NASA TN D-1078

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TECHNICAL NOTE
D-1078

FOURIER SERIES OPERATING PACKAGE

Milton L. Charnow

Goddard Space Fright Center

Greenbelt, Maryland

NATIONAL AERONAUTICS AND SPACE ADMINISTRATION

WASHINGTON December 1961

H

FOURIER SERIES OPERATING PACKAGE

by
Milton L. Charnow
Goddard Space Flight Center

SUMMARY

This report presents a computer program for multiplying,

adding, differentiating, i nt e g r a t i n g, "barring" and scalarly
multiplying "literal" Fourier series as such, and for extracting
the coefficients of specified terms.
 CONTENTS

oO
Summary .................................
0

INTRODUCTION ............................

SPECIAL REPRESENTATION OF A SINE,

COSINE, OR CONSTANT ....................

THE FOURIER OPERATING PACKAGE ............. 2

Multiplication ............................. 3
Addition and Subtraction ...................... 4
Differentiation ............................ 4

Integration ............................... 5

Bar Operation ............................ 5

Scalar Multiplication ........................ 5

Coefficient Extraction ....................... 6
Series Evaluation .......................... 6

CONCLUDING REMARKS ......................

ACKNOWLEDGMENTS ........................

Appendix A - Nine Term Series in Standard

and Special Form .........................

Appendix B - Flow Charts ...................... II

Appendix C - Listing of Instructions ............... 25

Appendix D - Mystic Code ...................... 47

.°.
III
 FOURIER SERIES OPERATING PACKAGE

o0
r,- by
Milton L. Charnow
Goddard Space Flight Center

INTRODUCTION

The Hansen Satellite Theory as modified by Musen 1 involves various manipulations

of "literal" Fourier series, as such, before final numerical evaluation. To program this
formulation it is necessary to represent cosines, sines, and constants in a special man-
ner and thus manipulate the various Fourier series.

SPECIAL REPRESENTATION OF A SINE, COSINE,

OR CONSTANT

It was decided to represent any term, including the constant term, of the Fourier
series we are concerned with by two consecutive eight-place floating-point words. The
terms of this series have the general form

A n cos (iF+jE +kW+ 1U)

or

A n sin (iF+jE +kW+ 1U)

and the values of F, E, W, and U are not used until final numerical evaluation. The first
eight-place floating-point word represents the coefficient A n in an entirely standard man-
ner. The second eight-place floating-point word represents the sine or cosine term of up
to four arguments in an artificial manner.

1Musen, P., "A Modified Hansen's Theory as Applied to the Motion of Artificial Satel-
lites," NASA Technical Note D-492, November 1960.
 Considera term suchas An cos (iF + jE + kW+ IU). Ultil this term is evaluatedwe
are concernedonlywith the valuesof An, i, j, k, and1. The ::oefficient A n is represented
by the first of the two eight-digit floating-point words. The four coefficients of the argu-
ments (i, j, k, and 1) are each represented by two digits of tl-e second eight-place floating-
point word. The first two digits represent i and are normalized to 00; the next three pairs oO
t'--
0
of digits represent j, k, and 1, and are normalized to 50. Thas, the value of i may vary ,-4

from 0 to 99, while j, k, and 1 may vary from -49 to +49. A cosine is denoted by a plus
sign; a sine by a minus sign, that is, 1 cos (OF + 0E + 0W + ()U) or cos (0) becomes
+10000000 + 01, +00505050 + 08. Any constant term can be represented as A n cos (0). A
few additional examples will be helpful (see also Appendix A):

Conventional Special

1/4 cos (IF + 2E - 3W - 2U) 25000000+ 00, +01524748 + 08

1/'4sin (OF + 1E - 0W + 2U) 25000000 + 00, -00515052 + 08
1/4 25000000 + 00, +00505050 + 08
0 00000000 + 00, +00505050 + 08

The convention of having the first non-zero coefficient of th,_ argument word positive was
adopted. Cos(-x) becomes cos(x) and sin(-x) becomes -sin(x). Examples are:

(L2) cos (OF - 3E + lW + 0U) becomes (1/2) co.4 (0F + 3E - 1W + 0U)

and the special representation is 50000000 + (_0, + 00534950 + 08

(1/2) sin (OF - 3E + lW + 0U) becomes -(1/2) sin (OF + 3E - lW + 0U)

and the special representation is -50000000 + 00 - 00534950 + 08.

The first location address of a series contains the num)er of terms of the series.
A series of n terms would be represented by 2n + 1 words the first of which would be
the number n.

THE FOURIER OPERATING PACKAGE

The following series operations are performed by the t'ourier Operating Package:

• Multiplication
• Addition and Subtraction
• Differentiation

• Integration
• Bar (Special operation used in the Hansen sa=ellite theory)
• Scalar Multiplication
• Coefficient Extraction
• Series Evaluation
 Multiplication

Multiplication of two series, where the terms are of the general form described
earlier and the values of F, E, W, and U are not used until the final numerical evalua-
tion, is according to the conventional trigonometric identities:
A cos X'B cos Y = (AB/2) cos (X+Y) + (AB/2) cos (X-Y)
A cos X-B sin Y = (AB/2) sin (X+Y) - (AB/2) sin (X-Y)
A sin X.B cos Y = (AB/2) sin (X+Y) + (AB/2) sin (X-Y)
A sin X'B sin Y = (AB/2) cos (X+Y) + (AB/2) cos (X-Y).

The Fourier Multiplication routine is composed of three major sections: the multiplier,
the collapser, and the arranger.

The Multiplier

Two Fourier series such as

AiA1 + A2A2 + A3A3 + . . . + AnA n (Series A)

and , , , ,
BIBI + B2B2 + B3B 3 + . . . + BmB m (Series B)

which are to be multiplied are arranged in descending order of the absolute values of the
coefficients, that is,

IAI > A21> A 3 >...> An and [BI > I B2 > B31>...> Bm]

To facilitate further discussion, we shall denote any term in the A series AxA_,

any term in the B series as ByBy, and any term. in.the resultant, series by CzCz, where
Ax, By and C z are the coefficient words and Ax, By, and C z are the argument words.

The multiplication of the A series by the B series proceeds as follows: The first
term in the A series is multiplied by each term in the B series, then the second term in
the A series is multiplied by each term in the B series, and so on until each term in the
A series has been multiplied by each term in the B series. For exampl% AxBy is compared
with some numerical criterion e. If AxBy > e, then CzC z* and C(z + 1) C(z
• + 1) are gen-
erated according to the trigonometric formulas already stated. If I AxBy _- e, then the
value of y is examined. If y > 1 (i.e., By is any term other than the first term), A x is
replaced by A(x + 1) and A(x + 1) is multiplied by B 1. If y = 1, the multiplication of the
two series is terminated since any further A(x + 1) By will also be less than e. The mul-
tiplication process continues until AnA* has been multiplied by BmB* unless the
numerical criterion or space limitations intervene.
 The Co llaps er

Every multiplication generates two terms of _wo words each. The purpose of the

collapser is to combine like argument terms. Each _'gument term, Cz is compared with
each other argument term previously generated and s_ored. If C z equals any other
argument term, the corresponding coefficient terms are added. Thus, there is no dupli-
cation of terms.

The Arranger

The final step in the multiplication is the arranging of the terms of the series.
ICll is comparedwithlC21 , IC31,etc. If ICzl)ICll, then C 1is replaced by C z and
C_ is replaced by C z. The process continues until the terms are arranged, in descending
order, according to the absolute value of the coefficients.

Addition and Subtraction

Addition or subtraction of two Fourier serie_ is primarily a process of com-

paring argument terms and adding the coefficients of like terms. A_ is compared suc-
cessively with B_ through Bm, A_ with B_ through Brl , etc., until A n has been compared

with B m.* If A x* = By,* the sum of the coefficients (A x _ By) and the argument term A* are
* *
stored, and By and By are replaced by zeros, If A_ d)es not equal any By, both A x and
,
A x are stored. After all terms in the A series have been compared with all terms in the
B series, the remaining B series terms are stored.

Subtraction is accomplished in like manner after changing the signs of each coeffi-
cient term in the B series. The resultant series in each case is processed through the
arranger.

Differentiation

Differentiation, in this application, is with respect to the F variable. Thus,

_ A sin (iF +jE +kW+ 1U) - iA cos (iF +jE +kW+ 1U).

Example:

3w,
 and

{_-_) [I0000000 + 01, - 03524751 + 08 becomes +30000000 + 01, +03524751 + 08.

On completion of the differentiation, the resultant series is processed thru the

arranger.
O3

C_

Integration

Integration, in this application, is with respect to E. However, W is also a func-

tion of E. Thus,

cos (iF+jE +kW+ 1U)dE- el j +c2k sin (iF +jE +kW+ IU).

Example:

Withc 1 = 1 andc 2 = 1,

+ 01525250 becomes 75OOOOOO + 00,

+ 08]dE + O8.
_01525250
f[30000000 + 01,

The resultant integrated series is also processed through the arranger.

Bar Operation

The bar operation is a special function in the Hansen Satellite Theory. It con-
sists of adding the coefficient of the F argument to the coefficient of the E argument and
substituting zero for the F coefficient. Thus,

Acos (iF+ jE +kW+ 1U) after barring becomes Acos (0F+ (i+ j) E+ kW+ 1U).

Example:

50000000 + 00, + 02534850 + 08 after barring becomes 50000000 + 00, + 00554850 + 08.

Scalar Multiplication

Scalar multiplication is the multiplication of the coefficient A n of each term by

a constant.
 Coefficient Extraction

In the Hansen Satellite Theory it is sometimes ne _.essary to use the coefficient

of some term of a Fourier series such as a sine 1F term, cosine 2E term, or the con-
stant term of a series. Let us assume it is necessary to use the constant term. If there
is a constant term in that series, it will be the multiplier of the cos (0), or in special O

form, that A n word which multiplies 00505050 + 08. We successively compare each
argument term in the series with cos (0) and extract that A n which multiplies the argu-
ment term cos (0). If no argument term of the series is c(_s (0), a normalized zero
(10000000 + 00 + 00000000 + 00 + 00505050 + 08), is printe(i.

Series Evaluation

The numerical values F, E, W, and U are only employed in the Series Evalua-
tion Routine.

To evaluate a Fourier series, the numerical valu_.s of i, j, k, and 1 are multi-

plied by the numerical values of F, E, W, and U, and the s_Lm iF + jE + kW + IU is de-
termined. The sine or cosine of iF + jE + hW + 1U is multiplied by the coefficient A and
the terms are added.

CONCLUDING REMARKS

Appendix A is the special representation of a nine ter_n series. Appendix B presents

flow charts and Appendix C a listing of instructions for the program packages for multi-
plication (including the collapser and arranger), addition t_r subtraction, differentiation,
integration, bar operation, scalar multiplication, coefficie_t extraction, and the evalua-
tion of the final series. Because this program was writter in Mystic Code for the IBM
709, an explanation of Mystic Code is given in Appendix D.

The Fourier operating package can be used with any t]mory that involves representa-
tions of functions by Fourier series. It can also be modified to operate with polynomials
of the form xaybzcu d.
 ACKNOWLEDGMENTS

The author is indebted to Messrs. R. G. Kelly and T. P. Gorman for their aid in the
construction of the package and for the translation into Mystic Code and to Aileen Marlo"

o0 for preparing the flow charts.

D-
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 AppendixA

oO
Nine Term Series in Standard and Special Form
O

The following is a nine term series presented in standard and in special form. Note
that in the special form, the first location (address) contains the number of terms in the
series.

Series in standard representation

.29467121 cos (0)

+.00010496334 cos (OF + 0E + 2W + 0U)
+.00005252596 sin (OF + 1E - lW + 0U)
+.000019845618 cos (0F+ 1E - 2W+0U)
+.0000066329604 cos (OF + 1E + 2W + 0U)
+.0000020107054 cos (OF + 2E - 2W + 0U)
-.00000036004597 sin (OF + 0E + lW + 0U)
-.000000055052357 sin (OF + 0E + 3W + 0U)
-.000000031090653 sin (OF + 1E + lW + 0U)

Series in special representation

90000000 + 01
+29467127+00, +00505050+08

+10496334-03, +00505250+08

+52525962-04, -00514950+08
+19845618-04, +00514850+08

+66329604-05, +00515250+08

-20107054-05, +00524850+06

-36004597-06, -00505150+08

-55052357-07, -00505350+08

-31090653-07, -00515150+08
 11

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Appendix B

Flow Charts

The following are the flow charts for the op-

erating packages for multiplication (including
the collapser and the arranger), addition or
subtraction, bar operation, differentiation, in-
tegration, and series evaluation.
2H

13

Flow Chart for Multiplication

0
cO
?
criterion e
Initiate A series
Coq)_t e I counter
Initiate a
N l , N 2

=+2
Initiate

B series

Ax By > O}

I I_t ermi..e I
for k x l
i k+50[

j+so 1+so I
Get By I
Is it + or -?|
M

45 sin I c ,s //

I y I
 14

Flow Chart for Multiplication (<'ontinued)

0
-..j
Gc
Determine

for By
i' k' + SO

j' +SO l' +50

Determine

i +i' i - i'

J+i' J-J'
k +k' k -k'

1 + 1' [ - 1'

i+i' = +,07

\ + I o I

l
j+j ' = +,0,-?_

_101-/ Ib

+ I ° =+,O,-P_

_1° I-/

Change
Change signs C]lange
signs and
of j+j', k+k ° indicator
indicator indicate
1+1'; indicate to zero
toChange
zero reversal
I
reversal

f t
 15

Flow Chart for Multiplication (Continued)

?
j+j'+SO j-j'+50
k+k'+SO k-k' +50

1+1'+50 1-1'+50

Determine I

i +i' > 99?

Arranger

Form

i+i', j÷j', etc.

i-i', j-j*, etc.

in normalized

form

Was A_ sin

or cos_
Arranger
 16

Flow Chart for Multiplication (Continued)

U
i

V=
_O0

sin
Bco.
,ino.8 ' norco"
[ Cos? sin I cos?

sin x sin y

cos x sin y _J cos x cos y

Fol'm
sin x cos

Form
y

Form
! Form

1 I
- _A_ey cos (X ÷ y) _ AxBy sin (x+y) + _AxSy :;in (x+y) + _A_Sy cos (x*y)
1 1 1
+lA_y cos (x-y_ + _ AxBy sin (x-y) - _ AxBy _.in (x-y) + W A_By cos (x- y)

C C_ and c,. xC_, x C,C_ and C,. tC_ +x CzC _ _ ('i+1C_÷i CzC _ and Cz+lC_, 1

no sin (0) ]

propagated
Check that _

Collal )ser
 17

Flow Chart for Multiplication (Continued)

Collapser

o_

O"
first
term

Add
l
toe f f.

terms (new
coe f f. term=

1st term?

B series?

A series?

Arranger
18

Flow Chart for Multiplication (Continued)

Arranger

_o

_+2

Ax, l

Is Az < O?

Ax, 1 <

I Store larRest
now Ax I

-- \,.. I _o/
 19

Flow Chart for Addition or Subtraction

Add _ubt r _t

cO
p--
O

_/2, and
counters

/ _+2 . \
Get By rand By

counter for
I InitiAte •
r e_olning B's

Store

By snd B_
20

Flow Chart for Bar Operation

I
Initiate
Initiste
",4
j O0

c_t ^ ^: I
Indicate sinl

i,j,k,I
Determine [

Addi+j
Replsce
+ =
i by
j

is j' > O?

Change signs
j', k, land
indicate change
was A_ sin or cos?

I + 50
Normalize

into A_
 21

Flow Chart for Differentiation

oo
Initialize 2N
o "
Initialize

_+2
Get Ax, A_
Is A_ positive?
22

Flow Chart for Integration

tJ
i

Initiate 2N
InitiRte

a+2

Get Ax snd A'_

Indicate sine
or cosine

+
i,j,k,I

Determine
jc kg
jc+kg =

Determine

A z : A_/kg
¢os_

Indicate

printout

Store A s

and A z
 23

Flow Chart for Series Evaluation

oo
?
Initialize
r- series total _+2
c_
accumulator,
_, and series Get A_,

counter a

+
G_t IA_I

Determine
arglJments
i, j,k,l
and add

+ Get
absolute
value of

angle

Determine Determine
value of cos value of sin

Multiply by Ax Multlp[y by Ax
AccumulAte Accumulate
totnls totals

I I
 25

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Appendix C

Listing of Instructions

The following is a listing of instructions for

multiplication (including the coUapser and the
arranger), addition or subtraction, differentia-
tion, integration, bar operation, scalar multi-
plication, and coefficient extraction.

The square root instructions are for stand-

ard number representations and therefore have
not been discussed in the report.
 _7

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28

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 31

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32

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Appendix D

Mystic Code

The Fourier Operating Package described in

this report was written for the IBM 709 in Mys-
tic Code. The foUowing is an explanation of the

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