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Sample records for dynamic inverse computation

  1. Fast Parallel Computation Of Manipulator Inverse Dynamics

    NASA Technical Reports Server (NTRS)

    Fijany, Amir; Bejczy, Antal K.

    1991-01-01

    Method for fast parallel computation of inverse dynamics problem, essential for real-time dynamic control and simulation of robot manipulators, undergoing development. Enables exploitation of high degree of parallelism and, achievement of significant computational efficiency, while minimizing various communication and synchronization overheads as well as complexity of required computer architecture. Universal real-time robotic controller and simulator (URRCS) consists of internal host processor and several SIMD processors with ring topology. Architecture modular and expandable: more SIMD processors added to match size of problem. Operate asynchronously and in MIMD fashion.

  2. Parallel computation of manipulator inverse dynamics

    NASA Technical Reports Server (NTRS)

    Fijany, Amir; Bejczy, Antal K.

    1991-01-01

    In this article, parallel computation of manipulator inverse dynamics is investigated. A hierarchical graph-based mapping approach is devised to analyze the inherent parallelism in the Newton-Euler formulation at several computational levels, and to derive the features of an abstract architecture for exploitation of parallelism. At each level, a parallel algorithm represents the application of a parallel model of computation that transforms the computation into a graph whose structure defines the features of an abstract architecture, i.e., number of processors, communication structure, etc. Data-flow analysis is employed to derive the time lower bound in the computation as well as the sequencing of the abstract architecture. The features of the target architecture are defined by optimization of the abstract architecture to exploit maximum parallelism while minimizing architectural complexity. An architecture is designed and implemented that is capable of efficient exploitation of parallelism at several computational levels. The computation time of the Newton-Euler formulation for a 6-degree-of-freedom (dof) general manipulator is measured as 187 microsec. The increase in computation time for each additional dof is 23 microsec, which leads to a computation time of less than 500 microsec, even for a 12-dof redundant arm.

  3. Efficient mapping algorithms for scheduling robot inverse dynamics computation on a multiprocessor system

    NASA Technical Reports Server (NTRS)

    Lee, C. S. G.; Chen, C. L.

    1989-01-01

    Two efficient mapping algorithms for scheduling the robot inverse dynamics computation consisting of m computational modules with precedence relationship to be executed on a multiprocessor system consisting of p identical homogeneous processors with processor and communication costs to achieve minimum computation time are presented. An objective function is defined in terms of the sum of the processor finishing time and the interprocessor communication time. The minimax optimization is performed on the objective function to obtain the best mapping. This mapping problem can be formulated as a combination of the graph partitioning and the scheduling problems; both have been known to be NP-complete. Thus, to speed up the searching for a solution, two heuristic algorithms were proposed to obtain fast but suboptimal mapping solutions. The first algorithm utilizes the level and the communication intensity of the task modules to construct an ordered priority list of ready modules and the module assignment is performed by a weighted bipartite matching algorithm. For a near-optimal mapping solution, the problem can be solved by the heuristic algorithm with simulated annealing. These proposed optimization algorithms can solve various large-scale problems within a reasonable time. Computer simulations were performed to evaluate and verify the performance and the validity of the proposed mapping algorithms. Finally, experiments for computing the inverse dynamics of a six-jointed PUMA-like manipulator based on the Newton-Euler dynamic equations were implemented on an NCUBE/ten hypercube computer to verify the proposed mapping algorithms. Computer simulation and experimental results are compared and discussed.

  4. Analysis and inverse substructuring computation on dynamic quality of mechanical assembly

    NASA Astrophysics Data System (ADS)

    Lü, Guangqing; Yi, Chuijie; Fang, Ke

    2016-05-01

    Mechanical assembly has its own dynamic quality directly affecting the dynamic quality of whole product and should be considered in quality inspection and estimation of mechanical assembly. Based on functional relations between dynamic characteristics involved in mechanical assembly, the effects of assembling process on dynamic characteristics of substructural components of an assembly system are investigated by substructuring analysis. Assembly-coupling dynamic stiffness is clarified as the dominant factor of the effects and can be used as a quantitative measure of assembly dynamic quality. Two computational schemes using frequency response functions(FRFs) to determine the stiffness are provided and discussed by inverse substructuring analysis, including their applicable conditions and implementation procedure in application. Eigenvalue analysis on matrix-ratios of FRFs before and after assembling is employed and well validates the analytical outcomes and the schemes via both a lumped-parameter model and its analogic experimental counterpart. Applying the two schemes to inspect the dynamic quality provides the message of dynamic performance of the assembly system, and therefore improves conventional quality inspection and estimation of mechanical assembly in completeness.

  5. Analysis and inverse substructuring computation on dynamic quality of mechanical assembly

    NASA Astrophysics Data System (ADS)

    Lü, Guangqing; Yi, Chuijie; Fang, Ke

    2016-04-01

    Mechanical assembly has its own dynamic quality directly affecting the dynamic quality of whole product and should be considered in quality inspection and estimation of mechanical assembly. Based on functional relations between dynamic characteristics involved in mechanical assembly, the effects of assembling process on dynamic characteristics of substructural components of an assembly system are investigated by substructuring analysis. Assembly-coupling dynamic stiffness is clarified as the dominant factor of the effects and can be used as a quantitative measure of assembly dynamic quality. Two computational schemes using frequency response functions(FRFs) to determine the stiffness are provided and discussed by inverse substructuring analysis, including their applicable conditions and implementation procedure in application. Eigenvalue analysis on matrix-ratios of FRFs before and after assembling is employed and well validates the analytical outcomes and the schemes via both a lumped-parameter model and its analogic experimental counterpart. Applying the two schemes to inspect the dynamic quality provides the message of dynamic performance of the assembly system, and therefore improves conventional quality inspection and estimation of mechanical assembly in completeness.

  6. Computational fluid dynamics vs. inverse dynamics methods to determine passive drag in two breaststroke glide positions.

    PubMed

    Costa, L; Mantha, V R; Silva, A J; Fernandes, R J; Marinho, D A; Vilas-Boas, J P; Machado, L; Rouboa, A

    2015-07-16

    Computational fluid dynamics (CFD) plays an important role to quantify, understand and "observe" the water movements around the human body and its effects on drag (D). We aimed to investigate the flow effects around the swimmer and to compare the drag and drag coefficient (CD) values obtained from experiments (using cable velocimetry in a swimming pool) with those of CFD simulations for the two ventral gliding positions assumed during the breaststroke underwater cycle (with shoulders flexed and upper limbs extended above the head-GP1; with shoulders in neutral position and upper limbs extended along the trunk-GP2). Six well-trained breaststroke male swimmers (with reasonable homogeneity of body characteristics) participated in the experimental tests; afterwards a 3D swimmer model was created to fit within the limits of the sample body size profile. The standard k-ε turbulent model was used to simulate the fluid flow around the swimmer model. Velocity ranged from 1.30 to 1.70 m/s for GP1 and 1.10 to 1.50 m/s for GP2. Values found for GP1 and GP2 were lower for CFD than experimental ones. Nevertheless, both CFD and experimental drag/drag coefficient values displayed a tendency to jointly increase/decrease with velocity, except for GP2 CD where CFD and experimental values display opposite tendencies. Results suggest that CFD values obtained by single model approaches should be considered with caution due to small body shape and dimension differences to real swimmers. For better accuracy of CFD studies, realistic individual 3D models of swimmers are required, and specific kinematics respected. PMID:26087879

  7. Incorporation of modified dynamic inverse Jiles-Atherton model in finite volume time domain for nonlinear electromagnetic field computation

    NASA Astrophysics Data System (ADS)

    Hamimid, M.; Mimoune, S. M.; Feliachi, M.

    2013-01-01

    In this paper, a time stepping finite volume method (FVM) associated with the modified inverse Jiles-Atherton model for the nonlinear electromagnetic field computation is presented. To describe the dynamic behavior in the conducting media, the effective field is modified by adding two counter-fields associated respectively to the eddy current and excess losses. The hysteresis loss can be estimated by the integration over the obtained hysteresis loop at each frequency. To examine the validity of the proposed dynamic model coupled with FVM, the computed total losses and hysteresis loops are compared to experiments.

  8. Computation of inverse magnetic cascades

    SciTech Connect

    Montgomery, D.

    1981-10-01

    Inverse cascades of magnetic quantities for turbulent incompressible magnetohydrodynamics are reviewed, for two and three dimensions. The theory is extended to the Strauss equations, a description intermediate between two and three dimensions appropriate to tokamak magnetofluids. Consideration of the absolute equilibrium Gibbs ensemble for the system leads to a prediction of an inverse cascade of magnetic helicity, which may manifest itself as a major disruption. An agenda for computational investigation of this conjecture is proposed.

  9. Computation of inverse magnetic cascades

    NASA Technical Reports Server (NTRS)

    Montgomery, D.

    1981-01-01

    Inverse cascades of magnetic quantities for turbulent incompressible magnetohydrodynamics are reviewed, for two and three dimensions. The theory is extended to the Strauss equations, a description intermediate between two and three dimensions appropriate to Tokamak magnetofluids. Consideration of the absolute equilibrium Gibbs ensemble for the system leads to a prediction of an inverse cascade of magnetic helicity, which may manifest itself as a major disruption. An agenda for computational investigation of this conjecture is proposed.

  10. Integration of Gravitational Torques in Cerebellar Pathways Allows for the Dynamic Inverse Computation of Vertical Pointing Movements of a Robot Arm

    PubMed Central

    Gentili, Rodolphe J.; Papaxanthis, Charalambos; Ebadzadeh, Mehdi; Eskiizmirliler, Selim; Ouanezar, Sofiane; Darlot, Christian

    2009-01-01

    Background Several authors suggested that gravitational forces are centrally represented in the brain for planning, control and sensorimotor predictions of movements. Furthermore, some studies proposed that the cerebellum computes the inverse dynamics (internal inverse model) whereas others suggested that it computes sensorimotor predictions (internal forward model). Methodology/Principal Findings This study proposes a model of cerebellar pathways deduced from both biological and physical constraints. The model learns the dynamic inverse computation of the effect of gravitational torques from its sensorimotor predictions without calculating an explicit inverse computation. By using supervised learning, this model learns to control an anthropomorphic robot arm actuated by two antagonists McKibben artificial muscles. This was achieved by using internal parallel feedback loops containing neural networks which anticipate the sensorimotor consequences of the neural commands. The artificial neural networks architecture was similar to the large-scale connectivity of the cerebellar cortex. Movements in the sagittal plane were performed during three sessions combining different initial positions, amplitudes and directions of movements to vary the effects of the gravitational torques applied to the robotic arm. The results show that this model acquired an internal representation of the gravitational effects during vertical arm pointing movements. Conclusions/Significance This is consistent with the proposal that the cerebellar cortex contains an internal representation of gravitational torques which is encoded through a learning process. Furthermore, this model suggests that the cerebellum performs the inverse dynamics computation based on sensorimotor predictions. This highlights the importance of sensorimotor predictions of gravitational torques acting on upper limb movements performed in the gravitational field. PMID:19384420

  11. Fast Computation of the Inverse CMH Model

    NASA Technical Reports Server (NTRS)

    Patel, Umesh D.; Torre, Edward Della; Day, John H. (Technical Monitor)

    2001-01-01

    A fast computational method based on differential equation approach for inverse DOK model has been extended for the inverse CMH model. Also, a cobweb technique for calculating the inverse CMH model is also presented. The two techniques are differed from the point of view of flexibility and computation time.

  12. Inversion based on computational simulations

    SciTech Connect

    Hanson, K.M.; Cunningham, G.S.; Saquib, S.S.

    1998-09-01

    A standard approach to solving inversion problems that involve many parameters uses gradient-based optimization to find the parameters that best match the data. The authors discuss enabling techniques that facilitate application of this approach to large-scale computational simulations, which are the only way to investigate many complex physical phenomena. Such simulations may not seem to lend themselves to calculation of the gradient with respect to numerous parameters. However, adjoint differentiation allows one to efficiently compute the gradient of an objective function with respect to all the variables of a simulation. When combined with advanced gradient-based optimization algorithms, adjoint differentiation permits one to solve very large problems of optimization or parameter estimation. These techniques will be illustrated through the simulation of the time-dependent diffusion of infrared light through tissue, which has been used to perform optical tomography. The techniques discussed have a wide range of applicability to modeling including the optimization of models to achieve a desired design goal.

  13. Dynamically consistent Jacobian inverse for mobile manipulators

    NASA Astrophysics Data System (ADS)

    Ratajczak, Joanna; Tchoń, Krzysztof

    2016-06-01

    By analogy to the definition of the dynamically consistent Jacobian inverse for robotic manipulators, we have designed a dynamically consistent Jacobian inverse for mobile manipulators built of a non-holonomic mobile platform and a holonomic on-board manipulator. The endogenous configuration space approach has been exploited as a source of conceptual guidelines. The new inverse guarantees a decoupling of the motion in the operational space from the forces exerted in the endogenous configuration space and annihilated by the dual Jacobian inverse. A performance study of the new Jacobian inverse as a tool for motion planning is presented.

  14. Computational 3-D inversion for seismic exploration

    SciTech Connect

    Gavrilov, E.M.; Forslund, D.W.; Fehler, M.C.

    1997-10-01

    This is the final report of a four-month, Laboratory Directed Research and Development (LDRD) project carried out at the Los Alamos National Laboratory (LANL). There is a great need for a new and effective technology with a wide scope of industrial applications to investigate media internal properties of which can be explored only from the backscattered data. The project was dedicated to the development of a three-dimensional computational inversion tool for seismic exploration. The new computational concept of the inversion algorithm was suggested. The goal of the project was to prove the concept and the practical validity of the algorithm for petroleum exploration.

  15. Computationally efficient Bayesian inference for inverse problems.

    SciTech Connect

    Marzouk, Youssef M.; Najm, Habib N.; Rahn, Larry A.

    2007-10-01

    Bayesian statistics provides a foundation for inference from noisy and incomplete data, a natural mechanism for regularization in the form of prior information, and a quantitative assessment of uncertainty in the inferred results. Inverse problems - representing indirect estimation of model parameters, inputs, or structural components - can be fruitfully cast in this framework. Complex and computationally intensive forward models arising in physical applications, however, can render a Bayesian approach prohibitive. This difficulty is compounded by high-dimensional model spaces, as when the unknown is a spatiotemporal field. We present new algorithmic developments for Bayesian inference in this context, showing strong connections with the forward propagation of uncertainty. In particular, we introduce a stochastic spectral formulation that dramatically accelerates the Bayesian solution of inverse problems via rapid evaluation of a surrogate posterior. We also explore dimensionality reduction for the inference of spatiotemporal fields, using truncated spectral representations of Gaussian process priors. These new approaches are demonstrated on scalar transport problems arising in contaminant source inversion and in the inference of inhomogeneous material or transport properties. We also present a Bayesian framework for parameter estimation in stochastic models, where intrinsic stochasticity may be intermingled with observational noise. Evaluation of a likelihood function may not be analytically tractable in these cases, and thus several alternative Markov chain Monte Carlo (MCMC) schemes, operating on the product space of the observations and the parameters, are introduced.

  16. Recurrent Neural Network for Computing the Drazin Inverse.

    PubMed

    Stanimirović, Predrag S; Zivković, Ivan S; Wei, Yimin

    2015-11-01

    This paper presents a recurrent neural network (RNN) for computing the Drazin inverse of a real matrix in real time. This recurrent neural network (RNN) is composed of n independent parts (subnetworks), where n is the order of the input matrix. These subnetworks can operate concurrently, so parallel and distributed processing can be achieved. In this way, the computational advantages over the existing sequential algorithms can be attained in real-time applications. The RNN defined in this paper is convenient for an implementation in an electronic circuit. The number of neurons in the neural network is the same as the number of elements in the output matrix, which represents the Drazin inverse. The difference between the proposed RNN and the existing ones for the Drazin inverse computation lies in their network architecture and dynamics. The conditions that ensure the stability of the defined RNN as well as its convergence toward the Drazin inverse are considered. In addition, illustrative examples and examples of application to the practical engineering problems are discussed to show the efficacy of the proposed neural network. PMID:25706892

  17. Inverse dynamics: Simultaneous trajectory tracking and vibration reduction with distributed actuators

    NASA Technical Reports Server (NTRS)

    Devasia, Santosh; Bayo, Eduardo

    1993-01-01

    This paper addresses the problem of inverse dynamics for articulated flexible structures with both lumped and distributed actuators. This problem arises, for example, in the combined vibration minimization and trajectory control of space robots and structures. A new inverse dynamics scheme for computing the nominal lumped and distributed inputs for tracking a prescribed trajectory is given.

  18. Computational fluid dynamics

    NASA Technical Reports Server (NTRS)

    1989-01-01

    An overview of computational fluid dynamics (CFD) activities at the Langley Research Center is given. The role of supercomputers in CFD research, algorithm development, multigrid approaches to computational fluid flows, aerodynamics computer programs, computational grid generation, turbulence research, and studies of rarefied gas flows are among the topics that are briefly surveyed.

  19. Computing the Moore-Penrose Inverse of a Matrix with a Computer Algebra System

    ERIC Educational Resources Information Center

    Schmidt, Karsten

    2008-01-01

    In this paper "Derive" functions are provided for the computation of the Moore-Penrose inverse of a matrix, as well as for solving systems of linear equations by means of the Moore-Penrose inverse. Making it possible to compute the Moore-Penrose inverse easily with one of the most commonly used Computer Algebra Systems--and to have the blueprint…

  20. Solving the inverse problem of noise-driven dynamic networks.

    PubMed

    Zhang, Zhaoyang; Zheng, Zhigang; Niu, Haijing; Mi, Yuanyuan; Wu, Si; Hu, Gang

    2015-01-01

    Nowadays, massive amounts of data are available for analysis in natural and social systems and the tasks to depict system structures from the data, i.e., the inverse problems, become one of the central issues in wide interdisciplinary fields. In this paper, we study the inverse problem of dynamic complex networks driven by white noise. A simple and universal inference formula of double correlation matrices and noise-decorrelation (DCMND) method is derived analytically, and numerical simulations confirm that the DCMND method can accurately depict both network structures and noise correlations by using available output data only. This inference performance has never been regarded possible by theoretical derivation, numerical computation, and experimental design. PMID:25679664

  1. Solving the inverse problem of noise-driven dynamic networks

    NASA Astrophysics Data System (ADS)

    Zhang, Zhaoyang; Zheng, Zhigang; Niu, Haijing; Mi, Yuanyuan; Wu, Si; Hu, Gang

    2015-01-01

    Nowadays, massive amounts of data are available for analysis in natural and social systems and the tasks to depict system structures from the data, i.e., the inverse problems, become one of the central issues in wide interdisciplinary fields. In this paper, we study the inverse problem of dynamic complex networks driven by white noise. A simple and universal inference formula of double correlation matrices and noise-decorrelation (DCMND) method is derived analytically, and numerical simulations confirm that the DCMND method can accurately depict both network structures and noise correlations by using available output data only. This inference performance has never been regarded possible by theoretical derivation, numerical computation, and experimental design.

  2. A fast inverse dynamics model of walking for use in optimisation studies.

    PubMed

    Salehi, Hadi; Ren, Lei; Howard, David

    2016-08-01

    Computer simulation of human gait, based on measured motion data, is a well-established technique in biomechanics. However, optimisation studies requiring many iterative gait cycle simulations have not yet found widespread application because of their high computational cost. Therefore, a computationally efficient inverse dynamics model of 3D human gait has been designed and compared with an equivalent model, created using a commercial multi-body dynamics package. The fast inverse dynamics model described in this paper led to an eight fold increase in execution speed. Sufficient detail is provided to allow readers to implement the model themselves. PMID:26745213

  3. Direct inversion of rigid-body rotational dynamics

    NASA Technical Reports Server (NTRS)

    Bach, Ralph; Paielli, Russell

    1990-01-01

    The global linearization (inversion) of rigid-body rotational dynamics is reviewed and representations in terms of quaternions and direction cosines are compared. Certain properties common to quaternions and direction cosines that make their use preferable to Euler angles and that simplify the inversion procedure are described. Applications of the inversion procedure for state estimation and attitude control are discussed. To avoid complexities caused by aerodynamics, an example of direct inversion for linear feedback control of spacecraft attitude is given.

  4. Effects of Tape and Exercise on Dynamic Ankle Inversion

    PubMed Central

    Ricard, Mark D.; Sherwood, Stephen M.; Schulthies, Shane S.; Knight, Kenneth L.

    2000-01-01

    Objective: To compare the effects of tape, with and without prewrap, on dynamic ankle inversion before and after exercise. Design and Setting: Doubly multivariate analyses of variance were used to compare the taping and exercise conditions. Subjects were randomly assigned to a fixed treatment order as determined by a balanced latin square. The independent variables were tape application (no tape, tape with prewrap, tape to skin) and exercise (before and after). The dependent variables were average inversion velocity, total inversion, maximum inversion velocity, and time to maximum inversion. Subjects: Thirty college-age male and female students (17 males, 13 females; mean age = 24.9 ± 4.3 years, range, 19 to 39 years) were tested. Subjects were excluded from the study if they exhibited a painful gait or painful range of motion or had a past history of ankle surgery or an ankle sprain within the past 4 weeks. Measurements: We collected data using electronic goniometers while subjects balanced on the right leg on an inversion platform tilted about the medial-lateral axis to produce 15° of plantar flexion. Sudden ankle inversion was induced by pulling the inversion platform support, allowing the platform support base to rotate 37°. Ten satisfactory trials were recorded on the inversion platform before and after a prescribed exercise bout. We calculated total inversion, time to maximum inversion, average inversion velocity, and maximum inversion velocity after sudden inversion. Results: We found no significant differences between taping to the skin and taping over prewrap for any of the variables measured. There were significant differences between both taping conditions and no-tape postexercise for average inversion velocity, maximum inversion, maximum inversion velocity, and time to maximum inversion. The total inversion mean for no-tape postexercise was 38.8° ± 6.3°, whereas the means for tape and skin and for tape and prewrap were 28.3° ± 4.6° and 29.1°

  5. Breast ultrasound computed tomography using waveform inversion with source encoding

    NASA Astrophysics Data System (ADS)

    Wang, Kun; Matthews, Thomas; Anis, Fatima; Li, Cuiping; Duric, Neb; Anastasio, Mark A.

    2015-03-01

    Ultrasound computed tomography (USCT) holds great promise for improving the detection and management of breast cancer. Because they are based on the acoustic wave equation, waveform inversion-based reconstruction methods can produce images that possess improved spatial resolution properties over those produced by ray-based methods. However, waveform inversion methods are computationally demanding and have not been applied widely in USCT breast imaging. In this work, source encoding concepts are employed to develop an accelerated USCT reconstruction method that circumvents the large computational burden of conventional waveform inversion methods. This method, referred to as the waveform inversion with source encoding (WISE) method, encodes the measurement data using a random encoding vector and determines an estimate of the speed-of-sound distribution by solving a stochastic optimization problem by use of a stochastic gradient descent algorithm. Computer-simulation studies are conducted to demonstrate the use of the WISE method. Using a single graphics processing unit card, each iteration can be completed within 25 seconds for a 128 × 128 mm2 reconstruction region. The results suggest that the WISE method maintains the high spatial resolution of waveform inversion methods while significantly reducing the computational burden.

  6. A Higher Order Iterative Method for Computing the Drazin Inverse

    PubMed Central

    Soleymani, F.; Stanimirović, Predrag S.

    2013-01-01

    A method with high convergence rate for finding approximate inverses of nonsingular matrices is suggested and established analytically. An extension of the introduced computational scheme to general square matrices is defined. The extended method could be used for finding the Drazin inverse. The application of the scheme on large sparse test matrices alongside the use in preconditioning of linear system of equations will be presented to clarify the contribution of the paper. PMID:24222747

  7. Computational fluid dynamic control

    NASA Technical Reports Server (NTRS)

    Hartley, Tom T.; Deabreu-Garcia, Alex

    1989-01-01

    A general technique is presented for modeling fluid, or gas, dynamic systems specifically for the development of control systems. The numerical methods which are generally used in computational fluid dynamics are borrowed to create either continuous-time or discrete-time models of the particular fluid system. The resulting equations can be either left in a nonlinear form, or easily linearized about an operating point. As there are typically very many states in these systems, the usual linear model reduction methods can be used on them to allow a low-order controller to be designed. A simple example is given which typifies many internal flow control problems. The resulting control is termed computational fluid dynamic control.

  8. Computational Fluid Dynamics

    NASA Astrophysics Data System (ADS)

    Chung, T. J.

    2002-03-01

    Computational fluid dynamics (CFD) techniques are used to study and solve complex fluid flow and heat transfer problems. This comprehensive text ranges from elementary concepts for the beginner to state-of-the-art CFD for the practitioner. It discusses and illustrates the basic principles of finite difference (FD), finite element (FE), and finite volume (FV) methods, with step-by-step hand calculations. Chapters go on to examine structured and unstructured grids, adaptive methods, computing techniques, and parallel processing. Finally, the author describes a variety of practical applications to problems in turbulence, reacting flows and combustion, acoustics, combined mode radiative heat transfer, multiphase flows, electromagnetic fields, and relativistic astrophysical flows. Students and practitioners--particularly in mechanical, aerospace, chemical, and civil engineering--will use this authoritative text to learn about and apply numerical techniques to the solution of fluid dynamics problems.

  9. Computational fluid dynamics research

    NASA Technical Reports Server (NTRS)

    Chandra, Suresh; Jones, Kenneth; Hassan, Hassan; Mcrae, David Scott

    1992-01-01

    The focus of research in the computational fluid dynamics (CFD) area is two fold: (1) to develop new approaches for turbulence modeling so that high speed compressible flows can be studied for applications to entry and re-entry flows; and (2) to perform research to improve CFD algorithm accuracy and efficiency for high speed flows. Research activities, faculty and student participation, publications, and financial information are outlined.

  10. Computational reacting gas dynamics

    NASA Technical Reports Server (NTRS)

    Lam, S. H.

    1993-01-01

    In the study of high speed flows at high altitudes, such as that encountered by re-entry spacecrafts, the interaction of chemical reactions and other non-equilibrium processes in the flow field with the gas dynamics is crucial. Generally speaking, problems of this level of complexity must resort to numerical methods for solutions, using sophisticated computational fluid dynamics (CFD) codes. The difficulties introduced by reacting gas dynamics can be classified into three distinct headings: (1) the usually inadequate knowledge of the reaction rate coefficients in the non-equilibrium reaction system; (2) the vastly larger number of unknowns involved in the computation and the expected stiffness of the equations; and (3) the interpretation of the detailed reacting CFD numerical results. The research performed accepts the premise that reacting flows of practical interest in the future will in general be too complex or 'untractable' for traditional analytical developments. The power of modern computers must be exploited. However, instead of focusing solely on the construction of numerical solutions of full-model equations, attention is also directed to the 'derivation' of the simplified model from the given full-model. In other words, the present research aims to utilize computations to do tasks which have traditionally been done by skilled theoreticians: to reduce an originally complex full-model system into an approximate but otherwise equivalent simplified model system. The tacit assumption is that once the appropriate simplified model is derived, the interpretation of the detailed numerical reacting CFD numerical results will become much easier. The approach of the research is called computational singular perturbation (CSP).

  11. Kalman filtering, smoothing and recursive robot arm forward and inverse dynamics

    NASA Technical Reports Server (NTRS)

    Rodriguez, G.

    1986-01-01

    The inverse and forward dynamics problems for multi-link serial manipulators are solved by using recursive techniques from linear filtering and smoothing theory. The pivotal step is to cast the system dynamics and kinematics as a two-point boundary-value problem. Solution of this problem leads to filtering and smoothing techniques identical to the equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing. The solutions prescribe an inward filtering recursion to compute a sequence of constraint moments and forces followed by an outward recursion to determine a corresponding sequence of angular and linear accelerations. In addition to providing techniques to compute joint accelerations from applied joint moments (and vice versa), the report provides an approach to evaluate recursively the composite multi-link system inertia matrix and its inverse. The report lays the foundation for the potential use of filtering and smoothing techniques in robot inverse and forward dynamics and in robot control design.

  12. A GPU-COMPUTING APPROACH TO SOLAR STOKES PROFILE INVERSION

    SciTech Connect

    Harker, Brian J.; Mighell, Kenneth J. E-mail: mighell@noao.edu

    2012-09-20

    We present a new computational approach to the inversion of solar photospheric Stokes polarization profiles, under the Milne-Eddington model, for vector magnetography. Our code, named GENESIS, employs multi-threaded parallel-processing techniques to harness the computing power of graphics processing units (GPUs), along with algorithms designed to exploit the inherent parallelism of the Stokes inversion problem. Using a genetic algorithm (GA) engineered specifically for use with a GPU, we produce full-disk maps of the photospheric vector magnetic field from polarized spectral line observations recorded by the Synoptic Optical Long-term Investigations of the Sun (SOLIS) Vector Spectromagnetograph (VSM) instrument. We show the advantages of pairing a population-parallel GA with data-parallel GPU-computing techniques, and present an overview of the Stokes inversion problem, including a description of our adaptation to the GPU-computing paradigm. Full-disk vector magnetograms derived by this method are shown using SOLIS/VSM data observed on 2008 March 28 at 15:45 UT.

  13. A GPU-computing Approach to Solar Stokes Profile Inversion

    NASA Astrophysics Data System (ADS)

    Harker, Brian J.; Mighell, Kenneth J.

    2012-09-01

    We present a new computational approach to the inversion of solar photospheric Stokes polarization profiles, under the Milne-Eddington model, for vector magnetography. Our code, named GENESIS, employs multi-threaded parallel-processing techniques to harness the computing power of graphics processing units (GPUs), along with algorithms designed to exploit the inherent parallelism of the Stokes inversion problem. Using a genetic algorithm (GA) engineered specifically for use with a GPU, we produce full-disk maps of the photospheric vector magnetic field from polarized spectral line observations recorded by the Synoptic Optical Long-term Investigations of the Sun (SOLIS) Vector Spectromagnetograph (VSM) instrument. We show the advantages of pairing a population-parallel GA with data-parallel GPU-computing techniques, and present an overview of the Stokes inversion problem, including a description of our adaptation to the GPU-computing paradigm. Full-disk vector magnetograms derived by this method are shown using SOLIS/VSM data observed on 2008 March 28 at 15:45 UT.

  14. Dynamic Inversion based Control of a Docking Mechanism

    NASA Technical Reports Server (NTRS)

    Kulkarni, Nilesh V.; Ippolito, Corey; Krishnakumar, Kalmanje

    2006-01-01

    The problem of position and attitude control of the Stewart platform based docking mechanism is considered motivated by its future application in space missions requiring the autonomous docking capability. The control design is initiated based on the framework of the intelligent flight control architecture being developed at NASA Ames Research Center. In this paper, the baseline position and attitude control system is designed using dynamic inversion with proportional-integral augmentation. The inverse dynamics uses a Newton-Euler formulation that includes the platform dynamics, the dynamics of the individual legs along with viscous friction in the joints. Simulation results are presented using forward dynamics simulated by a commercial physics engine that builds the system as individual elements with appropriate joints and uses constrained numerical integration,

  15. Computational fluid dynamic applications

    SciTech Connect

    Chang, S.-L.; Lottes, S. A.; Zhou, C. Q.

    2000-04-03

    The rapid advancement of computational capability including speed and memory size has prompted the wide use of computational fluid dynamics (CFD) codes to simulate complex flow systems. CFD simulations are used to study the operating problems encountered in system, to evaluate the impacts of operation/design parameters on the performance of a system, and to investigate novel design concepts. CFD codes are generally developed based on the conservation laws of mass, momentum, and energy that govern the characteristics of a flow. The governing equations are simplified and discretized for a selected computational grid system. Numerical methods are selected to simplify and calculate approximate flow properties. For turbulent, reacting, and multiphase flow systems the complex processes relating to these aspects of the flow, i.e., turbulent diffusion, combustion kinetics, interfacial drag and heat and mass transfer, etc., are described in mathematical models, based on a combination of fundamental physics and empirical data, that are incorporated into the code. CFD simulation has been applied to a large variety of practical and industrial scale flow systems.

  16. Computational methods for inverse problems in geophysics: inversion of travel time observations

    USGS Publications Warehouse

    Pereyra, V.; Keller, H.B.; Lee, W.H.K.

    1980-01-01

    General ways of solving various inverse problems are studied for given travel time observations between sources and receivers. These problems are separated into three components: (a) the representation of the unknown quantities appearing in the model; (b) the nonlinear least-squares problem; (c) the direct, two-point ray-tracing problem used to compute travel time once the model parameters are given. Novel software is described for (b) and (c), and some ideas given on (a). Numerical results obtained with artificial data and an implementation of the algorithm are also presented. ?? 1980.

  17. A spatiotemporal dynamic distributed solution to the MEG inverse problem

    PubMed Central

    Lamus, Camilo; Hämäläinen, Matti S.; Temereanca, Simona; Brown, Emery N.; Purdon, Patrick L.

    2012-01-01

    MEG/EEG are non-invasive imaging techniques that record brain activity with high temporal resolution. However, estimation of brain source currents from surface recordings requires solving an ill-conditioned inverse problem. Converging lines of evidence in neuroscience, from neuronal network models to resting-state imaging and neurophysiology, suggest that cortical activation is a distributed spatiotemporal dynamic process, supported by both local and long-distance neuroanatomic connections. Because spatiotemporal dynamics of this kind are central to brain physiology, inverse solutions could be improved by incorporating models of these dynamics. In this article, we present a model for cortical activity based on nearest-neighbor autoregression that incorporates local spatiotemporal interactions between distributed sources in a manner consistent with neurophysiology and neuroanatomy. We develop a dynamic Maximum a Posteriori Expectation-Maximization (dMAP-EM) source localization algorithm for estimation of cortical sources and model parameters based on the Kalman Filter, the Fixed Interval Smoother, and the EM algorithms. We apply the dMAP-EM algorithm to simulated experiments as well as to human experimental data. Furthermore, we derive expressions to relate our dynamic estimation formulas to those of standard static models, and show how dynamic methods optimally assimilate past and future data. Our results establish the feasibility of spatiotemporal dynamic estimation in large-scale distributed source spaces with several thousand source locations and hundreds of sensors, with resulting inverse solutions that provide substantial performance improvements over static methods. PMID:22155043

  18. A spatiotemporal dynamic distributed solution to the MEG inverse problem.

    PubMed

    Lamus, Camilo; Hämäläinen, Matti S; Temereanca, Simona; Brown, Emery N; Purdon, Patrick L

    2012-11-01

    MEG/EEG are non-invasive imaging techniques that record brain activity with high temporal resolution. However, estimation of brain source currents from surface recordings requires solving an ill-conditioned inverse problem. Converging lines of evidence in neuroscience, from neuronal network models to resting-state imaging and neurophysiology, suggest that cortical activation is a distributed spatiotemporal dynamic process, supported by both local and long-distance neuroanatomic connections. Because spatiotemporal dynamics of this kind are central to brain physiology, inverse solutions could be improved by incorporating models of these dynamics. In this article, we present a model for cortical activity based on nearest-neighbor autoregression that incorporates local spatiotemporal interactions between distributed sources in a manner consistent with neurophysiology and neuroanatomy. We develop a dynamic maximum a posteriori expectation-maximization (dMAP-EM) source localization algorithm for estimation of cortical sources and model parameters based on the Kalman Filter, the Fixed Interval Smoother, and the EM algorithms. We apply the dMAP-EM algorithm to simulated experiments as well as to human experimental data. Furthermore, we derive expressions to relate our dynamic estimation formulas to those of standard static models, and show how dynamic methods optimally assimilate past and future data. Our results establish the feasibility of spatiotemporal dynamic estimation in large-scale distributed source spaces with several thousand source locations and hundreds of sensors, with resulting inverse solutions that provide substantial performance improvements over static methods. PMID:22155043

  19. Investigating the reliability of kinematic source inversion with dynamic rupture models

    NASA Astrophysics Data System (ADS)

    Zhang, Y.; Song, S.; Dalguer, L. A.; Clinton, J. F.

    2011-12-01

    An essential element of understanding the earthquake source processes is obtaining a reliable source model via geophysical data inversion. However, the epistemic uncertainties in the kinematic source inversion produce a variety of source model estimates for any given event. Thus, as done in the Source Inversion Validation (SIV) project, it is important to validate our inversion methods with synthetic data by testing forward Green's function calculation and comparing various inversion methods. Spontaneous dynamic rupture modeling, which incorporates the conservation laws of continuum mechanics and the constitutive behavior of rocks under frictional sliding, is capable of producing physically self-consistent kinematic description of the fault and its associated seismic wave propagation resulting in ground motions on the surface. Here we develop accurate dynamic rupture simulation of a vertical strike slip fault. Our source model is composed of well-defined asperities (patches of large stress drop) and we assume that fault rupture is governed by the linear slip weakening friction model. The resulting near-source ground motions dominated by low frequency (up to 1Hz) are used for testing our inversion method. We performed various inversion tests and compared estimated solutions with true solutions obtained by the forward dynamic rupture modeling. Our preliminary results show that estimated model spaces could be significantly perturbed, depending on data and modeling schemes used in the inversion, not only in terms of spatial distribution of model parameters, but also in terms of their auto- and cross-correlation structure. The Bayesian approach in source inversion is becoming increasingly popular because of the recent common availability of high performance computing capabilities. We adopted the Bayesian approach in our source inversion test, so that we can more effectively analyze the uncertainty of estimated models and also implement physically guided regularization

  20. A fast algorithm for sparse matrix computations related to inversion

    NASA Astrophysics Data System (ADS)

    Li, S.; Wu, W.; Darve, E.

    2013-06-01

    We have developed a fast algorithm for computing certain entries of the inverse of a sparse matrix. Such computations are critical to many applications, such as the calculation of non-equilibrium Green's functions Gr and G< for nano-devices. The FIND (Fast Inverse using Nested Dissection) algorithm is optimal in the big-O sense. However, in practice, FIND suffers from two problems due to the width-2 separators used by its partitioning scheme. One problem is the presence of a large constant factor in the computational cost of FIND. The other problem is that the partitioning scheme used by FIND is incompatible with most existing partitioning methods and libraries for nested dissection, which all use width-1 separators. Our new algorithm resolves these problems by thoroughly decomposing the computation process such that width-1 separators can be used, resulting in a significant speedup over FIND for realistic devices — up to twelve-fold in simulation. The new algorithm also has the added advantage that desired off-diagonal entries can be computed for free. Consequently, our algorithm is faster than the current state-of-the-art recursive methods for meshes of any size. Furthermore, the framework used in the analysis of our algorithm is the first attempt to explicitly apply the widely-used relationship between mesh nodes and matrix computations to the problem of multiple eliminations with reuse of intermediate results. This framework makes our algorithm easier to generalize, and also easier to compare against other methods related to elimination trees. Finally, our accuracy analysis shows that the algorithms that require back-substitution are subject to significant extra round-off errors, which become extremely large even for some well-conditioned matrices or matrices with only moderately large condition numbers. When compared to these back-substitution algorithms, our algorithm is generally a few orders of magnitude more accurate, and our produced round-off errors

  1. Computational and methodological developments towards 3D full waveform inversion

    NASA Astrophysics Data System (ADS)

    Etienne, V.; Virieux, J.; Hu, G.; Jia, Y.; Operto, S.

    2010-12-01

    Full waveform inversion (FWI) is one of the most promising techniques for seismic imaging. It relies on a formalism taking into account every piece of information contained in the seismic data as opposed to more classical techniques such as travel time tomography. As a result, FWI is a high resolution imaging process able to reach a spatial accuracy equal to half a wavelength. FWI is based on a local optimization scheme and therefore the main limitation concerns the starting model which has to be closed enough to the real one in order to converge to the global minimum. Another counterpart of FWI is the required computational resources when considering models and frequencies of interest. The task becomes even more tremendous when one tends to perform the inversion using the elastic equation instead of using the acoustic approximation. This is the reason why until recently most studies were limited to 2D cases. In the last few years, due to the increase of the available computational power, FWI has focused a lot of interests and continuous efforts towards inversion of 3D models, leading to remarkable applications up to the continental scale. We investigate the computational burden induced by FWI in 3D elastic media and propose some strategic features leading to the reduction of the numerical cost while providing a great flexibility in the inversion parametrization. First, in order to release the memory requirements, we developed our FWI algorithm in the frequency domain and take benefit of the wave-number redundancy in the seismic data to process a quite reduced number of frequencies. To do so, we extract frequency solutions from time marching techniques which are efficient for 3D structures. Moreover, this frequency approach permits a multi-resolution strategy by proceeding from low to high frequencies: the final model at one frequency is used as the starting model for the next frequency. This procedure overcomes partially the non-linear behavior of the inversion

  2. Computational neural learning formalisms for manipulator inverse kinematics

    NASA Technical Reports Server (NTRS)

    Gulati, Sandeep; Barhen, Jacob; Iyengar, S. Sitharama

    1989-01-01

    An efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints.

  3. Robust inverse kinematics using damped least squares with dynamic weighting

    NASA Technical Reports Server (NTRS)

    Schinstock, D. E.; Faddis, T. N.; Greenway, R. B.

    1994-01-01

    This paper presents a general method for calculating the inverse kinematics with singularity and joint limit robustness for both redundant and non-redundant serial-link manipulators. Damped least squares inverse of the Jacobian is used with dynamic weighting matrices in approximating the solution. This reduces specific joint differential vectors. The algorithm gives an exact solution away from the singularities and joint limits, and an approximate solution at or near the singularities and/or joint limits. The procedure is here implemented for a six d.o.f. teleoperator and a well behaved slave manipulator resulted under teleoperational control.

  4. Efficient algorithms for linear dynamic inverse problems with known motion

    NASA Astrophysics Data System (ADS)

    Hahn, B. N.

    2014-03-01

    An inverse problem is called dynamic if the object changes during the data acquisition process. This occurs e.g. in medical applications when fast moving organs like the lungs or the heart are imaged. Most regularization methods are based on the assumption that the object is static during the measuring procedure. Hence, their application in the dynamic case often leads to serious motion artefacts in the reconstruction. Therefore, an algorithm has to take into account the temporal changes of the investigated object. In this paper, a reconstruction method that compensates for the motion of the object is derived for dynamic linear inverse problems. The algorithm is validated at numerical examples from computerized tomography.

  5. Can a pseudo-dynamic source inversion approach improve earthquake source imaging?

    NASA Astrophysics Data System (ADS)

    Zhang, Youbing; Song, Seok Goo; Dalguer, Luis; Clinton, John

    2014-05-01

    Imaging a high resolution spatio-temporal slip distribution of an earthquake rupture is a core research goal in seismology. In general we expect to obtain a higher quality source image by improving the observational input data (e.g. using more, higher quality, near field stations). However, recent studies show that increasing the surface station density alone does not significantly improve source inversion results (Custodio et al. 2005; Zhang et al. in review). Song et al. (2009) and Song and Dalguer (2013) found interesting correlation structures between kinematic source parameters (e.g. slip, peak slip velocity and rupture velocity) obtained both from kinematic inversion and dynamic modeling. These correlation structures that effectively regularize the model space may improve source imaging more than by simply improving the observational data. In this 'pseudo-dynamic' source inversion, source images are constrained by both physical constraints derived from rupture dynamics as well all the observational data, without compromising the computational efficiency of kinematic inversion. We investigate the efficiency of the pseudo-dynamic source inversion using synthetic dynamic rupture models. Our target model is a buried vertical strike-slip event (Mw 7.3) in a homogeneous half space. In the inversion, we model low frequency (below 1Hz) waveforms using a genetic algorithm in a Bayesian framework (Moneli et al. 2008). A dynamically consistent regularized Yoffe function (Tinti, et al. 2005) was applied as a single-window slip velocity function. We have first implemented the autocorrelation of slip in the prior distribution in the Bayesian inversion - preliminary results show that estimated kinematic source models closely match the target dynamic model. The prior information describing the auto-correlation of source parameters (e.g. slip) improves the imaging of spatial distribution of source parameters. By implementing both auto- and cross-correlation of kinematic

  6. Inverse problems and computational cell metabolic models: a statistical approach

    NASA Astrophysics Data System (ADS)

    Calvetti, D.; Somersalo, E.

    2008-07-01

    In this article, we give an overview of the Bayesian modelling of metabolic systems at the cellular and subcellular level. The models are based on detailed description of key biochemical reactions occurring in tissue, which may in turn be compartmentalized into cytosol and mitochondria, and of transports between the compartments. The classical deterministic approach which models metabolic systems as dynamical systems with Michaelis-Menten kinetics, is replaced by a stochastic extension where the model parameters are interpreted as random variables with an appropriate probability density. The inverse problem of cell metabolism in this setting consists of estimating the density of the model parameters. After discussing some possible approaches to solving the problem, we address the issue of how to assess the reliability of the predictions of a stochastic model by proposing an output analysis in terms of model uncertainties. Visualization modalities for organizing the large amount of information provided by the Bayesian dynamic sensitivity analysis are also illustrated.

  7. Computational Fluid Dynamics Library

    Energy Science and Technology Software Center (ESTSC)

    2005-03-04

    CFDLib05 is the Los Alamos Computational Fluid Dynamics LIBrary. This is a collection of hydrocodes using a common data structure and a common numerical method, for problems ranging from single-field, incompressible flow, to multi-species, multi-field, compressible flow. The data structure is multi-block, with a so-called structured grid in each block. The numerical method is a Finite-Volume scheme employing a state vector that is fully cell-centered. This means that the integral form of the conservation lawsmore » is solved on the physical domain that is represented by a mesh of control volumes. The typical control volume is an arbitrary quadrilateral in 2D and an arbitrary hexahedron in 3D. The Finite-Volume scheme is for time-unsteady flow and remains well coupled by means of time and space centered fluxes; if a steady state solution is required, the problem is integrated forward in time until the user is satisfied that the state is stationary.« less

  8. Instant well-log inversion with a parallel computer

    SciTech Connect

    Kimminau, S.J.; Trivedi, H.

    1993-08-01

    Well-log analysis requires several vectors of input data to be inverted with a physical model that produces more vectors of output data. The problem is inherently suited to either vectorization or parallelization. PLATO (parallel log analysis, timely output) is a research prototype system that uses a parallel architecture computer with memory-mapped graphics to invert vector data and display the result rapidly. By combining this high-performance computing and display system with a graphical user interface, the analyst can interact with the system in real time'' and can visualize the result of changing parameters on up to 1,000 levels of computed volumes and reconstructed logs. It is expected that such instant'' inversion will remove the main disadvantages frequently cited for simultaneous analysis methods, namely difficulty in assessing sensitivity to different parameters and slow output response. Although the prototype system uses highly specific features of a parallel processor, a subsequent version has been implemented on a conventional (Serial) workstation with less performance but adequate functionality to preserve the apparently instant response. PLATO demonstrates the feasibility of petroleum computing applications combining an intuitive graphical interface, high-performance computing of physical models, and real-time output graphics.

  9. A fast algorithm for sparse matrix computations related to inversion

    SciTech Connect

    Li, S.; Wu, W.; Darve, E.

    2013-06-01

    We have developed a fast algorithm for computing certain entries of the inverse of a sparse matrix. Such computations are critical to many applications, such as the calculation of non-equilibrium Green’s functions G{sup r} and G{sup <} for nano-devices. The FIND (Fast Inverse using Nested Dissection) algorithm is optimal in the big-O sense. However, in practice, FIND suffers from two problems due to the width-2 separators used by its partitioning scheme. One problem is the presence of a large constant factor in the computational cost of FIND. The other problem is that the partitioning scheme used by FIND is incompatible with most existing partitioning methods and libraries for nested dissection, which all use width-1 separators. Our new algorithm resolves these problems by thoroughly decomposing the computation process such that width-1 separators can be used, resulting in a significant speedup over FIND for realistic devices — up to twelve-fold in simulation. The new algorithm also has the added advantage that desired off-diagonal entries can be computed for free. Consequently, our algorithm is faster than the current state-of-the-art recursive methods for meshes of any size. Furthermore, the framework used in the analysis of our algorithm is the first attempt to explicitly apply the widely-used relationship between mesh nodes and matrix computations to the problem of multiple eliminations with reuse of intermediate results. This framework makes our algorithm easier to generalize, and also easier to compare against other methods related to elimination trees. Finally, our accuracy analysis shows that the algorithms that require back-substitution are subject to significant extra round-off errors, which become extremely large even for some well-conditioned matrices or matrices with only moderately large condition numbers. When compared to these back-substitution algorithms, our algorithm is generally a few orders of magnitude more accurate, and our produced round

  10. Performance evaluation of the inverse dynamics method for optimal spacecraft reorientation

    NASA Astrophysics Data System (ADS)

    Ventura, Jacopo; Romano, Marcello; Walter, Ulrich

    2015-05-01

    This paper investigates the application of the inverse dynamics in the virtual domain method to Euler angles, quaternions, and modified Rodrigues parameters for rapid optimal attitude trajectory generation for spacecraft reorientation maneuvers. The impact of the virtual domain and attitude representation is numerically investigated for both minimum time and minimum energy problems. Owing to the nature of the inverse dynamics method, it yields sub-optimal solutions for minimum time problems. Furthermore, the virtual domain improves the optimality of the solution, but at the cost of more computational time. The attitude representation also affects solution quality and computational speed. For minimum energy problems, the optimal solution can be obtained without the virtual domain with any considered attitude representation.

  11. GARCH modelling of covariance in dynamical estimation of inverse solutions

    NASA Astrophysics Data System (ADS)

    Galka, Andreas; Yamashita, Okito; Ozaki, Tohru

    2004-12-01

    The problem of estimating unobserved states of spatially extended dynamical systems poses an inverse problem, which can be solved approximately by a recently developed variant of Kalman filtering; in order to provide the model of the dynamics with more flexibility with respect to space and time, we suggest to combine the concept of GARCH modelling of covariance, well known in econometrics, with Kalman filtering. We formulate this algorithm for spatiotemporal systems governed by stochastic diffusion equations and demonstrate its feasibility by presenting a numerical simulation designed to imitate the situation of the generation of electroencephalographic recordings by the human cortex.

  12. Are Patient-Specific Joint and Inertial Parameters Necessary for Accurate Inverse Dynamics Analyses of Gait?

    PubMed Central

    Reinbolt, Jeffrey A.; Haftka, Raphael T.; Chmielewski, Terese L.; Fregly, Benjamin J.

    2013-01-01

    Variations in joint parameter values (axis positions and orientations in body segments) and inertial parameter values (segment masses, mass centers, and moments of inertia) as well as kinematic noise alter the results of inverse dynamics analyses of gait. Three-dimensional linkage models with joint constraints have been proposed as one way to minimize the effects of noisy kinematic data. Such models can also be used to perform gait optimizations to predict post-treatment function given pre-treatment gait data. This study evaluates whether accurate patient-specific joint and inertial parameter values are needed in three-dimensional linkage models to produce accurate inverse dynamics results for gait. The study was performed in two stages. First, we used optimization analyses to evaluate whether patient-specific joint and inertial parameter values can be calibrated accurately from noisy kinematic data, and second, we used Monte Carlo analyses to evaluate how errors in joint and inertial parameter values affect inverse dynamics calculations. Both stages were performed using a dynamic, 27 degree-of-freedom, full-body linkage model and synthetic (i.e., computer generated) gait data corresponding to a nominal experimental gait motion. In general, joint but not inertial parameter values could be found accurately from noisy kinematic data. Root-mean-square (RMS) errors were 3° and 4 mm for joint parameter values and 1 kg, 22 mm, and 74,500 kg*mm2 for inertial parameter values. Furthermore, errors in joint but not inertial parameter values had a significant effect on calculated lower-extremity inverse dynamics joint torques. The worst RMS torque error averaged 4% bodyweight*height (BW*H) due to joint parameter variations but less than 0.25% BW*H due to inertial parameter variations. These results suggest that inverse dynamics analyses of gait utilizing linkage models with joint constraints should calibrate the model’s joint parameter values to obtain accurate joint

  13. Inversions

    ERIC Educational Resources Information Center

    Brown, Malcolm

    2009-01-01

    Inversions are fascinating phenomena. They are reversals of the normal or expected order. They occur across a wide variety of contexts. What do inversions have to do with learning spaces? The author suggests that they are a useful metaphor for the process that is unfolding in higher education with respect to education. On the basis of…

  14. Parallel processing architecture for computing inverse differential kinematic equations of the PUMA arm

    NASA Technical Reports Server (NTRS)

    Hsia, T. C.; Lu, G. Z.; Han, W. H.

    1987-01-01

    In advanced robot control problems, on-line computation of inverse Jacobian solution is frequently required. Parallel processing architecture is an effective way to reduce computation time. A parallel processing architecture is developed for the inverse Jacobian (inverse differential kinematic equation) of the PUMA arm. The proposed pipeline/parallel algorithm can be inplemented on an IC chip using systolic linear arrays. This implementation requires 27 processing cells and 25 time units. Computation time is thus significantly reduced.

  15. Bimolecular dynamics by computer analysis

    SciTech Connect

    Eilbeck, J.C.; Lomdahl, P.S.; Scott, A.C.

    1984-01-01

    As numerical tools (computers and display equipment) become more powerful and the atomic structures of important biological molecules become known, the importance of detailed computation of nonequilibrium biomolecular dynamics increases. In this manuscript we report results from a well developed study of the hydrogen bonded polypeptide crystal acetanilide, a model protein. Directions for future research are suggested. 9 references, 6 figures.

  16. Computational aspects of multibody dynamics

    NASA Technical Reports Server (NTRS)

    Park, K. C.

    1989-01-01

    Computational aspects are addressed which impact the requirements for developing a next generation software system for flexible multibody dynamics simulation which include: criteria for selecting candidate formulation, pairing of formulations with appropriate solution procedures, need for concurrent algorithms to utilize computer hardware advances, and provisions for allowing open-ended yet modular analysis modules.

  17. Dynamical similarities of the direct and inverse turbulent cascades

    NASA Astrophysics Data System (ADS)

    Vela-Martin, Alberto; Jimenez, Javier

    2015-11-01

    A fully reversible homogeneous isotropic turbulent system is constructed using inviscid LES to model energy fluxes in the inertial range. It recovers energy and other turbulent quantities when reversed after being allowed to decay. During the first phase, a direct cascade transfers energy from large to small scales while, during the second, an inverse cascade does the opposite. Short-time Lyapunov (STL) analysis is used to study and compare the dynamics of both cascades. This allows us to identify a smallest length scale for the chaotic flow behavior, below which the system behaves as a unit dynamically enslaved to larger motions by the contracting effect of the model. Above it, the inertial forces become relevant and the system is fully chaotic. When the inertial scales are isolated, the leading STL exponent is similar for both cascades, suggesting that the dynamics of the inertial range is conservative and time-symmetric, and that the direct and inverse energy cascades share similar energy transfer mechanisms. The cascade would thus be a bi-directional reversible process with similar up and down mechanisms, although, because the L2 norm used in the STL analysis respects the geometry of phase space, the entropy-driven cascade directionally is not precluded. Funded by the ERC Multiflow program.

  18. Feasible muscle activation ranges based on inverse dynamics analyses of human walking.

    PubMed

    Simpson, Cole S; Sohn, M Hongchul; Allen, Jessica L; Ting, Lena H

    2015-09-18

    Although it is possible to produce the same movement using an infinite number of different muscle activation patterns owing to musculoskeletal redundancy, the degree to which observed variations in muscle activity can deviate from optimal solutions computed from biomechanical models is not known. Here, we examined the range of biomechanically permitted activation levels in individual muscles during human walking using a detailed musculoskeletal model and experimentally-measured kinetics and kinematics. Feasible muscle activation ranges define the minimum and maximum possible level of each muscle's activation that satisfy inverse dynamics joint torques assuming that all other muscles can vary their activation as needed. During walking, 73% of the muscles had feasible muscle activation ranges that were greater than 95% of the total muscle activation range over more than 95% of the gait cycle, indicating that, individually, most muscles could be fully active or fully inactive while still satisfying inverse dynamics joint torques. Moreover, the shapes of the feasible muscle activation ranges did not resemble previously-reported muscle activation patterns nor optimal solutions, i.e. static optimization and computed muscle control, that are based on the same biomechanical constraints. Our results demonstrate that joint torque requirements from standard inverse dynamics calculations are insufficient to define the activation of individual muscles during walking in healthy individuals. Identifying feasible muscle activation ranges may be an effective way to evaluate the impact of additional biomechanical and/or neural constraints on possible versus actual muscle activity in both normal and impaired movements. PMID:26300401

  19. Computer animation challenges for computational fluid dynamics

    NASA Astrophysics Data System (ADS)

    Vines, Mauricio; Lee, Won-Sook; Mavriplis, Catherine

    2012-07-01

    Computer animation requirements differ from those of traditional computational fluid dynamics (CFD) investigations in that visual plausibility and rapid frame update rates trump physical accuracy. We present an overview of the main techniques for fluid simulation in computer animation, starting with Eulerian grid approaches, the Lattice Boltzmann method, Fourier transform techniques and Lagrangian particle introduction. Adaptive grid methods, precomputation of results for model reduction, parallelisation and computation on graphical processing units (GPUs) are reviewed in the context of accelerating simulation computations for animation. A survey of current specific approaches for the application of these techniques to the simulation of smoke, fire, water, bubbles, mixing, phase change and solid-fluid coupling is also included. Adding plausibility to results through particle introduction, turbulence detail and concentration on regions of interest by level set techniques has elevated the degree of accuracy and realism of recent animations. Basic approaches are described here. Techniques to control the simulation to produce a desired visual effect are also discussed. Finally, some references to rendering techniques and haptic applications are mentioned to provide the reader with a complete picture of the challenges of simulating fluids in computer animation.

  20. Computational Workbench for Multibody Dynamics

    NASA Technical Reports Server (NTRS)

    Edmonds, Karina

    2007-01-01

    PyCraft is a computer program that provides an interactive, workbenchlike computing environment for developing and testing algorithms for multibody dynamics. Examples of multibody dynamic systems amenable to analysis with the help of PyCraft include land vehicles, spacecraft, robots, and molecular models. PyCraft is based on the Spatial-Operator- Algebra (SOA) formulation for multibody dynamics. The SOA operators enable construction of simple and compact representations of complex multibody dynamical equations. Within the Py-Craft computational workbench, users can, essentially, use the high-level SOA operator notation to represent the variety of dynamical quantities and algorithms and to perform computations interactively. PyCraft provides a Python-language interface to underlying C++ code. Working with SOA concepts, a user can create and manipulate Python-level operator classes in order to implement and evaluate new dynamical quantities and algorithms. During use of PyCraft, virtually all SOA-based algorithms are available for computational experiments.

  1. Goal Directed Model Inversion: A Study of Dynamic Behavior

    NASA Technical Reports Server (NTRS)

    Colombano, Silvano P.; Compton, Michael; Raghavan, Bharathi; Lum, Henry, Jr. (Technical Monitor)

    1994-01-01

    Goal Directed Model Inversion (GDMI) is an algorithm designed to generalize supervised learning to the case where target outputs are not available to the learning system. The output of the learning system becomes the input to some external device or transformation, and only the output of this device or transformation can be compared to a desired target. The fundamental driving mechanism of GDMI is to learn from success. Given that a wrong outcome is achieved, one notes that the action that produced that outcome 0 "would have been right if the outcome had been the desired one." The algorithm then proceeds as follows: (1) store the action that produced the wrong outcome as a "target" (2) redefine the wrong outcome as a desired goal (3) submit the new desired goal to the system (4) compare the new action with the target action and modify the system by using a suitable algorithm for credit assignment (Back propagation in our example) (5) resubmit the original goal. Prior publications by our group in this area focused on demonstrating empirical results based on the inverse kinematic problem for a simulated robotic arm. In this paper we apply the inversion process to much simpler analytic functions in order to elucidate the dynamic behavior of the system and to determine the sensitivity of the learning process to various parameters. This understanding will be necessary for the acceptance of GDMI as a practical tool.

  2. What you feel is what you see: inverse dynamics estimation underlies the resistive sensation of a delayed cursor.

    PubMed

    Takamuku, Shinya; Gomi, Hiroaki

    2015-07-22

    How our central nervous system (CNS) learns and exploits relationships between force and motion is a fundamental issue in computational neuroscience. While several lines of evidence have suggested that the CNS predicts motion states and signals from motor commands for control and perception (forward dynamics), it remains controversial whether it also performs the 'inverse' computation, i.e. the estimation of force from motion (inverse dynamics). Here, we show that the resistive sensation we experience while moving a delayed cursor, perceived purely from the change in visual motion, provides evidence of the inverse computation. To clearly specify the computational process underlying the sensation, we systematically varied the visual feedback and examined its effect on the strength of the sensation. In contrast to the prevailing theory that sensory prediction errors modulate our perception, the sensation did not correlate with errors in cursor motion due to the delay. Instead, it correlated with the amount of exposure to the forward acceleration of the cursor. This indicates that the delayed cursor is interpreted as a mechanical load, and the sensation represents its visually implied reaction force. Namely, the CNS automatically computes inverse dynamics, using visually detected motions, to monitor the dynamic forces involved in our actions. PMID:26156766

  3. Inverse problem of nonlinear dynamical systems: a constructive approach

    SciTech Connect

    Gonzalez-Gascon, F.; Moreno-Insertis, F.; Rodriguez-Camino, E.

    1980-08-01

    A quite simple and practical method is developed for the construction of two dimensional nonlinear dynamical systems (plane vector fields) possessing an arbitrary number of given limit cycles. The method is applied to the construction of n-dimensional dynamical systems (R/sup n/ vector fields) possessing at least one limit cycle and, under certain circumstances, more than one, or even a numerable infinity. Interesting open problems arise when n is greater than two, or where more than one limit cycle appears. Our constructive algorithm for this type of inverse problem is also applied to the construction of second order differential equations (Newtonian differential equations) possessing a finite or infinite number of invariant speeds. This last problem is relevant for certain aspects of the special theory of relativity.

  4. Molecular interactions of agonist and inverse agonist ligands at serotonin 5-HT2C G protein-coupled receptors: computational ligand docking and molecular dynamics studies validated by experimental mutagenesis results

    NASA Astrophysics Data System (ADS)

    Córdova-Sintjago, Tania C.; Liu, Yue; Booth, Raymond G.

    2015-02-01

    To understand molecular determinants for ligand activation of the serotonin 5-HT2C G protein-coupled receptor (GPCR), a drug target for obesity and neuropsychiatric disorders, a 5-HT2C homology model was built according to an adrenergic β2 GPCR (β2AR) structure and validated using a 5-HT2B GPCR crystal structure. The models were equilibrated in a simulated phosphatidyl choline membrane for ligand docking and molecular dynamics studies. Ligands included (2S, 4R)-(-)-trans-4-(3'-bromo- and trifluoro-phenyl)-N,N-dimethyl-1,2,3,4-tetrahydronaphthalene-2-amine (3'-Br-PAT and 3'-CF3-PAT), a 5-HT2C agonist and inverse agonist, respectively. Distinct interactions of 3'-Br-PAT and 3'-CF3-PAT at the wild-type (WT) 5-HT2C receptor model were observed and experimental 5-HT2C receptor mutagenesis studies were undertaken to validate the modelling results. For example, the inverse agonist 3'-CF3-PAT docked deeper in the WT 5-HT2C binding pocket and altered the orientation of transmembrane helices (TM) 6 in comparison to the agonist 3'-Br-PAT, suggesting that changes in TM orientation that result from ligand binding impact function. For both PATs, mutation of 5-HT2C residues S3.36, T3.37, and F5.47 to alanine resulted in significantly decreased affinity, as predicted from modelling results. It was concluded that upon PAT binding, 5-HT2C residues T3.37 and F5.47 in TMs 3 and 5, respectively, engage in inter-helical interactions with TMs 4 and 6, respectively. The movement of TMs 5 and 6 upon agonist and inverse agonist ligand binding observed in the 5-HT2C receptor modelling studies was similar to movements reported for the activation and deactivation of the β2AR, suggesting common mechanisms among aminergic neurotransmitter GPCRs.

  5. Success Stories in Control: Nonlinear Dynamic Inversion Control

    NASA Technical Reports Server (NTRS)

    Bosworth, John T.

    2010-01-01

    NASA plays an important role in advancing the state of the art in flight control systems. In the case of Nonlinear Dynamic Inversion (NDI) NASA supported initial implementation of the theory in an aircraft and demonstration in a space vehicle. Dr. Dale Enns of Honeywell Aerospace Advanced Technology performed this work in cooperation with NASA and under NASA contract. Honeywell and Lockheed Martin were subsequently contracted by AFRL to create "Design Guidelines for Multivariable Control Theory". This foundational work directly contributed to the advancement of the technology and the credibility of the control law as a design option. As a result Honeywell collaborated with Lockheed Martin to produce a Nonlinear Dynamic Inversion controller for the X-35 and subsequently Lockheed Martin did the same for the production Lockheed Martin F-35 vehicle. The theory behind NDI is to use a systematic generalized approach to controlling a vehicle. Using general aircraft nonlinear equations of motion and onboard aerodynamic, mass properties, and engine models specific to the vehicle, a relationship between control effectors and desired aircraft motion can be formulated. Using this formulation a control combination is used that provides a predictable response to commanded motion. Control loops around this formulation shape the response as desired and provide robustness to modeling errors. Once the control law is designed it can be used on a similar class of vehicle with only an update to the vehicle specific onboard models.

  6. Fair and Square Computation of Inverse "Z"-Transforms of Rational Functions

    ERIC Educational Resources Information Center

    Moreira, M. V.; Basilio, J. C.

    2012-01-01

    All methods presented in textbooks for computing inverse "Z"-transforms of rational functions have some limitation: 1) the direct division method does not, in general, provide enough information to derive an analytical expression for the time-domain sequence "x"("k") whose "Z"-transform is "X"("z"); 2) computation using the inversion integral…

  7. Molecular dynamics on vector computers

    NASA Astrophysics Data System (ADS)

    Sullivan, F.; Mountain, R. D.; Oconnell, J.

    1985-10-01

    An algorithm called the method of lights (MOL) has been developed for the computerized simulation of molecular dynamics. The MOL, implemented on the CYBER 205 computer, is based on sorting and reformulating the manner in which neighbor lists are compiled, and it uses data structures compatible with specialized vector statements that perform parallel computations. The MOL is found to reduce running time over standard methods in scalar form, and vectorization is shown to produce an order-of-magnitude reduction in execution time.

  8. A fully integrated CMOS inverse sine circuit for computational systems

    NASA Astrophysics Data System (ADS)

    Seon, Jong-Kug

    2010-08-01

    An inverse trigonometric function generator using CMOS technology is presented and implemented. The development and synthesis of inverse trigonometric functional circuits based on the simple approximation equations are also introduced. The proposed inverse sine function generator has the infinite input range and can be used in many measurement and instrumentation systems. The nonlinearity of less than 2.8% for the entire input range of 0.5 Vp-p with a small-signal bandwidth of 3.2 MHz is achieved. The chip implemented in 0.25 μm CMOS process operates from a single 1.8 V supply. The measured power consumption and the active chip area of the inverse sine function circuit are 350 μW and 0.15 mm2, respectively.

  9. Nonlinear Dynamic Inversion Baseline Control Law: Architecture and Performance Predictions

    NASA Technical Reports Server (NTRS)

    Miller, Christopher J.

    2011-01-01

    A model reference dynamic inversion control law has been developed to provide a baseline control law for research into adaptive elements and other advanced flight control law components. This controller has been implemented and tested in a hardware-in-the-loop simulation; the simulation results show excellent handling qualities throughout the limited flight envelope. A simple angular momentum formulation was chosen because it can be included in the stability proofs for many basic adaptive theories, such as model reference adaptive control. Many design choices and implementation details reflect the requirements placed on the system by the nonlinear flight environment and the desire to keep the system as basic as possible to simplify the addition of the adaptive elements. Those design choices are explained, along with their predicted impact on the handling qualities.

  10. X-38 Application of Dynamic Inversion Flight Control

    NASA Technical Reports Server (NTRS)

    Wacker, Roger; Munday, Steve; Merkle, Scott

    2001-01-01

    This paper summarizes the application of a nonlinear dynamic inversion (DI) flight control system (FCS) to an autonomous flight test vehicle in NASA's X-38 Project, a predecessor to the International Space Station (ISS) Crew Return Vehicle (CRV). Honeywell's Multi-Application Control-H (MACH) is a parameterized FCS design architecture including both model-based DI rate-compensation and classical P+I command-tracking. MACH was adopted by X-38 in order to shorten the design cycle time for different vehicle shapes and flight envelopes and evolving aerodynamic databases. Specific design issues and analysis results are presented for the application of MACH to the 3rd free flight (FF3) of X-38 Vehicle 132 (V132). This B-52 drop test, occurring on March 30, 2000, represents the first flight test of MACH and one of the first few known applications of DI in the primary FCS of an autonomous flight test vehicle.

  11. A Computationally Efficient Parallel Levenberg-Marquardt Algorithm for Large-Scale Big-Data Inversion

    NASA Astrophysics Data System (ADS)

    Lin, Y.; O'Malley, D.; Vesselinov, V. V.

    2015-12-01

    Inverse modeling seeks model parameters given a set of observed state variables. However, for many practical problems due to the facts that the observed data sets are often large and model parameters are often numerous, conventional methods for solving the inverse modeling can be computationally expensive. We have developed a new, computationally-efficient Levenberg-Marquardt method for solving large-scale inverse modeling. Levenberg-Marquardt methods require the solution of a dense linear system of equations which can be prohibitively expensive to compute for large-scale inverse problems. Our novel method projects the original large-scale linear problem down to a Krylov subspace, such that the dimensionality of the measurements can be significantly reduced. Furthermore, instead of solving the linear system for every Levenberg-Marquardt damping parameter, we store the Krylov subspace computed when solving the first damping parameter and recycle it for all the following damping parameters. The efficiency of our new inverse modeling algorithm is significantly improved by using these computational techniques. We apply this new inverse modeling method to invert for a random transitivity field. Our algorithm is fast enough to solve for the distributed model parameters (transitivity) at each computational node in the model domain. The inversion is also aided by the use regularization techniques. The algorithm is coded in Julia and implemented in the MADS computational framework (http://mads.lanl.gov). Julia is an advanced high-level scientific programing language that allows for efficient memory management and utilization of high-performance computational resources. By comparing with a Levenberg-Marquardt method using standard linear inversion techniques, our Levenberg-Marquardt method yields speed-up ratio of 15 in a multi-core computational environment and a speed-up ratio of 45 in a single-core computational environment. Therefore, our new inverse modeling method is a

  12. Dynamic Inversion for Hydrological Process Monitoring with Electrical Resistance Tomography Under Model Uncertainty

    SciTech Connect

    Lehikoinen, A.; Huttunen, J.M.J.; Finsterle, S.; Kowalsky, M.B.; Kaipio, J.P.

    2009-08-01

    We propose an approach for imaging the dynamics of complex hydrological processes. The evolution of electrically conductive fluids in porous media is imaged using time-lapse electrical resistance tomography. The related dynamic inversion problem is solved using Bayesian filtering techniques, that is, it is formulated as a sequential state estimation problem in which the target is an evolving posterior probability density of the system state. The dynamical inversion framework is based on the state space representation of the system, which involves the construction of a stochastic evolution model and an observation model. The observation model used in this paper consists of the complete electrode model for ERT, with Archie's law relating saturations to electrical conductivity. The evolution model is an approximate model for simulating flow through partially saturated porous media. Unavoidable modeling and approximation errors in both the observation and evolution models are considered by computing approximate statistics for these errors. These models are then included in the construction of the posterior probability density of the estimated system state. This approximation error method allows the use of approximate - and therefore computationally efficient - observation and evolution models in the Bayesian filtering. We consider a synthetic example and show that the incorporation of an explicit model for the model uncertainties in the state space representation can yield better estimates than a frame-by-frame imaging approach.

  13. Combined dynamic inversion and QFT flight control of an unstable high performance aircraft

    NASA Astrophysics Data System (ADS)

    Stout, Perry Walter

    Quantitative Feedback Theory (QFT) is a control system synthesis, technique that directly considers system uncertainties and disturbance magnitudes when formulating closed-loop control algorithms. Dynamic Inversion is a nonlinear control system design technique that relies on accurate mathematical models to compute control inputs producing arbitrary system responses. Both techniques have been applied to unstable high performance aircraft flight control, and produced effective aircraft controllers. Both techniques have certain drawbacks: Nonlinear QFT controllers tend to be unnecessarily conservative (the computed controllers have excessive bandwidth) because known system properties are treated as "unknown" disturbances during loop synthesis. Meanwhile Dynamic Inversion control is sensitive to differences between assumed mathematical models and actual system dynamic properties. Combining the two control techniques provides the benefit of both while suffering the drawbacks of neither, as demonstrated by Single Input, Single Output (SISO) control of a constant airspeed, no roll, no yaw nonlinear model of the F-16 aircraft, and by Multi-Input, Multi-Output (MIMO) control of a full six-degree-of-freedom version. Design performance of the combined controllers is verified by reduced actuator efforts and by reduced sensor noise to actuator input (U( s)/n(s)) transfer function magnitudes compared to standard QFT versions.

  14. Recursive Factorization of the Inverse Overlap Matrix in Linear-Scaling Quantum Molecular Dynamics Simulations.

    PubMed

    Negre, Christian F A; Mniszewski, Susan M; Cawkwell, Marc J; Bock, Nicolas; Wall, Michael E; Niklasson, Anders M N

    2016-07-12

    We present a reduced complexity algorithm to compute the inverse overlap factors required to solve the generalized eigenvalue problem in a quantum-based molecular dynamics (MD) simulation. Our method is based on the recursive, iterative refinement of an initial guess of Z (inverse square root of the overlap matrix S). The initial guess of Z is obtained beforehand by using either an approximate divide-and-conquer technique or dynamical methods, propagated within an extended Lagrangian dynamics from previous MD time steps. With this formulation, we achieve long-term stability and energy conservation even under the incomplete, approximate, iterative refinement of Z. Linear-scaling performance is obtained using numerically thresholded sparse matrix algebra based on the ELLPACK-R sparse matrix data format, which also enables efficient shared-memory parallelization. As we show in this article using self-consistent density-functional-based tight-binding MD, our approach is faster than conventional methods based on the diagonalization of overlap matrix S for systems as small as a few hundred atoms, substantially accelerating quantum-based simulations even for molecular structures of intermediate size. For a 4158-atom water-solvated polyalanine system, we find an average speedup factor of 122 for the computation of Z in each MD step. PMID:27267207

  15. Analog computation with dynamical systems

    NASA Astrophysics Data System (ADS)

    Siegelmann, Hava T.; Fishman, Shmuel

    1998-09-01

    Physical systems exhibit various levels of complexity: their long term dynamics may converge to fixed points or exhibit complex chaotic behavior. This paper presents a theory that enables to interpret natural processes as special purpose analog computers. Since physical systems are naturally described in continuous time, a definition of computational complexity for continuous time systems is required. In analogy with the classical discrete theory we develop fundamentals of computational complexity for dynamical systems, discrete or continuous in time, on the basis of an intrinsic time scale of the system. Dissipative dynamical systems are classified into the computational complexity classes P d, Co-RP d, NP d and EXP d, corresponding to their standard counterparts, according to the complexity of their long term behavior. The complexity of chaotic attractors relative to regular ones leads to the conjecture P d ≠ NP d. Continuous time flows have been proven useful in solving various practical problems. Our theory provides the tools for an algorithmic analysis of such flows. As an example we analyze the continuous Hopfield network.

  16. What you feel is what you see: inverse dynamics estimation underlies the resistive sensation of a delayed cursor

    PubMed Central

    Takamuku, Shinya; Gomi, Hiroaki

    2015-01-01

    How our central nervous system (CNS) learns and exploits relationships between force and motion is a fundamental issue in computational neuroscience. While several lines of evidence have suggested that the CNS predicts motion states and signals from motor commands for control and perception (forward dynamics), it remains controversial whether it also performs the ‘inverse’ computation, i.e. the estimation of force from motion (inverse dynamics). Here, we show that the resistive sensation we experience while moving a delayed cursor, perceived purely from the change in visual motion, provides evidence of the inverse computation. To clearly specify the computational process underlying the sensation, we systematically varied the visual feedback and examined its effect on the strength of the sensation. In contrast to the prevailing theory that sensory prediction errors modulate our perception, the sensation did not correlate with errors in cursor motion due to the delay. Instead, it correlated with the amount of exposure to the forward acceleration of the cursor. This indicates that the delayed cursor is interpreted as a mechanical load, and the sensation represents its visually implied reaction force. Namely, the CNS automatically computes inverse dynamics, using visually detected motions, to monitor the dynamic forces involved in our actions. PMID:26156766

  17. Computational fluid dynamics of airfoils and wings

    NASA Technical Reports Server (NTRS)

    Garabedian, P.; Mcfadden, G.

    1982-01-01

    It is pointed out that transonic flow is one of the fields where computational fluid dynamics turns out to be most effective. Codes for the design and analysis of supercritical airfoils and wings have become standard tools of the aircraft industry. The present investigation is concerned with mathematical models and theorems which account for some of the progress that has been made. The most successful aerodynamics codes are those for the analysis of flow at off-design conditions where weak shock waves appear. A major breakthrough was achieved by Murman and Cole (1971), who conceived of a retarded difference scheme which incorporates artificial viscosity to capture shocks in the supersonic zone. This concept has been used to develop codes for the analysis of transonic flow past a swept wing. Attention is given to the trailing edge and the boundary layer, entropy inequalities and wave drag, shockless airfoils, and the inverse swept wing code.

  18. Efficient gradient computation for dynamical models

    PubMed Central

    Sengupta, B.; Friston, K.J.; Penny, W.D.

    2014-01-01

    Data assimilation is a fundamental issue that arises across many scales in neuroscience — ranging from the study of single neurons using single electrode recordings to the interaction of thousands of neurons using fMRI. Data assimilation involves inverting a generative model that can not only explain observed data but also generate predictions. Typically, the model is inverted or fitted using conventional tools of (convex) optimization that invariably extremise some functional — norms, minimum descriptive length, variational free energy, etc. Generally, optimisation rests on evaluating the local gradients of the functional to be optimized. In this paper, we compare three different gradient estimation techniques that could be used for extremising any functional in time — (i) finite differences, (ii) forward sensitivities and a method based on (iii) the adjoint of the dynamical system. We demonstrate that the first-order gradients of a dynamical system, linear or non-linear, can be computed most efficiently using the adjoint method. This is particularly true for systems where the number of parameters is greater than the number of states. For such systems, integrating several sensitivity equations – as required with forward sensitivities – proves to be most expensive, while finite-difference approximations have an intermediate efficiency. In the context of neuroimaging, adjoint based inversion of dynamical causal models (DCMs) can, in principle, enable the study of models with large numbers of nodes and parameters. PMID:24769182

  19. Dynamic computing random access memory.

    PubMed

    Traversa, F L; Bonani, F; Pershin, Y V; Di Ventra, M

    2014-07-18

    The present von Neumann computing paradigm involves a significant amount of information transfer between a central processing unit and memory, with concomitant limitations in the actual execution speed. However, it has been recently argued that a different form of computation, dubbed memcomputing (Di Ventra and Pershin 2013 Nat. Phys. 9 200-2) and inspired by the operation of our brain, can resolve the intrinsic limitations of present day architectures by allowing for computing and storing of information on the same physical platform. Here we show a simple and practical realization of memcomputing that utilizes easy-to-build memcapacitive systems. We name this architecture dynamic computing random access memory (DCRAM). We show that DCRAM provides massively-parallel and polymorphic digital logic, namely it allows for different logic operations with the same architecture, by varying only the control signals. In addition, by taking into account realistic parameters, its energy expenditures can be as low as a few fJ per operation. DCRAM is fully compatible with CMOS technology, can be realized with current fabrication facilities, and therefore can really serve as an alternative to the present computing technology. PMID:24972387

  20. Dynamic computing random access memory

    NASA Astrophysics Data System (ADS)

    Traversa, F. L.; Bonani, F.; Pershin, Y. V.; Di Ventra, M.

    2014-07-01

    The present von Neumann computing paradigm involves a significant amount of information transfer between a central processing unit and memory, with concomitant limitations in the actual execution speed. However, it has been recently argued that a different form of computation, dubbed memcomputing (Di Ventra and Pershin 2013 Nat. Phys. 9 200-2) and inspired by the operation of our brain, can resolve the intrinsic limitations of present day architectures by allowing for computing and storing of information on the same physical platform. Here we show a simple and practical realization of memcomputing that utilizes easy-to-build memcapacitive systems. We name this architecture dynamic computing random access memory (DCRAM). We show that DCRAM provides massively-parallel and polymorphic digital logic, namely it allows for different logic operations with the same architecture, by varying only the control signals. In addition, by taking into account realistic parameters, its energy expenditures can be as low as a few fJ per operation. DCRAM is fully compatible with CMOS technology, can be realized with current fabrication facilities, and therefore can really serve as an alternative to the present computing technology.

  1. Molecular dynamics simulations of ring inversion in RDX

    NASA Astrophysics Data System (ADS)

    Wallis, Eric P.; Thompson, Donald L.

    1993-08-01

    Molecular dynamics simulations, using the finite volume method of Murrell and co-workers [J. Chem. Phys. 94, 3908 (1991)], have been carried out to study conformational changes in hexahydro-1,3,5-trinitro-1,3,5-triazine (RDX) in isolation and in dense Xe gas. The configurational distributions for RDX in a Xe bath and in the gas-phase are markedly different. The results show that as the solvent concentration increases, the concentration of RDX molecules in the boat conformation increases by a factor of about 4. The rate constant for the chair→boat ring inversion was calculated as a function of the xenon concentration [Xe]. The rate constant obeys Lindemann behavior at low concentrations, i.e., it increases with increasing solvent density. At [Xe]˜6.2 mol dm-3, the rate constant reaches a maximum (Kramer's turnover) and becomes a decreasing function of the solvent concentration. For [Xe] above 16.2 mol dm-3, the rate constant again increases as a function of the solvent density.

  2. Reentry Vehicle Flight Controls Design Guidelines: Dynamic Inversion

    NASA Technical Reports Server (NTRS)

    Ito, Daigoro; Georgie, Jennifer; Valasek, John; Ward, Donald T.

    2002-01-01

    This report addresses issues in developing a flight control design for vehicles operating across a broad flight regime and with highly nonlinear physical descriptions of motion. Specifically it addresses the need for reentry vehicles that could operate through reentry from space to controlled touchdown on Earth. The latter part of controlled descent is achieved by parachute or paraglider - or by all automatic or a human-controlled landing similar to that of the Orbiter. Since this report addresses the specific needs of human-carrying (not necessarily piloted) reentry vehicles, it deals with highly nonlinear equations of motion, and then-generated control systems must be robust across a very wide range of physics. Thus, this report deals almost exclusively with some form of dynamic inversion (DI). Two vital aspects of control theory - noninteracting control laws and the transformation of nonlinear systems into equivalent linear systems - are embodied in DI. Though there is no doubt that the mathematical tools and underlying theory are widely available, there are open issues as to the practicality of using DI as the only or primary design approach for reentry articles. This report provides a set of guidelines that can be used to determine the practical usefulness of the technique.

  3. PREFACE: First International Congress of the International Association of Inverse Problems (IPIA): Applied Inverse Problems 2007: Theoretical and Computational Aspects

    NASA Astrophysics Data System (ADS)

    Uhlmann, Gunther

    2008-07-01

    This volume represents the proceedings of the fourth Applied Inverse Problems (AIP) international conference and the first congress of the Inverse Problems International Association (IPIA) which was held in Vancouver, Canada, June 25 29, 2007. The organizing committee was formed by Uri Ascher, University of British Columbia, Richard Froese, University of British Columbia, Gary Margrave, University of Calgary, and Gunther Uhlmann, University of Washington, chair. The conference was part of the activities of the Pacific Institute of Mathematical Sciences (PIMS) Collaborative Research Group on inverse problems (http://www.pims.math.ca/scientific/collaborative-research-groups/past-crgs). This event was also supported by grants from NSF and MITACS. Inverse Problems (IP) are problems where causes for a desired or an observed effect are to be determined. They lie at the heart of scientific inquiry and technological development. The enormous increase in computing power and the development of powerful algorithms have made it possible to apply the techniques of IP to real-world problems of growing complexity. Applications include a number of medical as well as other imaging techniques, location of oil and mineral deposits in the earth's substructure, creation of astrophysical images from telescope data, finding cracks and interfaces within materials, shape optimization, model identification in growth processes and, more recently, modelling in the life sciences. The series of Applied Inverse Problems (AIP) Conferences aims to provide a primary international forum for academic and industrial researchers working on all aspects of inverse problems, such as mathematical modelling, functional analytic methods, computational approaches, numerical algorithms etc. The steering committee of the AIP conferences consists of Heinz Engl (Johannes Kepler Universität, Austria), Joyce McLaughlin (RPI, USA), William Rundell (Texas A&M, USA), Erkki Somersalo (Helsinki University of Technology

  4. PREFACE: First International Congress of the International Association of Inverse Problems (IPIA): Applied Inverse Problems 2007: Theoretical and Computational Aspects

    NASA Astrophysics Data System (ADS)

    Uhlmann, Gunther

    2008-07-01

    This volume represents the proceedings of the fourth Applied Inverse Problems (AIP) international conference and the first congress of the Inverse Problems International Association (IPIA) which was held in Vancouver, Canada, June 25 29, 2007. The organizing committee was formed by Uri Ascher, University of British Columbia, Richard Froese, University of British Columbia, Gary Margrave, University of Calgary, and Gunther Uhlmann, University of Washington, chair. The conference was part of the activities of the Pacific Institute of Mathematical Sciences (PIMS) Collaborative Research Group on inverse problems (http://www.pims.math.ca/scientific/collaborative-research-groups/past-crgs). This event was also supported by grants from NSF and MITACS. Inverse Problems (IP) are problems where causes for a desired or an observed effect are to be determined. They lie at the heart of scientific inquiry and technological development. The enormous increase in computing power and the development of powerful algorithms have made it possible to apply the techniques of IP to real-world problems of growing complexity. Applications include a number of medical as well as other imaging techniques, location of oil and mineral deposits in the earth's substructure, creation of astrophysical images from telescope data, finding cracks and interfaces within materials, shape optimization, model identification in growth processes and, more recently, modelling in the life sciences. The series of Applied Inverse Problems (AIP) Conferences aims to provide a primary international forum for academic and industrial researchers working on all aspects of inverse problems, such as mathematical modelling, functional analytic methods, computational approaches, numerical algorithms etc. The steering committee of the AIP conferences consists of Heinz Engl (Johannes Kepler Universität, Austria), Joyce McLaughlin (RPI, USA), William Rundell (Texas A&M, USA), Erkki Somersalo (Helsinki University of Technology

  5. Full tensor gravity gradiometry data inversion: Performance analysis of parallel computing algorithms

    NASA Astrophysics Data System (ADS)

    Hou, Zhen-Long; Wei, Xiao-Hui; Huang, Da-Nian; Sun, Xu

    2015-09-01

    We apply reweighted inversion focusing to full tensor gravity gradiometry data using message-passing interface (MPI) and compute unified device architecture (CUDA) parallel computing algorithms, and then combine MPI with CUDA to formulate a hybrid algorithm. Parallel computing performance metrics are introduced to analyze and compare the performance of the algorithms. We summarize the rules for the performance evaluation of parallel algorithms. We use model and real data from the Vinton salt dome to test the algorithms. We find good match between model and real density data, and verify the high efficiency and feasibility of parallel computing algorithms in the inversion of full tensor gravity gradiometry data.

  6. From seismic images to plate dynamics: Towards the full inverse

    NASA Astrophysics Data System (ADS)

    Gurnis, M.; Ratnaswamy, V.; Stadler, G.; Ghattas, O.; Alisic, L.

    2014-12-01

    Three-dimensional seismic images of slabs and other mantle structures provide a first order constraint on the forces driving plate motions. Previous attempts to invert for plate motions from seismic images have blurry slabs that do not act as stress guides. Using forward models, we describe characteristics needed to capture the coupling between mantle structures and plates. In forward models, we capitalized on advances in adaptive mesh refinement and scalable solvers to simulate global mantle flow and plate motions, with plate margins resolved down to 1 km. Cold thermal anomalies within the lower mantle are coupled into oceanic plates through narrow high-viscosity slabs, altering the velocity of oceanic plates. Back-arc extension and slab rollback are emergent consequences of slab descent in the upper mantle. The forward models require the solution of a highly ill-conditioned non-linear Stokes equation. Based on a realistic rheological model with yielding and strain rate weakening from dislocation creep, we formulate inverse problems casted as PDE-constrained optimization problems and derive adjoints of the nonlinear Stokes and incompressibility equations. An inexact-Gauss Newton method is used to infer the rheological parameters while quantifying the uncertainty using the Hessian at the maximum a posteriori (MAP) point. Through 2-D numerical experiments we demonstrate that when the temperature field is known from seismic images, we can recover all of these properties to varying levels of certainty: strength of plate boundaries, yield stress and strain rate exponent in the upper mantle. When the system becomes more unconstrained (when all three mechanical properties are unknown), there can be tradeoffs depending on how well the data approximates the realistic dynamics. As plate boundaries become weaker beyond a limiting value, the uncertainty of the inferred parameters increases due to insensitivity of plate motion to plate coupling. Using the inverse of the

  7. Computer modeling of inversion layer MOS solar cells and arrays

    NASA Technical Reports Server (NTRS)

    Ho, Fat Duen

    1991-01-01

    A two dimensional numerical model of the inversion layer metal insulator semiconductor (IL/MIS) solar cell is proposed by using the finite element method. The two-dimensional current flow in the device is taken into account in this model. The electrostatic potential distribution, the electron concentration distribution, and the hole concentration distribution for different terminal voltages are simulated. The results of simple calculation are presented. The existing problems for this model are addressed. Future work is proposed. The MIS structures are studied and some of the results are reported.

  8. Dynamic Shape Reconstruction of Three-Dimensional Frame Structures Using the Inverse Finite Element Method

    NASA Technical Reports Server (NTRS)

    Gherlone, Marco; Cerracchio, Priscilla; Mattone, Massimiliano; Di Sciuva, Marco; Tessler, Alexander

    2011-01-01

    A robust and efficient computational method for reconstructing the three-dimensional displacement field of truss, beam, and frame structures, using measured surface-strain data, is presented. Known as shape sensing , this inverse problem has important implications for real-time actuation and control of smart structures, and for monitoring of structural integrity. The present formulation, based on the inverse Finite Element Method (iFEM), uses a least-squares variational principle involving strain measures of Timoshenko theory for stretching, torsion, bending, and transverse shear. Two inverse-frame finite elements are derived using interdependent interpolations whose interior degrees-of-freedom are condensed out at the element level. In addition, relationships between the order of kinematic-element interpolations and the number of required strain gauges are established. As an example problem, a thin-walled, circular cross-section cantilevered beam subjected to harmonic excitations in the presence of structural damping is modeled using iFEM; where, to simulate strain-gauge values and to provide reference displacements, a high-fidelity MSC/NASTRAN shell finite element model is used. Examples of low and high-frequency dynamic motion are analyzed and the solution accuracy examined with respect to various levels of discretization and the number of strain gauges.

  9. Approximated Stable Inversion for Nonlinear Systems with Nonhyperbolic Internal Dynamics. Revised

    NASA Technical Reports Server (NTRS)

    Devasia, Santosh

    1999-01-01

    A technique to achieve output tracking for nonminimum phase nonlinear systems with non- hyperbolic internal dynamics is presented. The present paper integrates stable inversion techniques (that achieve exact-tracking) with approximation techniques (that modify the internal dynamics) to circumvent the nonhyperbolicity of the internal dynamics - this nonhyperbolicity is an obstruction to applying presently available stable inversion techniques. The theory is developed for nonlinear systems and the method is applied to a two-cart with inverted-pendulum example.

  10. A computationally efficient parallel Levenberg-Marquardt algorithm for highly parameterized inverse model analyses

    DOE PAGESBeta

    Lin, Youzuo; O'Malley, Daniel; Vesselinov, Velimir V.

    2016-08-19

    Inverse modeling seeks model parameters given a set of observations. However, for practical problems because the number of measurements is often large and the model parameters are also numerous, conventional methods for inverse modeling can be computationally expensive. We have developed a new, computationally-efficient parallel Levenberg-Marquardt method for solving inverse modeling problems with a highly parameterized model space. Levenberg-Marquardt methods require the solution of a linear system of equations which can be prohibitively expensive to compute for moderate to large-scale problems. Our novel method projects the original linear problem down to a Krylov subspace, such that the dimensionality of themore » problem can be significantly reduced. Furthermore, we store the Krylov subspace computed when using the first damping parameter and recycle the subspace for the subsequent damping parameters. The efficiency of our new inverse modeling algorithm is significantly improved using these computational techniques. We apply this new inverse modeling method to invert for random transmissivity fields in 2D and a random hydraulic conductivity field in 3D. Our algorithm is fast enough to solve for the distributed model parameters (transmissivity) in the model domain. The algorithm is coded in Julia and implemented in the MADS computational framework (http://mads.lanl.gov). By comparing with Levenberg-Marquardt methods using standard linear inversion techniques such as QR or SVD methods, our Levenberg-Marquardt method yields a speed-up ratio on the order of ~101 to ~102 in a multi-core computational environment. Furthermore, our new inverse modeling method is a powerful tool for characterizing subsurface heterogeneity for moderate- to large-scale problems.« less

  11. Force and Moment Approach for Achievable Dynamics Using Nonlinear Dynamic Inversion

    NASA Technical Reports Server (NTRS)

    Ostroff, Aaron J.; Bacon, Barton J.

    1999-01-01

    This paper describes a general form of nonlinear dynamic inversion control for use in a generic nonlinear simulation to evaluate candidate augmented aircraft dynamics. The implementation is specifically tailored to the task of quickly assessing an aircraft's control power requirements and defining the achievable dynamic set. The achievable set is evaluated while undergoing complex mission maneuvers, and perfect tracking will be accomplished when the desired dynamics are achievable. Variables are extracted directly from the simulation model each iteration, so robustness is not an issue. Included in this paper is a description of the implementation of the forces and moments from simulation variables, the calculation of control effectiveness coefficients, methods for implementing different types of aerodynamic and thrust vectoring controls, adjustments for control effector failures, and the allocation approach used. A few examples illustrate the perfect tracking results obtained.

  12. An inverse method for computation of structural stiffness distributions of aeroelastically optimized wings

    NASA Technical Reports Server (NTRS)

    Schuster, David M.

    1993-01-01

    An inverse method has been developed to compute the structural stiffness properties of wings given a specified wing loading and aeroelastic twist distribution. The method directly solves for the bending and torsional stiffness distribution of the wing using a modal representation of these properties. An aeroelastic design problem involving the use of a computational aerodynamics method to optimize the aeroelastic twist distribution of a tighter wing operating at maneuver flight conditions is used to demonstrate the application of the method. This exercise verifies the ability of the inverse scheme to accurately compute the structural stiffness distribution required to generate a specific aeroelastic twist under a specified aeroelastic load.

  13. A combined direct/inverse three-dimensional transonic wing design method for vector computers

    NASA Technical Reports Server (NTRS)

    Weed, R. A.; Carlson, L. A.; Anderson, W. K.

    1984-01-01

    A three-dimensional transonic-wing design algorithm for vector computers is developed, and the results of sample computations are presented graphically. The method incorporates the direct/inverse scheme of Carlson (1975), a Cartesian grid system with boundary conditions applied at a mean plane, and a potential-flow solver based on the conservative form of the full potential equation and using the ZEBRA II vectorizable solution algorithm of South et al. (1980). The accuracy and consistency of the method with regard to direct and inverse analysis and trailing-edge closure are verified in the test computations.

  14. An inverse method for computation of structural stiffness distributions of aeroelastically optimized wings

    NASA Astrophysics Data System (ADS)

    Schuster, David M.

    1993-04-01

    An inverse method has been developed to compute the structural stiffness properties of wings given a specified wing loading and aeroelastic twist distribution. The method directly solves for the bending and torsional stiffness distribution of the wing using a modal representation of these properties. An aeroelastic design problem involving the use of a computational aerodynamics method to optimize the aeroelastic twist distribution of a tighter wing operating at maneuver flight conditions is used to demonstrate the application of the method. This exercise verifies the ability of the inverse scheme to accurately compute the structural stiffness distribution required to generate a specific aeroelastic twist under a specified aeroelastic load.

  15. Estimation of muscle activity using higher-order derivatives, static optimization, and forward-inverse dynamics.

    PubMed

    Yamasaki, Taiga; Idehara, Katsutoshi; Xin, Xin

    2016-07-01

    We propose a new method to estimate muscle activity in a straightforward manner with high accuracy and relatively small computational costs by using the external input of the joint angle and its first to fourth derivatives with respect to time. The method solves the inverse dynamics problem of the skeletal system, the forward dynamics problem of the muscular system, and the load-sharing problem of muscles as a static optimization of neural excitation signals. The external input including the higher-order derivatives is required for a calculation of constraints imposed on the load-sharing problem. The feasibility of the method is demonstrated by the simulation of a simple musculoskeletal model with a single joint. Moreover, the influences of the muscular dynamics, and the higher-order derivatives on the estimation of the muscle activity are demonstrated, showing the results when the time constants of the activation dynamics are very small, and the third and fourth derivatives of the external input are ignored, respectively. It is concluded that the method can have the potential to improve estimation accuracy of muscle activity of highly dynamic motions. PMID:27211782

  16. Computer programs for forward and inverse modeling of acoustic and electromagnetic data

    USGS Publications Warehouse

    Ellefsen, Karl J.

    2011-01-01

    A suite of computer programs was developed by U.S. Geological Survey personnel for forward and inverse modeling of acoustic and electromagnetic data. This report describes the computer resources that are needed to execute the programs, the installation of the programs, the program designs, some tests of their accuracy, and some suggested improvements.

  17. Computational Methods for Structural Mechanics and Dynamics

    NASA Technical Reports Server (NTRS)

    Stroud, W. Jefferson (Editor); Housner, Jerrold M. (Editor); Tanner, John A. (Editor); Hayduk, Robert J. (Editor)

    1989-01-01

    Topics addressed include: transient dynamics; transient finite element method; transient analysis in impact and crash dynamic studies; multibody computer codes; dynamic analysis of space structures; multibody mechanics and manipulators; spatial and coplanar linkage systems; flexible body simulation; multibody dynamics; dynamical systems; and nonlinear characteristics of joints.

  18. A Modular Environment for Geophysical Inversion and Run-time Autotuning using Heterogeneous Computing Systems

    NASA Astrophysics Data System (ADS)

    Myre, Joseph M.

    Heterogeneous computing systems have recently come to the forefront of the High-Performance Computing (HPC) community's interest. HPC computer systems that incorporate special purpose accelerators, such as Graphics Processing Units (GPUs), are said to be heterogeneous. Large scale heterogeneous computing systems have consistently ranked highly on the Top500 list since the beginning of the heterogeneous computing trend. By using heterogeneous computing systems that consist of both general purpose processors and special- purpose accelerators, the speed and problem size of many simulations could be dramatically increased. Ultimately this results in enhanced simulation capabilities that allows, in some cases for the first time, the execution of parameter space and uncertainty analyses, model optimizations, and other inverse modeling techniques that are critical for scientific discovery and engineering analysis. However, simplifying the usage and optimization of codes for heterogeneous computing systems remains a challenge. This is particularly true for scientists and engineers for whom understanding HPC architectures and undertaking performance analysis may not be primary research objectives. To enable scientists and engineers to remain focused on their primary research objectives, a modular environment for geophysical inversion and run-time autotuning on heterogeneous computing systems is presented. This environment is composed of three major components: 1) CUSH---a framework for reducing the complexity of programming heterogeneous computer systems, 2) geophysical inversion routines which can be used to characterize physical systems, and 3) run-time autotuning routines designed to determine configurations of heterogeneous computing systems in an attempt to maximize the performance of scientific and engineering codes. Using three case studies, a lattice-Boltzmann method, a non-negative least squares inversion, and a finite-difference fluid flow method, it is shown that

  19. Dynamic inversion of a Slab-push earthquake in Northern Chile

    NASA Astrophysics Data System (ADS)

    Ruiz, Sergio; Madariaga, Raul; Lancieri, Maria; Sobesiak, Monika

    2010-05-01

    We study the dynamic rupture propagation of a M 6.7 intraplate earthquake that occurred 16 December 2007, a month after a large thrust event of Tocopilla, Chile (M 7.7). The occurrence of a slab push event after a large subduction earthquake is well explained by Coulomb stress transfer models and crack dynamics. A dense seismic network, equipped with short period and accelerometers was deployed after the event of 14 November 2007 by the Task Force of GFZ Potsdam and the University of Chile in Santiago. This network was in place on December 16 providing an excellent data set for this earthquake. We used these data to make a detailed study of rupture processes. We localized the main event of December 16 and the aftershocks that occurred within 24 h of the main event. The main event was located at 43 km depth, while the aftershocks distribution covered a circular zone of 5 to 8 km of radius centred on the main shock epicentre. The aftershocks are distributed on an almost vertical plane that agrees with one of the fault planes of the mechanism (86° dip) and all the aftershock have the same mechanism as the main event. We used nearest accelerometric records in order to do dynamic inversion, two of these accelerometers were situated right above the hypocentre. We performed a non-linear dynamic inversion based on the neighbourhood algorithm (NA) and MonteCarlo methods with an L2 norm. The data was initially filtered in the 0.05-1 Hz. The velocity model was derived from previous work by GFZ. The earthquake was modelled using finite differences on a grid of variable size. Friction was modelled by the standard Ida slip weakening friction law. At each step of the inversion more than 32 full numerical simulations are carried in parallel. These simulations have been optimized in order to reduce the computer time to a minimum. The best models that result from dynamic inversion reduced the variance by more than 30 %, these models ruptured a relatively small zone of the fault

  20. Guest Editors' introduction to the special section on statistical and computational issues in inverse problems

    NASA Astrophysics Data System (ADS)

    Tenorio, L.; Haber, E.; Symes, W. W.; Stark, P. B.; Cox, D.; Ghattas, O.

    2008-06-01

    In the words of D D Jackson, the data of real-world inverse problems tend to be inaccurate, insufficient and inconsistent (1972 Geophys. J. R. Astron. Soc. 28 97-110). In view of these features, the characterization of solution uncertainty is an essential aspect of the study of inverse problems. The development of computational technology, in particular of multiscale and adaptive methods and robust optimization algorithms, has combined with advances in statistical methods in recent years to create unprecedented opportunities to understand and explore the role of uncertainty in inversion. Following this introductory article, the special section contains 16 papers describing recent statistical and computational advances in a variety of inverse problem settings.

  1. Non-recursive augmented Lagrangian algorithms for the forward and inverse dynamics of constrained flexible multibodies

    NASA Technical Reports Server (NTRS)

    Bayo, Eduardo; Ledesma, Ragnar

    1993-01-01

    A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive global Lagrangian approach is used in formulating the equations for motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.

  2. FOREWORD: 5th International Workshop on New Computational Methods for Inverse Problems

    NASA Astrophysics Data System (ADS)

    Vourc'h, Eric; Rodet, Thomas

    2015-11-01

    This volume of Journal of Physics: Conference Series is dedicated to the scientific research presented during the 5th International Workshop on New Computational Methods for Inverse Problems, NCMIP 2015 (http://complement.farman.ens-cachan.fr/NCMIP_2015.html). This workshop took place at Ecole Normale Supérieure de Cachan, on May 29, 2015. The prior editions of NCMIP also took place in Cachan, France, firstly within the scope of ValueTools Conference, in May 2011, and secondly at the initiative of Institut Farman, in May 2012, May 2013 and May 2014. The New Computational Methods for Inverse Problems (NCMIP) workshop focused on recent advances in the resolution of inverse problems. Indeed, inverse problems appear in numerous scientific areas such as geophysics, biological and medical imaging, material and structure characterization, electrical, mechanical and civil engineering, and finances. The resolution of inverse problems consists of estimating the parameters of the observed system or structure from data collected by an instrumental sensing or imaging device. Its success firstly requires the collection of relevant observation data. It also requires accurate models describing the physical interactions between the instrumental device and the observed system, as well as the intrinsic properties of the solution itself. Finally, it requires the design of robust, accurate and efficient inversion algorithms. Advanced sensor arrays and imaging devices provide high rate and high volume data; in this context, the efficient resolution of the inverse problem requires the joint development of new models and inversion methods, taking computational and implementation aspects into account. During this one-day workshop, researchers had the opportunity to bring to light and share new techniques and results in the field of inverse problems. The topics of the workshop were: algorithms and computational aspects of inversion, Bayesian estimation, Kernel methods, learning methods

  3. FOREWORD: 4th International Workshop on New Computational Methods for Inverse Problems (NCMIP2014)

    NASA Astrophysics Data System (ADS)

    2014-10-01

    This volume of Journal of Physics: Conference Series is dedicated to the scientific contributions presented during the 4th International Workshop on New Computational Methods for Inverse Problems, NCMIP 2014 (http://www.farman.ens-cachan.fr/NCMIP_2014.html). This workshop took place at Ecole Normale Supérieure de Cachan, on May 23, 2014. The prior editions of NCMIP also took place in Cachan, France, firstly within the scope of ValueTools Conference, in May 2011 (http://www.ncmip.org/2011/), and secondly at the initiative of Institut Farman, in May 2012 and May 2013, (http://www.farman.ens-cachan.fr/NCMIP_2012.html), (http://www.farman.ens-cachan.fr/NCMIP_2013.html). The New Computational Methods for Inverse Problems (NCMIP) Workshop focused on recent advances in the resolution of inverse problems. Indeed, inverse problems appear in numerous scientific areas such as geophysics, biological and medical imaging, material and structure characterization, electrical, mechanical and civil engineering, and finances. The resolution of inverse problems consists of estimating the parameters of the observed system or structure from data collected by an instrumental sensing or imaging device. Its success firstly requires the collection of relevant observation data. It also requires accurate models describing the physical interactions between the instrumental device and the observed system, as well as the intrinsic properties of the solution itself. Finally, it requires the design of robust, accurate and efficient inversion algorithms. Advanced sensor arrays and imaging devices provide high rate and high volume data; in this context, the efficient resolution of the inverse problem requires the joint development of new models and inversion methods, taking computational and implementation aspects into account. During this one-day workshop, researchers had the opportunity to bring to light and share new techniques and results in the field of inverse problems. The topics of the

  4. Visualization of Computational Fluid Dynamics

    NASA Technical Reports Server (NTRS)

    Gerald-Yamasaki, Michael; Hultquist, Jeff; Bryson, Steve; Kenwright, David; Lane, David; Walatka, Pamela; Clucas, Jean; Watson, Velvin; Lasinski, T. A. (Technical Monitor)

    1995-01-01

    Scientific visualization serves the dual purpose of exploration and exposition of the results of numerical simulations of fluid flow. Along with the basic visualization process which transforms source data into images, there are four additional components to a complete visualization system: Source Data Processing, User Interface and Control, Presentation, and Information Management. The requirements imposed by the desired mode of operation (i.e. real-time, interactive, or batch) and the source data have their effect on each of these visualization system components. The special requirements imposed by the wide variety and size of the source data provided by the numerical simulation of fluid flow presents an enormous challenge to the visualization system designer. We describe the visualization system components including specific visualization techniques and how the mode of operation and source data requirements effect the construction of computational fluid dynamics visualization systems.

  5. Dynamic Load Balancing for Computational Plasticity on Parallel Computers

    NASA Technical Reports Server (NTRS)

    Pramono, Eddy; Simon, Horst

    1994-01-01

    The simulation of the computational plasticity on a complex structure remains a formidable computational task, especially when a highly nonlinear, complex material model was used. It appears that the computational requirements for a such problem can only be satisfied by massively parallel architectures. In order to effectively harness the tremendous computational power provided by such architectures, it is imperative to investigate and to study the algorithmic and implementation issues pertaining to dynamic load balancing for computational plasticity on a highly parallel, distributed-memory, multiple-instruction, multiple-data computers. This paper will measure the effectiveness of the algorithms developed in handling the dynamic load balancing.

  6. Modified Dynamic Inversion to Control Large Flexible Aircraft: What's Going On?

    NASA Technical Reports Server (NTRS)

    Gregory, Irene M.

    1999-01-01

    High performance aircraft of the future will be designed lighter, more maneuverable, and operate over an ever expanding flight envelope. One of the largest differences from the flight control perspective between current and future advanced aircraft is elasticity. Over the last decade, dynamic inversion methodology has gained considerable popularity in application to highly maneuverable fighter aircraft, which were treated as rigid vehicles. This paper explores dynamic inversion application to an advanced highly flexible aircraft. An initial application has been made to a large flexible supersonic aircraft. In the course of controller design for this advanced vehicle, modifications were made to the standard dynamic inversion methodology. The results of this application were deemed rather promising. An analytical study has been undertaken to better understand the nature of the made modifications and to determine its general applicability. This paper presents the results of this initial analytical look at the modifications to dynamic inversion to control large flexible aircraft.

  7. Use of reduced basis technique in the inverse dynamics of large space cranes

    NASA Technical Reports Server (NTRS)

    Das, S. K.; Utku, S.; Wada, B. K.

    1990-01-01

    The inverse dynamics of adaptive structures used as space cranes can prove computationally expensive in the case of large structures, due to the large number of degrees of freedom involved. Consequently, reduced basis techniques (reduction techniques) are frequently used to reduce the problem size to a time manageable level (for possible use in real time control). A reduced basis technique is proposed which is different from, but related to, the path-derivatives reduction technique. A linearly independent set of deflection n-tuples is used, chosen at the beginning of the time range in which it is wished to reduce the equations, in whose subspace it is assumed that the deflection vectors of the unreduced problem will lie (approximately).

  8. Complete RNA inverse folding: computational design of functional hammerhead ribozymes

    PubMed Central

    Dotu, Ivan; Garcia-Martin, Juan Antonio; Slinger, Betty L.; Mechery, Vinodh; Meyer, Michelle M.; Clote, Peter

    2014-01-01

    Nanotechnology and synthetic biology currently constitute one of the most innovative, interdisciplinary fields of research, poised to radically transform society in the 21st century. This paper concerns the synthetic design of ribonucleic acid molecules, using our recent algorithm, RNAiFold, which can determine all RNA sequences whose minimum free energy secondary structure is a user-specified target structure. Using RNAiFold, we design ten cis-cleaving hammerhead ribozymes, all of which are shown to be functional by a cleavage assay. We additionally use RNAiFold to design a functional cis-cleaving hammerhead as a modular unit of a synthetic larger RNA. Analysis of kinetics on this small set of hammerheads suggests that cleavage rate of computationally designed ribozymes may be correlated with positional entropy, ensemble defect, structural flexibility/rigidity and related measures. Artificial ribozymes have been designed in the past either manually or by SELEX (Systematic Evolution of Ligands by Exponential Enrichment); however, this appears to be the first purely computational design and experimental validation of novel functional ribozymes. RNAiFold is available at http://bioinformatics.bc.edu/clotelab/RNAiFold/. PMID:25209235

  9. Viscous compressible flow direct and inverse computation and illustrations

    NASA Technical Reports Server (NTRS)

    Yang, T. T.; Ntone, F.

    1986-01-01

    An algorithm for laminar and turbulent viscous compressible two dimensional flows is presented. For the application of precise boundary conditions over an arbitrary body surface, a body-fitted coordinate system is used in the physical plane. A thin-layer approximation of tne Navier-Stokes equations is introduced to keep the viscous terms relatively simple. The flow field computation is performed in the transformed plane. A factorized, implicit scheme is used to facilitate the computation. Sample calculations, for Couette flow, developing pipe flow, an isolated airflow, two dimensional compressor cascade flow, and segmental compressor blade design are presented. To a certain extent, the effective use of the direct solver depends on the user's skill in setting up the gridwork, the time step size and the choice of the artificial viscosity. The design feature of the algorithm, an iterative scheme to correct geometry for a specified surface pressure distribution, works well for subsonic flows. A more elaborate correction scheme is required in treating transonic flows where local shock waves may be involved.

  10. Research on Computational Fluid Dynamics and Turbulence

    NASA Technical Reports Server (NTRS)

    1986-01-01

    Preconditioning matrices for Chebyshev derivative operators in several space dimensions; the Jacobi matrix technique in computational fluid dynamics; and Chebyshev techniques for periodic problems are discussed.

  11. Parallel Computation Of Forward Dynamics Of Manipulators

    NASA Technical Reports Server (NTRS)

    Fijany, Amir; Bejczy, Antal K.

    1993-01-01

    Report presents parallel algorithms and special parallel architecture for computation of forward dynamics of robotics manipulators. Products of effort to find best method of parallel computation to achieve required computational efficiency. Significant speedup of computation anticipated as well as cost reduction.

  12. Computational dynamics for robotics systems using a non-strict computational approach

    NASA Technical Reports Server (NTRS)

    Orin, David E.; Wong, Ho-Cheung; Sadayappan, P.

    1989-01-01

    A Non-Strict computational approach for real-time robotics control computations is proposed. In contrast to the traditional approach to scheduling such computations, based strictly on task dependence relations, the proposed approach relaxes precedence constraints and scheduling is guided instead by the relative sensitivity of the outputs with respect to the various paths in the task graph. An example of the computation of the Inverse Dynamics of a simple inverted pendulum is used to demonstrate the reduction in effective computational latency through use of the Non-Strict approach. A speedup of 5 has been obtained when the processes of the task graph are scheduled to reduce the latency along the crucial path of the computation. While error is introduced by the relaxation of precedence constraints, the Non-Strict approach has a smaller error than the conventional Strict approach for a wide range of input conditions.

  13. Predictive Dynamic Security Assessment through Advanced Computing

    SciTech Connect

    Huang, Zhenyu; Diao, Ruisheng; Jin, Shuangshuang; Chen, Yousu

    2014-11-30

    Abstract— Traditional dynamic security assessment is limited by several factors and thus falls short in providing real-time information to be predictive for power system operation. These factors include the steady-state assumption of current operating points, static transfer limits, and low computational speed. This addresses these factors and frames predictive dynamic security assessment. The primary objective of predictive dynamic security assessment is to enhance the functionality and computational process of dynamic security assessment through the use of high-speed phasor measurements and the application of advanced computing technologies for faster-than-real-time simulation. This paper presents algorithms, computing platforms, and simulation frameworks that constitute the predictive dynamic security assessment capability. Examples of phasor application and fast computation for dynamic security assessment are included to demonstrate the feasibility and speed enhancement for real-time applications.

  14. VLSI architectures for computing multiplications and inverses in GF(2-m)

    NASA Technical Reports Server (NTRS)

    Wang, C. C.; Truong, T. K.; Shao, H. M.; Deutsch, L. J.; Omura, J. K.; Reed, I. S.

    1983-01-01

    Finite field arithmetic logic is central in the implementation of Reed-Solomon coders and in some cryptographic algorithms. There is a need for good multiplication and inversion algorithms that are easily realized on VLSI chips. Massey and Omura recently developed a new multiplication algorithm for Galois fields based on a normal basis representation. A pipeline structure is developed to realize the Massey-Omura multiplier in the finite field GF(2m). With the simple squaring property of the normal-basis representation used together with this multiplier, a pipeline architecture is also developed for computing inverse elements in GF(2m). The designs developed for the Massey-Omura multiplier and the computation of inverse elements are regular, simple, expandable and, therefore, naturally suitable for VLSI implementation.

  15. VLSI architectures for computing multiplications and inverses in GF(2m)

    NASA Technical Reports Server (NTRS)

    Wang, C. C.; Truong, T. K.; Shao, H. M.; Deutsch, L. J.; Omura, J. K.

    1985-01-01

    Finite field arithmetic logic is central in the implementation of Reed-Solomon coders and in some cryptographic algorithms. There is a need for good multiplication and inversion algorithms that are easily realized on VLSI chips. Massey and Omura recently developed a new multiplication algorithm for Galois fields based on a normal basis representation. A pipeline structure is developed to realize the Massey-Omura multiplier in the finite field GF(2m). With the simple squaring property of the normal-basis representation used together with this multiplier, a pipeline architecture is also developed for computing inverse elements in GF(2m). The designs developed for the Massey-Omura multiplier and the computation of inverse elements are regular, simple, expandable and, therefore, naturally suitable for VLSI implementation.

  16. VLSI architectures for computing multiplications and inverses in GF(2m).

    PubMed

    Wang, C C; Truong, T K; Shao, H M; Deutsch, L J; Omura, J K; Reed, I S

    1985-08-01

    Finite field arithmetic logic is central in the implementation of Reed-Solomon coders and in some cryptographic algorithms. There is a need for good multiplication and inversion algorithms that can be easily realized on VLSI chips. Massey and Omura recently developed a new multiplication algorithm for Galois fields based on a normal basis representation. In this paper, a pipeline structure is developed to realize the Massey-Omura multiplier in the finite field GF(2m). With the simple squaring property of the normal basis representation used together with this multiplier, a pipeline architecture is developed for computing inverse elements in GF(2m). The designs developed for the Massey-Omura multiplier and the computation of inverse elements are regular, simple, expandable, and therefore, naturally suitable for VLSI implementation. PMID:11539660

  17. Efficient solution of an inverse problem in cell population dynamics

    NASA Astrophysics Data System (ADS)

    Groh, Andreas; Krebs, Jochen; Wagner, Mathias

    2011-06-01

    In this paper, a size-structured model for cell division is examined and the question of determining the division (birth) rate from a measurable stable size distribution of the population is addressed. This inverse problem can be formulated as a differential-dilation equation. We propose a novel solution scheme based on mollification. The method of approximate inverse allows us to shift the derivative from the data to a precomputable reconstruction kernel. To comprise all available a priori information, a presmoothing step based on regression in reproducing kernel Hilbert spaces is introduced. We establish an error theory for the emerging algorithm, prove convergence and deduce a parameter strategy. The results are substantiated with extensive numerical tests both for artificial and real data based on proliferating tumor cells.

  18. Investigation of approaches for hydrogeophysical joint inversion using a parallel computing platform

    NASA Astrophysics Data System (ADS)

    Commer, M.; Kowalsky, M. B.; Doetsch, J.; Newman, G. A.; Finsterle, S.

    2012-12-01

    Owing to the computational demands of joint inverse problems, we have developed a parallel inversion framework based on the inverse modeling tool iTOUGH2. The software provides inverse modeling capabilities for TOUGH2, a general-purpose simulator for multiphase, multicomponent, non-isothermal flows in multidimensional fractured-porous media. Our parallel version of iTOUGH2 realizes a hierarchically parallel architecture using the Message Passing Interface. This architecture allows for large numbers of parallel processes to be employed for addressing many-parameter inverse problems on large meshes. To provide geophysical modeling capabilities, we have further combined iTOUGH2 with the geophysical simulator Electromagnetic Geological Mapper (EMGeo), which features a suite of methods for modeling electrical and electromagnetic data types, including controlled-source electromagnetics, magnetotellurics, electrical resistivity tomography, and (spectral) induced polarization. Here, we consider the estimation of hydrological parameters through inverse modeling of hydrological and geophysical data associated with experiments from the shallow unconfined uranium-contaminated aquifer at the DOE Integrated Field Research Challenge (IFRC) site at Rifle, Colorado. Our study draws on examples from ongoing research at the IFRC site, and investigates different approaches for jointly inverting electrical resistivity tomography (ERT) and tracer concentration data. Exploiting complementary hydrological-geophysical modeling and parallel computing capabilities of the inversion framework, we investigate a few sequential and coupled inversion approaches, initially using synthetic examples. In the first approach, done as a pre-processing step before hydrological inversion, geophysical inversion of crosswell ERT data yields spatial maps of the subsurface electrical resistivity. During subsequent hydrological inversion, these maps are matched with their counterparts calculated from a

  19. Iterative computation of generalized inverses, with an application to CMG steering laws

    NASA Technical Reports Server (NTRS)

    Steincamp, J. W.

    1971-01-01

    A cubically convergent iterative method for computing the generalized inverse of an arbitrary M X N matrix A is developed and a FORTRAN subroutine by which the method was implemented for real matrices on a CDC 3200 is given, with a numerical example to illustrate accuracy. Application to a redundant single-gimbal CMG assembly steering law is discussed.

  20. Factors Affecting Energy Barriers for Pyramidal Inversion in Amines and Phosphines: A Computational Chemistry Lab Exercise

    ERIC Educational Resources Information Center

    Montgomery, Craig D.

    2013-01-01

    An undergraduate exercise in computational chemistry that investigates the energy barrier for pyramidal inversion of amines and phosphines is presented. Semiempirical calculations (PM3) of the ground-state and transition-state energies for NR[superscript 1]R[superscript 2]R[superscript 3] and PR[superscript 1]R[superscript 2]R[superscript 3] allow…

  1. Dance Dynamics: Computers and Dance.

    ERIC Educational Resources Information Center

    Gray, Judith A., Ed.; And Others

    1983-01-01

    Five articles discuss the use of computers in dance and dance education. They describe: (1) a computerized behavioral profile of a dance teacher; (2) computer-based dance notation; (3) elementary school computer-assisted dance instruction; (4) quantified analysis of dance criticism; and (5) computerized simulation of human body movements in a…

  2. Analysis of forward and inverse problems in chemical dynamics and spectroscopy

    SciTech Connect

    Rabitz, H.

    1993-12-01

    The overall scope of this research concerns the development and application of forward and inverse analysis tools for problems in chemical dynamics and chemical kinetics. The chemical dynamics work is specifically associated with relating features in potential surfaces and resultant dynamical behavior. The analogous inverse research aims to provide stable algorithms for extracting potential surfaces from laboratory data. In the case of chemical kinetics, the focus is on the development of systematic means to reduce the complexity of chemical kinetic models. Recent progress in these directions is summarized below.

  3. On trajectory generation for flexible space crane: Inverse dynamics analysis by LATDYN

    NASA Technical Reports Server (NTRS)

    Chen, G.-S.; Housner, J. M.; Wu, S.-C.; Chang, C.-W.

    1989-01-01

    For future in-space construction facility, one or more space cranes capable of manipulating and positioning large and massive spacecraft components will be needed. Inverse dynamics was extensively studied as a basis for trajectory generation and control of robot manipulators. The focus here is on trajectory generation in the gross-motion phase of space crane operation. Inverse dynamics of the flexible crane body is much more complex and intricate as compared with rigid robot link. To model and solve the space crane's inverse dynamics problem, LATDYN program which employs a three-dimensional finite element formulation for the multibody truss-type structures will be used. The formulation is oriented toward a joint dominated structure which is suitable for the proposed space crane concept. To track a planned trajectory, procedures will be developed to obtain the actuation profile and dynamics envelope which are pertinent to the design and performance requirements of the space crane concept.

  4. Dynamics of the inverse MAPLE nanoparticle deposition process

    NASA Astrophysics Data System (ADS)

    Steiner, Matthew A.; Fitz-Gerald, James M.

    2015-05-01

    Matrix-assisted pulsed laser evaporation (MAPLE) is a processing technique by which laser-sensitive materials are dissolved or placed into colloidal solution with a strongly absorbing sacrificial solvent, which when frozen into a solid target and irradiated under vacuum disperses the undamaged solute material onto a desired substrate. We present an inversion of the original MAPLE process, where the irradiation of metal-based acetate precursors in solution with UV transparent water results in the deposition of inorganic nanoparticles. A theory is forwarded to explain the underlying multiscale sequence of events that control the inverse MAPLE process from acetate decomposition to nanoparticle formation and subsequent ejection. Support for this theory is provided through the analysis of deposited nanoparticles and by novel characterization of MAPLE targets post-irradiation via cryostage scanning electron microscopy. Ejection is shown to proceed through the same phase-explosion mechanism that drives conventional MAPLE, relating the two techniques and advancing the broader understanding of MAPLE deposition processes.

  5. An inverse dynamics approach to trajectory optimization for an aerospace plane

    NASA Technical Reports Server (NTRS)

    Lu, Ping

    1992-01-01

    An inverse dynamics approach for trajectory optimization is proposed. This technique can be useful in many difficult trajectory optimization and control problems. The application of the approach is exemplified by ascent trajectory optimization for an aerospace plane. Both minimum-fuel and minimax types of performance indices are considered. When rocket augmentation is available for ascent, it is shown that accurate orbital insertion can be achieved through the inverse control of the rocket in the presence of disturbances.

  6. A 2-D dynamical model of mesospheric temperature inversions in winter

    SciTech Connect

    Hauchecorne, A.; Maillard, A. )

    1990-11-01

    A 2-D stratospheric and mesospheric dynamical model including drag and diffusion due to gravity wave breaking is used to simulate winter mesospheric temperature inversions similar to those observed by Rayleigh lidar. It is shown that adiabatic heating associated to descending velocities in the mesosphere is the main mechanism involved in the formation of such inversions. Sensitivity tests are performed with the model and confirm this assumption. It is also explained why other previous similar studies with 2-D models did not show mesospheric inversion layers.

  7. Inversion Of Dynamical Equations For Control Of Attitude

    NASA Technical Reports Server (NTRS)

    Bach, Ralph; Paielli, Russell

    1995-01-01

    Method of inverting nonlinear equations of rotational dynamics of rigid body used to design feedback control of orientation of body. Applicable to both direction-cosine and quaternion formulations suitable for large-angle maneuvers. Exploiting some apparently little-known properties of direction cosine and quaternion formulations, method leads to equations for model-follower control system that exhibits exactly linear attitude-error dynamics. Quarternion system more robust in responding to large roll-angle commands.

  8. Classical and quantum dynamics in an inverse square potential

    SciTech Connect

    Guillaumín-España, Elisa; Núñez-Yépez, H. N.; Salas-Brito, A. L.

    2014-10-15

    The classical motion of a particle in a 3D inverse square potential with negative energy, E, is shown to be geodesic, i.e., equivalent to the particle's free motion on a non-compact phase space manifold irrespective of the sign of the coupling constant. We thus establish that all its classical orbits with E < 0 are unbounded. To analyse the corresponding quantum problem, the Schrödinger equation is solved in momentum space. No discrete energy levels exist in the unrenormalized case and the system shows a complete “fall-to-the-center” with an energy spectrum unbounded by below. Such behavior corresponds to the non-existence of bound classical orbits. The symmetry of the problem is SO(3) × SO(2, 1) corroborating previously obtained results.

  9. Determination of eigenvalues of dynamical systems by symbolic computation

    NASA Technical Reports Server (NTRS)

    Howard, J. C.

    1982-01-01

    A symbolic computation technique for determining the eigenvalues of dynamical systems is described wherein algebraic operations, symbolic differentiation, matrix formulation and inversion, etc., can be performed on a digital computer equipped with a formula-manipulation compiler. An example is included that demonstrates the facility with which the system dynamics matrix and the control distribution matrix from the state space formulation of the equations of motion can be processed to obtain eigenvalue loci as a function of a system parameter. The example chosen to demonstrate the technique is a fourth-order system representing the longitudinal response of a DC 8 aircraft to elevator inputs. This simplified system has two dominant modes, one of which is lightly damped and the other well damped. The loci may be used to determine the value of the controlling parameter that satisfied design requirements. The results were obtained using the MACSYMA symbolic manipulation system.

  10. Vectorization of computer programs with applications to computational fluid dynamics

    NASA Astrophysics Data System (ADS)

    Gentzsch, W.

    Techniques for adapting serial computer programs to the architecture of modern vector computers are presented and illustrated with examples, mainly from the field of computational fluid dynamics. The limitations of conventional computers are reviewed; the vector computers CRAY-1S and CDC-CYBER 205 are characterized; and chapters are devoted to vectorization of FORTRAN programs, sample-program vectorization on five different vector and parallel-architecture computers, restructuring of basic linear-algebra algorithms, iterative methods, vectorization of simple numerical algorithms, and fluid-dynamics vectorization on CRAY-1 (including an implicit beam and warming scheme, an implicit finite-difference method for laminar boundary-layer equations, the Galerkin method and a direct Monte Carlo simulation). Diagrams, charts, tables, and photographs are provided.

  11. Three-dimensional electromagnetic modeling and inversion on massively parallel computers

    SciTech Connect

    Newman, G.A.; Alumbaugh, D.L.

    1996-03-01

    This report has demonstrated techniques that can be used to construct solutions to the 3-D electromagnetic inverse problem using full wave equation modeling. To this point great progress has been made in developing an inverse solution using the method of conjugate gradients which employs a 3-D finite difference solver to construct model sensitivities and predicted data. The forward modeling code has been developed to incorporate absorbing boundary conditions for high frequency solutions (radar), as well as complex electrical properties, including electrical conductivity, dielectric permittivity and magnetic permeability. In addition both forward and inverse codes have been ported to a massively parallel computer architecture which allows for more realistic solutions that can be achieved with serial machines. While the inversion code has been demonstrated on field data collected at the Richmond field site, techniques for appraising the quality of the reconstructions still need to be developed. Here it is suggested that rather than employing direct matrix inversion to construct the model covariance matrix which would be impossible because of the size of the problem, one can linearize about the 3-D model achieved in the inverse and use Monte-Carlo simulations to construct it. Using these appraisal and construction tools, it is now necessary to demonstrate 3-D inversion for a variety of EM data sets that span the frequency range from induction sounding to radar: below 100 kHz to 100 MHz. Appraised 3-D images of the earth`s electrical properties can provide researchers opportunities to infer the flow paths, flow rates and perhaps the chemistry of fluids in geologic mediums. It also offers a means to study the frequency dependence behavior of the properties in situ. This is of significant relevance to the Department of Energy, paramount to characterizing and monitoring of environmental waste sites and oil and gas exploration.

  12. Computational fluid dynamics and aerothermodynamics

    NASA Astrophysics Data System (ADS)

    Carlson, Leland A.

    1988-03-01

    Approximations applicable to the radiating, reacting, and conducting stagnation region of a hypervelocity vehicle were incorporated into a method for rapidly obtaining approximate solutions. This solution utilizes a coordinate system based upon the origin of the radiative losses and includes in a phenomenologically correct manner the effects of chemical and thermal nonequilibrium, and nonequilibrium, nongray radiative transfer. Results were presented which demonstrate the usefulness of the method and indicate which radiation parameters require further study and definition. Excellent comparisons were obtained with published results for the Fire2 data. An axisymmetric nonequilibrium inverse method was modified and extended and used to investigate and compare various vibration dissociation chemistry coupling models and radiative heat transfer approximations. The similarities, differences, and consequences of using these models in the Aero-assist Orbital Transfer Vehicles flight regime will be discussed.

  13. Using a pseudo-dynamic source inversion approach to improve earthquake source imaging

    NASA Astrophysics Data System (ADS)

    Zhang, Y.; Song, S. G.; Dalguer, L. A.; Clinton, J. F.

    2014-12-01

    Imaging a high-resolution spatio-temporal slip distribution of an earthquake rupture is a core research goal in seismology. In general we expect to obtain a higher quality source image by improving the observational input data (e.g. using more higher quality near-source stations). However, recent studies show that increasing the surface station density alone does not significantly improve source inversion results (Custodio et al. 2005; Zhang et al. 2014). We introduce correlation structures between the kinematic source parameters: slip, rupture velocity, and peak slip velocity (Song et al. 2009; Song and Dalguer 2013) in the non-linear source inversion. The correlation structures are physical constraints derived from rupture dynamics that effectively regularize the model space and may improve source imaging. We name this approach pseudo-dynamic source inversion. We investigate the effectiveness of this pseudo-dynamic source inversion method by inverting low frequency velocity waveforms from a synthetic dynamic rupture model of a buried vertical strike-slip event (Mw 6.5) in a homogeneous half space. In the inversion, we use a genetic algorithm in a Bayesian framework (Moneli et al. 2008), and a dynamically consistent regularized Yoffe function (Tinti, et al. 2005) was used for a single-window slip velocity function. We search for local rupture velocity directly in the inversion, and calculate the rupture time using a ray-tracing technique. We implement both auto- and cross-correlation of slip, rupture velocity, and peak slip velocity in the prior distribution. Our results suggest that kinematic source model estimates capture the major features of the target dynamic model. The estimated rupture velocity closely matches the target distribution from the dynamic rupture model, and the derived rupture time is smoother than the one we searched directly. By implementing both auto- and cross-correlation of kinematic source parameters, in comparison to traditional smoothing

  14. Fluid dynamics computer programs for NERVA turbopump

    NASA Technical Reports Server (NTRS)

    Brunner, J. J.

    1972-01-01

    During the design of the NERVA turbopump, numerous computer programs were developed for the analyses of fluid dynamic problems within the machine. Program descriptions, example cases, users instructions, and listings for the majority of these programs are presented.

  15. Identification of dynamic characteristics of flexible rotors as dynamic inverse problem

    NASA Technical Reports Server (NTRS)

    Roisman, W. P.; Vajingortin, L. D.

    1991-01-01

    The problem of dynamic and balancing of flexible rotors were considered, which were set and solved as the problem of the identification of flexible rotor systems, which is the same as the inverse problem of the oscillation theory dealing with the task of the identifying the outside influences and system parameters on the basis of the known laws of motion. This approach to the problem allows the disclosure the picture of disbalances throughout the rotor-under-test (which traditional methods of flexible rotor balancing, based on natural oscillations, could not provide), and identify dynamic characteristics of the system, which correspond to a selected mathematical model. Eventually, various methods of balancing were developed depending on the special features of the machines as to their design, technology, and operation specifications. Also, theoretical and practical methods are given for the flexible rotor balancing at far from critical rotation frequencies, which does not necessarily require the knowledge forms of oscillation, dissipation, and elasticity and inertia characteristics, and to use testing masses.

  16. Model calibration for ice sheets and glaciers dynamics: a general theory of inverse problems in glaciology

    NASA Astrophysics Data System (ADS)

    Giudici, M.; Baratelli, F.; Comunian, A.; Vassena, C.; Cattaneo, L.

    2014-10-01

    Numerical modelling of the dynamic evolution of ice sheets and glaciers requires the solution of discrete equations which are based on physical principles (e.g. conservation of mass, linear momentum and energy) and phenomenological constitutive laws (e.g. Glen's and Fourier's laws). These equations must be accompanied by information on the forcing term and by initial and boundary conditions (IBCs) on ice velocity, stress and temperature; on the other hand the constitutive laws involve many physical parameters, some of which depend on the ice thermodynamical state. The proper forecast of the dynamics of ice sheets and glaciers requires a precise knowledge of several quantities which appear in the IBCs, in the forcing terms and in the phenomenological laws. As these quantities cannot be easily measured at the study scale in the field, they are often obtained through model calibration by solving an inverse problem (IP). The objective of this paper is to provide a thorough and rigorous conceptual framework for IPs in cryospheric studies and in particular: to clarify the role of experimental and monitoring data to determine the calibration targets and the values of the parameters that can be considered to be fixed; to define and characterise identifiability, a property related to the solution to the forward problem; to study well-posedness in a correct way, without confusing instability with ill-conditioning or with the properties of the method applied to compute a solution; to cast sensitivity analysis in a general framework and to differentiate between the computation of local sensitivity indicators with a one-at-a-time approach and first-order sensitivity indicators that consider the whole possible variability of the model parameters. The conceptual framework and the relevant properties are illustrated by means of a simple numerical example of isothermal ice flow, based on the shallow-ice approximation.

  17. A Computational Fluid Dynamics Algorithm on a Massively Parallel Computer

    NASA Technical Reports Server (NTRS)

    Jespersen, Dennis C.; Levit, Creon

    1989-01-01

    The discipline of computational fluid dynamics is demanding ever-increasing computational power to deal with complex fluid flow problems. We investigate the performance of a finite-difference computational fluid dynamics algorithm on a massively parallel computer, the Connection Machine. Of special interest is an implicit time-stepping algorithm; to obtain maximum performance from the Connection Machine, it is necessary to use a nonstandard algorithm to solve the linear systems that arise in the implicit algorithm. We find that the Connection Machine ran achieve very high computation rates on both explicit and implicit algorithms. The performance of the Connection Machine puts it in the same class as today's most powerful conventional supercomputers.

  18. Fast algorithm for computing the Abel inversion integral in broadband reflectometry

    SciTech Connect

    Nunes, F.D.

    1995-10-01

    The application of the Hansen--Jablokow recursive technique is proposed for the numerical computation of the Abel inversion integral which is used in ({ital O}-mode) frequency-modulated broadband reflectometry to evaluate plasma density profiles. Compared to the usual numerical methods the recursive algorithm allows substantial time savings that can be important when processing massive amounts of data aiming to control the plasma in real time. {copyright} {ital 1995} {ital American} {ital Institute} {ital of} {ital Physics}.

  19. Non-negative constraint research of Tikhonov regularization inversion for dynamic light scattering

    NASA Astrophysics Data System (ADS)

    Wang, Y. J.; Shen, J.; Liu, W.; Sun, X. M.; Dou, Z. H.

    2013-08-01

    In dynamic light scattering (DLS) technology, a non-negative constraint on the solution can improve the inversion accuracy of the particle size distribution (PSD). Different non-negative constraint methods have different effects on the inversion results. Combined with the Tikhonov regularization inversion method, the following non-negativity constraint methods: negative to zero (N-to-Z), multi-negative to zero (Multi-N-to-Z), Lin-projected gradient (LPG), oblique projected Landweber (OPL), projected sequential subspace optimization (PSESOP), interior point Newton (IPN), gradient projection conjugate gradient (GPCG) and trust-region method based on the interior reflective Newton (TR-IRN) method are studied in DLS inversion. In different inversion ranges and noise levels, autocorrelation functions of unimodal and bimodal particle distributions were inverted using different non-negativity constraint methods. From the inversion results, the characteristics of the various methods were obtained, which can be treated as a reference for the implementation of non-negative constraints in Tikhonov regularization inversion of DLS.

  20. FOREWORD: 3rd International Workshop on New Computational Methods for Inverse Problems (NCMIP 2013)

    NASA Astrophysics Data System (ADS)

    Blanc-Féraud, Laure; Joubert, Pierre-Yves

    2013-10-01

    Conference logo This volume of Journal of Physics: Conference Series is dedicated to the scientific contributions presented during the 3rd International Workshop on New Computational Methods for Inverse Problems, NCMIP 2013 (http://www.farman.ens-cachan.fr/NCMIP_2013.html). This workshop took place at Ecole Normale Supérieure de Cachan, in Cachan, France, on 22 May 2013, at the initiative of Institut Farman. The prior editions of NCMIP also took place in Cachan, France, firstly within the scope of the ValueTools Conference, in May 2011 (http://www.ncmip.org/2011/), and secondly at the initiative of Institut Farman, in May 2012 (http://www.farman.ens-cachan.fr/NCMIP_2012.html). The NCMIP Workshop focused on recent advances in the resolution of inverse problems. Indeed inverse problems appear in numerous scientific areas such as geophysics, biological and medical imaging, material and structure characterization, electrical, mechanical and civil engineering, and finances. The resolution of inverse problems consists of estimating the parameters of the observed system or structure from data collected by an instrumental sensing or imaging device. Its success firstly requires the collection of relevant observation data. It also requires accurate models describing the physical interactions between the instrumental device and the observed system, as well as the intrinsic properties of the solution itself. Finally, it requires the design of robust, accurate and efficient inversion algorithms. Advanced sensor arrays and imaging devices provide high rate and high volume data; in this context, the efficient resolution of the inverse problem requires the joint development of new models and inversion methods, taking computational and implementation aspects into account. During this one-day workshop, researchers had the opportunity to bring to light and share new techniques and results in the field of inverse problems. The topics of the workshop were: algorithms and computational

  1. FOREWORD: 2nd International Workshop on New Computational Methods for Inverse Problems (NCMIP 2012)

    NASA Astrophysics Data System (ADS)

    Blanc-Féraud, Laure; Joubert, Pierre-Yves

    2012-09-01

    Conference logo This volume of Journal of Physics: Conference Series is dedicated to the scientific contributions presented during the 2nd International Workshop on New Computational Methods for Inverse Problems, (NCMIP 2012). This workshop took place at Ecole Normale Supérieure de Cachan, in Cachan, France, on 15 May 2012, at the initiative of Institut Farman. The first edition of NCMIP also took place in Cachan, France, within the scope of the ValueTools Conference, in May 2011 (http://www.ncmip.org/2011/). The NCMIP Workshop focused on recent advances in the resolution of inverse problems. Indeed inverse problems appear in numerous scientific areas such as geophysics, biological and medical imaging, material and structure characterization, electrical, mechanical and civil engineering, and finance. The resolution of inverse problems consists of estimating the parameters of the observed system or structure from data collected by an instrumental sensing or imaging device. Its success firstly requires the collection of relevant observation data. It also requires accurate models describing the physical interactions between the instrumental device and the observed system, as well as the intrinsic properties of the solution itself. Finally, it requires the design of robust, accurate and efficient inversion algorithms. Advanced sensor arrays and imaging devices provide high rate and high volume data; in this context, the efficient resolution of the inverse problem requires the joint development of new models and inversion methods, taking computational and implementation aspects into account. During this one-day workshop, researchers had the opportunity to bring to light and share new techniques and results in the field of inverse problems. The topics of the workshop were: algorithms and computational aspects of inversion, Bayesian estimation, kernel methods, learning methods, convex optimization, free discontinuity problems, metamodels, proper orthogonal decomposition

  2. Persistent inversion dynamics and wintertime PM10 air pollution in Alpine valleys

    NASA Astrophysics Data System (ADS)

    Largeron, Yann; Staquet, Chantal

    2016-06-01

    The present study investigates persistent inversions dynamics during a whole winter in Alpine valleys of the area of Grenoble (French Alps), and their relationship to PM10 air pollution episodes and synoptic scale meteorology. For this purpose, hourly time series from November to March of PM10 concentration measurements at the bottom of the valleys and of ground-based temperature data at different altitudes are used. A methodology is developed to quantify a simple estimate of the inversion strength from temperature profiles deduced from the ground-based observations. This estimate is shown to be equivalent to the boundary layer heat deficit. A criterion based on this estimate is proposed to identify persistent (more than 3 days) inversions. Persistent inversions are found to occur from November to February and span 35% of the time. It is shown that they are closely related to PM10 pollution episodes, the PM10 concentration increasing with the boundary layer stability as the inversion develops. Polluted episodes are primarily driven by persistent inversions and consequently, pollution is of fully local origin from November to February. In March local dynamics become less important and long-range transport can dominate. Persistent inversions occur systematically during a high-pressure regime, which first triggers a synoptic scale elevated inversion due to the advection of warm air masses in the mid-troposphere. In valleys, the sheltered boundary layer becomes decoupled from the free troposphere, which allows a ground-based inversion to intensify in the following days. An inversion layer of quasi-constant temperature gradient, greater than 5 K km-1, then forms up to an altitude of about 1600 m, close to the average elevation of the summits. If the episode is sufficiently long, a stagnation stage is reached during which daytime insolation produces a shallow convective surface layer which does not destroy the persistent inversion. The inversion break-up occurs rapidly

  3. Inverse dynamics of adaptive structures used as space cranes

    NASA Technical Reports Server (NTRS)

    Das, S. K.; Utku, S.; Wada, B. K.

    1990-01-01

    As a precursor to the real-time control of fast moving adaptive structures used as space cranes, a formulation is given for the flexibility induced motion relative to the nominal motion (i.e., the motion that assumes no flexibility) and for obtaining the open loop time varying driving forces. An algorithm is proposed for the computation of the relative motion and driving forces. The governing equations are given in matrix form with explicit functional dependencies. A simulator is developed to implement the algorithm on a digital computer. In the formulations, the distributed mass of the crane is lumped by two schemes, vz., 'trapezoidal' lumping and 'Simpson's rule' lumping. The effects of the mass lumping schemes are shown by simulator runs.

  4. Adaptive dynamic inversion robust control for BTT missile based on wavelet neural network

    NASA Astrophysics Data System (ADS)

    Li, Chuanfeng; Wang, Yongji; Deng, Zhixiang; Wu, Hao

    2009-10-01

    A new nonlinear control strategy incorporated the dynamic inversion method with wavelet neural networks is presented for the nonlinear coupling system of Bank-to-Turn(BTT) missile in reentry phase. The basic control law is designed by using the dynamic inversion feedback linearization method, and the online learning wavelet neural network is used to compensate the inversion error due to aerodynamic parameter errors, modeling imprecise and external disturbance in view of the time-frequency localization properties of wavelet transform. Weights adjusting laws are derived according to Lyapunov stability theory, which can guarantee the boundedness of all signals in the whole system. Furthermore, robust stability of the closed-loop system under this tracking law is proved. Finally, the six degree-of-freedom(6DOF) simulation results have shown that the attitude angles can track the anticipant command precisely under the circumstances of existing external disturbance and in the presence of parameter uncertainty. It means that the dependence on model by dynamic inversion method is reduced and the robustness of control system is enhanced by using wavelet neural network(WNN) to reconstruct inversion error on-line.

  5. COLD-SAT Dynamic Model Computer Code

    NASA Technical Reports Server (NTRS)

    Bollenbacher, G.; Adams, N. S.

    1995-01-01

    COLD-SAT Dynamic Model (CSDM) computer code implements six-degree-of-freedom, rigid-body mathematical model for simulation of spacecraft in orbit around Earth. Investigates flow dynamics and thermodynamics of subcritical cryogenic fluids in microgravity. Consists of three parts: translation model, rotation model, and slosh model. Written in FORTRAN 77.

  6. Analytical simulation and inversion of dynamic urban land surface effects

    NASA Astrophysics Data System (ADS)

    Bayer, P.; Rivera, J.; Blum, P.; Schweizer, D.; Rybach, L.

    2015-12-01

    Long-term thermal changes at the land surface can be backtracked from borehole temperature profiles. The main focus so far has been on past climate changes, assuming perfect coupling of surface air and ground temperature. In many urbanized areas, however, temperature profiles are heavily perturbed. We find a characteristic bending of urban profiles towards shallow depth, which indicates strong heating from the ground surface during recent decades. This phenomenon is generally described as subsurface urban heat island (UHI) effect, which exists beneath many cities worldwide. Major drivers are land use changes and urban structures that act as long-term heat sources that artificially load the top 100 m of the ground. While variability in land use and coverage are critical factors for reliable borehole climatology, temperature profiles can also be inverted to trace back the combined effect of past urbanization and climate. We present an analytical framework based on the superposition of specific Green's functions for simulating transient land use changes and their effects on borehole temperature profiles. By inversion in a Bayesian framework, flexible calibration of unknown spatially distributed parameter values and their correlation is feasible. The procedure is applied to four temperature logs which are around 200-400 m deep from the city and suburbs of Zurich, Switzerland. These were recorded recently by a temperature sensor and data logger introduced in closed borehole heat exchangers before the start of geothermal operation. At the sites, long-term land use changes are well documented for more than the last century. This facilitated focusing on a few unknown parameters, and we selected the contribution by asphalt and by basements of buildings. It is revealed that for three of the four sites, these two factors dominate the subsurface UHI evolution. At one site, additional factors such as buried district heating networks may play a role. It is demonstrated that site

  7. Four ways to compute the inverse of the complete elliptic integral of the first kind

    NASA Astrophysics Data System (ADS)

    Boyd, John P.

    2015-11-01

    The complete elliptic integral of the first kind arises in many applications. This article furnishes four different ways to compute the inverse of the elliptic integral. One motive for this study is simply that the author needed to compute the inverse integral for an application. Another is to develop a case study comparing different options for solving transcendental equations like those in the author's book (Boyd, 2014). A third motive is to develop analytical approximations, more useful to theorists than mere numbers. A fourth motive is to provide robust "black box" software for computing this function. The first solution strategy is "polynomialization" which replaces the elliptic integral by an exponentially convergent series of Chebyshev polynomials. The transcendental equation becomes a polynomial equation which is easily solved by finding the eigenvalues of the Chebyshev companion matrix. (The numerically ill-conditioned step of converting from the Chebyshev to monomial basis is never necessary). The second approximation is a regular perturbation series, accurate where the modulus is small. The third is a power-and-exponential series that converges over the entire range parameter range, albeit only sub-exponentially in the limit of zero modulus. Lastly, Newton's iteration is promoted from a local iteration to a global method by a Never-Failing Newton's Iteration (NFNI) in the form of the exponential of the ratio of a linear function divided by another linear polynomial. A short Matlab implementation is provided, easily translatable into other languages. The Matlab/Newton code is recommended for numerical purposes. The other methods are presented because (i) all are broadly applicable strategies useful for other rootfinding and inversion problems (ii) series and substitutions are often much more useful to theorists than numerical software and (iii) the Never-Failing Newton's Iteration was discovered only after a great deal of messing about with power series

  8. Inverse Dynamics Control of Constrained Robots in the Presence of Joint Flexibility

    NASA Astrophysics Data System (ADS)

    IDER, S. KEMAL

    1999-07-01

    An inverse dynamics control algorithm for constrained flexible-joint robots is developed. It is shown that in a flexible-joint robot, the acceleration level inverse dynamic equations are singular because of the elastic media. Implicit numerical integration methods that account for the higher order derivative information are utilized for solving the singular set of differential equations. The control law proposed linearizes and decouples the system and achieves simultaneous and asymptotically stable trajectory tracking control of the end-effector motion and contact forces. Together with the integrators for improving robustness due to modelling errors and disturbances, a fifth order position error dynamics and a third order contact force error dynamics are obtained. A 3R spatial robot with all joints flexible is simulated to illustrate the performance of the method.

  9. Learning the Inverse Dynamics of Robotic Manipulators in Structured Reproducing Kernel Hilbert Space.

    PubMed

    Cheng, Ching-An; Huang, Han-Pang; Hsu, Huan-Kun; Lai, Wei-Zh; Cheng, Chih-Chun

    2016-07-01

    We investigate the modeling of inverse dynamics without prior kinematic information for holonomic rigid-body robots. Despite success in compensating robot dynamics and friction, general inverse dynamics models are nontrivial. Rigid-body models are restrictive or inefficient; learning-based models are generalizable yet require large training data. The structured kernels address the dilemma by embedding the robot dynamics in reproducing kernel Hilbert space. The proposed kernels autonomously converge to rigid-body models but require fewer samples; with a semi-parametric framework that incorporates additional parametric basis for friction, the structured kernels can efficiently model general rigid-body robots. We tested the proposed scheme in simulations and experiments; the models that consider the structure of function space are more accurate. PMID:26316286

  10. Control of a high beta maneuvering reentry vehicle using dynamic inversion.

    SciTech Connect

    Watts, Alfred Chapman

    2005-05-01

    The design of flight control systems for high performance maneuvering reentry vehicles presents a significant challenge to the control systems designer. These vehicles typically have a much higher ballistic coefficient than crewed vehicles like as the Space Shuttle or proposed crew return vehicles such as the X-38. Moreover, the missions of high performance vehicles usually require a steeper reentry flight path angle, followed by a pull-out into level flight. These vehicles then must transit the entire atmosphere and robustly perform the maneuvers required for the mission. The vehicles must also be flown with small static margins in order to perform the required maneuvers, which can result in highly nonlinear aerodynamic characteristics that frequently transition from being aerodynamically stable to unstable as angle of attack increases. The control system design technique of dynamic inversion has been applied successfully to both high performance aircraft and low beta reentry vehicles. The objective of this study was to explore the application of this technique to high performance maneuvering reentry vehicles, including the basic derivation of the dynamic inversion technique, followed by the extension of that technique to the use of tabular trim aerodynamic models in the controller. The dynamic inversion equations are developed for high performance vehicles and augmented to allow the selection of a desired response for the control system. A six degree of freedom simulation is used to evaluate the performance of the dynamic inversion approach, and results for both nominal and off nominal aerodynamic characteristics are presented.

  11. Computational Physics and Evolutionary Dynamics

    NASA Astrophysics Data System (ADS)

    Fontana, Walter

    2000-03-01

    One aspect of computational physics deals with the characterization of statistical regularities in materials. Computational physics meets biology when these materials can evolve. RNA molecules are a case in point. The folding of RNA sequences into secondary structures (shapes) inspires a simple biophysically grounded genotype-phenotype map that can be explored computationally and in the laboratory. We have identified some statistical regularities of this map and begin to understand their evolutionary consequences. (1) ``typical shapes'': Only a small subset of shapes realized by the RNA folding map is typical, in the sense of containing shapes that are realized significantly more often than others. Consequence: evolutionary histories mostly involve typical shapes, and thus exhibit generic properties. (2) ``neutral networks'': Sequences folding into the same shape are mutationally connected into a network that reaches across sequence space. Consequence: Evolutionary transitions between shapes reflect the fraction of boundary shared by the corresponding neutral networks in sequence space. The notion of a (dis)continuous transition can be made rigorous. (3) ``shape space covering'': Given a random sequence, a modest number of mutations suffices to reach a sequence realizing any typical shape. Consequence: The effective search space for evolutionary optimization is greatly reduced, and adaptive success is less dependent on initial conditions. (4) ``plasticity mirrors variability'': The repertoire of low energy shapes of a sequence is an indicator of how much and in which ways its energetically optimal shape can be altered by a single point mutation. Consequence: (i) Thermodynamic shape stability and mutational robustness are intimately linked. (ii) When natural selection favors the increase of stability, extreme mutational robustness -- to the point of an evolutionary dead-end -- is produced as a side effect. (iii) The hallmark of robust shapes is modularity.

  12. Computational fluid dynamics - The coming revolution

    NASA Technical Reports Server (NTRS)

    Graves, R. A., Jr.

    1982-01-01

    The development of aerodynamic theory is traced from the days of Aristotle to the present, with the next stage in computational fluid dynamics dependent on superspeed computers for flow calculations. Additional attention is given to the history of numerical methods inherent in writing computer codes applicable to viscous and inviscid analyses for complex configurations. The advent of the superconducting Josephson junction is noted to place configurational demands on computer design to avoid limitations imposed by the speed of light, and a Japanese projection of a computer capable of several hundred billion operations/sec is mentioned. The NASA Numerical Aerodynamic Simulator is described, showing capabilities of a billion operations/sec with a memory of 240 million words using existing technology. Near-term advances in fluid dynamics are discussed.

  13. Single neuron dynamics and computation.

    PubMed

    Brunel, Nicolas; Hakim, Vincent; Richardson, Magnus J E

    2014-04-01

    At the single neuron level, information processing involves the transformation of input spike trains into an appropriate output spike train. Building upon the classical view of a neuron as a threshold device, models have been developed in recent years that take into account the diverse electrophysiological make-up of neurons and accurately describe their input-output relations. Here, we review these recent advances and survey the computational roles that they have uncovered for various electrophysiological properties, for dendritic arbor anatomy as well as for short-term synaptic plasticity. PMID:24492069

  14. Light-Directed Dynamic Chirality Inversion in Functional Self-Organized Helical Superstructures.

    PubMed

    Bisoyi, Hari Krishna; Li, Quan

    2016-02-24

    Helical superstructures are widely observed in nature, in synthetic polymers, and in supramolecular assemblies. Controlling the chirality (the handedness) of dynamic helical superstructures of molecular and macromolecular systems by external stimuli is a challenging task, but is of great fundamental significance with appealing morphology-dependent applications. Light-driven chirality inversion in self-organized helical superstructures (i.e. cholesteric, chiral nematic liquid crystals) is currently in the limelight because inversion of the handedness alters the chirality of the circularly polarized light that they selectively reflect, which has wide potential for application. Here we discuss the recent developments toward inversion of the handedness of cholesteric liquid crystals enabled by photoisomerizable chiral molecular switches or motors. Different classes of chiral photoresponsive dopants (guests) capable of conferring light-driven reversible chirality inversion of helical superstructures fabricated from different nematic hosts are discussed. Rational molecular designs of chiral molecular switches toward endowing handedness inversion to the induced helical superstructures of cholesteric liquid crystals are highlighted. This Review is concluded by throwing light on the challenges and opportunities in this emerging frontier, and it is expected to provide useful guidelines toward the development of self-organized soft materials with stimuli-directed chirality inversion capability and multifunctional host-guest systems. PMID:26764018

  15. User manual for INVICE 0.1-beta : a computer code for inverse analysis of isentropic compression experiments.

    SciTech Connect

    Davis, Jean-Paul

    2005-03-01

    INVICE (INVerse analysis of Isentropic Compression Experiments) is a FORTRAN computer code that implements the inverse finite-difference method to analyze velocity data from isentropic compression experiments. This report gives a brief description of the methods used and the options available in the first beta version of the code, as well as instructions for using the code.

  16. Three-Dimensional Computational Fluid Dynamics

    SciTech Connect

    Haworth, D.C.; O'Rourke, P.J.; Ranganathan, R.

    1998-09-01

    Computational fluid dynamics (CFD) is one discipline falling under the broad heading of computer-aided engineering (CAE). CAE, together with computer-aided design (CAD) and computer-aided manufacturing (CAM), comprise a mathematical-based approach to engineering product and process design, analysis and fabrication. In this overview of CFD for the design engineer, our purposes are three-fold: (1) to define the scope of CFD and motivate its utility for engineering, (2) to provide a basic technical foundation for CFD, and (3) to convey how CFD is incorporated into engineering product and process design.

  17. Parallelization of implicit finite difference schemes in computational fluid dynamics

    NASA Technical Reports Server (NTRS)

    Decker, Naomi H.; Naik, Vijay K.; Nicoules, Michel

    1990-01-01

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

  18. A fast inverse consistent deformable image registration method based on symmetric optical flow computation

    PubMed Central

    Li, Hua; Low, Daniel A; Deasy, Joseph O; Naqa, Issam El

    2014-01-01

    Deformable image registration is widely used in various radiation therapy applications including daily treatment planning adaptation to map planned tissue or dose to changing anatomy. In this work, a simple and efficient inverse consistency deformable registration method is proposed with aims of higher registration accuracy and faster convergence speed. Instead of registering image I to a second image J, the two images are symmetrically deformed toward one another in multiple passes, until both deformed images are matched and correct registration is therefore achieved. In each pass, a delta motion field is computed by minimizing a symmetric optical flow system cost function using modified optical flow algorithms. The images are then further deformed with the delta motion field in the positive and negative directions respectively, and then used for the next pass. The magnitude of the delta motion field is forced to be less than 0.4 voxel for every pass in order to guarantee smoothness and invertibility for the two overall motion fields that are accumulating the delta motion fields in both positive and negative directions, respectively. The final motion fields to register the original images I and J, in either direction, are calculated by inverting one overall motion field and combining the inversion result with the other overall motion field. The final motion fields are inversely consistent and this is ensured by the symmetric way that registration is carried out. The proposed method is demonstrated with phantom images, artificially deformed patient images and 4D-CT images. Our results suggest that the proposed method is able to improve the overall accuracy (reducing registration error by 30% or more, compared to the original and inversely inconsistent optical flow algorithms), reduce the inverse consistency error (by 95% or more) and increase the convergence rate (by 100% or more). The overall computation speed may slightly decrease, or increase in most cases

  19. Computer simulation of microstructural dynamics

    SciTech Connect

    Grest, G.S.; Anderson, M.P.; Srolovitz, D.J.

    1985-01-01

    Since many of the physical properties of materials are determined by their microstructure, it is important to be able to predict and control microstructural development. A number of approaches have been taken to study this problem, but they assume that the grains can be described as spherical or hexagonal and that growth occurs in an average environment. We have developed a new technique to bridge the gap between the atomistic interactions and the macroscopic scale by discretizing the continuum system such that the microstructure retains its topological connectedness, yet is amenable to computer simulations. Using this technique, we have studied grain growth in polycrystalline aggregates. The temporal evolution and grain morphology of our model are in excellent agreement with experimental results for metals and ceramics.

  20. Stability Result For Dynamic Inversion Devised to Control Large Flexible Aircraft

    NASA Technical Reports Server (NTRS)

    Gregory, Irene M.

    2001-01-01

    High performance aircraft of the future will be designed lighter, more maneuverable, and operate over an ever expanding flight envelope. One of the largest differences from the flight control perspective between current and future advanced aircraft is elasticity. Over the last decade, dynamic inversion methodology has gained considerable popularity in application to highly maneuverable fighter aircraft, which were treated as rigid vehicles. This paper is an initial attempt to establish global stability results for dynamic inversion methodology as applied to a large, flexible aircraft. This work builds on a previous result for rigid fighter aircraft and adds a new level of complexity that is the flexible aircraft dynamics, which cannot be ignored even in the most basic flight control. The results arise from observations of the control laws designed for a new generation of the High-Speed Civil Transport aircraft.

  1. EXAFS Phase Retrieval Solution Tracking for Complex Multi-Component System: Synthesized Topological Inverse Computation

    NASA Astrophysics Data System (ADS)

    Lee, Jay Min; Yang, Dong-Seok; Bunker, Grant B.

    2013-04-01

    Using the FEFF kernel A(k,r), we describe the inverse computation from χ(k)-data to g(r)-solution in terms of a singularity regularization method based on complete Bayesian statistics process. In this work, we topologically decompose the system-matched invariant projection operators into two distinct types, (A+AA+A) and (AA+AA+), and achieved Synthesized Topological Inversion Computation (STIC), by employing a 12-operator-closed-loop emulator of the symplectic transformation. This leads to a numerically self-consistent solution as the optimal near-singular regularization parameters are sought, dramatically suppressing instability problems connected with finite precision arithmetic in ill-posed systems. By statistically correlating a pair of measured data, it was feasible to compute an optimal EXAFS phase retrieval solution expressed in terms of the complex-valued χ(k), and this approach was successfully used to determine the optimal g(r) for a complex multi-component system.

  2. Photonic Design: From Fundamental Solar Cell Physics to Computational Inverse Design

    NASA Astrophysics Data System (ADS)

    Miller, Owen Dennis

    Photonic innovation is becoming ever more important in the modern world. Optical systems are dominating shorter and shorter communications distances, LED's are rapidly emerging for a variety of applications, and solar cells show potential to be a mainstream technology in the energy space. The need for novel, energy-efficient photonic and optoelectronic devices will only increase. This work unites fundamental physics and a novel computational inverse design approach towards such innovation. The first half of the dissertation is devoted to the physics of high-efficiency solar cells. As solar cells approach fundamental efficiency limits, their internal physics transforms. Photonic considerations, instead of electronic ones, are the key to reaching the highest voltages and efficiencies. Proper photon management led to Alta Device's recent dramatic increase of the solar cell efficiency record to 28.3%. Moreover, approaching the Shockley-Queisser limit for any solar cell technology will require light extraction to become a part of all future designs. The second half of the dissertation introduces inverse design as a new computational paradigm in photonics. An assortment of techniques (FDTD, FEM, etc.) have enabled quick and accurate simulation of the "forward problem" of finding fields for a given geometry. However, scientists and engineers are typically more interested in the inverse problem: for a desired functionality, what geometry is needed? Answering this question breaks from the emphasis on the forward problem and forges a new path in computational photonics. The framework of shape calculus enables one to quickly find superior, non-intuitive designs. Novel designs for optical cloaking and sub-wavelength solar cell applications are presented.

  3. Computational fluid dynamics - A personal view

    NASA Technical Reports Server (NTRS)

    Hussaini, M. Y.

    1989-01-01

    This paper provides a personal view of computational fluid dynamics. The main theme is divided into two categories - one dealing with algorithms and engineering applications and the other with scientific investigations. The former category may be termed computational aerodynamics, with the objective of providing reliable aerodynamic or engineering predictions. The latter category is essentially basic research, where the algorithmic tools are used to unravel and elucidate fluid-dynamic phenomena hard to obtain in a laboratory. A critique of the numerical solution techniques for both compressible and incompressible flows is included. The discussion on scientific investigations deals in particular with transition and turbulence.

  4. Traffic Dynamics of Computer Networks

    NASA Astrophysics Data System (ADS)

    Fekete, Attila

    2008-10-01

    Two important aspects of the Internet, namely the properties of its topology and the characteristics of its data traffic, have attracted growing attention of the physics community. My thesis has considered problems of both aspects. First I studied the stochastic behavior of TCP, the primary algorithm governing traffic in the current Internet, in an elementary network scenario consisting of a standalone infinite-sized buffer and an access link. The effect of the fast recovery and fast retransmission (FR/FR) algorithms is also considered. I showed that my model can be extended further to involve the effect of link propagation delay, characteristic of WAN. I continued my thesis with the investigation of finite-sized semi-bottleneck buffers, where packets can be dropped not only at the link, but also at the buffer. I demonstrated that the behavior of the system depends only on a certain combination of the parameters. Moreover, an analytic formula was derived that gives the ratio of packet loss rate at the buffer to the total packet loss rate. This formula makes it possible to treat buffer-losses as if they were link-losses. Finally, I studied computer networks from a structural perspective. I demonstrated through fluid simulations that the distribution of resources, specifically the link bandwidth, has a serious impact on the global performance of the network. Then I analyzed the distribution of edge betweenness in a growing scale-free tree under the condition that a local property, the in-degree of the "younger" node of an arbitrary edge, is known in order to find an optimum distribution of link capacity. The derived formula is exact even for finite-sized networks. I also calculated the conditional expectation of edge betweenness, rescaled for infinite networks.

  5. Fast Parallel Computation Of Multibody Dynamics

    NASA Technical Reports Server (NTRS)

    Fijany, Amir; Kwan, Gregory L.; Bagherzadeh, Nader

    1996-01-01

    Constraint-force algorithm fast, efficient, parallel-computation algorithm for solving forward dynamics problem of multibody system like robot arm or vehicle. Solves problem in minimum time proportional to log(N) by use of optimal number of processors proportional to N, where N is number of dynamical degrees of freedom: in this sense, constraint-force algorithm both time-optimal and processor-optimal parallel-processing algorithm.

  6. A physiology-based inverse dynamic analysis of human gait using sequential convex programming: a comparative study.

    PubMed

    De Groote, F; Demeulenaere, B; Swevers, J; De Schutter, J; Jonkers, I

    2012-01-01

    This paper presents an enhanced version of the previously proposed physiological inverse approach (PIA) to calculate musculotendon (MT) forces and evaluates the proposed methodology in a comparative study. PIA combines an inverse dynamic analysis with an optimisation approach that imposes muscle physiology and optimises performance over the entire motion. To solve the resulting large-scale, nonlinear optimisation problem, we neglected muscle fibre contraction speed and an approximate quadratic optimisation problem (PIA-QP) was formulated. Conversely, the enhanced version of PIA proposed in this paper takes into account muscle fibre contraction speed. The optimisation problem is solved using a sequential convex programing procedure (PIA-SCP). The comparative study includes PIA-SCP, PIA-QP and two commonly used approaches from the literature: static optimisation (SO) and computed muscle control (CMC). SO and CMC make simplifying assumptions to limit the computational time. Both methods minimise an instantaneous performance criterion. Furthermore, SO does not impose muscle physiology. All methods are applied to a gait cycle of six control subjects. The relative root mean square error averaged over all subjects, ε(RMS), between the joint torques simulated from the optimised activations and the joint torques obtained from the inverse dynamic analysis was about twice as large for SO (ε(RMS) = 86) as compared with CMC (ε(RMS) = 39) and PIA-SCP (ε(RMS) = 50). ε(RMS) was at least twice as large for PIA-QP (ε(RMS) = 197) than for all other methods. As compared with CMC, muscle activation patterns predicted by PIA-SCP better agree with experimental electromyography (EMG). This study shows that imposing muscle physiology as well as globally optimising performance is important to accurately calculate MT forces underlying gait. PMID:21878002

  7. Inverse gas chromatography. V - Computer simulation of diffusion processes on the column

    NASA Technical Reports Server (NTRS)

    Hattam, Paul; Munk, Petr

    1988-01-01

    The elution behavior of low molecular weight probes on inverse gas chromatography (IGC) columns is simulated using a computer. The IGC model is based on a polymer stationary phase of uniform thickness with a nonnegligible resitance to probe penetration. Three characteristic numbers are found to determine the whole process: Z(p) characterizing the distribution of the probe between phases, Z(f) describing the diffusion in the polymer phase, and Z(g) related to diffusion in the gaseous phase. For situations when Z(p)/Z(f) is less than 2, the standard evaluation procedures are virtually useless. The actual behavior of such systems is described.

  8. Symbolic dynamics and computation in model gene networks.

    PubMed

    Edwards, R.; Siegelmann, H. T.; Aziza, K.; Glass, L.

    2001-03-01

    We analyze a class of ordinary differential equations representing a simplified model of a genetic network. In this network, the model genes control the production rates of other genes by a logical function. The dynamics in these equations are represented by a directed graph on an n-dimensional hypercube (n-cube) in which each edge is directed in a unique orientation. The vertices of the n-cube correspond to orthants of state space, and the edges correspond to boundaries between adjacent orthants. The dynamics in these equations can be represented symbolically. Starting from a point on the boundary between neighboring orthants, the equation is integrated until the boundary is crossed for a second time. Each different cycle, corresponding to a different sequence of orthants that are traversed during the integration of the equation always starting on a boundary and ending the first time that same boundary is reached, generates a different letter of the alphabet. A word consists of a sequence of letters corresponding to a possible sequence of orthants that arise from integration of the equation starting and ending on the same boundary. The union of the words defines the language. Letters and words correspond to analytically computable Poincare maps of the equation. This formalism allows us to define bifurcations of chaotic dynamics of the differential equation that correspond to changes in the associated language. Qualitative knowledge about the dynamics found by integrating the equation can be used to help solve the inverse problem of determining the underlying network generating the dynamics. This work places the study of dynamics in genetic networks in a context comprising both nonlinear dynamics and the theory of computation. (c) 2001 American Institute of Physics. PMID:12779450

  9. Quantifying shallow subsurface water and heat dynamics using coupled hydrological-thermal-geophysical inversion

    DOE PAGESBeta

    Tran, Anh Phuong; Dafflon, Baptiste; Hubbard, Susan S.; Kowalsky, Michael B.; Long, Philip; Tokunaga, Tetsu K.; Williams, Kenneth H.

    2016-08-31

    Improving our ability to estimate the parameters that control water and heat fluxes in the shallow subsurface is particularly important due to their strong control on recharge, evaporation and biogeochemical processes. The objectives of this study are to develop and test a new inversion scheme to simultaneously estimate subsurface hydrological, thermal and petrophysical parameters using hydrological, thermal and electrical resistivity tomography (ERT) data. The inversion scheme – which is based on a nonisothermal, multiphase hydrological model – provides the desired subsurface property estimates in high spatiotemporal resolution. A particularly novel aspect of the inversion scheme is the explicit incorporation of themore » dependence of the subsurface electrical resistivity on both moisture and temperature. The scheme was applied to synthetic case studies, as well as to real datasets that were autonomously collected at a biogeochemical field study site in Rifle, Colorado. At the Rifle site, the coupled hydrological-thermal-geophysical inversion approach well predicted the matric potential, temperature and apparent resistivity with the Nash–Sutcliffe efficiency criterion greater than 0.92. Synthetic studies found that neglecting the subsurface temperature variability, and its effect on the electrical resistivity in the hydrogeophysical inversion, may lead to an incorrect estimation of the hydrological parameters. The approach is expected to be especially useful for the increasing number of studies that are taking advantage of autonomously collected ERT and soil measurements to explore complex terrestrial system dynamics.« less

  10. A comparison of direct and iterative finite element inversion techniques in dynamic elastography

    NASA Astrophysics Data System (ADS)

    Honarvar, M.; Rohling, R.; Salcudean, S. E.

    2016-04-01

    As part of tissue elasticity imaging or elastography, an inverse problem needs to be solved to find the elasticity distribution from the measured displacements. The finite element method (FEM) is a common method for solving the inverse problem in dynamic elastography. This problem has been solved with both direct and iterative FEM schemes. Each of these methods has its own advantages and disadvantages which are examined in this paper. Choosing the data resolution and the excitation frequency are critical for achieving the best estimation of the tissue elasticity in FEM methods. In this paper we investigate the performance of both direct and iterative FEMs for different ranges of excitation frequency. A new form of iterative method is suggested here which requires a lower mesh density compared to the original form. Also two forms of the direct method are compared in this paper: one using the exact fit for derivatives calculation and the other using the least squares fit. We also perform a study on the spatial resolution of these methods using simulations. The comparison is also validated using a phantom experiment. The results suggest that the direct method with least squares fit is more robust to noise compared to other methods but has slightly lower resolution results. For example, for the homogenous region with 20 dB noise added to the data, the RMS error for the direct method with least squares fit is approximately half of the iterative method. It was observed that the ratio of voxel size to the wavelength should be within a specific range for the results to be reliable. For example for the direct method with least squares fit, for the case of 20 dB noise level, this ratio should be between 0.1 to 0.2. On balance, considering the much higher computational cost of the iterative method, the dependency of the iterative method on the initial guess, and the greater robustness of the direct method to noise, we suggest using the direct method with least squares fit for

  11. Fast and Scalable Computation of the Forward and Inverse Discrete Periodic Radon Transform.

    PubMed

    Carranza, Cesar; Llamocca, Daniel; Pattichis, Marios

    2016-01-01

    The discrete periodic radon transform (DPRT) has extensively been used in applications that involve image reconstructions from projections. Beyond classic applications, the DPRT can also be used to compute fast convolutions that avoids the use of floating-point arithmetic associated with the use of the fast Fourier transform. Unfortunately, the use of the DPRT has been limited by the need to compute a large number of additions and the need for a large number of memory accesses. This paper introduces a fast and scalable approach for computing the forward and inverse DPRT that is based on the use of: a parallel array of fixed-point adder trees; circular shift registers to remove the need for accessing external memory components when selecting the input data for the adder trees; an image block-based approach to DPRT computation that can fit the proposed architecture to available resources; and fast transpositions that are computed in one or a few clock cycles that do not depend on the size of the input image. As a result, for an N × N image (N prime), the proposed approach can compute up to N(2) additions per clock cycle. Compared with the previous approaches, the scalable approach provides the fastest known implementations for different amounts of computational resources. For example, for a 251×251 image, for approximately 25% fewer flip-flops than required for a systolic implementation, we have that the scalable DPRT is computed 36 times faster. For the fastest case, we introduce optimized just 2N + ⌈log(2) N⌉ + 1 and 2N + 3 ⌈log(2) N⌉ + B + 2 cycles, architectures that can compute the DPRT and its inverse in respectively, where B is the number of bits used to represent each input pixel. On the other hand, the scalable DPRT approach requires more 1-b additions than for the systolic implementation and provides a tradeoff between speed and additional 1-b additions. All of the proposed DPRT architectures were implemented in VHSIC Hardware Description Language

  12. A real-time inverse quantised transform for multi-standard with dynamic resolution support

    NASA Astrophysics Data System (ADS)

    Sun, Chi-Chia; Lin, Chun-Ying; Zhang, Ce

    2016-06-01

    In this paper, a real-time configurable intelligent property (IP) core is presented for image/video decoding process in compatibility with the standard MPEG-4 Visual and the standard H.264/AVC. The inverse quantised discrete cosine and integer transform can be used to perform inverse quantised discrete cosine transform and inverse quantised inverse integer transforms which only required shift and add operations. Meanwhile, COordinate Rotation DIgital Computer iterations and compensation steps are adjustable in order to compensate for the video compression quality regarding various data throughput. The implementations are embedded in publicly available software XVID Codes 1.2.2 for the standard MPEG-4 Visual and the H.264/AVC reference software JM 16.1, where the experimental results show that the balance between the computational complexity and video compression quality is retained. At the end, FPGA synthesised results show that the proposed IP core can bring advantages to low hardware costs and also provide real-time performance for Full HD and 4K-2K video decoding.

  13. Visualization of unsteady computational fluid dynamics

    NASA Astrophysics Data System (ADS)

    Haimes, Robert

    1994-11-01

    A brief summary of the computer environment used for calculating three dimensional unsteady Computational Fluid Dynamic (CFD) results is presented. This environment requires a super computer as well as massively parallel processors (MPP's) and clusters of workstations acting as a single MPP (by concurrently working on the same task) provide the required computational bandwidth for CFD calculations of transient problems. The cluster of reduced instruction set computers (RISC) is a recent advent based on the low cost and high performance that workstation vendors provide. The cluster, with the proper software can act as a multiple instruction/multiple data (MIMD) machine. A new set of software tools is being designed specifically to address visualizing 3D unsteady CFD results in these environments. Three user's manuals for the parallel version of Visual3, pV3, revision 1.00 make up the bulk of this report.

  14. Visualization of unsteady computational fluid dynamics

    NASA Technical Reports Server (NTRS)

    Haimes, Robert

    1994-01-01

    A brief summary of the computer environment used for calculating three dimensional unsteady Computational Fluid Dynamic (CFD) results is presented. This environment requires a super computer as well as massively parallel processors (MPP's) and clusters of workstations acting as a single MPP (by concurrently working on the same task) provide the required computational bandwidth for CFD calculations of transient problems. The cluster of reduced instruction set computers (RISC) is a recent advent based on the low cost and high performance that workstation vendors provide. The cluster, with the proper software can act as a multiple instruction/multiple data (MIMD) machine. A new set of software tools is being designed specifically to address visualizing 3D unsteady CFD results in these environments. Three user's manuals for the parallel version of Visual3, pV3, revision 1.00 make up the bulk of this report.

  15. Graphics supercomputer for computational fluid dynamics research

    NASA Astrophysics Data System (ADS)

    Liaw, Goang S.

    1994-11-01

    The objective of this project is to purchase a state-of-the-art graphics supercomputer to improve the Computational Fluid Dynamics (CFD) research capability at Alabama A & M University (AAMU) and to support the Air Force research projects. A cutting-edge graphics supercomputer system, Onyx VTX, from Silicon Graphics Computer Systems (SGI), was purchased and installed. Other equipment including a desktop personal computer, PC-486 DX2 with a built-in 10-BaseT Ethernet card, a 10-BaseT hub, an Apple Laser Printer Select 360, and a notebook computer from Zenith were also purchased. A reading room has been converted to a research computer lab by adding some furniture and an air conditioning unit in order to provide an appropriate working environments for researchers and the purchase equipment. All the purchased equipment were successfully installed and are fully functional. Several research projects, including two existing Air Force projects, are being performed using these facilities.

  16. Final Report Computational Analysis of Dynamical Systems

    SciTech Connect

    Guckenheimer, John

    2012-05-08

    This is the final report for DOE Grant DE-FG02-93ER25164, initiated in 1993. This grant supported research of John Guckenheimer on computational analysis of dynamical systems. During that period, seventeen individuals received PhD degrees under the supervision of Guckenheimer and over fifty publications related to the grant were produced. This document contains copies of these publications.

  17. Computational fluid dynamics in oil burner design

    SciTech Connect

    Butcher, T.A.

    1997-09-01

    In Computational Fluid Dynamics, the differential equations which describe flow, heat transfer, and mass transfer are approximately solved using a very laborious numerical procedure. Flows of practical interest to burner designs are always turbulent, adding to the complexity of requiring a turbulence model. This paper presents a model for burner design.

  18. From Cnn Dynamics to Cellular Wave Computers

    NASA Astrophysics Data System (ADS)

    Roska, Tamas

    2013-01-01

    Embedded in a historical overview, the development of the Cellular Wave Computing paradigm is presented, starting from the standard CNN dynamics. The theoretical aspects, the physical implementation, the innovation process, as well as the biological relevance are discussed in details. Finally, the latest developments, the physical versus virtual cellular machines, as well as some open questions are presented.

  19. Optimal dynamic remapping of parallel computations

    NASA Technical Reports Server (NTRS)

    Nicol, David M.; Reynolds, Paul F., Jr.

    1987-01-01

    A large class of computations are characterized by a sequence of phases, with phase changes occurring unpredictably. The decision problem was considered regarding the remapping of workload to processors in a parallel computation when the utility of remapping and the future behavior of the workload is uncertain, and phases exhibit stable execution requirements during a given phase, but requirements may change radically between phases. For these problems a workload assignment generated for one phase may hinder performance during the next phase. This problem is treated formally for a probabilistic model of computation with at most two phases. The fundamental problem of balancing the expected remapping performance gain against the delay cost was addressed. Stochastic dynamic programming is used to show that the remapping decision policy minimizing the expected running time of the computation has an extremely simple structure. Because the gain may not be predictable, the performance of a heuristic policy that does not require estimnation of the gain is examined. The heuristic method's feasibility is demonstrated by its use on an adaptive fluid dynamics code on a multiprocessor. The results suggest that except in extreme cases, the remapping decision problem is essentially that of dynamically determining whether gain can be achieved by remapping after a phase change. The results also suggest that this heuristic is applicable to computations with more than two phases.

  20. A forward-muscular inverse-skeletal dynamics framework for human musculoskeletal simulations.

    PubMed

    S Shourijeh, Mohammad; Smale, Kenneth B; Potvin, Brigitte M; Benoit, Daniel L

    2016-06-14

    This study provides a forward-muscular inverse-skeletal dynamics framework for musculoskeletal simulations. The simulation framework works based on solving the muscle redundancy problem forward in time parallel to a torque tracking between the musculotendon net torques and joint moments from inverse dynamics. The proposed framework can be used by any musculoskeletal modeling software package; however, just to exemplify, here in this study it is wrapped around OpenSim and the optimization is done in MATLAB. The novel simulation framework was highly robust for repeated runs and produced relatively high correlations between predicted muscle excitations and experimental EMGs for level gait trials. This simulation framework represents an efficient and robust approach to predict muscle excitation, musculotendon unit force, and to estimate net joint torque. PMID:27106173

  1. Investigation of complexity dynamics of inverse and normal homoclinic bifurcation in a glow discharge plasma

    SciTech Connect

    Saha, Debajyoti Kumar Shaw, Pankaj; Janaki, M. S.; Sekar Iyengar, A. N.; Ghosh, Sabuj; Mitra, Vramori Michael Wharton, Alpha

    2014-03-15

    Order-chaos-order was observed in the relaxation oscillations of a glow discharge plasma with variation in the discharge voltage. The first transition exhibits an inverse homoclinic bifurcation followed by a homoclinic bifurcation in the second transition. For the two regimes of observations, a detailed analysis of correlation dimension, Lyapunov exponent, and Renyi entropy was carried out to explore the complex dynamics of the system.

  2. Inverse kinematic and forward dynamic models of the 2002 Denali fault earthquake, Alaska

    USGS Publications Warehouse

    Oglesby, D.D.; Dreger, Douglas S.; Harris, R.A.; Ratchkovski, N.; Hansen, R.

    2004-01-01

    We perform inverse kinematic and forward dynamic models of the M 7.9 2002 Denali fault, Alaska, earthquake to shed light on the rupture process and dynamics of this event, which took place on a geometrically complex fault system in central Alaska. We use a combination of local seismic and Global Positioning System (GPS) data for our kinematic inversion and find that the slip distribution of this event is characterized by three major asperities on the Denali fault. The rupture nucleated on the Susitna Glacier thrust fault, and after a pause, propagated onto the strike-slip Denali fault. Approximately 216 km to the east, the rupture abandoned the Denali fault in favor of the more southwesterly directed Totschunda fault. Three-dimensional dynamic models of this event indicate that the abandonment of the Denali fault for the Totschunda fault can be explained by the Totschunda fault's more favorable orientation with respect to the local stress field. However, a uniform tectonic stress field cannot explain the complex slip pattern in this event. We also find that our dynamic models predict discontinuous rupture from the Denali to Totschunda fault segments. Such discontinuous rupture helps to qualitatively improve our kinematic inverse models. Two principal implications of our study are (1) a combination of inverse and forward modeling can bring insight into earthquake processes that are not possible with either technique alone, and (2) the stress field on geometrically complex fault systems is most likely not due to a uniform tectonic stress field that is resolved onto fault segments of different orientations; rather, other forms of stress heterogeneity must be invoked to explain the observed slip patterns.

  3. FOREWORD: 3rd International Workshop on New Computational Methods for Inverse Problems (NCMIP 2013)

    NASA Astrophysics Data System (ADS)

    Blanc-Féraud, Laure; Joubert, Pierre-Yves

    2013-10-01

    Conference logo This volume of Journal of Physics: Conference Series is dedicated to the scientific contributions presented during the 3rd International Workshop on New Computational Methods for Inverse Problems, NCMIP 2013 (http://www.farman.ens-cachan.fr/NCMIP_2013.html). This workshop took place at Ecole Normale Supérieure de Cachan, in Cachan, France, on 22 May 2013, at the initiative of Institut Farman. The prior editions of NCMIP also took place in Cachan, France, firstly within the scope of the ValueTools Conference, in May 2011 (http://www.ncmip.org/2011/), and secondly at the initiative of Institut Farman, in May 2012 (http://www.farman.ens-cachan.fr/NCMIP_2012.html). The NCMIP Workshop focused on recent advances in the resolution of inverse problems. Indeed inverse problems appear in numerous scientific areas such as geophysics, biological and medical imaging, material and structure characterization, electrical, mechanical and civil engineering, and finances. The resolution of inverse problems consists of estimating the parameters of the observed system or structure from data collected by an instrumental sensing or imaging device. Its success firstly requires the collection of relevant observation data. It also requires accurate models describing the physical interactions between the instrumental device and the observed system, as well as the intrinsic properties of the solution itself. Finally, it requires the design of robust, accurate and efficient inversion algorithms. Advanced sensor arrays and imaging devices provide high rate and high volume data; in this context, the efficient resolution of the inverse problem requires the joint development of new models and inversion methods, taking computational and implementation aspects into account. During this one-day workshop, researchers had the opportunity to bring to light and share new techniques and results in the field of inverse problems. The topics of the workshop were: algorithms and computational

  4. FOREWORD: 2nd International Workshop on New Computational Methods for Inverse Problems (NCMIP 2012)

    NASA Astrophysics Data System (ADS)

    Blanc-Féraud, Laure; Joubert, Pierre-Yves

    2012-09-01

    Conference logo This volume of Journal of Physics: Conference Series is dedicated to the scientific contributions presented during the 2nd International Workshop on New Computational Methods for Inverse Problems, (NCMIP 2012). This workshop took place at Ecole Normale Supérieure de Cachan, in Cachan, France, on 15 May 2012, at the initiative of Institut Farman. The first edition of NCMIP also took place in Cachan, France, within the scope of the ValueTools Conference, in May 2011 (http://www.ncmip.org/2011/). The NCMIP Workshop focused on recent advances in the resolution of inverse problems. Indeed inverse problems appear in numerous scientific areas such as geophysics, biological and medical imaging, material and structure characterization, electrical, mechanical and civil engineering, and finance. The resolution of inverse problems consists of estimating the parameters of the observed system or structure from data collected by an instrumental sensing or imaging device. Its success firstly requires the collection of relevant observation data. It also requires accurate models describing the physical interactions between the instrumental device and the observed system, as well as the intrinsic properties of the solution itself. Finally, it requires the design of robust, accurate and efficient inversion algorithms. Advanced sensor arrays and imaging devices provide high rate and high volume data; in this context, the efficient resolution of the inverse problem requires the joint development of new models and inversion methods, taking computational and implementation aspects into account. During this one-day workshop, researchers had the opportunity to bring to light and share new techniques and results in the field of inverse problems. The topics of the workshop were: algorithms and computational aspects of inversion, Bayesian estimation, kernel methods, learning methods, convex optimization, free discontinuity problems, metamodels, proper orthogonal decomposition

  5. Inverse Dynamics Model for the Ankle Joint with Applications in Tibia Malleolus Fracture

    NASA Astrophysics Data System (ADS)

    Budescu, E.; Merticaru, E.; Chirazi, M.

    The paper presents a biomechanical model of the ankle joint, in order to determine the force and the torque of reaction into the articulation, through inverse dynamic analysis, in various stages of the gait. Thus, knowing the acceleration of the foot and the reaction force between foot and ground during the gait, determined by experimental measurement, there was calculated, for five different positions of the foot, the joint reaction forces, on the basis of dynamic balance equations. The values numerically determined were compared with the admissible forces appearing in the technical systems of osteosynthesis of tibia malleolus fracture, in order to emphasize the motion restrictions during bone healing.

  6. Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics

    NASA Technical Reports Server (NTRS)

    Rodriguez, Guillermo

    1987-01-01

    The recursive difference equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing, arising in the state estimation theory for linear state space systems, are used here to solve problems of serial manipulator inverse and forward dynamics. The configuration analyzed is that of a joint connected N-link serial manipulator attached to an immobile base. The equivalence between the filtering and smoothing techniques from state estimation theory and recursive robot dynamics methods is demonstrated. Several areas for future research are suggested.

  7. 3-dimensional magnetotelluric inversion including topography using deformed hexahedral edge finite elements and direct solvers parallelized on symmetric multiprocessor computers - Part II: direct data-space inverse solution

    NASA Astrophysics Data System (ADS)

    Kordy, M.; Wannamaker, P.; Maris, V.; Cherkaev, E.; Hill, G.

    2016-01-01

    Following the creation described in Part I of a deformable edge finite-element simulator for 3-D magnetotelluric (MT) responses using direct solvers, in Part II we develop an algorithm named HexMT for 3-D regularized inversion of MT data including topography. Direct solvers parallelized on large-RAM, symmetric multiprocessor (SMP) workstations are used also for the Gauss-Newton model update. By exploiting the data-space approach, the computational cost of the model update becomes much less in both time and computer memory than the cost of the forward simulation. In order to regularize using the second norm of the gradient, we factor the matrix related to the regularization term and apply its inverse to the Jacobian, which is done using the MKL PARDISO library. For dense matrix multiplication and factorization related to the model update, we use the PLASMA library which shows very good scalability across processor cores. A synthetic test inversion using a simple hill model shows that including topography can be important; in this case depression of the electric field by the hill can cause false conductors at depth or mask the presence of resistive structure. With a simple model of two buried bricks, a uniform spatial weighting for the norm of model smoothing recovered more accurate locations for the tomographic images compared to weightings which were a function of parameter Jacobians. We implement joint inversion for static distortion matrices tested using the Dublin secret model 2, for which we are able to reduce nRMS to ˜1.1 while avoiding oscillatory convergence. Finally we test the code on field data by inverting full impedance and tipper MT responses collected around Mount St Helens in the Cascade volcanic chain. Among several prominent structures, the north-south trending, eruption-controlling shear zone is clearly imaged in the inversion.

  8. The brain dynamics of linguistic computation

    PubMed Central

    Murphy, Elliot

    2015-01-01

    Neural oscillations at distinct frequencies are increasingly being related to a number of basic and higher cognitive faculties. Oscillations enable the construction of coherently organized neuronal assemblies through establishing transitory temporal correlations. By exploring the elementary operations of the language faculty—labeling, concatenation, cyclic transfer—alongside neural dynamics, a new model of linguistic computation is proposed. It is argued that the universality of language, and the true biological source of Universal Grammar, is not to be found purely in the genome as has long been suggested, but more specifically within the extraordinarily preserved nature of mammalian brain rhythms employed in the computation of linguistic structures. Computational-representational theories are used as a guide in investigating the neurobiological foundations of the human “cognome”—the set of computations performed by the nervous system—and new directions are suggested for how the dynamics of the brain (the “dynome”) operate and execute linguistic operations. The extent to which brain rhythms are the suitable neuronal processes which can capture the computational properties of the human language faculty is considered against a backdrop of existing cartographic research into the localization of linguistic interpretation. Particular focus is placed on labeling, the operation elsewhere argued to be species-specific. A Basic Label model of the human cognome-dynome is proposed, leading to clear, causally-addressable empirical predictions, to be investigated by a suggested research program, Dynamic Cognomics. In addition, a distinction between minimal and maximal degrees of explanation is introduced to differentiate between the depth of analysis provided by cartographic, rhythmic, neurochemical, and other approaches to computation. PMID:26528201

  9. Visualization of unsteady computational fluid dynamics

    NASA Astrophysics Data System (ADS)

    Haimes, Robert

    1995-10-01

    The current computing environment that most researchers are using for the calculation of 3D unsteady Computational Fluid Dynamic (CFD) results is a super-computer class machine. The Massively Parallel Processors (MPP's) such as the 160 node IBM SP2 at NAS and clusters of workstations acting as a single MPP (like NAS's SGI Power-Challenge array) provide the required computation bandwidth for CFD calculations of transient problems. Work is in progress on a set of software tools designed specifically to address visualizing 3D unsteady CFD results in these super-computer-like environments. The visualization is concurrently executed with the CFD solver. The parallel version of Visual3, pV3 required splitting up the unsteady visualization task to allow execution across a network of workstation(s) and compute servers. In this computing model, the network is almost always the bottleneck so much of the effort involved techniques to reduce the size of the data transferred between machines.

  10. Visualization of unsteady computational fluid dynamics

    NASA Technical Reports Server (NTRS)

    Haimes, Robert

    1995-01-01

    The current computing environment that most researchers are using for the calculation of 3D unsteady Computational Fluid Dynamic (CFD) results is a super-computer class machine. The Massively Parallel Processors (MPP's) such as the 160 node IBM SP2 at NAS and clusters of workstations acting as a single MPP (like NAS's SGI Power-Challenge array) provide the required computation bandwidth for CFD calculations of transient problems. Work is in progress on a set of software tools designed specifically to address visualizing 3D unsteady CFD results in these super-computer-like environments. The visualization is concurrently executed with the CFD solver. The parallel version of Visual3, pV3 required splitting up the unsteady visualization task to allow execution across a network of workstation(s) and compute servers. In this computing model, the network is almost always the bottleneck so much of the effort involved techniques to reduce the size of the data transferred between machines.

  11. Spectral Methods for Computational Fluid Dynamics

    NASA Technical Reports Server (NTRS)

    Zang, T. A.; Streett, C. L.; Hussaini, M. Y.

    1994-01-01

    As a tool for large-scale computations in fluid dynamics, spectral methods were prophesized in 1944, born in 1954, virtually buried in the mid-1960's, resurrected in 1969, evangalized in the 1970's, and catholicized in the 1980's. The use of spectral methods for meteorological problems was proposed by Blinova in 1944 and the first numerical computations were conducted by Silberman (1954). By the early 1960's computers had achieved sufficient power to permit calculations with hundreds of degrees of freedom. For problems of this size the traditional way of computing the nonlinear terms in spectral methods was expensive compared with finite-difference methods. Consequently, spectral methods fell out of favor. The expense of computing nonlinear terms remained a severe drawback until Orszag (1969) and Eliasen, Machenauer, and Rasmussen (1970) developed the transform methods that still form the backbone of many large-scale spectral computations. The original proselytes of spectral methods were meteorologists involved in global weather modeling and fluid dynamicists investigating isotropic turbulence. The converts who were inspired by the successes of these pioneers remained, for the most part, confined to these and closely related fields throughout the 1970's. During that decade spectral methods appeared to be well-suited only for problems governed by ordinary diSerential eqllations or by partial differential equations with periodic boundary conditions. And, of course, the solution itself needed to be smooth. Some of the obstacles to wider application of spectral methods were: (1) poor resolution of discontinuous solutions; (2) inefficient implementation of implicit methods; and (3) drastic geometric constraints. All of these barriers have undergone some erosion during the 1980's, particularly the latter two. As a result, the applicability and appeal of spectral methods for computational fluid dynamics has broadened considerably. The motivation for the use of spectral

  12. Nonlinear inversion modeling for Ultrasound Computer Tomography: transition from soft to hard tissues imaging

    NASA Astrophysics Data System (ADS)

    Lasaygues, Philippe; Mensah, Serge; Guillermin, Régine; Rouyer, Julien; Franceschini, Emilie

    2012-03-01

    Ultrasound Computer Tomography (UCT) is an imaging technique which has proved effective for soft-tissue (breast, liver,...) characterization. More recently, the use of UCT has been envisaged for bone imaging. In this field, the large variations of impedance distribution (high contrast) require that a finer model of wave propagation be integrated into the reconstruction scheme. Here, the tomographic procedure used is adapted to broadband data acquired in scattering configurations while the heterogeneous objects (Born approximation) are probed by spherical waves. An "elliptical" Fourier transform has been derived to solve the near-field inverse problem. This transform differs from the standard Fourier Transform in that, instead of plane waves, families of harmonic ellipsoidal waves are considered. For soft tissues it is possible to separate the impedance and speed of sound contributions and to reconstruct their cartographies using dedicated near-field Radon transforms. In the case of highly heterogeneous media such as bones, iterative inversion schemes are proposed. The various reconstruction procedures are set against experiments.

  13. Isotropic-resolution linear-array-based photoacoustic computed tomography through inverse Radon transform

    NASA Astrophysics Data System (ADS)

    Li, Guo; Xia, Jun; Li, Lei; Wang, Lidai; Wang, Lihong V.

    2015-03-01

    Linear transducer arrays are readily available for ultrasonic detection in photoacoustic computed tomography. They offer low cost, hand-held convenience, and conventional ultrasonic imaging. However, the elevational resolution of linear transducer arrays, which is usually determined by the weak focus of the cylindrical acoustic lens, is about one order of magnitude worse than the in-plane axial and lateral spatial resolutions. Therefore, conventional linear scanning along the elevational direction cannot provide high-quality three-dimensional photoacoustic images due to the anisotropic spatial resolutions. Here we propose an innovative method to achieve isotropic resolutions for three-dimensional photoacoustic images through combined linear and rotational scanning. In each scan step, we first elevationally scan the linear transducer array, and then rotate the linear transducer array along its center in small steps, and scan again until 180 degrees have been covered. To reconstruct isotropic three-dimensional images from the multiple-directional scanning dataset, we use the standard inverse Radon transform originating from X-ray CT. We acquired a three-dimensional microsphere phantom image through the inverse Radon transform method and compared it with a single-elevational-scan three-dimensional image. The comparison shows that our method improves the elevational resolution by up to one order of magnitude, approaching the in-plane lateral-direction resolution. In vivo rat images were also acquired.

  14. Estimation of dynamic friction of the Akatani landslide from seismic waveform inversion and numerical simulation

    NASA Astrophysics Data System (ADS)

    Yamada, Masumi; Mangeney, Anne; Matsushi, Yuki; Moretti, Laurent

    2016-06-01

    We performed numerical simulations of the 2011 deep-seated Akatani landslide in central Japan to understand the dynamic evolution of friction of the landslide. By comparing the forces obtained from numerical simulation to those resolved from seismic waveform inversion, the coefficient of the friction during sliding was investigated in the range of 0.1 to 0.4. The simulation assuming standard Coulomb friction shows that the forces obtained by the seismic waveform inversion are well explained using a constant friction of μ = 0.3. A small difference between the residuals of Coulomb simulation and a velocity-dependent simulation suggests that the coefficient of friction over the volume is well constrained as 0.3 most of time during sliding. It suggests the sudden loss of shearing resistance at the onset of sliding, i.e., sudden drop of the initial coefficient of friction in our model, which accelerates the deep-seated landslide. Our numerical simulation calibrated by seismic data provides the evolution of dynamic friction with a reasonable resolution in time, which is difficult to obtain from a conventional runout simulation, or seismic waveform inversion alone.

  15. The use of computers for instruction in fluid dynamics

    NASA Technical Reports Server (NTRS)

    Watson, Val

    1987-01-01

    Applications for computers which improve instruction in fluid dynamics are examined. Computers can be used to illustrate three-dimensional flow fields and simple fluid dynamics mechanisms, to solve fluid dynamics problems, and for electronic sketching. The usefulness of computer applications is limited by computer speed, memory, and software and the clarity and field of view of the projected display. Proposed advances in personal computers which will address these limitations are discussed. Long range applications for computers in education are considered.

  16. Computation in Dynamically Bounded Asymmetric Systems

    PubMed Central

    Rutishauser, Ueli; Slotine, Jean-Jacques; Douglas, Rodney

    2015-01-01

    Previous explanations of computations performed by recurrent networks have focused on symmetrically connected saturating neurons and their convergence toward attractors. Here we analyze the behavior of asymmetrical connected networks of linear threshold neurons, whose positive response is unbounded. We show that, for a wide range of parameters, this asymmetry brings interesting and computationally useful dynamical properties. When driven by input, the network explores potential solutions through highly unstable ‘expansion’ dynamics. This expansion is steered and constrained by negative divergence of the dynamics, which ensures that the dimensionality of the solution space continues to reduce until an acceptable solution manifold is reached. Then the system contracts stably on this manifold towards its final solution trajectory. The unstable positive feedback and cross inhibition that underlie expansion and divergence are common motifs in molecular and neuronal networks. Therefore we propose that very simple organizational constraints that combine these motifs can lead to spontaneous computation and so to the spontaneous modification of entropy that is characteristic of living systems. PMID:25617645

  17. Quasi-continuous-time impurity solver for the dynamical mean-field theory with linear scaling in the inverse temperature.

    PubMed

    Rost, D; Assaad, F; Blümer, N

    2013-05-01

    We present an algorithm for solving the self-consistency equations of the dynamical mean-field theory (DMFT) with high precision and efficiency at low temperatures. In each DMFT iteration, the impurity problem is mapped to an auxiliary Hamiltonian, for which the Green function is computed by combining determinantal quantum Monte Carlo (BSS-QMC) calculations with a multigrid extrapolation procedure. The method is numerically exact, i.e., yields results which are free of significant Trotter errors, but retains the BSS advantage, compared to direct QMC impurity solvers, of linear (instead of cubic) scaling with the inverse temperature. The new algorithm is applied to the half-filled Hubbard model close to the Mott transition; detailed comparisons with exact diagonalization, Hirsch-Fye QMC, and continuous-time QMC are provided. PMID:23767655

  18. Coherent source imaging and dynamic support tracking for inverse scattering using compressive MUSIC

    NASA Astrophysics Data System (ADS)

    Lee, Okkyun; Kim, Jong Min; Yoo, Jaejoon; Jin, Kyunghwan; Ye, Jong Chul

    2011-09-01

    The goal of this paper is to develop novel algorithms for inverse scattering problems such as EEG/MEG, microwave imaging, and/or diffuse optical tomograpahy, and etc. One of the main contributions of this paper is a class of novel non-iterative exact nonlinear inverse scattering theory for coherent source imaging and moving targets. Specifically, the new algorithms guarantee the exact recovery under a very relaxed constraint on the number of source and receivers, under which the conventional methods fail. Such breakthrough was possible thanks to the recent theory of compressive MUSIC and its extension using support correction criterion, where partial support are estimated using the conventional compressed sensing approaches, then the remaining supports are estimated using a novel generalized MUSIC criterion. Numerical results using coherent sources in EEG/MEG and dynamic targets confirm that the new algorithms outperform the conventional ones.

  19. A computational model for dynamic vision

    NASA Technical Reports Server (NTRS)

    Moezzi, Saied; Weymouth, Terry E.

    1990-01-01

    This paper describes a novel computational model for dynamic vision which promises to be both powerful and robust. Furthermore the paradigm is ideal for an active vision system where camera vergence changes dynamically. Its basis is the retinotopically indexed object-centered encoding of the early visual information. Specifically, the relative distances of objects to a set of referents is encoded in image registered maps. To illustrate the efficacy of the method, it is applied to the problem of dynamic stereo vision. Integration of depth information over multiple frames obtained by a moving robot generally requires precise information about the relative camera position from frame to frame. Usually, this information can only be approximated. The method facilitates the integration of depth information without direct use or knowledge of camera motion.

  20. Arterioportal shunts on dynamic computed tomography

    SciTech Connect

    Nakayama, T.; Hiyama, Y.; Ohnishi, K.; Tsuchiya, S.; Kohno, K.; Nakajima, Y.; Okuda, K.

    1983-05-01

    Thirty-two patients, 20 with hepatocelluar carcinoma and 12 with liver cirrhosis, were examined by dynamic computed tomography (CT) using intravenous bolus injection of contrast medium and by celiac angiography. Dynamic CT disclosed arterioportal shunting in four cases of hepatocellular carcinoma and in one of cirrhosis. In three of the former, the arterioportal shunt was adjacent to a mass lesion on CT, suggesting tumor invasion into the portal branch. In one with hepatocellular carcinoma, the shunt was remote from the mass. In the case with cirrhosis, there was no mass. In these last two cases, the shunt might have been caused by prior percutaneous needle puncture. In another case of hepatocellular carcinoma, celiac angiography but not CT demonstrated an arterioportal shunt. Thus, dynamic CT was diagnostic in five of six cases of arteriographically demonstrated arterioportal shunts.

  1. Human systems dynamics: Toward a computational model

    NASA Astrophysics Data System (ADS)

    Eoyang, Glenda H.

    2012-09-01

    A robust and reliable computational model of complex human systems dynamics could support advancements in theory and practice for social systems at all levels, from intrapersonal experience to global politics and economics. Models of human interactions have evolved from traditional, Newtonian systems assumptions, which served a variety of practical and theoretical needs of the past. Another class of models has been inspired and informed by models and methods from nonlinear dynamics, chaos, and complexity science. None of the existing models, however, is able to represent the open, high dimension, and nonlinear self-organizing dynamics of social systems. An effective model will represent interactions at multiple levels to generate emergent patterns of social and political life of individuals and groups. Existing models and modeling methods are considered and assessed against characteristic pattern-forming processes in observed and experienced phenomena of human systems. A conceptual model, CDE Model, based on the conditions for self-organizing in human systems, is explored as an alternative to existing models and methods. While the new model overcomes the limitations of previous models, it also provides an explanatory base and foundation for prospective analysis to inform real-time meaning making and action taking in response to complex conditions in the real world. An invitation is extended to readers to engage in developing a computational model that incorporates the assumptions, meta-variables, and relationships of this open, high dimension, and nonlinear conceptual model of the complex dynamics of human systems.

  2. NEW DEVELOPMENTS ON INVERSE POLYGON MAPPING TO CALCULATE GRAVITATIONAL LENSING MAGNIFICATION MAPS: OPTIMIZED COMPUTATIONS

    SciTech Connect

    Mediavilla, E.; Lopez, P.; Gonzalez-Morcillo, C.; Jimenez-Vicente, J.

    2011-11-01

    We derive an exact solution (in the form of a series expansion) to compute gravitational lensing magnification maps. It is based on the backward gravitational lens mapping of a partition of the image plane in polygonal cells (inverse polygon mapping, IPM), not including critical points (except perhaps at the cell boundaries). The zeroth-order term of the series expansion leads to the method described by Mediavilla et al. The first-order term is used to study the error induced by the truncation of the series at zeroth order, explaining the high accuracy of the IPM even at this low order of approximation. Interpreting the Inverse Ray Shooting (IRS) method in terms of IPM, we explain the previously reported N {sup -3/4} dependence of the IRS error with the number of collected rays per pixel. Cells intersected by critical curves (critical cells) transform to non-simply connected regions with topological pathologies like auto-overlapping or non-preservation of the boundary under the transformation. To define a non-critical partition, we use a linear approximation of the critical curve to divide each critical cell into two non-critical subcells. The optimal choice of the cell size depends basically on the curvature of the critical curves. For typical applications in which the pixel of the magnification map is a small fraction of the Einstein radius, a one-to-one relationship between the cell and pixel sizes in the absence of lensing guarantees both the consistence of the method and a very high accuracy. This prescription is simple but very conservative. We show that substantially larger cells can be used to obtain magnification maps with huge savings in computation time.

  3. Fast Dynamic Meshing Method Based on Delaunay Graph and Inverse Distance Weighting Interpolation

    NASA Astrophysics Data System (ADS)

    Wang, Yibin; Qin, Ning; Zhao, Ning

    2016-06-01

    A novel mesh deformation technique is developed based on the Delaunay graph mapping method and the inverse distance weighting (IDW) interpolation. The algorithm maintains the advantages of the efficiency of Delaunay-graph-mapping mesh deformation while possess the ability for better controlling the near surface mesh quality. The Delaunay graph is used to divide the mesh domain into a number of sub-domains. On each of the sub-domains, the inverse distance weighting interpolation is applied to build a much smaller sized translation matrix between the original mesh and the deformed mesh, resulting a similar efficiency for the mesh deformation as compared to the fast Delaunay graph mapping method. The paper will show how the near-wall mesh quality is controlled and improved by the new method while the computational time is compared with the original Delaunay graph mapping method.

  4. Computational fluid dynamics uses in fluid dynamics/aerodynamics education

    NASA Technical Reports Server (NTRS)

    Holst, Terry L.

    1994-01-01

    The field of computational fluid dynamics (CFD) has advanced to the point where it can now be used for the purpose of fluid dynamics physics education. Because of the tremendous wealth of information available from numerical simulation, certain fundamental concepts can be efficiently communicated using an interactive graphical interrogation of the appropriate numerical simulation data base. In other situations, a large amount of aerodynamic information can be communicated to the student by interactive use of simple CFD tools on a workstation or even in a personal computer environment. The emphasis in this presentation is to discuss ideas for how this process might be implemented. Specific examples, taken from previous publications, will be used to highlight the presentation.

  5. Kinematic and dynamic inversion of the 16 December earthquake in Northern Chile

    NASA Astrophysics Data System (ADS)

    Ruiz, S.; Lancieri, M.; Madariaga, R. I.; Sobiesiak, M.; Campos, J. A.

    2009-12-01

    We study the kinematic and dynamic rupture propagation of the M 6.7, intraplate, intermediate depth, slab push earthquake that occurred 16 December 2007, a month after the large interplate thrust event of Tocopilla, Chile (M 7.7). The occurrence of a slab push event after a large subduction earthquake is well explained by Coulomb stress transfer and crack dynamics. A dense seismic network, equipped with short period and accelerometers was deployed after the event of 14 November 2007 by the Task Force of GFZ Potsdam and the University of Chile in Santiago. This network was in place on December 16 providing the best seismic data set ever recorded for a Chilean earthquake. We have used it to do a detailed study of rupture processes. We localized the main event of December 16 and the aftershocks that occurred within 24 h of the main event. The main event was located at 43 km depth, while the aftershocks distribution covered a circular zone of 5 to 8 km of radius centered on the main shock epicenter and with depth ranging between [39 - 49] km. The aftershocks are distributed on an almost vertical plane that agrees with the almost vertical plane of the fault mechanism (86° dip) and all the aftershock have the same mechanism as the main event. We used eight of the nearest accelerometric records low pass filtered at 1 Hz, two of which were situated right above the hypocenter. We performed a non-linear kinematic inversion based on the neighborhood algorithm (NA) with an L2 norm. The velocity model was derived from previous work by GFZ. The earthquake is very well modeled by a circular rupture of radius between 5 and 8 km that propagated with a very low rupture velocity, that varies between 1 and 2 km/s. We need only a few non-linear parameters to model this event, parameter space has a dimension close to 6. The kinematic solution was validated using a full dynamic inversion method in which the rupture process is modeled using finite differences on a coarse grid with a slip

  6. Dynamics of a many-particle Landau-Zener model: Inverse sweep

    SciTech Connect

    Itin, A. P.

    2009-05-15

    We consider dynamics of a slowly time-dependent Dicke model, which represents a many-body generalization of the Landau-Zener model. In particular, the model describes narrow Feshbach resonance passage in an ultracold gas of Fermi atoms. Adiabaticity is destroyed when a parameter crosses a critical value, even at very slow sweeping rates of a parameter. The dynamics crucially depends on direction of the sweep. We apply our recent analysis (A. P. Itin and P. Toermae, e-print arXiv:0901.4778) to the 'inverse' sweep through the resonance, corresponding (in a context of Feshbach resonance passage) to dissociation of molecules. On a level of the mean-field approximation, the dynamics is equivalent to a molecular condensate formation from Bose atoms within a two-mode model. Mapping the system to a Painleve equation allows us to calculate deviation from adiabaticity at very slow sweeps analytically.

  7. Computational structures for robotic computations

    NASA Technical Reports Server (NTRS)

    Lee, C. S. G.; Chang, P. R.

    1987-01-01

    The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking advantage of parallelism and pipelining architectures is discussed. For the computation of inverse kinematic position solution, a maximum pipelined CORDIC architecture has been designed based on a functional decomposition of the closed-form joint equations. For the inverse dynamics computation, an efficient p-fold parallel algorithm to overcome the recurrence problem of the Newton-Euler equations of motion to achieve the time lower bound of O(log sub 2 n) has also been developed.

  8. Computational Fluid Dynamics of rising droplets

    SciTech Connect

    Wagner, Matthew; Francois, Marianne M.

    2012-09-05

    The main goal of this study is to perform simulations of droplet dynamics using Truchas, a LANL-developed computational fluid dynamics (CFD) software, and compare them to a computational study of Hysing et al.[IJNMF, 2009, 60:1259]. Understanding droplet dynamics is of fundamental importance in liquid-liquid extraction, a process used in the nuclear fuel cycle to separate various components. Simulations of a single droplet rising by buoyancy are conducted in two-dimensions. Multiple parametric studies are carried out to ensure the problem set-up is optimized. An Interface Smoothing Length (ISL) study and mesh resolution study are performed to verify convergence of the calculations. ISL is a parameter for the interface curvature calculation. Further, wall effects are investigated and checked against existing correlations. The ISL study found that the optimal ISL value is 2.5{Delta}x, with {Delta}x being the mesh cell spacing. The mesh resolution study found that the optimal mesh resolution is d/h=40, for d=drop diameter and h={Delta}x. In order for wall effects on terminal velocity to be insignificant, a conservative wall width of 9d or a nonconservative wall width of 7d can be used. The percentage difference between Hysing et al.[IJNMF, 2009, 60:1259] and Truchas for the velocity profiles vary from 7.9% to 9.9%. The computed droplet velocity and interface profiles are found in agreement with the study. The CFD calculations are performed on multiple cores, using LANL's Institutional High Performance Computing.

  9. Model calibration for ice sheets and glaciers dynamics: a general theory of inverse problems in glaciology

    NASA Astrophysics Data System (ADS)

    Giudici, Mauro; Baratelli, Fulvia; Vassena, Chiara; Cattaneo, Laura

    2014-05-01

    Numerical modelling of the dynamic evolution of ice sheets and glaciers requires the solution of discrete equations which are based on physical principles (e.g. conservation of mass, linear momentum and energy) and phenomenological constitutive laws (e.g. Glen's and Fourier's laws). These equations must be accompanied by information on the forcing term and by initial and boundary conditions (IBC) on ice velocity, stress and temperature; on the other hand the constitutive laws involves many physical parameters, which possibly depend on the ice thermodynamical state. The proper forecast of the dynamics of ice sheets and glaciers (forward problem, FP) requires a precise knowledge of several quantities which appear in the IBCs, in the forcing terms and in the phenomenological laws and which cannot be easily measured at the study scale in the field. Therefore these quantities can be obtained through model calibration, i.e. by the solution of an inverse problem (IP). Roughly speaking, the IP aims at finding the optimal values of the model parameters that yield the best agreement of the model output with the field observations and data. The practical application of IPs is usually formulated as a generalised least squares approach, which can be cast in the framework of Bayesian inference. IPs are well developed in several areas of science and geophysics and several applications were proposed also in glaciology. The objective of this paper is to provide a further step towards a thorough and rigorous theoretical framework in cryospheric studies. Although the IP is often claimed to be ill-posed, this is rigorously true for continuous domain models, whereas for numerical models, which require the solution of algebraic equations, the properties of the IP must be analysed with more care. First of all, it is necessary to clarify the role of experimental and monitoring data to determine the calibration targets and the values of the parameters that can be considered to be fixed

  10. Dynamics of Structural Transformations between Lamellar and Inverse Bicontinuous Cubic Lyotropic Phases

    SciTech Connect

    Conn, Charlotte E.; Ces, Oscar; Mulet, Xavier; Seddon, John M.; Templer, Richard H.; Finet, Stephanie; Winter, Roland

    2006-03-17

    The liquid crystalline lamellar (L{sub {alpha}}) to double-diamond inverse bicontinuous cubic (Q{sub II}{sup D}) phase transition for the amphiphile monoelaidin in excess water exhibits a remarkable sequence of structural transformations for pressure or temperature jumps. Our data imply that the transition dynamics depends on a coupling between changes in molecular shape and the geometrical and topological constraints of domain size. We propose a qualitative model for this coupling based on theories of membrane fusion via stalks and existing knowledge of the structure and energetics of bicontinuous cubic phases.

  11. Inversion of Dynamical Scattering from Large-Angle Rocking-Beam Electron Diffraction Patterns.

    PubMed

    Wang, Feng; Pennington, Robert S; Koch, Christoph T

    2016-07-01

    A method for ab initio structure factor retrieval from large-angle rocking-beam electron diffraction data of thin crystals is described and tested with experimental and simulated data. No additional information, such as atomicity or information about chemical composition, has been made use of. Our numerical experiments show that the inversion of dynamical scattering works best, if the beam tilt range is large and the specimen not too thick, because for moderate multiple scattering, the large tilt amplitude effectively removes local minima in this global optimization problem. PMID:27419576

  12. Inversion of Dynamical Scattering from Large-Angle Rocking-Beam Electron Diffraction Patterns

    NASA Astrophysics Data System (ADS)

    Wang, Feng; Pennington, Robert S.; Koch, Christoph T.

    2016-07-01

    A method for ab initio structure factor retrieval from large-angle rocking-beam electron diffraction data of thin crystals is described and tested with experimental and simulated data. No additional information, such as atomicity or information about chemical composition, has been made use of. Our numerical experiments show that the inversion of dynamical scattering works best, if the beam tilt range is large and the specimen not too thick, because for moderate multiple scattering, the large tilt amplitude effectively removes local minima in this global optimization problem.

  13. A Nonlinear Dynamic Inversion Predictor-Based Model Reference Adaptive Controller for a Generic Transport Model

    NASA Technical Reports Server (NTRS)

    Campbell, Stefan F.; Kaneshige, John T.

    2010-01-01

    Presented here is a Predictor-Based Model Reference Adaptive Control (PMRAC) architecture for a generic transport aircraft. At its core, this architecture features a three-axis, non-linear, dynamic-inversion controller. Command inputs for this baseline controller are provided by pilot roll-rate, pitch-rate, and sideslip commands. This paper will first thoroughly present the baseline controller followed by a description of the PMRAC adaptive augmentation to this control system. Results are presented via a full-scale, nonlinear simulation of NASA s Generic Transport Model (GTM).

  14. Reconfigurable Flight Control Using Nonlinear Dynamic Inversion with a Special Accelerometer Implementation

    NASA Technical Reports Server (NTRS)

    Bacon, Barton J.; Ostroff, Aaron J.

    2000-01-01

    This paper presents an approach to on-line control design for aircraft that have suffered either actuator failure, missing effector surfaces, surface damage, or any combination. The approach is based on a modified version of nonlinear dynamic inversion. The approach does not require a model of the baseline vehicle (effectors at zero deflection), but does require feedback of accelerations and effector positions. Implementation issues are addressed and the method is demonstrated on an advanced tailless aircraft. An experimental simulation analysis tool is used to directly evaluate the nonlinear system's stability robustness.

  15. Advances in computational fluid dynamics solvers for modern computing environments

    NASA Astrophysics Data System (ADS)

    Hertenstein, Daniel; Humphrey, John R.; Paolini, Aaron L.; Kelmelis, Eric J.

    2013-05-01

    EM Photonics has been investigating the application of massively multicore processors to a key problem area: Computational Fluid Dynamics (CFD). While the capabilities of CFD solvers have continually increased and improved to support features such as moving bodies and adjoint-based mesh adaptation, the software architecture has often lagged behind. This has led to poor scaling as core counts reach the tens of thousands. In the modern High Performance Computing (HPC) world, clusters with hundreds of thousands of cores are becoming the standard. In addition, accelerator devices such as NVIDIA GPUs and Intel Xeon Phi are being installed in many new systems. It is important for CFD solvers to take advantage of the new hardware as the computations involved are well suited for the massively multicore architecture. In our work, we demonstrate that new features in NVIDIA GPUs are able to empower existing CFD solvers by example using AVUS, a CFD solver developed by the Air Force Research Labratory (AFRL) and the Volcanic Ash Advisory Center (VAAC). The effort has resulted in increased performance and scalability without sacrificing accuracy. There are many well-known codes in the CFD space that can benefit from this work, such as FUN3D, OVERFLOW, and TetrUSS. Such codes are widely used in the commercial, government, and defense sectors.

  16. Robotic surgery setup simulation with the integration of inverse-kinematics computation and medical imaging.

    PubMed

    Hayashibe, Mitsuhiro; Suzuki, Naoki; Hashizume, Makoto; Konishi, Kozo; Hattori, Asaki

    2006-07-01

    At present, there are representative robot operation systems such as da Vinci and ZEUS which have realized minimally invasive surgery by the use of dexterous manipulators. In the operating room, medical staff must prepare and set up an environment in which the robot has optimal freedom of motion and its functions can be fully demonstrated for every case. The range of motion in which the robot can reach and be maneuvered is restricted by the fixed point of the trocar site. We have developed a preoperative planning system with the function of volume rendering of medical images and automatic positioning by applying an inverse-kinematics computation of surgical robot. The motion of a surgical robot can be simulated in advance with the intuitive interface and kinematics computation program running in the background of the system. If robotic surgery planning with volume rendering of DICOM images is possible, the discussion of a surgical plan can be directly made just after the diagnosis considering the patient-specific structure. This kind of setup platform would be essential for the future introduction of surgical robotics into an operating room. PMID:16828195

  17. A nonlinear anisotropic inverse method for computational dissection of inhomogeneous planar tissues.

    PubMed

    Witzenburg, Colleen M; Barocas, Victor H

    2016-11-01

    Quantification of the mechanical behavior of soft tissues is challenging due to their anisotropic, heterogeneous, and nonlinear nature. We present a method for the 'computational dissection' of a tissue, by which we mean the use of computational tools both to identify and to analyze regions within a tissue sample that have different mechanical properties. The approach employs an inverse technique applied to a series of planar biaxial experimental protocols. The aggregated data from multiple protocols provide the basis for (1) segmentation of the tissue into regions of similar properties, (2) linear analysis for the small-strain behavior, assuming uniform, linear, anisotropic behavior within each region, (3) subsequent nonlinear analysis following each individual experimental protocol path and using local linear properties, and (4) construction of a strain energy data set W(E) at every point in the material by integrating the differential stress-strain functions along each strain path. The approach has been applied to simulated data and captures not only the general nonlinear behavior but also the regional differences introduced into the simulated tissue sample. PMID:27140845

  18. Computational fluid dynamics: Transition to design applications

    NASA Technical Reports Server (NTRS)

    Bradley, R. G.; Bhateley, I. C.; Howell, G. A.

    1987-01-01

    The development of aerospace vehicles, over the years, was an evolutionary process in which engineering progress in the aerospace community was based, generally, on prior experience and data bases obtained through wind tunnel and flight testing. Advances in the fundamental understanding of flow physics, wind tunnel and flight test capability, and mathematical insights into the governing flow equations were translated into improved air vehicle design. The modern day field of Computational Fluid Dynamics (CFD) is a continuation of the growth in analytical capability and the digital mathematics needed to solve the more rigorous form of the flow equations. Some of the technical and managerial challenges that result from rapidly developing CFD capabilites, some of the steps being taken by the Fort Worth Division of General Dynamics to meet these challenges, and some of the specific areas of application for high performance air vehicles are presented.

  19. Computational dynamics of acoustically driven microsphere systems.

    PubMed

    Glosser, Connor; Piermarocchi, Carlo; Li, Jie; Dault, Dan; Shanker, B

    2016-01-01

    We propose a computational framework for the self-consistent dynamics of a microsphere system driven by a pulsed acoustic field in an ideal fluid. Our framework combines a molecular dynamics integrator describing the dynamics of the microsphere system with a time-dependent integral equation solver for the acoustic field that makes use of fields represented as surface expansions in spherical harmonic basis functions. The presented approach allows us to describe the interparticle interaction induced by the field as well as the dynamics of trapping in counter-propagating acoustic pulses. The integral equation formulation leads to equations of motion for the microspheres describing the effect of nondissipative drag forces. We show (1) that the field-induced interactions between the microspheres give rise to effective dipolar interactions, with effective dipoles defined by their velocities and (2) that the dominant effect of an ultrasound pulse through a cloud of microspheres gives rise mainly to a translation of the system, though we also observe both expansion and contraction of the cloud determined by the initial system geometry. PMID:26871188

  20. Computational dynamics of acoustically driven microsphere systems

    NASA Astrophysics Data System (ADS)

    Glosser, Connor; Piermarocchi, Carlo; Li, Jie; Dault, Dan; Shanker, B.

    2016-01-01

    We propose a computational framework for the self-consistent dynamics of a microsphere system driven by a pulsed acoustic field in an ideal fluid. Our framework combines a molecular dynamics integrator describing the dynamics of the microsphere system with a time-dependent integral equation solver for the acoustic field that makes use of fields represented as surface expansions in spherical harmonic basis functions. The presented approach allows us to describe the interparticle interaction induced by the field as well as the dynamics of trapping in counter-propagating acoustic pulses. The integral equation formulation leads to equations of motion for the microspheres describing the effect of nondissipative drag forces. We show (1) that the field-induced interactions between the microspheres give rise to effective dipolar interactions, with effective dipoles defined by their velocities and (2) that the dominant effect of an ultrasound pulse through a cloud of microspheres gives rise mainly to a translation of the system, though we also observe both expansion and contraction of the cloud determined by the initial system geometry.

  1. Shuttle rocket booster computational fluid dynamics

    NASA Technical Reports Server (NTRS)

    Chung, T. J.; Park, O. Y.

    1988-01-01

    Additional results and a revised and improved computer program listing from the shuttle rocket booster computational fluid dynamics formulations are presented. Numerical calculations for the flame zone of solid propellants are carried out using the Galerkin finite elements, with perturbations expanded to the zeroth, first, and second orders. The results indicate that amplification of oscillatory motions does indeed prevail in high frequency regions. For the second order system, the trend is similar to the first order system for low frequencies, but instabilities may appear at frequencies lower than those of the first order system. The most significant effect of the second order system is that the admittance is extremely oscillatory between moderately high frequency ranges.

  2. LaRC computational dynamics overview

    NASA Technical Reports Server (NTRS)

    Husner, J. M.

    1989-01-01

    Present research centers on the development of advanced computational methods for transient simulation analyses. Aircraft, launch vehicles and space structure components are potential applications, but primary focus is presently on large space structures. There are both in-house and out-of-house activities. The in-house activity centers around the development of a multibody simulation tool for truss-like structures called LATDYN for Large Angle Transient DYNamics. Multibody analysis involves articulation of structural components as well as robotic maneuvers. These items are necessary for construction (erection or deployment) of large space structures in orbit and the carrying out of certain operations on board the space station. Thus, part of the in-house activity involves the development of methods which treat the changing mass, stiffness and constraints associated with articulating systems. The out-of-house activity involves subcycling, development of large deformation/motion beam formulation, constraint stabilization and direct time integration transient algorithms in parallel computing.

  3. Computational fluid dynamics of reaction injection moulding

    NASA Astrophysics Data System (ADS)

    Mateus, Artur; Mitchell, Geoffrey; Bártolo, Paulo

    2012-09-01

    The modern approach to the development of moulds for injection moulding (Reaction Injection Moulding - RIM, Thermoplastic Injection Moulding - TIM and others) differs from the conventional approach based exclusively on the designer's experience and hypotheses. The increasingly complexityof moulds and the requirement by the clients for the improvement of their quality, shorter delivery times, and lower prices, demand the development of novel approaches to developed optimal moulds and moulded parts. The development of more accurate computational tools is fundamental to optimize both, the injection mouldingprocesses and the design, quality and durability of the moulds. This paper focuses on the RIM process proposing a novel thermo-rheo-kinetic model. The proposed model was implemented in generalpurpose Computational Fluid Dynamics (CFD) software. The model enables to accurately describe both flow and curing stages. Simulation results were validated against experimental results.

  4. Computational fluid dynamics in cardiovascular disease.

    PubMed

    Lee, Byoung-Kwon

    2011-08-01

    Computational fluid dynamics (CFD) is a mechanical engineering field for analyzing fluid flow, heat transfer, and associated phenomena, using computer-based simulation. CFD is a widely adopted methodology for solving complex problems in many modern engineering fields. The merit of CFD is developing new and improved devices and system designs, and optimization is conducted on existing equipment through computational simulations, resulting in enhanced efficiency and lower operating costs. However, in the biomedical field, CFD is still emerging. The main reason why CFD in the biomedical field has lagged behind is the tremendous complexity of human body fluid behavior. Recently, CFD biomedical research is more accessible, because high performance hardware and software are easily available with advances in computer science. All CFD processes contain three main components to provide useful information, such as pre-processing, solving mathematical equations, and post-processing. Initial accurate geometric modeling and boundary conditions are essential to achieve adequate results. Medical imaging, such as ultrasound imaging, computed tomography, and magnetic resonance imaging can be used for modeling, and Doppler ultrasound, pressure wire, and non-invasive pressure measurements are used for flow velocity and pressure as a boundary condition. Many simulations and clinical results have been used to study congenital heart disease, heart failure, ventricle function, aortic disease, and carotid and intra-cranial cerebrovascular diseases. With decreasing hardware costs and rapid computing times, researchers and medical scientists may increasingly use this reliable CFD tool to deliver accurate results. A realistic, multidisciplinary approach is essential to accomplish these tasks. Indefinite collaborations between mechanical engineers and clinical and medical scientists are essential. CFD may be an important methodology to understand the pathophysiology of the development and

  5. Computational fluid dynamics symposium on aeropropulsion

    SciTech Connect

    Not Available

    1991-01-01

    Recognizing the considerable advances that have been made in computational fluid dynamics, the Internal Fluid Mechanics Division of NASA Lewis Research Center sponsored this symposium with the objective of providing a forum for exchanging information regarding recent developments in numerical methods, physical and chemical modeling, and applications. This conference publication is a compilation of 4 invited and 34 contributed papers presented in six sessions: algorithms one and two, turbomachinery, turbulence, components application, and combustors. Topics include numerical methods, grid generation, chemically reacting flows, turbulence modeling, inlets, nozzles, and unsteady flows.

  6. Two-phase computational fluid dynamics

    SciTech Connect

    Rothe, P.H.

    1991-07-26

    The results of the project illustrate the feasibility of multiphase computerized fluid dynamics (CFD) software. Existing CFD software is capable of simulating particle fields, certain droplet fields, and certain free surface flows, and does so routinely in engineering applications. Stratified flows can be addressed by a multiphase CFD code, once one is developed with suitable capabilities. The groundwork for such a code has been laid. Calculations performed for stratified flows demonstrate the accuracy achievable and the convergence of the methodology. Extension of the stratified flow methodology to other segregated flows such as slug or annular faces no inherent limits. The research has commercial application in the development of multiphase CFD computer programs.

  7. Computational Fluid Dynamics Technology for Hypersonic Applications

    NASA Technical Reports Server (NTRS)

    Gnoffo, Peter A.

    2003-01-01

    Several current challenges in computational fluid dynamics and aerothermodynamics for hypersonic vehicle applications are discussed. Example simulations are presented from code validation and code benchmarking efforts to illustrate capabilities and limitations. Opportunities to advance the state-of-art in algorithms, grid generation and adaptation, and code validation are identified. Highlights of diverse efforts to address these challenges are then discussed. One such effort to re-engineer and synthesize the existing analysis capability in LAURA, VULCAN, and FUN3D will provide context for these discussions. The critical (and evolving) role of agile software engineering practice in the capability enhancement process is also noted.

  8. High performance computations using dynamical nucleation theory

    NASA Astrophysics Data System (ADS)

    Windus, T. L.; Kathmann, S. M.; Crosby, L. D.

    2008-07-01

    Chemists continue to explore the use of very large computations to perform simulations that describe the molecular level physics of critical challenges in science. In this paper, we describe the Dynamical Nucleation Theory Monte Carlo (DNTMC) model - a model for determining molecular scale nucleation rate constants - and its parallel capabilities. The potential for bottlenecks and the challenges to running on future petascale or larger resources are delineated. A 'master-slave' solution is proposed to scale to the petascale and will be developed in the NWChem software. In addition, mathematical and data analysis challenges are described.

  9. Computational Fluid Dynamics Symposium on Aeropropulsion

    NASA Technical Reports Server (NTRS)

    1991-01-01

    Recognizing the considerable advances that have been made in computational fluid dynamics, the Internal Fluid Mechanics Division of NASA Lewis Research Center sponsored this symposium with the objective of providing a forum for exchanging information regarding recent developments in numerical methods, physical and chemical modeling, and applications. This conference publication is a compilation of 4 invited and 34 contributed papers presented in six sessions: algorithms one and two, turbomachinery, turbulence, components application, and combustors. Topics include numerical methods, grid generation, chemically reacting flows, turbulence modeling, inlets, nozzles, and unsteady flows.

  10. Verification and Validation in Computational Fluid Dynamics

    SciTech Connect

    OBERKAMPF, WILLIAM L.; TRUCANO, TIMOTHY G.

    2002-03-01

    Verification and validation (V and V) are the primary means to assess accuracy and reliability in computational simulations. This paper presents an extensive review of the literature in V and V in computational fluid dynamics (CFD), discusses methods and procedures for assessing V and V, and develops a number of extensions to existing ideas. The review of the development of V and V terminology and methodology points out the contributions from members of the operations research, statistics, and CFD communities. Fundamental issues in V and V are addressed, such as code verification versus solution verification, model validation versus solution validation, the distinction between error and uncertainty, conceptual sources of error and uncertainty, and the relationship between validation and prediction. The fundamental strategy of verification is the identification and quantification of errors in the computational model and its solution. In verification activities, the accuracy of a computational solution is primarily measured relative to two types of highly accurate solutions: analytical solutions and highly accurate numerical solutions. Methods for determining the accuracy of numerical solutions are presented and the importance of software testing during verification activities is emphasized.

  11. The Dynamics of Tachyon Field with AN Inverse Square Potential in Loop Quantum Cosmology

    NASA Astrophysics Data System (ADS)

    Huang, Fei; Zhu, Jian-Yang; Xiao, Kui

    2013-05-01

    The dynamical behavior of tachyon field with an inverse potential is investigated in loop quantum cosmology. It reveals that the late-time behavior of tachyon field with this potential leads to a power-law expansion. In addition, an additional barotropic perfect fluid with the adiabatic index 0 < γ < 2 is added and the dynamical system is shown to be an autonomous one. The stability of this autonomous system is discussed using phase plane analysis. There exist up to five fixed points with only two of them possibly stable. The two stable node (attractor) solutions are specified and their cosmological indications are discussed. For the tachyon dominated solution, the further discussion is stretched to the possibility of considering tachyon field as a combination of two parts which respectively behave like dark matter and dark energy.

  12. LASERS: Emission dynamics of coupled Nd3+ : YAG lasers with a shared population inversion source

    NASA Astrophysics Data System (ADS)

    Kaptsov, L. N.; Yatskiv, A. M.

    1995-08-01

    A calculation is made of the frequency spectrum of relaxation oscillations of a cw Nd3+ : YAG laser with several lasing channels intersecting in the same active element. It is shown that the highest frequency of relaxation oscillations of isolated channels is virtually retained when these channels are coupled by population inversion, but the other frequencies are reduced. The results of these calculations are in agreement with measurements carried out on a double-beam laser. Experiments are reported on the transition of such a system to dynamic chaos. As in the case of a solid-state laser which emits multimode (in respect of the longitudinal index) radiation, near the frequencies of relaxation oscillations the transition of the investigated system to dynamic chaos follows the Ruelle—Takens—Newhouse scenario.

  13. Direct modeling for computational fluid dynamics

    NASA Astrophysics Data System (ADS)

    Xu, Kun

    2015-06-01

    All fluid dynamic equations are valid under their modeling scales, such as the particle mean free path and mean collision time scale of the Boltzmann equation and the hydrodynamic scale of the Navier-Stokes (NS) equations. The current computational fluid dynamics (CFD) focuses on the numerical solution of partial differential equations (PDEs), and its aim is to get the accurate solution of these governing equations. Under such a CFD practice, it is hard to develop a unified scheme that covers flow physics from kinetic to hydrodynamic scales continuously because there is no such governing equation which could make a smooth transition from the Boltzmann to the NS modeling. The study of fluid dynamics needs to go beyond the traditional numerical partial differential equations. The emerging engineering applications, such as air-vehicle design for near-space flight and flow and heat transfer in micro-devices, do require further expansion of the concept of gas dynamics to a larger domain of physical reality, rather than the traditional distinguishable governing equations. At the current stage, the non-equilibrium flow physics has not yet been well explored or clearly understood due to the lack of appropriate tools. Unfortunately, under the current numerical PDE approach, it is hard to develop such a meaningful tool due to the absence of valid PDEs. In order to construct multiscale and multiphysics simulation methods similar to the modeling process of constructing the Boltzmann or the NS governing equations, the development of a numerical algorithm should be based on the first principle of physical modeling. In this paper, instead of following the traditional numerical PDE path, we introduce direct modeling as a principle for CFD algorithm development. Since all computations are conducted in a discretized space with limited cell resolution, the flow physics to be modeled has to be done in the mesh size and time step scales. Here, the CFD is more or less a direct

  14. Identifying the dynamic compressive stiffness of a prospective biomimetic elastomer by an inverse method.

    PubMed

    Mates, Steven P; Forster, Aaron M; Hunston, Donald; Rhorer, Richard; Everett, Richard K; Simmonds, Kirth E; Bagchi, Amit

    2012-10-01

    Soft elastomeric materials that mimic real soft human tissues are sought to provide realistic experimental devices to simulate the human body's response to blast loading to aid the development of more effective protective equipment. The dynamic mechanical behavior of these materials is often measured using a Kolsky bar because it can achieve both the high strain rates (>100s(-1)) and the large strains (>20%) that prevail in blast scenarios. Obtaining valid results is challenging, however, due to poor dynamic equilibrium, friction, and inertial effects. To avoid these difficulties, an inverse method was employed to determine the dynamic response of a soft, prospective biomimetic elastomer using Kolsky bar tests coupled with high-speed 3D digital image correlation. Individual tests were modeled using finite elements, and the dynamic stiffness of the elastomer was identified by matching the simulation results with test data using numerical optimization. Using this method, the average dynamic response was found to be nearly equivalent to the quasi-static response measured with stress-strain curves at compressive strains up to 60%, with an uncertainty of ±18%. Moreover, the behavior was consistent with the results in stress relaxation experiments and oscillatory tests although the latter were performed at lower strain levels. PMID:22982958

  15. Utilizing parallel optimization in computational fluid dynamics

    NASA Astrophysics Data System (ADS)

    Kokkolaras, Michael

    1998-12-01

    General problems of interest in computational fluid dynamics are investigated by means of optimization. Specifically, in the first part of the dissertation, a method of optimal incremental function approximation is developed for the adaptive solution of differential equations. Various concepts and ideas utilized by numerical techniques employed in computational mechanics and artificial neural networks (e.g. function approximation and error minimization, variational principles and weighted residuals, and adaptive grid optimization) are combined to formulate the proposed method. The basis functions and associated coefficients of a series expansion, representing the solution, are optimally selected by a parallel direct search technique at each step of the algorithm according to appropriate criteria; the solution is built sequentially. In this manner, the proposed method is adaptive in nature, although a grid is neither built nor adapted in the traditional sense using a-posteriori error estimates. Variational principles are utilized for the definition of the objective function to be extremized in the associated optimization problems, ensuring that the problem is well-posed. Complicated data structures and expensive remeshing algorithms and systems solvers are avoided. Computational efficiency is increased by using low-order basis functions and concurrent computing. Numerical results and convergence rates are reported for a range of steady-state problems, including linear and nonlinear differential equations associated with general boundary conditions, and illustrate the potential of the proposed method. Fluid dynamics applications are emphasized. Conclusions are drawn by discussing the method's limitations, advantages, and possible extensions. The second part of the dissertation is concerned with the optimization of the viscous-inviscid-interaction (VII) mechanism in an airfoil flow analysis code. The VII mechanism is based on the concept of a transpiration velocity

  16. Inversion of the western Pacific subtropical high dynamic model and analysis of dynamic characteristics for its abnormality

    NASA Astrophysics Data System (ADS)

    Hong, M.; Zhang, R.; Li, J. X.; Ge, J. J.; Liu, K. F.

    2013-02-01

    Based on time series data of 500 hPa potential field from NCEP/NCAR (National Center for Environmental Forecast of American/National Center for Atmospheric Research), a novel consideration of empirical orthogonal function (EOF) time-space separation and dynamic system reconstruction for time series is introduced. This method consists of two parts: first, the dynamical model inversion and model parameter optimization are carried out on the EOF time coefficient series using the genetic algorithm (GA), and, second, a nonlinear dynamic model representing the subtropical high (SH) activity and its abnormality is established. The SH activity and its abnormal mechanism is studied using the developed dynamical model. Results show that the configuration and diversification of the SH equilibriums have good correspondence with the actual short-medium term abnormal activity of the SH. Change of SH potential field brought by the combination of equilibriums is more complex than that by mutation, and their exhibition patterns are different. The mutation behavior from high-value to low-value equilibriums of the SH in summer corresponds with the southward drop of the SH in the observed weather process. The combination behavior of the two steady equilibriums corresponds with disappearance of the "double-ridge" phenomenon of the SH. Dynamical mechanisms of these phenomena are explained.

  17. Visualization of Unsteady Computational Fluid Dynamics

    NASA Technical Reports Server (NTRS)

    Haimes, Robert

    1997-01-01

    The current compute environment that most researchers are using for the calculation of 3D unsteady Computational Fluid Dynamic (CFD) results is a super-computer class machine. The Massively Parallel Processors (MPP's) such as the 160 node IBM SP2 at NAS and clusters of workstations acting as a single MPP (like NAS's SGI Power-Challenge array and the J90 cluster) provide the required computation bandwidth for CFD calculations of transient problems. If we follow the traditional computational analysis steps for CFD (and we wish to construct an interactive visualizer) we need to be aware of the following: (1) Disk space requirements. A single snap-shot must contain at least the values (primitive variables) stored at the appropriate locations within the mesh. For most simple 3D Euler solvers that means 5 floating point words. Navier-Stokes solutions with turbulence models may contain 7 state-variables. (2) Disk speed vs. Computational speeds. The time required to read the complete solution of a saved time frame from disk is now longer than the compute time for a set number of iterations from an explicit solver. Depending, on the hardware and solver an iteration of an implicit code may also take less time than reading the solution from disk. If one examines the performance improvements in the last decade or two, it is easy to see that depending on disk performance (vs. CPU improvement) may not be the best method for enhancing interactivity. (3) Cluster and Parallel Machine I/O problems. Disk access time is much worse within current parallel machines and cluster of workstations that are acting in concert to solve a single problem. In this case we are not trying to read the volume of data, but are running the solver and the solver outputs the solution. These traditional network interfaces must be used for the file system. (4) Numerics of particle traces. Most visualization tools can work upon a single snap shot of the data but some visualization tools for transient

  18. Inversion of potential field data using the finite element method on parallel computers

    NASA Astrophysics Data System (ADS)

    Gross, L.; Altinay, C.; Shaw, S.

    2015-11-01

    In this paper we present a formulation of the joint inversion of potential field anomaly data as an optimization problem with partial differential equation (PDE) constraints. The problem is solved using the iterative Broyden-Fletcher-Goldfarb-Shanno (BFGS) method with the Hessian operator of the regularization and cross-gradient component of the cost function as preconditioner. We will show that each iterative step requires the solution of several PDEs namely for the potential fields, for the adjoint defects and for the application of the preconditioner. In extension to the traditional discrete formulation the BFGS method is applied to continuous descriptions of the unknown physical properties in combination with an appropriate integral form of the dot product. The PDEs can easily be solved using standard conforming finite element methods (FEMs) with potentially different resolutions. For two examples we demonstrate that the number of PDE solutions required to reach a given tolerance in the BFGS iteration is controlled by weighting regularization and cross-gradient but is independent of the resolution of PDE discretization and that as a consequence the method is weakly scalable with the number of cells on parallel computers. We also show a comparison with the UBC-GIF GRAV3D code.

  19. On the consideration of motion effects in the computation of impulse response for underwater acoustics inversion.

    PubMed

    Josso, Nicolas F; Ioana, Cornel; Mars, Jérôme I; Gervaise, Cédric; Stéphan, Yann

    2009-10-01

    The estimation of the impulse response (IR) of a propagation channel may be of great interest for a large number of underwater applications: underwater communications, sonar detection and localization, marine mammal monitoring, etc. It quantifies the distortions of the transmitted signal in the underwater channel and enables geoacoustic inversion. The propagating signal is usually subject to additional and undesirable distortions due to the motion of the transmitter-channel-receiver configuration. This paper shows the effects of the motion while estimating the IR by matched filtering between the transmitted and the received signals. A methodology to compare IR estimation with and without motion is presented. Based on this comparison, a method for motion effect compensation is proposed in order to reduce motion-induced distortions. The proposed methodology is applied to real data sets collected in 2007 by the Service Hydrographique et Océanographique de la Marine in a shallow water environment, proving its interest for motion effect analysis. Motion compensated estimation of IRs is computed from sources transmitting broadband linear frequency modulations moving at up to 12 knots in the shallow water environment of the Malta plateau, South of Sicilia. PMID:19813789

  20. Inversion and fast optimization using computational intelligence with applications to geoacoustics

    NASA Astrophysics Data System (ADS)

    Thompson, Benjamin Berry

    With a sufficiently complex underwater acoustic model, one may produce an arbitrarily accurate reconstruction of acoustic energy propagation in any specified underwater environment. Problems arise, however, when these acoustic emulations are required in a timely manner. When many realizations of the acoustic model are required over a short period of time, model complexity prohibits any kind of fast execution of such an algorithm. Two approaches may be applied to increasing the speed of any such iterative technique: first, one may attempt to simplify or speed up the model. Second, one may attempt to reduce the number of times the complex model must be executed. In this dissertation, we take both approaches for two distinct, unsolved problems in the area of geoacoustics: inversion of acoustic models for bottom parameter acquisition, and sonobuoy placement for optimal sonar coverage of a desired area, and we will see both may be phrased as optimization problems. The primary focus of this paper, however, is specifically on the use of computational intelligence to increase the execution time of these optimization algorithms, including a very remarkable greedy algorithm for the placement of sonobuoys, which executes in time orders of magnitude lower than with direct optimization techniques.

  1. Iterative image reconstruction for limited-angle inverse helical cone-beam computed tomography.

    PubMed

    Yu, Wei; Zeng, Li

    2016-01-01

    Helical trajectory satisfying the condition of exact reconstruction, has been widely utilized in the commercial computed tomography (CT). While limited by the scanning environment in some practical applications, the conventional helical cone-beam CT imaging is hard to complete, thus, developing an imaging system suited for long-object may be valuable. Three-dimensional C-arm CT is an innovative imaging technique which has been greatly concerned. Since there is a high degree of freedom of C-arm, more flexible image acquisition trajectories for 3D imaging can be achieved. In this work, a fast iterative reconstruction algorithm based on total variation minimization is developed for a trajectory of limited-angle inverse helical cone-beam CT, which can be applied to detect long-object without slip-ring technology. The experimental results show that the developed algorithm can yield reconstructed images of low noise level and high image quality. SCANNING 38:4-13, 2016. © 2015 Wiley Periodicals, Inc. PMID:26130367

  2. Influences of experimental parameters and inverse algorithms on nanometer particle size measured by self-designed system based on dynamic light scattering

    NASA Astrophysics Data System (ADS)

    Deng, Shaoyong; Zhang, Qi; Xia, Junying

    2014-12-01

    A totally self-designed experimental system based on dynamic light scattering is developed. The method of photon correlation spectroscopy is used to simulate the autocorrelation of measured scattering photons and scattering field. The dynamic autocorrelation software is self-compiled to replace the popular hardware digital correlator for much more correlation channels and much lower costs. Several inverse algorithms such as 1st-order Cumulants, 2nd-order Cumulants, NNLS, CONTIN and Double Exponents are used to compute the particle sizes and decay linewidths of both monodisperse systems and polydisperse systems. The programs based on these inverse algorithms are all self-compiled except the CONTIN. Influences of systematical parameters such as sample time, the last delay time, elapsed time, suspension's concentration and the baseline of scattering photons autocorrelation on the scattering photon counts, the autocorrelations of scattering photons and scattering field and the distribution of particle sizes are all investigated detailedly and are explained theoretically. The appropriate choices of systematical parameters are pointed out to make the experimental system more perfect. The limitations of the inverse algorithms are described and explained for the self-designed system. The methods of corrected 1st-order Cumulants and corrected Double Exponents are developed to compute particle sizes correctly at wide time scale. The particle sizes measured by the optimized experimental system are very accurate.

  3. SU-C-207-01: Four-Dimensional Inverse Geometry Computed Tomography: Concept and Its Validation

    SciTech Connect

    Kim, K; Kim, D; Kim, T; Kang, S; Cho, M; Shin, D; Suh, T

    2015-06-15

    Purpose: In past few years, the inverse geometry computed tomography (IGCT) system has been developed to overcome shortcomings of a conventional computed tomography (CT) system such as scatter problem induced from large detector size and cone-beam artifact. In this study, we intend to present a concept of a four-dimensional (4D) IGCT system that has positive aspects above all with temporal resolution for dynamic studies and reduction of motion artifact. Methods: Contrary to conventional CT system, projection data at a certain angle in IGCT was a group of fractionated narrow cone-beam projection data, projection group (PG), acquired from multi-source array which have extremely short time gap of sequential operation between each of sources. At this, for 4D IGCT imaging, time-related data acquisition parameters were determined by combining multi-source scanning time for collecting one PG with conventional 4D CBCT data acquisition sequence. Over a gantry rotation, acquired PGs from multi-source array were tagged time and angle for 4D image reconstruction. Acquired PGs were sorted into 10 phase and image reconstructions were independently performed at each phase. Image reconstruction algorithm based upon filtered-backprojection was used in this study. Results: The 4D IGCT had uniform image without cone-beam artifact on the contrary to 4D CBCT image. In addition, the 4D IGCT images of each phase had no significant artifact induced from motion compared with 3D CT. Conclusion: The 4D IGCT image seems to give relatively accurate dynamic information of patient anatomy based on the results were more endurable than 3D CT about motion artifact. From this, it will be useful for dynamic study and respiratory-correlated radiation therapy. This work was supported by the Industrial R&D program of MOTIE/KEIT [10048997, Development of the core technology for integrated therapy devices based on real-time MRI guided tumor tracking] and the Mid-career Researcher Program (2014R1A2A1A

  4. Verification and validation in computational fluid dynamics

    NASA Astrophysics Data System (ADS)

    Oberkampf, William L.; Trucano, Timothy G.

    2002-04-01

    Verification and validation (V&V) are the primary means to assess accuracy and reliability in computational simulations. This paper presents an extensive review of the literature in V&V in computational fluid dynamics (CFD), discusses methods and procedures for assessing V&V, and develops a number of extensions to existing ideas. The review of the development of V&V terminology and methodology points out the contributions from members of the operations research, statistics, and CFD communities. Fundamental issues in V&V are addressed, such as code verification versus solution verification, model validation versus solution validation, the distinction between error and uncertainty, conceptual sources of error and uncertainty, and the relationship between validation and prediction. The fundamental strategy of verification is the identification and quantification of errors in the computational model and its solution. In verification activities, the accuracy of a computational solution is primarily measured relative to two types of highly accurate solutions: analytical solutions and highly accurate numerical solutions. Methods for determining the accuracy of numerical solutions are presented and the importance of software testing during verification activities is emphasized. The fundamental strategy of validation is to assess how accurately the computational results compare with the experimental data, with quantified error and uncertainty estimates for both. This strategy employs a hierarchical methodology that segregates and simplifies the physical and coupling phenomena involved in the complex engineering system of interest. A hypersonic cruise missile is used as an example of how this hierarchical structure is formulated. The discussion of validation assessment also encompasses a number of other important topics. A set of guidelines is proposed for designing and conducting validation experiments, supported by an explanation of how validation experiments are different

  5. A flexible, extendable, modular and computationally efficient approach to scattering-integral-based seismic full waveform inversion

    NASA Astrophysics Data System (ADS)

    Schumacher, F.; Friederich, W.; Lamara, S.

    2016-02-01

    We present a new conceptual approach to scattering-integral-based seismic full waveform inversion (FWI) that allows a flexible, extendable, modular and both computationally and storage-efficient numerical implementation. To achieve maximum modularity and extendability, interactions between the three fundamental steps carried out sequentially in each iteration of the inversion procedure, namely, solving the forward problem, computing waveform sensitivity kernels and deriving a model update, are kept at an absolute minimum and are implemented by dedicated interfaces. To realize storage efficiency and maximum flexibility, the spatial discretization of the inverted earth model is allowed to be completely independent of the spatial discretization employed by the forward solver. For computational efficiency reasons, the inversion is done in the frequency domain. The benefits of our approach are as follows: (1) Each of the three stages of an iteration is realized by a stand-alone software program. In this way, we avoid the monolithic, unflexible and hard-to-modify codes that have often been written for solving inverse problems. (2) The solution of the forward problem, required for kernel computation, can be obtained by any wave propagation modelling code giving users maximum flexibility in choosing the forward modelling method. Both time-domain and frequency-domain approaches can be used. (3) Forward solvers typically demand spatial discretizations that are significantly denser than actually desired for the inverted model. Exploiting this fact by pre-integrating the kernels allows a dramatic reduction of disk space and makes kernel storage feasible. No assumptions are made on the spatial discretization scheme employed by the forward solver. (4) In addition, working in the frequency domain effectively reduces the amount of data, the number of kernels to be computed and the number of equations to be solved. (5) Updating the model by solving a large equation system can be

  6. Special data base of Informational - Computational System 'INM RAS - Black Sea' for solving inverse and data assimilation problems

    NASA Astrophysics Data System (ADS)

    Zakharova, Natalia; Piskovatsky, Nicolay; Gusev, Anatoly

    2014-05-01

    Development of Informational-Computational Systems (ICS) for data assimilation procedures is one of multidisciplinary problems. To study and solve these problems one needs to apply modern results from different disciplines and recent developments in: mathematical modeling; theory of adjoint equations and optimal control; inverse problems; numerical methods theory; numerical algebra and scientific computing. The above problems are studied in the Institute of Numerical Mathematics of the Russian Academy of Science (INM RAS) in ICS for personal computers. In this work the results on the Special data base development for ICS "INM RAS - Black Sea" are presented. In the presentation the input information for ICS is discussed, some special data processing procedures are described. In this work the results of forecast using ICS "INM RAS - Black Sea" with operational observation data assimilation are presented. This study was supported by the Russian Foundation for Basic Research (project No 13-01-00753) and by Presidium Program of Russian Academy of Sciences (project P-23 "Black sea as an imitational ocean model"). References 1. V.I. Agoshkov, M.V. Assovskii, S.A. Lebedev, Numerical simulation of Black Sea hydrothermodynamics taking into account tide-forming forces. Russ. J. Numer. Anal. Math. Modelling (2012) 27, No.1, pp. 5-31. 2. E.I. Parmuzin, V.I. Agoshkov, Numerical solution of the variational assimilation problem for sea surface temperature in the model of the Black Sea dynamics. Russ. J. Numer. Anal. Math. Modelling (2012) 27, No.1, pp. 69-94. 3. V.B. Zalesny, N.A. Diansky, V.V. Fomin, S.N. Moshonkin, S.G. Demyshev, Numerical model of the circulation of Black Sea and Sea of Azov. Russ. J. Numer. Anal. Math. Modelling (2012) 27, No.1, pp. 95-111. 4. Agoshkov V.I.,Assovsky M.B., Giniatulin S. V., Zakharova N.B., Kuimov G.V., Parmuzin E.I., Fomin V.V. Informational Computational system of variational assimilation of observation data "INM RAS - Black sea"// Ecological

  7. Domain decomposition algorithms and computation fluid dynamics

    NASA Technical Reports Server (NTRS)

    Chan, Tony F.

    1988-01-01

    In the past several years, domain decomposition was a very popular topic, partly motivated by the potential of parallelization. While a large body of theory and algorithms were developed for model elliptic problems, they are only recently starting to be tested on realistic applications. The application of some of these methods to two model problems in computational fluid dynamics are investigated. Some examples are two dimensional convection-diffusion problems and the incompressible driven cavity flow problem. The construction and analysis of efficient preconditioners for the interface operator to be used in the iterative solution of the interface solution is described. For the convection-diffusion problems, the effect of the convection term and its discretization on the performance of some of the preconditioners is discussed. For the driven cavity problem, the effectiveness of a class of boundary probe preconditioners is discussed.

  8. High performance computations using dynamical nucleation theory

    SciTech Connect

    Windus, Theresa L.; Kathmann, Shawn M.; Crosby, Lonnie D.

    2008-07-14

    Chemists continue to explore the use of very large computations to perform simulations that describe the molecular level physics of critical challenges in science. In this paper, the Dynamical Nucleation Theory Monte Carlo (DNTMC) model - a model for determining molecular scale nucleation rate constants - and its parallel capabilities are described. The potential for bottlenecks and the challenges to running on future petascale or larger resources are delineated. A "master-slave" solution is proposed to scale to the petascale and will be developed in the NWChem software. In addition, mathematical and data analysis challenges are also described. This work was supported by the U.S. Department of Energy's (DOE) Office of Basic Energy Sciences, Chemical Sciences program. The Pacific Northwest National Laboratory is operated by Battelle for DOE.

  9. Domain decomposition methods in computational fluid dynamics

    NASA Technical Reports Server (NTRS)

    Gropp, William D.; Keyes, David E.

    1992-01-01

    The divide-and-conquer paradigm of iterative domain decomposition, or substructuring, has become a practical tool in computational fluid dynamic applications because of its flexibility in accommodating adaptive refinement through locally uniform (or quasi-uniform) grids, its ability to exploit multiple discretizations of the operator equations, and the modular pathway it provides towards parallelism. These features are illustrated on the classic model problem of flow over a backstep using Newton's method as the nonlinear iteration. Multiple discretizations (second-order in the operator and first-order in the preconditioner) and locally uniform mesh refinement pay dividends separately, and they can be combined synergistically. Sample performance results are included from an Intel iPSC/860 hypercube implementation.

  10. Domain decomposition methods in computational fluid dynamics

    NASA Technical Reports Server (NTRS)

    Gropp, William D.; Keyes, David E.

    1991-01-01

    The divide-and-conquer paradigm of iterative domain decomposition, or substructuring, has become a practical tool in computational fluid dynamic applications because of its flexibility in accommodating adaptive refinement through locally uniform (or quasi-uniform) grids, its ability to exploit multiple discretizations of the operator equations, and the modular pathway it provides towards parallelism. These features are illustrated on the classic model problem of flow over a backstep using Newton's method as the nonlinear iteration. Multiple discretizations (second-order in the operator and first-order in the preconditioner) and locally uniform mesh refinement pay dividends separately, and they can be combined synergistically. Sample performance results are included from an Intel iPSC/860 hypercube implementation.