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At least 721 records · Page 40

Determining the 3-D structure and motion of objects using a scanning laser range sensor

In order for the EVAHR robot to autonomously track and grasp objects, its vision system must be able to determine the 3-D structure and motion of an object from a sequence of sensory images. This task is accomplished by the use of a laser radar range sensor which provides dense range maps of the scene. Unfortunately, the currently available laser radar range cameras use a sequential scanning approach which complicates image analysis. Although many algorithms have been developed for recognizing objects from range images, none are suited for use with single beam, scanning, time-of-flight sensors because all previous algorithms assume instantaneous acquisition of the entire image. This assumption is invalid since the EVAHR robot is equipped with a sequential scanning laser range sensor. If an object is moving while being imaged by the device, the apparent structure of the object can be significantly distorted due to the significant non-zero delay time between sampling each image pixel. If an estimate of the motion of the object can be determined, this distortion can be eliminated; but, this leads to the motion-structure paradox - most existing algorithms for 3-D motion estimation use the structure of objects to parameterize their motions. The goal of this research is to design a rigid-body motion recovery technique which overcomes this limitation. The method being developed is an iterative, linear, feature-based approach which uses the non-zero image acquisition time constraint to accurately recover the motion parameters from the distorted structure of the 3-D range maps. Once the motion parameters are determined, the structural distortion in the range images is corrected.

Nandhakumar, N.↗

Developing Concepts of Operations Using Multi-Step Tool Techniques With Large Language Models

The National Aeronautics and Space Administration (NASA) Air Mobility Pathfinders (AMP) project is developing and evaluating concepts of operations (ConOps) for safe, secure, and scalable Urban Air Mobility (UAM) operations. The AMP project’s Operational Concepts, Architecture, and Requirements Integration (OCARI) Team is using a Model Based System Engineering (MBSE) approach for integration, interoperability, and traceability of Advanced Air Mobility (AAM) ecosystems centered around urban air taxi services. The team’s goal is to define structures and behaviors needed for system feasibility, readiness, and interoperability, establish a UAM knowledge base, and trace and validate assumptions and requirements relevant to AAM. NASA Langley Research Center (LaRC) is spearheading an innovative digital engineering approach to integrate, communicate, and facilitate the research of multi-modal transportation systems. The Knowledge-based Digital Platform (KbDP) is a concept being developed that ties the workflows of Project Managers (PM), Principal Investigators (PI), and System Engineers together across organizational boundaries. It does so through the management of an information database defined by mathematical, data science, and system engineering principles. Machine Learning (ML) algorithms play a key role in this concept by extracting meaningful knowledge from relational and graph databases, document repositories, and system artifacts, which the human user leverages to greatly improve the efficiency and effectiveness of their research. Recent advancements in the field of Large Language Models (LLMs), specifically models trained for tool use, such as Command-R , now allow for the reliable implementation of single-step and multi-step tool-centric systems. These techniques provide the LLM with a set of tools, in our case Python functions, that can be called on to answer a much wider range of questions compared to LLMs implemented using a traditional single-source or Retrieval Augmented Generation (RAG) approach. Through this method, the LLM can pull information from multiple data sources, such as relational or graph databases, document repositories, application programming interfaces (APIs), and SysML artifacts depending on the user’s question. The LLM can also output the information in a variety of different formats, using output generation tools, such as CSV, UML, or SysML artifacts. Additionally, tools can be assigned roles and can work together to provide answers to queries in an “agent” like approach, similar to that implemented by Microsoft’s AutoGen framework where different agents can converse with each other to accomplish tasks. Previously, our team developed a chatbot system with “agent like” functionality in the form of different “modes” the user could select from a user interface (UI), this architecture can be seen on the left in figure 1. Three different modes were implemented, the first mode allowed the LLM to utilize the structures and algorithms within a graph database to trace UAM requirements. The second mode gave the LLM access to a vector search capable of providing relevant information from thousands of document pages related to UAM ConOps and requirements. The third mode served as a general assistant where users could enter open-ended questions and custom prompts to utilize the LLM for different use-cases. This system improved the process surrounding generating and analyzing information related to UAM requirements, however, the implementation provided a clunky user experience. Users were required to know what mode to select within the UI in advance before entering their question to the selected tool. Moreover, the different tools were isolated from each other, they lacked bidirectional links that would allow for tools to collaborate to generate better responses. Our team is working on a new architecture, seen on the right in the below figure, with the goal to address many of the UX shortcomings of our original system while improving the accuracy and depth of responses from the LLM. This new system will automatically select the appropriate tool to use based off the user’s question. Each tool will be capable of calling on any of the other tools available to the LLM, resulting in a collaborative pipeline where tools can pass data between other tools until enough data is received to generate an answer to the user’s question. Using a locally deployed, open-source, LLM, the NASA OCARI team, in collaboration with Collins Aerospace, will implement a prototype application that will bridge knowledge across multiple sources to assist System Engineers (SEs) with requirements discovery and tracing, research question and use case identification, and assumption validation. Such a system will also allow SEs to more easily, and intuitively, explore the AAM ecosystem, ultimately improving the efficiency and effectiveness of the SE's research and decision-making processes surrounding ConOps development and validation. In this session, our team will provide a video demonstration of our new prototype architecture in action. We will also present an overview of our prototype system architecture and talk about its advantages over traditional LLM deployments along with how those advantages can provide additional value to the field of System Engineering.

systems engineering↗

State-space formulation of multi-shaker modal analysis

As modal testing techniques have improved in recent years, the demands placed on the accuracy of modal test results have increased. This paper describes a new multi-input, multi-output modal parameter estimation algorithm suitable for the identification of reduced-order models of structures. The method described is a frequency-domain method based on excitation and response spectra. The principal features of the algorithm are: (1) applicability to general linear, time-invariant systems, (2) direct use of multiple input and multiple response data, (3) identification of reduced-order models with minimum user interaction through the use of two automatic model-reduction techniques, (4) identification of a consistent set of modal parameters through the use of numerically stable least-squares techniques, and (5) complete user documentation.

Craig, Roy R., Jr.↗

Sensitivity of Marine Warm Cloud Retrieval Statistics to Algorithm Choices: Examples from MODIS Collection 6

The optical and microphysical structure of warm boundary layer marine clouds is of fundamental importance for understanding a variety of cloud radiation and precipitation processes. With the advent of MODIS (Moderate Resolution Imaging Spectroradiometer) on the NASA EOS Terra and Aqua platforms, simultaneous global/daily 1km retrievals of cloud optical thickness and effective particle size are provided, as well as the derived water path. In addition, the cloud product (MOD06/MYD06 for MODIS Terra and Aqua, respectively) provides separate effective radii results using the l.6, 2.1, and 3.7 ~m spectral channels. Cloud retrieval statistics are highly sensitive to how a pixel identified as being "notclear" by a cloud mask (e.g., the MOD35/MYD35 product) is determined to be useful for an optical retrieval based on a 1-D cloud model. The Collection 5 MODIS retrieval algorithm removed pixels associated with cloud'edges as well as ocean pixels with partly cloudy elements in the 250m MODIS cloud mask - part of the so-called Clear Sky Restoral (CSR) algorithm. Collection 6 attempts retrievals for those two pixel populations, but allows a user to isolate or filter out the populations via CSR pixel-level Quality Assessment (QA) assignments. In this paper, using the preliminary Collection 6 MOD06 product, we present global and regional statistical results of marine warm cloud retrieval sensitivities to the cloud edge and 250m partly cloudy pixel populations. As expected, retrievals for these pixels are generally consistent with a breakdown of the ID cloud model. While optical thickness for these suspect pixel populations may have some utility for radiative studies, the retrievals should be used with extreme caution for process and microphysical studies.

Platnick, Steven↗

Self-Organizing-Map Program for Analyzing Multivariate Data

SOM_VIS is a computer program for analysis and display of multidimensional sets of Earth-image data typified by the data acquired by the Multi-angle Imaging Spectro-Radiometer [MISR (a spaceborne instrument)]. In SOM_VIS, an enhanced self-organizing-map (SOM) algorithm is first used to project a multidimensional set of data into a nonuniform three-dimensional lattice structure. The lattice structure is mapped to a color space to obtain a color map for an image. The Voronoi cell-refinement algorithm is used to map the SOM lattice structure to various levels of color resolution. The final result is a false-color image in which similar colors represent similar characteristics across all its data dimensions. SOM_VIS provides a control panel for selection of a subset of suitably preprocessed MISR radiance data, and a control panel for choosing parameters to run SOM training. SOM_VIS also includes a component for displaying the false-color SOM image, a color map for the trained SOM lattice, a plot showing an original input vector in 36 dimensions of a selected pixel from the SOM image, the SOM vector that represents the input vector, and the Euclidean distance between the two vectors.

Li, P. Peggy↗

Large space structures controls research and development at Marshall Space Flight Center: Status and future plans

Work performed in Large Space Structures Controls research and development program at Marshall Space Flight Center is described. Studies to develop a multilevel control approach which supports a modular or building block approach to the buildup of space platforms are discussed. A concept has been developed and tested in three-axis computer simulation utilizing a five-body model of a basic space platform module. Analytical efforts have continued to focus on extension of the basic theory and subsequent application. Consideration is also given to specifications to evaluate several algorithms for controlling the shape of Large Space Structures.

Buchanan, H. J.↗

Recursive dynamics algorithm for multibody systems with prescribed motion

This paper uses spatial operator techniques to develop a new algorithm for the dynamics of multibody systems with hinges undergoing prescribed motion. This algorithm is spatially recursive, and its computational complexity grows only linearly with the number of degrees of freedom in the system. Its structure is a hybrid of known recursive forward and inverse dynamics algorithms for regular multibody systems. Changes to the prescribed/nonprescribed nature of hinges can be implemented during run time since they are handled with very low overhead in the algorithm.

Jain, Abhinandan↗

The bioclimatic extent and pattern of the cold edge of the boreal forest: the circumpolar taiga-tundra ecotone

Current configurations of forest structure at the cold edge of the boreal may help understand the future of ecosystem functioning in high northern latitudes. The circumpolar biome boundary at the boreal (taiga) forest and tundra interface is an ecological transition zone (taiga-tundra ecotone; TTE) experiencing changes that affect its forest structure. We accounted for the TTE's horizontal forest structure with an estimate of its extent and pattern as represented by tree canopy cover (TCC). We quantified TCC patterns with an algorithm that describes its spatial gradient, and summarized landscape patterns of structure to represent heterogeneity, capturing abrupt, diffuse, and uniform forest at mesoscales. We used these landscape patterns to constrain the spatial extent of sparse and open canopy forest, and non-forest (forest-adjacent) edge that defines the TTE extent. The resulting map of the TTE extent is based on forest structure spatial patterns resolved at 30 m, highlights structural variability across landscapes, and helps distinguish tundra from boreal domains. We classified 14 594 landscapes as those associated with the TTE within a circumpolar bioclimatic envelope (11.575 million km2), where 44.83% of the area of these landscapes were forest and non-forest edge, yet 36.43% contributed to the TTE extent. We report the overall extent of the TTE (3.032 million km2) across North America and Greenland (53%), and Eurasia (47%), where 0.697 million km2 is non-forest edge, 0.549 million km2 is sparse forest, and 1.787 million km2 is open canopy forest. Diffuse forest landscapes dominate the TTE (79%), and abrupt landscapes (~19%) indicate portions of the TTE where sparse forest and non-forest edge are the prevailing structural patterns. This account of the TTE quantifies the area of the cold edge of the boreal forest where previous global estimates show high discrepancies, and can help target monitoring and prediction of circumpolar dynamics.

Paul M Montesano↗

Distributed Prognostics based on Structural Model Decomposition

Within systems health management, prognostics focuses on predicting the remaining useful life of a system. In the model-based prognostics paradigm, physics-based models are constructed that describe the operation of a system and how it fails. Such approaches consist of an estimation phase, in which the health state of the system is first identified, and a prediction phase, in which the health state is projected forward in time to determine the end of life. Centralized solutions to these problems are often computationally expensive, do not scale well as the size of the system grows, and introduce a single point of failure. In this paper, we propose a novel distributed model-based prognostics scheme that formally describes how to decompose both the estimation and prediction problems into independent local subproblems whose solutions may be easily composed into a global solution. The decomposition of the prognostics problem is achieved through structural decomposition of the underlying models. The decomposition algorithm creates from the global system model a set of local submodels suitable for prognostics. Independent local estimation and prediction problems are formed based on these local submodels, resulting in a scalable distributed prognostics approach that allows the local subproblems to be solved in parallel, thus offering increases in computational efficiency. Using a centrifugal pump as a case study, we perform a number of simulation-based experiments to demonstrate the distributed approach, compare the performance with a centralized approach, and establish its scalability. Index Terms-model-based prognostics, distributed prognostics, structural model decomposition ABBREVIATIONS

centrifugal pump↗

Digital enhancement of SAR imagery as an aid in geologic data extraction

The geological data content of Seasat A SAR imagery was assessed by correlating images of the Southern Appalachians with optical and digital techniques using a digital enhancement algorithm. The evaluation was performed in terms of lithology, lineaments, and geological structure. Digital correlation of the images was found to be more effective than optical correlation as a geological mapping instrument when considered in the light of ground truth data. The digital enhancement algorithm consists of a mean square error analysis which preserves the edge structure in the SAR imagery and decreases the noise content. Additionally, digital correlations allowed for faster computer processing of the imagery.

Frost, V. S.↗

Estimation of Smoothing Error in SBUV Profile and Total Ozone Retrieval

Data from the Nimbus-4, Nimbus-7 Solar Backscatter Ultra Violet (SBUV) and seven of the NOAA series of SBUV/2 instruments spanning 41 years are being reprocessed using V8.6 algorithm. The data are scheduled to be released by the end of August 2011. An important focus of the new algorithm is to estimate various sources of errors in the SBUV profiles and total ozone retrievals. We discuss here the smoothing errors that describe the components of the profile variability that the SBUV observing system can not measure. The SBUV(/2) instruments have a vertical resolution of 5 km in the middle stratosphere, decreasing to 8 to 10 km below the ozone peak and above 0.5 hPa. To estimate the smoothing effect of the SBUV algorithm, the actual statistics of the fine vertical structure of ozone profiles must be known. The covariance matrix of the ensemble of measured ozone profiles with the high vertical resolution would be a formal representation of the actual ozone variability. We merged the MLS (version 3) and sonde ozone profiles to calculate the covariance matrix, which in general case, for single profile retrieval, might be a function of the latitude and month. Using the averaging kernels of the SBUV(/2) measurements and calculated total covariance matrix one can estimate the smoothing errors for the SBUV ozone profiles. A method to estimate the smoothing effect of the SBUV algorithm is described and the covariance matrixes and averaging kernels are provided along with the SBUV(/2) ozone profiles. The magnitude of the smoothing error varies with altitude, latitude, season and solar zenith angle. The analysis of the smoothing errors, based on the SBUV(/2) monthly zonal mean time series, shows that the largest smoothing errors were detected in the troposphere and might be as large as 15-20% and rapidly decrease with the altitude. In the stratosphere above 40 hPa the smoothing errors are less than 5% and between 10 and 1 hPa the smoothing errors are on the order of 1%. We validate our estimated smoothing errors by comparing the SBUV ozone profiles with other ozone profiling sensors.

Kramarova, N. A.↗

Trellises and Trellis-Based Decoding Algorithms for Linear Block Codes

A code trellis is a graphical representation of a code, block or convolutional, in which every path represents a codeword (or a code sequence for a convolutional code). This representation makes it possible to implement Maximum Likelihood Decoding (MLD) of a code with reduced decoding complexity. The most well known trellis-based MLD algorithm is the Viterbi algorithm. The trellis representation was first introduced and used for convolutional codes [23]. This representation, together with the Viterbi decoding algorithm, has resulted in a wide range of applications of convolutional codes for error control in digital communications over the last two decades. There are two major reasons for this inactive period of research in this area. First, most coding theorists at that time believed that block codes did not have simple trellis structure like convolutional codes and maximum likelihood decoding of linear block codes using the Viterbi algorithm was practically impossible, except for very short block codes. Second, since almost all of the linear block codes are constructed algebraically or based on finite geometries, it was the belief of many coding theorists that algebraic decoding was the only way to decode these codes. These two reasons seriously hindered the development of efficient soft-decision decoding methods for linear block codes and their applications to error control in digital communications. This led to a general belief that block codes are inferior to convolutional codes and hence, that they were not useful. Chapter 2 gives a brief review of linear block codes. The goal is to provide the essential background material for the development of trellis structure and trellis-based decoding algorithms for linear block codes in the later chapters. Chapters 3 through 6 present the fundamental concepts, finite-state machine model, state space formulation, basic structural properties, state labeling, construction procedures, complexity, minimality, and sectionalization of trellises. Chapter 7 discusses trellis decomposition and subtrellises for low-weight codewords. Chapter 8 first presents well known methods for constructing long powerful codes from short component codes or component codes of smaller dimensions, and then provides methods for constructing their trellises which include Shannon and Cartesian product techniques. Chapter 9 deals with convolutional codes, puncturing, zero-tail termination and tail-biting.Chapters 10 through 13 present various trellis-based decoding algorithms, old and new. Chapter 10 first discusses the application of the well known Viterbi decoding algorithm to linear block codes, optimum sectionalization of a code trellis to minimize computation complexity, and design issues for IC (integrated circuit) implementation of a Viterbi decoder. Then it presents a new decoding algorithm for convolutional codes, named Differential Trellis Decoding (DTD) algorithm. Chapter 12 presents a suboptimum reliability-based iterative decoding algorithm with a low-weight trellis search for the most likely codeword. This decoding algorithm provides a good trade-off between error performance and decoding complexity. All the decoding algorithms presented in Chapters 10 through 12 are devised to minimize word error probability. Chapter 13 presents decoding algorithms that minimize bit error probability and provide the corresponding soft (reliability) information at the output of the decoder. Decoding algorithms presented are the MAP (maximum a posteriori probability) decoding algorithm and the Soft-Output Viterbi Algorithm (SOVA) algorithm. Finally, the minimization of bit error probability in trellis-based MLD is discussed.

Lin, Shu↗

Active rejection of persistent disturbances in flexible space structures

A dynamic compensator for active rejection of persistent disturbances in flexible space structures is designed on the principle of the H(infinity)-optimization of the sensitivity transfer function matrix. A general state space solution is formulated to the multiinput multioutput H(infinity)-optimal control problem, allowing the use of the H(infinity)-optimal synthesis algorithm for the state-space models of space structures that result from model order reduction. Disturbances encountered in flexible space structures, such as shuttle docking, are investigated using the high-mode and the reduced-order models of a cantilevered two-bay truss, demonstrating the applicability of the H(infinity)-optimal approach.

Hwang, Cheng-Neng↗

On-line, adaptive state estimator for active noise control

Dynamic characteristics of airframe structures are expected to vary as aircraft flight conditions change. Accurate knowledge of the changing dynamic characteristics is crucial to enhancing the performance of the active noise control system using feedback control. This research investigates the development of an adaptive, on-line state estimator using a neural network concept to conduct active noise control. In this research, an algorithm has been developed that can be used to estimate displacement and velocity responses at any locations on the structure from a limited number of acceleration measurements and input force information. The algorithm employs band-pass filters to extract from the measurement signal the frequency contents corresponding to a desired mode. The filtered signal is then used to train a neural network which consists of a linear neuron with three weights. The structure of the neural network is designed as simple as possible to increase the sampling frequency as much as possible. The weights obtained through neural network training are then used to construct the transfer function of a mode in z-domain and to identify modal properties of each mode. By using the identified transfer function and interpolating the mode shape obtained at sensor locations, the displacement and velocity responses are estimated with reasonable accuracy at any locations on the structure. The accuracy of the response estimates depends on the number of modes incorporated in the estimates and the number of sensors employed to conduct mode shape interpolation. Computer simulation demonstrates that the algorithm is capable of adapting to the varying dynamic characteristics of structural properties. Experimental implementation of the algorithm on a DSP (digital signal processing) board for a plate structure is underway. The algorithm is expected to reach the sampling frequency range of about 10 kHz to 20 kHz which needs to be maintained for a typical active noise control application.

Lim, Tae W.↗

Algorithms for computing the multivariable stability margin

Stability margin for multiloop flight control systems has become a critical issue, especially in highly maneuverable aircraft designs where there are inherent strong cross-couplings between the various feedback control loops. To cope with this issue, we have developed computer algorithms based on non-differentiable optimization theory. These algorithms have been developed for computing the Multivariable Stability Margin (MSM). The MSM of a dynamical system is the size of the smallest structured perturbation in component dynamics that will destabilize the system. These algorithms have been coded and appear to be reliable. As illustrated by examples, they provide the basis for evaluating the robustness and performance of flight control systems.

Tekawy, Jonathan A.↗

A generalized patched-grid algorithm with application to the F-18 forebody with actuated control strake

Analysis of complex configurations using structured grids virtually demands multiple blocks of grids. To facilitate calculations involving multiple blocks, a geneal grid-block patching algorithm based on generalized coordinate inerpolation has been developed. The computational grid may contain as many arbirarily shaped blocks as required to make the grid generation problem tractable and to accurately model the fow features. Results are presented for several test cases as well as for the F-18 forebody control strake. The methodology developed has application to overlapped or embedded grids.

Biedron, R. T.↗

A flexible grid embedding technique with application to the Euler equations

An automated grid embedding procedure for solution of flows about complex geometries is described. The physical domain is subdivided into regions that can accommodate easily generated grids. The grids are organized in a hierarchical structure, and communication among grids is accomplished by interpolation of the flow variables at mesh boundaries. Algorithms for locating embedded boundaries, special treatment of the embedded grids, and the data structures required for manipulating the solution data are described. The method is demonstrated by solution of the Euler equations for transonic flow about a supercritical airfoil and a flapped airfoil.

Benek, J. A.↗

Description and performance analysis of a generalized optimal algorithm for aerobraking guidance

A practical real-time guidance algorithm has been developed for aerobraking vehicles which nearly minimizes the maximum heating rate, the maximum structural loads, and the post-aeropass delta V requirement for orbit insertion. The algorithm is general and reusable in the sense that a minimum of assumptions are made, thus greatly reducing the number of parameters that must be determined prior to a given mission. A particularly interesting feature is that in-plane guidance performance is tuned by adjusting one mission-dependent, the bank margin; similarly, the out-of-plane guidance performance is tuned by adjusting a plane controller time constant. Other features of the algorithm are simplicity, efficiency and ease of use. The trimmed vehicle with bank angle modulation as the method of trajectory control. Performance of this guidance algorithm is examined by its use in an aerobraking testbed program. The performance inquiry extends to a wide range of entry speeds covering a number of potential mission applications. Favorable results have been obtained with a minimum of development effort, and directions for improvement of performance are indicated.

Evans, Steven W.↗