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NASA NTRS1981

Visual tracking in stereo

A method is described for visual object tracking by a computer vision system using TV cameras and special low-level image processing hardware. The tracker maintains an internal model of the location, orientation, and velocity of the object in three-dimensional space. This model is used to predict where features of the object will lie on the two-dimensional images produced by stereo TV cameras. The differences in the locations of features in the two-dimensional images as predicted by the internal model and as actually seen create an error signal in the two-dimensional representation. This is multiplied by a generalized inverse Jacobian matrix to deduce the error in the internal model. The procedure repeats to update the internal model of the object's location, orientation and velocity continuously.

Saund, E.↗

NASA NTRS1981

Approximate and exact numerical computation of supersonic flow over an airfoil

The computation of inviscid supersonic flow over a two-dimensional airfoil is considered. There are two main nonlinear approaches which lead to approximate solutions. Small-amplitude theory gives valid solutions provided the airfoil thickness is not too great and the Mach number is not too high. The second type of approximation, shock expansion theory, employs the fact that even for flows with strong shocks the effect of the down-running characteristics remains small. This leads to an analytic solution at the airfoil. It is pointed out that the approximate solution is accurate enough for many cases of interest. The numerical method furnishes a rapid correction to the solution in those cases where it is not. The characteristic-streamline coordinate system is useful both for the computation of the approximate solution and the corrections, and is also convenient for displaying and interpreting the results.

Lewis, T. S.↗

NASA NTRS1981

Laser electro-optic system for rapid three-dimensional /3-D/ topographic mapping of surfaces

It is pointed out that the generic utility of a robot in a factory/assembly environment could be substantially enhanced by providing a vision capability to the robot. A standard videocamera for robot vision provides a two-dimensional image which contains insufficient information for a detailed three-dimensional reconstruction of an object. Approaches which supply the additional information needed for the three-dimensional mapping of objects with complex surface shapes are briefly considered and a description is presented of a laser-based system which can provide three-dimensional vision to a robot. The system consists of a laser beam array generator, an optical image recorder, and software for controlling the required operations. The projection of a laser beam array onto a surface produces a dot pattern image which is viewed from one or more suitable perspectives. Attention is given to the mathematical method employed, the space coding technique, the approaches used for obtaining the transformation parameters, the optics for laser beam array generation, the hardware for beam array coding, and aspects of image acquisition.

Altschuler, M. D.↗

NASA NTRS1982

A conservative finite difference algorithm for the unsteady transonic potential equation in generalized coordinates

An implicit, approximate-factorization, finite-difference algorithm has been developed for the computation of unsteady, inviscid transonic flows in two and three dimensions. The computer program solves the full-potential equation in generalized coordinates in conservation-law form in order to properly capture shock-wave position and speed. A body-fitted coordinate system is employed for the simple and accurate treatment of boundary conditions on the body surface. The time-accurate algorithm is modified to a conventional ADI relaxation scheme for steady-state computations. Results from two- and three-dimensional steady and two-dimensional unsteady calculations are compared with existing methods.

Bridgeman, J. O.↗

NASA NTRS1982

Dual wing, swept forward swept rearward wing, and single wing design optimization for high performance business airplanes

An investigation was performed to compare closely coupled dual wing and swept forward swept rearward wing aircraft to corresponding single wing 'baseline' designs to judge the advantages offered by aircraft designed with multiple wing systems. The optimum multiple wing geometry used on the multiple wing designs was determined in an analytic study which investigated the two- and three-dimensional aerodynamic behavior of a wide range of multiple wing configurations in order to find the wing geometry that created the minimum cruise drag. This analysis used a multi-element inviscid vortex panel program coupled to a momentum integral boundary layer analysis program to account for the aerodynamic coupling between the wings and to provide the two-dimensional aerodynamic data, which was then used as input for a three-dimensional vortex lattice program, which calculated the three-dimensional aerodynamic data. The low drag of the multiple wing configurations is due to a combination of two dimensional drag reductions, tailoring the three dimensional drag for the swept forward swept rearward design, and the structural advantages of the two wings that because of the structural connections permitted higher aspect ratios.

Rhodes, M. D.↗

NASA NTRS1981

Predictor symbology in computer-generated pictorial displays

The display under investigation, is a tunnel display for the four-dimensional commercial aircraft approach-to-landing under instrument flight rules. It is investigated whether more complex predictive information such as a three-dimensional perspective vehicle symbol, predicting the future vehicle position as well as future vehicle attitude angles, contributes to a better system response, and suitable predictor laws for the predictor motions, are formulated. Methods for utilizing the predictor symbol in controlling the forward velocity of the aircraft in four-dimensional approaches, are investigated. The simulator tests show, that the complex perspective vehicle symbol yields improved damping in the lateral response as compared to a flat two-dimensional predictor cross, but yields generally larger vertical deviations. Methods of using the predictor symbol in controlling the forward velocity of the vehicle are shown to be effective. The tunnel display with superimposed perspective vehicle symbol yields very satisfactory results and pilot acceptance in the lateral control but is found to be unsatisfactory in the vertical control, as a result of too large vertical path-angle deviations.

Grunwald, A. J.↗

NASA NTRS1982

Computer program for solving laminar, transitional, or turbulent compressible boundary-layer equations for two-dimensional and axisymmetric flow

A numerical algorithm and computer program are presented for solving the laminar, transitional, or turbulent two dimensional or axisymmetric compressible boundary-layer equations for perfect-gas flows. The governing equations are solved by an iterative three-point implicit finite-difference procedure. The software, program VGBLP, is a modification of the approach presented in NASA TR R-368 and NASA TM X-2458, respectively. The major modifications are: (1) replacement of the fourth-order Runge-Kutta integration technique with a finite-difference procedure for numerically solving the equations required to initiate the parabolic marching procedure; (2) introduction of the Blottner variable-grid scheme; (3) implementation of an iteration scheme allowing the coupled system of equations to be converged to a specified accuracy level; and (4) inclusion of an iteration scheme for variable-entropy calculations. These modifications to the approach presented in NASA TR R-368 and NASA TM X-2458 yield a software package with high computational efficiency and flexibility. Turbulence-closure options include either two-layer eddy-viscosity or mixing-length models. Eddy conductivity is modeled as a function of eddy viscosity through a static turbulent Prandtl number formulation. Several options are provided for specifying the static turbulent Prandtl number. The transitional boundary layer is treated through a streamwise intermittency function which modifies the turbulence-closure model. This model is based on the probability distribution of turbulent spots and ranges from zero to unity for laminar and turbulent flow, respectively. Several test cases are presented as guides for potential users of the software.

Harris, J. E.↗

NASA NTRS1983

Dynamics of magnetosphere-ionosphere coupling including turbulent transport

The dynamics of magnetosphere-ionosphere coupling has been investigated by means of a two-dimensional two-fluid MHD model including anomalous resistivity. When field-aligned current is generated on auroral field lines, the disturbance propagates toward the ionosphere in the form of a kinetic Alfven wave. When the current exceeds a critical value, microscopic turbulence is produced, which modifies the propagation of the Alfven wave. This process is modeled by a nonlinear collision frequency, which increases with the excess of the drift velocity over the critical value. The system evolves toward an electrostatic structure, with the perpendicular electric field having a shorter scale than the field-aligned current. The approach to a steady state is strongly dependent on the presence or absence of the turbulence and on the boundary conditions imposed in the generator. As current is increased or scale size is decreased, the turbulent region reflects and absorbs most of the Alfven wave energy, decoupling the generator from the ionosphere.

Lysak, R. L.↗

NASA NTRS1981

High frequency scattering by a thin dielectric slab

The geometrical theory of diffraction (GTD) is applied to the problem of a source in the presence of a three-dimensional thin dielectric slab. It is assumed that the reflection and transmission properties of the slab are known, and the slab is not lossy and/or multilayered. Two-dimensional thin dielectric layer scattering is analyzed when diffraction emanates from a single point, the source is not near the slab, and random energy approaching tangentially due to transmission is negligible. Coefficients are obtained for the scattering and the GTD solution is extended to the three dimensional case after development of a ray fixed coordinate system. The results are applied to a half wavelength dipole mounted above a square polystyrene covered ground plane.

Burnside, W. D.↗

NASA NTRS1983

Quasi-axisymmetric circulation and superrotation in planetary atmospheres

Atmospheric superrotation is ubiquitous in the solar system, and numerous theoretical models have been proposed to describe the effect. However, no model is fully accepted. Problems are primarily related to an understanding of the angular momentum and the energy budgets. In connection with the present investigation, attention is given to hybrid models, where three-dimensional models may describe eddy processes and two-dimensional symmetric models may describe the global scale circulation in the framework of a viscous medium. It is believed that the concept of an axisymmetric circulation is still useful. It is the main purpose of the current investigation to explore some of the properties of the circulation in planetary atmospheres. It is assumed that the eddy transports are downgradient or diffusive in nature. Energy and momentum are perceived to cascade from the global scale circulation driven by the sun to the smaller scale eddies which in turn determine the diffusive properties. A numerical model of the Venusian circulation is presented, and results are discussed for different conditions of static stability.

Mayr, H. G.↗

NASA NTRS1982

The Delta-K ocean wave spectrometer - Aircraft measurements and theoretical system analysis

Measurements of the relative strength of ocean surface wave spectral components have been made from an aircraft using the two-frequency microwave resonance technique. A coherent Ku-band radar was used to study the Bragg type resonance matching (at the difference frequency Delta-f) to the surface wave components. The spatial spectrum of the surface reflectivity modulation was then computed as the value of Delta-f was varied over a matching range of approximately 15 150 m in surface wavelength. This paper contains experimental results from flights conducted during the 1979 MARSEN project and the 1980 ARSLOE project, and the objective here is to present the radar results in terms of the variety of surface illumination geometries encountered. It will be shown that the MARSEN results, with the narrow footprint, are consistent with a one-dimensional theoretical approach and that the ARSLOE results, with a symmetric beam pattern, agree well with the existing two-dimensional theory.

Weissman, D. E.↗

NASA NTRS1983

Numerical simulation of two-dimensional heat transfer in composite bodies with application to de-icing of aircraft components

Transient, numerical simulations of the de-icing of composite aircraft components by electrothermal heating were performed for a two dimensional rectangular geometry. The implicit Crank-Nicolson formulation was used to insure stability of the finite-difference heat conduction equations and the phase change in the ice layer was simulated using the Enthalpy method. The Gauss-Seidel point iterative method was used to solve the system of difference equations. Numerical solutions illustrating de-icer performance for various composite aircraft structures and environmental conditions are presented. Comparisons are made with previous studies. The simulation can also be used to solve a variety of other heat conduction problems involving composite bodies.

Chao, D. F. K.↗

NASA NTRS1984

Topics in the two-dimensional sampling and reconstruction of images

Mathematical analysis of image sampling and interpolative reconstruction is summarized and extended to two dimensions for application to data acquired from satellite sensors such as the Thematic mapper and SPOT. It is shown that sample-scene phase influences the reconstruction of sampled images, adds a considerable blur to the average system point spread function, and decreases the average system modulation transfer function. It is also determined that the parametric bicubic interpolator with alpha = -0.5 is more radiometrically accurate than the conventional bicubic interpolator with alpha = -1, and this at no additional cost. Finally, the parametric bicubic interpolator is found to be suitable for adaptive implementation by relating the alpha parameter to the local frequency content of an image.

Schowengerdt, R.↗

NASA NTRS1984

Numerical modeling of laser thermal propulsion flows

An review of the problems associated with modeling laser thermal propulsion flows, a synopsis of the status of such models, and the attributes of a successful model are presented. The continuous gaseous hydrogen laser-supported combustion wave (LSCW) thruster, for which a high-energy laser system (preferably space-based) should exist by the time the propulsion technology is developed, is considered in particular. The model proposed by Raizer (1970) is based on the assumptions of one-dimensional flow at constant pressure with heat conduction as the principal heat transfer mechanism. Consideration is given to subsequent models which account for radiative transfer into the ambient gas; provide a two-dimensional generalization of Raizer's analysis for the subsonic propagation of laser sparks in air; include the effect of forward plasma radiation in a one-dimensional model; and attempt a time-dependent (elliptic) solution of the full Navier-Stokes equations for the flow in a simple axisymmetric thruster. Attention is also given to thruster and nozzle flow models and thermodynamic and transport properties.

Mccay, T. D.↗

NASA NTRS1956

Performance of variable two-dimensional inlet designed for engine-inlet matching I : performance at design Mach number of 3.07

The inlet was investigated with both a two-oblique-shock and an isentropic compression ramp. Provisions for a variety of bypass systems were incorporated and none decreased pressure recovery by more than about 1 percent. By utilizing throat boundary-layer control, critical pressure recoveries of 64 and 70 percent were obtained with the two-shock and isentropic ramps, respectively. Diffuser-exit air distortion was about 5 percent at critical operation Theoretical cowl pressure drag was equal to about 10 percent of the net thrust of an assumed engine.

Beheim, M A↗

NASA NTRS1939

A theoretical study of the moment on a body in a compressible fluid

The extension to a compressible fluid of Lagally's theorem on the moment on a body in an incompressible fluid and Poggi's method of treating the flow of compressible fluids are employed for the determination of the effect of compressibility on the moment of an arbitrary body. Only the case of the two-dimensional subsonic flow of an ideal compressible fluid is considered. As examples of the application of the general theory, two well-known systems of profiles are treated; namely the elliptic profile and the symmetrical Joukowski profiles with sharp trailing edges. The effect of compressibility on the position of the center of pressure is also discussed. Several numerical examples of both the elliptic and the Joukowski profiles are given.

Kaplan, Carl↗

NASA NTRS1938

Wind-tunnel Investigations on Flexural-torsional Wing Flutter

For the purpose of testing the theory of an oscillating airfoil of two degrees of freedom, a wing was mounted in the wind tunnel between two walls in such a manner that it could execute vertical (flexural) oscillations as well as torsional oscillations about an arbitrary axis parallel to the span. It was possible to vary the inertia and elasticity parameters and also to increase artificially the negligibly small natural damping of the system. The oscillations were recorded to a strongly magnified scale. The experimentally determined critical (or flutter) velocities fully agree with the theoretical ones of Wagner and Kussner within the limits of computational and measuring accuracy. An extremely narrow wing without end walls (three dimensional problem) showed the same oscillations as one with end walls (two-dimensional problem).

Voigt, H↗

NASA NTRS1973

On Lidar Sounding of the Atmosphere to Estimate Static and Dynamic Characteristics of Aerosol Inhomogeneities

1. A possible application of intensity fluctuations of a pulse light signal reflected by atmospheric aerosols is analyzed by the correlation method to evaluate static (medium sizes, shape) and dynamic (speed and direction of movement, lifetime) characteristics of aerosol inhomogeneities. The aerosol inhomogeneities are assumed to be expanded, pressed, disintegrated and originated constantly in accordance with random laws, the set of inhomogeneities as a whole traveling together with air masses and having predominant movement in wind direction. It is shown that the characteristics of aerosol inhomogeneities considered can be expressed by the coefficients of the correlation function expansion of the reflected signal fluctuation intensity in Tailor series. 2/ Correlation systems for evaluating static and dynamic characteristics of driving objects can be divided into two types according to the kind and quantity of used information: the systems with coordinates of the information removal "points" to be fixed in space, and the systems with a parallel simultaneous information removal at discrete moments of time. The systems for determination of wind direction considered in are the examples of the first type system. However, the operating information removal for two points is insufficient to estimate completely static and dynamic characteristics of inhomogenities, their quantity ought to be increased up to three of them for two-dimensional problem and up to four of them for three-dimensional problem as it is usually done in the ionospheric studies. The second type systems are used for the investigation of a medium shape and speed of the clouds according to photographs made from satellites. These systems are also used for solution of navigation problems. The use of optical quantum generators with a scanning beam is seen to increase greatly the working information removal in comparison with the first type systems. Nevertheless, scanning rate is not sufficient sometimes in order· to consider a general picture of aerosol inhomogeneities to be stationary. In this connection the use of the systems of second type treatment becomes a matter of essential difficulty. 3. Aerosol inhomogeneities simulation has been carried out on the basis of the digital computer experiments with the aim of estimating static and dynamic characteristics of inhomogeneities by an optical beam in the atmosphere at different scanning procedures. The dependence of determination accuracy of these characteristics on the type of chosen laws of aerosol particle distribution in the atmosphere, the parameters of inhomogeneities geometry, their speed and the law of scanning have been obtained.

Zuev, V. E.↗