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NASA NTRS1987

Performance improvement of robots using a learning control scheme

Many applications of robots require that the same task be repeated a number of times. In such applications, the errors associated with one cycle are also repeated every cycle of the operation. An off-line learning control scheme is used here to modify the command function which would result in smaller errors in the next operation. The learning scheme is based on a knowledge of the errors and error rates associated with each cycle. Necessary conditions for the iterative scheme to converge to zero errors are derived analytically considering a second order servosystem model. Computer simulations show that the errors are reduced at a faster rate if the error rate is included in the iteration scheme. The results also indicate that the scheme may increase the magnitude of errors if the rate information is not included in the iteration scheme. Modification of the command input using a phase and gain adjustment is also proposed to reduce the errors with one attempt. The scheme is then applied to a computer model of a robot system similar to PUMA 560. Improved performance of the robot is shown by considering various cases of trajectory tracing. The scheme can be successfully used to improve the performance of actual robots within the limitations of the repeatability and noise characteristics of the robot.

Krishna, Ramuhalli↗

NASA NTRS1990

Parallelization of implicit finite difference schemes in computational fluid dynamics

Implicit finite difference schemes are often the preferred numerical schemes in computational fluid dynamics, requiring less stringent stability bounds than the explicit schemes. Each iteration in an implicit scheme involves global data dependencies in the form of second and higher order recurrences. Efficient parallel implementations of such iterative methods are considerably more difficult and non-intuitive. The parallelization of the implicit schemes that are used for solving the Euler and the thin layer Navier-Stokes equations and that require inversions of large linear systems in the form of block tri-diagonal and/or block penta-diagonal matrices is discussed. Three-dimensional cases are emphasized and schemes that minimize the total execution time are presented. Partitioning and scheduling schemes for alleviating the effects of the global data dependencies are described. An analysis of the communication and the computation aspects of these methods is presented. The effect of the boundary conditions on the parallel schemes is also discussed.

Decker, Naomi H.↗

NASA NTRS1992

Eno-Osher schemes for Euler equations

The combination of the Osher approximate Riemann solver for the Euler equations and various ENO schemes is discussed for one-dimensional flow. The three basic approaches, viz. the ENO scheme using primitive variable reconstruction, either with Cauchy-Kowalewski procedure for time integration or the TVD Runge-Kutta scheme, and the flux-ENO method are tested on different shock tube cases. The shock tube cases were chosen to present a serious challenge to the ENO schemes in order to test their ability to capture flow discontinuities, such as shocks. Also the effect of the ordering of the eigen values, viz. natural or reversed ordering, in the Osher scheme is investigated. The ENO schemes are tested up to fifth order accuracy in space and time. The ENO-Osher scheme using the Cauchy-Kowalewski procedure for time integration is found to be the most accurate and robust compared with the other methods and is also computationally efficient. The tests showed that the ENO schemes perform reasonably well, but have problems in cases where two discontinuities are close together. In that case there are not enough points in the smooth part of the flow to create a non-oscillatory interpolation.

Vandervegt, Jacobus J.↗

NASA NTRS1994

Analysis and design of numerical schemes for gas dynamics. 2: Artificial diffusion and discrete shock structure

The effect of artificial diffusion on discrete shock structures is examined for a family of schemes which includes scalar diffusion, convective upwind and split pressure (CUSP) schemes, and upwind schemes with characteristics splitting. The analysis leads to conditions on the diffusive flux such that stationary discrete shocks can contain a single interior point. The simplest formulation which meets these conditions is a CUSP scheme in which the coefficients of the pressure differences is fully determined by the coefficient of convective diffusion. It is also shown how both the characteristic and CUSP schemes can be modified to preserve constant stagnation enthalpy in steady flow, leading to four variants, the E and H-characteristic schemes, and the E and H-CUSP schemes. Numerical results are presented which confirm the properties of these schemes.

Jameson, Antony↗

NASA NTRS1995

Combining image-processing and image compression schemes

An investigation into the combining of image-processing schemes, specifically an image enhancement scheme, with existing compression schemes is discussed. Results are presented on the pyramid coding scheme, the subband coding scheme, and progressive transmission. Encouraging results are demonstrated for the combination of image enhancement and pyramid image coding schemes, especially at low bit rates. Adding the enhancement scheme to progressive image transmission allows enhanced visual perception at low resolutions. In addition, further progressing of the transmitted images, such as edge detection schemes, can gain from the added image resolution via the enhancement.

Greenspan, H.↗

NASA NTRS1994

Practical formulation of a positively conservative scheme

Approximate Riemann solvers have been highly successful for computing the Euler/Navier-Stokes equations, but linearized Riemann solvers are known to fail occasionally by predicting non-physical states with negative density or internal energy. Positively conservative schemes, in contrast, guarantee physical solutions from realistic input. The Harten-Lax-van Leer-Einfeldt (HLLE) scheme is a typical example of a positively conservative scheme. However, the HLLE scheme is highly dissipative at contact discontinuities and shear layers and thus it is not applicable to practicle simulations. An existing modification to the HLLE scheme, known as HLLEM, enhances the resolution to that of the Roe scheme. However, this modification violates the positivity of density and internal energy. Precise derivation of the modification yields a quatratic inequality and thus requires a case-by-case treatment. This Note describes a new, modified HLLE scheme that satisfies the positively conservative condition approximately. Sample computationa are included to demonstrate the resolution and the robustness of the scheme.

Obayashi, Shigeru↗

NASA NTRS1994

Optimizations on Designing High-Resolution Finite-Difference Schemes

We describe a general optimization procedure for both maximizing the resolution characteristics of existing finite differencing schemes as well as designing finite difference schemes that will meet the error tolerance requirements of numerical solutions. The procedure is based on an optimization process. This is a generalization of the compact scheme introduced by Lele in which the resolution is improved for single, one-dimensional spatial derivative, whereas in the present approach the complete scheme, after spatial and temporal discretizations, is optimized on a range of parameters of the scheme and the governing equations. The approach is to linearize and Fourier analyze the discretized equations to check the resolving power of the scheme for various wave number ranges in the solution and optimize the resolution to satisfy the requirements of the problem. This represents a constrained nonlinear optimization problem which can be solved to obtain the nodal weights of discretization. An objective function is defined in the parametric space of wave numbers, Courant number, Mach number and other quantities of interest. Typical criterion for defining the objective function include the maximization of the resolution of high wave numbers for acoustic and electromagnetic wave propagations and turbulence calculations. The procedure is being tested on off-design conditions of non-uniform mesh, non-periodic boundary conditions, and non-constant wave speeds for scalar and system of equations. This includes the solution of wave equations and Euler equations using a conventional scheme with and without optimization and the design of an optimum scheme for the specified error tolerance.

Liu, Yen↗

NASA NTRS2004

Balanced Central Schemes for the Shallow Water Equations on Unstructured Grids

We present a two-dimensional, well-balanced, central-upwind scheme for approximating solutions of the shallow water equations in the presence of a stationary bottom topography on triangular meshes. Our starting point is the recent central scheme of Kurganov and Petrova (KP) for approximating solutions of conservation laws on triangular meshes. In order to extend this scheme from systems of conservation laws to systems of balance laws one has to find an appropriate discretization of the source terms. We first show that for general triangulations there is no discretization of the source terms that corresponds to a well-balanced form of the KP scheme. We then derive a new variant of a central scheme that can be balanced on triangular meshes. We note in passing that it is straightforward to extend the KP scheme to general unstructured conformal meshes. This extension allows us to recover our previous well-balanced scheme on Cartesian grids. We conclude with several simulations, verifying the second-order accuracy of our scheme as well as its well-balanced properties.

Bryson, Steve↗

NASA NTRS2006

Convergence Acceleration for Multistage Time-Stepping Schemes

The convergence of a Runge-Kutta (RK) scheme with multigrid is accelerated by preconditioning with a fully implicit operator. With the extended stability of the Runge-Kutta scheme, CFL numbers as high as 1000 could be used. The implicit preconditioner addresses the stiffness in the discrete equations associated with stretched meshes. Numerical dissipation operators (based on the Roe scheme, a matrix formulation, and the CUSP scheme) as well as the number of RK stages are considered in evaluating the RK/implicit scheme. Both the numerical and computational efficiency of the scheme with the different dissipation operators are discussed. The RK/implicit scheme is used to solve the two-dimensional (2-D) and three-dimensional (3-D) compressible, Reynolds-averaged Navier-Stokes equations. In two dimensions, turbulent flows over an airfoil at subsonic and transonic conditions are computed. The effects of mesh cell aspect ratio on convergence are investigated for Reynolds numbers between 5.7 x 10(exp 6) and 100.0 x 10(exp 6). Results are also obtained for a transonic wing flow. For both 2-D and 3-D problems, the computational time of a well-tuned standard RK scheme is reduced at least a factor of four.

Swanson, R. C.↗

NASA NTRS2009

The a(4) Scheme-A High Order Neutrally Stable CESE Solver

The CESE development is driven by a belief that a solver should (i) enforce conservation laws in both space and time, and (ii) be built from a nondissipative (i.e., neutrally stable) core scheme so that the numerical dissipation can be controlled effectively. To provide a solid foundation for a systematic CESE development of high order schemes, in this paper we describe a new high order (4-5th order) and neutrally stable CESE solver of a 1D advection equation with a constant advection speed a. The space-time stencil of this two-level explicit scheme is formed by one point at the upper time level and two points at the lower time level. Because it is associated with four independent mesh variables (the numerical analogues of the dependent variable and its first, second, and third-order spatial derivatives) and four equations per mesh point, the new scheme is referred to as the a(4) scheme. As in the case of other similar CESE neutrally stable solvers, the a(4) scheme enforces conservation laws in space-time locally and globally, and it has the basic, forward marching, and backward marching forms. Except for a singular case, these forms are equivalent and satisfy a space-time inversion (STI) invariant property which is shared by the advection equation. Based on the concept of STI invariance, a set of algebraic relations is developed and used to prove the a(4) scheme must be neutrally stable when it is stable. Numerically, it has been established that the scheme is stable if the value of the Courant number is less than 1/3

Chang, Sin-Chung↗

NASA NTRS2009

Application of TRMM PR and TMI Measurements to Assess Cloud Microphysical Schemes in the MM5 Model for a Winter Storm

Seen by the human eye, precipitation particles are commonly drops of rain, flakes of snow, or lumps of hail that reach the ground. Remote sensors and numerical models usually deal with information about large collections of rain, snow, and hail (or graupel --also called soft hail ) in a volume of air. Therefore, the size and number of the precipitation particles and how particles interact, evolve, and fall within the volume of air need to be represented using physical laws and mathematical tools, which are often implemented as cloud and precipitation microphysical parameterizations in numerical models. To account for the complexity of the precipitation physical processes, scientists have developed various types of such schemes in models. The accuracy of numerical weather forecasting may vary dramatically when different types of these schemes are employed. Therefore, systematic evaluations of cloud and precipitation schemes are of great importance for improvement of weather forecasts. This study is one such endeavor; it pursues quantitative assessment of all the available cloud and precipitation microphysical schemes in a weather model (MM5) through comparison with the observations obtained by National Aeronautics and Space Administration (NASA) s and Japan Aerospace Exploration Agency (JAXA) s Tropical Rainfall Measuring Mission (TRMM) precipitation radar (PR) and microwave imager (TMI). When satellite sensors (like PR or TMI) detect information from precipitation particles, they cannot directly observe the microphysical quantities (e.g., water species phase, density, size, and amount etc.). Instead, they tell how much radiation is absorbed by rain, reflected away from the sensor by snow or graupel, or reflected back to the satellite. On the other hand, the microphysical quantities in the model are usually well represented in microphysical schemes and can be converted to radiative properties that can be directly compared to the corresponding PR and TMI observations. This study employs this method to evaluate the accuracy of the simulated radiative properties by the MM5 model with different microphysical schemes. It is found that the representations of particle density, size, and mass in the different schemes in the MM5 model determine the model s performance when predicting a winter storm over the eastern Pacific Ocean. Schemes lacking moderate density particles (i.e. graupel), with snow flakes that are too large, or with excessive mass of snow or graupel lead to degraded prediction of the radiative properties as observed by the TRMM satellite. This study demonstrates the uniqueness of the combination of both an active microwave sensor (PR) and passive microwave sensor (TMI) onboard TRMM on assessing the accuracy of numerical weather forecasting. It improves our understanding of the physical and radiative properties of different types of precipitation particles and provides suggestions for better representation of cloud and precipitation processes in numerical models. It would, ultimately, contribute to answering questions like "Why did it not rain when the forecast says it would?"

Han, Mei↗

NASA NTRS2009

LDPC-PPM Coding Scheme for Optical Communication

In a proposed coding-and-modulation/demodulation-and-decoding scheme for a free-space optical communication system, an error-correcting code of the low-density parity-check (LDPC) type would be concatenated with a modulation code that consists of a mapping of bits to pulse-position-modulation (PPM) symbols. Hence, the scheme is denoted LDPC-PPM. This scheme could be considered a competitor of a related prior scheme in which an outer convolutional error-correcting code is concatenated with an interleaving operation, a bit-accumulation operation, and a PPM inner code. Both the prior and present schemes can be characterized as serially concatenated pulse-position modulation (SCPPM) coding schemes. Figure 1 represents a free-space optical communication system based on either the present LDPC-PPM scheme or the prior SCPPM scheme. At the transmitting terminal, the original data (u) are processed by an encoder into blocks of bits (a), and the encoded data are mapped to PPM of an optical signal (c). For the purpose of design and analysis, the optical channel in which the PPM signal propagates is modeled as a Poisson point process. At the receiving terminal, the arriving optical signal (y) is demodulated to obtain an estimate (a^) of the coded data, which is then processed by a decoder to obtain an estimate (u^) of the original data.

Barsoum, Maged↗

NASA NTRS2013

Impacts of Microphysical Scheme on Convective and Stratiform Characteristics in Two High Precipitation Squall Line Events

This study investigates the impact of snow, graupel, and hail processes on simulated squall lines over the Southern Great Plains in the United States. The Weather Research and Forecasting (WRF) model is used to simulate two squall line events in Oklahoma during May 2007, and the simulations are validated against radar and surface observations. Several microphysics schemes are tested in this study, including the WRF 5-Class Microphysics (WSM5), WRF 6-Class Microphysics (WSM6), Goddard Cumulus Ensemble (GCE) Three Ice (3-ice) with graupel, Goddard Two Ice (2-ice), and Goddard 3-ice hail schemes. Simulated surface precipitation is sensitive to the microphysics scheme when the graupel or hail categories are included. All of the 3-ice schemes overestimate the total precipitation with WSM6 having the largest bias. The 2-ice schemes, without a graupel/hail category, produce less total precipitation than the 3-ice schemes. By applying a radar-based convective/stratiform partitioning algorithm, we find that including graupel/hail processes increases the convective areal coverage, precipitation intensity, updraft, and downdraft intensities, and reduces the stratiform areal coverage and precipitation intensity. For vertical structures, simulations have higher reflectivity values distributed aloft than the observed values in both the convective and stratiform regions. Three-ice schemes produce more high reflectivity values in convective regions, while 2-ice schemes produce more high reflectivity values in stratiform regions. In addition, this study has demonstrated that the radar-based convective/stratiform partitioning algorithm can reasonably identify WRF-simulated precipitation, wind, and microphysical fields in both convective and stratiform regions.

snow↗

NASA NTRS2015

A Linearized Prognostic Cloud Scheme in NASAs Goddard Earth Observing System Data Assimilation Tools

A linearized prognostic cloud scheme has been developed to accompany the linearized convection scheme recently implemented in NASA's Goddard Earth Observing System data assimilation tools. The linearization, developed from the nonlinear cloud scheme, treats cloud variables prognostically so they are subject to linearized advection, diffusion, generation, and evaporation. Four linearized cloud variables are modeled, the ice and water phases of clouds generated by large-scale condensation and, separately, by detraining convection. For each species the scheme models their sources, sublimation, evaporation, and autoconversion. Large-scale, anvil and convective species of precipitation are modeled and evaporated. The cloud scheme exhibits linearity and realistic perturbation growth, except around the generation of clouds through large-scale condensation. Discontinuities and steep gradients are widely used here and severe problems occur in the calculation of cloud fraction. For data assimilation applications this poor behavior is controlled by replacing this part of the scheme with a perturbation model. For observation impacts, where efficiency is less of a concern, a filtering is developed that examines the Jacobian. The replacement scheme is only invoked if Jacobian elements or eigenvalues violate a series of tuned constants. The linearized prognostic cloud scheme is tested by comparing the linear and nonlinear perturbation trajectories for 6-, 12-, and 24-h forecast times. The tangent linear model performs well and perturbations of clouds are well captured for the lead times of interest.

Precipitation↗

NASA NTRS2015

Assessing the Tangent Linear Behaviour of Common Tracer Transport Schemes and Their Use in a Linearised Atmospheric General Circulation Model

The linearity of a selection of common advection schemes is tested and examined with a view to their use in the tangent linear and adjoint versions of an atmospheric general circulation model. The schemes are tested within a simple offline one-dimensional periodic domain as well as using a simplified and complete configuration of the linearised version of NASA's Goddard Earth Observing System version 5 (GEOS-5). All schemes which prevent the development of negative values and preserve the shape of the solution are confirmed to have nonlinear behaviour. The piecewise parabolic method (PPM) with certain flux limiters, including that used by default in GEOS-5, is found to support linear growth near the shocks. This property can cause the rapid development of unrealistically large perturbations within the tangent linear and adjoint models. It is shown that these schemes with flux limiters should not be used within the linearised version of a transport scheme. The results from tests using GEOS-5 show that the current default scheme (a version of PPM) is not suitable for the tangent linear and adjoint model, and that using a linear third-order scheme for the linearised model produces better behaviour. Using the third-order scheme for the linearised model improves the correlations between the linear and non-linear perturbation trajectories for cloud liquid water and cloud liquid ice in GEOS-5.

Tangent Linear Model↗

NASA NTRS2016

High-Order Residual-Distribution Schemes for Discontinuous Problems on Irregular Triangular Grids

In this paper, we develop second- and third-order non-oscillatory shock-capturing hyperbolic residual distribution schemes for irregular triangular grids, extending our second- and third-order schemes to discontinuous problems. We present extended first-order N- and Rusanov-scheme formulations for hyperbolic advection-diffusion system, and demonstrate that the hyperbolic diffusion term does not affect the solution of inviscid problems for vanishingly small viscous coefficient. We then propose second- and third-order blended hyperbolic residual-distribution schemes with the extended first-order Rusanov-scheme. We show that these proposed schemes are extremely accurate in predicting non-oscillatory solutions for discontinuous problems. We also propose a characteristics-based nonlinear wave sensor for accurately detecting shocks, compression, and expansion regions. Using this proposed sensor, we demonstrate that the developed hyperbolic blended schemes do not produce entropy-violating solutions (unphysical stocks). We then verify the design order of accuracy of these blended schemes on irregular triangular grids.

Mazaheri, Alireza↗

DOE OSTI2023

Importance of the Heat Treatment Scheme on Self-Reducing Reactive Silver Inks

Self-reducing reactive silver inks can print high-quality silver at reasonable temperatures. While numerous studies have explored the impact of processing temperature on electrical properties, the role of the heat treatment scheme has not yet been studied. Common heat treatment schemes include printing and drying inks at room temperature before heat treatment, performing heat treatments while the inks are still wet, and directly printing the inks onto heated substrates. Each scheme generates distinct heat transfer and mass transport kinetics that can affect the silver morphology and electrical properties. However, to date, the impact of different schemes has not been systematically investigated. To address this knowledge gap, this work investigates how different heat treatment schemes impact metal formation, sintering, and the resultant electrical properties of printed self-reducing reactive silver inks. Heat treatment on room-temperature dried inks and wet inks, with top-down (oven) and bottom-up (hot plate) heating sources, were compared. Inks dried at room temperature resulted in extremely porous films that required high heat treatment temperatures (>100 °C) for silver densification. However, these dried films could only densify locally, and their high initial porosities resulted in voids and high resistances (~0.6 Ω mm –1 ) even after heat treatments above 300 °C. Inks that were wet during heat treatment showed moderate improvements in electrical properties with resistances on the order of 0.4 Ω mm –1 at heat treatments of 250 °C. Printing reactive inks directly onto heated substrates yielded the best low-temperature results, with 0.46 Ω mm –1 (5.5 × bulk silver) line resistances achieved at only 90 °C. Overall, this work’s experimental results provide detailed insights into why printing onto a heated substrate results in superior electrical performance compared to more common heat treatment schemes. Additionally, controlling where the precipitation reaction occurs is critical to controlling the film morphology and properties. As a result, this work shows that even an ammonia-based silver reactive ink can achieve good, low-temperature electrical properties with the proper heat treatment scheme.

14 SOLAR ENERGY↗

DOE OSTI2023

An Intercomparison of Large‐Eddy Simulations of a Convection Cloud Chamber Using Haze‐Capable Bin and Lagrangian Cloud Microphysics Schemes

Abstract Recent in situ observations show that haze particles exist in a convection cloud chamber. The microphysics schemes previously used for large‐eddy simulations of the cloud chamber could not fully resolve haze particles and the associated processes, including their activation and deactivation. Specifically, cloud droplet activation was modeled based on Twomey‐type parameterizations, wherein cloud droplets were formed when a critical supersaturation for the available cloud condensation nuclei (CCN) was exceeded and haze particles were not explicitly resolved. Here, we develop and adapt haze‐capable bin and Lagrangian microphysics schemes to properly resolve the activation and deactivation processes. Results are compared with the Twomey‐type CCN‐based bin microphysics scheme in which haze particles are not fully resolved. We find that results from the haze‐capable bin microphysics scheme agree well with those from the Lagrangian microphysics scheme. However, both schemes significantly differ from those from a CCN‐based bin microphysics scheme unless CCN recycling is considered. Haze particles from the recycling of deactivated cloud droplets can strongly enhance cloud droplet number concentration due to a positive feedback in haze‐cloud interactions in the cloud chamber. Haze particle size distributions are more realistic when considering solute and curvature effects that enable representing the complete physics of the activation process. Our study suggests that haze particles and their interactions with cloud droplets may have a strong impact on cloud properties when supersaturation fluctuations are comparable to mean supersaturation, as is the case in the cloud chamber and likely is the case in the atmosphere, especially in polluted conditions.

54 ENVIRONMENTAL SCIENCES↗