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Unsupervised Change Detection for Space Habitats Using 3D Point Clouds

This work presents an algorithm for scene change detection from point clouds to enable autonomous robotic caretaking in future space habitats. Autonomous robotic systems will help maintain future deep-space habitats, such as the Gateway space station, which will be uncrewed for extended periods. Existing scene analysis software used on the International Space Station (ISS) relies on manually-labeled images for detecting changes. In contrast, the algorithm presented in this work uses raw, unlabeled point clouds as inputs. The algorithm first applies modified Expectation-Maximization Gaussian Mixture Model (GMM) clustering to two input point clouds. It then performs change detection by comparing the GMMs using the Earth Mover’s Distance. The algorithm is validated quantitatively and qualitatively using a test dataset collected by an Astrobee robot in the NASA Ames Granite Lab comprising single frame depth images taken directly by Astrobee and full-scene reconstructed maps built with RGB-D and pose data from Astrobee. The runtimes of the approach are also analyzed in depth. The source code is publicly released to promote further development.

robotics↗

NASA NTRS2024

Out of Plane Stresses Using a Beam-Based Elastic Foundation Bonded Joint Model

Efficient, semi-analytical models of bonded joints are utilized for initial joint design and sizing due to their convenience and speed. Many of these models are based on beam and plate theories, which are most applicable when in-plane stresses/strains dominate. While this can be a sensible assumption for obtaining the deformations of the joint, out of plane (transverse) stresses are often of critical importance for failure in bonded joints composed of fiber reinforced composite materials. Since through-thickness strains are neglected in these semi-analytical theories, the present study shows a method to back-calculate the out of plane stresses based on stress balance equations, which use the in-plane stresses and displacements that have already been obtained. The method was implemented within the Joint Element Designer (JED) software, and verification and validation examples have been shown. As is typical for these types of models, corner stress singularities are not captured by the JED model, but the general trends of the stress and deformation fields agreed with a higher fidelity finite element model. As such, this method for obtaining out of plane stresses, when coupled with the JED code, is very useful for the complete stress analysis of bonded composite joints.

composites↗

NASA NTRS1982

The software-implemented fault tolerance /SIFT/ approach to fault tolerant computing

SIFT is an experimental computer designed for highly reliable flight-control service in advanced air transports. Its development was intended to integrate and demonstrate the latest techniques in fault-tolerant computing. During its development, several new problems of some generality were uncovered and solved. The technology developed for the validation of its design is seen as being perhaps as important as the design itself. The SIFT design is described, as is the way in which the design and its validation were shaped by the requirements of its intended application. Attention is also given to reliability and fault tolerance. The most significant feature of the hardware design is the absence of elements that can generate multiple faults, such as shared clocks or data buses. It is noted that the software is realized in only 800 lines of code, of which 80% are in a high-level language.

Goldberg, J.↗

NASA NTRS1986

Flap-lag-torsional dynamics of helicopter rotor blades in forward flight

A perturbation/numerical methodology to analyze the flap-lead/lag motion of a centrally hinged spring restrained rotor blade that is valid for both hover and for forward flight was developed. The derivation of the nonlinear differential equations of motion and the analysis of the stability of the steady state response of the blade were conducted entirely in a Symbolics 3670 Machine using MACSYMA to perform all the lengthy symbolic manipulations. It also includes generation of the fortran codes and plots of the results. The Floquet theory was also applied to the differential equations of motion in order to compare results with those obtained from the perturbation analysis. The results obtained from the perturbation methodology and from Floquet theory were found to be very close to each other, which demonstrates the usefullness of the perturbation methodology. Another problem under study consisted in the analysis of the influence of higher order terms in the response and stability of a flexible rotor blade in forward flight using Computerized Symbolic Manipulation and a perturbation technique to bypass the Floquet theory. The derivation of the partial differential equations of motion is presented.

Crespodasilva, M. R. M.↗

NASA NTRS1991

Aeroelastic loads and stability investigation of a full-scale hingeless rotor

An analytical investigation was conducted to study the influence of various parameters on predicting the aeroelastic loads and stability of a full-scale hingeless rotor in hover and forward flight. The CAMRAD/JA (Comprehensive Analytical Model of Rotorcraft Aerodynamics and Dynamics, Johnson Aeronautics) analysis code is used to obtain the analytical predictions. Data are presented for rotor blade bending and torsional moments as well as inplane damping data obtained for rotor operation in hover at a constant rotor rotational speed of 425 rpm and thrust coefficients between 0.0 and 0.12. Experimental data are presented from a test in the wind tunnel. Validation of the rotor system structural model with experimental rotor blade loads data shows excellent correlation with analytical results. Using this analysis, the influence of different aerodynamic inflow models, the number of generalized blade and body degrees of freedom, and the control-system stiffness at predicted stability levels are shown. Forward flight predictions of the BO-105 rotor system for 1-G thrust conditions at advance ratios of 0.0 to 0.35 are presented. The influence of different aerodynamic inflow models, dynamic inflow models and shaft angle variations on predicted stability levels are shown as a function of advance ratio.

Peterson, Randall L.↗

NASA NTRS1991

Design and experimental evaluation of compact radial-inflow turbines

The application of a multistage 3D Euler solver to the aerodynamic design of two compact radial-inflow turbines is presented, along with experimental results evaluating and validating the designs. The objectives of the program were to design, fabricate, and rig test compact radial-inflow turbines with equal or better efficiency relative to conventional designs, while having 40 percent less rotor length than current traditionally-sized radial turbines. The approach to achieving these objectives was to apply a calibrated 3D multistage Euler code to accurately predict and control the high rotor flow passage velocities and high aerodynamic loadings resulting from the reduction in rotor length. A comparison of the advanced compact designs to current state-of-the-art configurations is presented.

Fredmonski, A. J.↗

NASA NTRS1993

Three-dimensional modeling of diesel engine intake flow, combustion and emissions-2

A three-dimensional computer code, KIVA, is being modified to include state-of-the-art submodels for diesel engine flow and combustion. Improved and/or new submodels which have already been implemented and previously reported are: wall heat transfer with unsteadiness and compressibility, laminar-turbulent characteristic time combustion with unburned HC and Zeldo'vich NO(x), and spray/wall impingement with rebounding and sliding drops. Progress on the implementation of improved spray drop drag and drop breakup models, the formulation and testing of a multistep kinetics ignition model, and preliminary soot modeling results are described. In addition, the use of a block structured version of KIVA to model the intake flow process is described. A grid generation scheme was developed for modeling realistic (complex) engine geometries, and computations were made of intake flow in the ports and combustion chamber of a two-intake-value engine. The research also involves the use of the code to assess the effects of subprocesses on diesel engine performance. The accuracy of the predictions is being tested by comparisons with engine experiments. To date, comparisons were made with measured engine cylinder pressure, temperature and heat flux data, and the model results are in good agreement with the experiments. Work is in progress that will allow validation of in-cylinder flow and soot formation predictions. An engine test facility is described that is being used to provide the needed validation data. Test results were obtained showing the effect of injection rate and split injections on engine performance and emissions.

Reitz, R. D.↗

NASA NTRS1994

Particle kinetic simulation of high altitude hypervelocity flight

Rarefied flows about hypersonic vehicles entering the upper atmosphere or through nozzles expanding into a near vacuum may only be simulated accurately with a direct simulation Monte Carlo (DSMC) method. Under this grant, researchers enhanced the models employed in the DSMC method and performed simulations in support of existing NASA projects or missions. DSMC models were developed and validated for simulating rotational, vibrational, and chemical relaxation in high-temperature flows, including effects of quantized anharmonic oscillators and temperature-dependent relaxation rates. State-of-the-art advancements were made in simulating coupled vibration-dissociation recombination for post-shock flows. Models were also developed to compute vehicle surface temperatures directly in the code rather than requiring isothermal estimates. These codes were instrumental in simulating aerobraking of NASA's Magellan spacecraft during orbital maneuvers to assess heat transfer and aerodynamic properties of the delicate satellite. NASA also depended upon simulations of entry of the Galileo probe into the atmosphere of Jupiter to provide drag and flow field information essential for accurate interpretation of an onboard experiment. Finally, the codes have been used extensively to simulate expanding nozzle flows in low-power thrusters in support of propulsion activities at NASA-Lewis. Detailed comparisons between continuum calculations and DSMC results helped to quantify the limitations of continuum CFD codes in rarefied applications.

Boyd, Iain↗

NASA NTRS1994

Computational Methods for HSCT-Inlet Controls/CFD Interdisciplinary Research

A program aimed at facilitating the use of computational fluid dynamics (CFD) simulations by the controls discipline is presented. The objective is to reduce the development time and cost for propulsion system controls by using CFD simulations to obtain high-fidelity system models for control design and as numerical test beds for control system testing and validation. An interdisciplinary team has been formed to develop analytical and computational tools in three discipline areas: controls, CFD, and computational technology. The controls effort has focused on specifying requirements for an interface between the controls specialist and CFD simulations and a new method for extracting linear, reduced-order control models from CFD simulations. Existing CFD codes are being modified to permit time accurate execution and provide realistic boundary conditions for controls studies. Parallel processing and distributed computing techniques, along with existing system integration software, are being used to reduce CFD execution times and to support the development of an integrated analysis/design system. This paper describes: the initial application for the technology being developed, the high speed civil transport (HSCT) inlet control problem; activities being pursued in each discipline area; and a prototype analysis/design system in place for interactive operation and visualization of a time-accurate HSCT-inlet simulation.

Cole, Gary L.↗

NASA NTRS2004

Detached-Eddy Simulations of Separated Flow Around Wings With Ice Accretions: Year One Report

A computational investigation was performed to assess the effectiveness of Detached-Eddy Simulation (DES) as a tool for predicting icing effects. The AVUS code, a public domain flow solver, was employed to compute solutions for an iced wing configuration using DES and steady Reynolds Averaged Navier-Stokes (RANS) equation methodologies. The configuration was an extruded GLC305/944-ice shape section with a rectangular planform. The model was mounted between two walls so no tip effects were considered. The numerical results were validated by comparison with experimental data for the same configuration. The time-averaged DES computations showed some improvement in lift and drag results near stall when compared to steady RANS results. However, comparisons of the flow field details did not show the level of agreement suggested by the integrated quantities. Based on our results, we believe that DES may prove useful in a limited sense to provide analysis of iced wing configurations when there is significant flow separation, e.g., near stall, where steady RANS computations are demonstrably ineffective. However, more validation is needed to determine what role DES can play as part of an overall icing effects prediction strategy. We conclude the report with an assessment of existing computational tools for application to the iced wing problem and a discussion of issues that merit further study.

Choo, Yung K.↗

NASA NTRS2007

A New Method for Breath Capture Inside a Space Suit Helmet

This project investigates methods to capture an astronaut's exhaled carbon dioxide (CO2) before it becomes diluted with the high volumetric oxygen flow present within a space suit. Typical expired breath contains CO2 partial pressures (pCO2) in the range of 20-35 mm Hg. This research investigates methods to capture the concentrated CO2 gas stream prior to its dilution with the low pCO2 ventilation flow. Specifically this research is looking at potential designs for a collection cup for use inside the space suit helmet. The collection cup concept is not the same as a breathing mask typical of that worn by firefighters and pilots. It is well known that most members of the astronaut corps view a mask as a serious deficiency in any space suit helmet design. Instead, the collection cup is a non-contact device that will be designed using a detailed Computational Fluid Dynamic (CFD) analysis of the ventilation flow environment within the helmet. The CFD code, Fluent, provides modeling of the various gas species (CO2, water vapor, and oxygen (O2)) as they pass through a helmet. This same model will be used to numerically evaluate several different collection cup designs for this same CO2 segregation effort. A new test rig will be built to test the results of the CFD analyses and validate the collection cup designs. This paper outlines the initial results and future plans of this work.

Filburn, Tom↗

NASA NTRS2018

Optimization of Elastodynamic Finite Integration Technique on Intel Xeon Phi Knights Landing Processors

This work describes the development and optimization of an implementation of an isotropic elastodynamic finite integration technique (EFIT) code for parallelized computation on Intel Knights Landing (KNL) hardware. EFIT is a numerical approach resulting in standard staggered-grid finite difference equations for the elastodynamic equations of motion to simulate bulk waves is solids. The computationally efficient simulation of elastodynamic wave propagation and interactions in aerospace materials is of high-interest in the fields of nondestructive evaluation (NDE) and structural health monitoring (SHM). Ultrasonic inspection uses an ultrasonic signal, generated at the surface of the material/structure via use of a piezoelectric transducer, to propagate sound waves into the material where it interacts with any existing defects, as well as with structural boundaries and any material inhomogeneity. Reflections from defects and boundaries are then measured by a transducer. Realistic ultrasound simulation tools can significantly aid the development and optimization of inspection techniques and can assist in the interpretation of experimental data. The optimization of an elastodynamics simulation code for the KNL Many Integrated Core processor was performed. The optimization focused on data locality and vectorization. Results show that tiling of the data to exploit the cache behavior and allow for significant utilization of the KNL hardware. The MPI implementation allows for a scalable implementation enabling large problems to be simulated. The model results were validated against theoretical dispersion curves to within 2% of the group velocity, and within 0.5% of the phase velocity of the A0 mode. Aggressive use of tiling, threading, and vectorization techniques allowed for dramatically improved time to solution.

William C. Schneck↗

NASA NTRS1994

Turbulence compressibility corrections

The basic objective of this research was to identify, develop and recommend turbulence models which could be incorporated into CFD codes used in the design of the National AeroSpace Plane vehicles. To accomplish this goal, a combined effort consisting of experimental and theoretical phases was undertaken. The experimental phase consisted of a literature survey to collect and assess a database of well documented experimental flows, with emphasis on high speed or hypersonic flows, which could be used to validate turbulence models. Since it was anticipated that this database would be incomplete and would need supplementing, additional experiments in the NASA Ames 3.5-Foot Hypersonic Wind Tunnel (HWT) were also undertaken. The theoretical phase consisted of identifying promising turbulence models through applications to simple flows, and then investigating more promising models in applications to complex flows. The complex flows were selected from the database developed in the first phase of the study. For these flows it was anticipated that model performance would not be entirely satisfactory, so that model improvements or corrections would be required. The primary goals of the investigation were essentially achieved. A large database of flows was collected and assessed, a number of additional hypersonic experiments were conducted in the Ames HWT, and two turbulence models (kappa-epsilon and kappa-omega models with corrections) were determined which gave superior performance for most of the flows studied and are now recommended for NASP applications.

Coakley, T. J.↗

NASA NTRS2005

Stirling Analysis Comparison of Commercial Versus High-Order Methods

Recently, three-dimensional Stirling engine simulations have been accomplished utilizing commercial Computational Fluid Dynamics software. The validations reported can be somewhat inconclusive due to the lack of precise time accurate experimental results from engines, export control/proprietary concerns, and the lack of variation in the methods utilized. The last issue may be addressed by solving the same flow problem with alternate methods. In this work, a comprehensive examination of the methods utilized in the commercial codes is compared with more recently developed high-order methods. Specifically, Lele's compact scheme and Dyson's Ultra Hi-Fi method will be compared with the SIMPLE and PISO methods currently employed in CFD-ACE, FLUENT, CFX, and STAR-CD (all commercial codes which can in theory solve a three-dimensional Stirling model with sliding interfaces and their moving grids limit the effective time accuracy). We will initially look at one-dimensional flows since the current standard practice is to design and optimize Stirling engines with empirically corrected friction and heat transfer coefficients in an overall one-dimensional model. This comparison provides an idea of the range in which commercial CFD software for modeling Stirling engines may be expected to provide accurate results. In addition, this work provides a framework for improving current one-dimensional analysis codes.

Dyson, Rodger W.↗

NASA NTRS2008

Statistical Methodologies to Integrate Experimental and Computational Research

Development of advanced algorithms for simulating engine flow paths requires the integration of fundamental experiments with the validation of enhanced mathematical models. In this paper, we provide an overview of statistical methods to strategically and efficiently conduct experiments and computational model refinement. Moreover, the integration of experimental and computational research efforts is emphasized. With a statistical engineering perspective, scientific and engineering expertise is combined with statistical sciences to gain deeper insights into experimental phenomenon and code development performance; supporting the overall research objectives. The particular statistical methods discussed are design of experiments, response surface methodology, and uncertainty analysis and planning. Their application is illustrated with a coaxial free jet experiment and a turbulence model refinement investigation. Our goal is to provide an overview, focusing on concepts rather than practice, to demonstrate the benefits of using statistical methods in research and development, thereby encouraging their broader and more systematic application.

Parker, P. A.↗

NASA NTRS2011

Ethane in Planetary and Cometary Atmospheres: Transmittance and Fluorescence Models of the nu7 Band at 3.3 Micrometers

Ethane and other hydrocarbon gases have strong rovibrational transitions in the 3.3 micron spectral region owing to C-H, CH2, and CH3 vibrational modes, making this spectral region prime for searching possible biomarker gases in extraterrestrial atmospheres (e.g., Mars, exoplanets) and organic molecules in comets. However, removing ethane spectral signatures from high-resolution terrestrial transmittance spectra has been imperfect because existing quantum mechanical models have been unable to reproduce the observed spectra with sufficient accuracy. To redress this problem, we constructed a line-by-line model for the n7 band of ethane (C2H6) and applied it to compute telluric transmittances and cometary fluorescence efficiencies. Our model considers accurate spectral parameters, vibration-rotation interactions, and a functional characterization of the torsional hot band. We integrated the new band model into an advanced radiative transfer code for synthesizing the terrestrial atmosphere (LBLRTM), achieving excellent agreement with transmittance data recorded against Mars using three different instruments located in the Northern and Southern hemispheres. The retrieved ethane abundances demonstrate the strong hemispheric asymmetry noted in prior surveys of volatile hydrocarbons. We also retrieved sensitive limits for the abundance of ethane on Mars. The most critical validation of the model was obtained by comparing simulations of C2H6 fluorescent emission with spectra of three hydrocarbon-rich comets: C/2004 Q2 (Machholz), 8P/Tuttle, and C/2007 W1 (Boattini). The new model accurately describes the complex emission morphology of the nu7 band at low rotational temperatures and greatly increases the confidence of the retrieved production rates (and rotational temperatures) with respect to previously available fluorescence models.

Villanueva, G. L.↗

NASA NTRS2012

Simulation Tool for Dielectric Barrier Discharge Plasma Actuators at Atmospheric and Sub-Atmospheric Pressures: SBIR Phase I Final Report

This report is the final report of a SBIR Phase I project. It is identical to the final report submitted, after some proprietary information of administrative nature has been removed. The development of a numerical simulation tool for dielectric barrier discharge (DBD) plasma actuator is reported. The objectives of the project were to analyze and predict DBD operation at wide range of ambient gas pressures. It overcomes the limitations of traditional DBD codes which are limited to low-speed applications and have weak prediction capabilities. The software tool allows DBD actuator analysis and prediction for subsonic to hypersonic flow regime. The simulation tool is based on the VORPAL code developed by Tech-X Corporation. VORPAL's capability of modeling DBD plasma actuator at low pressures (0.1 to 10 torr) using kinetic plasma modeling approach, and at moderate to atmospheric pressures (1 to 10 atm) using hydrodynamic plasma modeling approach, were demonstrated. In addition, results of experiments with pulsed+bias DBD configuration that were performed for validation purposes are reported.

Likhanskii, Alexandre↗

NASA NTRS2019

Rapid Prediction of Installed Jet Noise from RANS

A new method of computing jet noise, called mSrc, was developed on the general principles of acoustic analogies. In the method, the problem of translating turbulent flow energy into acoustic energy at a far-field observer is broken into two parts, a calculation of acoustic source strengths and then their propagation. The acoustic sources are related to turbulent quantities in the jet plume in a robust manner. The propagation, which is more properly computed using a Green's function accounting for nonuniform speed of sound and solid surfaces, is instead modeled using commonly observed features of jet acoustic far field directivity, and by diffraction barrier theory for surfaces. The mSrc method does not require gradients of the predicted flow field, allowing it to make use of robust unstructured RANS CFD methods, including embedded boundary codes. Such codes do not require specification of surface meshes, and auto-refine their grid to resolve flow gradients, putting resolution where it is required without a priori user input. The ability of mSrc to use such radically unstructured flow input results in an efficient method of estimating noise from jet flows from complex nozzles installed on aircraft. Many validation cases are presented to demonstrate the accuracy and range of applicability of the mSrc method for representative jet noise applications.

Bridges, James↗