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NASA NTRS1983

Robot arm dynamic model reduction for control

General methods are described by which the mathematical complexities of explicit and exact state equations of robot arms can be reduced to a simplified and compact state equation representation without introducing significant errors into the robot arm dynamic model. The model reduction methods are based on homogeneous coordinates and on the Langrangian algorithm for robot arm dynamics, and utilize matrix, vector and numeric analysis techniques. The derivation of differential vector representation of centripetal and Coriolis forces which has not yet been established in the literature is presented.

Bejczy, A. K.↗

NASA NTRS1993

Nonlinear aerodynamic modeling using multivariate orthogonal functions

A technique was developed for global modeling of nonlinear aerodynamic coefficients using multivariate orthogonal functions based on the data. Each orthogonal function retained in the model was decomposed into an expansion of ordinary polynomials in the independent variables, so that the final model could be interpreted as selectively retained terms from a multivariable power series expansion. A predicted squared-error metric was used to determine the orthogonal functions to be retained in the model; analytical derivatives were easily computed. The approach was demonstrated on the Z-body axis aerodynamic force coefficient (Cz) wind tunnel data for an F-18 research vehicle which came from a tabular wind tunnel and covered the entire subsonic flight envelope. For a realistic case, the analytical model predicted experimental values of Cz very well. The modeling technique is shown to be capable of generating a compact, global analytical representation of nonlinear aerodynamics. The polynomial model has good predictive capability, global validity, and analytical differentiability.

Morelli, Eugene A.↗

NASA NTRS1996

Computational Issues Associated with Temporally Deforming Geometries Such as Thrust Vectoring Nozzles

During the past decade, computational simulation of fluid flow around complex configurations has progressed significantly and many notable successes have been reported, however, unsteady time-dependent solutions are not easily obtainable. The present effort involves unsteady time dependent simulation of temporally deforming geometries. Grid generation for a complex configuration can be a time consuming process and temporally varying geometries necessitate the regeneration of such grids for every time step. Traditional grid generation techniques have been tried and demonstrated to be inadequate to such simulations. Non-Uniform Rational B-splines (NURBS) based techniques provide a compact and accurate representation of the geometry. This definition can be coupled with a distribution mesh for a user defined spacing. The present method greatly reduces cpu requirements for time dependent remeshing, facilitating the simulation of more complex unsteady problems. A thrust vectoring nozzle has been chosen to demonstrate the capability as it is of current interest in the aerospace industry for better maneuverability of fighter aircraft in close combat and in post stall regimes. This current effort is the first step towards multidisciplinary design optimization which involves coupling the aerodynamic heat transfer and structural analysis techniques. Applications include simulation of temporally deforming bodies and aeroelastic problems.

Boyalakuntla, Kishore↗

NASA NTRS1999

Modeling the High Speed Research Cycle 2B Longitudinal Aerodynamic Database Using Multivariate Orthogonal Functions

The data for longitudinal non-dimensional, aerodynamic coefficients in the High Speed Research Cycle 2B aerodynamic database were modeled using polynomial expressions identified with an orthogonal function modeling technique. The discrepancy between the tabular aerodynamic data and the polynomial models was tested and shown to be less than 15 percent for drag, lift, and pitching moment coefficients over the entire flight envelope. Most of this discrepancy was traced to smoothing local measurement noise and to the omission of mass case 5 data in the modeling process. A simulation check case showed that the polynomial models provided a compact and accurate representation of the nonlinear aerodynamic dependencies contained in the HSR Cycle 2B tabular aerodynamic database.

Morelli, E. A.↗

NASA NTRS2004

Towards Symbolic Model Checking for Multi-Agent Systems via OBDDs

We present an algorithm for model checking temporal-epistemic properties of multi-agent systems, expressed in the formalism of interpreted systems. We first introduce a technique for the translation of interpreted systems into boolean formulae, and then present a model-checking algorithm based on this translation. The algorithm is based on OBDD's, as they offer a compact and efficient representation for boolean formulae.

Raimondi, Franco↗

NASA NTRSDate not supplied

Improved Treatment of Snow Over Ice Sheets in the NASA GISS Climate Model: Towards Ice Sheet–Climate Coupling

Representing the interactions between ice sheets and climate is essential for more accurate prediction of climate change and sea level rise. Ice sheets interact with the overlying atmosphere via the accumulation of snow and its compaction into firn, then ice, as well as the melting of surface snow and ice and the creation of runoff water. Getting an adequate representation of heat transfer, compaction, and melting processes is essential for an accurate representation of snow on land ice in global climate models. We are implementing an improved snow model on top of land ice as part of an effort to couple the NASA GISS climate model with the PISM ice sheet model. The new snow model includes additional layers and processes that are not currently incorporated (e.g., liquid water retention, percolation and refreezing, and snow densification), and mass and energy transfer methods that are consistent with both static ice sheets (with implicit iceberg fluxes) and interactive ice sheets (with explicit dynamics). We are tuning the densification scheme of this snow model with temperature and density data from common FirnCover and SumUp observations at locations in the accumulation zone of Greenland, and we compare the resulting density profiles to other SumUp density profiles in Greenland and Antarctica. We will assess the impact of this new snow model in climate model simulations with a static ice sheet compared with the previous (simpler) 2-layer snow model. Finally, we aim to use the non-coupled simulations as a baseline to assess the impact of dynamic coupling with an interactive ice sheet model.

snow↗

NASA NTRS1981

On a fourth order accurate implicit finite difference scheme for hyperbolic conservation laws. II - Five-point schemes

This paper presents a family of two-level five-point implicit schemes for the solution of one-dimensional systems of hyperbolic conservation laws, which generalized the Crank-Nicholson scheme to fourth order accuracy (4-4) in both time and space. These 4-4 schemes are nondissipative and unconditionally stable. Special attention is given to the system of linear equations associated with these 4-4 implicit schemes. The regularity of this system is analyzed and efficiency of solution-algorithms is examined. A two-datum representation of these 4-4 implicit schemes brings about a compactification of the stencil to three mesh points at each time-level. This compact two-datum representation is particularly useful in deriving boundary treatments. Numerical results are presented to illustrate some properties of the proposed scheme.

Harten, A.↗

NASA NTRS1985

An algorithm for computing the number of distinct spectral vectors in thematic mapper data

A computationally efficient method was developed to compute the number of distinct spectral vectors and their frequency of occurrence in Landsat-4 Thematic Mapper (TM) data. The algorithm first partitions the image into spectrally disjoint subsets and then computes the frequency distribution of distinct spectral vectors within each subset from a multidimensional histogram. The overall frequency distribution is tabulated by accumulating the results from each subset. The number of distinct spectral vectors could be used as a measure of potential storage compaction of alternate data representations for data compression, or as a measure of information content in the comparison of spectral band combinations and/or spatial resolutions for an image. Results from processing three 512 x 512 pixel Landsat-4 TM images and one Landsat-4 Multispectral Scanner (MSS) image are presented as examples. An algorithm for computing the frequency distribution of distinct spectral vectors in MSS data is given in the Appendix.

Wharton, S. W.↗

NASA NTRS2003

A Wavelet based Suboptimal Kalman Filter for Assimilation of Stratospheric Chemical Tracer Observations

A suboptimal Kalman filter system which evolves error covariances in terms of a truncated set of wavelet coefficients has been developed for the assimilation of chemical tracer observations of CH4. This scheme projects the discretized covariance propagation equations and covariance matrix onto an orthogonal set of compactly supported wavelets. Wavelet representation is localized in both location and scale, which allows for efficient representation of the inherently anisotropic structure of the error covariances. The truncation is carried out in such a way that the resolution of the error covariance is reduced only in the zonal direction, where gradients are smaller. Assimilation experiments which last 24 days, and used different degrees of truncation were carried out. These reduced the covariance size by 90, 97 and 99 % and the computational cost of covariance propagation by 80, 93 and 96 % respectively. The difference in both error covariance and the tracer field between the truncated and full systems over this period were found to be not growing in the first case, and growing relatively slowly in the later two cases. The largest errors in the tracer fields were found to occur in regions of largest zonal gradients in the constituent field. This results indicate that propagation of error covariances for a global two-dimensional data assimilation system are currently feasible. Recommendations for further reduction in computational cost are made with the goal of extending this technique to three-dimensional global assimilation systems.

Tangborn, Andrew↗

NASA NTRS1975

Method of representation of acoustic spectra and reflection corrections applied to externally blown flap noise

A computer method for obtaining a rational function representation of an acoustic spectrum and for correcting reflection effects is introduced. The functional representation provides a means of compact storage of data and the nucleus of the data analysis method. The method is applied to noise from a full-scale externally blown flap system with a quiet 6:1 bypass ratio turbofan engine and a three-flap wing section designed to simulate the take-off condition of a conceptual STOL aircraft.

Miles, J. H.↗

NASA NTRS2019

Principal Component Analysis of Up-The-Ramp Sampled Infrared Array Data

We describe the results of principal component analysis (PCA) of up-the-ramp sampled infrared (IR) array data from the Hubble Space Telescope wide field camera 3 (WFC3 IR), James Webb Space Telescope NIRSpec, and prototype Wide Field Infrared Survey Telescope’s wide field instrument detectors. These systems use, respectively, Teledyne H1R, H2RG, and H4RG-10 near-IR detector arrays with a variety of IR array controllers. The PCA shows that the Legendre polynomials approximate the principal components of these systems (i.e., they roughly diagonalize the covariance matrix). In contrast to the monomial basis that is widely used for polynomial fitting and linearization today, the Legendre polynomials are an orthonormal basis. They provide a quantifiable, compact, and (nearly) linearly uncorrelated representation of the information content of the data. By fitting a few Legendre polynomials, nearly all of the meaningful information in representative WFC3 astronomical datacubes can be condensed from 15 up-the-ramp samples down to 6 compressible Legendre coefficients per pixel. The higher order coefficients contain time domain information that is lost when one projects up-the-ramp sampled datacubes onto two-dimensional images by fitting a straight line, even if the data are linearized before fitting the line. Going forward, we believe that this time domain information is potentially important for disentangling the various nonlinearities that can affect IR array observations, i.e., inherent pixel nonlinearity, persistence, burn in, brighter-fatter effect, (potentially) nonlinear interpixel capacitance, and perhaps others.

Rauscher, Bernard J.↗

NASA NTRS1999

Evidence for Methane Segregation at the Surface of Pluto

In May 1995, a set of spectrophotometric curves of the system Pluto-Charon was recorded with the UKIRT telescope equipped with the spectrometer CGS4. As for the previous observations, the spectra cover a part of the near infrared range, between 1.4 and 2.55 micrometers, but with a higher resolution of approximately 700. In both the 1992 and 1995 data, the existence of solid methane is confirmed by numerous absorption bands, and the carbon monoxide and the nitrogen ices are identified by their respective signatures at 2.35 and 2.15 um. The solid nitrogen seems to be the principal icy component and forms a matrix in which the CH4 and CO molecules are diluted. However a spectroscopic analysis of the 1995 observations indicates that pure methane may coexist with its diluted phase in N2. In order to derive the horizontal and vertical distribution of these different species and to obtain some quantitative information about their characteristics, we have modeled the spectrum of May 15 that corresponds to the maximum of Pluto's visible light curve. This was achieved by means of a radiative transfer algorithm dealing with compact and stratified media. Among the various representations we have tested to describe the surface of Pluto, only a geographical mixture of three distinct units explains all the significant structures of the analyzed spectrum. The first unit is a thin granular layer of pure CH4 covering a compact polycrystalline substratum of N2-CH4-CO, which are in a molecular mixture (concentrations of and CO of the order of 0.45%, 0.1-0.2% respectively). It covers about 70% of the observed area and corresponds to volatile deposits that are sublimating under solar illumination. The second unit is either (a) a single thick layer of pure granular methane or (b) a unit similar to the first unit but with the two components inverted (i.e. with CH4 forming a substratum and the N2-CH4-CO mixture a superficial layer of fine grains). Covering 20% of the surface, it represents some old surfaces that have been sublimated for a long time, and eventually recovered later by very small amounts of fresh deposits of the molecular mixture N2-CH4-CO. Finally, the third unit may result from the condensation of very fine grains of nearly pure N2. It covers the remainder of the surface (about 10%). All these results allow a better understanding of the processes of deposition, metamorphism, sublimation and transport affecting the different ices detected on Pluto during its climatic cycles.

Doute, S.↗

NASA NTRS2013

Memory-Efficient Onboard Rock Segmentation

Rockster-MER is an autonomous perception capability that was uploaded to the Mars Exploration Rover Opportunity in December 2009. This software provides the vision front end for a larger software system known as AEGIS (Autonomous Exploration for Gathering Increased Science), which was recently named 2011 NASA Software of the Year. As the first step in AEGIS, Rockster-MER analyzes an image captured by the rover, and detects and automatically identifies the boundary contours of rocks and regions of outcrop present in the scene. This initial segmentation step reduces the data volume from millions of pixels into hundreds (or fewer) of rock contours. Subsequent stages of AEGIS then prioritize the best rocks according to scientist- defined preferences and take high-resolution, follow-up observations. Rockster-MER has performed robustly from the outset on the Mars surface under challenging conditions. Rockster-MER is a specially adapted, embedded version of the original Rockster algorithm ("Rock Segmentation Through Edge Regrouping," (NPO- 44417) Software Tech Briefs, September 2008, p. 25). Although the new version performs the same basic task as the original code, the software has been (1) significantly upgraded to overcome the severe onboard re source limitations (CPU, memory, power, time) and (2) "bulletproofed" through code reviews and extensive testing and profiling to avoid the occurrence of faults. Because of the limited computational power of the RAD6000 flight processor on Opportunity (roughly two orders of magnitude slower than a modern workstation), the algorithm was heavily tuned to improve its speed. Several functional elements of the original algorithm were removed as a result of an extensive cost/benefit analysis conducted on a large set of archived rover images. The algorithm was also required to operate below a stringent 4MB high-water memory ceiling; hence, numerous tricks and strategies were introduced to reduce the memory footprint. Local filtering operations were re-coded to operate on horizontal data stripes across the image. Data types were reduced to smaller sizes where possible. Binary- valued intermediate results were squeezed into a more compact, one-bit-per-pixel representation through bit packing and bit manipulation macros. An estimated 16-fold reduction in memory footprint relative to the original Rockster algorithm was achieved. The resulting memory footprint is less than four times the base image size. Also, memory allocation calls were modified to draw from a static pool and consolidated to reduce memory management overhead and fragmentation. Rockster-MER has now been run onboard Opportunity numerous times as part of AEGIS with exceptional performance. Sample results are available on the AEGIS website at http://aegis.jpl.nasa.gov.

Burl, Michael C.↗

NASA NTRS1974

Rational function representation of flap noise spectra including correction for reflection effects

A rational function is presented for the acoustic spectra generated by deflection of engine exhaust jets for under-the-wing and over-the-wing versions of externally blown flaps. The functional representation is intended to provide a means for compact storage of data and for data analysis. The expressions are based on Fourier transform functions for the Strouhal normalized pressure spectral density, and on a correction for reflection effects based on the N-independent-source model of P. Thomas extended by use of a reflected ray transfer function. Curve fit comparisons are presented for blown flap data taken from turbofan engine tests and from large scale cold-flow model tests. Application of the rational function to scrubbing noise theory is also indicated.

Miles, J. H.↗

NASA NTRS1974

Rational functional representation of flap noise spectra including correction for reflection effects

A rational function is presented for the acoustic spectra generated by deflection of engine exhaust jets for under-the-wing and over-the-wing versions of externally blown flaps. The functional representation is intended to provide a means for compact storage of data and for data analysis. The expressions are based on Fourier transform functions for the Strouhal normalized pressure spectral density, and on a correction for reflection effects based on Thomas' (1969) N-independent-source model extended by use of a reflected ray transfer function. Curve fit comparisons are presented for blown-flap data taken from turbofan engine tests and from large-scale cold-flow model tests. Application of the rational function to scrubbing noise theory is also indicated.

Miles, J. H.↗

NASA NTRS1976

Crack-opening displacements in center-crack, compact, and crack-line wedge-loaded specimens

The theoretical crack-opening displacements for center-crack, compact, and crack-line wedge-loaded specimens (reported in the ASTM Proposed Recommended Practice for R-Curve Determination (1974)) disagree with experimental measurements in the literature. The disagreement is a result of using approximate specimen configurations and load representation to obtain the theoretical displacements. An improved method of boundary collocation is presented which was used to obtain the theoretical displacements in these three specimen types; the actual specimen configurations and more accurate load representation were used. In the analysis of crack-opening displacements in the compact and crack-line wedge-loaded specimens, the effects of the pin-loaded holes were also included. The theoretical calculations agree with the experimental measurements reported in the literature. Also examined are accurate polynomial expressions for crack-opening displacements in both compact and crack-line wedge-loaded specimens.

Newman, J. C., Jr.↗

NASA NTRS1987

A rudimentary database for three-dimensional objects using structural representation

A database which enables users to store and share the description of three-dimensional objects in a research environment is presented. The main objective of the design is to make it a compact structure that holds sufficient information to reconstruct the object. The database design is based on an object representation scheme which is information preserving, reasonably efficient, and yet economical in terms of the storage requirement. The determination of the needed data for the reconstruction process is guided by the belief that it is faster to do simple computations to generate needed data/information for construction than to retrieve everything from memory. Some recent techniques of three-dimensional representation that influenced the design of the database are discussed. The schema for the database and the structural definition used to define an object are given. The user manual for the software developed to create and maintain the contents of the database is included.

Sowers, James P.↗

NASA NTRS1984

A geometric modeler based on a dual-geometry representation polyhedra and rational b-splines

For speed and data base reasons, solid geometric modeling of large complex practical systems is usually approximated by a polyhedra representation. Precise parametric surface and implicit algebraic modelers are available but it is not yet practical to model the same level of system complexity with these precise modelers. In response to this contrast the GEOMOD geometric modeling system was built so that a polyhedra abstraction of the geometry would be available for interactive modeling without losing the precise definition of the geometry. Part of the reason that polyhedra modelers are effective is that all bounded surfaces can be represented in a single canonical format (i.e., sets of planar polygons). This permits a very simple and compact data structure. Nonuniform rational B-splines are currently the best representation to describe a very large class of geometry precisely with one canonical format. The specific capabilities of the modeler are described.

Klosterman, A. L.↗