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All sourcesNASA NTRSDOE OSTI
NASA NTRS1995

Scientific Visualization and Computational Science: Natural Partners

Scientific visualization is developing rapidly, stimulated by computational science, which is gaining acceptance as a third alternative to theory and experiment. Computational science is based on numerical simulations of mathematical models derived from theory. But each individual simulation is like a hypothetical experiment; initial conditions are specified, and the result is a record of the observed conditions. Experiments can be simulated for situations that can not really be created or controlled. Results impossible to measure can be computed.. Even for observable values, computed samples are typically much denser. Numerical simulations also extend scientific exploration where the mathematics is analytically intractable. Numerical simulations are used to study phenomena from subatomic to intergalactic scales and from abstract mathematical structures to pragmatic engineering of everyday objects. But computational science methods would be almost useless without visualization. The obvious reason is that the huge amounts of data produced require the high bandwidth of the human visual system, and interactivity adds to the power. Visualization systems also provide a single context for all the activities involved from debugging the simulations, to exploring the data, to communicating the results. Most of the presentations today have their roots in image processing, where the fundamental task is: Given an image, extract information about the scene. Visualization has developed from computer graphics, and the inverse task: Given a scene description, make an image. Visualization extends the graphics paradigm by expanding the possible input. The goal is still to produce images; the difficulty is that the input is not a scene description displayable by standard graphics methods. Visualization techniques must either transform the data into a scene description or extend graphics techniques to display this odd input. Computational science is a fertile field for visualization research because the results vary so widely and include things that have no known appearance. The amount of data creates additional challenges for both hardware and software systems. Evaluations of visualization should ultimately reflect the insight gained into the scientific phenomena. So making good visualizations requires consideration of characteristics of the user and the purpose of the visualization. Knowledge about human perception and graphic design is also relevant. It is this breadth of knowledge that stimulates proposals for multidisciplinary visualization teams and intelligent visualization assistant software. Visualization is an immature field, but computational science is stimulating research on a broad front.

Uselton, Samuel P.↗
NASA NTRS2006

General Matrix Inversion for the Calibration of Electric Field Sensor Arrays on Aircraft Platforms

We have developed a matrix calibration procedure that uniquely relates the electric fields measured at the aircraft with the external vector electric field and net aircraft charge. Our calibration method is being used with all of our aircraft/electric field sensing combinations and can be generalized to any reasonable combination of electric field measurements and aircraft. We determine a calibration matrix that represents the individual instrument responses to the external electric field. The aircraft geometry and configuration of field mills (FMs) uniquely define the matrix. The matrix can then be inverted to determine the external electric field and net aircraft charge from the FM outputs. A distinct advantage of the method is that if one or more FMs need to be eliminated or de-emphasized (for example, due to a malfunction), it is a simple matter to reinvert the matrix without the malfunctioning FMs. To demonstrate our calibration technique, we present data from several of our aircraft programs (ER-2, DC-8, Altus, Citation).

Mach, D. M.↗
NASA NTRS1984

Atmospheric transfer of radiation above an inhomogeneous non-Lambertian reflective ground. I - Theory

A method for solving the three-dimensional equation of transfer for a vertically inhomogeneous atmosphere bounded by a reflecting surface of non-uniform bidirectional reflectance is presented. The technique incorporates a two-dimensional spatial Fourier transform of the transfer equation and solution of the resulting expressions for each Fourier component of the radiation field using the method of Gauss-Seidel iteration. The intensity field in the spatial domain, which is calculated for a variety of altitudes, zenith angles, and azimuths, is reconstructed using the inverse Fourier transform. An empirical surface bidirectional reflectance function is employed, permitting the consideration of non-Lambertian reflective properties.

Diner, D. J.↗
NASA NTRS1985

A software technology evaluation program

A set of quantitative approaches is presented for evaluating software development methods and tools. The basic idea is to generate a set of goals which are refined into quantifiable questions which specify metrics to be collected on the software development and maintenance process and product. These metrics can be used to characterize, evaluate, predict, and motivate. They can be used in an active as well as passive way by learning form analyzing the data and improving the methods and tools based upon what is learned from that analysis. Several examples were given representing each of the different approaches to evaluation. The cost of the approaches varied inversely with the level of confidence in the interpretation of the results.

Novaes-Card, David N.↗
NASA NTRS1990

Random-Field Estimation For Dynamics Of Robots

Report discusses use of random-field mathematical models as alternatives to deterministic models of classical mechanics to describe dynamics of robot arms. These alternative models used to establish relationship between methods of estimation theory and robot dynamics. Approach yields new class of algorithms performing computations typical of estimation theory to solve such fundamental problems in robotics as forward and inverse dynamics and inverse kinematics.

Rodriguez, Guillermo↗
NASA NTRS1991

Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist

The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.

Nguyen, Charles C.↗
NASA NTRS1993

Scalar gain interpretation of large order filters

A technique is developed which demonstrates how to interpret a large fully-populated filter gain matrix as a set of scalar gains. The inverse problem is also solved, namely, how to develop a large-order filter gain matrix from a specified set of scalar gains. Examples are given to illustrate the method.

Mason, Paul A. C.↗
NASA NTRS2000

Validation of a "Kane's Dynamics" Model for the Active Rack Isolation System

Many microgravity space-science experiments require vibratory acceleration levels unachievable without active isolation. The Boeing Corporation's Active Rack Isolation System (ARIS) employs a novel combination of magnetic actuation and mechanical linkages, to address these isolation requirements on the International Space Station (ISS). ARIS provides isolation at the rack (international Standard Payload Rack, or ISPR) level. Effective model-based vibration isolation requires (1) an isolation device, (2) an adequate dynamic (i.e., mathematical) model of that isolator, and (3) a suitable, corresponding controller, ARIS provides the ISS response to the first requirement. In November 1999, the authors presented a response to the second ("A 'Kane's Dynamics' model for the Active Rack Isolation System", Hampton and Beech) intended to facilitate an optimal-controls approach to the third. This paper documents the validation of that high-fidelity dynamic model of ARIS. As before, this model contains the full actuator dynamics, however, the umbilical models are not included in this presentation. The validation of this dynamics model was achieved by utilizing two Commercial Off the Shelf (COTS) software tools: Deneb's ENVISION, and Online Dynamics' AUTOLEV. ENVISION is a robotics software package developed for the automotive industry that employs 3-dimensional (3-D) Computer Aided Design (CAD) models to facilitate both forward and inverse kinematics analyses. AUTOLEV is a DOS based interpreter that is designed in general to solve vector based mathematical problems and specifically to solve Dynamics problems using Kane's method.

Beech, Geoffrey S.↗
NASA NTRS2000

Freja Studies of the Current-Voltage Relation in Substorm-Related Events

Field-aligned currents and electrostatic potentials play important roles in the coupling between the magnetosphere and the ionosphere. If one assumes that the ionosphere-magnetosphere potential difference is mainly due to the mirror force, one can use the single particle adiabatic kinetic theory to describe the system. From this theory, a linear relationship j(sub II) = KV between field-aligned current density j(sub II) and potential drop V along the same field line can be derived, provided that the potential drop is not too large and not too small. With rare exceptions, observational tests of this relation have mainly concentrated on quiet magnetospheric situations, with acceleration voltages V approx. less than 5 kV. Here we use observations from the Freja satellite of precipitating auroral electrons at 1.700 km altitude to study substorm related events, with acceleration voltages up to 20 keV. The observations are found to be consistent with a linear current-voltage relation even i n these conditions, although with values of the field aligned K lower than previously reported (1-5 x 10(exp 11 S/sq m). This can be explained by lower densities and higher characteristic electron energies in the magnetospheric source region of the precipitating electrons. We analyze the data by three different methods, which are all found to be in general agreement. The results are in agreement with a previous study, where the spectra of precipitating electrons --were indirectly inferred by inversion of data from the EISCAT incoherent scatter radar, thereby validating the use of radar data for studies of auroral electrons. Comparisons with previous studies are made, emphasizing the dependence of the results on the type of auroral structure and magnetospheric conditions.

Olsson, A.↗
NASA NTRS2004

On Improving Efficiency of Differential Evolution for Aerodynamic Shape Optimization Applications

Differential Evolution (DE) is a simple and robust evolutionary strategy that has been proven effective in determining the global optimum for several difficult optimization problems. Although DE offers several advantages over traditional optimization approaches, its use in applications such as aerodynamic shape optimization where the objective function evaluations are computationally expensive is limited by the large number of function evaluations often required. In this paper various approaches for improving the efficiency of DE are reviewed and discussed. These approaches are implemented in a DE-based aerodynamic shape optimization method that uses a Navier-Stokes solver for the objective function evaluations. Parallelization techniques on distributed computers are used to reduce turnaround times. Results are presented for the inverse design of a turbine airfoil. The efficiency improvements achieved by the different approaches are evaluated and compared.

Madavan, Nateri K.↗
NASA NTRS2004

A "Kane's Dynamics" Model for the Active Rack Isolation System Part Two: Nonlinear Model Development, Verification, and Simplification

Many microgravity space-science experiments require vibratory acceleration levels that are unachievable without active isolation. The Boeing Corporation's active rack isolation system (ARIS) employs a novel combination of magnetic actuation and mechanical linkages to address these isolation requirements on the International Space Station. Effective model-based vibration isolation requires: (1) An isolation device, (2) an adequate dynamic; i.e., mathematical, model of that isolator, and (3) a suitable, corresponding controller. This Technical Memorandum documents the validation of that high-fidelity dynamic model of ARIS. The verification of this dynamics model was achieved by utilizing two commercial off-the-shelf (COTS) software tools: Deneb's ENVISION(registered trademark), and Online Dynamics Autolev(trademark). ENVISION is a robotics software package developed for the automotive industry that employs three-dimensional computer-aided design models to facilitate both forward and inverse kinematics analyses. Autolev is a DOS-based interpreter designed, in general, to solve vector-based mathematical problems and specifically to solve dynamics problems using Kane's method. The simplification of this model was achieved using the small-angle theorem for the joint angle of the ARIS actuators. This simplification has a profound effect on the overall complexity of the closed-form solution while yielding a closed-form solution easily employed using COTS control hardware.

Beech, G. S.↗
NASA NTRS2004

Magnetocaloric Pumping of Liquid Oxygen

The field-induced force density on a magnetic fluid is proportional to the magnetic susceptibility times the gradient of the magnetic field squared. The direction of the force is towards increasing magnetic field (positive gradient). Applying a magnetic field to a magnetic fluid will result in a force from all directions towards the location of peak field. Since the magnetic field is conservative and there are no magnetic monopoles, the net field-induced force on any fluid of constant susceptibly will be zero. The only manner to obtain a nonzero net field-induced force is to vary the susceptibility of the fluid. At the gas/liquid interface of liquid oxygen, the susceptibility varies drastically, and the exploitation of the resultant large net forces. An alternative method of varying the magnetic susceptibility is to vary the temperature of the fluid. The magnetic susceptibility of paramagnetic liquid oxygen obeys the Curie-Weiss law: it is inversely proportional to temperature. By applying a temperature gradient in the presence of a symmetric magnetic field, a nonzero net force results. Much of the theory of the so-called Magnetocaloric Effect has previously been developed for and applied to ferromagnetic fluids, or ferrofluids, but is readily applied to paramagnetic liquid oxygen.

Immer, Christopher↗
NASA NTRS2014

Concentric Coplanar Capacitive Sensor System with Quantitative Model

A concentric coplanar capacitive sensor includes a charged central disc forming a first electrode, an outer annular ring coplanar with and outer to the charged central disc, the outer annular ring forming a second electrode, and a gap between the charged central disc and the outer annular ring. The first electrode and the second electrode may be attached to an insulative film. A method provides for determining transcapacitance between the first electrode and the second electrode and using the transcapacitance in a model that accounts for a dielectric test piece to determine inversely the properties of the dielectric test piece.

Bowler, Nicola↗
NASA NTRS2016

Method and Apparatus for Performance Optimization Through Physical Perturbation of Task Elements

The invention is an apparatus and method of biofeedback training for attaining a physiological state optimally consistent with the successful performance of a task, wherein the probability of successfully completing the task is made is inversely proportional to a physiological difference value, computed as the absolute value of the difference between at least one physiological signal optimally consistent with the successful performance of the task and at least one corresponding measured physiological signal of a trainee performing the task. The probability of successfully completing the task is made inversely proportional to the physiological difference value by making one or more measurable physical attributes of the environment in which the task is performed, and upon which completion of the task depends, vary in inverse proportion to the physiological difference value.

Prinzel, Lawrence J., III↗
NASA NTRS2011

Constraint Embedding Technique for Multibody System Dynamics

Multibody dynamics play a critical role in simulation testbeds for space missions. There has been a considerable interest in the development of efficient computational algorithms for solving the dynamics of multibody systems. Mass matrix factorization and inversion techniques and the O(N) class of forward dynamics algorithms developed using a spatial operator algebra stand out as important breakthrough on this front. Techniques such as these provide the efficient algorithms and methods for the application and implementation of such multibody dynamics models. However, these methods are limited only to tree-topology multibody systems. Closed-chain topology systems require different techniques that are not as efficient or as broad as those for tree-topology systems. The closed-chain forward dynamics approach consists of treating the closed-chain topology as a tree-topology system subject to additional closure constraints. The resulting forward dynamics solution consists of: (a) ignoring the closure constraints and using the O(N) algorithm to solve for the free unconstrained accelerations for the system; (b) using the tree-topology solution to compute a correction force to enforce the closure constraints; and (c) correcting the unconstrained accelerations with correction accelerations resulting from the correction forces. This constraint-embedding technique shows how to use direct embedding to eliminate local closure-loops in the system and effectively convert the system back to a tree-topology system. At this point, standard tree-topology techniques can be brought to bear on the problem. The approach uses a spatial operator algebra approach to formulating the equations of motion. The operators are block-partitioned around the local body subgroups to convert them into aggregate bodies. Mass matrix operator factorization and inversion techniques are applied to the reformulated tree-topology system. Thus in essence, the new technique allows conversion of a system with closure-constraints into an equivalent tree-topology system, and thus allows one to take advantage of the host of techniques available to the latter class of systems. This technology is highly suitable for the class of multibody systems where the closure-constraints are local, i.e., where they are confined to small groupings of bodies within the system. Important examples of such local closure-constraints are constraints associated with four-bar linkages, geared motors, differential suspensions, etc. One can eliminate these closure-constraints and convert the system into a tree-topology system by embedding the constraints directly into the system dynamics and effectively replacing the body groupings with virtual aggregate bodies. Once eliminated, one can apply the well-known results and algorithms for tree-topology systems to solve the dynamics of such closed-chain system.

Woo, Simon S.↗
NASA NTRS2003

Finite Volume Numerical Methods for Aeroheating Rate Calculations from Infrared Thermographic Data

The use of multi-dimensional finite volume numerical techniques with finite thickness models for calculating aeroheating rates from measured global surface temperatures on hypersonic wind tunnel models was investigated. Both direct and inverse finite volume techniques were investigated and compared with the one-dimensional semi -infinite technique. Global transient surface temperatures were measured using an infrared thermographic technique on a 0.333-scale model of the Hyper-X forebody in the Langley Research Center 20-Inch Mach 6 Air tunnel. In these tests the effectiveness of vortices generated via gas injection for initiating hypersonic transition on the Hyper-X forebody were investigated. An array of streamwise orientated heating striations were generated and visualized downstream of the gas injection sites. In regions without significant spatial temperature gradients, one-dimensional techniques provided accurate aeroheating rates. In regions with sharp temperature gradients due to the striation patterns two-dimensional heat transfer techniques were necessary to obtain accurate heating rates. The use of the one-dimensional technique resulted in differences of 20% in the calculated heating rates because it did not account for lateral heat conduction in the model.

Daryabeigi, Kamran↗
NASA NTRS2007

General Matrix Inversion Technique for the Calibration of Electric Field Sensor Arrays on Aircraft Platforms

A matrix calibration procedure has been developed that uniquely relates the electric fields measured at the aircraft with the external vector electric field and net aircraft charge. The calibration method can be generalized to any reasonable combination of electric field measurements and aircraft. A calibration matrix is determined for each aircraft that represents the individual instrument responses to the external electric field. The aircraft geometry and configuration of field mills (FMs) uniquely define the matrix. The matrix can then be inverted to determine the external electric field and net aircraft charge from the FM outputs. A distinct advantage of the method is that if one or more FMs need to be eliminated or deemphasized [e.g., due to a malfunction), it is a simple matter to reinvert the matrix without the malfunctioning FMs. To demonstrate the calibration technique, data are presented from several aircraft programs (ER-2, DC-8, Altus, and Citation).

Mach, D. M.↗
NASA NTRS1985

Automated dynamic analytical model improvement for damped structures

A method is described to improve a linear nonproportionally damped analytical model of a structure. The procedure finds the smallest changes in the analytical model such that the improved model matches the measured modal parameters. Features of the method are: (1) ability to properly treat complex valued modal parameters of a damped system; (2) applicability to realistically large structural models; and (3) computationally efficiency without involving eigensolutions and inversion of a large matrix.

Fuh, J. S.↗