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At least 73 records · Page 4

Three dimensional spline-generated coordinate transformations for grids around wing-body configurations

A direct algebraic method was developed and applied to generate three dimensional grids around wing-body configurations. The method used is a generalized transfinite interpolation method which generates the desired coordinate transformation using geometric data only on the boundaries of the domain of interest. The geometric data that can be specified includes not only coordinates on the boundaries but also out-of-surface parametric derivatives that give a very precise control over the transformation in the vicinity of the surface. In addition to this, the method gives good control over the stretching of the mesh between different boundaries.

Eriksson, L. E.↗

Vector-algebra approach to extract Denavit-Hartenberg parameters of assembled robot arms

The Denavit-Hartenberg parameters characterize the joint axis systems in a robot arm and, naturally, appear in the transformation matrices from one joint axis system to another. These parameters are needed in the control of robot arms and in the passage of sensor information along the arm. This paper presents a vector algebra method to determine these parameters for any assembled robot arm. The idea is to measure the location of the robot hand (or extension) for different joint angles and then use these measurements to calculate the parameters.

Barker, L. K.↗

A hydromagnetic model of corotating conductive solar wind streams

Under the assumption of quasi-azimuthal symmetry the governing equations of a steady hydromagnetic flow in a thermally conductive flux tube possess six invariants. Four of them represent constancy of mass efflux, energy efflux, angular momentum efflux and magnetic flux. Based on the entropy equation we obtain useful approximation in explicit expressions for the two remaining invariants. One of them provides the constraint which determines the compatible heat flux to ensure a vanishing pressure at infinity. Thus, the admissible solution that represents a corotating solar wind stream in terms of specified interplanetary condition can be calculated by an algebraic method, without the necessity of numerical integration. A two-point relationship is then derived, which correlates the solar wind properties at two separated interplanetary sites measured at two properly separated instants. This relationship may be applied to observational data from spacecraft and earth-bound satellites to discern the corotation feature in the solar wind.

Yeh, T.↗

Computing Relative Joint Positions of Robot Arms

Vector-algebra method developed for extracting Denavit-Hartenberg parameters for any assembled robot arm. Method for extracting relative joint geometry of robot arms useful to researchers who need data for existing robot arms for either validation of mathematical models or for studies involving actual control of these devices. Method, does not require robot arm to be disassembled, also useful in recalibration of misalined or bent robot arm and becomes useful industrial procedure. Merit of method is errors not propagated.

Barker, L. K.↗

Modified Denavit-Hartenberg parameters for better location of joint axis systems in robot arms

The Denavit-Hartenberg parameters define the relative location of successive joint axis systems in a robot arm. A recent justifiable criticism is that one of these parameters becomes extremely large when two successive joints have near-parallel rotational axes. Geometrically, this parameter then locates a joint axis system at an excessive distance from the robot arm and, computationally, leads to an ill-conditioned transformation matrix. In this paper, a simple modification (which results from constraining a transverse vector between successive joint rotational axes to be normal to one of the rotational axes, instead of both) overcomes this criticism and favorably locates the joint axis system. An example is given for near-parallel rotational axes of the elbow and shoulder joints in a robot arm. The regular and modified parameters are extracted by an algebraic method with simulated measurement data. Unlike the modified parameters, extracted values of the regular parameters are very sensitive to measurement accuracy.

Barker, L. K.↗

Euler solutions for high-speed flow about complex three-dimensional configurations

A numerical algorithm based on a finite-volume explicit scheme with Runge-Kutta time integration of the Euler equations is presented for calculating high-speed three-dimensional flow about complex aerospace configurations. The use of enhancing factors such as artificial dissipative terms, enthalpy damping and local time-stepping are described. An algebraic method for generating quasi-three-dimensional computational grids for realistic aerospace configurations is presented. Computed results for various three-dimensional bodies at different Mach numbers and angles of attack have been obtained using the methods for grid-generation and flow simulation. Comparison of computed and experimental data for an advanced tactical aircraft-like configuration is presented, and a reasonable agreement of the data is noticed.

Moitra, A.↗

Robustness issues in boundary feedback of flexible structures

Transfer function models for basic structural elements with boundary control reveal certain inherent properties relevant to questions of control system realization, design, and analysis of robustness. The transfer functions involved are not strictly proper, may be nonminimum phase (except for the special case of colocated actuation and sensing), and often have large number of poles on the imaginary axis. In this paper these basic questions are considered in terms of modeling and control system design for robustness. The application of algebraic methods for computing stabilizing control, based on certain exact, irrational transfer functions is investigated. Boundary control of the wave equation is considered and extension of the method to more general problems is suggested. Special attention is given to implementation issues associated with a class of infinite dimensional control laws.

Bennett, W. H.↗

Implementation of control point form of algebraic grid-generation technique

The control point form (CPF) provides explicit control of physical grid shape and grid spacing through the movement of the control points. The control point array, called a control net, is a space grid type arrangement of locations in physical space with an index for each direction. As an algebraic method CPF is efficient and works well with interactive computer graphics. A family of menu-driven, interactive grid-generation computer codes (TURBO) is being developed by using CPF. Key features of TurboI (a TURBO member) are discussed and typical results are presented. TurboI runs on any IRIS 4D series workstation.

Choo, Yung K.↗

GridMan: A grid manipulation system

GridMan is an interactive grid manipulation system. It operates on grids to produce new grids which conform to user demands. The input grids are not constrained to come from any particular source. They may be generated by algebraic methods, elliptic methods, hyperbolic methods, parabolic methods, or some combination of methods. The methods are included in the various available structured grid generation codes. These codes perform the basic assembly function for the various elements of the initial grid. For block structured grids, the assembly can be quite complex due to a large number of clock corners, edges, and faces for which various connections and orientations must be properly identified. The grid generation codes are distinguished among themselves by their balance between interactive and automatic actions and by their modest variations in control. The basic form of GridMan provides a much more substantial level of grid control and will take its input from any of the structured grid generation codes. The communication link to the outside codes is a data file which contains the grid or section of grid.

Eiseman, Peter R.↗

Implementation of control point form of algebraic grid-generation technique

The control point form (CPF) provides explicit control of physical grid shape and grid spacing through the movement of the control points. The control point array, called a control net, is a space grid type arrangement of locations in physical space with an index for each direction. As an algebraic method CPF is efficient and works well with interactive computer graphics. A family of menu-driven, interactive grid-generation computer codes (TURBO) is being developed by using CPF. Key features of TurboI (a TURBO member) are discussed and typical results are presented. TurboI runs on any IRIS 4D series workstation.

Choo, Yung K.↗

The harmonic oscillator and nuclear physics

The three-dimensional harmonic oscillator plays a central role in nuclear physics. It provides the underlying structure of the independent-particle shell model and gives rise to the dynamical group structures on which models of nuclear collective motion are based. It is shown that the three-dimensional harmonic oscillator features a rich variety of coherent states, including vibrations of the monopole, dipole, and quadrupole types, and rotations of the rigid flow, vortex flow, and irrotational flow types. Nuclear collective states exhibit all of these flows. It is also shown that the coherent state representations, which have their origins in applications to the dynamical groups of the simple harmonic oscillator, can be extended to vector coherent state representations with a much wider range of applicability. As a result, coherent state theory and vector coherent state theory become powerful tools in the application of algebraic methods in physics.

Rowe, D. J.↗

GENIE(++): A Multi-Block Structured Grid System

The computer code GENIE++ is a continuously evolving grid system containing a multitude of proven geometry/grid techniques. The generation process in GENIE++ is based on an earlier version. The process uses several techniques either separately or in combination to quickly and economically generate sculptured geometry descriptions and grids for arbitrary geometries. The computational mesh is formed by using an appropriate algebraic method. Grid clustering is accomplished with either exponential or hyperbolic tangent routines which allow the user to specify a desired point distribution. Grid smoothing can be accomplished by using an elliptic solver with proper forcing functions. B-spline and Non-Uniform Rational B-splines (NURBS) algorithms are used for surface definition and redistribution. The built in sculptured geometry definition with desired distribution of points, automatic Bezier curve/surface generation for interior boundaries/surfaces, and surface redistribution is based on NURBS. Weighted Lagrance/Hermite transfinite interpolation methods, interactive geometry/grid manipulation modules, and on-line graphical visualization of the generation process are salient features of this system which result in a significant time savings for a given geometry/grid application.

Williams, Tonya↗

Pose Estimation in the Geometric Algebra G (3, 0, 1)

Using techniques from Geometric Algebra, methods for solving attitude determination problems are extended to the problem of simultaneously estimating attitude and location, i.e. pose, from direct or indirect measurements of geometric objects including points, lines, and planes. Wahba’s problem is generalized for the solution of initial pose. The multiplicative extended Kalman filter is generalized for the maintenance of pose solutions. Farrankopf’s model for biases in rotation rate sensors is generalized to biases in twist rate measurements. A multiplicative extended Kalman filter for pose in the presence of such biases is developed.

Sensor Bias Modeling↗

A grid spacing control technique for algebraic grid generation methods

A technique which controls the spacing of grid points in algebraically defined coordinate transformations is described. The technique is based on the generation of control functions which map a uniformly distributed computational grid onto parametric variables defining the physical grid. The control functions are smoothed cubic splines. Sets of control points are input for each coordinate directions to outline the control functions. Smoothed cubic spline functions are then generated to approximate the input data. The technique works best in an interactive graphics environment where control inputs and grid displays are nearly instantaneous. The technique is illustrated with the two-boundary grid generation algorithm.

Smith, R. E.↗

Algebraic grid adaptation method using non-uniform rational B-spline surface modeling

An algebraic adaptive grid system based on equidistribution law and utilized by the Non-Uniform Rational B-Spline (NURBS) surface for redistribution is presented. A weight function, utilizing a properly weighted boolean sum of various flow field characteristics is developed. Computational examples are presented to demonstrate the success of this technique.

Yang, Jiann-Cherng↗

Optimal Transfer Operators in Algebraic Two-Level Methods for Nonsymmetric and Indefinite Problems

Consider an algebraic two-level method applied to the 𝑛-dimensional linear system 𝐴⁢𝒙 = 𝒃 using fine-space preconditioner (i.e., “relaxation” or “smoother”) 𝑀, with 𝑀 ≈ 𝐴, restriction and interpolation 𝑅 and 𝑃, and algebraic coarse-space operator 𝐴 𝑐 : = 𝑅 ∗ ⁢𝐴⁢𝑃. Then, what are the best possible transfer operators 𝑅 and 𝑃 of a given dimension 𝑛 𝑐 < 𝑛? Brannick et al. [12] showed that when 𝐴 and 𝑀 are Hermitian positive definite (HPD), the optimal interpolation is such that its range contains the 𝑛 𝑐 smallest generalized eigenvectors of the matrix pencil (𝐴, 𝑀). Recently, in Ali et al. [5] we generalized this framework to the non-HPD setting, by considering both right (interpolation) and left (restriction) generalized eigenvectors of (𝐴, 𝑀) and defining corresponding nonsymmetric transfer operators {𝑅#, 𝑃#}. Tight convergence bounds for {𝑅#, 𝑃#} are derived in spectral radius, as well as a proof of pseudo-optimality. Note, {𝑅#, 𝑃#} are typically complex valued, which is not practical for real-valued problems. Here, in this work, we build on [5], first characterizing all inner products in which the coarse-space correction defined by {𝑅#, 𝑃#} is orthogonal. We then develop tight two-level convergence bounds in these norms, and prove that the underlying transfer operators {𝑅#, 𝑃#} are genuinely optimal. As a special case, our theory both recovers and extends the HPD results from [12]. Finally, we show how to construct optimal, real-valued transfer operators in the case of that 𝐴 and 𝑀 are real valued, but are not HPD. Numerical examples arising from a discretized advection-reaction equation, wave-equation, and Stokes equations are used to verify and illustrate the theory.

97 MATHEMATICS AND COMPUTING↗

Improved Blending-Function Algebraic Generation Of Grids

Method of algebraic generation of grids used in computing flows incorporates blending-function techniques to obtain high degree of orthogonality of each grid on its bounding surfaces and to blend grid smoothly, making it conform to all boundaries. Demonstrated in two dimensions, and applied in continuing development of software for real-time interactive generation of three-dimensional grids with color graphical displays. Software used routinely in generating grids for computing flows of practical interest.

Ching-Chung Luh, Raymond↗