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A mathematically simple, turbulence closure model designed to treat transonic airfoil flows even with massive separation is described. Numerical solutions of the Reynolds-averaged, Navier-Stokes equations obtained with this closure model are shown to agree well with experiments over a broad range of test conditions.
Dried enzymes and color indicators test sensitively and selectively. Dehydrated enzymes used in convenient method for analyzing gases for specific organic substances, outside laboratory. Method used to detect alcohol in breath or formaldehyde in gas streams. Used for simple semiquantitative detection or for precise quantitative measurement.
Extensive correlations of computer code results with experimental data are employed to illustrate the use of linearized theory attached flow methods for the estimation and optimization of the aerodynamic performance of simple hinged flap systems. Use of attached flow methods is based on the premise that high levels of aerodynamic efficiency require a flow that is as nearly attached as circumstances permit. A variety of swept wing configurations are considered ranging from fighters to supersonic transports, all with leading- and trailing-edge flaps for enhancement of subsonic aerodynamic efficiency. The results indicate that linearized theory attached flow computer code methods provide a rational basis for the estimation and optimization of flap system aerodynamic performance at subsonic speeds. The analysis also indicates that vortex flap design is not an opposing approach but is closely related to attached flow design concepts. The successful vortex flap design actually suppresses the formation of detached vortices to produce a small vortex which is restricted almost entirely to the leading edge flap itself.
Some results from a combined experimental and analytical study of the low-speed flutter characteristics of low-aspect-ratio delta wings are presented. Data are presented which show the effects of sweep angle on the flutter characteristics of some simple plate models of constant planform area. The range of sweep angles studied was from 30 to 72 degrees. In addition, flutter results are presented for two 30 deg-sweep clipped-delta wing models. Further, results are presented that show the effects of root clamping (percentage length of the root chord that is cantilevered) for a 45 deg-sweep delta wing. The experimental data are compared with analytical results obtained by using kernel function and doublet lattice subsonic unsteady lifting surface theories.
A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.
The Simple Biosphere MOdel (SiB) of Sellers et al., (1986) was designed to simulate the interactions between the Earth's land surface and the atmosphere by treating the vegetation explicitly and relistically, thereby incorporating biophysical controls on the exchanges of radiation, momentum, sensible and latent heat between the two systems. The steps taken to implement SiB in a modified version of the National Meteorological Center's spectral GCM are described. The coupled model (SiB-GCM) was used with a conventional hydrological model (Ctl-GCM) to produce summer and winter simulations. The same GCM was used with a conventional hydrological model (Ctl-GCM) to produce comparable 'control' summer and winter variations. It was found that SiB-GCM produced a more realistic partitioning of energy at the land surface than Ctl-GCM. Generally, SiB-GCM produced more sensible heat flux and less latent heat flux over vegetated land than did Ctl-GCM and this resulted in the development of a much deeper daytime planetary boundary and reduced precipitation rates over the continents in SiB-GCM. In the summer simulation, the 200 mb jet stream and the wind speed at 850 mb were slightly weakened in the SiB-GCM relative to the Ctl-GCM results and equivalent analyses from observations.
Symbolic inversion of the Jacobian matrix for spherical wrist arms is investigated. It is shown that, taking advantage of the simple geometry of these arms, the closed-form solution of the system Q = J-1X, representing a transformation from task space to joint space, can be obtained very efficiently. The solutions for PUMA, Stanford, and a six-revolute-joint coplanar arm, along with all singular points, are presented. The solution for each joint variable is found as an explicit function of the singular points which provides a better insight into the effect of different singular points on the motion and force exertion of each individual joint. For the above arms, the computation cost of the solution is on the same order as the cost of forward kinematic solution and it is significantly reduced if forward kinematic solution is already obtained. A comparison with previous methods shows that this method is the most efficient to date.
For steady multidimensional convection, the Quadratic Upstream Interpolation for Convective Kinematics (QUICK) scheme has several attractive properties. However, for highly convective simulation of step profiles, QUICK produces unphysical overshoots and a few oscillations, and this may cause serious problems in nonlinear flows. Fortunately, it is possible to modify the convective flux by writing the normalized convected control-volume face value as a function of the normalized adjacent upstream node value, developing criteria for monotonic resolution without sacrificing formal accuracy. This results in a nonlinear functional relationship between the normalized variables, whereas standard methods are all linear in this sense. The resulting Simple High Accuracy Resolution Program (SHARP) can be applied to steady multidimensional flows containing thin shear or mixing layers, shock waves, and other frontal phenomena. This represents a significant advance in modeling highly convective flows of engineering and geophysical importance. SHARP is based on an explicit, conservative, control-volume flux formation, equally applicable to one, two, or three dimensional elliptic, parabolic, hyperbolic, or mixed-flow regimes. Results are given for the bench-mark purely convective first-order results and the nonmonotonic predictions of second- and third-order upwinding.
A coupled rotor/fuselage helicopter analysis with the important effects of blade torsional flexibility, unsteady aerodynamics, and forward flight is presented. Using this mathematical model, a nominal configuration is selected that experiences an air resonance instability throughout most of its flight envelope. A simple multivariable compensator using conventional swashplate inputs and a single body roll rate measurement is then designed. The controller design is based on a linear estimator in conjunction with optimal feedback gains, and the design is done in the frequency domain using the Loop Transfer Recovery method. The controller is shown to suppress the air resonance instability throughout wide range helicopter loading conditions and forward flight speeds.
Some results from a combined experimental and analytical study of the low-speed flutter characteristics of low-aspect-ratio delta wings are presented. Data are presented which show the effects of sweep angle on the flutter characteristics of some simple plate models of constant planform area. The range of sweep angles studied was from 30 to 72 degrees. In addition, flutter results are presented for two 30 deg-sweep clipped-delta wing models. Further results are presented that show the effects of root clamping (percentage length of the root chord that is cantilevered) for a 45 deg-sweep delta wing. The experimental data are compared with analytical results obtained by using kernel function and doublet lattice subsonic unsteady lifting surface theories.
The variogram function used in geostatistical analysis is a useful statistic in the analysis of remotely sensed images. Using the results derived by Jupp et al. (1988), the basic second-order, or covariance, properties of scenes modeled by simple disks of varying size and spacing after imaging into disk-shaped pixels are analyzed to explore the relationship betwee image variograms and discrete object scene structure. The models provide insight into the nature of real images of the earth's surface and the tools for a complete analysis of the more complex case of three-dimensional illuminated discrete-object images.
A macromechanics analysis is presented for the in-plane, anisotropic time-dependent behavior of metal matrix laminates. The small deformation, orthotropic viscoplasticity theory based on overstress represents lamina behavior in a modified simple laminate theory. Material functions and constants can be identified in principle from experiments with laminae. Orthotropic invariants can be repositories for tension-compression asymmetry and for linear elasticity in one direction while the other directions behave in a viscoplastic manner. Computer programs are generated and tested for either unidirectional or symmetric laminates under in-plane loading. Correlations with the experimental results on metal matrix composites are presented.
The effects of charged particle irradiation by cold plasma discharge on surfaces of H2O:CH4 clathrate with a 200:1 ratio and on ices composed of H2O and C2H6 or C2H2 are examined. The molecules studies are found in Comet Halley and are plausible constituents in icy outer solar system objects. The IR transmission spectra of four ice-tholin residues obtained in the laboratory are compared with spectra produced by irradiation of gases and ices containing simple hydrocarbons. The similarities between CH4 clathrate residue and Halley organic grains, and the surface transport or atmospheric replenishment activity on Triton and Pluto are discussed.
A simple but accurate analytical formula was developed for computing the total and the photosynthetically available solar irradiances at the ocean surface under clear skies, which takes into account the processes of scattering by molecules and aerosols within the atmosphere and of absorption by the water vapor, ozone, and aerosols. These processes are parameterized as a function of solar zenith angle, aerosol type, atmospheric visibility, and vertically integrated water-vapor and ozone amounts. Comparisons of the calculated and measured total and photosynthetically available solar irradiances for several experiments in tropical and mid-latitude ocean regions show 39 and 14 Wm/sq m rms errors (6.5 and 4.7 percent of the average measured values) on an hourly time scale, respectively. The proposed forumula is unique in its ability to predict surface solar irradiance in the photosynthetically active spectral interval.
Using meteorological and hydrological measurements taken in and above the central-Amazon-basin tropical forest, calibration of the Sellers et al. (1986) simple biosphere (SiB) model are described. The SiB model is a one-dimensional soil-vegetation-atmosphere model designed for use within GCMs models, representing the vegetation cover by analogy with processes operating within a single representative plant. The experimental systems and the procedures used to obtain field data are described, together with the specification of the physiological parameterization required to provide an average description of data. It was found that some of the existing literature on stomatal behavior for tropical species is inconsistent with the observed behavior of the complete canopy in Amazonia, and that the rainfall interception store of the canopy is considerably smaller than originally specified in the SiB model.
A very simple proof of M. H. Costa's result that the entropy power of Xt = X + N (O, tI) is concave in t, is derived as an immediate consequence of an inequality concerning Fisher information. This relationship between Fisher information and entropy is found to be useful for proving the central limit theorem. Thus, one who seeks new entropy inequalities should try first to find new inequalities about Fisher information, or at least to exploit the existing ones in new ways.
Components of the Simple Biosphere Model (SiB) of Sellers et al. (1986) were used to generate global monthly fields of surface albedo (0.4-4.0 microns), roughness length and minimum surface (stomatal) resistance. SiB consists of three submodels which describe the roles of radiative transfer, turbulent transfer and surface resistance in determining the energy balance of the vegetated land surface. These three submodels were detached from SiB and used on the SiB parameter set (total and green leaf area index, leaf angle orientation, canopy dimensions, etc.) to calculate global monthly fields of albedo, roughness length and minimum stomatal resistance at 1 x 1 deg resolution. Time series of various parameters are also displayed for each vegetation type for specified grid points. The SiB results compare reasonably well with appropriate measurements obtained from the literature and have the additional merit of being mutually consistent; the three submodels use many common parameters, which ensures that, for each grid area, the calculated surface properties are closely interrelated as is the case in nature. The derived fields provide a check on the operation of the submodels and the correctness of the parameter set. They can also be used as prescribed fields for GCMs that do not have biophysically based land surface parameterizations.
The Simple Biosphere Model (SiB) of Sellers et al., was designed to simulate the interactions between the earth's land surface and the atmosphere by treating the vegetation explicitly and realistically, thereby incorporating the biophysical controls on the exchanges of radiation, momentum, sensible and latent heat between the two systems. This paper describes the steps taken to implement SiB in a modified version of the National Meteorological Center's global spectral general circulation model (GCM) and explores the impact of the implementation on the simulated land surface fluxes and near-surface meteorological conditions. The coupled model (SiB-GCM) was used to produce summer and winter simulations. The same GCM was used with a conventional hydrological model (Ctl-GCM) to produce comparable 'control' summer and winter simulations for comparison. It was found that SiB-GCM produced a more realistic partitioning of energy at the land surface than Ctl-GCM. Generally, SiB-GCM, produced more sensible heat flux and less latent heat flux over vegetated land than did Ctl-GCM and this resulted in a much deeper daytime planetary boundary layer and reduced precipitation rates over the continents in SiB-GCM. In the summer simulation, the 200 mb jet stream was slightly weakened in the SiB-GCM relative to the Ctl-GCM results and analyses made from observations.