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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.

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At least 199 records · Page 11
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NASA NTRS1983

Vector-algebra approach to extract Denavit-Hartenberg parameters of assembled robot arms

The Denavit-Hartenberg parameters characterize the joint axis systems in a robot arm and, naturally, appear in the transformation matrices from one joint axis system to another. These parameters are needed in the control of robot arms and in the passage of sensor information along the arm. This paper presents a vector algebra method to determine these parameters for any assembled robot arm. The idea is to measure the location of the robot hand (or extension) for different joint angles and then use these measurements to calculate the parameters.

Barker, L. K.↗
NASA NTRS1982

Algebraic grid generation

The numerical solution of partial differential equations about irregular geometries and with varying characteristic scales has created the need for coordinate systems and associated transformations which reflect both geometric and physical requirements. The process of finding coordinate transformations in discrete representations is called 'grid generation'. The present investigation is concerned with three algebraic grid generation methods. The methods include transfinite interpolation, the multisurface method, and the two-boundary technique. Interpolation formulas, in terms of homotopic mappings and constraints in terms of point positions and/or derivatives are the essential elements of the techniques. The methods are relatively simple to understand, they are explicit and do not require extensive computational effort, and they have a high degree of generality.

Smith, R. E.↗
NASA NTRS1983

Algebraic grid generation with corner singularities

A simple noniterative algebraic procedure is presented for generating smooth computational meshes on a quadrilateral topology. Coordinate distribution and normal derivative are provided on all boundaries, one of which may include a slope discontinuity. The boundary conditions are sufficient to guarantee continuity of global meshes formed of joined patches generated by the procedure. The method extends to 3-D. The procedure involves a synthesis of prior techniques stretching functions, cubic blending functions, and transfinite interpolation - to which is added the functional form of the corner solution. The procedure introduces the concept of generalized blending, which is implemented as an automatic scaling of the boundary derivatives for effective interpolation. Some implications of the treatment at boundaries for techniques solving elliptic PDE's are discussed in an Appendix.

Vinokur, M.↗
NASA NTRS1984

Algebraic grid generation for wing-fuselage bodies

An algebraic procedure for the generation of boundary-fitted grids about wing-fuselage configurations is presented. A wing-fuselage configuration is specified by cross sections and mathematically represented by Coons' patches. A configuration is divided into sections so that several grid blocks that either adjoin each other or partially overlap each other can be generated, and each grid has six surfaces that map into a computational cube. Grids are first determined on the six boundary surfaces and then in the interior. Grid curves that are on the surface of the configuration are derived using plane-patch intersections, and single-valued functions relating approximate arc lengths along the curves to computational coordinates define the distribution of grid points. The two-boundary technique and transfinite interpolation are used to determine the boundary surface grids that are not on the configuration, and transfinite interpolation with linear blending functions is used to determine the interior grids.

Smith, R. E.↗
NASA NTRS1982

A general algorithm for solving the algebraic Riccati equation

The generalized eigenvalue problem provides a suitable framework for reliable solutions of many system theoretic, control, and estimation problems. A general algorithm for solving the matrix algebraic Riccati equation (ARE) which utilizes a pencil structure is described here. This algorithm avoids unnecessary inversion of cost or transition matrices, making it a numerically sound way to solve for the gains and/or ARE with singular quadratic costs, for cases satisfying detectability and stabilizability conditions. Examples are solution with discrete dead-beat control, noiseless measurements in Kalman filters and time-delays in discrete-time systems, which cause difficulties in the Hamiltonian standard eigenvalue problem formulation. The ARE algorithm implementatiton and numerical examples are shown.

Walker, R. A.↗
NASA NTRS1983

Celestial mechanics with geometric algebra

Geometric algebra is introduced as a general tool for Celestial Mechanics. A general method for handling finite rotations and rotational kinematics is presented. The constants of Kepler motion are derived and manipulated in a new way. A new spinor formulation of perturbation theory is developed.

Hestenes, D.↗
NASA NTRS1984

Acoustooptic linear algebra processors - Architectures, algorithms, and applications

Architectures, algorithms, and applications for systolic processors are described with attention to the realization of parallel algorithms on various optical systolic array processors. Systolic processors for matrices with special structure and matrices of general structure, and the realization of matrix-vector, matrix-matrix, and triple-matrix products and such architectures are described. Parallel algorithms for direct and indirect solutions to systems of linear algebraic equations and their implementation on optical systolic processors are detailed with attention to the pipelining and flow of data and operations. Parallel algorithms and their optical realization for LU and QR matrix decomposition are specifically detailed. These represent the fundamental operations necessary in the implementation of least squares, eigenvalue, and SVD solutions. Specific applications (e.g., the solution of partial differential equations, adaptive noise cancellation, and optimal control) are described to typify the use of matrix processors in modern advanced signal processing.

Casasent, D.↗
NASA NTRS1984

A high-accuracy optical linear algebra processor for finite element applications

Optical linear processors are computationally efficient computers for solving matrix-matrix and matrix-vector oriented problems. Optical system errors limit their dynamic range to 30-40 dB, which limits their accuray to 9-12 bits. Large problems, such as the finite element problem in structural mechanics (with tens or hundreds of thousands of variables) which can exploit the speed of optical processors, require the 32 bit accuracy obtainable from digital machines. To obtain this required 32 bit accuracy with an optical processor, the data can be digitally encoded, thereby reducing the dynamic range requirements of the optical system (i.e., decreasing the effect of optical errors on the data) while providing increased accuracy. This report describes a new digitally encoded optical linear algebra processor architecture for solving finite element and banded matrix-vector problems. A linear static plate bending case study is described which quantities the processor requirements. Multiplication by digital convolution is explained, and the digitally encoded optical processor architecture is advanced.

Casasent, D.↗
NASA NTRS1985

Optical linear algebra processors - Noise and error-source modeling

The modeling of system and component noise and error sources in optical linear algebra processors (OLAPs) are considered, with attention to the frequency-multiplexed OLAP. General expressions are obtained for the output produced as a function of various component errors and noise. A digital simulator for this model is discussed.

Casasent, D.↗
NASA NTRS1986

Interactive algebraic grid-generation technique

An algebraic grid generation technique and use of an associated interactive computer program are described. The technique, called the two boundary technique, is based on Hermite cubic interpolation between two fixed, nonintersecting boundaries. The boundaries are referred to as the bottom and top, and they are defined by two ordered sets of points. Left and right side boundaries which intersect the bottom and top boundaries may also be specified by two ordered sets of points. when side boundaries are specified, linear blending functions are used to conform interior interpolation to the side boundaries. Spacing between physical grid coordinates is determined as a function of boundary data and uniformly space computational coordinates. Control functions relating computational coordinates to parametric intermediate variables that affect the distance between grid points are embedded in the interpolation formulas. A versatile control function technique with smooth-cubic-spline functions is presented. The technique works best in an interactive graphics environment where computational displays and user responses are quickly exchanged. An interactive computer program based on the technique and called TBGG (two boundary grid generation) is also described.

Smith, R. E.↗
NASA NTRS1986

Computation of turbulent rotating channel flow with an algebraic Reynolds stress model

An Algebraic Reynolds Stress Model has been implemented to modify the Kolmogorov-Prandtl eddy viscosity relation to produce an anisotropic turbulence model. The eddy viscosity relation becomes a function of the local turbulent production to dissipation ratio and local turbulence/rotation parameters. The model is used to predict fully-developed rotating channel flow over a diverse range of rotation numbers. In addition, predictions are obtained for a developing channel flow with high rotation. The predictions are compared with the experimental data available. Good predictions are achieved for mean velocity and wall shear stress over most of the rotation speeds tested. There is some prediction breakdown at high rotation (rotation number greater than .10) where the effects of the rotation on turbulence become quite complex. At high rotation and low Reynolds number, the laminarization on the trailing side represents a complex effect of rotation which is difficult to predict with the described models.

Warfield, M. J.↗
NASA NTRS1986

Negative base encoding in optical linear algebra processors

In the digital multiplication by analog convolution algorithm, the bits of two encoded numbers are convolved to form the product of the two numbers in mixed binary representation; this output can be easily converted to binary. Attention is presently given to negative base encoding, treating base -2 initially, and then showing that the negative base system can be readily extended to any radix. In general, negative base encoding in optical linear algebra processors represents a more efficient technique than either sign magnitude or 2's complement encoding, when the additions of digitally encoded products are performed in parallel.

Perlee, C.↗
NASA NTRS1986

Algebraic grid generation about wing-fuselage bodies

An algebraic procedure for the generation of boundary-fitted grids about wing-fuselage configurations is presented. A wing-fuselage configuration is specified by cross sections and mathematically represented by Coons' patches. A configuration is divided into sections so that several grid blocks that either adjoin each other or partially overlap each other can be generated. Each grid has six exterior surfaces that map into a computational cube. Grids are first determined on the six boundary surfaces and then in the interior. Grid curves that are on the surface of the configuration are derived from the intersection of planes with the Coons' patch definition. Single-valued functions relating approximate arc lengths along the grid curves to a computational coordinate define the distribution of grid points. The two-boundary technique and transfinite interpolation are used to determine the boundary surface grids that are not on the configuration, and transfinite interpolation with linear blending functions is used to determine the interior grid.

Smith, R. E.↗
NASA NTRS1986

Computation of turbulent boundary layer flows with an algebraic stress turbulence model

An algebraic stress turbulence model is presented, characterized by the following: (1) the eddy viscosity expression is derived from the Reynolds stress turbulence model; (2) the turbulent kinetic energy dissipation rate equation is improved by including a production range time scale; and (3) the diffusion coefficients for turbulence equations are adjusted so that the kinetic energy profile extends further into the free stream region found in most experimental data. The turbulent flow equations were solved using a finite element method. Examples include: fully developed channel flow, fully developed pipe flow, flat plate boundary layer flow, plane jet exhausting into a moving stream, circular jet exhausting into a moving stream, and wall jet flow. Computational results compare favorably with experimental data for most of the examples considered. Significantly improved results were obtained for the plane jet flow, the circular jet flow, and the wall jet flow; whereas the remainder are comparable to those obtained by finite difference methods using the standard kappa-epsilon turbulence model. The latter seems to be promising with further improvement of the expression for the eddy viscosity coefficient.

Kim, Sang-Wook↗
NASA NTRS1987

Strong convergence and convergence rates of approximating solutions for algebraic Riccati equations in Hilbert spaces

The linear quadratic optimal control problem on infinite time interval for linear time-invariant systems defined on Hilbert spaces is considered. The optimal control is given by a feedback form in terms of solution pi to the associated algebraic Riccati equation (ARE). A Ritz type approximation is used to obtain a sequence pi sup N of finite dimensional approximations of the solution to ARE. A sufficient condition that shows pi sup N converges strongly to pi is obtained. Under this condition, a formula is derived which can be used to obtain a rate of convergence of pi sup N to pi. The results of the Galerkin approximation is demonstrated and applied for parabolic systems and the averaging approximation for hereditary differential systems.

Ito, Kazufumi↗
NASA NTRS1987

Simplified algebraic grid generation in patched mesh systems

Some computational tools and techniques are described that are integrated into a simplified algebraic grid generation procedure. Major steps of such a procedure are also outlined. Grids generated via this approach for several complex geometries are shown to demonstrate the potential for wide application.

Luh, Raymond Ching-Chung↗