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At least 1,333 records · Page 74

Discrete-time adaptive control of robot manipulators

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that asymptotic trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation.

Tarokh, M.↗

Accelerated Adaptive MGS Phase Retrieval

The Modified Gerchberg-Saxton (MGS) algorithm is an image-based wavefront-sensing method that can turn any science instrument focal plane into a wavefront sensor. MGS characterizes optical systems by estimating the wavefront errors in the exit pupil using only intensity images of a star or other point source of light. This innovative implementation of MGS significantly accelerates the MGS phase retrieval algorithm by using stream-processing hardware on conventional graphics cards. Stream processing is a relatively new, yet powerful, paradigm to allow parallel processing of certain applications that apply single instructions to multiple data (SIMD). These stream processors are designed specifically to support large-scale parallel computing on a single graphics chip. Computationally intensive algorithms, such as the Fast Fourier Transform (FFT), are particularly well suited for this computing environment. This high-speed version of MGS exploits commercially available hardware to accomplish the same objective in a fraction of the original time. The exploit involves performing matrix calculations in nVidia graphic cards. The graphical processor unit (GPU) is hardware that is specialized for computationally intensive, highly parallel computation. From the software perspective, a parallel programming model is used, called CUDA, to transparently scale multicore parallelism in hardware. This technology gives computationally intensive applications access to the processing power of the nVidia GPUs through a C/C++ programming interface. The AAMGS (Accelerated Adaptive MGS) software takes advantage of these advanced technologies, to accelerate the optical phase error characterization. With a single PC that contains four nVidia GTX-280 graphic cards, the new implementation can process four images simultaneously to produce a JWST (James Webb Space Telescope) wavefront measurement 60 times faster than the previous code.

Lam, Raymond K.↗

Lamb Wave Response of Fatigued Composite Samples

Composite materials are being more widely used today by aerospace, automotive, sports equipment, and a number of other commercial industries because of their advantages over conventional metals. Composites have a high strength-to-weight ratio and can be constructed to meet specific design needs. Composite structures are already in use in secondary parts of the Douglas MD-11 and are planned to be used in the new MD-12X. Plans also exist for their use in primary and secondary structures on the Boeing 777. Douglas proposed MD-XX may also incorporate composite materials into primary structures such as the wings and tail. Use of composites in these structures offers weight savings, corrosion resistance, and improved aerodynamics. Additionally, composites have been used to repair cracks in many B-1Bs where traditional repair techniques were not very effective. Plans have also been made to reinforce all of the remaining B-1s with composite materials. Verification of the structural integrity of composite components is needed to insure safe operation of these aerospace vehicles. One aspect of the use of these composites is their response to fatigue. To track this progression of fatigue in aerospace structures, a convenient method to nondestructively monitor this damage needs to be developed. Traditional NDE techniques used on metals are not easily adaptable to composites due to the inhomogeneous and anisotropic nature of these materials. Finding an effective means of nondestructively monitoring fatigue damage is extremely important to the safety and reliability of such structures. Lamb waves offer one method of evaluating these composite materials. As a material is fatigued, the modulus degrades. Since the Lamb wave velocity can be related to the modulus of the material, an effective tool can be developed to monitor fatigue damage in composites by measuring the velocity of these waves. In this work, preliminary studies have been conducted which monitor fatigue damage in composite samples using strain gage measurements as well as Lamb wave velocity measurements. A description of the test samples is followed by the results of two different measurements of Lamb wave velocity. The first technique is a contact measurement done at a single frequency, while the second involves an immersion study of Lamb waves in which dispersion curves are obtained. The results of the Lamb wave monitoring of fatigue damage is compared to the damage progression measured by strain gages. The final section discusses the results and conclusions.

Seale, Michael↗

Low-cost, high-efficiency silicon by heat exchanger method and fixed abrasive slicing technique

The paper describes the heat exchanger method (HEM) for growing silicon crystals. The problem of ingot cracking was solved by using a graded structure silica crucible, and vacuum processing eliminated expensive high-purity argon. Solar cells fabricated from HEM silicon demonstrated conversion efficiencies up to 15% (AM1) at low cost, using square cross-section, single crystal silicon. A modified multiblade slurry machine was adapted for multiwire fixed abrasive slicing of silicon which uses a diamond attached to wires; this method provides a conversion ratio of 1.08 sq m of wafer per kg of silicon ingot, and produces wafers free of edge chipping with a surface damage of 3-5 microns.

Khattak, C. P.↗

System and method for tracking a signal source

A system for tracking moving signal sources is disclosed which is particularly adaptable for use in tracking stage performers. A miniature transmitter is attached to the person or object to be tracked and emits a detectable signal of a predetermined frequency. A plurality of detectors positioned in a preset pattern sense the signal and supply output information to a phase detector which applies signals representing the angular orientation of the transmitter to a computer. The computer provides command signals to a servo network which drives a device such as a motor driven mirror reflecting the beam of a spotlight, to track the moving transmitter.

Mogavero, L. N.↗

Flow structure capturing on overset patched meshes

The present paper describes the application of a simple, robust stable implicit approach to solutions of the conservative equations of gasdynamics on either composite or overset meshes to capture flow structures such as shocks with high resolution in complex geometric domains. Without requiring special flux conservative operators, but rather, interpolating conservative variable data at mesh boundaries, the well posed upwind method provides accurate and oscillation free solutions, even when shocks cross the interior patch boundaries. In three problems with flow complexities that require grid refinement, the paper demonstrates the capability to conveniently carry out for gasdynamics the adaptive refined meshing strategy in overset patches proposed by Berger and Oliger (1984), and it extends this technique to rapidly convergent implicit methods for the Euler and Navier-Stokes equations. The numerical experiments show concretely, in a realistic aerodynamic problem, the savings in mesh points (about an order of magnitude here in two dimensions) for similar accuracy that flow structure aligned adaptive patched meshing affords compared to uniform grid refinement.

Venkatapathy, E.↗

Effects of method of loading and specimen configuration on compressive strength of graphite/epoxy composite materials

Three test schemes were examined for testing graphite/epoxy (Narmco T300/5208) composite material specimens to failure in compression, including an adaptation of the IITRI "wedge grip" compression fixture, a face-supported-compression fixture, and an end-loaded-coupon fixture. The effects of specimen size, specimen support arrangement and method of load transfer on compressive behavior of graphite/epoxy were investigated. Compressive stress strain, strength, and modulus data obtained with the three fixtures are presented with evaluations showing the effects of all test parameters, including fiber orientation. The IITRI fixture has the potential to provide good stress/strain data to failure for unidirectional and quasi-isotropic laminates. The face supported fixture was found to be the most desirable for testing + or - 45 s laminates.

Clark, R. K.↗

A Marker-Based Approach for the Automated Selection of a Single Segmentation from a Hierarchical Set of Image Segmentations

The Hierarchical SEGmentation (HSEG) algorithm, which combines region object finding with region object clustering, has given good performances for multi- and hyperspectral image analysis. This technique produces at its output a hierarchical set of image segmentations. The automated selection of a single segmentation level is often necessary. We propose and investigate the use of automatically selected markers for this purpose. In this paper, a novel Marker-based HSEG (M-HSEG) method for spectral-spatial classification of hyperspectral images is proposed. Two classification-based approaches for automatic marker selection are adapted and compared for this purpose. Then, a novel constrained marker-based HSEG algorithm is applied, resulting in a spectral-spatial classification map. Three different implementations of the M-HSEG method are proposed and their performances in terms of classification accuracies are compared. The experimental results, presented for three hyperspectral airborne images, demonstrate that the proposed approach yields accurate segmentation and classification maps, and thus is attractive for remote sensing image analysis.

Tarabalka, Y.↗

Simulation of a Periodic Jet in a Crossflow with a RANS Solver Using an Unstructured Grid

A second-order unstructured-grid code, developed and used primarily for steady aerodynamic simulations, is applied to the synthetic jet in a cross flow. The code, FUN3D, is a vertex-centered finite-volume method originally developed by Anderson[1, 2], and is currently supported by members of the Fast Adaptive Aerospace Tools team at NASA Langley. Used primarily for design[3] and analysis[4] of steady aerodynamic configurations, FUN3D incorporates a discrete adjoint capability, and supports parallel computations using MPI. A detailed description of the FUN3D code can be found in the references given above. The code is under continuous development and contains a variety of flux splitting algorithms for the inviscid terms, two methods for computing gradients, several turbulence models, and several solution methodologies; all in varying states of development. Only the most robust and reliable components, based on experiences with steady aerodynamic simulations, were employed in this work. As applied in this work, FUN3D solves the Reynolds averaged Navier-Stokes equations using the one equation turbulence model of Spalart and Allmaras[5]. The spatial discretization is formed on unstructured meshes using a vertex-centered approach. The inviscid terms are evaluated by a flux-difference splitting formulation using least-squares reconstruction and Roe-type approximate Riemann fluxes. Green-Gauss gradient evaluations are used for viscous and turbulence modeling terms. The discrete spatial operator is combined with a backward time operator which is then solved iteratively using point or line Gauss-Seidel and local time stepping in a pseudo time. For steady flows, the physical time step is set to infinity and the pseudo time step is ramped up with the iteration count. A second-order backward in time operator is used for time accurate flows with 20 to 50 steps in the pseudo time applied at each physical time step. For this effort, FUN3D was modified to support spatially varying boundary and initial conditions, and unsteady boundary conditions. Also, a specialized in/out flow boundary condition was implemented to model the action of the diaphragm. This boundary condition is described below in more detail. The grids were generated using the internally developed codes GridEX[6] for meshing the surfaces and inviscid regions of the domain, and for CAD access; and MesherX[7] for meshing the viscous regions. Grid spacing in on the surfaces and in the inviscid regions are indirectly controlled by specifying sources. The viscous layers are generated using an advancing layer technique. MeshersX allows the user to control the spatial variation of the first step off the surface, growth rates, and the termination criterion by providing small problem dependent subroutines.

Atkins, H. L.↗

The Novel Nonlinear Adaptive Doppler Shift Estimation Technique and the Coherent Doppler Lidar System Validation Lidar

The signal processing aspect of a 2-m wavelength coherent Doppler lidar system under development at NASA Langley Research Center in Virginia is investigated in this paper. The lidar system is named VALIDAR (validation lidar) and its signal processing program estimates and displays various wind parameters in real-time as data acquisition occurs. The goal is to improve the quality of the current estimates such as power, Doppler shift, wind speed, and wind direction, especially in low signal-to-noise-ratio (SNR) regime. A novel Nonlinear Adaptive Doppler Shift Estimation Technique (NADSET) is developed on such behalf and its performance is analyzed using the wind data acquired over a long period of time by VALIDAR. The quality of Doppler shift and power estimations by conventional Fourier-transform-based spectrum estimation methods deteriorates rapidly as SNR decreases. NADSET compensates such deterioration in the quality of wind parameter estimates by adaptively utilizing the statistics of Doppler shift estimate in a strong SNR range and identifying sporadic range bins where good Doppler shift estimates are found. The authenticity of NADSET is established by comparing the trend of wind parameters with and without NADSET applied to the long-period lidar return data.

Beyon, Jeffrey Y.↗

Method and apparatus for automatic control of a humanoid robot

A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.

Abdallah, Muhammad E↗

Progress in Grid Generation: From Chimera to DRAGON Grids

Hybrid grids, composed of structured and unstructured grids, combines the best features of both. The chimera method is a major stepstone toward a hybrid grid from which the present approach is evolved. The chimera grid composes a set of overlapped structured grids which are independently generated and body-fitted, yielding a high quality grid readily accessible for efficient solution schemes. The chimera method has been shown to be efficient to generate a grid about complex geometries and has been demonstrated to deliver accurate aerodynamic prediction of complex flows. While its geometrical flexibility is attractive, interpolation of data in the overlapped regions - which in today's practice in 3D is done in a nonconservative fashion, is not. In the present paper we propose a hybrid grid scheme that maximizes the advantages of the chimera scheme and adapts the strengths of the unstructured grid while at the same time keeps its weaknesses minimal. Like the chimera method, we first divide up the physical domain by a set of structured body-fitted grids which are separately generated and overlaid throughout a complex configuration. To eliminate any pure data manipulation which does not necessarily follow governing equations, we use non-structured grids only to directly replace the region of the arbitrarily overlapped grids. This new adaptation to the chimera thinking is coined the DRAGON grid. The nonstructured grid region sandwiched between the structured grids is limited in size, resulting in only a small increase in memory and computational effort. The DRAGON method has three important advantages: (1) preserving strengths of the chimera grid; (2) eliminating difficulties sometimes encountered in the chimera scheme, such as the orphan points and bad quality of interpolation stencils; and (3) making grid communication in a fully conservative and consistent manner insofar as the governing equations are concerned. To demonstrate its use, the governing equations are discretized using the newly proposed flux scheme, AUSM+, which will be briefly described herein. Numerical tests on representative 2D inviscid flows are given for demonstration. Finally, extension to 3D is underway, only paced by the availability of the 3D unstructured grid generator.

Liou, Meng-Sing↗

Compact Two-step Laser Time-of-Flight Mass Spectrometer for in Situ Analyses of Aromatic Organics on Planetary Missions

RATIONALE A miniature time-of-flight mass spectrometer has been adapted to demonstrate two-step laser desorption-ionization (LOI) in a compact instrument package for enhanced organics detection. Two-step LDI decouples the desorption and ionization processes, relative to traditional laser ionization-desorption, in order to produce low-fragmentation conditions for complex organic analytes. Tuning UV ionization laser energy allowed control ofthe degree of fragmentation, which may enable better identification of constituent species. METHODS A reflectron time-of-flight mass spectrometer prototype measuring 20 cm in length was adapted to a two-laser configuration, with IR (1064 nm) desorption followed by UV (266 nm) postionization. A relatively low ion extraction voltage of 5 kV was applied at the sample inlet. Instrument capabilities and performance were demonstrated with analysis of a model polycyclic aromatic hydrocarbon, representing a class of compounds important to the fields of Earth and planetary science. RESULTS L2MS analysis of a model PAH standard, pyrene, has been demonstrated, including parent mass identification and the onset o(tunable fragmentation as a function of ionizing laser energy. Mass resolution m/llm = 380 at full width at half-maximum was achieved which is notable for gas-phase ionization of desorbed neutrals in a highly-compact mass analyzer. CONCLUSIONS Achieving two-step laser mass spectrometry (L2MS) in a highly-miniature instrument enables a powerful approach to the detection and characterization of aromatic organics in remote terrestrial and planetary applications. Tunable detection of parent and fragment ions with high mass resolution, diagnostic of molecular structure, is possible on such a compact L2MS instrument. Selectivity of L2MS against low-mass inorganic salt interferences is a key advantage when working with unprocessed, natural samples, and a mechanism for the observed selectivity is presented.

Getty, Stephanie↗

Adaptive Numerical Dissipative Control in High Order Schemes for Multi-D Non-Ideal MHD

The goal is to extend our adaptive numerical dissipation control in high order filter schemes and our new divergence-free methods for ideal MHD to non-ideal MHD that include viscosity and resistivity. The key idea consists of automatic detection of different flow features as distinct sensors to signal the appropriate type and amount of numerical dissipation/filter where needed and leave the rest of the region free of numerical dissipation contamination. These scheme-independent detectors are capable of distinguishing shocks/shears, flame sheets, turbulent fluctuations and spurious high-frequency oscillations. The detection algorithm is based on an artificial compression method (ACM) (for shocks/shears), and redundant multi-resolution wavelets (WAV) (for the above types of flow feature). These filter approaches also provide a natural and efficient way for the minimization of Div(B) numerical error. The filter scheme consists of spatially sixth order or higher non-dissipative spatial difference operators as the base scheme for the inviscid flux derivatives. If necessary, a small amount of high order linear dissipation is used to remove spurious high frequency oscillations. For example, an eighth-order centered linear dissipation (AD8) might be included in conjunction with a spatially sixth-order base scheme. The inviscid difference operator is applied twice for the viscous flux derivatives. After the completion of a full time step of the base scheme step, the solution is adaptively filtered by the product of a 'flow detector' and the 'nonlinear dissipative portion' of a high-resolution shock-capturing scheme. In addition, the scheme independent wavelet flow detector can be used in conjunction with spatially compact, spectral or spectral element type of base schemes. The ACM and wavelet filter schemes using the dissipative portion of a second-order shock-capturing scheme with sixth-order spatial central base scheme for both the inviscid and viscous MHD flux derivatives and a fourth-order Runge-Kutta method are denoted.

Yee, H. C.↗

Angle-of-Attack Sweep with Mesh Adaptation for High-Lift Configurations

This paper reports an angle-of-attack (alpha) sweep study with mesh adaptation for the high-lift configuration - JAXA Standard Model (JSM) from the 3rd AIAA High-Lift Prediction Workshop. The method of angle-of-attack (alpha) continuation, where the flow-field at a certain angle of attack is initialized from the solution obtained at the previous angle of attack, is applied to adapted unstructured meshes. Since the meshes are continuously adapted, flow-field initialization on a particular mesh for a certain angle is done through linear interpolation of the solution from the previous mesh. Interpolated initial conditions usually prevent massively separated solutions that may otherwise occur with impulsive initial conditions. Alpha continuations are done in both forward (increasing alpha) and reverse (decreasing alpha) directions, resulting in the formation of hysteresis loops. Skin frictions are compared with the wind-tunnel oil flow images and pressure coefficients are compared with the wind-tunnel values, at selected angles of attack. Final paper will include results also for the high-lift version of the Common Research Model (CRM-HL) from the 4th AIAA High-Lift Prediction Workshop. A thorough comparison of the results will also be made with the available wind-tunnel data.

Mesh Adaptation↗

Formulation and implementation of a practical algorithm for non-stationary adaptive state estimation

Background information on the Kalman filter is given first. A discussion of the filter parameters and their a priori determination follows. The discussion points out the need for adaptive determination of the process noise statistics. The filter innovations are presented as a means for developing the adaptive criteria. The criteria center around the estimation of the true mean and covariance of the filter innovations. A method for the numerical approximation of the mean and covariance of a locally stationary random process is presented. The definition of a local stationarity is presented. Local stationarity allows for the separation of the process statistics into a stationary component and a time-varying component. The separation method is discussed. A method for estimating the stationary and time-varying components is presented. As an example of its application to real problems, the algorithm is applied to the problem to the problem of reentry trajectory estimation for the Space Shuttle. Both the adaptive algorithm and the steady-state Kalman filter are applied to the problem. The results of the reconstructions are presented. The adaptive algorithm exhibits superior performance.

Whitemore, S. A.↗

Adaptive line by line encoder for image transmission.

A simple adaptive algorithm is applied to the line by line encoding of images. Among its desirable properties the algorithm includes a control of encoding errors independently of the image statistics. This block transform encoder, because of its adaptive nature gives rise to nonstationary errors and end of block effects. Two methods are proposed to reduce these effects and thus improve the subjective quality of reconstructed images. The performance of the algorithm is image dependent and several illustrative examples are given.

Algazi, V. R.↗

Cardiovascular effects of variations in habitual levels of physical activity

Mechanisms involved in human cardiovascular adaption to stress, particularly adaption to different levels of physical activity are determined along with quantitative noninvasive methods for evaluation of cardiovascular function during stess in normal subjects and in individuals with latent or manifest cardiovascular disease. Results are summarized.

Blomqvist, C. G.↗