Engineering topics
Publications and source records attributed to Cheng, Y..
In this paper, an orbit determination strategy is described that is fully autonomous and relies on a computer-based crater detection and identification algorithm that is suitable for both automation of the ground based navigation system and autonomous spacecraft based navigation.
This paper reports some of the ongoing work at JPL in the areas of autonomous sensory fusion of both raw and derived inputs for better localization during long traverses, precision rendezvous operations with both labeled and unlabeled targets, and precision manipulation of targets.
Real-time position estimation for a descent lander is a critical technological need for many planned NASA missions.
In this paper, a new crater detection algorithm is suggested. Experimental studies show that this new algorithm can achieve sub-pixel accuracy in position, its detection rate is better than 90% and its false alarm rate is less than 5%. These good characteristics indicate that it is an ideal crater detection algorithm for spacecraft optical navigation.
An autonomous landmark based spacecraft navigation scheme is presented. This new schme involves the following data processing steps: image selection and planning; landmark detection; preliminary image matching; crater matching; database management; and finally landmark based orbit determination.
The assembly inspection, and maintenance requirements of permanent installations in space demand robotic agents that provide a high level of operational flexibility relative to the mass and volume of the robotic system.
This paper describes recent field trials performed using the FIDO rover, an advanced NASA technology development platform and research prototype for the next planned rover mission to Mars.
This paper describes recent work undertaken at the Jet Propulsion Laboratory in Pasadena, CA in the area of increased rover autonomy for planetary surface operations.
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In this paper, a new and fast passive sensing based hazard avoidance approach for spacecraft safe landing is suggested. This approach contains two important algorithms: a texture based landing site selection algorithm and a landing site slope estimation algorithm.
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Turbulent convection is an inherently non-local phenomenon and a primary condition for a successful treatment of the CBL (convective boundary layer) is a reliable model of non-locality. In the dynamic equations governing the convective flux, the turbulent kinetic energy, etc., non-locality is represented by the third-order moments, TOMs. Since the simplest form, the so-called down gradient approximation (DGA), severely underestimates the TOMs (up to an order of magnitude), a more physical model is needed. In 1994, an analytical model was presented which was derived directly from the dynamical equations for the TOMs. It considerably improved the DGA but was a bit cumbersome to use and, more importantly, it was based on the quasi-normal (QN) approximation for the fourth-order moments. Here, we present a new analytic expression for the TOMs which is structurally simpler than the 1994 expression and which avoids the QN approximation. The resulting fit to the LES data is superior to that of the 1994 model.
We overview or recent development and testing of the FIDO rover, an advanced technology prototype for long range mobile planetary science.
Second order turbulence models of the Mellor and Yamada type have been widely used to simulate the PBL. It is however known that these models have several deficiencies. For example, they all predict a critical Richardson number which is about four times smaller than the Large Eddy Simulation (LES) data, they are unable to match the surface data, and they predict a boundary layer height lower than expected. In the present model, we show that these difficulties are all overcome by a single new physical input: the use of the most complete expression for both the pressure-velocity and the pressure-temperature correlations presently available. Each of the new terms represents a physical process that, was not accounted for by previous models. The new model is presented in three different levels according to Mellor and Yamada's terminology, with new, ready-to-use expressions for the turbulent, moments. We show that the new model reproduces several experimental and LES data better than previous models. As far as the PBL is concerned, we show that the model reproduces both the Kansas data as analyzed by Businger et al. in the context of Monin-Obukhov similarity theory for smaller Richardson numbers, as well as the LES and laboratory data up to Richardson numbers of order unity. We also show that the model yields a higher PBL height than the previous models.
Turbulent convection is inherently non-local and a primary condition for a successful treatment of the PBL is a reliable model of non-locality. In the dynamic equations governing the convective flux, turbulent kinetic energy, etc, non-locality enters through the third-order moments, TOMs. Since the simplest form, the so-called down gradient approximation (DGA , severely underestimates the TOMs (by up to an order of magnitude), a more physical model is needed. In 1994, an analytical model was presented which was derived directly from the dynamical equations for the TOMs. It considerably improved the DGA but was a bit cumbersome to use. Here, we present a new analytic expression for the TOMs which is considerably simpler than the 1994 expression and which at the same time yields a much better fit to the LES data.
Since the early forties, one-point turbulence closure models have been the canonical tools used to describe turbulent flows in many fields. In geophysics, Mellor and Yamada applied such models using the 1980 state-of-the art. Since then, no improvements were introduced to alleviate two major difficulties: 1) closure of the pressure correlations, which affects the correct determination of the critical Richardson number Ri(sub cr) above which turbulent mixing is no longer possible and 2) the need to express the non-local third-order moments (TOM) in terms of lower order moments rather than via the down-gradient approximation as done thus far, since the latter seriously underestimates the TOMs. Since 1) and 2) are still being dealt with adjustable parameters which weaken the credibility of the models, alternative models, not based on turbulence modeling, have been suggested. The aim of this paper is to show that new information, partly derived from the newest 2-point closure model discussed, can be used to solve these shortcomings. The new one-point closure model, which in its simplest form is algebraic and thus simple to implement, is first shown to reproduce a variety of data. Then, it is used in a Ocean-General Circulation Model (O-GCM) where it reproduces well a large variety of ocean data. While phenomenological models are specifically tuned to ocean turbulence, the present model is not. It is first tested against laboratory data on stably stratified flows and then used in an O-GCM. It is more general, more predictive and more resilient, e.g., it can incorporate phenomena like wave-breaking at the surface, salinity diffusivity, non-locality, etc. One important feature that naturally comes out of the new model is that the predicted Richardson critical value Ri(sub cr) is Ri (sub cr approx. = 1) in agreement with both Large Eddy Simulations (LES) and empirical evidence while all previous models predicted Ri (sub cr approx. = 0.2) which led to a considerable underestimate of the extent of turbulent mixing and thus to an incorrect mixed layer depth. The predicted temperature and salinity profiles (vs. depth) are presented and compared with those of the Kolmogorov-Petruvsky-Piskunuv (KPP) model and Levitus data.
In papers 1 and 2 we have presented the results of the most updated 1-point closure model for the turbulent vertical diffusivities of momentum, heat and salt, K(sub m,h,s). In this paper, we derive the analytic expressions for K(sub m,h,s) using a new 2-point closure model that has recently been developed and successfully tested against some approx. 80 turbulence statistics for different flows. The new model has no free parameters. The expressions for K(sub m, h. s) are analytical functions of two stability parameters: the Turner number R(sub rho) (salinity gradient/temperature gradient) and the Richardson number R(sub i) (temperature gradient/shear). The turbulent kinetic energy K and its rate of dissipation may be taken local or non-local (K-epsilon model). Contrary to all previous models that to describe turbulent mixing below the mixed layer (ML) have adopted three adjustable "background diffusivities" for momentum. heat and salt, we propose a model that avoids such adjustable diffusivities. We assume that below the ML, K(sub m,h,s) have the same functional dependence on R(sub i) and R(sub rho) derived from the turbulence model. However, in order to compute R(sub i) below the ML, we use data of vertical shear due to wave-breaking measured by Gargett et al. (1981). The procedure frees the model from adjustable background diffusivities and indeed we use the same model throughout the entire vertical extent of the ocean. Using the new K(sub m,h, s), we run an O-GCM and present a variety of results that we compare with Levitus and the KPP model. Since the traditional 1-point (used in papers 1 and 2) and the new 2-point closure models used here represent different modeling philosophies and procedures, testing them in an O-GCM is indispensable. The basic motivation is to show that the new 2-point closure model gives results that are overall superior to the 1-point closure in spite of the fact that the latter rely on several adjustable parameters while the new 2-point closure has none. After the extensive comparisons presented in papers 1 and 2, we conclude that the new model presented here is overall superior for it not only is parameter free but also 2 because is part of a more general turbulence model that has been previously successfully tested on a wide variety of other types of turbulent flows.