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NASA NTRS2001

Maximally Informative Statistics for Localization and Mapping

This paper presents an algorithm for localization and mapping for a mobile robot using monocular vision and odometry as its means of sensing. The approach uses the Variable State Dimension filtering (VSDF) framework to combine aspects of Extended Kalman filtering and nonlinear batch optimization. This paper describes two primary improvements to the VSDF. The first is to use an interpolation scheme based on Gaussian quadrature to linearize measurements rather than relying on analytic Jacobians. The second is to replace the inverse covariance matrix in the VSDF with its Cholesky factor to improve the computational complexity. Results of applying the filter to the problem of localization and mapping with omnidirectional vision are presented.

Deans, Matthew C.↗

NASA NTRS2003

Numerical Models of Human Circulatory System under Altered Gravity: Brain Circulation

A computational fluid dynamics (CFD) approach is presented to model the blood flow through the human circulatory system under altered gravity conditions. Models required for CFD simulation relevant to major hemodynamic issues are introduced such as non-Newtonian flow models governed by red blood cells, a model for arterial wall motion due to fluid-wall interactions, a vascular bed model for outflow boundary conditions, and a model for auto-regulation mechanism. The three-dimensional unsteady incompressible Navier-Stokes equations coupled with these models are solved iteratively using the pseudocompressibility method and dual time stepping. Moving wall boundary conditions from the first-order fluid-wall interaction model are used to study the influence of arterial wall distensibility on flow patterns and wall shear stresses during the heart pulse. A vascular bed modeling utilizing the analogy with electric circuits is coupled with an auto-regulation algorithm for multiple outflow boundaries. For the treatment of complex geometry, a chimera overset grid technique is adopted to obtain connectivity between arterial branches. For code validation, computed results are compared with experimental data for steady and unsteady non-Newtonian flows. Good agreement is obtained for both cases. In sin-type Gravity Benchmark Problems, gravity source terms are added to the Navier-Stokes equations to study the effect of gravitational variation on the human circulatory system. This computational approach is then applied to localized blood flows through a realistic carotid bifurcation and two Circle of Willis models, one using an idealized geometry and the other model using an anatomical data set. A three- dimensional anatomical Circle of Willis configuration is reconstructed from human-specific magnetic resonance images using an image segmentation method. The blood flow through these Circle of Willis models is simulated to provide means for studying gravitational effects on the brain circulation under auto-regulation.

Kim, Chang Sung↗

NASA NTRS2004

Accretion onto Fast X-Ray Pulsars

The recent emergence of a new class of accretion-powered, transient, millisecond X-ray pulsars presents some difficulties for the conventional picture of accretion onto rapidly rotating magnetized neutron stars and their spin behavior during outbursts. In particular, it is not clear that the standard paradigm can accommodate the wide range in M(i.e., approx. greater than a factor of 50) over which these systems manage to accrete and the high rate of spindown that the neutron stars exhibit in at least a number of cases. When the accretion rate drops sufficiently, the X-ray pulsar is said to become a "fast rotator," and in the conventional view, this is accompanied by a transition from accretion to "propellering," in which accretion ceases and the matter is ejected from the system. On the theoretical side, we note that this scenario for the onset of propellering cannot be entirely correct because it is not energetically self-consistent. We show that, instead, the transition is likely to take place through disks that combine accretion with spindown and terminate at the corotation radius. We demonstrate the existence of such disk solutions by modifying the Shakura-Sunyaev equations with a simple magnetic torque prescription. The solutions are completely analytic and have the same dependence on M and a (the viscosity parameter) as the original Shakura-Sunyaev solutions, but the radial profiles can be considerably modified, depending on the degree of fastness. We apply these results to compute the torques expected during the outbursts of the transient millisecond pulsars and find that we can explain the large spin-down rates that are observed for quite plausible surface magnetic fields of approx. 10(exp 90 G.

Rappaport, S. A.↗

NASA NTRS2004

Networking Technologies Enable Advances in Earth Science

This paper describes an experiment to prototype a new way of conducting science by applying networking and distributed computing technologies to an Earth Science application. A combination of satellite, wireless, and terrestrial networking provided geologists at a remote field site with interactive access to supercomputer facilities at two NASA centers, thus enabling them to validate and calibrate remotely sensed geological data in near-real time. This represents a fundamental shift in the way that Earth scientists analyze remotely sensed data. In this paper we describe the experiment and the network infrastructure that enabled it, analyze the data flow during the experiment, and discuss the scientific impact of the results.

Johnson, Marjory↗

NASA NTRS2008

Improved Thermal Design of a Compression Mold

A compression tool used to make 1-in. (2.5-cm) diameter disks of high-temperature polymers was designed to be shorter and of larger diameter than conventional tools to reduce heat loss to the surrounding air, thus making more efficient use of applied heat. This system is less sensitive to the amount and quality of insulation than previous tools, provides more repeatable processing, and improves the quality of the samples produced. These improvements come without increasing the weight of the punch portion of the tool over that of a conventional version, an important quality when handling lower-viscosity resins. In use, the base and body of the tool are assembled, and the polymer to be processed is placed into the body of the tool. The punch is inserted, and the assembled tool is placed into the press. A temperature/ pressure profile appropriate to the nature of the polymer is applied. A series of computational and experimental runs were made using a conventional tool to validate the computational model. The new tool design was then modeled, and when the performance showed a marked improvement, the new tool was manufactured. A new series of experimental runs showed that the thermal performance of the new tool agreed well with model predictions.

Kuczmarski, Maria A.↗

NASA NTRS2010

Computational Fluid Dynamics (CFD) Simulation of Hypersonic Turbine-Based Combined-Cycle (TBCC) Inlet Mode Transition

Methods of computational fluid dynamics were applied to simulate the aerodynamics within the turbine flowpath of a turbine-based combined-cycle propulsion system during inlet mode transition at Mach 4. Inlet mode transition involved the rotation of a splitter cowl to close the turbine flowpath to allow the full operation of a parallel dual-mode ramjet/scramjet flowpath. Steady-state simulations were performed at splitter cowl positions of 0deg, -2deg, -4deg, and -5.7deg, at which the turbine flowpath was closed half way. The simulations satisfied one objective of providing a greater understanding of the flow during inlet mode transition. Comparisons of the simulation results with wind-tunnel test data addressed another objective of assessing the applicability of the simulation methods for simulating inlet mode transition. The simulations showed that inlet mode transition could occur in a stable manner and that accurate modeling of the interactions among the shock waves, boundary layers, and porous bleed regions was critical for evaluating the inlet static and total pressures, bleed flow rates, and bleed plenum pressures. The simulations compared well with some of the wind-tunnel data, but uncertainties in both the windtunnel data and simulations prevented a formal evaluation of the accuracy of the simulation methods.

Slater, John W.↗

NASA NTRS2011

Computational Models of the Eye and their Applications in Long Duration Space Flight

Astronauts are exposed to cephalad fluid shift, increased carbon dioxide levels and other environmental factors during space flight. As a result of these conditions, it is believed that they are at risk of developing increased intracranial pressure (ICP) and intraocular pressure (IOP), which in turn may cause papilledema and other disorders of the eye that can lead to temporary or permanent changes in vision. However, the mechanisms behind this risk are not fully understood. Ground analog and flight studies pose challenges because there are limited non-invasive methods that can be used to study the eye and intracranial space. Therefore it is proposed that computational models can be applied to help address this gap by providing a low cost method for studying the effects of IOP, ICP and various properties of the eye on these diseases. The information presented by the authors provides a summary of several models found in literature that could potentially be augmented and applied to inform research. Specifically, finite element models of the optic nerve head, sclera and other structures of the eye can be readily adapted as potential building blocks. These models may also be integrated with a brain/cerebrospinal fluid (CSF) model which will take into account the interaction between the CSF fluid and its pressure on the optic nerve. This integration can enable the study of the effects of microgravity on the interaction between the vasculature system and CSF system and can determine the effects of these changes on the optic nerve, and in turn the eye. Ultimately, it can help pinpoint the influences of long-term exposure to microgravity on vision and inform the future research into countermeasure development. In addition to spaceflight, these models can provide deeper understanding of the mechanisms of glaucoma, papilledema and other eye disorders observed in terrestrial conditions.

Chen, Richard↗

NASA NTRS2013

Modeling Commercial Turbofan Engine Icing Risk With Ice Crystal Ingestion

The occurrence of ice accretion within commercial high bypass aircraft turbine engines has been reported under certain atmospheric conditions. Engine anomalies have taken place at high altitudes that have been attributed to ice crystal ingestion, partially melting, and ice accretion on the compression system components. The result was degraded engine performance, and one or more of the following: loss of thrust control (roll back), compressor surge or stall, and flameout of the combustor. As ice crystals are ingested into the fan and low pressure compression system, the increase in air temperature causes a portion of the ice crystals to melt. It is hypothesized that this allows the ice-water mixture to cover the metal surfaces of the compressor stationary components which leads to ice accretion through evaporative cooling. Ice accretion causes a blockage which subsequently results in the deterioration in performance of the compressor and engine. The focus of this research is to apply an engine icing computational tool to simulate the flow through a turbofan engine and assess the risk of ice accretion. The tool is comprised of an engine system thermodynamic cycle code, a compressor flow analysis code, and an ice particle melt code that has the capability of determining the rate of sublimation, melting, and evaporation through the compressor flow path, without modeling the actual ice accretion. A commercial turbofan engine which has previously experienced icing events during operation in a high altitude ice crystal environment has been tested in the Propulsion Systems Laboratory (PSL) altitude test facility at NASA Glenn Research Center. The PSL has the capability to produce a continuous ice cloud which are ingested by the engine during operation over a range of altitude conditions. The PSL test results confirmed that there was ice accretion in the engine due to ice crystal ingestion, at the same simulated altitude operating conditions as experienced previously in flight. The computational tool was utilized to help guide a portion of the PSL testing, and was used to predict ice accretion could also occur at significantly lower altitudes. The predictions were qualitatively verified by subsequent testing of the engine in the PSL. The PSL test has helped to calibrate the engine icing computational tool to assess the risk of ice accretion. The results from the computer simulation identified prevalent trends in wet bulb temperature, ice particle melt ratio, and engine inlet temperature as a function of altitude for predicting engine icing risk due to ice crystal ingestion.

Jorgenson, Philip C. E.↗

NASA NTRS2014

Modeling of Commercial Turbofan Engine With Ice Crystal Ingestion: Follow-On

The occurrence of ice accretion within commercial high bypass aircraft turbine engines has been reported under certain atmospheric conditions. Engine anomalies have taken place at high altitudes that have been attributed to ice crystal ingestion, partially melting, and ice accretion on the compression system components. The result was degraded engine performance, and one or more of the following: loss of thrust control (roll back), compressor surge or stall, and flameout of the combustor. As ice crystals are ingested into the fan and low pressure compression system, the increase in air temperature causes a portion of the ice crystals to melt. It is hypothesized that this allows the ice-water mixture to cover the metal surfaces of the compressor stationary components which leads to ice accretion through evaporative cooling. Ice accretion causes a blockage which subsequently results in the deterioration in performance of the compressor and engine. The focus of this research is to apply an engine icing computational tool to simulate the flow through a turbofan engine and assess the risk of ice accretion. The tool is comprised of an engine system thermodynamic cycle code, a compressor flow analysis code, and an ice particle melt code that has the capability of determining the rate of sublimation, melting, and evaporation through the compressor flow path, without modeling the actual ice accretion. A commercial turbofan engine which has previously experienced icing events during operation in a high altitude ice crystal environment has been tested in the Propulsion Systems Laboratory (PSL) altitude test facility at NASA Glenn Research Center. The PSL has the capability to produce a continuous ice cloud which is ingested by the engine during operation over a range of altitude conditions. The PSL test results confirmed that there was ice accretion in the engine due to ice crystal ingestion, at the same simulated altitude operating conditions as experienced previously in flight. The computational tool was utilized to help guide a portion of the PSL testing, and was used to predict ice accretion could also occur at significantly lower altitudes. The predictions were qualitatively verified by subsequent testing of the engine in the PSL. In a previous study, analysis of select PSL test data points helped to calibrate the engine icing computational tool to assess the risk of ice accretion. This current study is a continuation of that data analysis effort. The study focused on tracking the variations in wet bulb temperature and ice particle melt ratio through the engine core flow path. The results from this study have identified trends, while also identifying gaps in understanding as to how the local wet bulb temperature and melt ratio affects the risk of ice accretion and subsequent engine behavior.

Jorgenson, Philip C. E.↗

NASA NTRS2014

Access to Mars from Earth-Moon Libration Point Orbits:

This investigation is focused specifically on transfers from Earth-Moon L(sub 1)/L(sub 2) libration point orbits to Mars. Initially, the analysis is based in the circular restricted three-body problem to utilize the framework of the invariant manifolds. Various departure scenarios are compared, including arcs that leverage manifolds associated with the Sun-Earth L(sub 2) orbits as well as non-manifold trajectories. For the manifold options, ballistic transfers from Earth-Moon L(sub 2) libration point orbits to Sun-Earth L(sub 1)/L(sub 2) halo orbits are first computed. This autonomous procedure applies to both departure and arrival between the Earth-Moon and Sun-Earth systems. Departure times in the lunar cycle, amplitudes and types of libration point orbits, manifold selection, and the orientation/location of the surface of section all contribute to produce a variety of options. As the destination planet, the ephemeris position for Mars is employed throughout the analysis. The complete transfer is transitioned to the ephemeris model after the initial design phase. Results for multiple departure/arrival scenarios are compared.

Dynamical Systems↗

NASA NTRS2014

Experiments on Exhaust Noise of Tightly Integrated Propulsion Systems

A wide-ranging series of tests have been completed that seek to map the effects of installation, including jet by jet interaction effects, on exhaust noise from various nozzles in forward flight. The primary data was far-field acoustic spectral directivity. The goals of the test series were (i) to generate enough data for empirical models of the different effects, and (ii) to provide data for advanced computational noise predictions methods applied to simplified yet realistic configurations. Data is presented that demonstrate several checks on data quality and that provide an overview of trends observed to date. Among the findings presented here: (i) Data was repeatable between jet rigs for single nozzles with and without surfaces to within +/- 0.5 dB. (ii) The presence of a second jet caused a strong reduction of the summed noise in the plane of the two plumes and an increase over the expected source doubling in most other azimuthal planes. (iii) The impact of the second jet was reduced when the jets were unheated. (iv) The impact of adding a second isolated rectangular jet was relatively independent of the nozzle aspect ratio up to aspect ratio 8:1. (v) Forward flight had similar impact on a high aspect ratio (8:1) jet as on an axisymmetric jet, except at the peak noise angle where the impact was less. (vi) The effect of adding a second round jet to a tightly integrated nozzle where the nozzle lip was less than a diameter from the surface was very dependent upon the length of the surface downstream of the nozzle. (vii) When the nozzles were rectangular and tightly integrated with the airframe surface the impact of a second jet was very dependent upon how close together the two jets were. This paper serves as an overview of the test; other papers presented in the same conference will give more detailed analysis of the results.

Noise↗

NASA NTRS2014

Hypersonic Separated Flows About "Tick" Configurations With Sensitivity to Model Design

This paper presents computational results obtained by applying the direct simulation Monte Carlo (DSMC) method for hypersonic nonequilibrium flow about "tick-shaped" model configurations. These test models produces a complex flow where the nonequilibrium and rarefied aspects of the flow are initially enhanced as the flow passes over an expansion surface, and then the flow encounters a compression surface that can induce flow separation. The resulting flow is such that meaningful numerical simulations must have the capability to account for a significant range of rarefaction effects; hence the application of the DSMC method in the current study as the flow spans several flow regimes, including transitional, slip, and continuum. The current focus is to examine the sensitivity of both the model surface response (heating, friction and pressure) and flowfield structure to assumptions regarding surface boundary conditions and more extensively the impact of model design as influenced by leading edge configuration as well as the geometrical features of the expansion and compression surfaces. Numerical results indicate a strong sensitivity to both the extent of the leading edge sharpness and the magnitude of the leading edge bevel angle. Also, the length of the expansion surface for a fixed compression surface has a significant impact on the extent of separated flow.

Moss, J. N.↗

NASA NTRS2014

Modeling of Commercial Turbofan Engine with Ice Crystal Ingestion; Follow-On

The occurrence of ice accretion within commercial high bypass aircraft turbine engines has been reported under certain atmospheric conditions. Engine anomalies have taken place at high altitudes that have been attributed to ice crystal ingestion, partially melting, and ice accretion on the compression system components. The result was degraded engine performance, and one or more of the following: loss of thrust control (roll back), compressor surge or stall, and flameout of the combustor. As ice crystals are ingested into the fan and low pressure compression system, the increase in air temperature causes a portion of the ice crystals to melt. It is hypothesized that this allows the ice-water mixture to cover the metal surfaces of the compressor stationary components which leads to ice accretion through evaporative cooling. Ice accretion causes a blockage which subsequently results in the deterioration in performance of the compressor and engine. The focus of this research is to apply an engine icing computational tool to simulate the flow through a turbofan engine and assess the risk of ice accretion. The tool is comprised of an engine system thermodynamic cycle code, a compressor flow analysis code, and an ice particle melt code that has the capability of determining the rate of sublimation, melting, and evaporation through the compressor flow path, without modeling the actual ice accretion. A commercial turbofan engine which has previously experienced icing events during operation in a high altitude ice crystal environment has been tested in the Propulsion Systems Laboratory (PSL) altitude test facility at NASA Glenn Research Center. The PSL has the capability to produce a continuous ice cloud which is ingested by the engine during operation over a range of altitude conditions. The PSL test results confirmed that there was ice accretion in the engine due to ice crystal ingestion, at the same simulated altitude operating conditions as experienced previously in flight. The computational tool was utilized to help guide a portion of the PSL testing, and was used to predict ice accretion could also occur at significantly lower altitudes. The predictions were qualitatively verified by subsequent testing of the engine in the PSL. In a previous study, analysis of select PSL test data points helped to calibrate the engine icing computational tool to assess the risk of ice accretion. This current study is a continuation of that data analysis effort. The study focused on tracking the variations in wet bulb temperature and ice particle melt ratio through the engine core flow path. The results from this study have identified trends, while also identifying gaps in understanding as to how the local wet bulb temperature and melt ratio affects the risk of ice accretion and subsequent engine behavior.

Jorgenson, Philip C. E.↗

NASA NTRS2016

Data Mining and Knowledge Discover - IBM Cognitive Alternatives for NASA KSC

Skillful tools in cognitive computing to transform industries have been found favorable and profitable for different Directorates at NASA KSC. In this study is shown how cognitive computing systems can be useful for NASA when computers are trained in the same way as humans are to gain knowledge over time. Increasing knowledge through senses, learning and a summation of events is how the applications created by the firm IBM empower the artificial intelligence in a cognitive computing system. NASA has explored and applied for the last decades the artificial intelligence approach specifically with cognitive computing in few projects adopting similar models proposed by IBM Watson. However, the usage of semantic technologies by the dedicated business unit developed by IBM leads these cognitive computing applications to outperform the functionality of the inner tools and present outstanding analysis to facilitate the decision making for managers and leads in a management information system.

Cognitive computing↗

NASA NTRS2017

Macrosegregation Resulting from Directional Solidification Through an Abrupt Change in Cross-Sections

Simulations of the directional solidification of two hypoeutectic alloys (Al-7Si alloy and Al-19Cu) and resulting macrosegregation patterns are presented. The casting geometries include abrupt changes in cross-section from a larger width of 9.5 mm to a narrower 3.2 mm width then through an expansion back to a width of 9.5 mm. The alloys were chosen as model alloys because they have similar solidification shrinkages, but the effect of Cu on changing the density of the liquid alloy is about an order of magnitude greater than that of Si. The simulations compare well with experimental castings that were directionally solidified in a graphite mold in a Bridgman furnace. In addition to the simulations of the directional solidification in graphite molds, some simulations were effected for solidification in an alumina mold. This study showed that the mold must be included in numerical simulations of directional solidification because of its effect on the temperature field and solidification. For the model alloys used for the study, the simulations clearly show the interaction of the convection field with the solidifying alloys to produce a macrosegregation pattern known as "steepling" in sections with a uniform width. Details of the complex convection- and segregation-patterns at both the contraction and expansion of the cross-sectional area are revealed by the computer simulations. The convection and solidification through the expansions suggest a possible mechanism for the formation of stray grains. The computer simulations and the experimental castings have been part of on-going ground-based research with the goal of providing necessary background for eventual experiments aboard the ISS. For casting practitioners, the results of the simulations demonstrate that computer simulations should be applied to reveal interactions between alloy solidification properties, solidification conditions, and mold geometries on macrosegregation. The simulations also presents the possibility of engineering the mold-material to avoid, or mitigate, the effects of thermosolutal convection and macrosegregation by selecting a mold material with suitable thermal properties, especially its thermal conductivity.

Lauer, M.↗

NASA NTRS2017

Grid Convergence for Three Dimensional Benchmark Turbulent Flows

Grid convergence studies are performed to establish reference solutions for benchmark three dimensional turbulent flows in support of the ongoing turbulence model verification and validation e ort at the Turbulence Modeling Resource website curated by NASA. The bench- mark cases are a subsonic flow around a hemisphere cylinder and a transonic flow around the ONERA M6 wing with a sharp trailing edge. The study applies widely-used computational fluid dynamics codes developed and supported at the NASA Langley Research Center: FUN3D, USM3D, and CFL3D. Reference steady-state solutions are computed for the Reynolds-Averaged Navier-Stokes equations with the Spalart-Allmaras turbulence model on families of consistently-refined grids composed of different types of cells. Coarse-to- ne and code-to-code solution variation is described in detail.

Diskin, Boris↗

NASA NTRS2019

Optical Flow for Intermediate Frame Interpolation of Multispectral Geostationary Satellite Data

Applications in areas such as weather tracking and modeling, ecosystem monitoring, wildfire detection, and land-cover change are heavily dependent on spatial and temporal resolutions of satellite observations. However, there are typically trade-offs between spatial and temporal resolutions in dataset selection. For instance, geostationary weather tracking satellites are designed to take snapshots many times throughout the day but sensor hardware limits data collection. In this work we tackle this limitation, developing a method for temporal upsampling of multi-spectral satellite imagery using optical flow video interpolation deep convolutional neural networks. The presented model, extends Super SloMo (SSM) from single optical flow estimates to multichannel where flows are computed per band. We apply this technique on 8 multi-spectral bands of NOAA/NASA's GOES-16 mesoscale dataset to temporally enhance full disk hemispheric snapshots from 15 minutes to 1 minute. Through extensive experimentation, we show SSM vastly outperforms the linear interpolation baseline and that multichannel optical flows improves performance on GOES-16. A visual analysis of optical flow vectors clearly identifies hurricanes and large-scale atmospheric dynamics. Furthermore, we discuss challenges and open questions related to optical flow and temporal interpolation of multispectral geostationary satellite imagery.

Optical Flow↗

NASA NTRSDate not supplied

Constrained Field Construction Using Bernstein Polynomial Derived Operators

This method recasts the mass-conservation equation as a Sylvester equation employing high-order derivative operators derived from modified Bernstein polynomial expansions. Given prescribed velocity fields, the algorithm yields a constrained, least-squared solution for the associated density field. To demonstrate the practical utility of this methodology, it is applied to a computationally-derived two-dimensional isolator dataset. This reconstruction method is envisioned to be used in conjunction with diagnostic techniques to aid in the quantification of isolator flow fields, since obtaining highly characterized datasets within this engine component is exceedingly difficult.

Isolator↗