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At least 379 records · Page 21

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NASA NTRS1986

A computer code for three-dimensional incompressible flows using nonorthogonal body-fitted coordinate systems

In this report, a numerical method for solving the equations of motion of three-dimensional incompressible flows in nonorthogonal body-fitted coordinate (BFC) systems has been developed. The equations of motion are transformed to a generalized curvilinear coordinate system from which the transformed equations are discretized using finite difference approximations in the transformed domain. The hybrid scheme is used to approximate the convection terms in the governing equations. Solutions of the finite difference equations are obtained iteratively by using a pressure-velocity correction algorithm (SIMPLE-C). Numerical examples of two- and three-dimensional, laminar and turbulent flow problems are employed to evaluate the accuracy and efficiency of the present computer code. The user's guide and computer program listing of the present code are also included.

Chen, Y. S.↗

NASA NTRS1986

A numerical method for three-dimensional incompressible flows using nonorthogonal body-fitted coordinate systems

In the present paper, a numerical method for solving the equations of motion of three-dimensional incompressible flows in nonorthogonal body-fitted coordinate (BEC) systems has been developed and evaluated. The equations of motion are transformed to a generalized curvilinear coordinate system from which the transformed equations are discretized using finite difference approximations in the transformed domain. The hybrid scheme and a central differencing plus artificial dissipation scheme are used to approximate the convection terms in the governing equations. Effects of these two schemes on the accuracy of numerical predictions are studied. Solutions of the finite difference equations are obtained iteratively by using a pressure-velocity correction algorithm, SIMPLE-C. Numerical examples of two- and three-dimensional, laminar and turbulent flow problems are employed to evaluate the accuracy and efficiency of the present numerical method.

Chen, Y. S.↗

NASA NTRS1986

The development of performance, interference, sharing and coordination criteria

The criteria for sharing and coordination between the Earth Exploration Satellite service and other radio services is not fully developed at this time. The purpose is to develop a plan showing how the necessary criteria might be developed. Some criteria does exist in the form of general restrictions, protection criteria, and coordination procedures for space and terrestrial services sharing the same bands. Determining suitable criteria for EES bands depends on the use of the band and the shared services. For example the criteria developed for EES passive sensing band will be developed in a manner different than for a telemetry band. In either case the resultant criteria will be related to, and can be referenced from the system noise power or equivalent noise temperature.

Tillotson, Tom↗

NASA NTRS1987

Boundary-layer equations in generalized curvilinear coordinates

A set of higher-order boundary-layer equations is derived valid for three-dimensional compressible flows. The equations are written in a generalized curvilinear coordinate system, in which the surface coordinates are nonorthogonal; the third axis is restricted to be normal to the surface. Also, higher-order viscous terms which are retained depend on the surface curvature of the body. Thus, the equations are suitable for the calculation of the boundary layer about arbitrary vehicles. As a starting point, the Navier-Stokes equations are derived in a tensorian notation. Then by means of an order-of-magnitude analysis, the boundary-layer equations are developed. To provide an interface between the analytical partial differentiation notation and the compact tensor notation, a brief review of the most essential theorems of the tensor analysis related to the equations of the fluid dynamics is given. Many useful quantities, such as the contravariant and the covariant metrics and the physical velocity components, are written in both notations.

Panaras, Argyris G.↗

NASA NTRS1985

The relations between the linear and bilinear atmospheric tidal fields in geometric height and in log-pressure coordinates

Theoretical models of planetary-atmosphere tidal fields are examined analytically, comparing models based on geometric-height coordinates with those employing log-pressure coordinates. The relationship between the linearized meteorological variables in the two systems is explored for classical tidal theory and its reduction to the Laplace tidal equation, and it is shown that identical horizontal and vertical equations are obtained. Also considered are the tidal zonal-mean bilinear flux convergences and their Eliassen-Palm formulations. Numerical results for problems involving the earth and Mars atmospheres are presented in graphs and discussed.

Zurek, Richard W.↗

NASA NTRS1987

Multiple arm coordination using concurrent processing

The use of concurrent processing for robot arm coordination is considered, and a hierarchically structured set of routines for the completion of coordinated tasks is discussed. Concurrent programming controls interacting concurrent processes by providing techniques to handle the problems of mutual exclusion, synchronization, and communication. The process is demonstrated for the example of the producer-consumer problem. Software supporting a concurrent environment to control a robotic system is being developed in which parallel rather than sequential thought processes are used.

Basta, Robert A.↗

NASA NTRS1987

Coordination of data relay satellite support

Interoperability as it relates to NASDA and ESA plans to implement S-band services compatible with that provided by TDRSS is discussed. The administrative and operational prerequisites for interoperability are introduced with attention given to coordination before and during the mission, and orbital slot planning. Areas for future technical discussions include a more detailed definition of the RF signal structures for achieving a coordinated S-band service and the examination of schemes (such as baseband cooling) which minimize interference while permitting the joint use of the S-band and promoting interoperability.

Sobieski, S.↗

NASA NTRS1988

A formulation for the boundary-layer equations in general coordinates

This is a working paper in which a formulation is given for solving the boundary-layer equations in general body-fitted curvilinear coordinates while retaining the original Cartesian dependent variables. The solution procedure does not require that any of the coordinates be orthogonal, and much of the software developed for many Navier-Stokes schemes can be readily used. A limited number of calculations has been undertaken to validate the approach.

Steger, Joseph L.↗

NASA NTRS1986

Dynamic coordination of two robot arms

This paper presents a new control method for coordinated control of two robot arms. The two arms are assumed to work on the same object simultaneously. The control method uses a dynamic coordinator acting on relative position and velocity task space errors and on relative force-torque errors between the two arms as sensed at the end effectors. This method is novel because the position and velocity error feedback could be superimposed with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗

NASA NTRS1987

A simplified derivation of leaf normal spherical coordinates

The paper presents formulas for the direction in spherical coordinates of the normal vector to a planar leaf in terms of the coordinates of incident and reflected rays. A simple idea from vector analysis is applied. These formulas are important in plant canopy modeling and experimental data collection in situations where specular reflection at optical wavelengths plays a part.

Card, Don H.↗

NASA NTRS1987

Communications indices of crew coordination

Verbal exchanges occuring during task execution during full mission two-person simulator flights are used to study the effect of the interactive communication process on crew coordination and performance. The ratio of initiator to response speech is calculated and speech variations are recorded. The results of this study are compared with the findings of Ginnett's (1986) study of leaders. It is shown that low-error crews adopt a standard form of communicating, allowing for the ability to predict one another's behavior, facilitating the coordination process. The higher performance of crews that have flown together before is believed to be due to the increased amount of time for establishing a conventional means of communication.

Kanki, Barbara G.↗

NASA NTRS1989

Numerical solution of unsteady incompressible viscous flows in generalized moving coordinate systems

A solution method of the time-accurate, incompressible Navier-Stokes equations in generalized curvilinear moving coordinate systems is presented in this paper. Accuracy is achieved by a conservative finite-volume discretization which satisfies the geometric conservation laws in generalized moving coordinate systems. The solution method is second-order accurate in space and first-order accurate in time. A fractional step solution method is used to efficiently solve the discrete equations. The unknowns, namely the pressure and the volume-fluxes, are chosen to facilitate the formulation of a consistent Poisson equation and to obtain a robust Poisson solver with favorable convergence properties. The method is validated by comparisons to other numerical and experimental solutions. The comparisons show good agreement.

Rosenfeld, Moshe↗

NASA NTRS1990

Determining Spatial Coordinates By Laser Ranging

Three range-measuring lasers arranged in triangle measure location of point. Set of three measurements of distances (ranges) of retroreflector on object from three rangefinders provides sufficient information to calculate coordinates of retroreflector in coordinate system defined by rangefinders. If at least three noncollinear retroreflectors attached to object, orientation of object also determined. Potential applications include observation and control of large structures, robotics, and machine vision.

Schumacher, Larry L.↗

NASA NTRS1989

Dual arm coordination and control

A generalized master/slave technique and experimental results for coordinated control of two arms rigidly grasping an object is described. An interactive program has been developed to allow a user the flexibility to select appropriate control modes for a given experiment. This interface allows for control gain adjustments. The results of several experiments performed on this system to demonstrate its capabilities such as transporting an object with or without induced internal forces and movement of a constrained object are offered. The system is further developed to achieve a so-called shared control mode in which an operator specifies the free motion trajectory for a point on the object of manipulation via a joystick while the autonomous control system is used for coordination and control of the arms.

Hayati, Samad↗

NASA NTRS1991

A hierarchical distributed control model for coordinating intelligent systems

A hierarchical distributed control (HDC) model for coordinating cooperative problem-solving among intelligent systems is described. The model was implemented using SOCIAL, an innovative object-oriented tool for integrating heterogeneous, distributed software systems. SOCIAL embeds applications in 'wrapper' objects called Agents, which supply predefined capabilities for distributed communication, control, data specification, and translation. The HDC model is realized in SOCIAL as a 'Manager'Agent that coordinates interactions among application Agents. The HDC Manager: indexes the capabilities of application Agents; routes request messages to suitable server Agents; and stores results in a commonly accessible 'Bulletin-Board'. This centralized control model is illustrated in a fault diagnosis application for launch operations support of the Space Shuttle fleet at NASA, Kennedy Space Center.

Adler, Richard M.↗

NASA NTRS1990

The use of precise ephemerides, ionospheric data, and corrected antenna coordinates in a long-distance GPS time transfer

Over intercontinental distances, the accuracy of The Global Positioning System (GPS) time transfers ranges from 10 to 20 ns. The principal error sources are the broadcast ionospheric model, the broadcast ephemerides and the local antenna coordinates. For the first time, the three major error sources for GPS time transfer can be reduced simultaneously for a particular time link. Ionospheric measurement systems of the National Institute of Standards and Technology (NIST) type are now operating on a regular basis at the National Institute of Standards and Technology in Boulder and at the Paris Observatory in Paris. Broadcast ephemerides are currently recorded for time-transfer tracks between these sites, this being necessary for using precise ephemerides. At last, corrected local GPS antenna coordinates are now introduced in GPS receivers at both sites. Shown here is the improvement in precision for this long-distance time comparison resulting from the reduction of these three error sources.

Lewandowski, Wlodzimierz W.↗

NASA NTRS1990

Numerical modeling of the atmosphere with an isentropic vertical coordinate

A theta-coordinate model simulating the nonlinear evolution of a baroclinic wave is presented. In the model, vertical discretization maintains important integral constraints such as conservation of the angular momentum and total energy. A massless-layer approach is used in the treatment of the intersections of coordinate surfaces with the lower boundary. This formally eliminates the intersection problem, but raises other computational problems. Horizontal discretization of the continuity and momentum equations in the model are designed to overcome these problems. Selected results from a 10-day integration with the 25-layer, beta-plane version of the model are presented. It is concluded that the model can simulate the nonlinear evolution of a baroclinic wave and associated dynamical processes without major computational difficulties.

Hsu, Yueh-Jiuan G.↗

NASA NTRS1990

Control framework for hand-arm coordination

Coordination of multiple manipulators requires cooperation at several levels in the control hierarchy. A distributed processing environment with no hardware dependencies except at the motor servo level would provide a flexible architecture for coordination. A system on these lines is being built to control an articulated hand and an arm. The four levels of control envisaged include a task decomposition level, a planning level, a scheduling level, and a server level. The hand will carry both force and tactile sensors, feedback from these are used to provide adaptive control in grasping tasks. The processing of the sensory information is performed by independent processes, with analyzed information being sent to the relevant layer of the system. The manipulators are also controlled by individual processes. All process can open communications with an active process sending commands or data, or receiving them. The scope of the system and the current setup are described along with future lines of development.

Agrawal, Sanjay↗