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NASA NTRS2017

Computationally Efficient Motion Planning Algorithms for Agile Autonomous Vehicles in Cluttered Environments

Fast, real-time motion planning of an agile, autonomous vehicle in a cluttered environment, with many geometrically-fixed obstacles, is a very complex problem, especially because of the vehicle dynamics constraints and resource constrained computational capabilities onboard the vehicle. In this paper, we present computationally-efficient versions of our novel motion planning algorithm called the Spherical Expansion and Sequential Convex Programming (SE–SCP) algorithm. The SE–SCP algorithm first uses a spherical-expansion-based randomized sampling algorithm to explore the workspace. Oncea path is found from the start position to the goal position, the algorithm computes a locally optimal trajectory, within its homotopy class for a desired cost function, by solving a sequence of convex optimization problems. Thus, the SE–SCP algorithm is anytime locally optimal and the trajectory is globally optimal if the number of samples tends to infinity. In this paper, we further enhance the computational efficiency of the SE–SCP algorithm using uni-directional and bi-directional rewiring techniques. We also present a detailed proof of the local optimality characteristics of the new SE–SCP algorithms for aspecial case of vehicle dynamics. Simulation examples involving quadrotor and spacecraft help demonstrate the effectiveness of our new algorithms.

Bandyopadhyay, Saptarshi↗

NASA NTRS1979

A program to compute three-dimensional subsonic unsteady aerodynamic characteristics using the doublet lattic method, L216 (DUBFLX). Volume 1: Engineering and usage

The program input presented consists of configuration geometry, aerodynamic parameters, and modal data; output includes element geometry, pressure difference distributions, integrated aerodynamic coefficients, stability derivatives, generalized aerodynamic forces, and aerodynamic influence coefficient matrices. Optionally, modal data may be input on magnetic file (tape or disk), and certain geometric and aerodynamic output may be saved for subsequent use.

Richard, M.↗

NASA NTRSDate not supplied

Programable Lead Screw Actuated Self-Leveling Platform

The Programmable Lead Screw Actuated Self-Leveling Platform (PLSASLP) was developed to provide a self-leveling and load-bearing foundation for payloads that need leveling of up to 15 degrees. Consequently, the PLSASLP can also provide a 30-degree conical field of view for precision pointing of instruments. PLSASLP is based on a simple, yet stable geometric model, where undesired motions are restricted to minimize hardware mass and complexity needed to keep the leveling base stable. Redundancy can also be implemented without changing the system architecture. Both system simplicity and configurability indicate the PLSASLP architecture is an effective, viable leveling and pointing solution for flight applications.

Iok M. Wong↗

NASA NTRS1988

On 3-D inelastic analysis methods for hot section components. Volume 1: Special finite element models

This annual status report presents the results of work performed during the fourth year of the 3-D Inelastic Analysis Methods for Hot Section Components program (NASA Contract NAS3-23697). The objective of the program is to produce a series of new computer codes permitting more accurate and efficient 3-D analysis of selected hot section components, i.e., combustor liners, turbine blades and turbine vanes. The computer codes embody a progression of math models and are streamlined to take advantage of geometrical features, loading conditions, and forms of material response that distinguish each group of selected components. Volume 1 of this report discusses the special finite element models developed during the fourth year of the contract.

Nakazawa, S.↗

NASA NTRS1988

Structural efficiency study of composite wing rib structures

A series of short stiffened panel designs which may be applied to a preliminary design assessment of an aircraft wing rib is presented. The computer program PASCO is used as the primary design and analysis tool to assess the structural efficiency and geometry of a tailored corrugated panel, a corrugated panel with a continuous laminate, a hat stiffened panel, a blade stiffened panel, and an unstiffened flat plate. To correct some of the shortcomings in the PASCO analysis when shear is present, a two step iterative process using the computer program VICON is used. The loadings considered include combinations of axial compression, shear, and lateral pressure. The loading ranges considered are broad enough such that the designs presented may be applied to other stiffened panel applications. An assessment is made of laminate variations, increased spacing, and nonoptimum geometric variations, including a beaded panel, on the design of the panels.

Swanson, Gary D.↗

NASA NTRS1991

Hierarchic Extensions in the Static and Dynamic Analysis of Elastic Beams

Approximate solutions of static and dynamic beam problems by the p-version of the finite element method are investigated. Within a hierarchy of engineering beam idealizations, rigorous formulations of the strain and kinetic energies for straight and circular beam elements are presented. These formulations include rotating coordinate system effects and geometric nonlinearities to allow for the evaluation of vertical axis wind turbines, the motivating problem for this research. Hierarchic finite element spaces, based on extensions of the polynomial orders used to approximate the displacement variables, are constructed. The developed models are implemented into a general purpose computer program for evaluation. Quality control procedures are examined for a diverse set of sample problems. These procedures include estimating discretization errors in energy norm and natural frequencies, performing static and dynamic equilibrium checks, observing convergence for qualities of interest, and comparison with more exacting theories and experimental data. It is demonstrated that p-extensions produce exponential rates of convergence in the approximation of strain energy and natural frequencies for the class of problems investigated.

Watson, Robert A.↗

NASA NTRS1993

Displaying Data From Duct/Fluid Calculations

DUCT6D is FORTRAN program for enhancing postprocessing of data computed by programs based on line-element mathematical models, especially dynamical models of ducts and fluids contained in them. Based partly on assumption that coupled duct/fluid-dynamic system analyzed by use of line elements representing beam properties of duct and one-dimensional acoustical properties of fluid. Inputs include geometric data from model and static, modal, or transient-displacement data from solution. Output represents geometry of coupled duct/fluid system and results of analysis by use of three-dimensional shell elements. Written in FORTRAN.

Saxon, Joe B.↗

NASA NTRS1977

NASCAP, a three-dimensional Charging Analyzer Program for complex spacecraft

A computer code, NASCAP (NASA Charging Analyzer Program), has been developed by Systems, Science and Software under contract to NASA-LeRC to simulate the charging of a complex spacecraft in geosynchronous orbit. The capabilities of the NASCAP code include a fully three-dimensional solution of Poisson's equation about an object having considerable geometrical and material complexity, particle tracking, shadowing in sunlight, calculation of secondary emission, backscatter and photoemission, and graphical output. A model calculation shows how the NASCAP code may be used to improve our understanding of the spacecraft-plasma interaction.

Katz, I.↗

NASA NTRS1983

A common geometric data-base approach for computer-aided manufacturing of wind-tunnel models and theoretical aerodynamic analysis

A more automated process to produce wind tunnel models using existing facilities is discussed. A process was sought to more rapidly determine the aerodynamic characteristics of advanced aircraft configurations. Such aerodynamic characteristics are determined from theoretical analyses and wind tunnel tests of the configurations. Computers are used to perform the theoretical analyses, and a computer aided manufacturing system is used to fabricate the wind tunnel models. In the past a separate set of input data describing the aircraft geometry had to be generated for each process. This process establishes a common data base by enabling the computer aided manufacturing system to use, via a software interface, the geometric input data generated for the theoretical analysis. Thus, only one set of geometric data needs to be generated. Tests reveal that the process can reduce by several weeks the time needed to produce a wind tunnel model component. In addition, this process increases the similarity of the wind tunnel model to the mathematical model used by the theoretical aerodynamic analysis programs. Specifically, the wind tunnel model can be machined to within 0.008 in. of the original mathematical model. However, the software interface is highly complex and cumbersome to operate, making it unsuitable for routine use. The procurement of an independent computer aided design/computer aided manufacturing system with the capability to support both the theoretical analysis and the manufacturing tasks was recommended.

See, M. J.↗

NASA NTRS1982

Combustion hot section technology

The Turbine Engine Hot Section Technology Combustion Program is briefly described. The overall objective of the project is to develop and verify improved and more accurate analysis methods for increasing the ability to design with confidence the combustion system for advanced aircraft turbine engines. The approach is to first assess and evaluate existing combustor aerothermal analysis models by means of a contracted effort initiated during FY-82. The program also includes both analytical and experimental research efforts in the areas of aerothermal modeling and liner cyclic life. It is expected that the combustor model development effort will generate improved understanding in the areas of high pressure flame radiation characteristics, model numerical methods and solution schemes, complex geometrical boundary conditions, fuel spray - flow field interactions, combustion kinetics, flow and mixing of dilution jets, turbulence and heat transfer, and soot and carbon formation.

Ercegovic, D. B.↗

NASA NTRS1985

Regional magnetic anomaly constraints on continental rifting

Radially polarized MAGSAT anomalies of North and South America, Europe, Africa, India, Australia and Antarctica demonstrate remarkably detailed correlation of regional magnetic lithospheric sources across rifted margins when plotted on a reconstruction of Pangea. These major magnetic features apparently preserve their integrity until a superimposed metamorphoric event alters the magnitude and pattern of the anomalies. The longevity of continental scale magnetic anomalies contrasts markedly with that of regional gravity anomalies which tend to reflect predominantly isostatic adjustments associated with neo-tectonism. First observed as a result of NASA's magnetic satellite programs, these anomalies provide new and fundamental constraints on the geologic evolution and dynamics of the continents and oceans. Accordingly, satellite magnetic observations provide a further tool for investigating continental drift to compliment other lines of evidence in paleoclimatology, paleontology, paleomagnetism, and studies of the radiometric ages and geometric fit of the continents.

Vonfrese, R. R. B.↗

NASA NTRS1983

The 3-D inelastic analysis methods for hot section components (base program)

The objective of this program is to produce a series of new computer codes that permit more accurate and efficient three dimensional inelastic analysis of selected hot section components - combustor liners, turbine blades and turbine vanes. The computer codes embody a progression of mathematical models and are streamlined to take advantage of geometrical features, loading conditions, and forms of material response that distinguish each group of selected components.

Todd, E. S.↗

NASA NTRS1987

3-D inelastic analysis methods for hot section components. Volume 2: Advanced special functions models

This Annual Status Report presents the results of work performed during the third year of the 3-D Inelastic Analysis Methods for Hot Sections Components program (NASA Contract NAS3-23697). The objective of the program is to produce a series of computer codes that permit more accurate and efficient three-dimensional analyses of selected hot section components, i.e., combustor liners, turbine blades, and turbine vanes. The computer codes embody a progression of mathematical models and are streamlined to take advantage of geometrical features, loading conditions, and forms of material response that distinguish each group of selected components.

Wilson, R. B.↗

NASA NTRS1986

Finite element solver for 3-D compressible viscous flows

The space shuttle main engine (SSME) has extremely complex internal flow structure. The geometry of the flow domain is three-dimensional with complicated topology. The flow is compressible, viscous, and turbulent with large gradients in flow quantities and regions of recirculations. The analysis of the flow field in SSME involves several tedious steps. One is the geometrical modeling of the particular zone of the SSME being studied. Accessing the geometry definition, digitalizing it, and developing surface interpolations suitable for an interior grid generator require considerable amount of manual labor. There are several types of grid generators available with some general-purpose finite element programs. An efficient and robust computational scheme for solving 3D Navier-Stokes equations has to be implemented. Post processing software has to be adapted to visualize and analyze the computed 3D flow field. The progress made in a project to develop software for the analysis of the flow is discussed. The technical approach to the development of the finite element scheme and the relaxation procedure are discussed. The three dimensional finite element code for the compressible Navier-Stokes equations is listed.

Reddy, K. C.↗

NASA NTRS1991

The Precision Segmented Reflector program - On-orbit thermal behavior of the Submillimeter Imager and Line Survey telescope

The Precision Segmented Reflector program and the Submillimeter Imager and Line Survey mission are overviewed. The temperature requirements, thermal design and environment, as well as the on-orbit thermal performance of a 3.65-m-diameter passively-cooled submillimeter-wavelength telescope are discussed, and focus is placed on the geometric and thermal mathematical models employed in the study. Attention is given to an inflatable space-rigidized sunshade protecting the primary mirror thermally and the highly elliptical orbit chosen to reduce heat input from the earth. Primary-reflector temperature predictions are shown to indicate that a large spatial gradient can exist and the magnitude of the gradient is a strong function of the telescope pitch angle. It is suggested that the cryostat outer-shell temperature may be further lowered with the introduction of a rectangular shield between a solar array and the cryostat.

Tsuyuki, G.↗

NASA NTRS1999

Three-dimensional segmentation of luminal and adventitial borders in serial intravascular ultrasound images

Intravascular ultrasound (IVUS) provides exact anatomy of arteries, allowing accurate quantitative analysis. Automated segmentation of IVUS images is a prerequisite for routine quantitative analyses. We present a new three-dimensional (3D) segmentation technique, called active surface segmentation, which detects luminal and adventitial borders in IVUS pullback examinations of coronary arteries. The technique was validated against expert tracings by computing correlation coefficients (range 0.83-0.97) and William's index values (range 0.37-0.66). The technique was statistically accurate, robust to image artifacts, and capable of segmenting a large number of images rapidly. Active surface segmentation enabled geometrically accurate 3D reconstruction and visualization of coronary arteries and volumetric measurements.

NASA Discipline Cardiopulmonary↗

NASA NTRS2005

A Spreadsheet for the Mixing of a Row of Jets with a Confined Crossflow

An interactive computer code, written with a readily available software program, Microsoft Excel (Microsoft Corporation, Redmond, WA) is presented which displays 3 D oblique plots of a conserved scalar distribution downstream of jets mixing with a confined crossflow, for a single row, double rows, or opposed rows of jets with or without flow area convergence and/or a non-uniform crossflow scalar distribution. This project used a previously developed empirical model of jets mixing in a confined crossflow to create an Microsoft Excel spreadsheet that can output the profiles of a conserved scalar for jets injected into a confined crossflow given several input variables. The program uses multiple spreadsheets in a single Microsoft Excel notebook to carry out the modeling. The first sheet contains the main program, controls for the type of problem to be solved, and convergence criteria. The first sheet also provides for input of the specific geometry and flow conditions. The second sheet presents the results calculated with this routine to show the effects on the mixing of varying flow and geometric parameters. Comparisons are also made between results from the version of the empirical correlations implemented in the spreadsheet and the versions originally written in Applesoft BASIC (Apple Computer, Cupertino, CA) in the 1980's.

J D Holderman↗

NASA NTRS2005

The Apollo Capsule Optimization for Improved Stability and Computational/Experimental Data Comparisons

Numerical optimization was employed on the Apollo Command Module to modify its external shape. The Apollo Command Module (CM) that was used on all NASA human space flights during the Apollo Space Program is stable and trimmed in an apex forward (alpha of approximately 40 to 80 degrees) position. This poses a safety risk if the CM separates from the launch tower during abort. Optimization was employed on the Apollo CM to remedy the undesirable stability characteristics of the configuration. Geometric shape changes were limited to axisymmetric modifications that altered the radius of the apex (R(sub A)), base radius (R(sub O)), corner radius (R(sub C)), and the cone half angle (theta), while the maximum diameter of the CM was held constant. The results of multipoint optimization on the CM indicated that the cross-range performance can be improved while maintaining robust apex-aft stability with a single trim point. Navier-Stokes computations were performed on the baseline and optimized configurations and confirmed the Euler-based optimization results. Euler Analysis of ten alternative CM vehicles with different values of the above four parameters are compared with the published experimental results of numerous wind tunnel tests during the late 1960's. These comparisons cover a wide Mach number range and a full 180-degree pitch range and show that the Euler methods are capable of fairly accurate force and moment computations and can separate the vehicle characteristics of these ten alternative configurations.

Cliff, Susan E.↗