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At least 73 records · Page 4

Experiments with explicit filtering for LES using a finite-difference method

The equations for large-eddy simulation (LES) are derived formally by applying a spatial filter to the Navier-Stokes equations. The filter width as well as the details of the filter shape are free parameters in LES, and these can be used both to control the effective resolution of the simulation and to establish the relative importance of different portions of the resolved spectrum. An analogous, but less well justified, approach to filtering is more or less universally used in conjunction with LES using finite-difference methods. In this approach, the finite support provided by the computational mesh as well as the wavenumber-dependent truncation errors associated with the finite-difference operators are assumed to define the filter operation. This approach has the advantage that it is also 'automatic' in the sense that no explicit filtering: operations need to be performed. While it is certainly convenient to avoid the explicit filtering operation, there are some practical considerations associated with finite-difference methods that favor the use of an explicit filter. Foremost among these considerations is the issue of truncation error. All finite-difference approximations have an associated truncation error that increases with increasing wavenumber. These errors can be quite severe for the smallest resolved scales, and these errors will interfere with the dynamics of the small eddies if no corrective action is taken. Years of experience at CTR with a second-order finite-difference scheme for high Reynolds number LES has repeatedly indicated that truncation errors must be minimized in order to obtain acceptable simulation results. While the potential advantages of explicit filtering are rather clear, there is a significant cost associated with its implementation. In particular, explicit filtering reduces the effective resolution of the simulation compared with that afforded by the mesh. The resolution requirements for LES are usually set by the need to capture most of the energy-containing eddies, and if explicit filtering is used, the mesh must be enlarged so that these motions are passed by the filter. Given the high cost of explicit filtering, the following interesting question arises. Since the mesh must be expanded in order to perform the explicit filter, might it be better to take advantage of the increased resolution and simply perform an unfiltered simulation on the larger mesh? The cost of the two approaches is roughly the same, but the philosophy is rather different. In the filtered simulation, resolution is sacrificed in order to minimize the various forms of numerical error. In the unfiltered simulation, the errors are left intact, but they are concentrated at very small scales that could be dynamically unimportant from a LES perspective. Very little is known about this tradeoff and the objective of this work is to study this relationship in high Reynolds number channel flow simulations using a second-order finite-difference method.

Lund, T. S.↗

U.S. Coast Guard Boat Recovery Simulation at the NASA Ames Vertical Motion Simulator

The U.S. Coast Guard routinely uses the Over-The-Horizon (OTH-IV), a cutter deployed, rigid-hulled inflatable boat for rescue and law enforcement operations. The term "cutter" refers to a Coast Guard vessel 65 feet in length or greater with accommodations for crew to live aboard and the ability to deploy smaller boats including the OTH-IV. A deployment method employed by some cutter class vessels is a davit crane system and specialized hook mechanism to connect the smaller boat. The launch and recovery operation requires several crewmembers, where one is tasked with releasing and connecting the hook to the small boat. Manipulating the hook can pose a risk to the crewmember depending on sea conditions combined with fatigue level or task expertise. Equipment and crewmembers are tested extensively due to the inherent risk of the task, but the sea conditions cannot be controlled. To address the sea condition variable, the U.S. Coast Guard and NASA leveraged the Vertical Motion Simulator (VMS) as a platform to test new equipment or train crewmembers in varying sea conditions. With 6 degrees of freedom and a vertical displacement of +/- 22ft, the VMS is capable of simulating conditions up to sea-state 5. The proof of concept experiment took place in September 2018 and demonstrated that the VMS can accurately simulate varying sea-states, collect performance data, and design a reliable and safe system for participants. The U.S. Coast Guard provided boat displacement data from the Large Amplitude Motion Program (LAMP). The program generates multi-directional waves with a cosine squared spreading function which produced a time history response of displacement data (surge, sway, heave, roll, pitch, yaw) of the OTH-IV's center of gravity (C.G). The displacement data was differentiated into acceleration evaluated at the crewmember's position at the front (bow) of the boat. Those accelerations were transformed to the VMS coordinate system and used as command inputs to the motion system's washout filters. The VMS uses Interchangeable Cabs (ICab) to perform flight simulations on a variety of aircraft or spacecraft configurations. An ICab typically contains seats, restraints, pilot controls, instrument panel, and out-the-window projectors all enclosed in a familiar cockpit configuration. To replicate the launch and recovery of a small boat, all the conventional features of a flight simulator and canopy were removed to be replaced with a to-scale OTH-IV bow mockup. The bow section was constructed from aluminum, and a connection point known as the davit ring. Additionally, a hook replica was suspended by a cable from the ceiling as if it were hanging from a davit crane aboard a cutter vessel. The last step was providing an auxiliary control to close the distance between suspended hook and the davit ring on the bow mockup. Without control the boat would simulate the wave motion, but with no guarantee that the crewmember will be in reach of the hook. Since the wave motion was repeatable, an additional acceleration command sent to the washout filters to move the simulator in the surge, sway, and heave directions, independently. The commands were rate limited such that the additional movement was not detectable with respect to the wave motion. The results showed that for each wave profile, a unique set of acceleration commands provided opportunities for crewmembers to gain control of the hook and connect it to the davit ring.

Riccobono, Nicholas S.↗

Efficient Hybrid Actuation Using Solid-State Actuators

Piezohydraulic actuation is the use of fluid to rectify the motion of a piezoelectric actuator for the purpose of overcoming the small stroke limitations of the material. In this work we study a closed piezohydraulic circuit that utilizes active valves to rectify the motion of a hydraulic end affector. A linear, lumped parameter model of the system is developed and correlated with experiments. Results demonstrate that the model accurately predicts the filtering of the piezoelectric motion caused by hydraulic compliance. Accurate results are also obtained for predicting the unidirectional motion of the cylinder when the active valves are phased with respect to the piezoelectric actuator. A time delay associated with the mechanical response of the valves is incorporated into the model to reflect the finite time required to open or close the valves. This time delay is found to be the primary limiting factor in achieving higher speed and greater power from the piezohydraulic unit. Experiments on the piezohydraulic unit demonstrate that blocked forces on the order of 100 N and unloaded velocities of 180 micrometers/sec are achieved.

Leo, Donald J.↗

Determining Sense Of Motion In Robotic Vision

Image-processing algorithms based partly on natural visual/mental processes. Proposed digital image-processing scheme determines sense of motion of object in image along one coordinate axis (left to right or right to left) with respect to background in image. Image encoded by passing it through spatiotemporal filters, including nonlinear contrast function with threshold. Nonlinear response to sums and differences of imagery processed through even and odd spatial filters indicates sense of motion.

Lawton, Teri B.↗

Isentropic Analysis of Convective Motions

This paper analyzes the convective mass transport by sorting air parcels in terms of their equivalent potential temperature to determine an isentropic streamfunction. By averaging the vertical mass flux at a constant value of the equivalent potential temperature, one can compute an isentropic mass transport that filters out reversible oscillatory motions such as gravity waves. This novel approach emphasizes the fact that the vertical energy and entropy transports by convection are due to the combination of ascending air parcels with high energy and entropy and subsiding air parcels with lower energy and entropy. Such conditional averaging can be extended to other dynamic and thermodynamic variables such as vertical velocity, temperature, or relative humidity to obtain a comprehensive description of convective motions. It is also shown how this approach can be used to determine the mean diabatic tendencies from the three-dimensional dynamic and thermodynamic fields. A two-stream approximation that partitions the isentropic circulation into a mean updraft and a mean downdraft is also introduced. This offers a straightforward way to identify the mean properties of rising and subsiding air parcels. The results from the two-stream approximation are compared with two other definitions of the cloud mass flux. It is argued that the isentropic analysis offers a robust definition of the convective mass transport that is not tainted by the need to arbitrarily distinguish between convection and its environment, and that separates the irreversible convective overturning fromoscillations associated with gravity waves.

Lagrangian circulation↗

Suppression of biodynamic interference in head-tracked teleoperation

The utility of helmet-tracked sights to provide pointing commands for teleoperation of cameras, lasers, or antennas in aircraft is degraded by the presence of uncommanded, involuntary heat motion, referred to as biodynamic interference. This interference limits the achievable precision required in pointing tasks. The noise contributions due to biodynamic interference consists of an additive component which is correlated with aircraft vibration and an uncorrelated, nonadditive component, referred to as remnant. An experimental simulation study is described which investigated the improvements achievable in pointing and tracking precision using dynamic display shifting in the helmet-mounted display. The experiment was conducted in a six degree of freedom motion base simulator with an emulated helmet-mounted display. Highly experienced pilot subjects performed precision head-pointing tasks while manually flying a visual flight-path tracking task. Four schemes using adaptive and low-pass filtering of the head motion were evaluated to determine their effects on task performance and pilot workload in the presence of whole-body vibration characteristic of helicopter flight. The results indicate that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly-positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination was considered to exhibit the best overall display dynamics by each of the subjects.

Lifshitz, S.↗

1960 Chile - New estimate of polar motion excitation

A recent reanalysis of the International Latitude Serivce (ILS) polar motion data-day has been processed using Kalman filtering techniques to generate the polar motion excitation function over the time-span from 1960 to 1965. The resulting excitation function has been examined for the effects of 1960 Chile in an attempt to determine experimentally how large earthquake affect polar motion. The resulting upper bound of about 75 x 10 to the 22nd N-m for a 10-deg dip (about 36 x 10 to the 22nd N-m for 20-deg dip) is consistent with results obtained from previous seismic studies, including a recent normal mode excitation result. Following future great earthquakes, monitoring of polar motion by space-based techniques such as VLBI should continue at high temporal resolution for several weeks in order to directly measure the rheological parameters of the upper mantle.

Slade, M. A.↗

Design and simulation of closed-loop ground alignment of inertial platforms with sway motion

This paper is concerned with the application of optimal estimation and control concepts to the ground alignment of inertial platforms subjected to random sway motion. A seventh-order Kalman filter has been designed for estimating the platform misalignments and sway motion. Using the linear quadratic optimal regulator techniques, feedback controller gains have been designed to drive the initial misalignments to a small value. A reconfiguration of the filter controller scheme has been proposed and verified by Monte Carlo simulation for improving the speed of alignment without changing the alignment accuracy.

Vathsal, S.↗

Evaluation of simulation motion fidelity criteria in the vertical and directional axes

An evaluation of existing motion fidelity criteria was conducted on the NASA Ames Vertical Motion Simulator. Experienced test pilots flew single-axis repositioning tasks in both the vertical and the directional axes. Using a first-order approximation of a hovering helicopter, tasks were flown with variations only in the filters that attenuate the commands to the simulator motion system. These filters had second-order high-pass characteristics, and the variations were made in the filter gain and natural frequency. The variations spanned motion response characteristics from nearly full math-model motion to fixed-base. Between configurations, pilots recalibrated their motion response perception by flying the task with full motion. Pilots subjectively rated the motion fidelity of subsequent configurations relative to this full motion case, which was considered the standard for comparison. The results suggested that the existing vertical-axis criterion was accurate for combinations of gain and natural frequency changes. However, if only the gain or the natural frequency was changed, the rated motion fidelity was better than the criterion predicted. In the vertical axis, the objective and subjective results indicated that a larger gain reduction was tolerated than the existing criterion allowed. The limited data collected in the yaw axis revealed that pilots had difficulty in distinguishing among the variations in the pure yaw motion cues.

Schroeder, Jeffery A.↗

Compact, Pneumatically Actuated Filter Shuttle

A compact, pneumatically actuated filter shuttle has been invented to enable alternating imaging of a wind-tunnel model in two different spectral bands characteristic of the pressure and temperature responses of a pressure and temperature-sensitive paint. This filter shuttle could also be used in other settings in which there are requirements for alternating imaging in two spectral bands. Pneumatic actuation was chosen because of a need to exert control remotely (that is, from outside the wind tunnel) and because the power leads that would be needed for electrical actuation would pose an unacceptable hazard in the wind tunnel. The entire shuttle mechanism and its housing can be built relatively inexpensively [<$500 (prices as of year 2000)] from off-the-shelf parts. The shuttle mechanism (see Figure 1) is contained in a housing that has dimensions of 4 by 6 by 2 in. (about 10 by 15 by 5 cm). Two 2-in. (=5-cm)-diameter standard scientific-grade band-pass filters are mounted on sliding panels in a dual-track frame. The mechanism is positioned and oriented so the panels slide sideways with respect to the optical axis of a charge-coupled-device camera used for viewing the wind-tunnel model. The mechanism includes a pneumatic actuator connected to a linkage. The linkage converts the actuator stroke to a scissor-like motion that places one filter in front of the camera and the other filter out of the way. Optoelectronic sensors detect tabs on the sliding panels for verification of the proper positioning of the filters.

Leighy, Bradley D.↗

Mathematical specifications of the Onboard Navigation Package (ONPAC) simulator (revision 1)

The mathematical theory of the computational algorithms employed in the onboard navigation package system is described. This system, which simulates an onboard navigation processor, was developed to aid in the design and evaluation of onboard navigation software. The mathematical formulations presented include the factorized UDU(T) form of the extended Kalman filter, the equations of motion of the user satellite, the user clock equations, the observation equations and their partial derivatives, the coodinate transformations, and the matrix decomposition algorithms.

Dunham, J. B.↗

A Review of System Identification Methods Applied to Aircraft

Airplane identification, equation error method, maximum likelihood method, parameter estimation in frequency domain, extended Kalman filter, aircraft equations of motion, aerodynamic model equations, criteria for the selection of a parsimonious model, and online aircraft identification are addressed.

Klein, V.↗

An optimal control approach to the design of moving flight simulators

An abstract flight simulator design problem is formulated in the form of an optimal control problem, which is solved for the linear-quadratic-Gaussian special case using a mathematical model of the vestibular organs. The optimization criterion used is the mean-square difference between the physiological outputs of the vestibular organs of the pilot in the aircraft and the pilot in the simulator. The dynamical equations are linearized, and the output signal is modeled as a random process with rational power spectral density. The method described yields the optimal structure of the simulator's motion generator, or 'washout filter'. A two-degree-of-freedom flight simulator design, including single output simulations, is presented.

Sivan, R.↗

Architectures and algorithms for digital image processing; Proceedings of the Meeting, Cannes, France, December 5, 6, 1985

The conference presents papers on the architectures, algorithms, and applications of image processing. Particular attention is given to a very large scale integration system for image reconstruction from projections, a prebuffer algorithm for instant display of volume data, and an adaptive image sequence filtering scheme based on motion detection. Papers are also presented on a simple, direct practical method of sensing local motion and analyzing local optical flow, image matching techniques, and an automated biological dosimetry system.

Duff, Michael J. B.↗

The Utility and Validity of Kinematic GPS Positioning for the Geosar Airborne Terrain Mapping Radar System

GeoSAR is an airborne, interferometric Synthetic Aperture Radar (IFSAR) system for terrain mapping, currently under development by a consortium including NASA's Jet Propulsion Laboratory (JPL), Calgis, Inc., a California mapping sciences company, and the California Department of Conservation (CaIDOC), with funding provided by the U.S. Army Corps of Engineers Topographic Engineering Center (TEC) and the U.S. Defense Advanced Research Projects Agency (DARPA). IFSAR data processing requires high-accuracy platform position and attitude knowledge. On 9 GeoSAR, these are provided by one or two Honeywell Embedded GPS Inertial Navigation Units (EGI) and an Ashtech Z12 GPS receiver. The EGIs provide real-time high-accuracy attitude and moderate-accuracy position data, while the Ashtech data, post-processed differentially with data from a nearby ground station using Ashtech PNAV software, provide high-accuracy differential GPS positions. These data are optimally combined using a Kalman filter within the GeoSAR motion measurement software, and the resultant position and orientation information are used to process the dual frequency (X-band and P-band) radar data to generate high-accuracy, high -resolution terrain imagery and digital elevation models (DEMs). GeoSAR requirements specify sub-meter level planimetric and vertical accuracies for the resultant DEMS. To achieve this, platform positioning errors well below one meter are needed. The goal of GeoSAR is to obtain 25 cm or better 3-D positions from the GPS systems on board the aircraft. By imaging a set of known point target corner-cube reflectors, the GeoSAR system can be calibrated. This calibration process yields the true position of the aircraft with an uncertainty of 20- 50 cm. This process thus allows an independent assessment of the accuracy of our GPS-based positioning systems. We will present an overview of the GeoSAR motion measurement system, focusing on the use of GPS and the blending of position data from the various systems. We will present the results of our calibration studies that relate to the accuracy the GPS positioning. We will discuss the effects these positioning, errors have on the resultant DEM products and imagery.

Freedman, Adam↗

3D Audio System

Ames Research Center research into virtual reality led to the development of the Convolvotron, a high speed digital audio processing system that delivers three-dimensional sound over headphones. It consists of a two-card set designed for use with a personal computer. The Convolvotron's primary application is presentation of 3D audio signals over headphones. Four independent sound sources are filtered with large time-varying filters that compensate for motion. The perceived location of the sound remains constant. Possible applications are in air traffic control towers or airplane cockpits, hearing and perception research and virtual reality development.

Source record↗

Hierarchically Structured Non-Intrusive Sign Language Recognition

This work presents a hierarchically structured approach at the nonintrusive recognition of sign language from a monocular frontal view. Robustness is achieved through sophisticated localization and tracking methods, including a combined EM/CAMSHIFT overlap resolution procedure and the parallel pursuit of multiple hypotheses about hands position and movement. This allows handling of ambiguities and automatically corrects tracking errors. A biomechanical skeleton model and dynamic motion prediction using Kalman filters represents high level knowledge. Classification is performed by Hidden Markov Models. 152 signs from German sign language were recognized with an accuracy of 97.6%.

Zieren, Jorg↗

Verification of the Solar Dynamics Observatory High Gain Antenna Pointing Algorithm Using Flight Data

The Solar Dynamics Observatory (SDO) is a NASA spacecraft designed to study the Sun. It was launched on February 11, 2010 into a geosynchronous orbit, and uses a suite of attitude sensors and actuators to finely point the spacecraft at the Sun. SDO has three science instruments: the Atmospheric Imaging Assembly (AIA), the Helioseismic and Magnetic Imager (HMI), and the Extreme Ultraviolet Variability Experiment (EVE). SDO uses two High Gain Antennas (HGAs) to send science data to a dedicated ground station in White Sands, New Mexico. In order to meet the science data capture budget, the HGAs must be able to transmit data to the ground for a very large percentage of the time. Each HGA is a dual-axis antenna driven by stepper motors. Both antennas transmit data at all times, but only a single antenna is required in order to meet the transmission rate requirement. For portions of the year, one antenna or the other has an unobstructed view of the White Sands ground station. During other periods, however, the view from both antennas to the Earth is blocked for different portions of the day. During these times of blockage, the two HGAs take turns pointing to White Sands, with the other antenna pointing out to space. The HGAs handover White Sands transmission responsibilities to the unblocked antenna. There are two handover seasons per year, each lasting about 72 days, where the antennas hand off control every twelve hours. The non-tracking antenna slews back to the ground station by following a ground commanded trajectory and arrives approximately 5 minutes before the formerly tracking antenna slews away to point out into space. The SDO Attitude Control System (ACS) runs at 5 Hz, and the HGA Gimbal Control Electronics (GCE) run at 200 Hz. There are 40 opportunities for the gimbals to step each ACS cycle, with a hardware limitation of no more than one step every three GCE cycles. The ACS calculates the desired gimbal motion for tracking the ground station or for slewing, and sends the command to the GCE at 5 Hz. This command contains the number of gimbals steps for that ACS cycle, the direction of motion, the spacing of the steps, and the delay before taking the first step. The AIA and HMI instruments are sensitive to spacecraft jitter. Pre-flight analysis showed that jitter from the motion of the HGAs was a cause of concern. Three jitter mitigation techniques were developed to overcome the effects of jitter from different sources. The first method is the random step delay, which avoids gimbal steps hitting a cadence on a jitter-critical mode by pseudo-randomly delaying the first gimbal step in an ACS cycle. The second method of jitter mitigation is stagger stepping, which forbids the two antennas from taking steps during the same ACS cycle in order to avoid constructively adding jitter from two antennas. The third method is the inclusion of an instrument No Step Request (NSR), which allows the instruments to request a stoppage in gimbal stepping during the times when they are taking images. During the commissioning phase of the mission, a jitter test was performed onboard the spacecraft. Various sources of jitter, such as the reaction wheels, the High Gain Antenna motors, and the motion of the instrument filter wheels, were examined to determine the level of their effect on the instruments. During the HGA portion of the test, the jitter amplitudes from the single step of a gimbal were examined, as well as the amplitudes due to the execution of various gimbal rates. These jitter levels are compared with the gimbal jitter allocations for each instrument. Additionally, the jitter test provided insight into a readback delay that exists with the GCE. Pre-flight analysis suggested that gimbal steps scheduled to occur during the later portion of an ACS cycle would not be read during that cycle, resulting in a delay in the telemetered current gimbal position. Flight data from the jitter test confirmed this expectation. Analysis is presentehat shows the readback delay does not have a negative impact on gimbal control. The decision was made to consider implementing two of the jitter mitigation techniques on board the spacecraft: stagger stepping and the NSR. Flight data from two sets of handovers, one set without jitter mitigation and the other with mitigation enabled, were examined. The trajectory of the predicted handover was compared with the measured trajectory for the two cases, showing that tracking was not negatively impacted with the addition of the jitter mitigation techniques. Additionally, the individual gimbal steps were examined, and it was confirmed that the stagger stepping and NSRs worked as designed. An Image Quality Test was performed to determine the amount of cumulative jitter from the reaction wheels, HGAs, and instruments during various combinations of typical operations. In this paper, the flight results are examined from a test where the HGAs are following the path of a nominal handover with stagger stepping on and HMI NSRs enabled. In this case, the reaction wheels are moving at low speed and the instruments are taking pictures in their standard sequence. The flight data shows the level of jitter that the instruments see when their shutters are open. The HGA-induced jitter is well within the jitter requirement when the stagger step and NSR mitigation options are enabled. The SDO HGA pointing algorithm was designed to achieve nominal antenna pointing at the ground station, perform slews during handover season, and provide three HGA-induced jitter mitigation options without compromising pointing objectives. During the commissioning phase, flight data sets were collected to verify the HGA pointing algorithm and demonstrate its jitter mitigation capabilities.

Bourkland, Kristin L.↗