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At least 865 records · Page 48

Control of a Serpentine Robot for Inspection Tasks

This paper presents a simple and robust kinematic control scheme for the JPL serpentine robot system. The proposed strategy is developed using the dampened-least-squares/configuration control methodology, and permits the considerable dexterity of the JPL serpentine robot to be effectively utilized for maneuvering in the congested and uncertain workspaces often encountered in inspection tasks. Computer simulation results are given for the 20 degree-of-freedom (DOF) manipulator system obtained by mounting the twelve DOF serpentine robot at the end-effector of an eight DOF Robotics Research arm/lathe-bed system. These simulations demonstrate that the proposed approach provides an effective method of controlling this complex system.

robotics simulations kinematic control serpentine ↗

Six degree of freedom simulation system for evaluating automated rendezvous and docking spacecraft

Future logistics supply and servicing vehicles such as cargo transfer vehicles (CTV) must have full 6 degree of freedom (6DOF) capability in order to perform requisite rendezvous, proximity operations, and capture operations. The design and performance issues encountered when developing a 6DOF maneuvering spacecraft are very complex with subtle interactions which are not immediately obvious or easily anticipated. In order to deal with these complexities and develop robust maneuvering spacecraft designs, a simulation system and associated family of tools are used at TRW for generating and validating spacecraft performance requirements and guidance algorithms. An overview of the simulator and tools is provided. These are used by TRW for autonomous rendezvous and docking research projects including CTV studies.

Rourke, Kenneth H.↗

Close to real life

NASA's Numerical Aerodynamic Simulation (NAS) facility for CFD modeling of highly complex aerodynamic flows employs as its basic hardware two Cray-2s, an ETA-10 Model Q, an Amdahl 5880 mainframe computer that furnishes both support processing and access to 300 Gbytes of disk storage, several minicomputers and superminicomputers, and a Thinking Machines 16,000-device 'connection machine' processor. NAS, which was the first supercomputer facility to standardize operating-system and communication software on all processors, has done important Space Shuttle aerodynamics simulations and will be critical to the configurational refinement of the National Aerospace Plane and its intergrated powerplant, which will involve complex, high temperature reactive gasdynamic computations.

Peterson, Victor L.↗

Man-Machine Integration Design and Analysis System (MIDAS) v5: Augmentations, Motivations, and Directions for Aeronautics Applications

As automation and advanced technologies are introduced into transport systems ranging from the Next Generation Air Transportation System termed NextGen, to the advanced surface transportation systems as exemplified by the Intelligent Transportations Systems, to future systems designed for space exploration, there is an increased need to validly predict how the future systems will be vulnerable to error given the demands imposed by the assistive technologies. One formalized approach to study the impact of assistive technologies on the human operator in a safe and non-obtrusive manner is through the use of human performance models (HPMs). HPMs play an integral role when complex human-system designs are proposed, developed, and tested. One HPM tool termed the Man-machine Integration Design and Analysis System (MIDAS) is a NASA Ames Research Center HPM software tool that has been applied to predict human-system performance in various domains since 1986. MIDAS is a dynamic, integrated HPM and simulation environment that facilitates the design, visualization, and computational evaluation of complex man-machine system concepts in simulated operational environments. The paper will discuss a range of aviation specific applications including an approach used to model human error for NASA s Aviation Safety Program, and what-if analyses to evaluate flight deck technologies for NextGen operations. This chapter will culminate by raising two challenges for the field of predictive HPMs for complex human-system designs that evaluate assistive technologies: that of (1) model transparency and (2) model validation.

Gore, Brian F.↗

Organic Synthesis in Simulated Interstellar Ice Analogs

Comets and carbonaceous micrometeorites may have been significant sources of organic compounds on the early Earth. Ices on grains in interstellar dense molecular clouds contain a variety of simple molecules as well as aromatic molecules of various sizes. While in these clouds the icy grains are processed by ultraviolet light and cosmic radiation which produces more complex organic molecules. ID We have run laboratory simulations to identify the types of molecules which could have been generated photolytically in pre-cometary ices. Experiments were conducted by forming various realistic interstellar mixed-molecular ices with and without polycyclic aromatic hydrocarbons (PAHs) at approx. 10 K under high vacuum irradiated with LTV light from a hydrogen plasma lamp: The residue that remained after warming to room temperature was analyzed by HPLC, and by laser desorption mass spectrometry. The residue contains several classes of compounds which may be of prebiotic significance.

Dworkin, Jason P.↗

Acceleration of FDNS flow simulations using initial flowfields generated with a parabolized Navier-Stokes method

The capability of computational fluid dynamics (CFD) analysis to predict complex flowfields has been greatly advanced by the widespread use of flow simulation programs based on the Navier-Stokes (NS) equations. The flow physics are theoretically well represented, and with proper care the numerical solution should not introduce appreciable uncertainties. However, the computational cost of a typical simulation in terms of both memory and execution time are large by current standards. Therefore, the efficiency of the numerical algorithm in solving the set of model equations is one factor determining the usefulness of CFD tools. The objective of the present study is to reduce the execution time of the FDNS flow simulation code by using the parabolized Navier-Stokes (PNS) equations to provide a 'good' starting condition. The technique is not universal, however the PNS model can be applied to convection dominated flows with moderate deflection in geometries that are free of large obstructions.

Tenpas, Peter W.↗

Characterizing the subglacial environment of lower Thwaites Glacier using radar modeling

Understanding the spatial heterogeneity beneath Thwaites Glacier, West Antarctica, is vital to projecting its impact on future sea levels. Radar-echo sounding (RES) is commonly used to infer subglacial conditions, but these data can be challenging to interpret. We assess basal heterogeneity across Thwaites Glacier by comparing RES returns to a radar backscattering simulator for over 400 km of RES data. The modeled variations in bed returned power exhibited a strong correlation with actual RES data in 40% of our simulated flight segments, which we consider evidence for a relatively homogeneous glacier bed. Other sites (40%) demonstrated improved fit quality when hydrology or substrate transitions were introduced in the bed material model. The remaining simulated segments (20%) were diagnosed as having more complex basal heterogeneity. The spatial distribution of complex heterogeneity appears to coincide with asymmetric patterns in the RES specularity content, which has been interpreted in previous studies as a signature for channelized hydrology. Conversely, the homogeneous substrate locations coincide with areas of fast-moving ice in western Thwaites. Our simulation method can isolate power variations induced by material heterogeneity vs topography, which is an important limitation of existing RES analysis methods.

Antarctic glaciology↗

Lessons Learned from Radiative Transfer Simulations of the Venus Atmosphere

The Venus atmosphere is extremely complex, and because of this the spectrum of Earths sister planet is likewise intricate and a challenge to model accurately. However, accurate modeling of Venus spectrum opens up multiple opportunities to better understand the planet next door, and even for understanding Venus-like planets beyond our solar system. Near-infrared (1-2.5 um, NIR) spectral windows observable on the Venus nigthside present the opportunity to probe beneath the Venusian cloud deck and measure thermal emission from the surface and lower atmosphere remotely from Earth or from orbit. These nigthside spectral windows were discovered by Allen and Crawford (1984) and have since been used measure trace gas abundances in the Venus lower atmosphere (less than 45 km), map surface emissivity varisions, and measure properties of the lower cloud deck. These windows sample radiation from below the cloud base at roughly 45 km, and pressures in this region range from roughly Earthlike (approx. 1 bar) up to 90 bars at the surface. Temperatures in this region are high: they range from about 400 K at the base of the cloud deck up to about 740 K at the surface. This high temperature and pressure presents several challenges to modelers attempting radiative transfer simulations of this region of the atmosphere, which we will review. Venus is also important to spectrally model to predict the remote observables of Venus-like exoplanets in anticipation of data from future observatories. Venus-like planets are likely one of the most common types of terrestrial planets and so simulations of them are valuable for planning observatory and detector properties of future telescopes being designed, as well as predicting the types of observations required to characterize them.

Arney, G.↗

The use of Ada in distributed simulations

The increasing need for detailed information about systems of continually growing complexity enhances steadily the demands regarding the employed models. The present investigation is concerned with work related to the development of high-performance computer hardware intended for the support of the real-time simulation of jet engines. The hardware is structured in the form of a network of communicating microprocessors running in parallel. The need for a higher-order language capability for programming such a network has led to the research considered in this study. Attention is given to the hardware which is being developed, an abstract model, programming language considerations, research considerations, research objectives, Ada tasks, Ada packages, the Ada model, the mapping of the model to the hardware, a precompiler example, and the advantages of Ada.

Collins, W. R.↗

Pitfalls and guidelines for the numerical evaluation of moderate-order system frequency response

The design and evaluation of a feedback control system via frequency response methods relies heavily upon numerical methods. In application, one can usually develop low order simulation models which for the most part are devoid of numerical problems. However, when complex feedback interactions, for example, between instrument control systems and their flexible mounting structure, must be evaluated, simulation models become moderate to large order and numerical problems become common. A large body of relevant numerical error analysis literature is summarized in a large language understandable to nonspecialists. The intent is to provide engineers using simulation models with an engineering feel for potential numerical problems without getting intertwined in the complexities of the associated mathematical theory. Guidelines are also provided by suggesting alternate state of the art methods which have good numerical evaluation characteristics.

Frisch, H. P.↗

Budget study of a mesoscale convective system - Model simulation

A tropical squall-type cloud cluster is examined as an example of a mesoscale convective complex. The precipitation growth processes and air circulations that develop in the convective and stratiform regions are studied using a data set generated from a time-dependent numerical cloud model. The relationship of the stratiform region of the mesoscale convective complex is discussed. The vertical profiles of heating and drying are calculated. Comparisons are made between simulations with and without ice-phase microphysical processes and a simulation with forcing by weaker lifting at middle and upper levels.

Tao, Wei-Kuo↗

Data flow modeling techniques

There have been a number of simulation packages developed for the purpose of designing, testing and validating computer systems, digital systems and software systems. Complex analytical tools based on Markov and semi-Markov processes have been designed to estimate the reliability and performance of simulated systems. Petri nets have received wide acceptance for modeling complex and highly parallel computers. In this research data flow models for computer systems are investigated. Data flow models can be used to simulate both software and hardware in a uniform manner. Data flow simulation techniques provide the computer systems designer with a CAD environment which enables highly parallel complex systems to be defined, evaluated at all levels and finally implemented in either hardware or software. Inherent in data flow concept is the hierarchical handling of complex systems. In this paper we will describe how data flow can be used to model computer system.

Kavi, K. M.↗

Evaluation of microwave landing system approaches in a wide-body transport simulator

The objective of this study was to determine the suitability of flying complex curved approaches using the microwave landing system (MLS) with a wide-body transport aircraft. Fifty pilots in crews of two participated in the evaluation using a fixed-base simulator that emulated an MD-11 aircraft. Five approaches, consisting of one straight-in approach and four curved approaches, were flown by the pilots using a flight director. The test variables include the following: (1) manual and autothrottles; (2) wind direction; and (3) type of navigation display. The navigation display was either a map or a horizontal situation indicator (HSI). A complex wind that changed direction and speed with altitude, and included moderate turbulence, was used. Visibility conditions were Cat 1 or better. Subjective test data included pilot responses to questionnaires and pilot comments. Objective performance data included tracking accuracy, position error at decision height, and control activity. Results of the evaluation indicate that flying curved MLS approaches with a wide-body transport aircraft is operationally acceptable, depending upon the length of the final straight segment and the complexity of the approach.

Summers, L. G.↗

Robust Timing Synchronization in Aeronautical Mobile Communication Systems

This work details a study of robust synchronization schemes suitable for satellite to mobile aeronautical applications. A new scheme, the Modified Sliding Window Synchronizer (MSWS), is devised and compared with existing schemes, including the traditional Early-Late Gate Synchronizer (ELGS), the Gardner Zero-Crossing Detector (GZCD), and the Sliding Window Synchronizer (SWS). Performance of the synchronization schemes is evaluated by a set of metrics that indicate performance in digital communications systems. The metrics are convergence time, mean square phase error (or root mean-square phase error), lowest SNR for locking, initial frequency offset performance, midstream frequency offset performance, and system complexity. The performance of the synchronizers is evaluated by means of Matlab simulation models. A simulation platform is devised to model the satellite to mobile aeronautical channel, consisting of a Quadrature Phase Shift Keying modulator, an additive white Gaussian noise channel, and a demodulator front end. Simulation results show that the MSWS provides the most robust performance at the cost of system complexity. The GZCD provides a good tradeoff between robustness and system complexity for communication systems that require high symbol rates or low overall system costs. The ELGS has a high system complexity despite its average performance. Overall, the SWS, originally designed for multi-carrier systems, performs very poorly in single-carrier communications systems. Table 5.1 in Section 5 provides a ranking of each of the synchronization schemes in terms of the metrics set forth in Section 4.1. Details of comparison are given in Section 5. Based on the results presented in Table 5, it is safe to say that the most robust synchronization scheme examined in this work is the high-sample-rate Modified Sliding Window Synchronizer. A close second is its low-sample-rate cousin. The tradeoff between complexity and lowest mean-square phase error determines the rankings of the Gardner Zero-Crossing Detector and both versions of the Early-Late Gate Synchronizer. The least robust models are the high and low-sample-rate Sliding Window Synchronizers. Consequently, the recommended replacement synchronizer for NASA's Advanced Air Transportation Technologies mobile aeronautical communications system is the high-sample-rate Modified Sliding Window Synchronizer. By incorporating this synchronizer into their system, NASA can be assured that their system will be operational in extremely adverse conditions. The quick convergence time of the MSWS should allow the use of high-level protocols. However, if NASA feels that reduced system complexity is the most important aspect of their replacement synchronizer, the Gardner Zero-Crossing Detector would be the best choice.

Xiong, Fu-Qin↗

Application of a neural network to simulate analysis in an optimization process

A new experimental software package called NETS/PROSSS aimed at reducing the computing time required to solve a complex design problem is described. The software combines a neural network for simulating the analysis program with an optimization program. The neural network is applied to approximate results of a finite element analysis program to quickly obtain a near-optimal solution. Results of the NETS/PROSSS optimization process can also be used as an initial design in a normal optimization process and make it possible to converge to an optimum solution with significantly fewer iterations.

Rogers, James L.↗

Using Machine Learning to Estimate Surface-Level SO2 Concentrations from Satellite-Based Measurements

Sulfur dioxide (SO2) is a criteria air pollutant due to its contributions to aerosol formation, rainfall acidification, and harm to human health. The placement of air quality monitoring sites is typically biased towards urban areas, leaving large areas with very limited monitoring data. The Ozone Monitoring Instrument (OMI) has been used to provide estimates of SO2 vertical column densities (VCDs) globally at spatial resolution of 10s of kms once per day. OMI SO2 VCDs have been previously used to estimate surface SO2 concentrations using chemical transport model (CTM) simulations. The CTMs use estimated emissions and assimilated meteorological data, and simulate the chemical and physical processes that determine the vertical profile of SO2, which can be used to derive a ratio between the surface concentrations and VCDs. These models are complex, computationally expensive, and have large uncertainties in the simulated surface-to-VCD ratio due to biases in emissions and relatively coarse resolution. Machine learning techniques are comparatively easier to use, much less computationally expensive to use after training, and can produce more accurate estimations of surface concentrations than the CTM-based method. The interpretation of machine learning models often poses challenges, and in some cases, non-physical variables unrelated to SO2 are used as predictors. In this work, we create an artificial neural network (ANN) to relate OMI retrievals and archived GEOS-FP boundary layer heights to surface SO2 concentrations from the ChinaHighAirPollutants ChinaHighSO2 dataset (CHAP; Wei et al., 2023) on a seasonal average timescale from 2013-2018. Our model only utilizes five variables that are directly relevant to the satellite retrieval, lifetime, and spatial distribution of SO2. The model was trained on 16 seasons (four of each) with independent validation (one of each season) and testing datasets (one of each season) to avoid overfitting. Our ANN generates surface SO2 concentrations that are sensitive (slope = 0.51) and consistent (r = 0.74) with the CHAP data, but are underpredicted by an average of 1.2 ppbv with a mean absolute error of 2.2 ppbv. These results are better than recent studies utilizing the CTM method. To our knowledge, this is the best performing machine learning model that only uses physical variables to predict surface SO2. Our work demonstrates that a carefully constructed, simple ML model can accurately estimate surface-based SO2 concentrations from satellite VCD measurements, and this technique has future promise to expend to newer, higher resolution satellites and other air pollutants.

SO2, air quality, OMI, machine learning↗

A nested-grid mesoscale numerical weather prediction model modified for Space Shuttle operational requirements

A nested-grid mesoscale atmospheric simulation system (MASS) is tested over Florida for the case of intense seabreeze-induced convection. The goal of this modeling system is to provide real-time aviation weather support which is designed to fit local terminal operations such as those supporting NASA's STS. Results from a 58 km and a 14.5 km nested-grid simulation show that this version of the MASS is capable of simulating many of the basic characteristics of convective complexes during periods of relatively weak synoptic scale flow regimes. However, it is noted that extensive development work is required with nested-grid cumulus and planetary boundary layer parameterization schemes before many of the meso-beta scale features such as thunderstorm downdraft-produced bubble high pressure centers can be accurately simulated. After these schemes are properly tuned, MASS can be utilized to initialize microscale modeling systems.

Kaplan, M. L.↗

Check-Cases for Verification of 6-Degree-of-Freedom Flight Vehicle Simulations: Appendices - Volume 2

This NASA Engineering and Safety Center (NESC) assessment was established to develop a set of time histories for the flight behavior of increasingly complex example aerospacecraft that could be used to partially validate various simulation frameworks. The assessment was conducted by representatives from several NASA Centers and an open-source simulation project. This document contains details on models, implementation, and results.

Murri, Daniel G.↗