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NASA NTRS1991

Headphone localization of speech stimuli

Recently, three dimensional acoustic display systems have been developed that synthesize virtual sound sources over headphones based on filtering by Head-Related Transfer Functions (HRTFs), the direction-dependent spectral changes caused primarily by the outer ears. Here, 11 inexperienced subjects judged the apparent spatial location of headphone-presented speech stimuli filtered with non-individualized HRTFs. About half of the subjects 'pulled' their judgements toward either the median or the lateral-vertical planes, and estimates were almost always elevated. Individual differences were pronounced for the distance judgements; 15 to 46 percent of stimuli were heard inside the head with the shortest estimates near the median plane. The results infer that most listeners can obtain useful azimuth information from speech stimuli filtered by nonindividualized RTFs. Measurements of localization error and reversal rates are comparable with a previous study that used broadband noise stimuli.

Begault, Durand R.↗

NASA NTRS1992

Piloted simulator investigations of a civil tilt-rotor aircraft on steep instrument approaches

NASA-Ames has used its Vertical Motion Simulator to investigate steep-glideslope instrument approaches for a civil transport tilt-rotor aircraft in two different cases: (1) where pilots used raw glideslope and localized error data for 6-25 deg slopes, terminating in slow roll-on landings, and (2) where a flight director commanded manual conversion from fixed-wing to helicopter modes and a deceleration on the glideslope led to a vertical landing on a small urban helipad. In the former, there occurred control problems directly ascribable to the slow approach speed; in the latter, the four-cue flight director's cockpit augmentation furnished adequate pilot ratings up to 15-deg glideslope.

Decker, William A.↗

NASA NTRS1993

Headphone localization of speech

Three-dimensional acoustic display systems have recently been developed that synthesize virtual sound sources over headphones based on filtering by head-related transfer functions (HRTFs), the direction-dependent spectral changes caused primarily by the pinnae. In this study, 11 inexperienced subjects judged the apparent spatial location of headphone-presented speech stimuli filtered with nonindividualized HRTFs. About half of the subjects 'pulled' their judgments toward either the median or the lateral-vertical planes, and estimates were almost always elevated. Individual differences were pronounced for the distance judgments; 15 to 46 percent of stimuli were heard inside the head, with the shortest estimates near the median plane. The results suggest that most listeners can obtain useful azimuth information from speech stimuli filtered by nonindividualized HRTFs. Measurements of localization error and reversal rates are comparable with a previous study that used broadband noise stimuli.

Begault, Durand R.↗

NASA NTRS1994

Nonlinear Asymptotic Integration Algorithms for One-dimensional Autonomous Dissipative First-order Odes

Nonlinear asymptotic integrators are applied to one-dimensional, nonlinear, autonomous, dissipative, ordinary differential equations. These integrators, including a one-step explicit, a one-step implicit, and a one- and two-step midpoint algorithm, are designed to follow the asymptotic behavior of a system approaching a steady state. The methods require that the differential equation be written in a particular asymptotic form. This is always possible for a one-dimensional equation with a globally asymptotic steady state. In this case, conditions are obtained to guarantee that the implicit algorithms are well defined. Further conditions are determined for the implicit methods to be contractive. These methods are all first order accurate, while under certain conditions the midpoint algorithms may also become second order accurate. The stability of each method is investigated and an estimate of the local error is provided.

Haslach, Henry W., Jr.↗

NASA NTRS1993

Structured adaptive grid generation using algebraic methods

The accuracy of the numerical algorithm depends not only on the formal order of approximation but also on the distribution of grid points in the computational domain. Grid adaptation is a procedure which allows optimal grid redistribution as the solution progresses. It offers the prospect of accurate flow field simulations without the use of an excessively timely, computationally expensive, grid. Grid adaptive schemes are divided into two basic categories: differential and algebraic. The differential method is based on a variational approach where a function which contains a measure of grid smoothness, orthogonality and volume variation is minimized by using a variational principle. This approach provided a solid mathematical basis for the adaptive method, but the Euler-Lagrange equations must be solved in addition to the original governing equations. On the other hand, the algebraic method requires much less computational effort, but the grid may not be smooth. The algebraic techniques are based on devising an algorithm where the grid movement is governed by estimates of the local error in the numerical solution. This is achieved by requiring the points in the large error regions to attract other points and points in the low error region to repel other points. The development of a fast, efficient, and robust algebraic adaptive algorithm for structured flow simulation applications is presented. This development is accomplished in a three step process. The first step is to define an adaptive weighting mesh (distribution mesh) on the basis of the equidistribution law applied to the flow field solution. The second, and probably the most crucial step, is to redistribute grid points in the computational domain according to the aforementioned weighting mesh. The third and the last step is to reevaluate the flow property by an appropriate search/interpolate scheme at the new grid locations. The adaptive weighting mesh provides the information on the desired concentration of points to the grid redistribution scheme. The evaluation of the weighting mesh is accomplished by utilizing the weight function representing the solution variation and the equidistribution law. The selection of the weight function plays a key role in grid adaptation. A new weight function utilizing a properly weighted boolean sum of various flowfield characteristics is defined. The redistribution scheme is developed utilizing Non-Uniform Rational B-Splines (NURBS) representation. The application of NURBS representation results in a well distributed smooth grid by maintaining the fidelity of the geometry associated with boundary curves. Several algebraic methods are applied to smooth and/or nearly orthogonalize the grid lines. An elliptic solver is utilized to smooth the grid lines if there are grid crossings. Various computational examples of practical interest are presented to demonstrate the success of these methods.

Yang, Jiann-Cherng↗

NASA NTRS1991

Challenges to the successful implementation of 3-D sound

The major challenges for the successful implementation of 3-D audio systems involve minimizing reversals, intracranially heard sound, and localization error for listeners. Designers of 3-D audio systems are faced with additional challenges in data reduction and low-frequency response characteristics. The relationship of the head-related transfer function (HRTF) to these challenges is shown, along with some preliminary psychoacoustic results gathered at NASA-Ames.

Begault, Durand R.↗

NASA NTRS1998

Impact of Tropospheric Aerosol Absorption on Ozone Retrieval from buv Measurements

The impact of tropospheric aerosols on the retrieval of column ozone amounts using spaceborne measurements of backscattered ultraviolet radiation is examined. Using radiative transfer calculations, we show that uv-absorbing desert dust may introduce errors as large as 10% in ozone column amount, depending on the aerosol layer height and optical depth. Smaller errors are produced by carbonaceous aerosols that result from biomass burning. Though the error is produced by complex interactions between ozone absorption (both stratospheric and tropospheric), aerosol scattering, and aerosol absorption, a surprisingly simple correction procedure reduces the error to about 1%, for a variety of aerosols and for a wide range of aerosol loading. Comparison of the corrected TOMS data with operational data indicates that though the zonal mean total ozone derived from TOMS are not significantly affected by these errors, localized affects in the tropics can be large enough to seriously affect the studies of tropospheric ozone that are currently undergoing using the TOMS data.

Torres, O.↗

NASA NTRS1999

A Systematic Methodology for Verifying Superscalar Microprocessors

We present a systematic approach to decompose and incrementally build the proof of correctness of pipelined microprocessors. The central idea is to construct the abstraction function by using completion functions, one per unfinished instruction, each of which specifies the effect (on the observables) of completing the instruction. In addition to avoiding the term size and case explosion problem that limits the pure flushing approach, our method helps localize errors, and also handles stages with interactive loops. The technique is illustrated on pipelined and superscalar pipelined implementations of a subset of the DLX architecture. It has also been applied to a processor with out-of-order execution.

Srivas, Mandayam↗

NASA NTRS1999

A Robust and Scalable Software Library for Parallel Adaptive Refinement on Unstructured Meshes

The design and implementation of Pyramid, a software library for performing parallel adaptive mesh refinement (PAMR) on unstructured meshes, is described. This software library can be easily used in a variety of unstructured parallel computational applications, including parallel finite element, parallel finite volume, and parallel visualization applications using triangular or tetrahedral meshes. The library contains a suite of well-designed and efficiently implemented modules that perform operations in a typical PAMR process. Among these are mesh quality control during successive parallel adaptive refinement (typically guided by a local-error estimator), parallel load-balancing, and parallel mesh partitioning using the ParMeTiS partitioner. The Pyramid library is implemented in Fortran 90 with an interface to the Message-Passing Interface (MPI) library, supporting code efficiency, modularity, and portability. An EM waveguide filter application, adaptively refined using the Pyramid library, is illustrated.

Lou, John Z.↗

NASA NTRS1997

Does the Mueller-Lyer Illusion Include the Misperception of Egocentric Location?

The reported absence of egocentric localization errors when pointing open-loop at the vertices of the Mueller-Lyer (M-L) illusion figure was confirmed in several studies which were designed to ensure the normal strength of the illusion during the pointing responses. However, when one of the two 'fins' was removed, the resulting M-L figure was substantially mislocalized. A theory of the expanding and contracting spatial effects of fins is proposed to explain these results.

Welch, Robert B.↗

NASA NTRS2003

Unstructured Adaptive Meshes: Bad for Your Memory?

This viewgraph presentation explores the need for a NASA Advanced Supercomputing (NAS) parallel benchmark for problems with irregular dynamical memory access. This benchmark is important and necessary because: 1) Problems with localized error source benefit from adaptive nonuniform meshes; 2) Certain machines perform poorly on such problems; 3) Parallel implementation may provide further performance improvement but is difficult. Some examples of problems which use irregular dynamical memory access include: 1) Heat transfer problem; 2) Heat source term; 3) Spectral element method; 4) Base functions; 5) Elemental discrete equations; 6) Global discrete equations. Nonconforming Mesh and Mortar Element Method are covered in greater detail in this presentation.

Biswas, Rupak↗

NASA NTRS2007

Exploring Hypersonic, Unstructured-Grid Issues through Structured Grids

Pure-tetrahedral unstructured grids have been shown to produce asymmetric heat transfer rates for symmetric problems. Meanwhile, two-dimensional structured grids produce symmetric solutions and as documented here, introducing a spanwise degree of freedom to these structured grids also yields symmetric solutions. The effects of grid skewness and other perturbations of structured-grids are investigated to uncover possible mechanisms behind the unstructured-grid solution asymmetries. By using controlled experiments around a known, good solution, the effects of particular grid pathologies are uncovered. These structured-grid experiments reveal that similar solution degradation occurs as for unstructured grids, especially for heat transfer rates. Non-smooth grids within the boundary layer is also shown to produce large local errors in heat flux but do not affect surface pressures.

Mazaheri, Ali R.↗

NASA NTRS2011

Sky Localization of Complete Inspiral-Merger-Ringdown Signals for Nonspinning Black Hole Binaries with LISA

We investigate the capability of LISA to measure the sky position of equal-mass, nonspinning black hole binaries, including for the first time the entire inspiral-merger-ringdown signal, the effect of the LISA orbits, and the complete three-channel LISA response. For an ensemble of systems near the peak of LISA's sensitivity band, with total rest mass of 2 x l0(exp 6) Stellar Mass at a redshift of z = 1 with random orientations and sky positions, we find median sky localization errors of approximately approx. 3 arcminutes. This is comparable to the field of view of powerful electromagnetic telescopes, such as the James Webb Space Telescope, that could be used to search for electromagnetic signals associated with merging black holes. We investigate the way in which parameter errors decrease with measurement time, focusing specifically on the additional information provided during the merger-ringdown segment of the signal. We find that this information improves all parameter estimates directly, rather than through diminishing correlations with any subset of well-determined parameters.

McWilliams, Sean T.↗

NASA NTRS2005

Autonomous Navigation by a Mobile Robot

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Huntsberger, Terrance↗

NASA NTRS2013

1,2-Dichlorohexafluoro-Cyclobutane (1,2-c-C4F6Cl2, R-316c) a Potent Ozone Depleting Substance and Greenhouse Gas: Atmospheric Loss Processes, Lifetimes, and Ozone Depletion and Global Warming Potentials for the (E) and (Z) stereoisomers

The atmospheric processing of (E)- and (Z)-1,2-dichlorohexafluorocyclobutane (1,2-c-C4F6Cl2, R-316c) was examined in this work as the ozone depleting (ODP) and global warming (GWP) potentials of this proposed replacement compound are presently unknown. The predominant atmospheric loss processes and infrared absorption spectra of the R-316c isomers were measured to provide a basis to evaluate their atmospheric lifetimes and, thus, ODPs and GWPs. UV absorption spectra were measured between 184.95 to 230 nm at temperatures between 214 and 296 K and a parametrization for use in atmospheric modeling is presented. The Cl atom quantum yield in the 193 nm photolysis of R- 316c was measured to be 1.90 +/- 0.27. Hexafluorocyclobutene (c-C4F6) was determined to be a photolysis co-product with molar yields of 0.7 and 1.0 (+/-10%) for (E)- and (Z)-R-316c, respectively. The 296 K total rate coefficient for the O(1D) + R-316c reaction, i.e., O(1D) loss, was measured to be (1.56 +/- 0.11) × 10(exp −10)cu cm/ molecule/s and the reactive rate coefficient, i.e., R-316c loss, was measured to be (1.36 +/- 0.20) × 10(exp −10)cu cm/molecule/s corresponding to a approx. 88% reactive yield. Rate coefficient upper-limits for the OH and O3 reaction with R-316c were determined to be <2.3 × 10(exp −17) and <2.0 × 10(exp −22)cu cm/molecule/s, respectively, at 296 K. The quoted uncertainty limits are 2(sigma) and include estimated systematic errors. Local and global annually averaged lifetimes for the (E)- and (Z)-R-316c isomers were calculated using a 2-D atmospheric model to be 74.6 +/- 3 and 114.1 +/-10 years, respectively, where the estimated uncertainties are due solely to the uncertainty in the UV absorption spectra. Stratospheric photolysis is the predominant atmospheric loss process for both isomers with the O(1D) reaction making a minor, approx. 2% for the (E) isomer and 7% for the (Z) isomer, contribution to the total atmospheric loss. Ozone depletion potentials for (E)- and (Z)-R-316c were calculated using the 2-D model to be 0.46 and 0.54, respectively. Infrared absorption spectra for (E)- and (Z)-R-316c were measured at 296 K and used to estimate their radiative efficiencies (REs) and GWPs; 100-year time-horizon GWPs of 4160 and 5400 were obtained for (E)- and (Z)-R-316c, respectively. Both isomers of R-316c are shown in this work to be long-lived ozone depleting substances and potent greenhouse gases.

UV cross section↗

NASA NTRS2017

Cart3D Simulations for the Second AIAA Sonic Boom Prediction Workshop

Simulation results are presented for all test cases prescribed in the Second AIAA Sonic Boom Prediction Workshop. For each of the four nearfield test cases, we compute pressure signatures at specified distances and off-track angles, using an inviscid, embedded-boundary Cartesian-mesh flow solver with output-based mesh adaptation. The cases range in complexity from an axisymmetric body to a full low-boom aircraft configuration with a powered nacelle. For efficiency, boom carpets are decomposed into sets of independent meshes and computed in parallel. This also facilitates the use of more effective meshing strategies - each off-track angle is computed on a mesh with good azimuthal alignment, higher aspect ratio cells, and more tailored adaptation. The nearfield signatures generally exhibit good convergence with mesh refinement. We introduce a local error estimation procedure to highlight regions of the signatures most sensitive to mesh refinement. Results are also presented for the two propagation test cases, which investigate the effects of atmospheric profiles on ground noise. Propagation is handled with an augmented Burgers' equation method (NASA's sBOOM), and ground noise metrics are computed with LCASB.

Prediction↗

NASA NTRS2022

Vision-Based Precision Approach and Landing for Advanced Air Mobility

Advanced Air Mobility (AAM) aircraft require perception systems for precision approach and landing systems (PALS) in urban, suburban, rural, and regional environments. The current state-of-the-art methods approved for automated approach and landing will be difficult to utilize in support of AAM operational concepts. However, there are technology and systems from other applications and lower-TRL research that use vision, IR, radar, and GPS methods to provide baseline perception and sensing requirements for AAM aircraft approach and landing. This paper focuses on vision-based PAL to demonstrate a closed-loop baseline controller while adhering to the Federal Aviation Administration requirements and regulations. The coplanar algorithm determines pose estimation, which feeds into an Extended Kalman filter. Combining IMU with vision creates a sensor fusion navigation solution for GPS-denied environments. The state estimate leads to glideslope and localizer error computations, which will be pertinent for designing and deriving guidance laws and control laws for AAM PALS. The IMU and vision navigation solution provides promising simulation results for AAM PALS, and higher fidelity simulations will include computer graphics rendering and feature correspondence.

Evan Kawamura↗

NASA NTRSDate not supplied

KNaCK-SLAM: Kinematic Navigation and Cartography Knapsack Velocity-aided LiDAR Inertial Simultaneous Localization and Mapping (SLAM)

As manned missions return to the Moon and continue on to Mars in the near future, surface navigation and mapping in extremely low solar illumination and unstructured environments without navigation aids like Global Navigation Satellite Systems (GNSS) becomes more important than even. This work explores the use of LiDAR-based Simultaneous Localization and Mapping (SLAM) to solve those problems. A LiDAR-based SLAM system be deployed as a self-contained instrument independent of external sensor inputs, and can operate in unlit environments where Vision-based SLAM system are inoperable. Furthermore, the advent of chip-scale frequency modulated continuous wave (FMCW) LiDAR technology provides Doppler-velocity information for each sensed point in the scene, which can be used to further constrain localization error in the SLAM front-end. Here we discuss the development of SLAM algorithm that makes use of the unique velocity and range sensing capabilities of FMCW-LiDAR based sensors for rover and kinematic (i.e. person-mounted) mobile navigation and terrain mapping applications for surface exploration and scientific investigations.

Kyle Miller↗