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This whitepaper provides details for the background, conventions, definitions, transformation equations, examples, and implementation used in the Solid Body Geometry (SBG) transformations in Monte Carlo Application ToolKit (MCATK).
Cartesian coordinate transformations by rigid vector rotations
The inverse technique is used to obtain a mathematically and physically consistent solution of the flowfield in a nozzle from the mass generation surface through the supersonic region. The inverse method employs an assumed centerline function which is of the Cauchy type in that the values and the derivatives of the function are known. Since the Cauchy boundary conditions can give rise to numerical instabilities, the governing gasdynamic equations for rotational steady flow were transformed into a form which puts the geometry into a rectangular shape, and which spaces the network of interior points more finely in regions of the greatest gradients of the dependent variables. For arbitrarily specified centerline data, the solution of the governing flow equations may not exist, and if it does it may not depend continuously on the data.
Teukolsky's (1973) radial wave equation for electromagnetic perturbations about a rotating black hole is transformed into a one-dimensional wave equation with a real and short-range potential. A general technique for transforming one wave equation into another is described, and it is shown how an equation with a complex potential can be transformed into one with a purely real potential. These general techniques are then used to transform Teukolsky's equation into a wave equation whose potential is purely real and of short range. This equation is found to provide a simple formulation of the concepts of superradiant scattering and the conservation of energy underlying the present electromagnetic perturbations. It is noted that the techniques employed are general enough to be applicable when the spin weight is plus or minus 2, making a 'real-potential' formulation of the problem of gravitational perturbations about a Kerr black hole most likely.
The tse computer's capability of achieving image congruence between temporal and multiple images with misregistration due to rotational differences is reported. The coordinate transformations are obtained and a general algorithms is devised to perform image rotation using tse operations very efficiently. The details of this algorithm as well as its theoretical implications are presented. Step by step procedures of image registration are described in detail. Numerous examples are also employed to demonstrate the correctness and the effectiveness of the algorithms and conclusions and recommendations are made.
A picture digitization grid based on logarithmic spirals rather than Cartesian coordinates is presented. Expressing this curvilinear grid as a conformal exponential mapping reveals useful image processing properties. The mapping induces a computational simplification that suggests parallel architectures in which most geometric transformations are effected by data shifting in memory rather than arithmetic on coordinates. These include fast, parallel noise-free rotation, scaling, and some projective transformations of pixel defined images. Conformality of the mapping preserves local picture-processing operations such as edge detection.
The user manual for the 2-D graphics toolkit for a transputer based parallel processor is presented. The toolkit consists of a package of 2-D display routines that can be used for the simulation visualizations. It supports multiple windows, double buffered screens for animations, and simple graphics transformations such as translation, rotation, and scaling. The display routines are written in occam to take advantage of the multiprocessing features available on transputers. The package is designed to run on a transputer separate from the graphics board.
A method is described for the analysis of the unsteady, incompressible potential flow associated with a helicopter rotor and it's wake in forward flight. This method is particularly useful in low advance ratio flight due to the major contribution, in the near field, of the deformed wake. The rotor geometry is prescribed and the unsteady wake geometry is computed from the local flow perturbation velocities. The wake is modeled as a full vortex lattice. The rotor geometry is arbitrary and several rotor blades can be represented. The unsteady airloads on the rotor blades are computed in the presence of the deformed rotor wake by a time-stepping technique. Solution for the load distribution on the blade surfaces is found by prescribing boundary conditions in a reference system which rotates with the blade tips. Transformation tensors are used to describe the contribution of the wake in the inertial system to the rotor in the rotating reference system. The effects of blade cyclic pitch variation are computed using a rotation tensor. The deformation of the wake is computed in the inertial frame. The wake is started impulsively from rest, allowing a natural convection of the wake with time.
Wind tunnel testing of the full-size Model 412/IBC rotor performed at the NASA Ames Research Center is described. The use of blade-mounted accelerometers is found to be feasible for estimating or measuring blade flapping, lagging, and bending accelerations, rates, and displacements. Application of the imaginary swash plate concept to IBC systems leads to useful filtering of the blade accelerometer signals while permitting the control of a four-bladed rotor using measurements from any three blades. Rotor state measurements in the rotating system can be transformed to the corresponding nonrotating rotor states using the IBC algorithm with its associated filtering properties.
This paper deals with determination of the best ellipsoidal model fitting the available limited experimental data. The problem is defined as that of finding the minimum volume ellipsoid containing all experimental data. A general transformation matrix for the rotation of N-dimensional coordinate system is first obtained by the Gramm-Schmidt orthogonalization procedure. The use of this matrix makes it possible to search in all possible directions to find an ellipsoid with a minimum volume. The general procedure is illustrated by examples in which the real data is utilized. An invariance property of the response with uncertain parameters of different physical nature is also discussed.
For many Earth and Space Science applications, automatic geo-registration at sub-pixel accuracy has become a necessity. In this work, we are focusing on building an operational system, which will provide a sub-pixel accuracy registration of Landsat-5 and Landsat-7 data. The input to our registration method consists of scenes that have been geometrically and radiometrically corrected. Such pre-processed scenes are then geo-registered relative to a database of Landsat chips. The method assumes a transformation composed of a rotation and a translation, and utilizes rotation- and translation-invariant wavelets to extract image features that are matched using statistically robust feature matching and a generalized Hausdorff distance metric. The registration process is described and results on four Landsat input scenes of the Washington, D.C. area are presented.
Within a nonrelativistic framework, spin is generally included as an intrinsic angular momentum. It is proposed here that consistent results can be obtained with a spatial wavefunction of an oriented complex exponential ${e}^{\mp {\boldsymbol{i}}\hat{{\bf{a}}}\varphi }$, where the bivector ${\boldsymbol{i}}\hat{{\bf{a}}}$ is written in terms of the pseudoscalar i = e x e y e z and the axis of rotation given by the unit vector $\hat{{\bf{a}}}$, which is generally an (effective) magnetic field direction (this can also be written as ${e}^{\mp i{\boldsymbol{\sigma }}\cdot \hat{{\bf{a}}}\varphi }$ in terms of the Pauli vector σ). The wavefunction is a multivector and not a complex scalar. The signs in the exponential correspond to the two directions of rotation around the axis. The transformation properties of these wavefunctions are given by the Pauli spinors. Finally, spin can be viewed as a zero-point rotation arising from the noncommutativity of the momentum and the vector potential.
The problem of automatically generating stable regions for a robotic end effector on a target object, given a model of the end effector and the object is discussed. In order to generate grasping regions, an initial valid grasp transformation from the end effector to the object is obtained based on form closure requirements, and appropriate rotational and translational symmetries are associated with that transformation in order to construct a valid, continuous grasping region. The main result of this algorithm is a list of specific, valid grasp transformations of the end effector to the target object, and the appropriate combinations of translational and rotational symmetries associated with each specific transformation in order to produce a continuous grasp region.
It is possible to produce a ponderomotive effect in a plasma system without time-varying fields, if the plasma flows over spatial oscillations in the field. This can be achieved by superimposing a spatially oscillatory perturbation on a guide field, then setting up an electric field perpendicular to the guide field to drive flow over the perturbation. However, subtle distinctions in the structure of the resulting electric field can entirely change the behavior of the resulting ponderomotive force. Previous work has shown that, in slab models, these distinctions can be explained in terms of the polarization of the effective wave that appears in the co-moving frame. Here, we consider what happens to this picture in a cylindrical system, where the transformation to the co-moving (rotating) frame is not inertial. It turns out that the non-inertial nature of this frame transformation can lead to counterintuitive behavior, partly due to the appearance of parallel (magnetic-field-aligned) electric fields in the rotating frame even in cases where none existed in the laboratory frame. Apart from the academic interest of this study, the practical impact lies in being better able to anticipate the antenna configuration on the plasma periphery of a cylindrical plasma that will lead to optimal ponderomotive barrier formation in the interior plasma.
A method of mid-level pattern recognition provides for a pose invariant Hough Transform by parametrizing pairs of points in a pattern with respect to at least two reference points, thereby providing a parameter table that is scale- or rotation-invariant. A corresponding inverse transform may be applied to test hypothesized matches in an image and a distance transform utilized to quantify the level of match.
The construction industry can benefit greatly from increased automation in construction processes in terms of precision, time, and labor costs. This is especially true for prefabricated construction for either new buildings or envelope retrofits. Here, prefabricated components are manufactured offsite according to design specifications and installed onsite. Accurate information on the components position and orientation (pose) is needed to achieve this. A tool named Real-Time Evaluator (RTE), designed to autonomously track prefabricated components as they are being installed and provide real-time installation instructions, is currently under development using a single robotic total station. This is challenging since at least three points are needed to determine the pose of an object in space. To achieve this goal with a single robotic total station, two key algorithms were developed: the resection algorithm aligns the digital twin with the physical twin regardless of the location of the total station, and the transformation algorithm gives instructions of translations and rotations to installers to achieve the desired installation pose. The algorithms were evaluated experimentally on a lab-scale demonstration. Results show that the resection algorithm achieved an average error of < 3.1 mm, while the transformation algorithm predicted the rotation angle along a single axis with an error of < 0.5◦.
A process has been developed for recombinant production of selected polypeptides using transformed insect cells cultured in a horizontally rotating culture vessel modulated to create low shear conditions. A metabolically transformed insect cell line is produced using the culture procedure regardless of genetic transformation. The recombinant polypeptide can be produced by an alternative process using the cultured insect cells as host for a virus encoding the described polypeptide such as baculovirus. The insect cells can also be a host for viral production.
A process has been developed for recombinant production of selected polypeptides using transformed insect cells cultured in a horizontally rotating culture vessel modulated to create low shear conditions. A metabolically transformed insect cell line is produced using the culture procedure regardless of genetic transformation. The recombinant polypeptide can be produced by an alternative process using virtually infected or stably transformed insect cells containing a gene encoding the described polypeptide. The insect cells can also be a host for viral production.