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SPLICER computer program is genetic-algorithm software tool used to solve search and optimization problems. Provides underlying framework and structure for building genetic-algorithm application program. Written in Think C.
Control-based approaches to grasp synthesis create grasping behavior by sequencing and combining control primitives. In the absence of any other structure, these approaches must evaluate a large number of feasible control sequences as a function of object shape, object pose, and task. This work explores a new approach to grasp synthesis that limits consideration to variations on a generalized localize-reach-grasp control policy. A new learning algorithm, known as schema structured learning, is used to learn which instantiations of the generalized policy are most likely to lead to a successful grasp in different problem contexts. Two experiments are described where Dexter, a bimanual upper torso, learns to select an appropriate grasp strategy as a function of object eccentricity and orientation. In addition, it is shown that grasp skills learned in this way can generalize to new objects. Results are presented showing that after learning how to grasp a small, representative set of objects, the robot's performance quantitatively improves for similar objects that it has not experienced before.
A new method is described for assessing the consistency of structural modal parameters identified with the Eigensystem Realization Algorithm. Identification results show varying consistency in practice due to many sources including high modal density, nonlinearity, and inadequate excitation. Consistency is considered to be a reliable indicator of accuracy. The new method is the culmination of many years of experience in developing a practical implementation of the Eigensystem Realization Algorithm. The effectiveness of the method is illustrated using data from NASA Langley's Controls-Structures-Interaction Evolutionary Model.
A three-dimensional code in body-fitted coordinates was developed using MacCormack's algorithm. The code is structured to be compatible with any general configuration, provided that the metric coefficients for the transformation are available. The governing equations are developed in primitive variables in order to facilitate the incorporation of physical boundary conditions and turbulence-closure models. MacCormack's two-step, unsplit, time-marching algorithm is used to solve the unsteady Navier-Stokes equations until steady-state solution is achieved. Cases discussed include (1) flat plate in supersonic free stream; (2) supersonic flow along an axial corner; (3) subsonic flow in an axial corner at M infinity = 0.95; and (4) supersonic flow in an axial corner at M infinity 1.5.
The following analytical and experimental studies were conducted: (1) A simple algorithm was developed to suppress the structural vibrations of 3-dimensional distributed parameter systems, subjected to interface motion and/or directly applied forces. The algorithm is designed to cope with structural oscillations superposed on top of rigid-body motion: a situation identical to that encountered by the SCOLE components. A significant feature of the method is that only local measurements of the structural displacements and velocities relative to the moving frame of reference are needed. (2) A numerical simulation study was conducted on a simple linear finite element model of a cantilevered plate which was subjected to test excitations consisting of impulsive base motion and of nonstationary wide-band random excitation applied at its root. In each situation, the aim was to suppress the vibrations of the plate relative to the moving base. (3) A small mechanical model resembling an aircraft wing was designed and fabricated to investigate the control algorithm under realistic laboratory conditions.
An efficient digital computer procedure and the related numerical algorithm are presented herein for the solution of quadratic matrix equations associated with free vibration analysis of structures. Such a procedure enables accurate and economical analysis of natural frequencies and associated modes of discretized structures. The numerically stable algorithm is based on the Sturm sequence method, which fully exploits the banded form of associated stiffness and mass matrices. The related computer program written in FORTRAN V for the JPL UNIVAC 1108 computer proves to be substantially more accurate and economical than other existing procedures of such analysis. Numerical examples are presented for two structures - a cantilever beam and a semicircular arch.
A new implicit algorithm for time step integration of finite element structural dynamic equations is presented. Convergence, stability and numerical damping properties are discussed. Due to the way nonlinear structural behavior is taken into account, the algorithm is expected to compare favorably with existing ones. Some simple numerical results are presented. A related explicit algorithm is also derived and shortly discussed.
A fast field program (FFP) algorithm was developed based on the method of Lee et al., for the prediction of sound pressure level from low frequency, high intensity sources. In order to permit accurate predictions at distances greater than 2 km, new correction procedures have had to be included in the algorithm. Certain functions, whose Hankel transforms can be determined analytically, are subtracted from the depth dependent Green's function. The distance response is then obtained as the sum of these transforms and the Fast Fourier Transformation (FFT) of the residual k dependent function. One procedure, which permits the elimination of most complex exponentials, has allowed significant changes in the structure of the FFP algorithm, which has resulted in a substantial reduction in computation time.
This article provides a broad introduction to the subject of parallel rendering, encompassing both hardware and software systems. The focus is on the underlying concepts and the issues which arise in the design of parallel rendering algorithms and systems. We examine the different types of parallelism and how they can be applied in rendering applications. Concepts from parallel computing, such as data decomposition, task granularity, scalability, and load balancing, are considered in relation to the rendering problem. We also explore concepts from computer graphics, such as coherence and projection, which have a significant impact on the structure of parallel rendering algorithms. Our survey covers a number of practical considerations as well, including the choice of architectural platform, communication and memory requirements, and the problem of image assembly and display. We illustrate the discussion with numerous examples from the parallel rendering literature, representing most of the principal rendering methods currently used in computer graphics.
In this research we have developed an algorithm for the purpose of constraint processing by utilizing relational algebraic operators. Van Beek and others have investigated in the past this type of constraint processing from within a relational algebraic framework, producing some unique results. Apart from providing new theoretical angles, this approach also gives the opportunity to use the existing efficient implementations of relational database management systems as the underlying data structures for any relevant algorithm. Our algorithm here enhances that framework. The algorithm is quite general in its current form. Weak heuristics (like forward checking) developed within the Constraint-satisfaction problem (CSP) area could be also plugged easily within this algorithm for further enhancements of efficiency. The algorithm as developed here is targeted toward a component-oriented modeling problem that we are currently working on, namely, the problem of interactive modeling for batch-simulation of engineering systems (IMBSES). However, it could be adopted for many other CSP problems as well. The research addresses the algorithm and many aspects of the problem IMBSES that we are currently handling.
The global hydrological cycle is central to the Earth's climate system, with rainfall and the physics of its formation acting as the key links in the cycle. Two-thirds of global rainfall occurs in the Tropics. Associated with this rainfall is a vast amount of heat, which is known as latent heat. It arises mainly due to the phase change of water vapor condensing into liquid droplets; three-fourths of the total heat energy available to the Earth's atmosphere comes from tropical rainfall. In addition, fresh water provided by tropical rainfall and its variability exerts a large impact upon the structure and motions of the upper ocean layer. An improved convective -stratiform heating (CSH) algorithm has been developed to obtain the 3D structure of cloud heating over the Tropics based on two sources of information: 1) rainfall information, namely its amount and the fraction due to light rain intensity, observed directly from the Precipitation Radar (PR) on board the TRMM satellite and 2) synthetic cloud physics information obtained from cloud-resolving model (CRM) simulations of cloud systems. The cloud simulations provide details on cloud processes, specifically latent heating, eddy heat flux convergence and radiative heating/cooling, that. are not directly observable by satellite. The new CSH algorithm-derived heating has a noticeably different heating structure over both ocean and land regions compared to the previous CSH algorithm. One of the major differences between new and old algorithms is that the level of maximum cloud heating occurs 1 to 1.5 km lower in the atmosphere in the new algorithm. This can effect the structure of the implied air currents associated with the general circulation of the atmosphere in the Tropics. The new CSH algorithm will be used provide retrieved heating data to other heating algorithms to supplement their performance.
The development, deployment, operation and maintenance of Integrated Systems Health Management (ISHM) applications require the storage and processing of tremendous amounts of low-level data. This data must be shared in a secure and cost-effective manner between developers, and processed within several heterogeneous architectures. Modern database technology allows this data to be organized efficiently, while ensuring the integrity and security of the data. The extensibility and interoperability of the current database technologies also allows for the creation of an associated support database system. A support database system provides additional capabilities by building applications on top of the database structure. These applications can then be used to support the various technologies in an ISHM architecture. This presentation and paper propose a detailed structure and application description for a support database system, called the Health Assessment Database System (HADS). The HADS provides a shared context for organizing and distributing data as well as a definition of the applications that provide the required data-driven support to ISHM. This approach provides another powerful tool for ISHM developers, while also enabling novel functionality. This functionality includes: automated firmware updating and deployment, algorithm development assistance and electronic datasheet generation. The architecture for the HADS has been developed as part of the ISHM toolset at Stennis Space Center for rocket engine testing. A detailed implementation has begun for the Methane Thruster Testbed Project (MTTP) in order to assist in developing health assessment and anomaly detection algorithms for ISHM. The structure of this implementation is shown in Figure 1. The database structure consists of three primary components: the system hierarchy model, the historical data archive and the firmware codebase. The system hierarchy model replicates the physical relationships between system elements to provide the logical context for the database. The historical data archive provides a common repository for sensor data that can be shared between developers and applications. The firmware codebase is used by the developer to organize the intelligent element firmware into atomic units which can be assembled into complete firmware for specific elements.
A Navier-Stokes algorithm for use on unstructured triangular meshes is presented. Spatial discretization of the governing equations is achieved using a finite element Galerkin approximation, which can be shown to be equivalent to a finite volume approximation for regular equilateral triangular meshes. Integration steady-state is performed using a multistage time-stepping scheme, and convergence is accelerated by means of implicit residual smoothing and an unstructured multigrid algorithm. Directional scaling of the artificial dissipation and the implicit residual smoothing operator is achieved for unstructured meshes by considering local mesh stretching vectors at each point. The accuracy of the scheme for highly stretched triangular meshes is validated by comparing computed flat-plate laminar boundary layer results with the well known similarity solution, and by comparing laminar airfoil results with those obtained from various well-established structured quadrilateral-mesh codes. The convergence efficiency of the present method is also shown to be competitive with those demonstrated by structured quadrilateral-mesh algorithms.
A Navier-Stokes algorithm for use on unstructured triangular meshes is presented. Spatial discretization of the governing equations is achieved using a finite element Galerkin approximation, which can be shown to be equivalent to a finite volume approximation for regular equilateral triangular meshes. Integration steady-state is performed using a multistage time-stepping scheme, and convergence is accelerated by means of implicit residual smoothing and an unstructured multigrid algorithm. Directional scaling of the artificial dissipation and the implicit residual smoothing operator is achieved for unstructured meshes by considering local mesh stretching vectors at each point. The accuracy of the scheme for highly stretched triangular meshes is validated by comparing computed flat-plate laminar boundary layer results with the well known similarity solution, and by comparing laminar airfoil results with those obtained from various well-established structured quadrilateral-mesh codes. The convergence efficiency of the present method is also shown to be competitive with those demonstrated by structured quadrilateral-mesh algorithms.
In theory, a thermal emission spectrum of Mars (220-1600 cm(exp -1)) contains a wealth of information about the composition and thermal structure of the atmosphere and surface. However, in practice, the ability to retrieve quantitative information from the spectrum is limited by a number of factors including (1) the ill-posed nature of the spectral inversion problem and the resulting nonuniqueness of all solutions; (2) assumptions built into any spectral inversion program; (3) uncertainties in surface pressure, temperature, and emissivity; and (4) uncertainties in the optical properties of atmospheric aerosols. Below, factors (1) and (2) are discussed as fundamental limitations on temperature retrievals from Mariner 9 Infrared Interferometer Spectrometer (IRIS) spectra. In preparation for the Mars Observer mission and the return of tens of thousands of infrared spectra per day from the Thermal Emission Spectrometer (TES), we have developed a fast inversion algorithm to retrieve temperature structure and aerosol opacity from the infrared spectra. The derived atmospheric models will be used to provide the atmospheric contribution to the TES spectra, so that the thermal emission spectra of the underlying surface can be determined for making mineralogical identifications. As a test of our algorithm, we are undertaking a systematic analysis of the entire Mariner 9 Infrared Interferometric Spectrometer (IRIS) dataset of 21,000 plus spectra. While portions of the IRIS dataset have been previously analyzed, the lack of a speedy and robust algorithm to invert the IRIS spectra to retrieve temperature profiles and aerosol opacities has been a major impediment to a truly comprehensive analysis.
The use of computers to solve value oriented, deterministic, algorithmic problems, has evolved a structured life cycle model of the software process. The symbolic processing techniques used, primarily in research, for solving nondeterministic problems, and those for which an algorithmic solution is unknown, have evolved a different model, much less structured. Traditionally, the two approaches have been used completely independently. With the advent of low cost, high performance 32 bit workstations executing identical software with large minicomputers and mainframes, it became possible to begin to merge both models into a single extended model of computer problem solving. The implementation of such an extended model on a VAX family of micro/mini/mainframe systems is described. Examples in both development and deployment of applications involving a blending of AI and traditional techniques are given.
Lateral nozzle forces are known to cause severe structural damage to any new rocket engine in development during test. While three-dimensional, transient, turbulent, chemically reacting computational fluid dynamics methodology has been demonstrated to capture major side load physics with rigid nozzles, hot-fire tests often show nozzle structure deformation during major side load events, leading to structural damages if structural strengthening measures were not taken. The modeling picture is incomplete without the capability to address the two-way responses between the structure and fluid. The objective of this study is to develop a tightly coupled aeroelastic modeling algorithm by implementing the necessary structural dynamics component into an anchored computational fluid dynamics methodology. The computational fluid dynamics component is based on an unstructured-grid, pressure-based computational fluid dynamics formulation, while the computational structural dynamics component is developed under the framework of modal analysis. Transient aeroelastic nozzle startup analyses at sea level were performed, and the computed transient nozzle fluid-structure interaction physics presented,
Large Space Structures do not have much damping, which necessitates the installation of a controller onto the structure. If the controller is improperly designed, the structure may become unstable and be destroyed. Since Large Space Structures are extremely expensive pieces of hardware, new controllers must not be tested first on the structure. They must first be tested in computer simulations. Until now, the usual procedure for simulating controlled Large Space Structures is to compute a reduced order modal representation of the structure and then apply the controller. However, this procedure entails modal truncation error. A new software package which is free from this error is currently under development within the Center for Space Construction. The more accurate finite element representation of the structure is used in the simulation, instead of the less accurate reduced order modal representation. This software also features an efficient matrix storage scheme, which effectively deals with the asymmetric system matrices which occur when control is added to the structure. Also, an integration algorithm was chosen so that the simulation is a reliable indicator of system stability or instability. The software package is fairly general in nature. Linearity of the finite element model and of the controller is the only assumption made. Actuator dynamics, sensor dynamics, noise, and disturbances can be handled by the package. In addition, output feedback of displacement, velocity, and/or acceleration signals can be simulated. Kalman state estimation was also implemented. This software was tested on a finite element model of a real Large Space Structure: The Mini-Mast Truss. Mini-Mast is a testbed at NASA-Langley which is currently under development. A 714 degree of freedom finite element model was computed, and a 19 state controller was designed for it. Torque wheel dynamics were added to the model, and the entire closed loop system was simulated with the software package.