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At least 613 records · Page 34

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NASA NTRS2011

Probabilistic Path Planning of Montgolfier Balloons in Strong, Uncertain Wind Fields

Lighter-than-air vehicles such as hot-air balloons have been proposed for exploring Saturn s moon Titan, as well as other bodies with significant atmospheres. For these vehicles to navigate effectively, it is critical to incorporate the effects of surrounding wind fields, especially as these winds will likely be strong relative to the control authority of the vehicle. Predictive models of these wind fields are available, and previous research has considered problems of planning paths subject to these predicted forces. However, such previous work has considered the wind fields as known a priori, whereas in practical applications, the actual wind vector field is not known exactly and may deviate significantly from the wind velocities estimated by the model. A probabilistic 3D path-planning algorithm was developed for balloons to use uncertain wind models to generate time-efficient paths. The nominal goal of the algorithm is to determine what altitude and what horizontal actuation, if any is available on the vehicle, to use to reach a particular goal location in the least expected time, utilizing advantageous winds. The solution also enables one to quickly evaluate the expected time-to-goal from any other location and to avoid regions of large uncertainty. This method is designed for balloons in wind fields but may be generalized for any buoyant vehicle operating in a vector field. To prepare the planning problem, the uncertainty in the wind field is modeled. Then, the problem of reaching a particular goal location is formulated as a Markov decision process (MDP) using a discretized space approach. Solving the MDP provides a policy of what actuation option (how much buoyancy change and, if applicable, horizontal actuation) should be selected at any given location to minimize the expected time-to-goal. The results provide expected time-to-goal values from any given location on the globe in addition to the action policy. This stochastic approach can also provide insights not accessible by deterministic methods; for example, one can evaluate variability and risk associated with different scenarios, rather than only viewing the expected outcome.

Wolf, Michael↗

NASA NTRS2017

Prediction of Cognitive States During Flight Simulation Using Multimodal Psychophysiological Sensing

The Commercial Aviation Safety Team found the majority of recent international commercial aviation accidents attributable to loss of control inflight involved flight crew loss of airplane state awareness (ASA), and distraction was involved in all of them. Research on attention-related human performance limiting states (AHPLS) such as channelized attention, diverted attention, startle/surprise, and confirmation bias, has been recommended in a Safety Enhancement (SE) entitled "Training for Attention Management." To accomplish the detection of such cognitive and psychophysiological states, a broad suite of sensors was implemented to simultaneously measure their physiological markers during a high fidelity flight simulation human subject study. Twenty-four pilot participants were asked to wear the sensors while they performed benchmark tasks and motion-based flight scenarios designed to induce AHPLS. Pattern classification was employed to predict the occurrence of AHPLS during flight simulation also designed to induce those states. Classifier training data were collected during performance of the benchmark tasks. Multimodal classification was performed, using pre-processed electroencephalography, galvanic skin response, electrocardiogram, and respiration signals as input features. A combination of one, some or all modalities were used. Extreme gradient boosting, random forest and two support vector machine classifiers were implemented. The best accuracy for each modality-classifier combination is reported. Results using a select set of features and using the full set of available features are presented. Further, results are presented for training one classifier with the combined features and for training multiple classifiers with features from each modality separately. Using the select set of features and combined training, multistate prediction accuracy averaged 0.64 +/- 0.14 across thirteen participants and was significantly higher than that for the separate training case. These results support the goal of demonstrating simultaneous real-time classification of multiple states using multiple sensing modalities in high fidelity flight simulators. This detection is intended to support and inform training methods under development to mitigate the loss of ASA and thus reduce accidents and incidents.

Harrivel, Angela R.↗

NASA NTRSDate not supplied

Multi-Impulse to Time Optimal Finite Burn Trajectory Conversion

A novel algorithm is presented that provides an improvement over a traditional parameter optimization method when solving time-optimal, finite-burn pseudo-rendezvous spacecraft trajectory problems. A hybrid optimization procedure is described that converts a set of multiple-impulses, representing high- or low-thrust maneuvers, to an exact time-optimal finite-burn trajectory for a thrust limited, constant exhaust velocity spacecraft. The Hybrid Method applies a control law derived from the Euler-Lagrange system of equations within the classical Indirect Method to a modern Direct Method. An iterative adjoint-control transformation and an evolving constraint vector are introduced to solve the optimal control two-point boundary value problem. This method requires no prior knowledge of the solution, which adds simplicity to the trajectory design process and aids automation. Examples are shown for low-thrust apogee raise maneuvers, non-coplanar Earth orbit transfers, and a modified Deep Space 1 low-thrust trajectory. A numerically significant improvement to objective cost is shown across all application problems compared to a traditional solution method, as well as a significant improvement to convergence speed for a select class of problems.

Joshua A Fogel↗

NASA NTRS1979

A viscous flow analysis of the tip vortex generation process

A viscous primary-secondary flow analysis designed for numerical solution by forward marching integration is applied to the tip vortex generation problem. Equations governing streamwise momentum, streamwise vorticity, and a gas law are solved in conjunction with equations governing scalar and vector surface potentials for the secondary velocities. The numerical method used combines a consistently split linearized block implicit (LBI) scheme for parabolic equations and a scalar iterative ADI scheme for elliptic equations. Computed results are presented for a wing of rectangular planform immersed in a high Reynolds number stream at 6 degrees incidence. The physical mechanism for generation of the tip vortex, as revealed by the analysis and computations, is discussed. Detailed flow results for the case of 6 degree incidence are included.

Shamroth, S. J.↗

NASA NTRS2004

Evaluation of High-Resolution Ocean Surface Vector Winds Measured by QuikSCAT Scatterometer in Coastal Regions

The SeaWinds scatterometer onboard QuikSCAT covers approximately 90% of the global ocean under clear and cloudy condition in 24 h, and the standard data product has 25-km spatial resolution. Such spatial resolution is not sufficient to resolve small-scale processes, especially in coastal oceans. Based on range-compressed normalized backscatter and a modified wind retrieval algorithm, a coastal wind dataset at 12.5-km resolution was produced. Even with larger error, the high-resolution winds, in medium to high strength, would still be useful over coastal ocean. Using measurements from moored buoys from the National Buoy Data Center, the high-resolution QuikSCAT wind data are found to have similar accuracy as standard data in the open ocean. The accuracy of both high- and standard-resolution winds, particularly in wind directions, is found to degrade near shore. The increase in error is likely caused by the inadequacy of the geophysical model function/ambiguity removal scheme in addressing coastal conditions and light winds situations. The modified algorithm helps to bring the directional accuracy of the high-resolution winds to the accuracy of the standard-resolution winds in near-shore regions, particularly in the nadir and far zones across the satellite track.

scatterometer↗

NASA NTRS1986

Computer vision for robots; Proceedings of the Meeting, Cannes, France, December 2-6, 1985

The conference presents papers on segmentation techniques, three-dimensional recognition and representation, processing image sequences, and navigation and mobility. Particular attention is given to determining the pose of an object, adaptive least squares correlation with geometrical constraints, and the reliable formation of feature vectors for two-dimensional shape representation. Other topics include the real-time tracking of a target moving on a natural textured background, computer vision for the guidance of roving robots, and integrating sensory data for object recognition tasks.

Faugeras, O. D.↗

NASA NTRS1995

Model-based VQ for image data archival, retrieval and distribution

An ideal image compression technique for image data archival, retrieval and distribution would be one with the asymmetrical computational requirements of Vector Quantization (VQ), but without the complications arising from VQ codebooks. Codebook generation and maintenance are stumbling blocks which have limited the use of VQ as a practical image compression algorithm. Model-based VQ (MVQ), a variant of VQ described here, has the computational properties of VQ but does not require explicit codebooks. The codebooks are internally generated using mean removed error and Human Visual System (HVS) models. The error model assumed is the Laplacian distribution with mean, lambda-computed from a sample of the input image. A Laplacian distribution with mean, lambda, is generated with uniform random number generator. These random numbers are grouped into vectors. These vectors are further conditioned to make them perceptually meaningful by filtering the DCT coefficients from each vector. The DCT coefficients are filtered by multiplying by a weight matrix that is found to be optimal for human perception. The inverse DCT is performed to produce the conditioned vectors for the codebook. The only image dependent parameter used in the generation of codebook is the mean, lambda, that is included in the coded file to repeat the codebook generation process for decoding.

Manohar, Mareboyana↗

NASA NTRS2001

Design and Implementation of a Parallel Multivariate Ensemble Kalman Filter for the Poseidon Ocean General Circulation Model

A multivariate ensemble Kalman filter (MvEnKF) implemented on a massively parallel computer architecture has been implemented for the Poseidon ocean circulation model and tested with a Pacific Basin model configuration. There are about two million prognostic state-vector variables. Parallelism for the data assimilation step is achieved by regionalization of the background-error covariances that are calculated from the phase-space distribution of the ensemble. Each processing element (PE) collects elements of a matrix measurement functional from nearby PEs. To avoid the introduction of spurious long-range covariances associated with finite ensemble sizes, the background-error covariances are given compact support by means of a Hadamard (element by element) product with a three-dimensional canonical correlation function. The methodology and the MvEnKF configuration are discussed. It is shown that the regionalization of the background covariances; has a negligible impact on the quality of the analyses. The parallel algorithm is very efficient for large numbers of observations but does not scale well beyond 100 PEs at the current model resolution. On a platform with distributed memory, memory rather than speed is the limiting factor.

Keppenne, Christian L.↗

NASA NTRS1997

HARV ANSER Flight Test Data Retrieval and Processing Procedures

Under the NASA High-Alpha Technology Program the High Alpha Research Vehicle (HARV) was used to conduct flight tests of advanced control effectors, advanced control laws, and high-alpha design guidelines for future super-maneuverable fighters. The High-Alpha Research Vehicle is a pre-production F/A-18 airplane modified with a multi-axis thrust-vectoring system for augmented pitch and yaw control power and Actuated Nose Strakes for Enhanced Rolling (ANSER) to augment body-axis yaw control power. Flight testing at the Dryden Flight Research Center (DFRC) began in July 1995 and continued until May 1996. Flight data will be utilized to evaluate control law performance and aircraft dynamics, determine aircraft control and stability derivatives using parameter identification techniques, and validate design guidelines. To accomplish these purposes, essential flight data parameters were retrieved from the DFRC data system and stored on the Dynamics and Control Branch (DCB) computer complex at Langley. This report describes the multi-step task used to retrieve and process this data and documents the results of these tasks. Documentation includes software listings, flight information, maneuver information, time intervals for which data were retrieved, lists of data parameters and definitions, and example data plots.

Yeager, Jessie C.↗

NASA NTRS1988

Flight test results of a vector-based failure detection and isolation algorithm for a redundant strapdown inertial measurement unit

Flight test results of a vector-based fault-tolerant algorithm for a redundant strapdown inertial measurement unit are presented. Because the inertial sensors provide flight-critical information for flight control and navigation, failure detection and isolation is developed in terms of a multi-level structure. Threshold compensation techniques for gyros and accelerometers, developed to enhance the sensitivity of the failure detection process to low-level failures, are presented. Four flight tests, conducted in a commercial transport type environment, were used to determine the ability of the failure detection and isolation algorithm to detect failure signals, such a hard-over, null, or bias shifts. The algorithm provided timely detection and correct isolation of flight control- and low-level failures. The flight tests of the vector-based algorithm demonstrated its capability to provide false alarm free dual fail-operational performance for the skewed array of inertial sensors.

Morrell, F. R.↗

NASA NTRS1992

Controlling flexible robot arms using a high speed dynamics process

Described here is a robot controller for a flexible manipulator arm having plural bodies connected at respective movable hinges, and flexible in plural deformation modes. It is operated by computing articulated body qualities for each of the bodies from the respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables. Computing modal deformation accelerations and hinge accelerations is carried out for each of the bodies, beginning with the outermost body by computing a residual body force from a residual body force of a previous body, computing a resultant hinge acceleration from the body force, and then, for each one of the bodies beginning with the innermost body, computing a modal body acceleration from a modal body acceleration of a previous body, computing a modal deformation acceleration and hinge acceleration from the resulting hinge acceleration and from the modal body acceleration.

Jain, Abhinandan↗

NASA NTRS1981

Automatic cloud tracking applied to GOES and Meteosat observations

An improved automatic processing method for the tracking of cloud motions as revealed by satellite imagery is presented and applications of the method to GOES observations of Hurricane Eloise and Meteosat water vapor and infrared data are presented. The method is shown to involve steps of picture smoothing, target selection and the calculation of cloud motion vectors by the matching of a group at a given time with its best likeness at a later time, or by a cross-correlation computation. Cloud motion computations can be made in as many as four separate layers simultaneously. For data of 4 and 8 km resolution in the eye of Hurricane Eloise, the automatic system is found to provide results comparable in accuracy and coverage to those obtained by NASA analysts using the Atmospheric and Oceanographic Information Processing System, with results obtained by the pattern recognition and cross correlation computations differing by only fractions of a pixel. For Meteosat water vapor data from the tropics and midlatitudes, the automatic motion computations are found to be reliable only in areas where the water vapor fields contained small-scale structure, although excellent results are obtained using Meteosat IR data in the same regions. The automatic method thus appears to be competitive in accuracy and coverage with motion determination by human analysts.

Endlich, R. M.↗

NASA NTRS2014

Variations in Modeled Dengue Transmission over Puerto Rico Using a Climate Driven Dynamic Model

Dengue fever is a mosquito‐borne viral disease reemerging throughout much of the tropical Americas. Dengue virus transmission is explicitly influenced by climate and the environment through its primary vector, Aedes aegypti. Temperature regulates Ae. aegypti development, survival, and replication rates as well as the incubation period of the virus within the mosquito. Precipitation provides water for many of the preferred breeding habitats of the mosquito, including buckets, old tires, and other places water can collect. Because of variations in topography, ocean influences and atmospheric processes, temperature and rainfall patterns vary across Puerto Rico and so do dengue virus transmission rates. Using NASA's TRMM (Tropical Rainfall Measuring Mission) satellite for precipitation input, ground‐based observations for temperature input, and laboratory confirmed dengue cases reported by the Centers for Disease Control and Prevention for parameter calibration, we modeled dengue transmission at the county level across Puerto Rico from 2010‐2013 using a dynamic dengue transmission model that includes interacting vector ecology and epidemiological components. Employing a Monte Carlo approach, we performed ensembles of several thousands of model simulations for each county in order to resolve the model uncertainty arising from using different combinations of parameter values that are not well known. The top 1% of model simulations that best reproduced the reported dengue case data were then analyzed to determine the most important parameters for dengue virus transmission in each county, as well as the relative influence of climate variability on transmission. These results can be used by public health workers to implement dengue control methods that are targeted for specific locations and climate conditions.

Morin, Cory↗

NASA NTRS1984

Near-nucleus studies of Comet Halley

The near-nucleus dust coma structure of Comet Halley are studied using modern digital image processing techniques on photographs taken in 1910. Recent investigations carried out in conjunction with the Near-Nucleus Studies Net of the IHW to better understand the characteristics and behavior of Comet Halley are reviewed. A new image processing algorithm developed to enhance coma feature boundaries permits their evolution over as many as three days to be followed. The features can be modeled to derive information on the nucleus spin vector, particle sizes, ejection velocities and distribution of emission areas on the nucleus. Useful contributions by observers in the Astrometry Net are also discussed.

Larson, S.↗

NASA NTRS1988

Programming the Navier-Stokes computer: An abstract machine model and a visual editor

The Navier-Stokes computer is a parallel computer designed to solve Computational Fluid Dynamics problems. Each processor contains several floating point units which can be configured under program control to implement a vector pipeline with several inputs and outputs. Since the development of an effective compiler for this computer appears to be very difficult, machine level programming seems necessary and support tools for this process have been studied. These support tools are organized into a graphical program editor. A programming process is described by which appropriate computations may be efficiently implemented on the Navier-Stokes computer. The graphical editor would support this programming process, verifying various programmer choices for correctness and deducing values such as pipeline delays and network configurations. Step by step details are provided and demonstrated with two example programs.

Middleton, David↗

NASA NTRS1991

Multitasking the INS3D-LU code on the Cray Y-MP

This paper presents the results of multitasking the INS3D-LU code on eight processors. The code is a full Navier-Stokes solver for incompressible fluid in three dimensional generalized coordinates using a lower-upper symmetric-Gauss-Seidel implicit scheme. This code has been fully vectorized on oblique planes of sweep and parallelized using autotasking with some directives and minor modifications. The timing results for five grid sizes are presented and analyzed. The code has achieved a processing rate of over one Gflops.

Fatoohi, Rod↗

NASA NTRS1999

Mathematical Foundation for Plane Covering Using Hexagons

This work is to indicate the development and mathematical underpinnings of the algorithms previously developed for covering the plane and the addressing of the elements of the covering. The algorithms are of interest in that they provides a simple systematic way of increasing or decreasing resolution, in the sense that if we have the covering in place and there is an image superimposed upon the covering, then we may view the image in a rough form or in a very detailed form with minimal effort. Such ability allows for quick searches of crude forms to determine a class in which to make a detailed search. In addition, the addressing algorithms provide an efficient way to process large data sets that have related subsets. The algorithms produced were based in part upon the work of D. Lucas "A Multiplication in N Space" which suggested a set of three vectors, any two of which would serve as a bases for the plane and also that the hexagon is the natural geometric object to be used in a covering with a suggested bases. The second portion is a refinement of the eyeball vision system, the globular viewer.

Johnson, Gordon G.↗

NASA NTRS2004

Real-Time Measurements of Aft Dome Insulation Erosion on Space Shuttle Reusable Solid Rocket Motor

Real-time erosion of aft dome internal insulation was measured with internal instrumentation on a static test of a lengthened version of the Space Shuffle Reusable Solid Rocket Motor (RSRM). This effort marks the first time that real-time aft dome insulation erosion (Le., erosion due to the combined effects of thermochemical ablation and mechanical abrasion) was measured in this kind of large motor static test [designated as Engineering Test Motor number 3 (ETM3)I. This paper presents data plots of the erosion depth versus time. The data indicates general erosion versus time behavior that is in contrast to what would be expected from earlier analyses. Engineers have long known that the thermal environment in the aft dome is severe and that the resulting aft dome insulation erosion is significant. Models of aft dome erosion involve a two-step process of computational fluid dynamics (CFD) modeling and material ablation modeling. This modeling effort is complex. The time- dependent effects are difficult to verify with only prefire and postfire insulation measurements. Nozzle vectoring, slag accumulation, and changing boundary conditions will affect the time dependence of aft dome erosion. Further study of this data and continued measurements on future motors will increase our understanding of the aft dome flow and erosion environment.

McWhorter, Bruce↗