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NASA NTRSDate not supplied

Machine-learning Solution for Automatic Spacesuit Motion Recognition and Measurement from Conventional Video

Extravehicular Activity (EVA) spacesuits exhibit unique movement patterns due to their design characteristics. Mobility assessments using traditional motion capture systems are cost prohibitive and not feasible for some training conditions (e.g., simulated lunar outdoor terrain). This paper aims to present the ongoing development of machine learning solutions to quantify suit motions from conventional videos without special sensors or hardware. Given the fast growth in deep/machine learning technologies, external expertise was sought from open-source communities. This was expected to accelerate development and provide more cost-effective, time-saving solutions. This work was selected for a NASA Crowdsourcing project through an agency-wide solicitation. Partnerships were formed with the NASA JSC Center of Excellence for Collaborative Innovation and an execution crowdsourcing platform partner to solicit framework developments from external contenders. NASA provided contenders with video clips of spacesuits and simultaneously measured motion capture data during EVA simulation tasks. The contenders used this data to train and develop generalized algorithms to predict motions. At the end of the crowdsourcing event, five solutions were selected from 250 submissions. Each submission was tested and scored using video clips not previously disclosed to the contenders. The scoring metrics measured how well the algorithm detected the suit shape, the 2D suit joint detection accuracy, and 3D joint detection accuracy. The winning solution was able to achieve roughly 85% prediction accuracy (weighted combination of scoring metrics). Overall, the algorithms could efficiently detect various types of spacesuits and motions across different EVA simulation environments such as the Neutral Buoyancy Lab (NBL). However, 3D joint identification is less reliable when parts of the suit were obstructed in the image. After continued improvements and validation, the fully developed system will enable EVA stakeholders to quantify suit kinematic patterns, which can help optimize suit, hardware, and task designs.

Linh Vu↗
NASA NTRSDate not supplied

Low Latency Flux and Concentration Datasets in Support of Greenhouse Gas Monitoring Based on NASA's GEOS Modeling and Data Assimilation System

We present efforts to develop space-based greenhouse gas monitoring systems that can provide low latency information and traceability to independent observations. Through support from its Carbon Monitoring System program, NASA has developed the capability to assimilate XCO2 retrievals from the Orbiting Carbon Observatory, 2 (OCO-2) into the Goddard Earth Observing System (GEOS) Constituent Data Assimilation System (CoDAS) to create gap-filled, three-dimensional (3D) estimates of CO2 mixing ratio. When OCO-2 data are not available, concentration fields are further informed by a bottom-up flux package based on remotely sensed fire radiative power, nighttime lights, and vegetation reflectance combined with estimates of atmospheric growth rate based on surface in situ data. The 3D nature of this dataset supports evaluation with independent aircraft data, helping to ensure transparency of remotely sensed data products. These quasi-operational data are currently produced 2-3 months behind real time and are distributed via NASA and international dashboard services to a variety of end users. In this presentation, we provide an overview of the system as well as remaining data gaps and modeling challenges. We also highlight the application of this dataset for detecting emissions anomalies associated with COVID-19 and comparing against independent emissions estimates. Finally, we highlight a new NASA initiative called the Earth Information System (EIS), which aims to support open science and applications by leveraging emerging cloud computing capabilities to increase access to NASA’s greenhouse gas datasets, opportunities for co-development, and transparency in methods for analysis and flux attribution.

Lesley Ott↗
NASA NTRS2021

Examining Runner’s Outdoor Heat Exposure Using Urban Microclimate Modeling and GPS Trajectory Mining

It is important to quantify human heat exposure in order to evaluate and mitigate the negative impacts of heat on human well-being in the context of global warming. This study proposed a human-centric framework to examine human personal heat exposure based on anonymous GPS trajectories data mining and urban microclimate modeling. The mean radiant temperature (Tmrt) that represents the human body’s energy balance was used to indicate human heat exposure. The meteorological data and high-resolution 3D urban model generated from multispectral remotely sensed images and LiDAR data were used as inputs in urban microclimate modeling to map the spatio-temporal distribution of the Tmrt in the Boston metropolitan area. The anonymous human GPS trajectory data collected from fitness Apps was used to map the spatiotemporal distribution of human outdoor activities. By overlaying the anonymous GPS trajectories on the generated spatio-temporal maps of Tmrt, this study further examined the heat exposure of runners in different age-gender groups in the Boston area. Results show that there is no significant difference in terms of heat exposure for female and male runners. The female runners in the age of 45-54 are exposed to more heat than female runners of 18-24 and 25-34, while there is no significant difference among male runners. This study proposed a novel method to estimate human heat exposure, which would shed new light on mitigating the negative impacts of heat on human health.

Personal heat exposure↗
NASA NTRSDate not supplied

Icing Physics Studies Using the 3D SIDRM Test Article: Aerodynamic and Supercooled Liquid Icing Analysis

In-flight icing is an important safety issue and is a factor that affects aircraft design and performance. Newer regulations are driving a need for improvements in airframe and engine icing simulation capability. Experimental data is required for development of icing physics models and simulation validation. To that end, this paper discusses analyzed data from icing tests conducted with a 3D test article in 2022 at the NASA Icing Research Tunnel. The test article, whose geometry is representative of an inter-compressor duct and strut region of a turbofan engine, has been designed and constructed to study the physics of supercooled water icing and ice crystal icing. The surfaces of the Simulated Inter-compressor Duct Research Model (SIDRM) can be heated to simulate the warm surfaces of the turbofan inter-compressor duct. The test article is instrumented with pressure taps, heaters, heat flux gauges, and thermocouples, while a 3D laser scanner, cameras, and a scale to measure ice mass were utilized to characterize the icing behavior. The aim of these tests was to generate ice accretions on the SIDRM test article under well-characterized supercooled liquid icing and ice crystal icing conditions. This paper discusses measurements related to aerodynamic tests and supercooled liquid icing tests that were conducted. Aerodynamic measurements were analyzed and compared to computational simulations and were found to be in good agreement for the range of airspeeds (50 to 230 knots) and angles of attack (0 to 4°) tested. Various parametric sweeps were conducted during the supercooled liquid icing portion of the test entry (cloud median volumetric diameter ranged from 15 to 90 µm, total air temperature from -3 to -17 °C, angle of attack from 0 to 4°, and accretion time from 5 to 20 min). These sweeps were performed to measure that parameter’s impact on ice accretion size, location, characteristics (such as glaze/rime ice and shedding behavior), and test article surface temperature. Analysis of the test data showed that clouds composed of larger drops, colder air temperatures, smaller angles of attack, and longer spray times were the primary parameters that resulted in accretions with greater ice mass. Test article angle of attack and cloud droplet size influenced the location of ice accretion as these two parameters directly impact collection efficiency. With respect to icing characteristics, total air temperature dictated icing type, and smaller cloud drop size along with warmer air temperatures resulted in greater amounts of ice shedding. Surface temperature increased during ice accretion from the release of latent (fusion) heat, where total air temperature and cloud drop size impacted the amount of surface temperature change. The icing measurements collected during the SIDRM tests will be used to develop and validate 3D computational engine icing tools, such as GlennICE, that predictively assesses the onset and growth of ice. One of the goals of the sponsoring NASA project is to develop simulation models and tools that can assist in the design and certification of engines for flight in icing conditions in a cost‑effective way.

supercooled liquid icing↗
NASA NTRS2013

Understanding the Flow Physics of Shock Boundary-Layer Interactions Using CFD and Numerical Analyses

Computational fluid dynamic (CFD) analyses of the University of Michigan (UM) Shock/Boundary-Layer Interaction (SBLI) experiments were performed as an extension of the CFD SBLI Workshop held at the 48th AIAA Aerospace Sciences Meeting in 2010. In particular, the UM Mach 2.75 Glass Tunnel with a semi-spanning 7.75deg wedge was analyzed in attempts to explore key physics pertinent to SBLI's, including thermodynamic and viscous boundary conditions as well as turbulence modeling. Most of the analyses were 3D CFD simulations using the OVERFLOW flow solver, with additional quasi-1D simulations performed with an in house MATLAB code interfacing with the NIST REFPROP code to explore perfect verses non-ideal air. A fundamental exploration pertaining to the effects of particle image velocimetry (PIV) on post-processing data is also shown. Results from the CFD simulations showed an improvement in agreement with experimental data with key contributions including adding a laminar zone upstream of the wedge and the necessity of mimicking PIV particle lag for comparisons. Results from the quasi-1D simulation showed that there was little difference between perfect and non-ideal air for the configuration presented.

Friedlander, David J.↗
NASA NTRS2002

Micromere lineages in the glossiphoniid leech Helobdella

In leech embryos, segmental mesoderm and ectoderm arise from teloblasts by lineages that are already relatively well characterized. Here, we present data concerning the early divisions and the definitive fate maps of the micromeres, a group of 25 small cells that arise during the modified spiral cleavage in leech (Helobdella robusta) and contribute to most of the nonsegmental tissues of the adult. Three noteworthy results of this work are as follows. (1) The c"' and dm' clones (3d and 3c in traditional nomenclature) give rise to a hitherto undescribed network of fibers that run from one end of the embryo to the other. (2) The clones of micromeres b" and b"' (2b and 3b in traditional nomenclature) die in normal development; the b" clone can be rescued to assume the normal c" fate if micromere c" or its clone are ablated in early development. (3) Two qualitative differences in micromere fates are seen between H. robusta (Sacramento) and another Helobdella sp. (Galt). First, in Helobdella sp. (Galt), the clone of micromere b" does not normally die, and contributes a subset of the cells arising exclusively from c" in H. robusta (Sacramento). Second, in Helobdella sp. (Galt), micromere c"' makes no definitive contribution, whereas micromere dm' gives rise to cells equivalent to those arising from c"' and dm' in H. robusta (Sacramento).

Non-NASA Center↗
NASA NTRSDate not supplied

Machine-learning Solution for Automatic Spacesuit Motion Recognition and Measurement from Conventional Video

Extravehicular Activity (EVA) spacesuits exhibit unique movement patterns due to their design characteristics. Mobility assessments using traditional motion capture systems are cost prohibitive and not feasible for some training conditions (e.g., simulated lunar outdoor terrain). This paper aims to present the ongoing development of machine learning solutions to quantify suit motions from conventional videos without special sensors or hardware. Preliminary work into this field was promising but given the fast growth in deep/machine learning technologies, external expertise was sought from open-source communities. Partnerships were formed with the NASA JSC Center of Excellence for Collaborative Innovation (CoCEI) and an execution crowdsourcing platform partner to solicit machine learning framework developments from external contenders. NASA provided contenders with images and video clips of spacesuits with simultaneously measured motion capture data during EVA simulation tasks. The contenders used this data to train and develop generalized algorithms to predict motions. At the end of the crowdsourcing event, the top five solutions were selected from 250 submissions. Each submission was tested and scored using video clips not previously disclosed to the contenders. The weighted scoring metrics measured how well the algorithm detected the suit shape, the 2D suit joint detection accuracy, and 3D joint detection accuracy. The winning solution was able to achieve roughly 85% prediction accuracy. Overall, the algorithms could efficiently detect various types of spacesuits and motions across different EVA environments such as the NASA Active Response Gravity Offload System (ARGOS). After continued improvements and validation, the fully developed system will enable EVA stakeholders to quantify suit kinematic patterns, which can help optimize suit, hardware, and task designs.

Linh Vu↗
NASA NTRS1992

Viscous simulation method for unsteady flows past multicomponent configurations

The present algorithm for the numerical simulation of flows about complex configurations (whose multiple and nonsimilar components have arbitraty geometries) employs a hybridization of the domain decomposition techniques for grid generation as well as to reduce computer-memory requirements. A fully vectorized, finite-volume, upwind-biased, approximately factored multigrid method is used to solve 3D Reynolds-averaged unsteady and compressible Navier-Stokes equations simulating supersonic flows past an ogive-nose-cylinder near or within a cavity. The time-averaged surface pressures obtained compare favorably with the wind tunnel data.

Fouladi, Kamran↗
NASA NTRS2012

Modeling Solar Zenith Angle Effects on the Polar Wind

We use the Polar Wind Outflow Model (PWOM) to study the geomagnetically quiet conditions in the polar cap during solar maximum. The PWOM solves the gyrotropic transport equations for O+, H+, and He+ along several magnetic field lines in the polar region in order to reconstruct the full 3D solution. We directly compare our simulation results to the data based empirical model of Kitamura et al. (2011) of electron density which is based on 63 months of Akebono satellite observations. The modeled ion and electron temperatures are also compared with a statistical compilation of quiet time data obtained by the EISCAT Svalbard Radar (ESR) and Intercosmos Satellites. The data and model agree reasonably well, albeit with some differences. This study shows that photoelectrons play an important role in explaining the differences between sunlit and dark results of electron density, ion composition, as well as ion and electron temperatures of the quiet time polar wind solution. Moreover, these results provide an initial validation of the PWOM s ability to model the quiet time "background" solution.

Glocer, A↗
NASA NTRSDate not supplied

Fully Coupled Aeroelastic Stability Analysis of Adaptive Shape Memory Alloy Structural Technologies for Airframe Noise Reduction

The objective of this work is the development of computational models and analysis of the coupled fluid-structure response of a slat gap filler (SGF) noise treatment applied to the leading-edge-slat component of a high-lift system typical of modern transport aircraft. The representative airframe chosen for this work is NASA’s High-lift Common Research Model (CRM-HL) in a baseline high-lift configuration. Superelastic shape memory alloys (SMAs) have been identified as enabling materials for these structural treatments. Since the technology elements rely upon having a highly reconfigurable structure, designs must be assessed for static aeroelastic deflection as well as dynamic aeroelastic stability using coupled computational fluid dynamics (CFD) and nonlinear computational structural dynamics (NL CSD) tools. The technical approach consists of solving for the flow field around the entire vehicle using a global CFD model, followed by extraction of relevant local subdomain data for CFD and NL-CSD co-simulations. The SGF design is assessed using both 2D and 3D co-simulations to predict quasi-static aeroelastic deformations and to assess dynamic aeroelastic stability.

Fluid structure interaction↗
NASA NTRSDate not supplied

Impact Experiments into Granular Targets Containing Solitary Blocks of Varying Strength and Size

Crater scaling relationships provide a means to correlate dimensions of laboratory-scale impact experiments to naturally formed craters at planetary scales. For relatively larger impact events, where gravity is the dominant arresting force against crater growth, these scaling relations are comparatively simple. For smaller craters, however, the target properties have increasing influence over the cratering process. Further complexities are easily envisaged when considering realistic surfaces that contain small-scale heterogeneities in cohesive strength, density, porosity, friction, as these properties will each have unequal effects on the resultant crater morphometry. Even when produced under controlled laboratory conditions, understanding (and controlling) the entire relevant parameter space is daunting, and deconvolution of the relevant contributors can be complicated even in the best-case scenario. To this end, we have begun an extensive series of impact experiments that will provide a nascent framework that will aid in the interpretation of craters observed on complex natural surfaces throughout the solar system. To start with the simplest configuration, experiments were performed with cylindrical PVC buckets that were filled with quartz sand and contained a single cubic block of synthetic sandstone. The blocks varied in size (14-33 mm) and unconfined compressive strength (0.5-7.4 MPa) and were placed in/on the sand along the trajectory of the incoming impactor and buried to different depths. All experiments were conducted using the vertical gun located in the Experimental Impact Lab at NASA Johnson Space Center with alumina projectiles that were accelerated to ~1.53 km s^-1 under a vacuum of 1 torr. After the impact, target containers were removed from the chamber are morphometric data were extracted by using a Peel 2 3D-scanner in combination with the open-source software, CloudCompare. Initial results show that block strength is a secondary effect on crater diameter and depth, but when at least one edge of the block is exposed and the surface (partial burial) the strength will dictate the number of surviving block fragments around the crater, as well as how much disrupted block material is retained within the crater walls.

Christopher J. Cline II↗
NASA NTRS1994

Accurate estimation of object location in an image sequence using helicopter flight data

In autonomous navigation, it is essential to obtain a three-dimensional (3D) description of the static environment in which the vehicle is traveling. For a rotorcraft conducting low-latitude flight, this description is particularly useful for obstacle detection and avoidance. In this paper, we address the problem of 3D position estimation for static objects from a monocular sequence of images captured from a low-latitude flying helicopter. Since the environment is static, it is well known that the optical flow in the image will produce a radiating pattern from the focus of expansion. We propose a motion analysis system which utilizes the epipolar constraint to accurately estimate 3D positions of scene objects in a real world image sequence taken from a low-altitude flying helicopter. Results show that this approach gives good estimates of object positions near the rotorcraft's intended flight-path.

Tang, Yuan-Liang↗
NASA NTRS2010

Assessment of Aerosol Distributions from GEOS-5 Using the CALIPSO Feature Mask

A-train sensors such as MODIS, MISR, and CALIPSO are used to determine aerosol properties, and in the process a means of estimating aerosol type (e.g. smoke vs. dust). Correct classification of aerosol type is important for climate assessment, air quality applications, and for comparisons and analysis with aerosol transport models. The Aerosols-Clouds-Ecosystems (ACE) satellite mission proposed in the NRC Decadal Survey describes a next generation aerosol and cloud suite similar to the current A-train, including a lidar. The future ACE lidar must be able to determine aerosol type effectively in conjunction with modeling activities to achieve ACE objectives. Here we examine the current capabilities of CALIPSO and the NASA Goddard Earth Observing System general circulation model and data assimilation system (GEOS-5), to place future ACE needs in context. The CALIPSO level 2 feature mask includes vertical profiles of aerosol layers classified by type. GEOS-5 provides global 3D aerosol mass for sulfate, sea salt, dust, and black and organic carbon. A GEOS aerosol scene classification algorithm has been developed to provide estimates of aerosol mixtures and extinction profiles along the CALIPSO orbit track. In previous work, initial comparisons between GEOS-5 derived aerosol mixtures and CALIPSO derived aerosol types were presented for July 2007. In general, the results showed that model and lidar derived aerosol types did not agree well in the boundary layer. Agreement was poor over Europe, where CALIPSO indicated the presence of dust and pollution mixtures yet GEOS-5 was dominated by pollution with little dust. Over the ocean in the tropics, the model appeared to contain less sea salt than detected by CALIPSO, yet at high latitudes the situation was reserved. Agreement between CALIPSO and GEOS-5, aerosol types improved above the boundary layer, primarily in dust and smoke dominated regions. At higher altitudes (> 5 km), the model contained aerosol layers not detected by CALIPSO. Here we present new results for a full year study using the new Version 3 CALIPSO data and most recent GEOS-5 model results.

Welton, Ellsworth↗
NASA NTRS1998

Real-Time Lunar Prospector Data Visualization Using Web-Based Java

The Lunar Prospector was co-developed by NASA Ames Research Center and Lockheed Martin, and was launched on January 6th, 1998. Its mission is to search for water ice and various elements in the Moon's surface, map its magnetic and gravity fields, and detect volcanic activity. For the first time, the World Wide Web is being used to graphically display near-real-time data from a planetary exploration mission to the global public. Science data from the craft's instruments, as well as engineering data for the spacecraft subsystems, are continuously displayed in time-varying XY plots. The craft's current location is displayed relative to the whole Moon, and as an off-craft observer would see in the reference frame of the craft, with the lunar terrain scrolling underneath. These features are implemented as Java applets. Analyzed data (element and mass distribution) is presented as 3D lunar maps using VRML and Javascript. During the development phase, implementations of the Java Virtual Machine were just beginning to mature enough to adequately accommodate our target featureset; incomplete and varying implementations were the biggest bottleneck to our ideal of ubiquitous browser access. Bottlenecks notwithstanding, the reaction from the Internet community was overwhelmingly enthusiastic.

Deardorff, D. Glenn↗
NASA NTRS2004

Starting Conditions for Hydrothermal Systems Underneath Martian Craters: Hydrocode Modeling

Mars is the most Earth-like of the Solar System s planets, and the first place to look for any sign of present or past extraterrestrial life. Its surface shows many features indicative of the presence of surface and sub-surface water, while impact cratering and volcanism have provided temporary and local surface heat sources throughout Mars geologic history. Impact craters are widely used ubiquitous indicators for the presence of sub-surface water or ice on Mars. In particular, the presence of significant amounts of ground ice or water would cause impact-induced hydrothermal alteration at Martian impact sites. The realization that hydrothermal systems are possible sites for the origin and early evolution of life on Earth has given rise to the hypothesis that hydrothermal systems may have had the same role on Mars. Rough estimates of the heat generated in impact events have been based on scaling relations, or thermal data based on terrestrial impacts on crystalline basements. Preliminary studies also suggest that melt sheets and target uplift are equally important heat sources for the development of a hydrothermal system, while its lifetime depends on the volume and cooling rate of the heat source, as well as the permeability of the host rocks. We present initial results of two-dimensional (2D) and three-dimensional (3D) simulations of impacts on Mars aimed at constraining the initial conditions for modeling the onset and evolution of a hydrothermal system on the red planet. Simulations of the early stages of impact cratering provide an estimate of the amount of shock melting and the pressure-temperature distribution in the target caused by various impacts on the Martian surface. Modeling of the late stage of crater collapse is necessary to characterize the final thermal state of the target, including crater uplift, and distribution of the heated target material (including the melt pool) and hot ejecta around the crater.

Pierazzo, E.↗
NASA NTRS2012

3D Drop Size Distribution Extrapolation Algorithm Using a Single Disdrometer

Determining the Z-R relationship (where Z is the radar reflectivity factor and R is rainfall rate) from disdrometer data has been and is a common goal of cloud physicists and radar meteorology researchers. The usefulness of this quantity has traditionally been limited since radar represents a volume measurement, while a disdrometer corresponds to a point measurement. To solve that problem, a 3D-DSD (drop-size distribution) method of determining an equivalent 3D Z-R was developed at the University of Central Florida and tested at the Kennedy Space Center, FL. Unfortunately, that method required a minimum of three disdrometers clustered together within a microscale network (.1-km separation). Since most commercial disdrometers used by the radar meteorology/cloud physics community are high-cost instruments, three disdrometers located within a microscale area is generally not a practical strategy due to the limitations of these kinds of research budgets. A relatively simple modification to the 3D-DSD algorithm provides an estimate of the 3D-DSD and therefore, a 3D Z-R measurement using a single disdrometer. The basis of the horizontal extrapolation is mass conservation of a drop size increment, employing the mass conservation equation. For vertical extrapolation, convolution of a drop size increment using raindrop terminal velocity is used. Together, these two independent extrapolation techniques provide a complete 3DDSD estimate in a volume around and above a single disdrometer. The estimation error is lowest along a vertical plane intersecting the disdrometer position in the direction of wind advection. This work demonstrates that multiple sensors are not required for successful implementation of the 3D interpolation/extrapolation algorithm. This is a great benefit since it is seldom that multiple sensors in the required spatial arrangement are available for this type of analysis. The original software (developed at the University of Central Florida, 1998.- 2000) has also been modified to read standardized disdrometer data format (Joss-Waldvogel format). Other modifications to the software involve accounting for vertical ambient wind motion, as well as evaporation of the raindrop during its flight time.

Lane, John↗
NASA NTRS2014

Numerical Modeling of Ocular Dysfunction in Space

Upon introduction to microgravity, the near-loss of hydrostatic pressure causes a marked cephalic (headward) shift of fluid in an astronaut's body. The fluid shift, along with other factors of spaceflight, induces a cascade of interdependent physiological responses which occur at varying time scales. Long-duration missions carry an increased risk for the development of the Visual Impairment and Intracranial Pressure (VIIP) syndrome, a spectrum of ophthalmic changes including posterior globe flattening, choroidal folds, distension of the optic nerve sheath, kinking of the optic nerve and potentially permanent degradation of visual function. In the cases of VIIP found to date, the initial onset of symptoms occurred after several weeks to several months of spaceflight, by which time the gross bodily fluid distribution is well established. We are developing a suite of numerical models to simulate the effects of fluid shift on the cardiovascular, central nervous and ocular systems. These models calculate the modified mean volumes, flow rates and pressures that are characteristic of the altered quasi-homeostatic state in microgravity, including intracranial and intraocular pressures. The results of the lumped models provide initial and boundary data to a 3D finite element biomechanics simulation of the globe, optic nerve head and retrobulbar subarachnoid space. The integrated set of models will be used to investigate the evolution of the biomechanical stress state in the ocular tissues due to long-term exposure to microgravity.

intraocular pressure↗
NASA NTRS1992

Calculations of hot gas ingestion for a STOVL aircraft model

Hot gas ingestion problems for STOVL (Short Take-Off, Vertical Landing) aircraft are typically approached with empirical methods and experience. In this study, the hot gas environment around a STOVL aircraft was modeled as multiple jets in crossflow with inlet suction. The flow field was calculated with a Navier-Stokes, Reynolds-averaged, turbulent, 3D CFD code using a multigrid technique. A simple model of a STOVL aircraft with four choked jets at 1000 K was studied at various heights, headwind speeds, and thrust splay angles in a modest parametric study. Scientific visualization of the computed flow field shows a pair of vortices in front of the inlet. This and other qualitative aspects of the flow field agree well with experimental data.

Fricker, D. M.↗