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NASA NTRS1993

Variational Trajectory Optimization Tool Set: Technical description and user's manual

The algorithms that comprise the Variational Trajectory Optimization Tool Set (VTOTS) package are briefly described. The VTOTS is a software package for solving nonlinear constrained optimal control problems from a wide range of engineering and scientific disciplines. The VTOTS package was specifically designed to minimize the amount of user programming; in fact, for problems that may be expressed in terms of analytical functions, the user needs only to define the problem in terms of symbolic variables. This version of the VTOTS does not support tabular data; thus, problems must be expressed in terms of analytical functions. The VTOTS package consists of two methods for solving nonlinear optimal control problems: a time-domain finite-element algorithm and a multiple shooting algorithm. These two algorithms, under the VTOTS package, may be run independently or jointly. The finite-element algorithm generates approximate solutions, whereas the shooting algorithm provides a more accurate solution to the optimization problem. A user's manual, some examples with results, and a brief description of the individual subroutines are included.

Bless, Robert R.↗

NASA NTRS1993

Optical attenuation mechanism upgrades, MOBLAS, and TLRS systems

This poster presentation describes the Optical Attenuation Mechanism (OAM) Upgrades to the MOBLAS and TLRS Crustal Dynamics Satellite Laser Ranging (CDSLR) systems. The upgrades were for the purposes of preparing these systems to laser range to the TOPEX/POSEIDON spacecraft when it will be launched in the summer of 1992. The OAM permits the laser receiver to operate over the expected large signal dynamic range from TOPEX/POSEIDON and it reduces the number of pre- and post-calibrations for each satellite during multi-satellite tracking operations. It further simplifies the calibration bias corrections that had been made due to the pass-to-pass variation of the photomultiplier supply voltage and the transmit filter glass thickness. The upgrade incorporated improvements to the optical alignment capability of each CDSLR system through the addition of a CCD camera into the MOBLAS receive telescope and an alignment telescope onto the TLRS optical table. The OAM is stepper motor and microprocessor based; and the system can be controlled either manually by a control switch panel or computer controlled via an EIA RS-232C serial interface. The OAM has a neutral density (ND) range of 0.0 to 4.0 and the positioning is absolute referenced in steps of 0.1 ND. Both the fixed transmit filter and the daylight filter are solenoid actuated with digital inputs and outputs to and from the OAM microprocessor. During automated operation, the operator has the option to overide the remote control and control the OAM system via a local control switch panel.

Eichinger, Richard↗

NASA NTRS2020

LGGUN User's Manual

LGGUN is a quasi-one-dimensional Godunov code1 which is second order accurate in time and third order accurate in space, uses realistic equations of state for all media, includes wall friction and heat transfer for all gas and dense media zones and includes a simple non-equilibrium model for gas phase turbulence. This manual details the theory and operation of the code.

Ballistic Range↗

NASA NTRS2005

Vision Based Localization in Urban Environments

As part of DARPA's MARS2020 program, the Jet Propulsion Laboratory developed a vision-based system for localization in urban environments that requires neither GPS nor active sensors. System hardware consists of a pair of small FireWire cameras and a standard Pentium-based computer. The inputs to the software system consist of: 1) a crude grid-based map describing the positions of buildings, 2) an initial estimate of robot location and 3) the video streams produced by each camera. At each step during the traverse the system: captures new image data, finds image features hypothesized to lie on the outside of a building, computes the range to those features, determines an estimate of the robot's motion since the previous step and combines that data with the map to update a probabilistic representation of the robot's location. This probabilistic representation allows the system to simultaneously represent multiple possible locations, For our testing, we have derived the a priori map manually using non-orthorectified overhead imagery, although this process could be automated. The software system consists of two primary components. The first is the vision system which uses binocular stereo ranging together with a set of heuristics to identify features likely to be part of building exteriors and to compute an estimate of the robot's motion since the previous step. The resulting visual features and the associated range measurements are software component, a particle-filter based localization system. This system uses the map and the then fed to the second primary most recent results from the vision system to update the estimate of the robot's location. This report summarizes the design of both the hardware and software and will include the results of applying the system to the global localization of a robot over an approximately half-kilometer traverse across JPL'S Pasadena campus.

unmanned-ground vehicles↗

NASA NTRS1999

User Manual for the NASA Glenn Ice Accretion Code LEWICE: Version 2.0

A research project is underway at NASA Glenn to produce a computer code which can accurately predict ice growth under a wide range of meteorological conditions for any aircraft surface. This report will present a description of the code inputs and outputs from version 2.0 of this code, which is called LEWICE. This version differs from previous releases due to its robustness and its ability to reproduce results accurately for different spacing and time step criteria across computing platform. It also differs in the extensive effort undertaken to compare the results against the database of ice shapes which have been generated in the NASA Glenn Icing Research Tunnel (IRT) 1. This report will only describe the features of the code related to the use of the program. The report will not describe the inner working of the code or the physical models used. This information is available in the form of several unpublished documents which will be collectively referred to as a Programmers Manual for LEWICE 2 in this report. These reports are intended as an update/replacement for all previous user manuals of LEWICE. In addition to describing the changes and improvements made for this version, information from previous manuals may be duplicated so that the user will not need to consult previous manuals to use this code.

Wright, William B.↗

NASA NTRS2006

Flexible Generation of Kalman Filter Code

Domain-specific program synthesis can automatically generate high quality code in complex domains from succinct specifications, but the range of programs which can be generated by a given synthesis system is typically narrow. Obtaining code which falls outside this narrow scope necessitates either 1) extension of the code generator, which is usually very expensive, or 2) manual modification of the generated code, which is often difficult and which must be redone whenever changes are made to the program specification. In this paper, we describe adaptations and extensions of the AUTOFILTER Kalman filter synthesis system which greatly extend the range of programs which can be generated. Users augment the input specification with a specification of code fragments and how those fragments should interleave with or replace parts of the synthesized filter. This allows users to generate a much wider range of programs without their needing to modify the synthesis system or edit generated code. We demonstrate the usefulness of the approach by applying it to the synthesis of a complex state estimator which combines code from several Kalman filters with user-specified code. The work described in this paper allows the complex design decisions necessary for real-world applications to be reflected in the synthesized code. When executed on simulated input data, the generated state estimator was found to produce comparable estimates to those produced by a handcoded estimator

Richardson, Julian↗

NASA NTRS1979

MANTLE: A finite element program for the thermal-mechanical analysis of mantle convection. A user's manual with examples

A finite element computer code for the analysis of mantle convection is described. The coupled equations for creeping viscous flow and heat transfer can be solved for either a transient analysis or steady-state analysis. For transient analyses, either a control volume or a control mass approach can be used. Non-Newtonian fluids with viscosities which have thermal and spacial dependencies can be easily incorporated. All material parameters may be written as function statements by the user or simply specified as constants. A wide range of boundary conditions, both for the thermal analysis and the viscous flow analysis can be specified. For steady-state analyses, elastic strain rates can be included. Although this manual was specifically written for users interested in mantle convection, the code is equally well suited for analysis in a number of other areas including metal forming, glacial flows, and creep of rock and soil.

Thompson, E.↗

NASA NTRS2002

User Manual for the NASA Glenn Ice Accretion Code LEWICE. Version 2.2.2

A research project is underway at NASA Glenn to produce a computer code which can accurately predict ice growth under a wide range of meteorological conditions for any aircraft surface. This report will present a description of the code inputs and outputs from version 2.2.2 of this code, which is called LEWICE. This version differs from release 2.0 due to the addition of advanced thermal analysis capabilities for de-icing and anti-icing applications using electrothermal heaters or bleed air applications. An extensive effort was also undertaken to compare the results against the database of electrothermal results which have been generated in the NASA Glenn Icing Research Tunnel (IRT) as was performed for the validation effort for version 2.0. This report will primarily describe the features of the software related to the use of the program. Appendix A of this report has been included to list some of the inner workings of the software or the physical models used. This information is also available in the form of several unpublished documents internal to NASA. This report is intended as a replacement for all previous user manuals of LEWICE. In addition to describing the changes and improvements made for this version, information from previous manuals may be duplicated so that the user will not need to consult previous manuals to use this code.

Wright, William B.↗

NASA NTRS1972

A linear programming manual

Computer solutions of linear programming problems are outlined. Information covers vector spaces, convex sets, and matrix algebra elements for solving simultaneous linear equations. Dual problems, reduced cost analysis, ranges, and error analysis are illustrated.

Tuey, R. C.↗

NASA NTRS1981

The MSFC vector magnetograph

The NASA/Marshall Space Flight Center's solar vector magnetograph system allows measurements of all components of the Sun's photospheric magnetic field over a 5 x 5 or 2.5 x 2.5 arc min square field of view with an optimum time resolution of approximately 100 sec and an optimum signal-to-noise of approximately 1000. The basic system components are described, including the optics, detector, digital system, and associated electronics. Automatic sequencing and control functions are outlined as well as manual selections of system parameters which afford unique system flexibility. Results of system calibration and performance are presented, including linearity, dynamic range, uniformity, spatial and spectral resolutions, signal-to-noise, electro-optical retardation and polarization calibration.

Hagyard, M. J.↗

NASA NTRS1991

Manned versus unmanned rendezvous and capture

Rendezvous and capture (docking) operations may be performed either automatically or under manual control. In cases where humans are far from the mission site, or high-bandwidth communications lines are not in place, automation is the only option. Such might be the case with unmanned missions to the moon or Mars that involve orbital docking or cargo transfer. In crewed situations where sensors, computation capabilities, and other necessary instrumentation are unavailable, manual control is the only alternative. Power, mass, cost, or other restrictions may limit the availability of the machinery required for an automated rendezvous and capture. The only occasions for which there is a choice about whether to use automated or manual control are those where the vehicle(s) have both the crew and instrumentation necessary to perform the mission either way. The following discussion will focus on the final approach or capture (docking) maneuver. The maneuvers required for long-range rendezvous operations are calculated by computers. It is almost irrelevant whether it is an astronaut, watching a count-down timer who pushes the button firing the thruster or whether the computer keeps track of the time and fires with the astronaut monitoring. The actual manual workload associated with a mission that may take as long as hours or days to perform is small. The workload per unit time increases tremendously during the final approach (docking) phase and this is where the issue of manual versus automatic is more important.

Brody, Adam R.↗

NASA NTRS1995

Computer program BL2D for solving two-dimensional and axisymmetric boundary layers

This report presents the formulation, validation, and user's manual for the computer program BL2D. The program is a fourth-order-accurate solution scheme for solving two-dimensional or axisymmetric boundary layers in speed regimes that range from low subsonic to hypersonic Mach numbers. A basic implementation of the transition zone and turbulence modeling is also included. The code is a result of many improvements made to the program VGBLP, which is described in NASA TM-83207 (February 1982), and can effectively supersede it. The code BL2D is designed to be modular, user-friendly, and portable to any machine with a standard fortran77 compiler. The report contains the new formulation adopted and the details of its implementation. Five validation cases are presented. A detailed user's manual with the input format description and instructions for running the code is included. Adequate information is presented in the report to enable the user to modify or customize the code for specific applications.

Iyer, Venkit↗

NASA NTRS1975

Approximate method for calculating transonic flow about lifting wing-body configurations: Computer program and user's manual

A user's manual is presented for a computer program which calculates inviscid flow about lifting configurations in the free-stream Mach-number range from zero to low supersonic. Angles of attack of the order of the configuration thickness-length ratio and less can be calculated. An approximate formulation was used which accounts for shock waves, leading-edge separation and wind-tunnel wall effects.

Barnwell, R. W.↗

NASA NTRS1982

Optimal short-range trajectories for helicopters

An optimal flight path algorithm using a simplified altitude state model and a priori climb cruise descent flight profile was developed and applied to determine minimum fuel and minimum cost trajectories for a helicopter flying a fixed range trajectory. In addition, a method was developed for obtaining a performance model in simplified form which is based on standard flight manual data and which is applicable to the computation of optimal trajectories. The entire performance optimization algorithm is simple enough that on line trajectory optimization is feasible with a relatively small computer. The helicopter model used is the Silorsky S-61N. The results show that for this vehicle the optimal flight path and optimal cruise altitude can represent a 10% fuel saving on a minimum fuel trajectory. The optimal trajectories show considerable variability because of helicopter weight, ambient winds, and the relative cost trade off between time and fuel. In general, reasonable variations from the optimal velocities and cruise altitudes do not significantly degrade the optimal cost. For fuel optimal trajectories, the optimum cruise altitude varies from the maximum (12,000 ft) to the minimum (0 ft) depending on helicopter weight.

Slater, G. L.↗

NASA NTRS2011

Influence of Vibrotactile Feedback on Controlling Tilt Motion After Spaceflight

We hypothesize that adaptive changes in how inertial cues from the vestibular system are integrated with other sensory information leads to perceptual disturbances and impaired manual control following transitions between gravity environments. The primary goals of this ongoing post-flight investigation are to quantify decrements in manual control of tilt motion following short-duration spaceflight and to evaluate vibrotactile feedback of tilt as a sensorimotor countermeasure. METHODS. Data is currently being collected on 9 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s, <20 cm radius) in a darkened room is utilized to elicit otolith reflexes in the lateral plane without concordant canal or visual cues. A Tilt-Translation Sled (TTS) is capable of synchronizing pitch tilt with fore-aft translation to align the resultant gravitoinertial vector with the longitudinal body axis, thereby eliciting canal reflexes without concordant otolith or visual cues. A simple 4 tactor system was implemented to provide feedback when tilt position exceeded predetermined levels in either device. Closed-loop nulling tasks are performed during random tilt steps or sum-of-sines (TTS only) with and without vibrotactile feedback of chair position. RESULTS. On landing day the manual control performance without vibrotactile feedback was reduced by >30% based on the gain or the amount of tilt disturbance successfully nulled. Manual control performance tended to return to baseline levels within 1-2 days following landing. Root-mean-square position error and tilt velocity were significantly reduced with vibrotactile feedback. CONCLUSIONS. These preliminary results are consistent with our hypothesis that adaptive changes in vestibular processing corresponds to reduced manual control performance following G-transitions. A simple vibrotactile prosthesis improves the ability to null out tilt motion within a limited range of motion disturbances.

Wood, S. J.↗

NASA NTRS1984

Extended parametric representation of compressor fans and turbines. Volume 2: Part user's manual (parametric turbine)

A turbine modeling technique has been developed which will enable the user to obtain consistent and rapid off-design performance from design point input. This technique is applicable to both axial and radial flow turbine with flow sizes ranging from about one pound per second to several hundred pounds per second. The axial flow turbines may or may not include variable geometry in the first stage nozzle. A user-specified option will also permit the calculation of design point cooling flow levels and corresponding changes in efficiency for the axial flow turbines. The modeling technique has been incorporated into a time-sharing 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. This report is the second of a three volume set. The titles of the three volumes are as follows: (1) Volume 1 CMGEN USER's Manual (Parametric Compressor Generator); (2) Volume 2 PART USER's Manual (Parametric Turbine); (3) Volume 3 MODFAN USER's Manual (Parametric Modulation Flow Fan).

Coverse, G. L.↗

NASA NTRS1984

Controlling TV-Camera f-Stop Remotely

Lens opening of television camera controlled manually from remote location by simple and inexpensive data link without modifications to camera lens system. Allows closeup views of wide-brightness-range events otherwise hazardous for human operator.

Talley, G. L., Jr.↗

NASA NTRSDate not supplied

Boundary Representation Tolerance Impacts on Mesh Generation and Adaptation

The control of discretization error is critical to obtaining reliable simulation results. Re-cent progress has matured anisotropic mesh adaptation, which automates discretization error control for complex geometries. However, the meshing process can fail when geometric model Boundary REPresentation (BREP) tolerances are larger than boundary layer surface nor-mal and tangential spacing requirements. Geometry sources are often created in Mechanical Computer-Aided Design (MCAD) systems, which are designed to produce models for manufacturing and not the stricter requirements of viscous flow analysis. BREP tolerances are strained by three factors: the inherent complexity of the model (e.g., large range of scales and complex topology), the numerical difficulties arising from surface/surface intersections, and the omission of crucial data during export and translation. Manual preparation of geometry is commonly employed to enable expert-guided mesh generation, which severely inhibits work-flow automation. Accommodation of loose BREP tolerances is required for automated mesh processes, because barrier issues may not be detected until well into the solution process. To raise awareness of this class of geometry issues and their impact on simulation, a survey of these barrier issues is presented with example mitigation techniques. This awareness may also impact geometry creation workflows to prevent the introduction of these artifacts.

CAD↗