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An algorithm is developed for the analysis of multiple Doppler radar data in meteorological applications. The algorithm is based on the least squares linear solutions for the variable parameters of a local particle velocity field. The computational sequence for the algorithm is described, and some factors influencing the covariance of Doppler measurement errors are discussed.
Second order equations in terms of auxiliary variables similar to potential and stream functions are obtained by applying a weighted least squares formulation to a first order system. The additional boundary conditions which are necessary to solve the higher order equations are determined and numerical results are presented for the Cauchy-Riemann equations.
Second order equations in terms of auxiliary variables similar to potential and stream functions are obtained by applying a weighted least squares formulation to a first order system. The additional boundary conditions which are necessary to solve the higher order equations are determined and numerical results are presented for the Cauchy-Riemann equations.
This paper presents a general method for calculating the inverse kinematics with singularity and joint limit robustness for both redundant and non-redundant serial-link manipulators. Damped least squares inverse of the Jacobian is used with dynamic weighting matrices in approximating the solution. This reduces specific joint differential vectors. The algorithm gives an exact solution away from the singularities and joint limits, and an approximate solution at or near the singularities and/or joint limits. The procedure is here implemented for a six d.o.f. teleoperator and a well behaved slave manipulator resulted under teleoperational control.
A method for transitioning linear time invariant (LTI) models in time varying simulation is proposed that utilizes a hybrid approach for determining physical displacements by augmenting the original quadratically constrained least squares (LSQI) algorithm with Direct Shape Mapping (DSM) and modifying the energy constraints. The approach presented is applicable to simulation of the elastic behavior of launch vehicles and other structures that utilize discrete LTI finite element model (FEM) derived mode sets (eigenvalues and eigenvectors) that are propagated throughout time. The time invariant nature of the elastic data presents a problem of how to properly transition elastic states from the prior to the new model while preserving motion across the transition and ensuring there is no truncation or excitation of the system. A previous approach utilizes a LSQI algorithm with an energy constraint to effect smooth transitions between eigenvector sets with no requirement that the models be of similar dimension or have any correlation. This approach assumes energy is conserved across the transition, which results in significant non-physical transients due to changing quasi-steady state energy between mode sets, a phenomenon seen when utilizing a truncated mode set. The computational burden of simulating a full mode set is significant so a subset of modes is often selected to reduce run time. As a result of this truncation, energy between mode sets may not be constant and solutions across transitions could produce non-physical transients. In an effort to abate these transients an improved methodology was developed based on the aforementioned approach, but this new approach can handle significant changes in energy across mode set transitions. It is proposed that physical velocities due to elastic behavior be solved for using the LSQI algorithm, but solve for displacements using a two-step process that independently addresses the quasi-steady-state and non-steady-state contributions to the elastic displacement. For structures subject to large external forces, such as thrust or atmospheric drag, it is imperative to capture these forces when solving for elastic displacement. To simplify the mathematical formulation, assumptions are made regarding mass matrix normalization, constant external forcing, and constant viscous damping. These simplifications allow for direct solutions to the quasi-steady-state displacements through a process titled Direct Shape Mapping. DSM solves for the displacements using the eigenvalues of the elastic modes and the external forcing and returns a set of elastic displacements dictated by the eigenvectors of the post-transition mode set. For the non-steady-state contributions to displacement we formulate a LSQI problem that is constrained by energy of the non-steady state terms. The contributions from the quasi-steady-state and non-steady state solutions are then combined to obtain the physical displacements associated with the new set of eigenvectors. Results for the LSQI-DSM approach show significant reduction/complete removal of transients across mode set transitions while maintaining elastic motion from the prior state. For time propagation applications employing discrete elastic models that need to be transitioned in time and where running with full a full mode set is not feasible, the method developed offers a practical solution to simulating vehicle elasticity.
We report preliminary results obtained from the large eddy simulation of a backward facing step at a Reynolds number of 5100. The numerical platform is based on a high order Legendre spectral element spatial discretization and a least squares time integration scheme. A non-reflective outflow boundary condition is in place to minimize the effect of downstream influence. Smagorinsky model with Van Driest near wall damping is used for sub-grid scale modeling. Comparisons of mean velocity profiles and wall pressure show good agreement with benchmark data. More studies are needed to evaluate the sensitivity of this method on numerical parameters before it is applied to complex engineering problems.
A numerical scheme using the method of characteristics to calculate the flow properties and pressures behind decaying shock waves for materials under hypervelocity impact is developed. Time-consuming double interpolation subroutines are replaced by a technique based on orthogonal polynomial least square surface fits. Typical calculated results are given and compared with the double interpolation results. The complete computer program is included.
A modified matrix product is explained, and it is shown that this product defiles a group whose inverse is called the incomplete inverse. It was proven that the incomplete inverse of an augmented normal matrix includes all the quantities associated with the least squares solution. An answer is provided to the problem that occurs when the data residuals are too large and when insufficient data to justify augmenting the model are available.
Material characterization parameters obtained from naturally flawed specimens are necessary for reliability evaluation of non-deterministic advanced ceramic structural components. The least squares best fit method is applied to the three parameter uniaxial Weibull model to obtain the material parameters from experimental tests on volume or surface flawed specimens subjected to pure tension, pure bending, four point or three point loading. Several illustrative example problems are provided.
Efforts to develop evaluation methods for fuzzy inference systems which are not based on crisp, quantitative data or processes (i.e., where the phenomenon the system is built to describe or control is inherently fuzzy) are just beginning. This paper suggests that the method of fuzzy least squares can be used to perform such evaluations. Regressing the desired outputs onto the inferred outputs can provide both global and local measures of success. The global measures have some value in an absolute sense, but they are particularly useful when competing solutions (e.g., different numbers of rules, different fuzzy input partitions) are being compared. The local measure described here can be used to identify specific areas of poor fit where special measures (e.g., the use of emphatic or suppressive rules) can be applied. Several examples are discussed which illustrate the applicability of the method as an evaluation tool.
Following the work of Park (1989), who extended a derivation of the Wiener filter based on the incomplete discrete/discrete model to a more comprehensive end-to-end continuous/discrete/continuous model, it is shown that a derivation of the constrained least-squares (CLS) filter based on the discrete/discrete model can also be extended to this more comprehensive continuous/discrete/continuous model. This results in an improved CLS restoration filter, which can be efficiently implemented as a small-kernel convolution in the spatial domain.
Comprehensive numerical solutions of the steady state incompressible viscous flow over a three-dimensional backward-facing step up to Re equals 800 are presented. The results are obtained by the least-squares finite element method (LSFEM) which is based on the velocity-pressure-vorticity formulation. The computed model is of the same size as that of Armaly's experiment. Three-dimensional phenomena are observed even at low Reynolds number. The calculated values of the primary reattachment length are in good agreement with experimental results.
An approach for identifying the dynamics of large space structures is applied to a free-free beam. In this approach the system's order is determined on-line, along with mode shapes, using recursive lattice filters which provide a least square estimate of the measurement data. The mode shapes determined are orthonormal in the space of the measurements and, hence, are not the natural modes of the structure. To determine the natural modes of the structure, a method based on the fast Fourier transform is used on the outputs of the lattice filter. These natural modes are used to obtain the modal amplitude time series which provides the input data for an output error parameter identification scheme that identifies the ARMA parameters of the difference equation model of the modes. the approach is applied to both simulated and experimental data.
Finite difference approximation of transonic flow problems is a well-developed and largely successful approach. Nevertheless, there is still a real need to develop finite element methods for applications arising from fluid-structure interactions and problems with complicated boundaries. In this paper a least squares based finite element scheme is introduced. It is shown that, if suitably formulated, such an approach can lead to physically meaningful results. Bottlenecks that arise from such schemes are also discussed.
State estimation techniques effectively provide mean state estimates. However, the theoretical state error covariance matrices provided as part of these techniques often suffer from a lack of confidence in their ability to describe the uncertainty in the estimated states. By a reinterpretation of the equations involved in the weighted least squares algorithm, it is possible to directly arrive at an empirical state error covariance matrix. This proposed empirical state error covariance matrix will contain the effect of all error sources, known or not. Results based on the proposed technique will be presented for a simple, two observer, measurement error only problem.
State estimation techniques effectively provide mean state estimates. However, the theoretical state error covariance matrices provided as part of these techniques often suffer from a lack of confidence in their ability to describe the un-certainty in the estimated states. By a reinterpretation of the equations involved in the weighted least squares algorithm, it is possible to directly arrive at an empirical state error covariance matrix. This proposed empirical state error covariance matrix will contain the effect of all error sources, known or not. Results based on the proposed technique will be presented for a simple, two observer, measurement error only problem.
Spacecraft control, state estimation, and fault-detection-and-isolation systems are affected by unknown v aerations in the vehicle mass properties. It is often difficult to accurately measure inertia terms on the ground, and mass properties can change on-orbit as fuel is expended, the configuration changes, or payloads are added or removed. Recursive least squares -based algorithms that use gyro signals to identify the center of mass and inverse inertia matrix are presented. They are applied in simulation to 3 thruster-controlled vehicles: the X-38 and Mini-AERCam under development at NASA-JSC, and the SAM, an air-bearing spacecraft simulator at the NASA-Ames Smart Systems Research Lab (SSRL).
The result of a study on the application of an improved statistical prediction method for estimating the intermediate-term (months) and long-term (years) behavior of solar flux is discussed. The study indicates that better predictions, in a chi square sense, are possible by selecting sets of the solar flux data such that each set (cycle) starts and ends at the maxima (or minima) for the data base and initialization point of the procedure. Then one applies a Lagrangian least-squares statistical technique. Evidence is also presented to support the existence of an aperiodic variation in the periods as well as the amplitudes.