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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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At least 127 records · Page 7

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NASA NTRS1989

Preliminary study of a serial-parallel redundant manipulator

The manipulator design discussed here results from the examination of some of the reasons why redundancy is necessary in general purpose manipulation systems. A spherical joint design actuated in-parallel, having the many advantages of parallel actuation, is described. In addition, the benefits of using redundant actuators are discussed and illustrated in the design by the elimination of loci of singularities from the usable workspace with the addition of only one actuator. Finally, what is known by the authors about space robotics requirements is summarized and the relevance of the proposed design matched against these requirements. The design problems outlined here are viewed as much from the mechanical engineering aspect as from concerns arising from the control and the programming of manipulators.

Hayward, Vincent↗

NASA NTRS1993

A new Antarctic meteorite with chromite, orthopyroxene and metal with reference to a formation model of S asteroids

Mineralogy of a unique meteorite from Antarctica, EET84302 and the related primitive achondrites, was studied to gain better understanding on relationship between S asteroids and this meteorite group. EET84302 consists of metal-rich (M) region with metal filling interstices of silicate grains of orthopyroxene (Opx), olivine Fa8, plagioclase An24, and augite (Aug), chromite-rich (C) region with major chromite and Opx, and silicate-rich (S) region with mainly Opx. This is the first example of chromite-rich achondrite. Distribution of three areas (C, M, S) are in line with a proposed model of primitive achondrites and S asteroids. Since reflectance spectra of some members of primitive achondrites combined with those of iron meteorites, resemble those of the S asteroids, there is an expectation that S asteroids are modified products of chondrites. The trends of the variations in their mineral assemblages are in line with those of the S asteroids. Hiroi proposed a stony-iron model of S asteroids, which assumes that a few domains of various primitive achondrites are embedded in iron matrix. Polished thin sections (PTS) of EET84302,19 and ALH81187,16 were supplied from Meteorite Working Group (MWG). A previously studied PTS of EET84302 was similar in both texture and mineralogy to silicate inclusions in some iron meteorites. PTS EET84302,19 was studied by electron probe microanalyzer (EPMA) and scanning electron microscope (SEM). The reflectance spectra of EET84302 showed a weathering problem and was not used to match with those of S asteroids.

Takeda, Hiroshi↗

NASA NTRS2012

Remotely Accessible Testbed for Software Defined Radio Development

Previous development testbeds have assumed that the developer was physically present in front of the hardware being used. No provision for remote operation of basic functions (power on/off or reset) was made, because the developer/operator was sitting in front of the hardware, and could just push the button manually. In this innovation, a completely remotely accessible testbed has been created, with all diagnostic equipment and tools set up for remote access, and using standardized interfaces so that failed equipment can be quickly replaced. In this testbed, over 95% of the operating hours were used for testing without the developer being physically present. The testbed includes a pair of personal computers, one running Linux and one running Windows. A variety of peripherals is connected via Ethernet and USB (universal serial bus) interfaces. A private internal Ethernet is used to connect to test instruments and other devices, so that the sole connection to the outside world is via the two PCs. An important design consideration was that all of the instruments and interfaces used stable, long-lived industry standards, such as Ethernet, USB, and GPIB (general purpose interface bus). There are no plug-in cards for the two PCs, so there are no problems with finding replacement computers with matching interfaces, device drivers, and installation. The only thing unique to the two PCs is the locally developed software, which is not specific to computer or operating system version. If a device (including one of the computers) were to fail or become unavailable (e.g., a test instrument needed to be recalibrated), replacing it is a straightforward process with a standard, off-the-shelf device.

Lux, James P.↗

NASA NTRS1990

A network flow model for load balancing in circuit-switched multicomputers

In multicomputers that utilize circuit switching or wormhole routing, communication overhead depends largely on link contention - the variation due to distance between nodes is negligible. This has a major impact on the load balancing problem. In this case, there are some nodes with excess load (sources) and others with deficit load (sinks) and it is required to find a matching of sources to sinks that avoids contention. The problem is made complex by the hardwired routing on currently available machines: the user can control only which nodes communicate but not how the messages are routed. Network flow models of message flow in the mesh and the hypercube were developed to solve this problem. The crucial property of these models is the correspondence between minimum cost flows and correctly routed messages. To solve a given load balancing problem, a minimum cost flow algorithm is applied to the network. This permits one to determine efficiently a maximum contention free matching of sources to sinks which, in turn, tells one how much of the given imbalance can be eliminated without contention.

Bokhari, Shahid H.↗

NASA NTRS1993

A network flow model for load balancing in circuit-switched multicomputers

Bokhari, Shahid H.↗

NASA NTRSDate not supplied

Advancement of the General Aviation Synthesis Program Using Python to Enable Optimization-Based Hybrid-Propulsion Aircraft Design

In support of Electrified Powertrain Flight Demonstrator and Advanced Air Transport Technologies programs at NASA, engineers at NASA Ames and NASA Glenn Research Centers have developed a new tool for coupled engine and airframe optimization and analysis. The new tool combines the engineering-level analysis methods of the FORTRAN General Aviation Synthesis Program (GASP) with the OpenMDAO framework to handle highly coupled problems that legacy tools struggle to optimize. The tool has been verified to match GASP with good agreement on a 737 MAX8 baseline vehicle closure problem, and preliminary efforts have been made to integrate the pyCycle thermodynamic cycle analysis tool for electrified engine optimization in the context of a vehicle optimization problem.

Kenneth R. Lyons↗

NASA NTRSDate not supplied

Error Localization Examples: Looking for a Needle in a Hay-stack

Finite element models (FEM) are routinely developed and used during fabrication of high dollar-value hardware. NASA as part of the pre-flight certification of launch vehicles routinely conducts vibration and static tests to calibrate models used for flight-risk assessments. As part of the calibration process, certain areas in the model are modified, using engineering judgment and sensitivity analysis, to match the test results. Unfortunately, tools to identify problem areas in the FEM using test data directly are scarce. Over the years, Error Localization Algorithms (ELA) have been proposed with very limited success. Recently, the Analytical Dynamics Model Improvement (ADMI) algorithm, which computes closed-form mass and stiffness corrections to match the test data exactly, have been shown to be effective for error localization. The paper will present several FEM example problems where ELA is used with simulated test data to determine FEM problem areas. For each example, the correct answer is shown along with ELA results. It is shown that the ELA process is able to identify general problem areas in the FEM, which are consistent with known model perturbations. However, in most cases the ELA identified area of improvement is larger than the true answer. Nonetheless, with proper optimization tools, calibration results using the ELA identified areas provide excellent results.

error localization↗

NASA NTRS1975

A new structural analysis/synthesis capability - ACCESS

The creation of an efficient automated capability for minimum weight design of structures is reported. The ACCESS 1 computer program combines finite element analysis techniques and mathematical programming algorithms using an innovative collection of approximation concepts. Design variable linking, constraint deletion techniques and approximate analysis methods are used to generate a sequence of small explicit mathematical programming problems which retain the essential features of the design problem. Organization of the finite element analysis is carefully matched to the design optimization task. The efficiency of the ACCESS 1 program is demonstrated by giving results for several example problems.

Schmit, L. A.↗

NASA NTRSDate not supplied

Error Localization Examples: Looking for a Needle in a Haystack

Finite element models (FEM) are routinely developed and used during fabrication of high dollar-value hardware. NASA, as part of the pre-flight certification of launch vehicles, routinely conducts vibration and static tests to calibrate models used for flight-risk assessments. During model calibration, certain areas of the model are modified, using engineering judgment and sensitivity analysis, to match the test results. Unfortunately, tools to identify problem areas in the FEM using test data directly are scarce and infrequently applied. Over the years, error localization algorithms have been proposed with very limited success. Recently, the Analytical Dynamics Model Improvement (ADMI) algorithm, which computes closed-form mass and stiffness corrections to match the test data exactly, have been shown to be an effective Error Localization Algorithm (ELA). The paper discusses three examples where ELA is used with simulated test data to locate problem areas. To gain confidence in the approach, the exact answer is shown along with ELA results. Results show that ELA is able to identify general problem areas consistent with known problem areas. In all examples, the ELA identified area is larger than the exact problem area. Nonetheless, with proper optimization tools, calibration results using the ELA identified areas provide excellent results.

model calibration↗

NASA NTRS1991

Optimal guidance of aero-assisted transfer vehicles based on matched asymptotic expansions

This paper addresses a number of issues related to the matched asymptotic expansions analysis of skip trajectories, or any class of problems that give rise to inner layers that are not associated directly with satisfying boundary conditions. The procedure for matching inner and outer solutions, and using the composite solution to satisfy boundary conditions is rigorously followed in developing a complete algebraic solution to the problem of inclination change with minimum energy loss. Repeated solution of these algebraic equations along the trajectory, treating each current state as an initial state, constitute a feedback guidance algorithm.

Calise, A. J.↗

NASA NTRS1993

A robust line extraction and matching algorithm

This paper presents an algorithm for extracting straight lines from intensity mages and describes a line matching algorithm for solving the line correspondence problem. The line extraction process begins by detecting edges in the intensity image. Next, line support regions are formed where image points (pixels) have similar gradient orientation. A line fitting algorithm is then used to fit a line to the points in the line support region based on a least means square fitting algorithm. Finally, line segments are linked together to form the final lines by using an adaptive line linking method; this results in much stronger lines and a smaller set of lines to be considered. Once the lines are detected in a sequence of images, a line matching algorithm is used to match lines in one image to the lines in the other image. The images are either from a motion or stereo sequence. The matched lines may then be used with the sensor position and orientation data to estimate range to objects corresponding to the lines. We present results based on applying the line extraction and line matching algorithms to a synthetic image and an outdoor scene captured by a camera on a helicopter.

Hussien, B.↗

NASA NTRS1993

Guidance law development for aeroassisted transfer vehicles using matched asymptotic expansions

This report addresses and clarifies a number of issues related to the Matched Asymptotic Expansion (MAE) analysis of skip trajectories, or any class of problems that give rise to inner layers that are not associated directly with satisfying boundary conditions. The procedure for matching inner and outer solutions, and using the composite solution to satisfy boundary conditions is developed and rigorously followed to obtain a set of algebraic equations for the problem of inclination change with minimum energy loss. A detailed evaluation of the zeroth order guidance algorithm for aeroassisted orbit transfer is performed. It is shown that by exploiting the structure of the MAE solution procedure, the original problem, which requires the solution of a set of 20 implicit algebraic equations, can be reduced to a problem of 6 implicit equations in 6 unknowns. A solution that is near optimal, requires a minimum of computation, and thus can be implemented in real time and on-board the vehicle, has been obtained. Guidance law implementation entails treating the current state as a new initial state and repetitively solving the zeroth order MAE problem to obtain the feedback controls. Finally, a general procedure is developed for constructing a MAE solution up to first order, of the Hamilton-Jacobi-Bellman equation based on the method of characteristics. The development is valid for a class of perturbation problems whose solution exhibits two-time-scale behavior. A regular expansion for problems of this type is shown to be inappropriate since it is not valid over a narrow range of the independent variable. That is, it is not uniformly valid. Of particular interest here is the manner in which matching and boundary conditions are enforced when the expansion is carried out to first order. Two cases are distinguished-one where the left boundary condition coincides with, or lies to the right of, the singular region, and another one where the left boundary condition lies to the left of the singular region. A simple example is used to illustrate the procedure where the obtained solution is uniformly valid to O(Epsilon(exp 2)). The potential application of this procedure to aeroassisted plane change is also described and partially evaluated.

Calise, Anthony J.↗

NASA NTRS1991

A graph theoretic approach to scene matching

The ability to match two scenes is a fundamental requirement in a variety of computer vision tasks. A graph theoretic approach to inexact scene matching is presented which is useful in dealing with problems due to imperfect image segmentation. A scene is described by a set of graphs, with nodes representing objects and arcs representing relationships between objects. Each node has a set of values representing the relations between pairs of objects, such as angle, adjacency, or distance. With this method of scene representation, the task in scene matching is to match two sets of graphs. Because of segmentation errors, variations in camera angle, illumination, and other conditions, an exact match between the sets of observed and stored graphs is usually not possible. In the developed approach, the problem is represented as an association graph, in which each node represents a possible mapping of an observed region to a stored object, and each arc represents the compatibility of two mappings. Nodes and arcs have weights indicating the merit or a region-object mapping and the degree of compatibility between two mappings. A match between the two graphs corresponds to a clique, or fully connected subgraph, in the association graph. The task is to find the clique that represents the best match. Fuzzy relaxation is used to update the node weights using the contextual information contained in the arcs and neighboring nodes. This simplifies the evaluation of cliques. A method of handling oversegmentation and undersegmentation problems is also presented. The approach is tested with a set of realistic images which exhibit many types of sementation errors.

Ranganath, Heggere S.↗

NASA NTRS1991

Non-linear dynamics of a geared rotor-bearing system with multiple clearances

The nonlinear frequency response characteristics of a geared rotor-bearing system are examined. A three-DOF dynamic model is developed which includes nonlinearities associated with radial clearances in the radial rolling element bearings and backlash between a spur gear pair; linear time-invariant gear meshing stiffness is assumed. The corresponding linear system problem is also solved, and predicted natural frequencies and modes match with finite element method results. The applicability of both analytical and numerical solution techniques to the multi-DOF nonlinear problem is investigated. Satisfactory agreement is found between the theory presented here and the available experimental data. Nonlinear modal interactions and differences between internal static transmission error excitation and external torque excitation are discussed. In addition, parametric studies are performed to understand the effect of system parameters such as bearing stiffness to gear mesh stiffness ratio, alternating to mean force ratio and radial bearing preload to mean force ratio on the nonlinear dynamic behavior.

Kahraman, A.↗

NASA NTRS1984

The effect of surface contamination on thermocapillary flow in a two-dimensional slot

In an analysis of the effect of insoluble surfactants on the steady capillary flow in a shallow slot, the problem is formulated as a two-dimensional channel heated differentially from the side, with a free surface on which an insoluble surface species is adsorbed. The vertical boundaries are considered to be isothermal and impenetrable and the lower horizontal boundary to be insulated and impenetrable. Lubrication theory and matched asymptotic expansions are used to reduce the problem to a single nonlinear integral-algebraic equation. For small elasticity E, the surface velocity is nearly constant, with the result that, for small Pe, the surface concentration is nearly uniform while, for large Pe, it develops a boundary layer near the stagnation point at the cold wall, resulting in high local surface concentrations. Condensed surfactant layers will form only with E much less than one and Pe much greater than one.

Homsy, G. M.↗

NASA NTRS1982

Development of mathematical techniques for the assimilation of remote sensing data into atmospheric models

The problem of the assimilation of remote sensing data into mathematical models of atmospheric pollutant species was investigated. The data assimilation problem is posed in terms of the matching of spatially integrated species burden measurements to the predicted three-dimensional concentration fields from atmospheric diffusion models. General conditions were derived for the reconstructability of atmospheric concentration distributions from data typical of remote sensing applications, and a computational algorithm (filter) for the processing of remote sensing data was developed.

Seinfeld, J. H.↗

NASA NTRS1982

Development of mathematical techniques for the assimilation of remote sensing data into atmospheric models

The problem of the assimilation of remote sensing data into mathematical models of atmospheric pollutant species was investigated. The problem is posed in terms of the matching of spatially integrated species burden measurements to the predicted three dimensional concentration fields from atmospheric diffusion models. General conditions are derived for the "reconstructability' of atmospheric concentration distributions from data typical of remote sensing applications, and a computational algorithm (filter) for the processing of remote sensing data is developed.

Seinfeld, J. H.↗

NASA NTRS1981

A model for simulation and processing of radar images

A model for recording, processing, presentation, and analysis of radar images in digital form is presented. The observed image is represented as having two random components, one which models the variation due to the coherent addition of electromagnetic energy scattered from different objects in the illuminated areas. This component is referred to as fading. The other component is a representation of the terrain variation which can be described as the actual signal which the radar is attempting to measure. The combination of these two components provides a description of radar images as being the output of a linear space-variant filter operating on the product of the fading and terrain random processes. In addition, the model is applied to a digital image processing problem using the design and implementation of enhancement scene. Finally, parallel approaches are being employed as possible means of solving other processing problems such as SAR image map-matching, data compression, and pattern recognition.

Stiles, J. A.↗