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At least 829 records · Page 46

Real-time fuzzy inference based robot path planning

This project addresses the problem of adaptive trajectory generation for a robot arm. Conventional trajectory generation involves computing a path in real time to minimize a performance measure such as expended energy. This method can be computationally intensive, and it may yield poor results if the trajectory is weakly constrained. Typically some implicit constraints are known, but cannot be encoded analytically. The alternative approach used here is to formulate domain-specific knowledge, including implicit and ill-defined constraints, in terms of fuzzy rules. These rules utilize linguistic terms to relate input variables to output variables. Since the fuzzy rulebase is determined off-line, only high-level, computationally light processing is required in real time. Potential applications for adaptive trajectory generation include missile guidance and various sophisticated robot control tasks, such as automotive assembly, high speed electrical parts insertion, stepper alignment, and motion control for high speed parcel transfer systems.

Pacini, Peter J.↗

Melt production in large-scale impact events: Planetary observations and implications

Differences in scaling relationships for crater formation and the generation of impact melt should lead to a variety of observable features and phenomena. These relationships infer that the volume of the transient cavity (and final crater) relative to the volume of impact melt (and the depth to which melting occurs) decreases as the effects of gravity and impact velocity increase. Since planetary gravity and impact velocity are variables in the calculation of cavity and impact-melt volumes, the implications of the model calculation will vary between planetary bodies. Details of the model calculations of impact-melt generation as a function of impact and target physical conditions were provided elsewhere, as were attempts to validate the model through ground-truth data on melt volumes, shock attenuation, and morphology from terrestrial impact craters.

Cintala, Mark J.↗

Design optimization and probabilistic analysis of a hydrodynamic journal bearing

A nonlinear constrained optimization of a hydrodynamic bearing was performed yielding three main variables: radial clearance, bearing length to diameter ratio, and lubricating oil viscosity. As an objective function a combined model of temperature rise and oil supply has been adopted. The optimized model of the bearing has been simulated for population of 1000 cases using Monte Carlo statistical method. It appeared that the so called 'optimal solution' generated more than 50 percent of failed bearings, because their minimum oil film thickness violated stipulated minimum constraint value. As a remedy change of oil viscosity is suggested after several sensitivities of variables have been investigated.

Liniecki, Alexander G.↗

QBO Influence on Polar Stratospheric Variability in the GEOS Chemistry-Climate Model

The quasi-biennial oscillation modulates the strength of both the Arctic and Antarctic stratospheric vortices. Model and observational studies have found that the phase and characteristics of the quasi-biennial oscillation (QBO) contribute to the high degree of variability in the Arctic stratosphere in winter. While the Antarctic stratosphere is less variable, recent work has shown that Southern Hemisphere planetary wave driving increases in response to "warm pool" El Nino events that are coincident with the easterly phase of the QBO. These events hasten the breakup of the Antarctic polar vortex. The Goddard Earth Observing System (GEOS) chemistry-climate model (CCM) is now capable of generating a realistic QBO, due a new parameterization of gravity wave drag. In this presentation, we will use this new model capability to assess the influence of the QBO on polar stratospheric variability. Using simulations of the recent past, we will compare the modeled relationship between QBO phase and mid-winter vortex strength with the observed Holton-Tan relation, in both hemispheres. We will use simulations of the 21 St century to estimate future trends in the relationship between QBO phase and vortex strength. In addition, we will evaluate the combined influence of the QBO and El Nino/Southern Oscillation (ENSO) on the timing of the breakup of the polar stratospheric vortices in the GEOS CCM. We will compare the influence of these two natural phenomena with trends in the vortex breakup associated with ozone recovery and increasing greenhouse gas concentrations.

Hurwitz, M. M.↗

OVERSMART Reporting Tool for Flow Computations Over Large Grid Systems

Structured grid solvers such as NASA's OVERFLOW compressible Navier-Stokes flow solver can generate large data files that contain convergence histories for flow equation residuals, turbulence model equation residuals, component forces and moments, and component relative motion dynamics variables. Most of today's large-scale problems can extend to hundreds of grids, and over 100 million grid points. However, due to the lack of efficient tools, only a small fraction of information contained in these files is analyzed. OVERSMART (OVERFLOW Solution Monitoring And Reporting Tool) provides a comprehensive report of solution convergence of flow computations over large, complex grid systems. It produces a one-page executive summary of the behavior of flow equation residuals, turbulence model equation residuals, and component forces and moments. Under the automatic option, a matrix of commonly viewed plots such as residual histograms, composite residuals, sub-iteration bar graphs, and component forces and moments is automatically generated. Specific plots required by the user can also be prescribed via a command file or a graphical user interface. Output is directed to the user s computer screen and/or to an html file for archival purposes. The current implementation has been targeted for the OVERFLOW flow solver, which is used to obtain a flow solution on structured overset grids. The OVERSMART framework allows easy extension to other flow solvers.

Kao, David L.↗

Kinetically Tunable, Active Auxetic, and Variable Recruitment Active Textiles from Hierarchical Assemblies

Multifunctional textiles with programmable, multi-axial, distributed, and scalable actuation are highly desirable and presently unrealized. 1D torque-unbalanced active yarns within 2D textile structures are exploited to produce soft and scalable active textiles that exhibit tunable displacements, forces, stiffnesses, and kinematic deformations. Through a textile hierarchy spanning active material composition, yarn construction, textile geometry, and system architecture, these active textiles accomplish kinetic tunability, variable recruitment behaviors, and auxetic effects without mechanical contact, called active auxetic effects. New modes of pre-programmed multi-axial performance are enabled by geometrically manipulating—specifically pre-stressing and constraining—active filaments in torsion and leveraging their structural elastic instability within a textile geometry. The new kinematic motion afforded by torque-unbalanced active yarns enhances the performance of active textiles, which accomplish tensile strokes over 40%, generated blocked forces up to 308 N m−1, and specific work over 0.4. kJ kg−1. Advances in active textiles are demonstrated through multifunctional 3D applications, including a variable constriction pump that exhibits sequential actuation, a wearable that conforms multi-axially around the body, and a soft exoskeleton that performs assistive motions and on-body anchoring simultaneously. By harnessing the capabilities of active materials within a textile hierarchy, advances in the potentiality of multifunctional textiles are presented.

Active auxetic effects↗

Detection of Flooding Responses at the River Basin Scale Enhanced by Land use Change

The Georges Creek watershed (area 187.5 sq km) in western Maryland (United States) has experienced land use changes (>17% of area) associated with surface mining of coal. The adjacent Savage River watershed (area 127.2 sq km) is unmined. Moments of flood frequency distributions indicated that climatic variability affected both watersheds similarly. Normalizing annual maximum flows by antecedent streamflow and causative precipitation helped identify trends in flooding response. Analysis of contemporary storm events using Next Generation Weather Radar (NEXRAD) stage III precipitation data showed that Georges Creek floods are characterized by higher peak runoff and a shorter centroid lag than Savage River floods, likely attributable to differences in current land use. Interestingly, Georges Creek produces only two thirds of the storm-flow volume as Savage River, apparently because of infiltration into abandoned deep mine workings and an associated transbasin diversion constructed circa 1900. Empirical trend analysis is thus complicated by both hydroclimatic variability and the legacy of deep mining in the basin.

McCormick, Brian C.↗

Solar Irradiance Variability Monitor for the Galileo Solar Space Telescope Mission: Concept and Challenges

Long and reliable total solar irradiance (TSI) time series is one of the essential parameters for understanding solar contributions to climate change. The minor fluctuations of TSI in long timescales could impact the energy balance. Despite the improvement of accurate measurements provided by the instruments, at the time, long-term TSI variability and its effects had not been established. The space-borne radiometer era provided observations in short timescales from minutes to years. Therefore, this study presents an overview of irradiance observations, highlighting the importance of following its variability in different time scales. In this context, the Galileo Solar Space Telescope that has been developed by the Institute for Space Research (INPE), Brazil, includes the Irradiance Monitor Module with a radiometer cavity like the classical design and a next-generation compact radiometer.

total solar irradiance (TSI)↗

Shuttle Debris Impact Tool Assessment Using the Modern Design of Experiments

Computational tools have been developed to estimate thermal and mechanical reentry loads experienced by the Space Shuttle Orbiter as the result of cavities in the Thermal Protection System (TPS). Such cavities can be caused by impact from ice or insulating foam debris shed from the External Tank (ET) on liftoff. The reentry loads depend on cavity geometry and certain Shuttle state variables, among other factors. Certain simplifying assumptions have been made in the tool development about the cavity geometry variables. For example, the cavities are all modeled as shoeboxes , with rectangular cross-sections and planar walls. So an actual cavity is typically approximated with an idealized cavity described in terms of its length, width, and depth, as well as its entry angle, exit angle, and side angles (assumed to be the same for both sides). As part of a comprehensive assessment of the uncertainty in reentry loads estimated by the debris impact assessment tools, an effort has been initiated to quantify the component of the uncertainty that is due to imperfect geometry specifications for the debris impact cavities. The approach is to compute predicted loads for a set of geometry factor combinations sufficient to develop polynomial approximations to the complex, nonparametric underlying computational models. Such polynomial models are continuous and feature estimable, continuous derivatives, conditions that facilitate the propagation of independent variable errors. As an additional benefit, once the polynomial models have been developed, they require fewer computational resources to execute than the underlying finite element and computational fluid dynamics codes, and can generate reentry loads estimates in significantly less time. This provides a practical screening capability, in which a large number of debris impact cavities can be quickly classified either as harmless, or subject to additional analysis with the more comprehensive underlying computational tools. The polynomial models also provide useful insights into the sensitivity of reentry loads to various cavity geometry variables, and reveal complex interactions among those variables that indicate how the sensitivity of one variable depends on the level of one or more other variables. For example, the effect of cavity length on certain reentry loads depends on the depth of the cavity. Such interactions are clearly displayed in the polynomial response models.

DeLoach, R.↗

Glass Fiber Reinforced Metal Pressure Vessel Design Guide

The Engineering Guide presents curves and general equations for safelife design of lightweight glass fiber reinforced (GFR) metal pressure vessels operating under anticipated Space Shuttle service conditions. The high composite vessel weight efficiency is shown to be relatively insensitive to shape, providing increased flexibility to designers establishing spacecraft configurations. Spheres, oblate speroids, and cylinders constructed of GFR Inconel X-750, 2219-T62 aluminum, and cryoformed 301 stainless steel are covered; design parameters and performance efficiencies for each configuration are compared at ambient and cryogenic temperature for an operating pressure range of 690 to 2760 N/sq cm (1000 to 4000 psi). Design variables are presented as a function of metal shell operating to sizing (proof) stress ratios for use with fracture mechanics data generated under a separate task of this program.

Landes, R. E.↗

Modulation of cosmic ray protons and helium nuclei near solar maximum

Balloon observations of proton and helium spectra in 1970, 1971, and 1972, which extend previous work for the period 1965-1969, reveal a factor of about 1.85 deviation from a single-valued regression at low rigidities. This deviation decreases with increasing rigidity for both species. The period 1969-197 is unique, because time variations at low and high energies were anticorrelated. When satellite observations are used to extend the balloon observations to energies below 100 MeV/nucleon, the proton spectrum shows a steeper slope in 1970 and 1972 than the characteristic J = AT spectrum observed during 1965-1969. The slope of the helium spectrum became continuously flatter during the same period (1970-1972). Computer-generated spectra based on simple two-parameter modulation models describe the basic features of the observations, if one of the variable parameters is used to characterize the rigidity dependence of the diffusion coefficient. On the other hand, models that do not allow such a variation are not consistent with the observations.

Rygg, T. A.↗

Kinetic energy budgets during the life cycle of intense convective activity

Synoptic-scale data at three- and six-hour intervals are employed to study the relationship between changing kinetic energy variables and the life cycles of two severe squall lines. The kinetic energy budgets indicate a high degree of kinetic energy generation, especially pronounced near the jet-stream level. Energy losses in the storm environment are due to the transfer of kinetic energy from grid to subgrid scales of motion; large-scale upward vertical motion carries aloft the kinetic energy generated by storm activity at lower levels. In general, the time of maximum storm intensity is also the time of maximum energy conversion and transport.

Fuelberg, H. E.↗

A computer program for determining truncation error coefficients for Runge-Kutta methods

The basic structure of a program to generate the truncation error coefficients for Runge-Kutta (RK) methods is reformulated to reduce storage requirements significantly and to accommodate variable dimensioning. This FORTRAN program, SUBROUTINE RKEQ, determines truncation error coefficients for RK algorithms for orders 1 through 10 and extends the order of coefficients through 12 with the 11th- and 12th-order terms determined following the patterns used to establish the lower order coefficients. Both subroutines (the original and RKEQ) are also written to treat RK m-fold methods which utilize m known derivatives of f to increase the order of the algorithm. Setting m = 0 gives the classical RK algorithm.

Horn, M. K.↗

Turbine modeling technique to generate off-design performance data for both single and multistage axial-flow turbines

This technique is applicable to larger axial flow turbines which may or may not incorporate variable geometry in the first stage stator. A user specified option will also permit the calculation of design point cooling flow levels and the corresponding change in turbine efficiency. The modeling technique was incorporated into a time sharing computer program in order to facilitate its use. Because this report contains a description of the input output data, values of typical inputs, and example cases, it is suitable as a user's manual.

Converse, G. L.↗

A study of resonant-cavity and fiberglass-filled parallel baffles as duct silencers

Acoustical performance and pressure drop were measured for two types of splitters designed to attenuate sound propagating in ducts - resonant-cavity baffles and fiberglass-filled baffles. Arrays of four baffles were evaluated in the 7- by 10-foot wind tunnel number 1 at Ames Research Center at flow speeds from 0 to 41 m/sec. The baffles were 2.1 m high, 305 to 406 mm thick, and 3.1 to 4.4 m long. Emphasis was on measurements of silencer insertion loss as affected by variations of such parameters as baffle length, baffle thickness, perforated skin geometry, cavity size and shape, cavity damping, wind speed, and acoustic field directivity. An analytical method for predicting silencer performance is described and compared with measurements. With the addition of cavity damping in the form of 25-mm foam linings, the insertion loss above 250 Hz of the resonant-cavity baffles was improved 2 to 7 db compared with the undamped baffles; the loss became equal to or greater than the insertion loss of comparable size fiberglass baffles at frequencies above 250 Hz. Variations of cavity size and shape showed that a series of cavities with triangular cross-sections (i.e., variable depth) were superior to cavities with rectangular cross sections (i.e., constant depth). In wind, the undamped, resonant-cavity baffles generated loud cavity-resonance tones; the tones could be eliminated by cavity damping.

Soderman, P. T.↗

A computer program for the simulation of heat and moisture flow in soils

A computer program that simulates the flow of heat and moisture in soils is described. The space-time dependence of temperature and moisture content is described by a set of diffusion-type partial differential equations. The simulator uses a predictor/corrector to numerically integrate them, giving wetness and temperature profiles as a function of time. The simulator was used to generate solutions to diffusion-type partial differential equations for which analytical solutions are known. These equations include both constant and variable diffusivities, and both flux and constant concentration boundary conditions. In all cases, the simulated and analytic solutions agreed to within the error bounds which were imposed on the integrator. Simulations of heat and moisture flow under actual field conditions were also performed. Ground truth data were used for the boundary conditions and soil transport properties. The qualitative agreement between simulated and measured profiles is an indication that the model equations are reasonably accurate representations of the physical processes involved.

Camillo, P.↗

Characterization of geostationary particle signatures based on the 'injection boundary' model

A simplified analytical procedure is used to characterize the details of geostationary particle signatures, in order to lend support to the 'injection boundary' concept. The signatures are generated by the time-of-flight effects evolving from an initial sharply defined, double spiraled boundary configuration. Complex and highly variable dispersion patterns often observed by geostationary satellites are successfully reproduced through the exclusive use of the most fundamental convection configuration characteristics. Many of the details of the patterns have not been previously presented. It is concluded that most of the dynamical dispersion features can be mapped to the double spiral boundary without further ad hoc assumptions, and that predicted and observed dispersion patterns exhibit symmetries distinct from those associated with the quasi-stationary particle convection patterns.

Mauk, B. H.↗

A flexible grid embedding technique with application to the Euler equations

An automated grid embedding procedure for solution of flows about complex geometries is described. The physical domain is subdivided into regions that can accommodate easily generated grids. The grids are organized in a hierarchical structure, and communication among grids is accomplished by interpolation of the flow variables at mesh boundaries. Algorithms for locating embedded boundaries, special treatment of the embedded grids, and the data structures required for manipulating the solution data are described. The method is demonstrated by solution of the Euler equations for transonic flow about a supercritical airfoil and a flapped airfoil.

Benek, J. A.↗