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At least 1,243 records · Page 69

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NASA NTRS1986

Interpretation of satellite elevation magnetic anomalies

The present discussion is based on a study of the magnetic field data obtained with the aid of the magnetic field satellite Magsat, deployed in October 1979, over most of the earth during a 7.5-month mission. Inversions using spherical harmonic coefficients are considered along with the inversion of residual fields. In order to perform the correct operation, it is necessary to add on to the source function produced by the inversion process a magnetization function which has no external field. Such a function is known as an annihilator. The use of the annihilator for Pacific Ocean anomalies is discussed. Attention is given to models of oceanic crustal magnetization, and continental long-wavelength anomalies. It is found that in continental regions the annihilator is also useful if induced magnetizations are thought to be responsible for the long-wavelength anomaly.

Harrison, C. G. A.↗

NASA NTRS1986

Application of viscous-inviscid interaction methods to transonic turbulent flows

Two different viscous-inviscid interaction schemes were developed for the analysis of steady, turbulent, transonic, separated flows over axisymmetric bodies. The viscous and inviscid solutions are coupled through the displacement concept using a transpiration velocity approach. In the semi-inverse interaction scheme, the viscous and inviscid equations are solved in an explicitly separate manner and the displacement thickness distribution is iteratively updated by a simple coupling algorithm. In the simultaneous interaction method, local solutions of viscous and inviscid equations are treated simultaneously, and the displacement thickness is treated as an unknown and is obtained as a part of the solution through a global iteration procedure. The inviscid flow region is described by a direct finite-difference solution of a velocity potential equation in conservative form. The potential equation is solved on a numerically generated mesh by an approximate factorization (AF2) scheme in the semi-inverse interaction method and by a successive line overrelaxation (SLOR) scheme in the simultaneous interaction method. The boundary-layer equations are used for the viscous flow region. The continuity and momentum equations are solved inversely in a coupled manner using a fully implicit finite-difference scheme.

Lee, D.↗

NASA NTRS1987

Improving the geological interpretation of magnetic and gravity satellite anomalies

Quantitative analysis of the geologic component of observed satellite magnetic and gravity fields requires accurate isolation of the geologic component of the observations, theoretically sound and viable inversion techniques, and integration of collateral, constraining geologic and geophysical data. A number of significant contributions were made which make quantitative analysis more accurate. These include procedures for: screening and processing orbital data for lithospheric signals based on signal repeatability and wavelength analysis; producing accurate gridded anomaly values at constant elevations from the orbital data by three-dimensional least squares collocation; increasing the stability of equivalent point source inversion and criteria for the selection of the optimum damping parameter; enhancing inversion techniques through an iterative procedure based on the superposition theorem of potential fields; and modeling efficiently regional-scale lithospheric sources of satellite magnetic anomalies. In addition, these techniques were utilized to investigate regional anomaly sources of North and South America and India and to provide constraints to continental reconstruction. Since the inception of this research study, eleven papers were presented with associated published abstracts, three theses were completed, four papers were published or accepted for publication, and an additional manuscript was submitted for publication.

Hinze, William J.↗

NASA NTRS1986

Analysis of harmonic spline gravity models for Venus and Mars

Methodology utilizing harmonic splines for determining the true gravity field from Line-Of-Sight (LOS) acceleration data from planetary spacecraft missions was tested. As is well known, the LOS data incorporate errors in the zero reference level that appear to be inherent in the processing procedure used to obtain the LOS vectors. The proposed method offers a solution to this problem. The harmonic spline program was converted from the VAX 11/780 to the Ridge 32C computer. The problem with the matrix inversion routine that improved inversion of the data matrices used in the Optimum Estimate program for global Earth studies was solved. The problem of obtaining a successful matrix inversion for a single rev supplemented by data for the two adjacent revs still remains.

Bowin, Carl↗

NASA NTRS1987

Automated design of controlled diffusion blades

A numerical automation procedure has been developed to be used in conjunction with an inverse hodograph method for the design of controlled diffusion blades. With this procedure a cascade of airfoils with a prescribed solidity, inlet Mach number, inlet air flow angle, and air flow turning can be produced automatically. The trailing edge thickness of the airfoil, an important quantity in inverse methods, is also prescribed. The automation procedure consists of a multidimensional Newton iteration in which the objective design conditions are achieved by acting on the hodograph input parameters of the underlying inverse code. The method, although more general in scope, is applied in this paper to the design of axial flow compressor blade sections, and a wide range of examples is presented.

Sanz, Jose M.↗

NASA NTRS1987

The determination of exhaust cloud dimensions from films of space shuttle launches

Principles of photogrammetry are used to calculate the dimension of ground clouds produced from the Space Shuttle launch system. For each of three launches (Missions 41C, 41D, and 51A), a 16 mm camera recorded the ground cloud from three different locations. Measurements were made from outlines of the cloud and other features of interest which were traced onto paper at one-minute intervals using a 16 mm stop-action projector. Cloud characteristics such as top, max width at top, average width, and base are presented as a function of time. A temperature inversion was present each launch day and the cloud responded by first rising into the inversion and then descending to about the inversion height. Max tops were achieved in about three to five minutes and ranged from 2200 m for Mission 41C to 3500 m for Mission 41D. Cloud bases rose steadily to between 700 and 1000 m after 10 minutes. Average widths ranged from 500 to 1700 m depending on mission and camera. Photographs of digitizations of selected film frames are included in the report to show the irregular cloud shapes. Error sources for this analysis are also discussed.

Zak, R. A.↗

NASA NTRS1987

Adaptive control of robotic manipulators

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Seraji, H.↗

NASA NTRS1988

Bayesian inference in geomagnetism

The inverse problem in empirical geomagnetic modeling is investigated, with critical examination of recently published studies. Particular attention is given to the use of Bayesian inference (BI) to select the damping parameter lambda in the uniqueness portion of the inverse problem. The mathematical bases of BI and stochastic inversion are explored, with consideration of bound-softening problems and resolution in linear Gaussian BI. The problem of estimating the radial magnetic field B(r) at the earth core-mantle boundary from surface and satellite measurements is then analyzed in detail, with specific attention to the selection of lambda in the studies of Gubbins (1983) and Gubbins and Bloxham (1985). It is argued that the selection method is inappropriate and leads to lambda values much larger than those that would result if a reasonable bound on the heat flow at the CMB were assumed.

Backus, George E.↗

NASA NTRS1989

Confidence set inference with a prior quadratic bound

Backus, George E.↗

NASA NTRS1988

Confidence set inference with a prior quadratic bound

In the uniqueness part of a geophysical inverse problem, the observer wants to predict all likely values of P unknown numerical properties z = (z sub 1,...,z sub p) of the earth from measurement of D other numerical properties y(0)=(y sub 1(0),...,y sub D(0)) knowledge of the statistical distribution of the random errors in y(0). The data space Y containing y(0) is D-dimensional, so when the model space X is infinite-dimensional the linear uniqueness problem usually is insoluble without prior information about the correct earth model x. If that information is a quadratic bound on x (e.g., energy or dissipation rate), Bayesian inference (BI) and stochastic inversion (SI) inject spurious structure into x, implied by neither the data nor the quadratic bound. Confidence set inference (CSI) provides an alternative inversion technique free of this objection. CSI is illustrated in the problem of estimating the geomagnetic field B at the core-mantle boundary (CMB) from components of B measured on or above the earth's surface. Neither the heat flow nor the energy bound is strong enough to permit estimation of B(r) at single points on the CMB, but the heat flow bound permits estimation of uniform averages of B(r) over discs on the CMB, and both bounds permit weighted disc-averages with continous weighting kernels. Both bounds also permit estimation of low-degree Gauss coefficients at the CMB. The heat flow bound resolves them up to degree 8 if the crustal field at satellite altitudes must be treated as a systematic error, but can resolve to degree 11 under the most favorable statistical treatment of the crust. These two limits produce circles of confusion on the CMB with diameters of 25 deg and 19 deg respectively.

Backus, George E.↗

NASA NTRS1988

Fast polar decomposition of an arbitrary matrix

The polar decomposition of an m x n matrix A of full rank, where m is greater than or equal to n, can be computed using a quadratically convergent algorithm. The algorithm is based on a Newton iteration involving a matrix inverse. With the use of a preliminary complete orthogonal decomposition the algorithm can be extended to arbitrary A. How to use the algorithm to compute the positive semi-definite square root of a Hermitian positive semi-definite matrix is described. A hybrid algorithm which adaptively switches from the matrix inversion based iteration to a matrix multiplication based iteration due to Kovarik, and to Bjorck and Bowie is formulated. The decision when to switch is made using a condition estimator. This matrix multiplication rich algorithm is shown to be more efficient on machines for which matrix multiplication can be executed 1.5 times faster than matrix inversion.

Higham, Nicholas J.↗

NASA NTRS1987

Collision-free trajectory planning algorthm for manipulators

Collision-free trajectory planning for robotic manipulators is investigated. The task of the manipulator is to move its end-effector from one point to another point in an environment with polyhedral obstacles. An on-line algorithm is developed based on finding the required joint angles of the manipulator, according to goals with different priorities. The highest priority is to avoid collisions, the second priority is to plan the shortest path for the end effector, and the lowest priority is to minimize the joint velocity for smooth motion. The pseudo-inverse of the Jacobian matrix is applied for inverse kinematics. When a possible collision is detected, a constrained inverse kinematic problem is solved such that the collision is avoided. This algorithm can also be applied to a time-variant environment.

Pourboghrat, F.↗

NASA NTRS1988

Automated design of controlled-diffusion blades

Sanz, J. M.↗

NASA NTRS1989

Concurrence control for transactions with priorities

Priority inversion occurs when a process is delayed by the actions of another process with less priority. With atomic transactions, the concurrency control mechanism can cause delays, and without taking priorities into account can be a source of priority inversion. Three traditional concurrency control algorithms are extended so that they are free from unbounded priority inversion.

Marzullo, Keith↗

NASA NTRS1989

Concurrency control for transactions with priorities

Priority inversion occurs when a process is delayed by the actions of another process with less priority. With atomic transations, the concurrency control mechanism can cause delays, and without taking priorities into account can be a source of priority inversion. In this paper, three traditional concurrency control algorithms are extended so that they are free from unbounded priority inversion.

Marzullo, Keith↗

NASA NTRS1989

An order (n) algorithm for the dynamics simulation of robotic systems

The formulation of an Order (n) algorithm for DISCOS (Dynamics Interaction Simulation of Controls and Structures), which is an industry-standard software package for simulation and analysis of flexible multibody systems is presented. For systems involving many bodies, the new Order (n) version of DISCOS is much faster than the current version. Results of the experimental validation of the dynamics software are also presented. The experiment is carried out on a seven-joint robot arm at NASA's Goddard Space Flight Center. The algorithm used in the current version of DISCOS requires the inverse of a matrix whose dimension is equal to the number of constraints in the system. Generally, the number of constraints in a system is roughly proportional to the number of bodies in the system, and matrix inversion requires O(p exp 3) operations, where p is the dimension of the matrix. The current version of DISCOS is therefore considered an Order (n exp 3) algorithm. In contrast, the Order (n) algorithm requires inversion of matrices which are small, and the number of matrices to be inverted increases only linearly with the number of bodies. The newly-developed Order (n) DISCOS is currently capable of handling chain and tree topologies as well as multiple closed loops. Continuing development will extend the capability of the software to deal with typical robotics applications such as put-and-place, multi-arm hand-off and surface sliding.

Chun, H. M.↗

NASA NTRS1990

Mesoscale variability of free tropospheric humidity near San Nicolas Island during FIRE

Humidity variability at the top of the marine boundary layer (MBL) and in the free troposphere was examined using a variety of measurements taken on and around San Nicolas Island (SNI) during the FIRE IFO in July, 1987. Doppler wind profiler reflectivity recorded at two minute time resolution has provided the most continuous record and detail of small scale humidity fluctuations. Rawinsonde data were available from both an island site and the research vessel Point Sur. The information extractable from these sources is somewhat limited due to the frequency of launches (3 to 4/day at SNI and 6/day on the Point Sur). Some additional data were available from instrumented aircraft although scheduling flights in the neighborhood of the island was difficult due to restrictions on the air space. Other relevant data were collected at SNI near the radar and rawinsonde launch sites. A continuous record of cloud base altitude was logged by a ceilometer. Doppler acoustic sounder (sodar) reflectivity data provided a good record of inversion height. The sodar also monitored turbulent temperature fluctuations in the MBL. A small ground station recorded hourly averages of solar irradiance and downward longwave irradiance. The analysis in progress of the various data sets for two adjacent two day periods from 11 July to 14 July is described. The earlier period was chosen because the marine inversion was unusually high and there was increased frequency of rawinsonde launches at SNI. The later period was chosen because of the significant descent with time of an elevated inversion indicated by the radar data. Throughout the four day period, but especially in the first half, the turbulent humidity structure calculated from Doppler radar reflectivity shows excellent agreement with humidity profiles evaluated from rawinsonde data.

White, A. B.↗

NASA NTRS1990

Cloud and boundary layer structure over San Nicolas Island during FIRE

The temporal evolution of the structure of the marine boundary layer and of the associated low-level clouds observed in the vicinity of the San Nicolas Island (SNI) is defined from data collected during the First ISCCP Regional Experiment (FIRE) Marine Stratocumulus Intense Field Observations (IFO) (July 1 to 19). Surface, radiosonde, and remote-sensing measurements are used for this analysis. Sounding from the Island and from the ship Point Sur, which was located approximately 100 km northwest of SNI, are used to define variations in the thermodynamic structure of the lower-troposphere on time scales of 12 hours and longer. Time-height sections of potential temperature and equivalent potential temperature clearly define large-scale variations in the height and the strength of the inversion and periods where the conditions for cloud-top entrainment instability (CTEI) are met. Well defined variations in the height and the strength of the inversion were associated with a Cataline Eddy that was present at various times during the experiment and with the passage of the remnants of a tropical cyclone on July 18. The large-scale variations in the mean thermodynamic structure at SNI correlate well with those observed from the Point Sur. Cloud characteristics are defined for 19 days of the experiment using data from a microwave radiometer, a cloud ceilometer, a sodar, and longwave and shortwave radiometers. The depth of the cloud layer is estimated by defining inversion heights from the sodar reflectivity and cloud-base heights from a laser ceilometer. The integrated liquid water obtained from NOAA's microwave radiometer is compared with the adiabatic liquid water content that is calculated by lifting a parcel adiabatically from cloud base. In addition, the cloud structure is characterized by the variability in cloud-base height and in the integrated liquid water.

Albrecht, Bruce A.↗