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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 415 records · Page 23
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NASA NTRS1992

Inverse kinematics problem in robotics using neural networks

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

Choi, Benjamin B.↗
NASA NTRS1993

Steady induction effects in geomagnetism. Part 1B: Geomagnetic estimation of steady surficial core motions: A non-linear inverse problem

The problem of estimating a steady fluid velocity field near the top of Earth's core which induces the secular variation (SV) indicated by models of the observed geomagnetic field is examined in the source-free mantle/frozen-flux core (SFI/VFFC) approximation. This inverse problem is non-linear because solutions of the forward problem are deterministically chaotic. The SFM/FFC approximation is inexact, and neither the models nor the observations they represent are either complete or perfect. A method is developed for solving the non-linear inverse motional induction problem posed by the hypothesis of (piecewise, statistically) steady core surface flow and the supposition of a complete initial geomagnetic condition. The method features iterative solution of the weighted, linearized least-squares problem and admits optional biases favoring surficially geostrophic flow and/or spatially simple flow. Two types of weights are advanced radial field weights for fitting the evolution of the broad-scale portion of the radial field component near Earth's surface implied by the models, and generalized weights for fitting the evolution of the broad-scale portion of the scalar potential specified by the models.

Voorhies, Coerte V.↗
NASA NTRS1992

Inversion of snow parameters from passive microwave remote sensing measurements by a neural network trained with a multiple scattering model

Simultaneous inversion of the three parameters was performed which included mean-grain size of ice particles in snow, snow density, and snow temperatures from five brightness temperatures. Good results for the inversion of parameters were obtained using the neural network based on the simulated data computed from the dense media radiative transfer equation that takes into account the effects of multiple scattering.

Tsang, Leung↗
NASA NTRS1993

Feasibility of determining surface emissions of trace gases using an inverse method in a three-dimensional chemical transport model

The paper investigates the feasibility of using an inverse method based on a linear Kalman filter in a three-dimensional atmospheric transport model, for the determination of regional surface fluxes with rapid convergence, using data from a finite number of observation sites. It was found that the inverse method used was capable to accurately determine regional surface fluxes using the present ALE/GALE sites, and to converge to the correct solution within a year or two, using initial conditions very different from the final solution.

Hartley, Dana↗
NASA NTRS1993

An inverse method for computation of structural stiffness distributions of aeroelastically optimized wings

An inverse method has been developed to compute the structural stiffness properties of wings given a specified wing loading and aeroelastic twist distribution. The method directly solves for the bending and torsional stiffness distribution of the wing using a modal representation of these properties. An aeroelastic design problem involving the use of a computational aerodynamics method to optimize the aeroelastic twist distribution of a tighter wing operating at maneuver flight conditions is used to demonstrate the application of the method. This exercise verifies the ability of the inverse scheme to accurately compute the structural stiffness distribution required to generate a specific aeroelastic twist under a specified aeroelastic load.

Schuster, David M.↗
NASA NTRS1992

Error analysis applied to several inversion techniques used for the retrieval of middle atmospheric constituents from limb-scanning MM-wave spectroscopic measurements

The formal retrieval error analysis of Rodgers (1990) allows the quantitative determination of such retrieval properties as measurement error sensitivity, resolution, and inversion bias. This technique was applied to five numerical inversion techniques and two nonlinear iterative techniques used for the retrieval of middle atmospheric constituent concentrations from limb-scanning millimeter-wave spectroscopic measurements. It is found that the iterative methods have better vertical resolution, but are slightly more sensitive to measurement error than constrained matrix methods. The iterative methods converge to the exact solution, whereas two of the matrix methods under consideration have an explicit constraint, the sensitivity of the solution to the a priori profile. Tradeoffs of these retrieval characteristics are presented.

Puliafito, E.↗
NASA NTRS1993

Deduction of emissions of source gases using an objective inversion algorithm and a chemical transport model

An inversion algorithm, constructed to deduce the emissions of a source gas required to produce a specified surface concentration, is applied to the observed surface concentrations of CFC 11, methylchloroform, and methane, using a two-dimensional chemical transport model. The information utilized for this deduction process is limited to the measured atmospheric concentration of the source gas, including the associated standard deviations of these measurements. In this way the amount of objective information available in these measurements is assessed. The algorithm is shown to be capable of producing a latitudinal emissions distribution as well as the error bounds on the deduced emission distribution. The 'ill posed' nature of this inverse problem is discussed as well as the implications this has on the spatial and temporal resolution at which emissions can be resolved. Finally, a methane emission distribution is deduced which has the expected seasonal variations and consistent with results from other, more subjective, deduction studies.

Brown, Margaret↗
NASA NTRS1987

An efficient method for inverse problems

A new inverse method for aerodynamic design of subcritical airfoils is presented. The pressure distribution in this method can be prescribed in a natural way, i.e. as a function of arclength of the as yet unknown body. This inverse problem is shown to be mathematically equivalent to solving a single nonlinear boundary value problem subject to known Dirichlet data on the boundary. The solution to this problem determines the airfoil, the free stream Mach number M(sub x) and the upstream flow direction theta(sub x). The existence of a solution for any given pressure distribution is discussed. The method is easy to implement and extremely efficient. We present a series of results for which comparisons are made with the known airfoils.

Daripa, Prabir↗
NASA NTRS1993

Compositional and textural information from the dual inversion of visible, near and thermal infrared remotely sensed data

A technique is presented that allows extraction of compositional and textural information from visible, near and thermal infrared remotely sensed data. Using a library of both emissivity and reflectance spectra, endmember abundances and endmember thermal inertias are extracted from AVIRIS (Airborne Visible and Infrared Imaging Spectrometer) and TIMS (Thermal Infrared Mapping Spectrometer) data over Lunar Crater Volcanic Field, Nevada, using a dual inversion. The inversion technique is motivated by upcoming Mars Observer data and the need for separation of composition and texture parameters from sub pixel mixtures of bedrock and dust. The model employed offers the opportunity to extract compositional and textural information for a variety of endmembers within a given pixel. Geologic inferences concerning grain size, abundance, and source of endmembers can be made directly from the inverted data. These parameters are of direct relevance to Mars exploration, both for Mars Observer and for follow-on missions.

Brackett, Robert A.↗
NASA NTRS1993

Inverse dynamics: Simultaneous trajectory tracking and vibration reduction with distributed actuators

This paper addresses the problem of inverse dynamics for articulated flexible structures with both lumped and distributed actuators. This problem arises, for example, in the combined vibration minimization and trajectory control of space robots and structures. A new inverse dynamics scheme for computing the nominal lumped and distributed inputs for tracking a prescribed trajectory is given.

Devasia, Santosh↗
NASA NTRS1993

Inversion of gravity and bathymetry in oceanic regions for long-wavelength variations in upper mantle temperature and composition

Long-wavelength variations in geoid height, bathymetry, and SS-S travel times are all relatable to lateral variations in the characteristic temperature and bulk composition of the upper mantle. The temperature and composition are in turn relatable to mantle convection and the degree of melt extraction from the upper mantle residuum. Thus the combined inversion of the geoid or gravity field, residual bathymetry, and seismic velocity information offers the promise of resolving fundamental aspects of the pattern of mantle dynamics. The use of differential body wave travel times as a measure of seismic velocity information, in particular, permits resolution of lateral variations at scales not resolvable by conventional global or regional-scale seismic tomography with long-period surface waves. These intermediate scale lengths, well resolved in global gravity field models, are crucial for understanding the details of any chemical or physical layering in the mantle and of the characteristics of so-called 'small-scale' convection beneath oceanic lithosphere. In 1991 a three-year project to the NASA Geophysics Program was proposed to carry out a systematic inversion of long-wavelength geoid anomalies, residual bathymetric anomalies, and differential SS-S travel time delays for the lateral variation in characteristic temperature and bulk composition of the oceanic upper mantle. The project was funded as a three-year award, beginning on 1 Jan. 1992.

Solomon, Sean C.↗
NASA NTRS1993

Simplified, inverse, ejector design tool

A simple lumped parameter based inverse design tool has been developed which provides flow path geometry and entrainment estimates subject to operational, acoustic, and design constraints. These constraints are manifested through specification of primary mass flow rate or ejector thrust, fully-mixed exit velocity, and static pressure matching. Fundamentally, integral forms of the conservation equations coupled with the specified design constraints are combined to yield an easily invertible linear system in terms of the flow path cross-sectional areas. Entrainment is computed by back substitution. Initial comparison with experimental and analogous one-dimensional methods show good agreement. Thus, this simple inverse design code provides an analytically based, preliminary design tool with direct application to High Speed Civil Transport (HSCT) design studies.

Dechant, Lawrence J.↗
NASA NTRS1994

Robust inverse kinematics using damped least squares with dynamic weighting

This paper presents a general method for calculating the inverse kinematics with singularity and joint limit robustness for both redundant and non-redundant serial-link manipulators. Damped least squares inverse of the Jacobian is used with dynamic weighting matrices in approximating the solution. This reduces specific joint differential vectors. The algorithm gives an exact solution away from the singularities and joint limits, and an approximate solution at or near the singularities and/or joint limits. The procedure is here implemented for a six d.o.f. teleoperator and a well behaved slave manipulator resulted under teleoperational control.

Schinstock, D. E.↗
NASA NTRS1994

Radiative transfer code based estimation of atmospheric parameters for inversion of imaging spectrometer measured radiance to apparent surface reflectance

Surface reflectance is required to quantitatively investigate molecular absorption and particle scattering properties of materials on the Earth's surface. Atmospheric aerosol optical depth, surface pressure and water vapor are required to constrain a radiative transfer code for the inversion of measured spectral radiance to apparent surface reflectance. A suite of algorithms using nonlinear least squares fitting techniques are described that directly estimate these atmospheric parameters from spectral radiance measured by the Airborne Visible/Infrared Imaging Spectrometer (AVIRIS). The derived atmospheric parameters are used to constrain a radiative transfer code for the inversion of the imaging spectrometer radiance to apparent reflectance. The derived apparent reflectance is validated with respect to in situ measurement on the same target.

Green, Robert O.↗
NASA NTRS1994

The proton cyclotron instability and the anisotropy/B inverse correlation

Spacecraft observations in the strongly compressed subsolar magnetosheath show an inverse correlation between the proton temperature anistrophy (T(sub perpendicular to p)/T(sub parallel to p) greater than 1 where perpendicular to and parallel to denote directions perpendicular and parallel to the background magnetic field) and the parallel proton beta (beta(sub parallel to p). This manuscript uses one-dimensional hybrid simulations of the proton cyclotron anisotropy instability in homogeneous electron-proton plasmas to study this correlation which may represent a limited closure relation for fluid theories of anisotropic space plasmas. The emphasis is on driven simulation which increase the temperature anisotropy by periodically reducing the magnetic-field-aligned velocities of the protons. The late-time states from ensembles of both initial value and driven simulations yield very similar expressions for the proton anisotropy/beta(sub parallel to P) inverse correlation, and provide a basis for explaining differences between sheath observations from different spacecraft. The driven simulations also yield expressions for the maximum instability growth rate and the fluctuating field energy as functions of beta (sub parallel to p) and a parameter characterizing the anisotropy driver.

Gary, S. Peter↗
NASA NTRS1994

On comparing helioseismic two-dimensional inversion methods

We consider inversion techniques for investigating the structure and dynamics of the solar interior as functions of radius and latitude. In particular, we look at the problem of inferring the radial and latitudinal dependence of the Sun's internal rotation, using a fully two-dimensional least-squares inversion algorithm. Concepts such as averaging kernels, measures of resolution, and trade-off curves, which have previously been used in the one-dimensional case, are generalized to facilitate a comparison of two-dimensional methods. We investigate the weighting given to different modes and discuss the implications of this for observational strategies. As an illustration we use a mode set whose properties are similar to those expected for data from the GONG network.

Schou, J.↗
NASA NTRS1994

Comparison of trend analyses for Umkehr data using new and previous inversion algorithms

Ozone vertical profile Umkehr data for layers 3-9 obtained from 12 stations, using both previous and new inversion algorithms, were analyzed for trends. The trends estimated for the Umkehr data from the two algorithms were compared using two data periods, 1968-1991 and 1977-1991. Both nonseasonal and seasonal trend models were fitted. The overall annual trends are found to be significantly negative, of the order of -5% per decade, for layers 7 and 8 using both inversion algorithms. The largest negative trends occur in these layers under the new algorithm, whereas in the previous algorithm the most negative trend occurs in layer 9. The trend estimates, both annual and seasonal, are substantially different between the two algorithms mainly for layers 3, 4, and 9, where trends from the new algorithm data are about 2% per decade less negative, with less appreciable differences in layers 7 and 8. The trend results from the two data periods are similar, except for layer 3 where trends become more negative, by about -2% per decade, for 1977-1991.

Reinsel, Gregory C.↗
NASA NTRS1994

Inverse correlations between the ion temperature anisotropy and plasma beta in the Earth's quasi-parallel magnetosheath

Average proton parameters in the magnetosheath downstream from the quasi-perpendicular shock (the quasi-perpendicular magnetosheath) for high solar wind dynamic pressure conditions are observed to vary continuously from high-beta, low-temperature anisotropy to low-beta, high-temperature anisotropy. Observations and theory have shown that this inverse correlation is a direct consequence of pitch angle scattering by electromagnetic ion cyclotron (EMIC) waves, which regulate the anisotropy, restoring the plasma toward marginal stability. ALthough the previously documented spectral characteristics of EMIC waves are not evident downstream of the quasi-parallel bow shock, the inverse anisotropy-beta relation found in the quasi-perpendicular magnetosheath also holds in the quasi-parallel magnetosheath. This indicates that the EMIC instability regulates the ion anisotropy regardless of the shock geometry.

Fuselier, Stephen A.↗