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NASA NTRS1984

A generalized multiple-input, multiple-output modal parameter estimation algorithm

A new method for experimental determination of the modal parameters of a structure is presented. The method allows for multiple input forces to be applied simultaneously, and for an arbitrary number of acceleration response measurements to be employed. These data are used to form the equations of motion for a damped linear elastic structure. The modal parameters are then obtained through an eigenvalue technique. In conjunction with the development of the equations, an extensive computer simulation study was performed. The results of the study show a marked improvement in the mode shape identification for closely-spaced modes as the number of applied forces is increased. Also demonstrated is the influence of noise on the method's ability to identify accurate modal parameters. Here again, an increase in the number of exciters leads to a significant improvement in the identified parameters.

Craig, R. R., Jr.↗

NASA NTRS1988

Investigation of practical applications of H infinity control theory to the design of control systems for large space structures

The applicability of H infinity control theory to the problems of large space structures (LSS) control was investigated. A complete evaluation to any technique as a candidate for large space structure control involves analytical evaluation, algorithmic evaluation, evaluation via simulation studies, and experimental evaluation. The results of analytical and algorithmic evaluations are documented. The analytical evaluation involves the determination of the appropriateness of the underlying assumptions inherent in the H infinity theory, the determination of the capability of the H infinity theory to achieve the design goals likely to be imposed on an LSS control design, and the identification of any LSS specific simplifications or complications of the theory. The resuls of the analytical evaluation are presented in the form of a tutorial on the subject of H infinity control theory with the LSS control designer in mind. The algorthmic evaluation of H infinity for LSS control pertains to the identification of general, high level algorithms for effecting the application of H infinity to LSS control problems, the identification of specific, numerically reliable algorithms necessary for a computer implementation of the general algorithms, the recommendation of a flexible software system for implementing the H infinity design steps, and ultimately the actual development of the necessary computer codes. Finally, the state of the art in H infinity applications is summarized with a brief outline of the most promising areas of current research.

Irwin, R. Dennis↗

NASA NTRS1993

Reconstruction of multiple cracks from experimental electrostatic boundary measurements

An algorithm for recovering a collection of linear cracks in a homogeneous electrical conductor from boundary measurements of voltages induced by specified current fluxes is described. The technique is a variation of Newton's method and is based on taking weighted averages of the boundary data. An apparatus that was constructed specifically for generating laboratory data on which to test the algorithm is also described. The algorithm is applied to a number of different test cases and the results are discussed.

Bryan, Kurt↗

NASA NTRS2010

Optical and Microphysical Retrievals of Marine Stratocumulus Clouds off the Coast of Namibia from Satellite and Aircraft

Though the emphasis of the Southern Africa Regional Science Initiative 2000 (SAFARI-2000) dry season campaign was largely on emission sources and transport, the assemblage of aircraft (including the high altitude NASA ER-2 remote sensing platform and the University of Washington CV-580, UK MRF C-130, and South African Weather Bureau JRA in situ aircrafts) provided a unique opportunity for cloud studies. Therefore, as part of the SAFARI initiative, investigations were undertaken to assess regional aerosol-cloud interactions and cloud remote sensing algorithms. In particular, the latter part of the experiment concentrated on marine boundary layer stratocumulus clouds off the southwest coast of Africa. Associated with cold water upwelling along the Benguela current, the Namibian stratocumulus regime has received limited attention but appears to be unique for several reasons. During the dry season, outflow of continental fires and industrial pollution over this area can be extreme. From below, upwelling provides a rich nutrient source for phytoplankton (a source of atmospheric sulfur through DMS production as well as from decay processes). The impact of these natural and anthropogenic sources on the microphysical and optical properties of the stratocumulus is unknown. Continental and Indian Ocean cloud systems of opportunity were also studied during the campaign. SAFARI 2000 aircraft flights off the coast of Namibia were coordinated with NASA Terra Satellite overpasses for synergy with the Moderate Resolution Imaging Spectroradiometer (MODIS) and other Terra instruments. MODIS was developed by NASA and launched onboard the Terra spacecraft on December 18, 1999 (and Aqua spacecraft on May 4, 2002). Among the remote sensing algorithms developed and applied to this sensor are cloud optical and microphysical properties that include cloud thermodynamic phase, optical thickness, and effective particle radius of both liquid water and ice clouds. The archived products from these algorithms have applications in climate change studies, climate modeling, numerical weather prediction, and fundamental atmospheric research. The archived MODIS Collection 5 cloud products processing stream will be used to analyze low water cloud scenes off the Namibian and Angolan coasts during SAFARI 2000 time period, as well as other years. Pixel-level Terra and Aqua MODIS retrievals (l. km spatial resolution at nadir) and gridded (1' uniform grid) statistics of cloud optical thickness and effective particle radius will be presented, including joint probability distributions between the two quantities. In addition, perspectives from the MODIS Airborne Simulator, which flew on the ER-2 during SAFARI 2000 providing high spatial resolution retrievals (50 m at nadir), will be presented as appropriate. The H-SAF Program requires an experimental operational European-centric Satellite Precipitation Algorithm System (E-SPAS) that produces medium spatial resolution and high temporal resolution surface rainfall and snowfall estimates over the Greater European Region including the Greater Mediterranean Basin. Currently, there are various types of experimental operational algorithm methods of differing spatiotemporal resolutions that generate global precipitation estimates. This address will first assess the current status of these methods and then recommend a methodology for the H-SAF Program that deviates somewhat from the current approach under development but one that takes advantage of existing techniques and existing software developed for the TRMM Project and available through the public domain.

Platnick, Steven E.↗

NASA NTRS1982

Development of flying qualities criteria for single pilot instrument flight operations

Flying qualities criteria for Single Pilot Instrument Flight Rule (SPIFR) operations were investigated. The ARA aircraft was modified and adapted for SPIFR operations. Aircraft configurations to be flight-tested were chosen and matched on the ARA in-flight simulator, implementing modern control theory algorithms. Mission planning and experimental matrix design were completed. Microprocessor software for the onboard data acquisition system was debugged and flight-tested. Flight-path reconstruction procedure and the associated FORTRAN program were developed. Algorithms associated with the statistical analysis of flight test results and the SPIFR flying qualities criteria deduction are discussed.

Bar-Gill, A.↗

NASA NTRS2007

Visual End-Effector Position Error Compensation for Planetary Robotics

This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and 'ground-in-the-loop' technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data.

vision-guided manipulation algorithm↗

NASA NTRS2007

Visual end-effector position error compensation for planetary robotics

This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and ground-in-the-loop technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data.

Nickels, Kevin↗

NASA NTRS1971

Synthesis of stiffness and mass matrices from experimental vibration modes.

With highly complex structures, it is sometimes desirable to derive a dynamic model of the system from experimental vibration data. This paper presents algorithms for synthesizing the mass and stiffness matrices from experimentally derived modal data in a way which preserves the physical significance of the individual mass and stiffness elements. The synthesizing procedures allow for the incorporation of other mass and stiffness data, whether empirical or based on the analyst's insight. The mass and stiffness matrices are derived for a cantilever beam example and are compared with those obtained using earlier techniques.

Ross, R. G., Jr.↗

NASA NTRS2002

Multiple Component Event-Related Potential (mcERP) Estimation

We show how model-based estimation of the neural sources responsible for transient neuroelectric signals can be improved by the analysis of single trial data. Previously, we showed that a multiple component event-related potential (mcERP) algorithm can extract the responses of individual sources from recordings of a mixture of multiple, possibly interacting, neural ensembles. McERP also estimated single-trial amplitudes and onset latencies, thus allowing more accurate estimation of ongoing neural activity during an experimental trial. The mcERP algorithm is related to informax independent component analysis (ICA); however, the underlying signal model is more physiologically realistic in that a component is modeled as a stereotypic waveshape varying both in amplitude and onset latency from trial to trial. The result is a model that reflects quantities of interest to the neuroscientist. Here we demonstrate that the mcERP algorithm provides more accurate results than more traditional methods such as factor analysis and the more recent ICA. Whereas factor analysis assumes the sources are orthogonal and ICA assumes the sources are statistically independent, the mcERP algorithm makes no such assumptions thus allowing investigators to examine interactions among components by estimating the properties of single-trial responses.

Knuth, K. H.↗

NASA NTRS2000

Annual Research Briefs - 2000: Center for Turbulence Research

This report contains the 2000 annual progress reports of the postdoctoral Fellows and visiting scholars of the Center for Turbulence Research (CTR). It summarizes the research efforts undertaken under the core CTR program. Last year, CTR sponsored sixteen resident Postdoctoral Fellows, nine Research Associates, and two Senior Research Fellows, hosted seven short term visitors, and supported four doctoral students. The Research Associates are supported by the Departments of Defense and Energy. The reports in this volume are divided into five groups. The first group largely consists of the new areas of interest at CTR. It includes efficient algorithms for molecular dynamics, stability in protoplanetary disks, and experimental and numerical applications of evolutionary optimization algorithms for jet flow control. The next group of reports is in experimental, theoretical, and numerical modeling efforts in turbulent combustion. As more challenging computations are attempted, the need for additional theoretical and experimental studies in combustion has emerged. A pacing item for computation of nonpremixed combustion is the prediction of extinction and re-ignition phenomena, which is currently being addressed at CTR. The third group of reports is in the development of accurate and efficient numerical methods, which has always been an important part of CTR's work. This is the tool development part of the program which supports our high fidelity numerical simulations in such areas as turbulence in complex geometries, hypersonics, and acoustics. The final two groups of reports are concerned with LES and RANS prediction methods. There has been significant progress in wall modeling for LES of high Reynolds number turbulence and in validation of the v(exp 2) - f model for industrial applications.

Source record↗

NASA NTRS1986

Energy shadowing correction of ultrasonic pulse-echo records by digital signal processing

Attention is given to a numerical algorithm that, via signal processing, enables the dynamic correction of the shadowing effect of reflections on ultrasonic displays. The algorithm was applied to experimental data from graphite-epoxy composite material immersed in a water bath. It is concluded that images of material defects with the shadowing corrections allow for a more quantitative interpretation of the material state. It is noted that the proposed algorithm is fast and simple enough to be adopted for real time applications in industry.

Kishoni, D.↗

NASA NTRS1998

Detection of Non-Symmetrical Damage in Smart Plate-Like Structures

A two-dimensional model for in-plane vibrations of a cantilever plate with a non-symmetrical damage is used in the context of defect identification in materials with piezoelectric ceramic patches bonded to their surface. These patches can act both as actuators and sensors in a self-analyzing fashion, which is a characteristic of smart materials. A Galerkin method is used to approximate the dynamic response of these structures. The natural frequency shifts due to the damage are estimated numerically and compared to experimental data obtained from tests on cantilever aluminum plate-like structures damaged at different locations with defects of different depths. The damage location and extent are determined by an enhanced least square identification method. Efficacy of the frequency shift based algorithms is demonstrated using experimental data.

Blanks, H. T.↗

NASA NTRS1980

Numerical simulation of three-dimensional boattail afterbody flow fields

The thin shear layer approximations of the three-dimensional, compressible Navier-Stokes equations are solved for subsonic, transonic, and supersonic flow over axisymmetric boattail bodies at moderate angles of attack. The plume is modeled by a solid body configuration identical to those used in experimental tests. An implicit algorithm of second-order accuracy is used to solve the equations on the ILLIAC IV computer. The turbulence is expressed by an algebraic model applicable to three-dimensional flow fields with moderate separation. The computed results compare favorably with three different sets of experimental data reported by Reubush, Shrewsbury, and Benek, respectively

Deiwert, G. S.↗

NASA NTRS1982

Infrared remote sensing of the vertical and horizontal distribution of clouds

An algorithm has been developed to derive the horizontal and vertical distribution of clouds from the same set of infrared radiance data used to retrieve atmospheric temperature profiles. The method leads to the determination of the vertical atmospheric temperature structure and the cloud distribution simultaneously, providing information on heat sources and sinks, storage rates and transport phenomena in the atmosphere. Experimental verification of this algorithm was obtained using the 15-micron data measured by the NOAA-VTPR temperature sounder. After correcting for water vapor emission, the results show that the cloud cover derived from 15-micron data is less than that obtained from visible data.

Chahine, M. T.↗

NASA NTRS1993

Garbage Collection in a Distributed Object-Oriented System

An algorithm is described in this paper for garbage collection in distributed systems with object sharing across processor boundaries. The algorithm allows local garbage collection at each node in the system to proceed independently of local collection at the other nodes. It requires no global synchronization or knowledge of the global state of the system and exhibits the capability of graceful degradation. The concept of a specialized dump node is proposed to facilitate the collection of inaccessible circular structures. An experimental evaluation of the algorithm is also described. The algorithm is compared with a corresponding scheme that requires global synchronization. The results show that the algorithm works well in distributed processing environments even when the locality of object references is low.

Gupta, Aloke↗

NASA NTRS1981

Numerical Simulation of Three-Dimensional Boattail Afterbody Flowfields

The thin shear-layer approximations of the three-dimensional, compressible Navier-Stokes equations are solved for subsonic, transonic, and supersonic now over axisymmetric boattail bodies at moderate angles of attack. The plume is simulated by a solid body configuration identical to those used In experimental tests. An implicit algorithm of second-order accuracy is used to solve the equations on the ILLIAC 4 computer. The turbulence is expressed by an algebraic model applicable to three-dimensional flowfields with moderate separation. The formulation used is attractive in its independence of boundary-layer parameters. Such a simple model, however, is incapable of supporting detailed quantitative descriptions of complex shear flows. Never-the-less, good qualitative comparisons are found with three different sets of experimental date. Quantitative improvement will depend on improved turbulence transport descriptions.

Deiwert, G. S.↗

NASA NTRS2007

The EPEC Algorithm for Vision Guided Manipulation: Analysis and Validation

This paper describes the simulated performance and experimental validation of a computationally efficient algorithm for improving positioning accuracy of robot arms using low speed feedback from fixed stereo cameras. The algorithm, called End-Effector Position Error Compensation (EPEC) is robust to visual occlusion of the end-effector and does not require high fidelity calibration of either the arm or stereo camera. The algorithm works by calculating an error vector between the locations of a fiducial on the arm's end-effector as predicted by arm kinematics and detected by a stereo camera triangulation. With this knowledge, the commanded target pose is adjusted to compensate for positioning errors. A simulation environment where arbitrary error can be introduced into arm-camera systems is introduced and used to provide an assessment of the performance of the algorithm under both ideal and degraded conditions.

manipulations↗

NASA NTRS2015

Voronoi-Based Point-Placement for Three-Dimensional Delaunay-Refinement

An extension of the restricted Delaunay-refinement algorithm for three-dimensional tetrahedral mesh generation is described, in which an off-centre type point-placement scheme is utilised. It is shown that the use of generalised Steiner points, positioned along edges in the associated Voronoi complex, typically leads to improvements in the overall size, quality and grading of the resulting tetrahedral meshes. The new algorithm can be viewed as a Frontal-Delaunay approach - a hybridisation of conventional Delaunay-refinement and advancing-front techniques, in which new vertices are positioned to satisfy both element size- and shapeconstraints. The new method is shown to inherit many of the best features of classical Delaunay-refinement and advancing-front type algorithms, combining good practical performance with theoretical robustness. Experimental comparisons show that

algorithms↗