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NASA NTRS1991

Backscattering by nonspherical particles - A review of methods and suggested new approaches

Scattering of electromagnetic radiation near the backward direction is more sensitive to particle shape than scattering near the forward direction. Mie theory is therefore of dubious applicability to predicting backscattering by atmospheric particles known to be irregular or to inverting measurements on such particles. An irregular particle is one with an uncertain shape. In the face of uncertainty one must adopt a statistical approach in which scattering properties of ensembles are determined. To obtain ensemble averages, a basis is needed for averaging over a set of electromagnetic microstates. Ensemble averages based on the Rayleigh theory for small ellipsoids and on the T matrix method for spheroids agree better with measurements than Mie theory does. The coupled-dipole method also provides a basis for ensemble averaging. This method also leads to a simple physical interpretation of why backscattering is so sensitive to particle shape and can be used to calculate scattering by one- and two-dimensional analogs to three-dimensional irregular particles.

Bohren, Craig F.↗

NASA NTRS1990

Multiple task point control of a redundant manipulator

The kinematic control of a redundant arm based on multiple tasks assigned to different locations of the manipulator is presented. This is equivalent to decomposing a redundant arm into two (or more) nonredundant local arms, the basearm and the forearm, at an intermediate arm location or task point called the elbow. A redundant arm is transformed into a serially cooperating dual-arm system, with the cooperation between the local arms being carried out at the elbow. Then, a manipulator end-effector motion specified by a given task is decomposed into motions of individual local arms as well as an end-effector free motion based on achieving maximum efficiency in task execution. To consider global optimization, elbow control is applied to reshaping and reorientation of a manipulability ellipsoid at the end effector during task execution. The resolved rate control of elbow in the end-effector null and free motion space is used to maximize arm homogeneity and to match the forearm motion space with the task space. Simulation results are shown.

Lee, Sukhan↗

NASA NTRS1991

Orbital decay in aspherical galaxies. II - Triaxial systems

A previous analysis of orbital decay of small satellite galaxies into moderately oblate, axisymmetrical cannibal galaxies with Staeckel potentials is generalized here to triaxial systems with arbitary anisotropy and internal streaming. The orbital evolution to be expected in systems with differing degrees of anisotropy or rotation is briefly discussed. The evolution of some representative orbits is presented in detail using the orbit-averaged anisotropic Chandrasekhar drag and the distribution functions for perfect ellipsoids. The validity of orbit averaging is assessed by comparing the results with ensembles of single-particle orbits integrated directly in the same potential and the same drag prescription. An attempt is made to gauge the validity of the Chandrasekhar formula by comparison with restricted N-body solutions. It is found that the orbit-averaged evolution is consistent with such simulations.

Statler, Thomas S.↗

NASA NTRS1991

On the velocity fields of elliptical galaxies

A family of self-consistent maximum entropy dynamical models is presented for the triaxial 'perfect ellipsoids'. These models are projected in different viewing geometries to explore the possible morphologies of the 2D radial-velocity fields of elliptical galaxies. It is found that, typically, about half the time an 'ordinary' velocity field is seen with a mixture of major- and minor-axis rotation. For other lines of sight, the velocity fields are more complicated, showing multiple peaks, steep gradients, strongly twisted contours, or kinematically distinct or counter-rotating cores. The origin of each of these velocity field morphologies is explained in terms of competing contributions from the major families of tube orbits.

Statler, Thomas S.↗

NASA NTRS1992

Almond-Shaped Test Body

Almond shaped test body developed for use in electromagnetic anechoic chamber for evaluation of range and measurement of components has low radar cross section that varies with angle over large dynamic range. Surface is composite formed by joining properly scaled ellipsoidal surfaces. Used to mount components whose radar cross sections are to be measured, and simulate backscatter characteristics of component as though it were over infinite ground plane.

Dominek, Allen↗

NASA NTRS1991

A search for periodicity in the x ray spectrum of black hole candidate A0620-00

The archived data from the SAS-3 observations of the X-ray nova A0620-00, the best of the stellar blackhole candidates, were exhaustively examined for evidence of variable phenomena correlated with the orbital motion of the binary system of which it is a member. The original analysis of these data was completed before discovery of the binary companion and determination of the orbital period of the system. New interest was drawn to the task of a reexamination of the archive data by the recent discovery of the massive nature of the X-ray source through analysis of the Doppler variations and ellipsoidal light variations of the faint K-star companion by McClintock and Remillard. The archive research, carried out under the supervision of the principal investigator, was the topic of the thesis submitted to the MIT Department of Physics by Kenneth Plaks in partial fulfillment of the requirements for the degree of Master of Science. Plaks' effort was focused on the elimination of fluctuations in the data due to errors in attitude solutions and other extraneous causes. The first products of his work were long-term light curves of the X-ray intensities in the various energy channels as functions of time during the time from outbursts in August 1975 to quiescence approximately 6 months later. These curves, are refined versions of the preliminary results published in 1976 (Matilsky et al. 1976). Smooth exponentials were fitted to these long term light curves to provide the basis for detrending the data, thereby permitting a calculation of residuals derived by subtracting the fitted curve from the data. The residuals were then analyzed by Fourier analysis to search for variations with the period of the binary orbit, namely 7.75 hours. No evidence of an orbital periodicity was found. However, the refined light curve provides a much clearer picture of the outburst and subsequent decay of the X-ray luminosity. In fact, there were two outbursts, each followed by an exponential decay with similar time constants of about 25 days. Previous evidence of a three-oscillation variation with a 7.8 day period were confirmed. Substantial theoretical effort has been devoted to attempts to account for the decay characteristics as the result of the gradual eating up of an accretion disk by a stellar-mass blackhole (e.g., Huang and Wheeler 1989). The improved decay curves will provide significant new constraints on the theoretical analyses.

Clark, George W.↗

NASA NTRS1991

Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

Sensor based robot motion planning research has primarily focused on mobile robots. Consider, however, the case of a robot manipulator expected to operate autonomously in a dynamic environment where unexpected collisions can occur with many parts of the robot. Only a sensor based system capable of generating collision free paths would be acceptable in such situations. Recently, work in this area has been reported in which a deterministic solution for 2DOF systems has been generated. The arm was sensitized with 'skin' of infra-red sensors. We have proposed a heuristic (potential field based) methodology for redundant robots with large DOF's. The key concepts are solving the path planning problem by cooperating global and local planning modules, the use of complete information from the sensors and partial (but appropriate) information from a world model, representation of objects with hyper-ellipsoids in the world model, and the use of variational planning. We intend to sensitize the robot arm with a 'skin' of capacitive proximity sensors. These sensors were developed at NASA, and are exceptionally suited for the space application. In the first part of the report, we discuss the development and modeling of the capacitive proximity sensor. In the second part we discuss the motion planning algorithm.

Prinz, F. B.↗

NASA NTRS1992

A new method for recognizing quadric surfaces from range data and its application to telerobotics and automation

A feature set of two dimensional curves is obtained after intersecting symmetric objects like spheres, cones, cylinders, ellipsoids, paraboloids, and parallelepipeds with two planes. After determining the location and orientation of the objects in space, these objects are aligned so as to lie on a plane parallel to a suitable coordinate system. These objects are then intersected with a horizontal and a vertical plane. Experiments were carried out with range images of sphere and cylinder. The 3-D discriminant approach was used to recognize quadric surfaces made up of simulated data. Its application to real data was also studied.

Alvertos, Nicolas↗

NASA NTRS1992

Simulation of real-gas effects on pressure distributions for aeroassist flight experiment vehicle and comparison with prediction

Pressure distributions measured on a 60 degree half-angle elliptic cone, raked off at an angle of 73 degrees from the cone centerline and having an ellipsoid nose (ellipticity equal to 2.0 in the symmetry plane) are presented for angles of attack from -10 degrees to 10 degrees. The high normal shock density ratio aspect of a real gas was simulated by testing in Mach 6 air and CF sub 4 (density ratio equal to 5.25 and 12.0, respectively). The effects of Reynolds number, angle of attack, and normal shock density ratio on these measurements are examined, and comparisons with a three dimensional Euler code known as HALIS are made. A significant effect of density ratio on pressure distributions on the cone section of the configuration was observed; the magnitude of this effect decreased with increasing angle of attack. The effect of Reynolds number on pressure distributions was negligible for forebody pressure distributions, but a measurable effect was noted on base pressures. In general, the HALIS code accurately predicted the measured pressure distributions in air and CF sub 4.

Micol, John R.↗

NASA NTRS1989

Near Zone: Basic scattering code user's manual with space station applications

The Electromagnetic Code - Basic Scattering Code, Version 3, is a user oriented computer code to analyze near and far zone patterns of antennas in the presence of scattering structures, to provide coupling between antennas in a complex environment, and to determine radiation hazard calculations at UHF and above. The analysis is based on uniform asymptotic techniques formulated in terms of the Uniform Geometrical Theory of Diffraction (UTD). Complicated structures can be simulated by arbitrarily oriented flat plates and an infinite ground plane that can be perfectly conducting or dielectric. Also, perfectly conducting finite elliptic cylinder, elliptic cone frustum sections, and finite composite ellipsoids can be used to model the superstructure of a ship, the body of a truck, and airplane, a satellite, etc. This manual gives special consideration to space station modeling applications. This is a user manual designed to give an overall view of the operation of the computer code, to instruct a user in how to model structures, and to show the validity of the code by comparing various computed results against measured and alternative calculations such as method of moments whenever available.

Marhefka, R. J.↗

NASA NTRS1990

A three-dimensional, compressible, laminar boundary-layer method for general fuselages. Volume 1: Numerical method

A procedure for calculating 3-D, compressible laminar boundary layer flow on general fuselage shapes is described. The boundary layer solutions can be obtained in either nonorthogonal 'body oriented' coordinates or orthogonal streamline coordinates. The numerical procedure is 'second order' accurate, efficient and independent of the cross flow velocity direction. Numerical results are presented for several test cases, including a sharp cone, an ellipsoid of revolution, and a general aircraft fuselage at angle of attack. Comparisons are made between numerical results obtained using nonorthogonal curvilinear 'body oriented' coordinates and streamline coordinates.

Wie, Yong-Sun↗

NASA NTRS1990

Recognition of 3-D symmetric objects from range images in automated assembly tasks

A new technique is presented for the three dimensional recognition of symmetric objects from range images. Beginning from the implicit representation of quadrics, a set of ten coefficients is determined for symmetric objects like spheres, cones, cylinders, ellipsoids, and parallelepipeds. Instead of using these ten coefficients trying to fit them to smooth surfaces (patches) based on the traditional way of determining curvatures, a new approach based on two dimensional geometry is used. For each symmetric object, a unique set of two dimensional curves is obtained from the various angles at which the object is intersected with a plane. Using the same ten coefficients obtained earlier and based on the discriminant method, each of these curves is classified as a parabola, circle, ellipse, or hyperbola. Each symmetric object is found to possess a unique set of these two dimensional curves whereby it can be differentiated from the others. It is shown that instead of using the three dimensional discriminant which involves evaluation of the rank of its matrix, it is sufficient to use the two dimensional discriminant which only requires three arithmetic operations.

Alvertos, Nicolas↗

NASA NTRS1992

Geostationary satellite position determination for common-view two-way time transfer measurements

In common-view two-way time transfer, each earth station receives an unwanted return signal from its own transmission as well as the desired signal from the other earth station. National Institute of Standards and Technology (NIST), the National Research Council (NRC), and the U.S. Naval Observatory (USNO) have been cooperating in a three-corner common-view two-way time transfer experiment. Some systematic effects are known to depend on the position of the satellite (Sagnac effect and the cross-correlation pulling of the pseudo-random codes). A method is presented for deriving accurate satellite ranges from each of three stations doing common-view two-way satellite time transfer measurements, when one (and only one) station also takes ranging measurements on its 'unwanted return signal' for a brief period. The method is applied to determine the variations in position of the satellite used over the course of the NIST/NRC/USNO SBS-3 experiment, with ranging data taken at NRC, where no additional hardware was required to automate the process. The fit and extrapolation which are employed in this method have an estimated precision of 2 m. If the delays of SBS-3 satellite KU band transponder and earth station equipment were measured accurately as well as the tropospheric refractions were well modeled and corrected, we would expect a ranging accuracy of 2.5 m and satellite positioning accuracy would be 200 m (latitude) 50 m (longitude) and 20 m (height above ellipsoid).

Zhuang, Qixiang↗

NASA NTRS1992

A new method for recognizing quadric surfaces from range data and its application to telerobotics and automation

Pose and orientation of an object is one of the central issues in 3-D recognition problems. Most of today's available techniques require considerable pre-processing such as detecting edges or joints, fitting curves or surfaces to segment images, and trying to extract higher order features from the input images. We present a method based on analytical geometry, whereby all the rotation parameters of any quadric surface are determined and subsequently eliminated. This procedure is iterative in nature and was found to converge to the desired results in as few as three iterations. The approach enables us to position the quadric surface in a desired coordinate system, and then to utilize the presented shape information to explicitly represent and recognize the 3-D surface. Experiments were conducted with simulated data for objects such as hyperboloid of one and two sheets, elliptic and hyperbolic paraboloid, elliptic and hyperbolic cylinders, ellipsoids, and quadric cones. Real data of quadric cones and cylinders were also utilized. Both of these sets yielded excellent results.

Alvertos, Nicolas↗

NASA NTRS1989

Nonlinear triggered lightning models for use in finite difference calculations

Two nonlinear triggered lightning models have been developed for use in finite difference calculations. Both are based on three species of air chemistry physics and couple nonlinearly calculated air conductivity to Maxwell's equations. The first model is suitable for use in three-dimensional modeling and has been applied to the analysis of triggered lightning on the NASA F106B Thunderstorm Research Aircraft. The model calculates number densities of positive ions, negative ions, and electrons as a function of time and space through continuity equations, including convective derivative terms. The set of equations is closed by using experimentally determined mobilities, and the mobilities are also used to determine the air conductivity. Results from the model's application to the F106B are shown. The second model is two-dimensional and incorporates an enhanced air chemistry formulation. Momentum conservation equations replace the mobility assumption of the first model. Energy conservation equations for neutrals, heavy ions, and electrons are also used. Energy transfer into molecular vibrational modes is accounted for. The purpose for the enhanced model is to include the effects of temperature into the air breakdown, a necessary step if the model is to simulate more than the very earliest stages of breakdown. Therefore, the model also incorporates a temperature-dependent electron avalanche rate. Results from the model's application to breakdown around a conducting ellipsoid placed in an electric field are shown.

Rudolph, Terence↗

NASA NTRS1992

An engineering aerodynamic heating method for hypersonic flow

A capability to calculate surface heating rates has been incorporated in an approximate three-dimensional inviscid technique. Surface streamlines are calculated from the inviscid solution, and the axisymmetric analog is then used along with a set of approximate convective-heating equations to compute the surface heat transfer. The method is applied to blunted axisymmetric and three-dimensional ellipsoidal cones at angle of attack for the laminar flow of a perfect gas. The method is also applicable to turbulent and equilibrium-air conditions. The present technique predicts surface heating rates that compare favorably with experimental (ground-test and flight) data and numerical solutions of the Navier-Stokes (NS) and viscous shock-layer (VSL) equations. The new technique represents a significant improvement over current engineering aerothermal methods with only a modest increase in computational effort.

Riley, Christopher J.↗

NASA NTRS1992

TT Crateris - A long-period, double-lined dwarf nova

Time-resolved CCD photometry and spectroscopy of the dwarf nova TT Crt during quiescence are presented. The spectra reveal Balmer emission as well as absorption features of a K5-M0 secondary. The B, V, R light curves are dominated by a periodic variation of full amplitude 0.35 mag in V, which are interpreted as the ellipsoidal variation of the secondary star. The remarkably large amplitude indicates a high inclination (50-65 deg) and a massive white dwarf M greater than 0.8 solar mass. The ratio of the radial velocity semiamplitudes of the primary to the secondary is 0.5-1.4. The best period that can be determined from the observations is 438.17 minutes, with a possible alias at 445 minutes.

Szkody, Paula↗

NASA NTRS1992

A global mean sea surface based upon GEOS 3 and Seasat altimeter data

A mean sea surface relative to the International Union of Geodesy 1980 Geodetic Reference System reference ellipsoid has been derived from Seasat and GEOS 3 altimeter measurements. This surface, called MSS-9012, has been computed on a grid of 1/8 deg resolution. The surface covers the global ocean between 70 deg N and 72 deg S. Comparisons are made between MSS-9012 and ocean bathymetry. The eastern extent of the Chain Fracture Zone in the Gulf of Guinea is more apparent in the altimetry than in the bathymetry data, as are many other features. The combination of data from the two satellites has successfully retrieved more information about the sea surface than was previously possible using only Seasat data.

Marsh, J. G.↗