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NASA NTRS1993

Nonlinear rescaling of control values simplifies fuzzy control

Traditional control theory is well-developed mainly for linear control situations. In non-linear cases there is no general method of generating a good control, so we have to rely on the ability of the experts (operators) to control them. If we want to automate their control, we must acquire their knowledge and translate it into a precise control strategy. The experts' knowledge is usually represented in non-numeric terms, namely, in terms of uncertain statements of the type 'if the obstacle is straight ahead, the distance to it is small, and the velocity of the car is medium, press the brakes hard'. Fuzzy control is a methodology that translates such statements into precise formulas for control. The necessary first step of this strategy consists of assigning membership functions to all the terms that the expert uses in his rules (in our sample phrase these words are 'small', 'medium', and 'hard'). The appropriate choice of a membership function can drastically improve the quality of a fuzzy control. In the simplest cases, we can take the functions whose domains have equally spaced endpoints. Because of that, many software packages for fuzzy control are based on this choice of membership functions. This choice is not very efficient in more complicated cases. Therefore, methods have been developed that use neural networks or generic algorithms to 'tune' membership functions. But this tuning takes lots of time (for example, several thousands iterations are typical for neural networks). In some cases there are evident physical reasons why equally space domains do not work: e.g., if the control variable u is always positive (i.e., if we control temperature in a reactor), then negative values (that are generated by equal spacing) simply make no sense. In this case it sounds reasonable to choose another scale u' = f(u) to represent u, so that equal spacing will work fine for u'. In the present paper we formulate the problem of finding the best rescaling function, solve this problem, and show (on a real-life example) that after an optimal rescaling, the un-tuned fuzzy control can be as good as the best state-of-art traditional non-linear controls.

Vanlangingham, H.↗

NASA NTRS1952

The effect of high viscosity on the flow around a cylinder and around a sphere

For the determination of the flow velocity one is accustomed to measure the impact pressure, i.e., the pressure intensity in front of an obstacle. In incompressible fluids the impact pressure is yv(sup 2)/2g if the influence of viscosity can be neglected. Such an influence is appreciable, however, when the Reynolds number corresponding to impact tube radius is under about 100, and must consequently be considered, if the velocity determination is not to be faulty. The first investigation of this influence are included in the work of Miss M. Barker. In the following pages, experiments will be reported which determine the intensity of impact pressure on cylinders and spheres; furthermore a theory of the phenomenon will be developed which is in good agreement with the measurements.

FLOW - PLATES, FLAT - VISCOUS↗

NASA NTRS1973

Laser Doppler velocity measurements of swirling flows with upstream influence

Swirling flow in a rotating tube is studied by flow visualization at a moderate Reynolds number, and its velocity field is measured by laser-Doppler anemometry. The tube has constant diameter, and approximately uniform initial rigid rotation of the flow is assured by passing the flow through a rotating plug of porous metal before it enters the test section. At moderate swirl values, an object mounted on the tube centerline causes a closed bubble to form upstream of the obstacle, with a clearly defined stagnation point on the axis, and recirculating flow inside the bubble. The bubble length grows upstream as the swirl is increased, until it breaks up into a Taylor column reaching all the way upstream and downstream at swirl values above a certain critical value. A vortex jump (in the sense of Benjamin) occurs downstream of the obstacle except when the Taylor column is present. Using a laser-Doppler anemometer, axial and swirl velocity profiles are obtained at several stations upstream and downstream of the bubble, and in and around the bubble.

Rloff, K. L.↗

NASA NTRS1986

Measurement and prediction of flow through a replica segment of a mildly atherosclerotic coronary artery of man

Pressure distributions were measured along a hollow vascular axisymmetric replica of a segment of the left circumflex coronary artery of man with mildly atherosclerotic diffuse disease. A large range of physiological Reynolds numbers from about 60 to 500, including hyperemic response, was spanned in the flows investigation using a fluid simulating blood kinematic viscosity. Predicted pressure distributions from the numerical solution of the Navier-Stokes equations were similar in trend and magnitude to the measurements. Large variations in the predicted velocity profiles occurred along the lumen. The influence of the smaller scale multiple flow obstacles along the wall (lesion variations) led to sharp spikes in the predicted wall shear stresses. Reynolds number similarity was discussed, and estimates of what time averaged in vivo pressure drop and shear stress might be were given for a vessel segment.

Back, L. H.↗

NASA NTRS1973

Landing performance of an air cushion landing system installed on a 1/10-scale dynamic model on the C-8 Buffalo airplane

An experimental study was conducted to evaluate the landing behavior of a 1/10-scale dynamic model of the C-8 Buffalo airplane equipped with an air-cushion landing system (ACLS) on a variety of surfaces including both calm and rough water and a smooth hard surface. Taxi runs were made on the hard surface over several obstacles. Landings were made with the model at various pitch and roll attitudes and vertical velocities and at one nominal horizontal velocity. Data from the landings include time histories of the trunk and air-cushion pressures and accelerations at selected locations on the model.

Thompson, W. C.↗

NASA NTRS1987

Self-similar potential in the near wake

The plasma potential is measured near the edge of an electrically floating obstacle placed in a steady-state, supersonic, unmagnetized, neutral plasma flow. Equipotential contours show the sheath of the upstream side of the obstacle wrapping around the edge of the obstacle and fanning out into the near wake. Both fluid theory and the data find the near-wake plasma potential to be self-similar when ionization, charge exchange, and magnetic field can be neglected. The theory also finds that fluid velocity is self-similar, the near wake is nonneutral, and plasma density is not self-similar. Strong electric fields are found near the obstacle and equipotential contours are found to conform to all boundaries.

Diebold, D.↗

NASA NTRS1995

Planning Motions To Avoid Moving Obstacles

Method of planning motions of object to prevent collisions with other moving objects derived from concept of collision cones in relative-velocity space. Collision cones computed, then maneuvers chosen to avoid these cones. Method considered prototype of automated method of planning motions in diverse applications, including complex manufacturing tasks involving coordination of multiple robots and controlling land, air, and sea traffic.

Fiorini, Paolo↗

NASA NTRS1992

An obstacle to building a time machine

Gott (1991) has shown that a spacetime with two infinite parallel cosmic strings passing each other with sufficient velocity contains closed timelike curves. An attempt to build such a time machine is discussed. Using the energy-momentum conservation laws in the equivalent (2 + 1)-dimensional theory, the spacetime representing the decay of one gravitating particle into two is explicitly constructed; there is never enough mass in an open universe to build the time machine from the products of decays of stationary particles. More generally, the Gott time machine cannot exist in any open (2 + 1)-dimensional universe for which the total momentum is timelike.

Carroll, Sean M.↗

NASA NTRS1989

In search of the elusive flow field

A specific set of problems must be overcome before an optical flow field can be derived from an image sequence. These problems are discussed and an outline of a scheme for overcoming these obstacles is presented. A two-dimensional motion sensor is presented which is capable of measuring edge velocity in twelve separate directions at any point in the image. However, because of the aperture problem, the sensors can only determine the velocity component in the direction orthogonal to the edge. A second stage which uses a cosine-weighted voting scheme is used to derive the true flow field from the edge velocities. The whole system is based on a parallel network of connections and weights and is potentially a very fast method of obtaining the two-dimensional flow field.

Perrone, John A.↗

NASA NTRS1961

A Flight Examination of Operating Problems of V/STOL Aircraft in STOL-Type Landing and Approach

A flight investigation has been conducted using a large twin-engine cargo aircraft to isolate the problems associated with operating propeller-driven aircraft in the STOL speed range where appreciable engine power is used to augment aerodynamic lift. The problems considered would also be representative of those of a large overloaded VTOL aircraft operating in an STOL manner with comparable thrust-to-weight ratios. The study showed that operation at low approach speeds was compromised by the necessity of maintaining high thrust to generate high lift and yet achieving the low lift-drag ratios needed for steep descents. The useable range of airspeed and flight path angle was limited by the pilot's demand for a positive climb margin at the approach speed, a suitable stall margin, and a control and/or performance margin for one engine inoperative. The optimum approach angle over an obstacle was found to be a compromise between obtaining the shortest air distance and the lowest touchdown velocity. In order to realize the greatest low-speed potential from STOL designs, the stability and control characteristics must be satisfactory.

Innis, Robert C.↗

NASA NTRS1979

On the viscous-inviscid flow interaction in the vicinity of a laminar separation bubble

An incompressible, two-dimensional, thin separation bubble is treated as an obstacle to the potential flow that perturbs and adjusts the original inviscid flow. The knowledge of the perturbed velocity allows a complete flow description in vicinity of the bubble. Suitable differential equations and boundary conditions are developed for three distinct regions, namely, a potential region, a parabolic viscous layer, and a viscous, slow recirculating region. With modified boundary conditions the boundary layer equations are regularly integrated through the separation region. Conclusions are also made on the wall stress and the position of zero velocity and zero vorticity lines.

Amarante, J. C. A.↗

NASA NTRS1991

A boundary element method for steady incompressible thermoviscous flow

A boundary element formulation is presented for moderate Reynolds number, steady, incompressible, thermoviscous flows. The governing integral equations are written exclusively in terms of velocities and temperatures, thus eliminating the need for the computation of any gradients. Furthermore, with the introduction of reference velocities and temperatures, volume modeling can often be confined to only a small portion of the problem domain, typically near obstacles or walls. The numerical implementation includes higher order elements, adaptive integration and multiregion capability. Both the integral formulation and implementation are discussed in detail. Several examples illustrate the high level of accuracy that is obtainable with the current method.

Dargush, G. F.↗

NASA NTRS1987

Scramjet testing in impulse facilities

The use of impulse facilities for gas dynamic experimentation on scramjets at high stagnation enthalpies is discussed. It is seen that, although such facilities will produce adequate stagnation enthalpies, it is necessary to compromise somewhat on the requirements for simulating test section densities, in order to allow realistic operating pressure levels. The shock tunnel and the expansion tube are briefly described, before focusing on operation of the reflected shock tunnel. It is shown that test times and flow starting times are such as to allow testing with models of reasonable size, provided that large regions of flow recirculation do not exist. Some examples of experimental scramjet studies, conducted in a reflected shock tunnel, are presented, demonstrating that the reflected shock tunnel is suitable for basic studies of scramjet flow processes. Provided that the effective enhancement of fuel calorific value by free stream 'freezing' of oxygen in the shock tunnel nozzle expansion does not prove to be an insuperable obstacle, the reflected shock tunnel may be expected to provide realistic simulation of scramjet flows up to speeds approaching earth orbital velocity.

Stalker, R. J.↗

NASA NTRS1945

On two-dimensional flows of compressible fluids

This report is devoted to the study of two-dimensional steady motion of a compressible fluid. It is shown that the complete flow pattern around a closed obstacle cannot be obtained by the method of Chaplygin. In order to overcome this difficulty, a formula for the stream-function of a two-dimensional subsonic flow is derived. The formula involves an arbitrary function of a complex variable and yields all possible subsonic flow patterns of certain types. Conditions are given so that the flow pattern in the physical plane will represent a flow around a closed curve. The formula obtained can be employed for the approximate determination of a subsonic flow around an obstacle. The method can be extended to partially supersonic flows.

HODOGRAPHY METHOD↗

NASA NTRS1995

Kinetic Kelvin-Helmholtz instability at a finite sized object

Two-dimensional hybrid simulations with particle ions and fluid electrons are used to calculate the kinetic evolution of the self-consistent flow around a two-dimensional obstacle with zero intrinsic magnetic field. Plasma outlfow from the obstacle is used to establish a boundary layer between the incoming solar wind and the outgoing plasma. Because the self-consistent flow solution, a velocity shear is naturally set up at this interface, and since the magnetic field for these simulations is transverse to this flow, the Kelvin-Helmholtz (K-H) instability can be excited at low-velocity shear. Simulations demonstrate the existence of the instability even near the subsolar location, which normally is thought to be stable to this instability. The apparent reason for this result is the overall time dependence at the boundary layer, which gives rise to a Rayleigh-Taylor like instability which provides seed perturbations for the K-H instability. These results are directly applicable to Venus, comets, artificial plasma releases, and laser target experiments. This result has potentially important ramifications for the interpretation of observational results as well as for an estimation of the cross-field transport. The results suggest that the K-H instability may play a role in dayside processes and the Venus ionopause, and may exist within the context of more general situations, for example, the Earth's magnetopause.

Thomas, V. A.↗

NASA NTRS2014

Safe Maritime Autonomous Path Planning in a High Sea State

This paper presents a path planning method for sea surface vehicles that prevents capsizing and bow-diving in a high sea-state. A key idea is to use response amplitude operators (RAOs) or, in control terminology, the transfer functions from a sea state to a vessel's motion, in order to find a set of speeds and headings that results in excessive pitch and roll oscillations. This information is translated to arithmetic constraints on the ship's velocity, which are passed to a model predictive control (MPC)-based path planner to find a safe and optimal path that achieves specified goals. An obstacle avoidance capability is also added to the path planner. The proposed method is demonstrated by simulations.

Ono, Masahiro↗

NASA NTRS1990

Magnetic asymmetries of unmagnetized planets

This letter discusses the results produced by three-dimensional hybrid particle code simulations of the solar wind interaction with unmagnetized planets such as Venus and Mars. The solar wind velocity is perpendicular to the IMF in the cases studied. It is found that there are asymmetries in both the magnetic structure and shock location for spherical obstacles ranging in radius from 1000 km to 6000 km. The asymmetries found are due to differences in the electron and ion current paths (diamagnetic behavior). Mass loading of 0(+) was not included in these simulations.

Brecht, Stephen H.↗

NASA NTRS1993

Nuclear winds and the narrow-line emission from active galaxies

This paper discusses active galaxy narrow-line emission in the context of a supersonic wind generated by the active nucleus, a nuclear wind. Wind acceleration can naturally produce the inferred narrow-line cloud velocities as well as those of the broad-line and broad absorption line clouds with only a weak dependence on the parameters of the active nucleus. The primary obstacle to wind acceleration of emission-line clouds is the destructive effect of instabilities; however, the stability and structure of wind-confined clouds remain areas of future research. Observations, particularly of the Seyfert galaxy NGC 1068, are interpreted in the context of nuclear winds.

Smith, Steven J.↗