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At least 1,063 records · Page 59
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NASA NTRS1992

Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991

Various papers on control paradigms and data structures in sensor fusion are presented. The general topics addressed include: decision models and computational methods, sensor modeling and data representation, active sensing strategies, geometric planning and visualization, task-driven sensing, motion analysis, models motivated biology and psychology, decentralized detection and distributed decision, data fusion architectures, robust estimation of shapes and features, application and implementation. Some of the individual subjects considered are: the Firefly experiment on neural networks for distributed sensor data fusion, manifold traversing as a model for learning control of autonomous robots, choice of coordinate systems for multiple sensor fusion, continuous motion using task-directed stereo vision, interactive and cooperative sensing and control for advanced teleoperation, knowledge-based imaging for terrain analysis, physical and digital simulations for IVA robotics.

Schenker, Paul S.↗
NASA NTRS1993

2D axisymmetric analysis of SRM ignition transient

To analyze ignition transient of Space Shuttle solid rocket motor, a transient two-dimensional numerical model based on turbulent compressible Navier-Stokes equations in a generalized coordinate system was developed. One-dimensional numerical models (Peretz et al., 1973; Han, 1992; Pardue and Han, 1992) with empirical correlations data obtained from steady turbulent boundary layer flows agrees reasonably well with test rocket data by adjusting a few parameters. However, a 1D model can not provide a physical insight into the complex multidimensional thermal fields and flowfields in the chamber and the converging-diverging rocket nozzle. As an interim step, a 2D model was developed and compared with test data. A modified version of SIMPLE algorithm was used for the numerical model, and the standard k-epsilon model with a wall function was used for turbulence closure. Transient flowfields and thermal fields in the combustion chamber and the attached nozzle were obtained for a selected rocket geometry and propellant. Transient behaviors of the flow and thermal fields were analyzed, and were found to be in good agreement with physical expectations.

Bai, S. D.↗
NASA NTRS1993

Diffraction analysis of frequency selective reflector antennas

In this paper, a unified computational technique is presented which allows the incorporation of the curved frequency-selective surface (FSS) geometry in the computation of the reflector antenna radiation pattern. The scattered fields from an illuminated FSS reflector are formalized using Huygens' principle in such a way that the 'reflecting' and the 'transparent' FSS subreflector cases are treated identically and the thickness of the FSS subreflector remains arbitrary. The analysis utilizes local surface coordinates to describe the reflection/transmission matrices of the FSS subreflector where it is assumed that these matrices are available. In most cases one may use the local tangent plane for approximating the plane of the FSS in the local coordinate surface of the reflector. The paper demonstrates how the local curved coordinate system can be introduced in the diffraction modeling of FSS reflectors and its importance in accurately predicting the side-lobe and crosspolarization levels. Results of numerical simulations are presented for several FSS subreflector configurations.

Rahmat-Samii, Yahya↗
NASA NTRS1993

Design of a reading test for low vision image warping

NASA and the University of Houston College of Optometry are examining the efficacy of image warping as a possible prosthesis for at least two forms of low vision - maculopathy and retinitis pigmentosa. Before incurring the expense of reducing the concept to practice, one would wish to have confidence that a worthwhile improvement in visual function would result. NASA's Programmable Remapper (PR) can warp an input image onto arbitrary geometric coordinate systems at full video rate, and it has recently been upgraded to accept computer-generated video text. We have integrated the Remapper with an SRI eye tracker to simulate visual malfunction in normal observers. A reading performance test has been developed to determine if the proposed warpings yield an increase in visual function; i.e., reading speed. We will describe the preliminary experimental results of this reading test with a simulated central field defect with and without remapped images.

Loshin, David S.↗
NASA NTRS1952

Axisymmetric supersonic flow in rotating impellers

General equations are developed for isentropic, frictionless, axisymmetric flow in rotating impellers with blade thickness taken into account and with blade forces eliminated in favor of the blade-surface function. It is shown that the total energy of the gas relative to the rotating coordinate system is dependent on the stream function only, and that if the flow upstream of the impeller is vortex-free, a velocity potential exists which is a function of only the radial and axial distances in the impeller. The characteristic equations for supersonic flow are developed and used to investigate flows in several configurations in order to ascertain the effect of variations of the boundary conditions on the internal flow and the work input. Conditions varied are prerotation of the gas, blade turning rate, gas velocity at the blade tips, blade thickness, and sweep of the leading edge.

Goldstein, Arthur W↗
NASA NTRS1994

Straddle Design Of Spiral Bevel And Hypoid Gears

Computer-assisted method of analysis of straddle designs for spiral bevel and hypoid gears helps prevent undercutting of gear shafts during cutting of gear teeth. Analytical method and computer program based on equations for surface traced out by motion of head cutter, equation for cylindrical surface of shaft, and equations expressing relationships among coordinate systems fixed to various components of gear-cutting machine tool and gear.

Handschuh, Robert F.↗
NASA NTRS1993

Telescope pointing for GOPEX

In order for photons emitted by the GOPEX lasers to be detected by Galileo's camera, the telescopes at Table Mountain Observatory and Starfire Optical Range had to be pointed in the right direction within a tolerance less than the beam divergence. At both sites nearby stars were used as pointing references. The technical challenge was to ensure that the transmission direction and the star positions were specified in exactly the same coordinate system; given this assurance, neither the uncertainty in the star catalog positions nor the difficulty in offset pointing was expected to exceed the pointing error budget. The correctness of the pointing scheme was verified by the success of GOPEX.

Owen, W. M., Jr.↗
NASA NTRS1993

Multigrid methods for flow transition in three-dimensional boundary layers with surface roughness

The efficient multilevel adaptive method has been successfully applied to perform direct numerical simulations (DNS) of flow transition in 3-D channels and 3-D boundary layers with 2-D and 3-D isolated and distributed roughness in a curvilinear coordinate system. A fourth-order finite difference technique on stretched and staggered grids, a fully-implicit time marching scheme, a semi-coarsening multigrid method associated with line distributive relaxation scheme, and an improved outflow boundary-condition treatment, which needs only a very short buffer domain to damp all order-one wave reflections, are developed. These approaches make the multigrid DNS code very accurate and efficient. This allows us not only to be able to do spatial DNS for the 3-D channel and flat plate at low computational costs, but also to do spatial DNS for transition in the 3-D boundary layer with 3-D single and multiple roughness elements, which would have extremely high computational costs with conventional methods. Numerical results show good agreement with the linear stability theory, the secondary instability theory, and a number of laboratory experiments. The contribution of isolated and distributed roughness to transition is analyzed.

Liu, Chaoqun↗
NASA NTRS1992

SKYMAP: Exploring the Universe in software

SKYMAP is a computer program which produces maps of arbitrary portions of the sky in a variety of projections and coordinate systems. Over the past ten years it has been used to produce finder charts for occultations by planets, display scan and image data from the Spacelab 2 Infrared Telescope, and make maps of fields for astronomical observations at X-ray, optical, infrared, and radio wavelengths. It can display multiple source catalogs, including the HST Guide Star Catalog, as well as solar system objects with astrometric accuracy using the JPL DE-130 ephemeris or tabulated positions. SKYMAP can be tuned to a specific task using an ASCII parameter file which controls how information is displayed on any Tektronix-compatible graphics display. The program contains a variety of interactive graphic and image processing features and has been ported to a variety of computer systems. A recent project visually demonstrates source density variation in various commonly-used all-sky catalogs.

Mink, D. J.↗
NASA NTRS1992

Spatial region filtering in IRAF/PROS

In order to analyze x ray data, it is nearly always necessary to extract source and background events from a data set. Typically, this is done by defining geometric spatial regions of the data set to describe the source and background. For example, one might wish to extract source events from a circular or elliptical region centered at a particular pixel, and background events from a circular or elliptical annulus whose inner radius matches the source region. At the same time, it might be necessary to exclude one or more nearby sources from the source or background region in question. Thus, it might be necessary to define a pie-shaped region or even an entirely irregularly-shaped region to exclude. A spatial filtering scheme called REGIONS was implemented in IRAF/PROS to support these and other types of spatial region extraction. It allows users to create a spatial mask by specifying one or more ASCII geometric shape descriptors (box, circle, ellipse, pie, point, annulus, and polygon) as regions to be included or excluded in the mask. In addition, two or more shapes can be combined using Boolean algebra to create an infinite variety of sophisticated regions. Each geometric shape has a specific set of parameters that describe that shape. For example, a circle is described by a center and a radius, while a box is described by a center, length, width, and rotation angle. These quantities can be specified in units of pixels or, in cases where the target image contains world coordinate system information, they can be described in units such as RA and Dec. Users can create region mask files by feeding an ASCII region descriptor to the IRAF/PROS plcreate task. Temporary masks can also be created from ASCII region descriptors by individual applications that call the routines in the region creation library. This library implements a yacc-based region parser that compiles the ASCII descriptors into 'software CPU' instructions which are then executed to create the mask. The mask created from these region descriptors is a standard IRAF PLIO mask. It can be combined with other PLIO masks (e.g., exposure masks) to provide complete spatial filtering capabilities. The capabilities of the region filtering scheme are described. It also discusses the design philosophy guiding our work, as well as our plans for the future.

Mandel, Eric↗
NASA NTRS1993

The influence of orography on the transport of atmospheric constituents

Given the fact that martian orography varies over a range of two scale heights (cf., about one scale height on Earth), it is thought that on Mars some aspects of the circulation should be affected to a large degree by the presence of orography. Initial results from two numerical models are presented that illustrate the effect of orography on cross-equatorial transport on Mars. On Earth, western boundary currents are found not only in the oceans as one would expect, but also in the troposphere, the most notable example being the East African Jet, which has an important effect on the monsoon circulation of the Eastern Indian Ocean. Two models were used for this investigation: a simple GCM (hereafter referred to as the SGCM); and a simple one-level barotropic model (BM). The SGCM solves the hydrostatic primitive equations on a sphere by representing model variables by spherical harmonics in the horizontal, with nonlinear terms being calculated in grid-point space. In the vertical, the model uses the sigma coordinate system in finite-difference form. The model represents the radiative processes in the atmosphere by a Newtonian relaxation to a specified zonal mean temperature state and surface drag by Rayleigh friction in the lowest model level.

Joshi, Manoj M.↗
NASA NTRS1994

PATRAN 2.5/EAL interface guide

The PATRAN/EA interface guide describes two programs, EALPAT and PATEAL. EALPAT reads an EAL LO1 file and translates the model and results into a PATRAN 2.5 neutral file, element results file, and nodal results file. An EAL model can be color coded in PATRAN, and geometry, loads, boundary conditions, section and material properties, rigid masses, springs, and beam orientations can be plotted and debugged. EAL results can be brought into PATRAN as element or nodal quantities and displayed as deformed plots, animated shapes, color coded elements, or color filled contour plots. PATEAL converts a PATRAN 2.5 data base into an EAL runstream. Geometry, including all element types, alternate coordinate systems, material properties, section properties, loads and boundary conditions are all converted. EALPAT and PATEAL can also be used together with the PATNAS translator from PDA Engineering to convert an EAL runstream to an MSC/NASTRAN bulk data file.

Feldhaus, Winifred S.↗
NASA NTRS1994

A new method for recognizing quadric surfaces from range data and its application to telerobotics and automation, final phase

In the final phase of the proposed research a complete top to down three dimensional object recognition scheme has been proposed. The various three dimensional objects included spheres, cones, cylinders, ellipsoids, paraboloids, and hyperboloids. Utilizing a newly developed blob determination technique, a given range scene with several non-cluttered quadric surfaces is segmented. Next, using the earlier (phase 1) developed alignment scheme, each of the segmented objects are then aligned in a desired coordinate system. For each of the quadric surfaces based upon their intersections with certain pre-determined planes, a set of distinct features (curves) are obtained. A database with entities such as the equations of the planes and angular bounds of these planes has been created for each of the quadric surfaces. Real range data of spheres, cones, cylinders, and parallelpipeds have been utilized for the recognition process. The developed algorithm gave excellent results for the real data as well as for several sets of simulated range data.

Mielke, Roland↗
NASA NTRS1994

Dexterity enhancement in microsurgery using telemicro-robotics

The presentation will focus on finding the spectrum of dexterity performance while performing microsurgery in various specialties. It will be noted that individuals vary markedly in their performance in the position, velocity, stability, and force domains. There are surgeons who have a tremor who otherwise move very slowly and carefully while there are other surgeons who apply excessive force, but never have a tremor or move excessively fast. There are yet other surgeons who move excessively fast, yet they do not have a tremor. Dexterity enhancement includes position down scaling, tremor filtering, fatigue elimination, and other second-order issues such as confining the work space, velocities, accelerations, or forces. It will be described that the hand's position performance is degraded when it is asked to actuate the tools and that remote actuation alone increases the positioning capabilities. It will be noted that rotary and telescopic functions are far more difficult than writing or engraving-like motions. The safety issues concerning velocities and forces will be discussed and the need for impedance control pointed out. Simplistically, the devices should be made with variable compliance so that they can function rigidly as a robot would or compliantly as a human would, depending on the setting of this parameter. Tool interfaces will be discussed with an emphasis on the overall performance of the position, end effector, and tool as a unit. Space constraints, force, and velocity requirements will be discussed in this section as well. Referencing the coordinate system to pre- or inter-operative imaging systems will be discussed as well as an emphasis on the system architecture.

Charles, Steve↗
NASA NTRS1994

Propagating orientation constraints for the Hubble Space Telescope

An observing program on the Hubble Space Telescope (HST) is described in terms of exposures that are obtained by one or more of the instruments onboard the HST. Many requested exposures might specify orientation requirements and accompanying ranges. Orientation refers to the amount of roll (in degrees) about the line of sight. The range give the permissible tolerance (also in degrees). These requirements may be (1) absolute (in relation to the celestial coordinate system), (2) relative to the nominal roll angle for HST during that exposure, or (3) relative (in relation to other exposures in the observing program). The TRANSformation expert system converts proposals for astronomical observations with HST into detailed observing plans. Part of the conversion involves grouping exposures into higher level structures based on exposure characteristics. Exposures constrained to be at different orientations cannot be grouped together. Because relative orientation requirements cause implicit constraints, orientation constraints have to be propagated. TRANS must also identify any inconsistencies that may exist so they can be corrected. We have designed and implemented an orientation constraint propagator as part of TRANS. The propagator is based on an informal algebra that facilitates the setting up and propagation of the orientation constraints. The constraint propagator generates constraints between directly related exposures, and propagates derived constraints between exposures that are related indirectly. It provides facilities for path-consistency checking, identification of unsatisfiable constraints, and querying of orientation relationships. The system has been successfully operational as part of TRANS for over seven months. The solution has particular significance to space applications in which satellite/telescope pointing and attitude are constrained and relationships exist between multiple configurations.

Bose, Ashim↗
NASA NTRS1992

Streamline-curvature effect in three-dimensional boundary layers

The effect of including wall and streamline curvature terms in swept-wing boundary-layer stability calculations is studied. The linear disturbance equations are cast on a fixed, body-intrinsic, curvilinear coordinate system. Those nonparallel terms which contribute mainly to the streamline-curvature effect are retained in this formulation and approximated by their local finite-difference values. Convex-wall curvature has a stabilizing effect, while streamline curvature is destabilizing if the curvature exceeds a critical value.

Reed, Helen L.↗
NASA NTRS1994

Control theory based airfoil design using the Euler equations

This paper describes the implementation of optimization techniques based on control theory for airfoil design. In our previous work it was shown that control theory could be employed to devise effective optimization procedures for two-dimensional profiles by using the potential flow equation with either a conformal mapping or a general coordinate system. The goal of our present work is to extend the development to treat the Euler equations in two-dimensions by procedures that can readily be generalized to treat complex shapes in three-dimensions. Therefore, we have developed methods which can address airfoil design through either an analytic mapping or an arbitrary grid perturbation method applied to a finite volume discretization of the Euler equations. Here the control law serves to provide computationally inexpensive gradient information to a standard numerical optimization method. Results are presented for both the inverse problem and drag minimization problem.

Jameson, Antony↗
NASA NTRS1993

The prediction of nozzle performance and heat transfer in hydrogen/oxygen rocket engines with transpiration cooling, film cooling, and high area ratios

An advanced engineering computational model has been developed to aid in the analysis and design of hydrogen/oxygen chemical rocket engines. The complete multi-species, chemically reacting and diffusing Navier-Stokes equations are modelled, finite difference approach that is tailored to be conservative in an axisymmetric coordinate system for both the inviscid and viscous terms. Demonstration cases are presented for a 1030:1 area ratio nozzle, a 25 lbf film cooled nozzle, and transpiration cooled plug-and-spool rocket engine. The results indicate that the thrust coefficient predictions of the 1030:1 nozzle and the film cooled nozzle are within 0.2 to 0.5 percent, respectively, of experimental measurements when all of the chemical reaction and diffusion terms are considered. Further, the model's predictions agree very well with the heat transfer measurements made in all of the nozzle test cases. The Soret thermal diffusion term is demonstrated to have a significant effect on the predicted mass fraction of hydrogen along the wall of the nozzle in both the laminar flow 1030:1 nozzle and the turbulent plug-and-spool rocket engine analysis cases performed. Further, the Soret term was shown to represent a significant fraction of the diffusion fluxes occurring in the transpiration cooled rocket engine.

Kacynski, Kenneth J.↗