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At least 1,135 records · Page 63

Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics

The recursive difference equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing, arising in the state estimation theory for linear state space systems, are used here to solve problems of serial manipulator inverse and forward dynamics. The configuration analyzed is that of a joint connected N-link serial manipulator attached to an immobile base. The equivalence between the filtering and smoothing techniques from state estimation theory and recursive robot dynamics methods is demonstrated. Several areas for future research are suggested.

Rodriguez, Guillermo↗

Disruption of Helmet Streamers by Current Emergence

We have investigated the dynamic response of a coronal helmet streamer to the emergence from below of a current with its magnetic field in a direction opposite to the overlying streamer field. Once the emerging current moves into the closed region of the streamer, a current sheet forms between the emerging field and the streamer field, because the preexisting field and the newly emerging field have opposite polarities. Thus magnetic reconnection will occur at the flanks of the emerged structure where the current density is maximum. If the emerging current is large enough, the energy contained in the current and the reconnection will promptly disrupt the streamer. If the emerging current is small, the streamer will experience a stage of slow evolution. In this stage, slow magnetic reconnection occurring at the flanks of the emerged structure leads to the degeneration of the emerged current to a neutral point. Above this point, a new magnetic bubble will form. The resulting configuration resembles an inverse-polarity prominence. Depending on the initial input energy of the current, the resulting structure will either remain in situ, forming a quasi-static structure, or move upward, forming a coronal transient similar to coronal jets. The numerical method used in this paper can be used to construct helmet streamers containing a detached magnetic structure in their closed field region. The quasi-static solution may serve as a preevent corona for studying coronal mass ejection initiation.

Guo, W. P.↗

Disruption of Helmet Streamers by Current Emergence

We have investigated the dynamic response of a coronal helmet streamer to the emergence from below of a current with its magnetic field in a direction opposite to the overlying streamer field. Once the emerging current moves into the closed region of the streamer, a current sheet forms between the emerging field and the streamer field, because the preexisting field and the newly emerging field have opposite polarities. Thus magnetic reconnection will occur at the flanks of the emerged structure where the current density is maximum. If the emerging current is large enough, the energy contained in the current and the reconnection will promptly disrupt the streamer. If the emerging current is small, the streamer will experience a stage of slow evolution. In this stage, slow magnetic reconnection occurring at the flanks of the emerged structure leads to the degeneration of the emerged current to a neutral point. Above this point, a new magnetic bubble will form. The resulting configuration resembles an inverse-polarity prominence. Depending on the initial input energy of the current, the resulting structure will either remain in situ, forming a quasi-static structure, or move upward, forming a coronal transient similar to coronal jets. The numerical method used in this paper can be used to construct helmet streamers containing a detached magnetic structure in their closed field region. The quasi-static solution may serve as a preevent corona for studying coronal mass ejection initiation.

Guo, W. P.↗

Some Experiences with Nonoverlapping Schur Complement Parallel Preconditioning for CFD Calculations

In this work we consider solving matrices which arise from the discretization of advection-diffusion field equations on arbitrary triangulated domains using stabilized numerical methods. The talk will discuss several candidate matrix preconditioning algorithms based on the 2 x 2 block factorization induced by an apriori partitioning of the triangulated domain. Application of the 2 x 2 block preconditioner requires the formation and inversion of the Schur complement submatrix. We consider several strategies for simplifying this task: incomplete Schur complement factorizations, drop tolerance element filling, Schur complement probing, and localized Schur complement inversion. Numerical results will be shown comparing performance and efficiency of these approximations. The matrix preconditioner has also been embedded into a Newton algorithm for solving the nonlinear Euler and Navier-Stokes equations governing compressible flow. The remainder of the talk will show numerous examples in CFD to demonstrate the efficiency and robustness of the techniques.

Barth, Timothy J.↗

On the VHF Source Retrieval Errors Associated with Lightning Mapping Arrays (LMAs)

This presentation examines in detail the standard retrieval method: that of retrieving the (x, y, z, t) parameters of a lightning VHF point source from multiple ground-based Lightning Mapping Array (LMA) time-of-arrival (TOA) observations. The solution is found by minimizing a chi-squared function via the Levenberg-Marquardt algorithm. The associated forward problem is examined to illustrate the importance of signal-to-noise ratio (SNR). Monte Carlo simulated retrievals are used to assess the benefits of changing various LMA network properties. A generalized retrieval method is also introduced that, in addition to TOA data, uses LMA electric field amplitude measurements to retrieve a transient VHF dipole moment source.

inversion↗

Global Sensitivity Analysis of Simulated Remote Sensing Polarimetric Observations Over Snow

This study presents a detailed theoretical assessment of the information content of passive polarimetric observations over snow scenes, using a global sensitivity analysis (GSA) method. Conventional sensitivity studies focus on varying a single parameter while keeping all other parameters fixed. In contrast, the GSA correctly addresses the covariance of state parameters across their entire parameter space, hence favoring a more correct interpretation of inversion algorithms and the optimal design of their state vectors. The forward simulations exploit a vector radiative transfer model to obtain the Stokes vector emerging at the top of the atmosphere for different solar zenith angles, when the bottom boundary consists of a vertically resolved snowpack of non-spherical grains. The presence of light-absorbing particulates (LAPs), either embedded in the snow or aloft in the atmosphere above in the form of aerosols, is also considered. The results are presented for a set of wavelengths spanning the visible (VIS), near-infrared (NIR), and shortwave infrared (SWIR) region of the spectrum. The GSA correctly captures the expected, high sensitivity of the reflectance to LAPs in the VIS–NIR and to grain size at different depths in the snowpack in the NIR–SWIR. With adequate viewing geometries, mono-angle measurements of total reflectance in the VIS–SWIR (akin to those of the Moderate Resolution Imaging Spectroradiometer, MODIS) resolve grain size in the top layer of the snowpack sufficiently well. The addition of multi-angle polarimetric observations in the VIS–NIR provides information on grain shape and microscale roughness. The simultaneous sensitivity in the VIS–NIR to both aerosols and snow-embedded impurities can be disentangled by extending the spectral range to the SWIR, which contains information on aerosol optical depth while remaining essentially unaffected when the same particulates are mixed with the snow. Multi-angle polarimetric observations can therefore (i) effectively partition LAPs between the atmosphere and the surface, which represents a notorious challenge for snow remote sensing based on measurements of total reflectance only and (ii) lead to better estimates of grain shape and roughness and, in turn, the asymmetry parameter, which is critical for the determination of albedo. The retrieval uncertainties are minimized when the degree of linear polarization is used in place of the polarized reflectance. The Sobol indices, which are the main metric for the GSA, were used to select the state parameters in retrievals performed on data simulated for multiple instrument configurations. Improvements in retrieval quality with the addition of measurements of polarization, multi-angle views, and different spectral channels reflect the information content, identified by the Sobol indices, relative to each configuration. The results encourage the development of new remote sensing algorithms that fully leverage multi-angle and polarimetric capabilities of modern remote sensors. They can also aid flight planning activities, since the optimal exploitation of the information content of multi-angle measurements depends on the viewing geometry. The better characterization of surface and atmospheric parameters in snow-covered regions advances research opportunities for scientists of the cryosphere and ultimately benefits albedo estimates in climate models.

remote sensing↗

The constrained inversion of Nimbus-7 wide field-of-view radiometer measurements for the Earth Radiation Budget

The results of a constrained, wide field-of-view radiometer measurement deconvolution are presented and compared against higher resolution results obtained from the Earth Radiation Budget instrument on the Nimbus-7 satellite and from the Earth Radiation Budget Experiment. The method is applicable to both longwave and shortwave observations and is specifically designed to treat the problem of anisotropic reflection and emission at the top of the atmosphere as well as low signal-to-noise ratios that arise regionally within a field. The procedure is reviewed, and the improvements in resolution obtained are examined. Some minor improvements in the albedo algorithm are also described.

Hucek, Richard R.↗

Sounding the stratosphere and mesosphere by infrared limb scanning from space

Inversion of the measurements obtained by the infrared limb scanner on the Nimbus 6 satellite has demonstrated that the stratospheric and mesospheric temperatures and ozone concentrations may be obtained remotely from space with accuracy and precision comparable to in situ methods. Such global data have many applications in middle atmospheric research and operational temperature sounding.

Gille, J. C.↗

Advanced control schemes and kinematic analysis for a kinematically redundant 7 DOF manipulator

The kinematic analysis and control of a kinematically redundant manipulator is addressed. The manipulator is the slave arm of a telerobot system recently built at Goddard Space Flight Center (GSFC) to serve as a testbed for investigating research issues in telerobotics. A forward kinematic transformation is developed in its most simplified form, suitable for real-time control applications, and the manipulator Jacobian is derived using the vector cross product method. Using the developed forward kinematic transformation and quaternion representation of orientation matrices, we perform computer simulation to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of Jacobian pseudo-inverse for various sampling times. The equivalence between Cartesian velocities and quaternion is also verified using computer simulation. Three control schemes are proposed and discussed for controlling the motion of the slave arm end-effector.

Nguyen, Charles C.↗

Fusion of Visible and Thermal-Infrared Imagery for SLAM for Landing on Icy Moons

This paper addresses the problem of localization for landing on the surface of icy moons, like Europa or Enceladus. Due to the possibility of specular reflection as well as high bulk albedo, icy surfaces present new challenges that make traditional vision-based navigation systems relying on visible imagery unreliable. We propose augmenting visible light cameras with a thermal-infrared camera using inverse-depth parameterized monocular EKF-SLAM to address problems arising from the appearance of icy moons. Results were obtained from a novel procedural Europa surface simulation which models the appearance and the thermal properties simultaneously from physically-based methods. In this framework, we show that thermal features improve localization by 23% on average when compared to a visible camera. Moreover, fusing both sensing modalities increases the improvement in localization to 31% on average, compared to using a visible light camera alone.

thermal vision↗

The separated turbulent boundary layer over a wavy wall

A study and application of the fourth order spline collocation procedure, numerical solution of boundary layer like differential equations, is presented. A simple inversion algorithm for the simultaneous solution of the resulting difference equations is given. Particular attention is focused on the boundary condition representation for the spline second derivative approximations. Solutions using the spline procedure, as well as the three point finite difference method, are presented for several model problems in order to assess and improve the spline numerical scheme. Application of the resulting algorithm to the incompressible laminar self similar boundary layer equations is presented.

Polak, A.↗

Remote sensing of temperature profiles in the atmosphere

Methods of regularized and generalized cross validation can be used to estimate the atmosphere's temperature, moisture, and wind structure from a finite number m noisy measurements by meteorological satellites on the intensity of upwelling radiation in selected channel frequencies. The inversion of the equation of radiative transfer is discussed for data obtained by TIROS N satellite.

Osullivan, F.↗

Method and apparatus for configuration control of redundant robots

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

Seraji, Homayoun↗

Nonlinear system guidance in the presence of transmission zero dynamics

An iterative procedure is proposed for computing the commanded state trajectories and controls that guide a possibly multiaxis, time-varying, nonlinear system with transmission zero dynamics through a given arbitrary sequence of control points. The procedure is initialized by the system inverse with the transmission zero effects nulled out. Then the 'steady state' solution of the perturbation model with the transmission zero dynamics intact is computed and used to correct the initial zero-free solution. Both time domain and frequency domain methods are presented for computing the steady state solutions of the possibly nonminimum phase transmission zero dynamics. The procedure is illustrated by means of linear and nonlinear examples.

Meyer, G.↗

Design and Operating Criteria for Fluorine Disposal by Reaction with Charcoal

Experiments with the charcoal-fluorine reaction for the disposal of fluorine have shown generally that this method is effective over a wide range of conditions. Pure fluorine or fluorine diluted with nitrogen to concentrations as low as 0.3 percent fluorine may be disposed of efficiently within the rate limitation. Maximum feed rates have been established and are inversely proportional to the charcoal-bed particle diameter. Moisture content in the charcoal had no appreciable effect on the disposal efficiency after the reaction zone was established and the moisture was driven off by the heat of reaction. There was no evidence of bed poisoning resulting from continued use. Design parameters may be based on the stoichiometric requirements plus sufficient excess charcoal to maintain desired efficiency toward the end of a disposal operation. The length of time a given reactor may be used continuously is limited by the rate of fluorine input and the resistance of the system to heat and fluorine attack. Refractory-lined reactors have been in routine field use at the Lewis Research Center for over a year and have given satisfactory service over a wide range of conditions.

Schmidt, Harold W.↗

Parametric Deformation of Discrete Geometry for Aerodynamic Shape Design

We present a versatile discrete geometry manipulation platform for aerospace vehicle shape optimization. The platform is based on the geometry kernel of an open-source modeling tool called Blender and offers access to four parametric deformation techniques: lattice, cage-based, skeletal, and direct manipulation. Custom deformation methods are implemented as plugins, and the kernel is controlled through a scripting interface. Surface sensitivities are provided to support gradient-based optimization. The platform architecture allows the use of geometry pipelines, where multiple modelers are used in sequence, enabling manipulation difficult or impossible to achieve with a constructive modeler or deformer alone. We implement an intuitive custom deformation method in which a set of surface points serve as the design variables and user-specified constraints are intrinsically satisfied. We test our geometry platform on several design examples using an aerodynamic design framework based on Cartesian grids. We examine inverse airfoil design and shape matching and perform lift-constrained drag minimization on an airfoil with thickness constraints. A transport wing-fuselage integration problem demonstrates the approach in 3D. In a final example, our platform is pipelined with a constructive modeler to parabolically sweep a wingtip while applying a 1-G loading deformation across the wingspan. This work is an important first step towards the larger goal of leveraging the investment of the graphics industry to improve the state-of-the-art in aerospace geometry tools.

Anderson, George R.↗

Modeling and Simulation Efforts to Support Improved Comfort in ARGOS

BACKGROUND: The Active Response Gravity Offload System (ARGOS) provides an analog environment for extravehicular activity (EVA) testing and training. Discomfort has been observed during longer suited test sessions. While the subject’s core is offloaded during surface EVA evaluations, his/her arms experience full Earth gravity and can become overly fatigued, especially during suited tests which involve reaching and prolonged arm extensions. A device (ARGOS Negation of Gravitational Effects on the Limbs: ANGEL) to offload the weight of the arms and suit sleeves is being developed by JSC’s Flight Systems Branch, and here we present preliminary modeling of that device using the open-source biomechanical tool OpenSim [1,2] with an in-house developed plugin. We analyze a series of motions performed by a single shirt-sleeved subject with goals of characterizing the device, validating the model, and predicting whether reduced gravity conditions (i.e., lunar gravity (Lg) or Martian gravity (Mg)) can be accurately simulated with the device, as well as providing comfort to the ARGOS user. METHODS AND RESULTS: To model the offload device, we augment the OpenSim human model topology with the offload mechanism components and joints, using CAD models to represent the mechanism graphically. The joint angles of the device are either obtained from (1) inverse kinematics (IK) using motion capture markers on the various components of the device or (2) calculated in the OpenSim plugin by modeling how the components configure themselves under the offloading spring tension given a particular IK-derived arm position. Given the joint angles of the device, the resulting force on the arm is computed by the plugin and applied as an external load in inverse dynamics (ID) in order to enable study of overall shoulder joint torques as well as offload achieved. We verify the calculated joint angles by using the inverse kinematic data and the forces from manual measurements of the spring both independently and integrated within the device. We found that calculated joint angles generally represent the angles measured and computed with IK, supporting a possible analysis workflow inputting human motion data and observing system behavior under varied design parameters. In two different device configurations in which the maximum applied force was 131 N, our current model accurately captured force with a difference of 2-3 N from measured loads. Though our initial test was performed with a shirt-sleeve subject, arm weights were added to emulate the weight of the suit sleeve and the subject was positioned in a test stand with a Mark-III Hard Upper Torso (HUT) and Portable Life Support System (PLSS) mockup. Arm range of motion tasks were performed outside of the HUT, inside the HUT, and inside the HUT while using the device. A variety of other upper body tasks were completed as well. In summary, we have developed a model to investigate and verify an upper limb offload device currently in development. We believe this model will be a valuable tool not only for device characterization but also to predict proper configurations to simulate Lg or Mg conditions, investigate range of motion concerns, predict limitations such as internal collisions and contacts, and inform future design improvements.

L B Nilsson↗

Improving Coastal Ocean Color Validation Capabilities through Application of Inherent Optical Properties (IOPs)

Understanding how the different components of seawater alter the path of incident sunlight through scattering and absorption is essential to using remotely sensed ocean color observations effectively. This is particularly apropos in coastal waters where the different optically significant components (phytoplankton, detrital material, inorganic minerals, etc.) vary widely in concentration, often independently from one another. Inherent Optical Properties (IOPs) form the link between these biogeochemical constituents and the Apparent Optical Properties (AOPs). understanding this interrelationship is at the heart of successfully carrying out inversions of satellite-measured radiance to biogeochemical properties. While sufficient covariation of seawater constituents in case I waters typically allows empirical algorithms connecting AOPs and biogeochemical parameters to behave well, these empirical algorithms normally do not hold for case I1 regimes (Carder et al. 2003). Validation in the context of ocean color remote sensing refers to in-situ measurements used to verify or characterize algorithm products or any assumption used as input to an algorithm. In this project, validation capabilities are considered those measurement capabilities, techniques, methods, models, etc. that allow effective validation. Enhancing current validation capabilities by incorporating state-of-the-art IOP measurements and optical models is the purpose of this work. Involved in this pursuit is improving core IOP measurement capabilities (spectral, angular, spatio-temporal resolutions), improving our understanding of the behavior of analytical AOP-IOP approximations in complex coastal waters, and improving the spatial and temporal resolution of biogeochemical data for validation by applying biogeochemical-IOP inversion models so that these parameters can be computed from real-time IOP sensors with high sampling rates. Research cruises supported by this project provides for collection and processing of seawater samples for biogeochemical (pigments, DOC and POC) and optical (CDOM and POM absorption coefficients) analyses to enhance our understanding of the linkages between in-water optical measurements (IOPs and AOPs) and biogeochemical constituents and to provide a more comprehensive suite of validation products.

Mannino, Antonio↗