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At least 307 records · Page 17

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NASA NTRS1986

Preliminary floor, seat, and dummy data

According to preliminary examination of the data, out of 179 data channels that were onboard the aircraft in support of the seat experiments, there is data from 168. There was somewhat more severe environment imposed in the structure of the obstacles than by the ground impact. Therefore, both ground impact and obstacle impact are of interest for crashworthiness experiments. Most of the data channels that were studied are fairly consistent with the physical evidence: they show acceleration levels that are reasonable, and in many cases these integrate out to a reasonable velocity change. Finally, from observation thus far, the ground impact did not fail or significantly damage any seat. Nor did any of the energy absorbers in the modified seats extend. The accelerations do not appear high enough and/or energetic enough to cause this to happen. At this time, the onboard films have not been studied; only some videotape have been viewed. Some of the seats were so badly damaged by the fire that any failures which might have occurred were obscured. A close examination of the onboard films using a stop-action projector will allow a more thorough evaluation.

Cannon, M. R.↗

NASA NTRS1986

Spectral methods in fluid dynamics

Fundamental aspects of spectral methods are introduced. Recent developments in spectral methods are reviewed with an emphasis on collocation techniques. Their applications to both compressible and incompressible flows, to viscous as well as inviscid flows, and also to chemically reacting flows are surveyed. The key role that these methods play in the simulation of stability, transition, and turbulence is brought out. A perspective is provided on some of the obstacles that prohibit a wider use of these methods, and how these obstacles are being overcome.

Hussaini, M. Y.↗

NASA NTRS1987

Spectral methods in fluid dynamics

Hussaini, M. Y.↗

NASA NTRS1987

Comparative plasma tails of Venus and comets

A review of current models of solar wind flow in the plasma tails of weakly magnetized bodies is presented. Measurements conducted by the Mariner 5 spacecraft, the Veneras 9 and 10, and the PVO orbiters, in the Venus tail, and with the ICE spacecraft in the tail of Comet Giacobini-Zinner, reveal common plasma properties which suggest that similar physical processes are operative. Most notable is the observation of decreased flow velocities and enhanced plasma temperatures in the vicinity of their plasma tails. In Venus, the measured velocity and temperature fields are consistent with the effects of frictional forces between the mass-loaded ionosheath flow and the ionosphere along the (magnetic) polar regions of the ionopause. It is argued that similar conditions exist at a cometary ionopause and that the distribution of magnetic fluxes in a cometary tail is controlled by the entry of plasma fluxes from the (magnetic) polar regions of the comet's ionospheric obstacle. This question is further addressed in connection with the two-step shape of the magnetic profile measured across the tail of the comet. It is suggested that the low intensity outer increases of the magnetic lobes are associated with the draping of the interplanetary magnetic field lines around the comet's ionospheric obstacle, and that the higher intensity increases seen in the inner regions of the magnetic lobes are due to an additional compression of magnetic fluxes produced by the entry of plasma particles into the tail.

Perezdetejada, H.↗

NASA NTRS1987

Heuristic search in robot configuration space using variable metric

A method to generate obstacle free trajectories for both mobile robots and linked robots is proposed. The approach generates the shortest paths in a configuration space. The metric in the configuration space can be adjusted to obtain a tradeoff between safety and velocity by imposing extra costs on paths near obstacles.

Verwer, Ben J. H.↗

NASA NTRS1988

Motion planning for a free-flying robot

An investigation is presented of motion planning combining low level control and obstacle avoidance for a free flying robot. This free flying robot is an outgrowth of the concept of an assistant for astronauts on the U.S. Space Station and Shuttle. A motion planner based on the Khatib potential field approach is described. Because of the uncluttered environment in space, it generates a path from representation of known obstacles rather than from a representation of free space. A global planner supplies the low level controller with interim points between the current position and the desired goal position so that the vehicle does not become trapped by local minima, a phenomenon of the potential field approach. Discussion of the feasibility of this system for space applications is presented.

Kaiser, Donald Leo↗

NASA NTRS1988

Issues in management of artificial intelligence based projects

Now that Artificial Intelligence (AI) is gaining acceptance, it is important to examine some of the obstacles that still stand in the way of its progress. Ironically, many of these obstacles are related to management and are aggravated by the very characteristcs that make AI useful. The purpose of this paper is to heighten awareness of management issues in AI development and to focus attention on their resolution.

Kiss, P. A.↗

NASA NTRS1988

A Mars orbital laser altimeter for rover trafficability: Instrument concept and science potential

Limited information on the types of geologic hazards (boulders, troughs, craters etc.) that will affect rover trafficability on Mars are available for the two Viking Lander sites, and there are no prospects for increasing this knowledge base in the near future. None of the instrument payloads on the upcoming Mars Observer or Soviet PHOBOS missions can directly measure surface obstacles on the scales of concern for rover safety (a few meters). Candidate instruments for the Soviet Mars 92 orbiter/balloon/rover mission such as balloon-borne stereo imaging, rover panoramic imaging, and orbital synthetic aperature imaging (SAR) are under discussion, but data from this mission may not be available for target areas of interest for the U.S. Mars Rover Sample Return (MRSR) mission. In an effort to determine how to directly measure the topography of surface obstacles that could affect rover trafficability on Mars, we are studying how to design a laser altimeter with extremely high spatial and vertical resolution that would be suitable for a future Mars Orbiter spacecraft (MRSR precursor or MRSR orbiter). This report discusses some of the design issues associated with such an instrument, gives examples of laser altimeter data collected for Mars analog terrains on Earth, and outlines the scientific potential of data that could be obtained with the system.

Garvin, J. B.↗

NASA NTRS1989

Development of an integrated BEM approach for hot fluid structure interaction

The progress made toward the development of a boundary element formulation for the study of hot fluid-structure interaction in Earth-to-Orbit engine hot section components is reported. The convective viscous integral formulation was derived and implemented in the general purpose computer program GP-BEST. The new convective kernel functions, in turn, necessitated the development of refined integration techniques. As a result, however, since the physics of the problem is embedded in these kernels, boundary element solutions can now be obtained at very high Reynolds number. Flow around obstacles can be solved approximately with an efficient linearized boundary-only analysis or, more exactly, by including all of the nonlinearities present in the neighborhood of the obstacle. The other major accomplishment was the development of a comprehensive fluid-structure interaction capability within GP-BEST. This new facility is implemented in a completely general manner, so that quite arbitrary geometry, material properties and boundary conditions may be specified. Thus, a single analysis code (GP-BEST) can be used to run structures-only problems, fluids-only problems, or the combined fluid-structure problem. In all three cases, steady or transient conditions can be selected, with or without thermal effects. Nonlinear analyses can be solved via direct iteration or by employing a modified Newton-Raphson approach.

Dargush, G. F.↗

NASA NTRS1989

Analytical optical scattering in clouds

An analytical optical model for scattering of light due to lightning by clouds of different geometry is being developed. The self-consistent approach and the equivalent medium concept of Twersky was used to treat the case corresponding to outside illumination. Thus, the resulting multiple scattering problem is transformed with the knowledge of the bulk parameters, into scattering by a single obstacle in isolation. Based on the size parameter of a typical water droplet as compared to the incident wave length, the problem for the single scatterer equivalent to the distribution of cloud particles can be solved either by Mie or Rayleigh scattering theory. The super computing code of Wiscombe can be used immediately to produce results that can be compared to the Monte Carlo computer simulation for outside incidence. A fairly reasonable inverse approach using the solution of the outside illumination case was proposed to model analytically the situation for point sources located inside the thick optical cloud. Its mathematical details are still being investigated. When finished, it will provide scientists an enhanced capability to study more realistic clouds. For testing purposes, the direct approach to the inside illumination of clouds by lightning is under consideration. Presently, an analytical solution for the cubic cloud will soon be obtained. For cylindrical or spherical clouds, preliminary results are needed for scattering by bounded obstacles above or below a penetrable surface interface.

Phanord, Dieudonne D.↗

NASA NTRS1989

Learned navigation in unknown terrains: A retraction method

The problem of learned navigation of a circular robot R, of radius delta (is greater than or equal to 0), through a terrain whose model is not a-priori known is considered. Two-dimensional finite-sized terrains populated by an unknown (but, finite) number of simple polygonal obstacles are also considered. The number and locations of the vertices of each obstacle are unknown to R. R is equipped with a sensor system that detects all vertices and edges that are visible from its present location. In this context two problems are covered. In the visit problem, the robot is required to visit a sequence of destination points, and in the terrain model acquisition problem, the robot is required to acquire the complete model of the terrain. An algorithmic framework is presented for solving these two problems using a retraction of the freespace onto the Voronoi diagram of the terrain. Algorithms are then presented to solve the visit problem and the terrain model acquisition problem.

Rao, Nageswara S. V.↗

NASA NTRS1989

Vehicle path-planning in three dimensions using optics analogs for optimizing visibility and energy cost

Path planning is an important issue for space robotics. Finding safe and energy-efficient paths in the presence of obstacles and other constraints can be complex although important. High-level (large-scale) path planning for robotic vehicles was investigated in three-dimensional space with obstacles, accounting for: (1) energy costs proportional to path length; (2) turn costs where paths change trajectory abruptly; and (3) safety costs for the danger associated with traversing a particular path due to visibility or invisibility from a fixed set of observers. Paths optimal with respect to these cost factors are found. Autonomous or semi-autonomous vehicles were considered operating either in a space environment around satellites and space platforms, or aircraft, spacecraft, or smart missiles operating just above lunar and planetary surfaces. One class of applications concerns minimizing detection, as for example determining the best way to make complex modifications to a satellite without being observed by hostile sensors; another example is verifying there are no paths (holes) through a space defense system. Another class of applications concerns maximizing detection, as finding a good trajectory between mountain ranges of a planet while staying reasonably close to the surface, or finding paths for a flight between two locations that maximize the average number of triangulation points available at any time along the path.

Rowe, Neil C.↗

NASA NTRS1990

Real-time piloted simulation of fully automatic guidance and control for rotorcraft nap-of-the-earth (NOE) flight following planned profiles

Developing a single-pilot all-weather NOE capability requires fully automatic NOE navigation and flight control. Innovative guidance and control concepts are being investigated to (1) organize the onboard computer-based storage and real-time updating of NOE terrain profiles and obstacles; (2) define a class of automatic anticipative pursuit guidance algorithms to follow the vertical, lateral, and longitudinal guidance commands; (3) automate a decision-making process for unexpected obstacle avoidance; and (4) provide several rapid response maneuvers. Acquired knowledge from the sensed environment is correlated with the recorded environment which is then used to determine an appropriate evasive maneuver if a nonconformity is observed. This research effort has been evaluated in both fixed-base and moving-base real-time piloted simulations thereby evaluating pilot acceptance of the automated concepts, supervisory override, manual operation, and reengagement of the automatic system.

Clement, Warren F.↗

NASA NTRS1991

Fully automatic guidance and control for rotorcraft nap-of-the-Earth flight following planned profiles. Volume 1: Real-time piloted simulation

Developing a single-pilot, all-weather nap-of-the-earth (NOE) capability requires fully automatic NOE (ANOE) navigation and flight control. Innovative guidance and control concepts are investigated in a four-fold research effort that: (1) organizes the on-board computer-based storage and real-time updating of NOE terrain profiles and obstacles in course-oriented coordinates indexed to the mission flight plan; (2) defines a class of automatic anticipative pursuit guidance algorithms and necessary data preview requirements to follow the vertical, lateral, and longitudinal guidance commands dictated by the updated flight profiles; (3) automates a decision-making process for unexpected obstacle avoidance; and (4) provides several rapid response maneuvers. Acquired knowledge from the sensed environment is correlated with the forehand knowledge of the recorded environment (terrain, cultural features, threats, and targets), which is then used to determine an appropriate evasive maneuver if a nonconformity of the sensed and recorded environments is observed. This four-fold research effort was evaluated in both fixed-based and moving-based real-time piloted simulations, thereby, providing a practical demonstration for evaluating pilot acceptance of the automated concepts, supervisory override, manual operation, and re-engagement of the automatic system. Volume one describes the major components of the guidance and control laws as well as the results of the piloted simulations. Volume two describes the complete mathematical model of the fully automatic guidance system for rotorcraft NOE flight following planned flight profiles.

Clement, Warren F.↗

NASA NTRS1991

Fully Automatic Guidance and Control for Rotorcraft Nap-of-the-earth Flight Following Planned Profiles. Volume 2: Mathematical Model

Developing a single-pilot, all-weather nap-of-the-earth (NOE) capability requires fully automatic NOE (ANOE) navigation and flight control. Innovative guidance and control concepts are investigated in a four-fold research effort that: (1) organizes the on-board computer-based storage and real-time updating of NOE terrain profiles and obstacles in course-oriented coordinates indexed to the mission flight plan; (2) defines a class of automatic anticipative pursuit guidance algorithms and necessary data preview requirements to follow the vertical, lateral, and longitudinal guidance commands dictated by the updated flight profiles; (3) automates a decision-making process for unexpected obstacle avoidance; and (4) provides several rapid response maneuvers. Acquired knowledge from the sensed environment is correlated with the forehand knowledge of the recorded environment (terrain, cultural features, threats, and targets), which is then used to determine an appropriate evasive maneuver if a nonconformity of the sensed and recorded environments is observed. This four-fold research effort was evaluated in both fixed-base and moving-base real-time piloted simulations; thereby, providing a practical demonstration for evaluating pilot acceptance of the automated concepts, supervisory override, manual operation, and re-engagement of the automatic system. Volume one describes the major components of the guidance and control laws as well as the results of the piloted simulations. Volume two describes the complete mathematical model of the fully automatic guidance system for rotorcraft NOE flight following planned flight profiles.

Clement, Warren F.↗

NASA NTRS1991

Civil tiltrotor missions and applications. Phase 2: The commercial passenger market

The commercial passenger market for the civil tiltrotor was examined in phase 2. A market responsive commercial tiltrotor was found to be technically feasible, and a significant worldwide market potential was found to exist for such an aircraft, especially for relieving congestion in urban area-to-urban area service and for providing cost effective hub airport feeder service. Potential technical obstacles of community noise, vertiport area navigation, surveillance, and control, and the pilot/aircraft interface were determined to be surmountable. Nontechnical obstacles relating to national commitment and leadership and development of ground and air infrastructure were determined to be more difficult to resolve; an innovative public/private partnership is suggested to allow coordinated development of an initial commercial tiltrotor network to relieve congestion in the crowded US Northeast corridor by the year 2000.

Thompson, P.↗

NASA NTRS1990

Constrained trajectory optimization for kinematically redundant arms

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths.

Carignan, Craig R.↗

NASA NTRS1991

Transition operators in acoustic-wave diffraction theory. I - General theory. II - Short-wavelength behavior, dominant singularities of Zk0 and Zk0 exp -1

A formal theory of the scattering of time-harmonic acoustic scalar waves from impenetrable, immobile obstacles is established. The time-independent formal scattering theory of nonrelativistic quantum mechanics, in particular the theory of the complete Green's function and the transition (T) operator, provides the model. The quantum-mechanical approach is modified to allow the treatment of acoustic-wave scattering with imposed boundary conditions of impedance type on the surface (delta-Omega) of an impenetrable obstacle. With k0 as the free-space wavenumber of the signal, a simplified expression is obtained for the k0-dependent T operator for a general case of homogeneous impedance boundary conditions for the acoustic wave on delta-Omega. All the nonelementary operators entering the expression for the T operator are formally simple rational algebraic functions of a certain invertible linear radiation impedance operator which maps any sufficiently well-behaved complex-valued function on delta-Omega into another such function on delta-Omega. In the subsequent study, the short-wavelength and the long-wavelength behavior of the radiation impedance operator and its inverse (the 'radiation admittance' operator) as two-point kernels on a smooth delta-Omega are studied for pairs of points that are close together.

Hahne, G. E.↗