Search NASA⌕ Search

SEARCH · Search NASA

Results for “Cartesian”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Coolant side heat transfer with rotation: User manual for 3D-TEACH with rotation

This program solves the governing transport equations in Reynolds average form for the flow of a 3-D, steady state, viscous, heat conducting, multiple species, single phase, Newtonian fluid with combustion. The governing partial differential equations are solved in physical variables in either a Cartesian or cylindrical coordinate system. The effects of rotation on the momentum and enthalpy calculations modeled in Cartesian coordinates are examined. The flow of the fluid should be confined and subsonic with a maximum Mach number no larger than 0.5. This manual describes the operating procedures and input details for executing a 3D-TEACH computation.

Syed, S. A.↗
NASA NTRS1990

Polar exponential sensor arrays unify iconic and Hough space representation

The log-polar coordinate system, inherent in both polar exponential sensor arrays and log-polar remapped video imagery, is identical to the coordinate system of its corresponding Hough transform parameter space. The resulting unification of iconic and Hough domains simplifies computation for line recognition and eliminates the slope quantization problems inherent in the classical Cartesian Hough transform. The geometric organization of the algorithm is more amenable to massively parallel architectures than that of the Cartesian version. The neural architecture of the human visual cortex meets the geometric requirements to execute 'in-place' log-Hough algorithms of the kind described here.

Weiman, Carl F. R.↗
NASA NTRS1991

Structured background grids for generation of unstructured grids by advancing front method

A new method of background grid construction is introduced for generation of unstructured tetrahedral grids using the advancing-front technique. Unlike the conventional triangular/tetrahedral background grids which are difficult to construct and usually inadequate in performance, the new method exploits the simplicity of uniform Cartesian meshes and provides grids of better quality. The approach is analogous to solving a steady-state heat conduction problem with discrete heat sources. The spacing parameters of grid points are distributed over the nodes of a Cartesian background grid by interpolating from a few prescribed sources and solving a Poisson equation. To increase the control over the grid point distribution, a directional clustering approach is used. The new method is convenient to use and provides better grid quality and flexibility. Sample results are presented to demonstrate the power of the method.

Pirzadeh, Shahyar↗
NASA NTRS1992

The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities.

Williams, Robert L., III↗
NASA NTRS1990

Dual redundant arm system operational quality measures and their applications - Static measures

The authors present dual-arm system static operational quality measures which quantify the efficiency and capability of a dual-arm system in generating Cartesian velocities and static forces. First, they define and analyze the kinematic interactions between the two arms incurred by the various modes of dual-arm cooperation, such as transport, assembly, and grasping modes of cooperation, and specify the kinematic constraints imposed on individual arms in Cartesian space due to the kinematic interactions. Dual-arm static manipulability is presented. Finally, dual-arm operational quality is scaled by a task-oriented operational quality measure (TOQs) obtained by the comparison between the desired and actual static manipulabilities. TOQs is used in the optimization of dual-arm joint configurations. Simulation results are shown.

Lee, Sukhan↗
NASA NTRS1991

On controlling robots with redundancy

An adaptive position control scheme for manipulators possessing either kinematic or actuator redundancy is presented. The controller is developed by considering the end-effector position control problem and redundancy resolution problem separately. The end-effector position control problem is solved by using an adaptive scheme to generate the Cartesian-space control input required to track the desired end-effector position trajectory; this control problem is nonredundant even for redundant robots. The Cartesian-space position controller is derived using a model reference adaptive control (MRAC) approach, and does not require knowledge of the complex robot dynamic model or parameter values for the robot or the payload. As a result, the scheme is applicable to both open-chain and closed-chain robots, and is computationally efficient for on-line implementations.

Colbaugh, R.↗
NASA NTRS1992

Numerical models of mantle convection

An overview of numerical methods describing the structure and dynamics of the mantle is presented with attention given to novel 3D modeling techniques. The paper reviews 3D spherical and Cartesian models for constant viscosity emphasizing the assumptions regarding style of convection, time dependence, and implications for the mantle. Similarly treated are 3D Cartesian models with temperature-dependent viscosities, and briefly examined are models that are based on compressibility, nonlinear viscosity, or plates. Extensive illustrations are presented detailing: (1) temperature variations from models of 3D thermal convection in spherical shells; (2) thermal anomalies in equatorial cross sections; and (3) temperature variations in a spherical shell heated from within. The discussion relates the numerical results of the models with real mantle-convection events, and the simulations are shown to yield increasingly realistic representations of material behavior.

Schubert, G.↗
NASA NTRS1991

A solution-adaptive mesh algorithm for dynamic/static refinement of two and three dimensional grids

An adaptive grid algorithm has been developed in two and three dimensions that can be used dynamically with a solver or as part of a grid refinement process. The algorithm employs a transformation from the Cartesian coordinate system to a general coordinate space, which is defined as a parallelepiped in three dimensions. A weighting function, independent for each coordinate direction, is developed that will provide the desired refinement criteria in regions of high solution gradient. The adaptation is performed in the general coordinate space and the new grid locations are returned to the Cartesian space via a simple, one-step inverse mapping. The algorithm for relocation of the mesh points in the parametric space is based on the center of mass for distributed weights. Dynamic solution-adaptive results are presented for laminar flows in two and three dimensions.

Benson, Rusty A.↗
NASA NTRS1991

Dynamic coordination of a self-reconfigurable manipulator system

The authors present the dynamic coordination of a self-reconfigurable manipulator system capable of changing its mechanical structure according to given task requirements. The self-reconfiguration is achieved by reconfiguring the topology of a dual-arm system through serial, parallel, and bracing structures. Particular emphasis is placed on the dynamic coordination of two arms having three different dual-arm topologies. The authors develop the Cartesian space dynamic models of a dual-arm system of three dual-arm topologies and derive the kinematic and dynamic constraints imposed on two arms in cooperation. Dual-arm dynamic manipulabilities are defined to quantify the dynamic performance of three dual-arm topologies in terms of the efficiency of generating Cartesian accelerations. A methodology of selecting serial, parallel, and bracing structures based on dual-arm dynamic manipulabilities is provided.

Kim, Sungbok↗
NASA NTRS1991

Direct adaptive impedance control of manipulators

An adaptive scheme for controlling the end-effector impedance of robot manipulators is presented. The proposed control system consists of three subsystems: a simple filter which characterizes the desired dynamic relationship between the end-effector position error and the end-effector/environment contact force, an adaptive controller which produces the Cartesian-space control input required to provide this desired dynamic relationship, and an algorithm for mapping the Cartesian-space control input to a physically realizable joint-space control torque. The controller does not require knowledge of either the structure or the parameter values of the robot dynamics, and it is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme represents a very general and computationally efficient approach to controlling the impedance of both nonredundant and redundant manipulators. Furthermore, the method can be applied directly to trajectory tracking in free-space motion by removing the impedance filter.

Colbaugh, R.↗
NASA NTRS1992

Robust recognition of handwritten numerals based on dual cooperative network

An approach to robust recognition of handwritten numerals using two operating parallel networks is presented. The first network uses inputs in Cartesian coordinates, and the second network uses the same inputs transformed into polar coordinates. How the proposed approach realizes the robustness to local and global variations of input numerals by handling inputs both in Cartesian coordinates and in its transformed Polar coordinates is described. The required network structures and its learning scheme are discussed. Experimental results show that by tracking only a small number of distinctive features for each teaching numeral in each coordinate, the proposed system can provide robust recognition of handwritten numerals.

Lee, Sukhan↗
NASA NTRS1993

A multi-dimensional kinetic-based upwind solver for the Euler equations

A multidimensional kinetic fluctuation-splitting scheme has been developed for the Euler equations. The scheme is based on an N-scheme discretization of the Boltzmann equation at the kinetic level for triangulated Cartesian meshes with a diagonal-adaptive strategy. The resulting Euler scheme is a cell-vertex fluctuation-splitting scheme where fluctuations in the conserved-variable vector Q are obtained as moments of the fluctuation in the Maxwellian velocity distribution function at the kinetic level. Encouraging preliminary results have been obtained for perfect gases on Cartesian meshes with first-order spatial accuracy. The present approach represents an improvement to the well-established dimensionally-split upwind schemes.

Eppard, W. M.↗
NASA NTRS1991

Kinematic domain decomposition for boundary-motion-induced flow simulations

A method is developed to solve the unsteady Navier-Stokes equations on a composite grid, which consists of subdomain grids moving with respect to each other. These subdomains are structured grids with different topologies. This method eliminates assuming the moving components to be instantaneously stationary, where deciding on the particular frozen instants is difficult and affects the solution adversely. Moreover, this method captures the boundary-motion-induced flow component. The method is demonstrated through a transonic flow past an airfoil, which experiences a combined motion of pitching and plunging. An O-grid around the airfoil is overlapped on a fine Cartesian grid, which is zonally embedded in a coarse Cartesian grid. The coarse grid is stationary but the other two grids are plunging. Only the O-grid is also sinusoidally pitching. The results are compared successfully with the experimental data.

Baysal, Oktay↗
NASA NTRS1992

Robust manipulator controller specification and design

This paper suggests the use of a model based control law which uses joint rate feedback to stabilize the contact modes, and joint velocity feedforward to provide the required freespace performance throughout a task. An additional benefit of this controller is the capability to stiffen a soft manipulator. This provides an option for impedance control to provide any desired manipulator stiffness. Impedance control is implemented as an outer Cartesian loop which uses the dynamic relationship between manipulator commanded position and applied force to change the mechanical impedance through programmable filter coefficients. The impedance control discussed in this paper does not give the capability to specify the full impedance of the manipulator. However, it does give the capability to specify the manipulator Cartesian stiffness while maintaining stability in contact with the environment. This controller was designed for the Flight Telerobotic Servicer dextrous manipulator and has been validated experimentally on a single joint controller, as well as on 3 DOF planar arms.

Goldenberg, Stewart↗
NASA NTRS1993

Evaluation of two January - June 1992 ERS-1 AMI wind vector data sets

A Jan. - Jun. 1992 10 m height wind vector field was computed with the CMOD2 model function. Freilich and Dunbar used ESA measurements of AMI (Active Microwave Instrument) sigma-naught to derive a refined model function and to produce an alternate Jan. - Jun. 1992 10 m height wind vector field, named FD data. The ESA and FD model functions and algorithms were substantially different. The FD wind vectors were in better agreement with the climatological mean wind field and with moored buoy wind measurements. The average correlation coefficients between monthly mean and daily averaged FD and moored buoy matchups of the Cartesian wind components were 0.84 and 0.74, respectively. The average root mean square differences between the monthly mean and daily averaged FD and moored buoy matchups of the Cartesian wind components were 1.25 and 3.0 m/s, respectively.

Halpern, D.↗
NASA NTRS1993

Response-coefficient method for heat-conduction transients with time-dependent inputs

A theoretical overview of the response coefficient method for heat conduction transients with time-dependent input forcing functions is presented with a number of illustrative applications. The method may be the most convenient and economical if the same problem is to be solved many times with different input-time histories or if the solution time is relatively long. The method is applicable to a wide variety of problems, including irregular geometries, position-dependent boundary conditions, position-dependent physical properties, and nonperiodic irregular input histories. Nonuniform internal energy generation rates within the structure can also be handled by the method. The area of interest is long-time solutions, in which initial condition is unimportant, and not the early transient period. The method can be applied to one dimensional problems in cartesian, cylindrical, and spherical coordinates as well as to two dimensional problems in cartesian and cylindrical coordinates.

Ceylan, Tamer↗
NASA NTRS1993

A mixed method Poisson solver for three-dimensional self-gravitating astrophysical fluid dynamical systems

A key ingredient in the simulation of self-gravitating astrophysical fluid dynamical systems is the gravitational potential and its gradient. This paper focuses on the development of a mixed method multigrid solver of the Poisson equation formulated so that both the potential and the Cartesian components of its gradient are self-consistently and accurately generated. The method achieves this goal by formulating the problem as a system of four equations for the gravitational potential and the three Cartesian components of the gradient and solves them using a distributed relaxation technique combined with conventional full multigrid V-cycles. The method is described, some tests are presented, and the accuracy of the method is assessed. We also describe how the method has been incorporated into our three-dimensional hydrodynamics code and give an example of an application to the collision of two stars. We end with some remarks about the future developments of the method and some of the applications in which it will be used in astrophysics.

Duncan, Comer↗
NASA NTRS1993

An atlas of monthly mean distributions of SSMI surface wind speed, ARGOS buoy drift, AVHRR/2 sea surface temperature, and ECMWF surface wind components during 1990

The following monthly mean global distributions for 1990 are proposed with a common color scale and geographical map: 10-m height wind speed estimated from the Special Sensor Microwave Imager (SSMI) on a United States (US) Air Force Defense Meteorological Satellite Program (DMSP) spacecraft; sea surface temperature estimated from the advanced very high resolution radiometer (AVHRR/2) on a U.S. National Oceanic and Atmospheric Administration (NOAA) spacecraft; Cartesian components of free drifting buoys which are tracked by the ARGOS navigation system on NOAA satellites; and Cartesian components on the 10-m height wind vector computed by the European Center for Medium-Range Weather Forecasting (ECMWF). Charts of monthly mean value, sampling distribution, and standard deviation values are displayed. Annual mean distributions are displayed.

Halpern, D.↗