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NASA NTRS1992

On pose determination using point features

Consideration is given to the vision subsystem of an Orbital Replacement Unit (ORU) that was placed onto its base at Goddard Space Flight Center by a PUMA 762 robot equipped with a wrist-mounted CCD camera and a wrist-mounted force sensor. It is found that a simple adaptive thresholding method works quite well for images taken under various lighting conditions. The pose computed using the quadrangle method is reasonable for real images. In the presence of image feature noise the accuracy of the computed pose can be considerably reduced. This problem can be solved by using a 3D marker and an alternative pose computation algorithm.

Hwang, Vincent↗

NASA NTRS1993

Computational mechanics analysis tools for parallel-vector supercomputers

Computational algorithms for structural analysis on parallel-vector supercomputers are reviewed. These parallel algorithms, developed by the authors, are for the assembly of structural equations, 'out-of-core' strategies for linear equation solution, massively distributed-memory equation solution, unsymmetric equation solution, general eigensolution, geometrically nonlinear finite element analysis, design sensitivity analysis for structural dynamics, optimization search analysis and domain decomposition. The source code for many of these algorithms is available.

Storaasli, Olaf O.↗

NASA NTRS1990

On the effects of grid ill-conditioning in three dimensional finite element vector potential magnetostatic field computations

The effects of finite element grid geometries and associated ill-conditioning were studied in single medium and multi-media (air-iron) three dimensional magnetostatic field computation problems. The sensitivities of these 3D field computations to finite element grid geometries were investigated. It was found that in single medium applications the unconstrained magnetic vector potential curl-curl formulation in conjunction with first order finite elements produce global results which are almost totally insensitive to grid geometries. However, it was found that in multi-media (air-iron) applications first order finite element results are sensitive to grid geometries and consequent elemental shape ill-conditioning. These sensitivities were almost totally eliminated by means of the use of second order finite elements in the field computation algorithms. Practical examples are given in this paper to demonstrate these aspects mentioned above.

Wang, R.↗

NASA NTRS1987

Development of a microcomputer-based magnetic heading sensor

This paper explores the development of a flux-gate magnetic heading reference using a single-chip microcomputer to process heading information and to present it to the pilot in appropriate form. This instrument is intended to replace the conventional combination of mechanical compass and directional gyroscope currently in use in general aviation aircraft, at appreciable savings in cost and reduction in maintenance. Design of the sensing element, the signal processing electronics, and the computer algorithms which calculate the magnetic heading of the aircraft from the magnetometer data have been integrated in such a way as to minimize hardware requirements and simplify calibration procedures. Damping and deviation errors are avoided by the inherent design of the device, and a technique for compensating for northerly-turning-error is described.

Garner, H. D.↗

NASA NTRS1993

Spatial simulation of secondary instability in plane channel flow - Comparison of K- and H-type disturbances

This study involves a numerical simulation of spatially evolving secondary instability in plane channel flow. The computational algorithm integrates the time-dependent, 3D, incompressible Navier-Stokes equations by a mixed finite-difference/spectral technique. In particular, we are interested in the differences between instabilities instigated by Klebanoff (K-) type and Herbert (H-) type inflow conditions, and in comparing the present spatial results with previous temporal models. It is found that for the present inflow conditions, H-type instability is biased towards one of the channel walls, while K-type instability evolves on both walls. For low initial perturbation amplitudes, H-type instability exhibits higher growth rates than K-type instability, while higher initial amplitudes lead to comparable growth rates of both H- and K-type instability. In H-type instability, spectral analysis reveals the presence of the subharmonic 2D mode which promotes the growth of the 3D spanwise and fundamental modes through nonlinear interactions. An intermodal energy transfer study demonstrates that there is a net energy transfer from the 3D modes to the 2D mode. This analysis also indicates that the mean mode transfers net energy to the 2D subharmonic mode and to the 3D modes.

Saiki, E. M.↗

NASA NTRS1994

Algorithm For Integer Cosine Transforms

Algorithm computes coefficients of integer cosine transforms, containing only integer coefficients approximately proportional to floating-point coefficients of discrete cosine transforms. Used in compression of image data in blocks of N x N pixels, discrete cosine transforms involve large amounts of computation, typically amounting to 80 percent of computational load in data-compression scheme. In constructing integer approximations, competing requirements are to obtain data-compression and data-decompression performances comparable to those of corresponding descrete cosine transforms while taking advantage of simplicity afforded by integer arithmetic to reduce complexity and amount of computation.

Pollara, Fabrizio↗

NASA NTRS1994

Steering A Radar Beam Toward The Zero-Doppler Line

Algorithm computes angles needed to aim radar beam from airborne or spaceborne platform toward Doppler line projected on ground for which Doppler shift of radar return is zero. Devised to reduce Doppler errors and simplify processing of data from synthetic-aperture-radar system. Applicable to aiming of other radio or optical instruments toward their zero-Doppler lines on ground.

Chang, Chi-Yung↗

NASA NTRS1989

Collisional dynamics of perturbed particle disks in the solar system

Theoretical and computational studies were carried out on galactic and planetary disks. With the goal of addressing important open questions centered on galactic structure, the cloudy interstellar medium, giant molecular clouds, and star formation in galactic disks and the collisional dynamics of perturbed particulate matter in planetary disks, focus was largely on the self-gravitational effects, dissipative effects, and collisional dynamics of cloud-particle disks. N-body, 'cloud-particle' computational algorithms were developed for the purpose of isolating the role of gaseous self gravity from the roles of other dominant physical mechanisms and dynamical processes, e.g. the collisional dynamics and dissipative processes. The efforts focused largely on galactic disks show that observational constraints provide stringent tests of the numerical simulation techniques developed. Self gravitational effects of the galactic interstellar medium's gas clouds are included by means of Fourier Transform technique.

Roberts, William W., Jr.↗

NASA NTRS1994

Semigroup approximation and robust stabilization of distributed parameter systems

Theoretical results that enable rigorous statements of convergence and exponential stability of Galerkin approximations of LQR controls for infinite dimensional, or distributed parameter, systems have proliferated over the past ten years. In addition, extensive progress has been made over the same time period in the derivation of robust control design strategies for finite dimensional systems. However, the study of the convergence of robust finite dimensional controllers to robust controllers for infinite dimensional systems remains an active area of research. We consider a class of soft-constrained differential games evolving in a Hilbert space. Under certain conditions, a saddle point control can be given in feedback form in terms of a solution to a Riccati equation. By considering a related LQR problem, we can show a convergence result for finite dimensional approximations of this differential game. This yields a computational algorithm for the feedback gain that can be derived from similar strategies employed in infinite dimensional LQR control design problems. The approach described in this paper also inherits the additional properties of stability robustness common to game theoretic methods in finite dimensional analysis. These theoretical convergence and stability results are verified in several numerical experiments.

Kurdila, A. J.↗

NASA NTRS1994

Development of advanced Navier-Stokes solver

The objective of research was to develop and validate new computational algorithms for solving the steady and unsteady Euler and Navier-Stokes equations. The end-products are new three-dimensional Euler and Navier-Stokes codes that are faster, more reliable, more accurate, and easier to use. The three-dimensional Euler and full/thin-layer Reynolds-averaged Navier-Stokes equations for compressible/incompressible flows are solved on structured hexahedral grids. The Baldwin-Lomax algebraic turbulence model is used for closure. The space discretization is based on a cell-centered finite-volume method augmented by a variety of numerical dissipation models with optional total variation diminishing limiters. The governing equations are integrated in time by an implicit method based on lower-upper factorization and symmetric Gauss-Seidel relaxation. The algorithm is vectorized on diagonal planes of sweep using two-dimensional indices in three dimensions. Convergence rates and the robustness of the codes are enhanced by the use of an implicit full approximation storage multigrid method.

Yoon, Seokkwan↗

NASA NTRS1994

Low computation vision-based navigation for a Martian rover

Construction and design details of the Mobot Vision System, a small, self-contained, mobile vision system, are presented. This system uses the view from the top of a small, roving, robotic vehicle to supply data that is processed in real-time to safely navigate the surface of Mars. A simple, low-computation algorithm for constructing a 3-D navigational map of the Martian environment to be used by the rover is discussed.

Gavin, Andrew S.↗

NASA NTRS1994

Effect of stratification and geometrical spreading on sonic boom rise time

The purpose of our investigation is to determine the effect of unsteadiness (not associated with turbulence) on rise time. The unsteadiness considered here is due to (1) geometrical spreading, (2) stratification, which includes variation in density, temperature, and relative humidity, and (3) N shaped waveform. A very general Burgers equation, which includes all these effects, is the propagation model for our study. The equation is solved by a new computational algorithm in which all the calculations are done in the time domain. The present paper is a progress report in which some of the factors contributing to unsteadiness are studied, namely geometrical spreading and variation in relative humidity. The work of Pierce and Kang, which motivated our study, is first reviewed. We proceed with a discussion of the Burgers equation model and the algorithm for solving the equation. Some comparison tests to establish the validity of the algorithm are presented. The algorithm is then used to determine the distance required for a steady-state shock, on encountering an abrupt change in relative humidity, to reach a new steady state based on the new humidity. It is found that the transition distance for plane shocks of amplitude 70 Pa is about 4 km when the change in relative humidity is 10 percent. Shocks of amplitude 140 Pa require less distance. The effect of spherical and cylindrical spreading is also considered. We demonstrate that a spreading shock wave never reaches steady state and that its rise time will be less than the equivalent steady state shock. Finally we show that an N wave has a slightly shorter rise time than a step shock of the same amplitude.

Cleveland, Robin O.↗

NASA NTRS1995

Earth horizon modeling and application to static Earth sensors on TRMM spacecraft

Data from Earth sensor assemblies (ESA's) often are used in the attitude determination (AD) for both spinning and Earth-pointing spacecraft. The ESA's on previous such spacecraft for which the ground-based AD operation was performed by the Flight Dynamics Division (FDD) used the Earth scanning method. AD on such spacecraft requires a model of the shape of the Earth disk as seen from the spacecraft. AD accuracy requirements often are too severe to permit Earth oblateness to be ignored when modeling disk shape. Section 2 of this paper reexamines and extends the methods for Earth disk shape modeling employed in AD work at FDD for the past decade. A new formulation, based on a more convenient Earth flatness parameter, is introduced, and the geometric concepts are examined in detail. It is shown that the Earth disk can be approximated as an ellipse in AD computations. Algorithms for introducing Earth oblateness into the AD process for spacecraft carrying scanning ESA's have been developed at FDD and implemented into the support systems. The Tropical Rainfall Measurement Mission (TRMM) will be the first spacecraft with AD operation performed at FDD that uses a different type of ESA - namely, a static one - containing four fixed detectors D(sub i) (i = 1 to 4). Section 3 of this paper considers the effect of Earth oblateness on AD accuracy for TRMM. This effect ideally will not induce AD errors on TRMM when data from all four D(sub i) are present. When data from only two or three D(sub i) are available, however, a spherical Earth approximation can introduce errors of 0.05 to 0.30 deg on TRMM. These oblateness-induced errors are eliminated by a new algorithm that uses the results of Section 2 to model the Earth disk as an ellipse.

Keat, J.↗

NASA NTRS1995

High-order essentially non-oscillatory methods for computational aeroacoustics

The desire to obtain acoustic information from the numerical solution of a nonlinear system of equations is a demanding proposition for a computational algorithm. High-order accuracy is required for the propagation of high-frequency, low-amplitude waves. In addition, it is desirable to highly resolve discontinuities that can develop in the solutions of the Euler or Navier-Stokes equations. The class of essentially non-oscillatory (ENO) shock-capturing schemes has been designed to have both of these properties. The dual capacity of ENO schemes for high-order accuracy and non-oscillatory shock-capturing is achieved through the use of adaptive stenciling, which makes these schemes highly nonlinear. These schemes are briefly described and referenced herein. A fourth-order algorithm is then applied to the solution of an acoustic wave in a quasi-one-dimensional converging-diverging nozzle.

Casper, Jay↗

NASA NTRS1993

Computational mechanics analysis tools for parallel-vector supercomputers

Computational algorithms for structural analysis on parallel-vector supercomputers are reviewed. These parallel algorithms, developed by the authors, are for the assembly of structural equations, 'out-of-core' strategies for linear equation solution, massively distributed-memory equation solution, unsymmetric equation solution, general eigen-solution, geometrically nonlinear finite element analysis, design sensitivity analysis for structural dynamics, optimization algorithm and domain decomposition. The source code for many of these algorithms is available from NASA Langley.

Storaasli, O. O.↗

NASA NTRS1995

Program Implements Variable-Sampling Procedures

MIL-STD-414 Variable Sampling Procedures (M414) computer program developed to automate calculations and acceptance/rejection procedures of MIL-STD-414, "Sampling Procedures and Tables for Inspection by Variables for Percent Defective." M414 automates entire calculation-and-decision process by use of computational algorithms determining threshold acceptability values for lots. Menu-driven and user-friendly. Reduces burden of manual operations, promoting variable-sampling practice in industry in lieu of "go/no-go" inspection. Written in BASIC.

Huang, Zhaofeng↗

NASA NTRS1995

Device Would Monitor Body Parameters Continuously

Proposed miniature electronic circuit continuously measures temperature of human subject. Once mounted on subject's skin with medical adhesive tape, electronic thermometer remains in thermal equilibrium with subject's body; thereafter, no need to wait until thermometer reaches body temperature before taking reading. Design provides for switches used to set alarm alerting medical attendants if subject's temperature exceeds critical level. For use on very young child, electronic thermometer sewed into shirt or other suitable garment; device held in contact with skin, and child could not swallow it. Replacement of sensor and computing algorithm changes temperature monitor to cardiorespiratory monitor.

Cook, Joseph S., Jr.↗

NASA NTRS1996

Computational considerations for the simulation of shock-induced sound

The numerical study of aeroacoustic problems places stringent demands on the choice of a computational algorithm, because it requires the ability to propagate disturbances of small amplitude and short wavelength. The demands are particularly high when shock waves are involved, because the chosen algorithm must also resolve discontinuities in the solution. The extent to which a high-order-accurate shock-capturing method can be relied upon for aeroacoustics applications that involve the interaction of shocks with other waves has not been previously quantified. Such a study is initiated in this work. A fourth-order-accurate essentially nonoscillatory (ENO) method is used to investigate the solutions of inviscid, compressible flows with shocks in a quasi-one-dimensional nozzle flow. The design order of accuracy is achieved in the smooth regions of a steady-state test case. However, in an unsteady test case, only first-order results are obtained downstream of a sound-shock interaction. The difficulty in obtaining a globally high-order-accurate solution in such a case with a shock-capturing method is demonstrated through the study of a simplified, linear model problem. Some of the difficult issues and ramifications for aeroacoustics simulations of flows with shocks that are raised by these results are discussed.

Casper, Jay↗