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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1985

Two-tone intermodulation analysis of communication satellite transponders

Amplitudes of the in-band intermodulation products that arise when two equal-amplitude sinusoids are transmitted through a satellite transponder can be found from a linear transformation when the transponder characteristic is represented by a polynomial. Conversely, the nonlinearity that produces the intermodulation levels measured in a two-tone test can be found from the inverse transformation. As an application, the bandpass nonlinearity is deduced that gives rise to two-tone IM amplitudes that were measured during orbital tests of a satellite transponder, and compared with the measured bandpass characteristic.

Riddle, L. P.↗

NASA NTRS1985

On-three time scale analysis

In the present consideration of a three-timescale system, a block diagonalization employing three-stage linear transformations is used to decouple the original system into slow, fast, and faster subsystems. A numerical algorithm is given to solve the resulting Ricatti-type equations, and the technique is verified for the case of a ninth-order example. The technique yields substantial computational requirment reductions, since it involves subsystems that are of a lower order than the original system.

Naidu, D. S.↗

NASA NTRS1986

A satellite passive 37-GHz scattering-based method for measuring oceanic rain rates

A combination of theory and measurement is used to develop a scattering-based method for quantitatively measuring rainfall over the ocean from Nimbus-7 Scanning Multichannel Microwave Radiometer (SMMR) 37-GHz observations. This technique takes the observed scattering effects of precipitation on 37-GHz brightness temperatures and applies it to the oceanic environment. It requires an estimate of the effective radiating temperature of the cloudy portion of the atmosphere, and a brightness temperature measurement of the cloud-free ocean surface. These two measurements bound all possible combinations of clear and cloudy conditions within a footprint in terms of bipolarized brightness temperatures. Any satellite-observed brightness temperature T(B) lower than these values is assumed to reflect scattering, which at 37 GHz is only due to precipitation-size hydrometeors. Because the technique involves linear transformation between dual polarized brightness temperature and rain rate, there are no nonlinear 'footprint filling' effects and a unique footprint-averaged rain rate results. It is shown that these SMMR-derived rain rates for five cases of convection over the Gulf of Mexico are closely related to simultaneously derived radar rain rates, having a correlation of 0.90. This technique is then applied to a massive squall line over the Gulf of Mexico, and the resulting rain rate distribution reflects features found in cloud top heights and texture inferred from GOES infrared and visible imagery.

Spencer, R. W.↗

NASA NTRS1988

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint-angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint-angle accelerations, to the task-object accelerations., and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, G.↗

NASA NTRS1988

Linear prediction of stationary vector sequences

The class of all linear predictors of minimal order for a stationary vector-valued process is specified in terms of linear transformations on the associated Hankel covariance matrix. Two particular transformations, yielding computationally efficient construction schemes, are proposed.

Baram, Yoram↗

NASA NTRS1987

The generalized transmission error of spiral bevel gears

The traditional definition of the transmission error of parallel-axis gear pairs is reviewed and shown to be unsuitable for characterizing the deviation from conjugate action of bevel gear pairs for vibration excitation characterization purposes. This situation is rectified by generalizing the concept of the transmission error of parallel-axis gears to a three-component transmission error for spiral bevel gears of nominal spherical involute design. A general relationship is derived which expresses the contributions to the three-component transmission error from each gear of a meshing spiral bevel pair as a linear transformation of the six coordinates that describe the deviation of the shaft centerline position of each gear of the pair from the position of its rigid perfect involute counterpart.

Mark, W. D.↗

NASA NTRS1988

Dynamic workspace analysis of two cooperating robot arms

The main objective of dynamic workspace analysis is to determine the maximum force/moment that the robots can generate jointly at each point within their common workspace. The authors develop a conceptually simple procedure to solve this problem. This procedure models the two cooperating robot arms as a closed-chain system and is based on the theory of linear transformations and the properties of mechanics.

Tarn, T. J.↗

NASA NTRS1989

Inversion Of Jacobian Matrix For Robot Manipulators

Report discusses inversion of Jacobian matrix for class of six-degree-of-freedom arms with spherical wrist, i.e., with last three joints intersecting. Shows by taking advantage of simple geometry of such arms, closed-form solution of Q=J-1X, which represents linear transformation from task space to joint space, obtained efficiently. Presents solutions for PUMA arm, JPL/Stanford arm, and six-revolute-joint coplanar arm along with all singular points. Main contribution of paper shows simple geometry of this type of arms exploited in performing inverse transformation without any need to compute Jacobian or its inverse explicitly. Implication of this computational efficiency advanced task-space control schemes for spherical-wrist arms implemented more efficiently.

Fijany, Amir↗

NASA NTRS1988

On a family of nonoscillatory equations y double prime = phi(x)y

The oscillation or nonoscillation of a class of second-order linear differential equations is investigated analytically, with a focus on cases in which the functions phi(x) and y are complex-valued. Two linear transformations are introduced, and an asymptotic-decomposition procedure involving Shur triangularization is applied. The relationship of the present analysis to the nonoscillation criterion of Kneser (1896) and other more recent results is explored in two examples.

Gingold, H.↗

NASA NTRS1988

An invariant asymptotic formula for solutions of second-order linear ODE's

An invariant-matrix technique for the approximate solution of second-order ordinary differential equations (ODEs) of form y-double-prime = phi(x)y is developed analytically and demonstrated. A set of linear transformations for the companion matrix differential system is proposed; the diagonalization procedure employed in the final stage of the asymptotic decomposition is explained; and a scalar formulation of solutions for the ODEs is obtained. Several typical ODEs are analyzed, and it is shown that the Liouville-Green or WKB approximation is a special case of the present formula, which provides an approximation which is valid for the entire interval (0, infinity).

Gingold, H.↗

NASA NTRS1989

Recursive forward dynamics for multiple robot arms moving a common task object

Recursive forward dynamics algorithms are developed and presented for an arbitrary number of robot arms moving a commonly held object. The multiarm forward dynamics problem is to find the angular accelerations at the joints and the contact forces that the arms impart to the task object. The problem also involves finding the acceleration of this object. The multiarm forward dynamics solutions provide a thorough physical and mathematical understanding of the way several arms behave in response to a set of applied joint moments. Such an understanding simplifies and guides the subsequent control design and experimentation process. The forward dynamics algorithms also provide the necessary analytical foundation for conducting analysis and simulation studies. The multiarm algorithms are based on the filtering and smoothing approach recently advanced for single-arm dynamics, and they can be built up modularly from the single-arm algorithms. The algorithms compute recursively the joint angle accelerations, the contact forces, and the task-object accelerations. Algorithms are also developed to evaluate in closed form the linear transformations from the active joint moments to the joint angle accelerations, to the task object accelerations, and to the task-object contact forces. A possible computing architecture is presented as a precursor to a more complete investigation of the computational performance of the dynamics algorithms.

Rodriguez, Guillermo↗

NASA NTRS1990

Intensity dependent spread processor and workstation

The Intensity Dependent Spread (IDS) is an adaptive algorithm which is modified according to the local intensity in the scene. (This results in a nonlinear process which cannot take advantage of rather nice linear transform methods.) The computation is similar to a neural net whereby intensity information is moving from each input pixel to a set of surrounding output pixels in a manner described by Cornsweet and Yellott. A prototype of a very large scale integration IDS processor is being developed and implemented in a workstation environment. The workstation consists of a SUN 3/260 and a DATACUBE pipeline processor. The IDS prototype is a board set which operates in the DATA CUBE processor. The SUN 3/260 performs control, background processing, IDS simulation and image display functions.

Westrom, George↗

NASA NTRS1989

Minimal complexity control law synthesis

A paradigm for control law design for modern engineering systems is proposed: Minimize control law complexity subject to the achievement of a specified accuracy in the face of a specified level of uncertainty. Correspondingly, the overall goal is to make progress towards the development of a control law design methodology which supports this paradigm. Researchers achieve this goal by developing a general theory of optimal constrained-structure dynamic output feedback compensation, where here constrained-structure means that the dynamic-structure (e.g., dynamic order, pole locations, zero locations, etc.) of the output feedback compensation is constrained in some way. By applying this theory in an innovative fashion, where here the indicated iteration occurs over the choice of the compensator dynamic-structure, the paradigm stated above can, in principle, be realized. The optimal constrained-structure dynamic output feedback problem is formulated in general terms. An elegant method for reducing optimal constrained-structure dynamic output feedback problems to optimal static output feedback problems is then developed. This reduction procedure makes use of star products, linear fractional transformations, and linear fractional decompositions, and yields as a byproduct a complete characterization of the class of optimal constrained-structure dynamic output feedback problems which can be reduced to optimal static output feedback problems. Issues such as operational/physical constraints, operating-point variations, and processor throughput/memory limitations are considered, and it is shown how anti-windup/bumpless transfer, gain-scheduling, and digital processor implementation can be facilitated by constraining the controller dynamic-structure in an appropriate fashion.

Bernstein, Dennis S.↗

NASA NTRS1991

Radiometric rectification - Toward a common radiometric response among multidate, multisensor images

A method is developed for relating scene digital counts among several images of the same scene by identifying radiometric control sets with mean reflectances that are basically constant. The average digital-count values of the control sets are utilized to compute linear transforms that relate digital count values between images. Two Landsat TM images are studied by means of the technique using simulations of a wide range of atmospheric conditions. In the visible and near-IR bands the algorithm effectively adjusts the surface reflectance for the effects of relative atmospheric differences to within 1 percent. The proposed method is found to be an effective relative correction procedure that can be used when atmospheric optical-depth data and calibration coefficients are not available.

Hall, F. G.↗

NASA NTRS1993

A global multilevel atmospheric model using a vector semi-Lagrangian finite-difference scheme. I - Adiabatic formulation

An adiabatic global multilevel primitive equation model using a two time-level, semi-Lagrangian semi-implicit finite-difference integration scheme is presented. A Lorenz grid is used for vertical discretization and a C grid for the horizontal discretization. The momentum equation is discretized in vector form, thus avoiding problems near the poles. The 3D model equations are reduced by a linear transformation to a set of 2D elliptic equations, whose solution is found by means of an efficient direct solver. The model (with minimal physics) is integrated for 10 days starting from an initialized state derived from real data. A resolution of 16 levels in the vertical is used, with various horizontal resolutions. The model is found to be stable and efficient, and to give realistic output fields. Integrations with time steps of 10 min, 30 min, and 1 h are compared, and the differences are found to be acceptable.

Bates, J. R.↗

NASA NTRS1991

Network compensation for missing sensors

A network learning translation invariance algorithm to compute interpolation functions is presented. This algorithm with one fixed receptive field can construct a linear transformation compensating for gain changes, sensor position jitter, and sensor loss when there are enough remaining sensors to adequately sample the input images. However, when the images are undersampled and complete compensation is not possible, the algorithm need to be modified. For moderate sensor losses, the algorithm works if the transformation weight adjustment is restricted to the weights to output units affected by the loss.

Ahumada, Albert J., Jr.↗

NASA NTRS1995

Auditory Spatial Layout

All auditory sensory information is packaged in a pair of acoustical pressure waveforms, one at each ear. While there is obvious structure in these waveforms, that structure (temporal and spectral patterns) bears no simple relationship to the structure of the environmental objects that produced them. The properties of auditory objects and their layout in space must be derived completely from higher level processing of the peripheral input. This chapter begins with a discussion of the peculiarities of acoustical stimuli and how they are received by the human auditory system. A distinction is made between the ambient sound field and the effective stimulus to differentiate the perceptual distinctions among various simple classes of sound sources (ambient field) from the known perceptual consequences of the linear transformations of the sound wave from source to receiver (effective stimulus). Next, the definition of an auditory object is dealt with, specifically the question of how the various components of a sound stream become segregated into distinct auditory objects. The remainder of the chapter focuses on issues related to the spatial layout of auditory objects, both stationary and moving.

Wightman, Frederic L.↗

NASA NTRS1996

Correlated Light and Schroedinger Cats

The Schrodinger cat male and female states are discussed. The Wigner and Q-functions of generalized correlated light are given. Linear transformator of photon statistics is reviewed.

Manko, V. I.↗