integration and test applications

Physical quantities using various units of measurement can be well represented in Ada by the use of abstract types. Computation involving these quantities (electric potential, mass, volume) can also automatically invoke the computation and checking of some of the implicitly associable attributes of measurements. Quantities can be held internally in SI units, transparently to the user, with automatic conversion. Through dimensional analysis, the type of the derived quantity resulting from a computation is known, thereby allowing dynamic checks of the equations used. The impact of the possible implementation of these techniques in integration and test applications is discussed. The overhead of computing and transporting measurement attributes is weighed against the advantages gained by their use. The construction of a run time interpreter using physical quantities in equations can be aided by the dynamic equation checks provided by dimensional analysis. The effects of high levels of abstraction on the generation and maintenance of software used in integration and test applications are also discussed.

Johnson, Charles S.↗
NASA NTRS1988

On a useful functional representation of control system structure

An alternative structure for control systems is proposed. The structure is represented by a three-element block diagram and three functional definitions. It is argued that the three functional elements form a canonical set. The set includes the functions description, estimation and control. General overlay of the structure on parallel state and nested-state control systems is discussed. Breakdown of two real nested-state control systems into the proposed functional format is displayed. Application of the process to the mapping of complex control systems R and D efforts is explained with the Mars Rover Sample and Return mission as an example. A previous application of this basic functional structure to Space Station performance requirements organization is discussed.

Malchow, Harvey L.↗
NASA NTRS1989

Model representation of the ambient electron density distribution in the middle atmosphere

While the Langmuir probe controlled by rocket propagation experiments by the University of Illinois at midlatitude revealed the existence of a permanent D region turning point (DTP), similar measurements over the Thumba equatorial station did not clearly bring out the above daytime feature. Moreover, the calibration constant (ratio of electron density to the current drawn by the Langmuir probe) increased with height (in the 70 to 100 km region) in the case of the midlatitude observations whereas the recent measurements over Thumba showed a decrease up to about 90 km followed by an increase above 90 km. Secondly, there is the problem of reconciling the station oriented observations from the COSPAR family with the ground based radio propagation measurements from the URSI family. Thirdly, new information on Winter in Northern Europe (WINE) and in USSR is available by asking for its incorporation into any global model such as the IRI. The results of investigation of the above aspects are presented.

Ramanamurty, Y. V.↗
NASA NTRS1988

Planning repair sequences using the AND/OR graph representation of assembly plans

A simple modification is shown in the set of goal nodes of the AND/OR graph that allows its use in planning repairs such as the replacement of a part or a subassembly. An algorithm for the generation of all feasible sequences for disassembly and reassembly of parts that will achieve a repair is shown. This approach has been demonstrated for the example of the repair of space-based satellite equipment.

Homem De Mello, L. S.↗
NASA NTRS1988

The constitutive representation of high-temperature creep damage

The elastic-viscoplastic constitutive equations of Bodner-Partom were applied to modeling creep damage in a high temperature Ni-alloy, B1900 + Hf. Both tertiary creep in bulk materials and creep crack growth in flawed materials were considered. In the latter case, the energy rate line integral was used for characterizing the crack driving force, and the rate of crack extension was computed using a local damage formulation that assumed fracture was controlled by cavitation occurring within the crack-tip process zone. The results of this investigation were used to assess the evolution equation for isotropic damage utilized in the Bodner-Partom constitutive equations.

Chan, K. S.↗
NASA NTRS1989

A hexagonal orthogonal-oriented pyramid as a model of image representation in visual cortex

Retinal ganglion cells represent the visual image with a spatial code, in which each cell conveys information about a small region in the image. In contrast, cells of the primary visual cortex use a hybrid space-frequency code in which each cell conveys information about a region that is local in space, spatial frequency, and orientation. A mathematical model for this transformation is described. The hexagonal orthogonal-oriented quadrature pyramid (HOP) transform, which operates on a hexagonal input lattice, uses basis functions that are orthogonal, self-similar, and localized in space, spatial frequency, orientation, and phase. The basis functions, which are generated from seven basic types through a recursive process, form an image code of the pyramid type. The seven basis functions, six bandpass and one low-pass, occupy a point and a hexagon of six nearest neighbors on a hexagonal lattice. The six bandpass basis functions consist of three with even symmetry, and three with odd symmetry. At the lowest level, the inputs are image samples. At each higher level, the input lattice is provided by the low-pass coefficients computed at the previous level. At each level, the output is subsampled in such a way as to yield a new hexagonal lattice with a spacing square root of 7 larger than the previous level, so that the number of coefficients is reduced by a factor of seven at each level. In the biological model, the input lattice is the retinal ganglion cell array. The resulting scheme provides a compact, efficient code of the image and generates receptive fields that resemble those of the primary visual cortex.

Watson, Andrew B.↗
NASA NTRS1989

DEVS representation of dynamical systems - Event-based intelligent control

It is shown how systems can be advantageously represented as discrete-event models by using DEVS (discrete-event system specification), a set-theoretic formalism. Such DEVS models provide a basis for the design of event-based logic control. In this control paradigm, the controller expects to receive confirming sensor responses to its control commands within definite time windows determined by its DEVS model of the system under control. The event-based contral paradigm is applied in advanced robotic and intelligent automation, showing how classical process control can be readily interfaced with rule-based symbolic reasoning systems.

Zeigler, Bernard P.↗
NASA NTRS1989

Planar Poincare chart - A planar graphic representation of the state of light polarization

The planar Poincare chart, which represents the complete planar equivalence of the Poincare sphere, is proposed. The four sets of basic lines are drawn on two separate charts for the generalization and convenience of reading the scale. The chart indicates the rotation of the principal axes of linear birefringent material. The relationships between parameters of the two charts are given as 2xi-2phi (orientation angle of the major axis-ellipticity angle) pair and 2alpha-delta (angle of amplitude ratio-phase difference angle) pair. The results are useful for designing and analyzing polarization properties of optical components with birefringent properties.

Tedjojuwono, Ken K.↗