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Lee, Thomas

Publications and source records attributed to Lee, Thomas.

Current Usage and Future Prospects of Multispectral (RGB) Satellite Imagery in Support of NWS Forecast Offices and National Centers

Current and future satellite sensors provide remotely sensed quantities from a variety of wavelengths ranging from the visible to the passive microwave, from both geostationary and low-Earth orbits. The NASA Short-term Prediction Research and Transition (SPoRT) Center has a long history of providing multispectral imagery from the Moderate Resolution Imaging Spectroradiometer (MODIS) aboard NASA s Terra and Aqua satellites in support of NWS forecast office activities. Products from MODIS have recently been extended to include a broader suite of multispectral imagery similar to those developed by EUMETSAT, based upon the spectral channel s available from the Spinning Enhanced Visible and InfraRed Imager (SEVIRI) aboard METEOSAT-9. This broader suite includes products that discriminate between air mass types associated with synoptic-scale features, assists in the identification of dust, and improves upon paired channel difference detection of fog and low cloud events. Similarly, researchers at NOAA/NESDIS and CIRA have developed air mass discrimination capabilities using channels available from the current GOES Sounders. Other applications of multispectral composites include combinations of high and low frequency, horizontal and vertically polarized passive microwave brightness temperatures to discriminate tropical cyclone structures and other synoptic-scale features. Many of these capabilities have been transitioned for evaluation and operational use at NWS Weather Forecast Offices and National Centers through collaborations with SPoRT and CIRA. Future instruments will continue the availability of these products and also expand upon current capabilities. The Advanced Baseline Imager (ABI) on GOES-R will improve the spectral, spatial, and temporal resolution of our current geostationary capabilities, and the recent launch of the Suomi National Polar-Orbiting Partnership (S-NPP) carries instruments such as the Visible Infrared Imager Radiometer Suite (VIIRS), the Cross-track Infrared Sounder (CrIS), and the Advanced Technology Microwave Sounder (ATMS), which have unrivaled spectral and spatial resolution, as precursors to the JPSS era (i.e., the next generation of polar orbiting satellites). At the same time, new image manipulation and display capabilities are available within AWIPS II, the next generation of the NWS forecaster decision support system. This presentation will present a review of SPoRT, CIRA, and NRL collaborations regarding multispectral satellite imagery and articulate an integrated and collaborative path forward with Raytheon AWIPS II development staff for integrating current and future capabilities that support new satellite instrumentation and the AWIPS II decision support system.

Molthan, Andrew L.↗

Current Usage and Future Prospects of Multispectral (RGB) Satellite Imagery in Support of NWS Forecast Offices and National Centers

What is an RGB Composite Image? (1) Current and future satellite instruments provide remote sensing at a variety of wavelengths. (2) RGB composite imagery assign individual wavelengths or channel differences to the intensities of the red, green, and blue components of a pixel color. (3) Each red, green, and blue color intensity is related to physical properties within the final composite image. (4) Final color assignments are therefore related to the characteristics of image pixels. (5) Products may simplify the interpretation of data from multiple bands by displaying information in a single image. Current Products and Usage: Collaborations between SPoRT, CIRA, and NRL have facilitated the use and evaluation of RGB products at a variety of NWS forecast offices and National Centers. These products are listed in table.

Molthan, Andrew↗

Direct Adaptive Control Of An Industrial Robot

Decentralized direct adaptive control scheme for six-jointed industrial robot eliminates part of overall computational burden imposed by centralized controller and degrades performance of robot by reducing sampling rate. Control and controller-adaptation laws based on observed performance of manipulator: no need to model dynamics of robot. Adaptive controllers cope with uncertainties and variations in robot and payload.

Seraji, Homayoun↗

Direct adaptive control of a PUMA 560 industrial robot

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Seraji, Homayoun↗

Dual arm coordination and control

A generalized master/slave technique and experimental results for coordinated control of two arms rigidly grasping an object is described. An interactive program has been developed to allow a user the flexibility to select appropriate control modes for a given experiment. This interface allows for control gain adjustments. The results of several experiments performed on this system to demonstrate its capabilities such as transporting an object with or without induced internal forces and movement of a constrained object are offered. The system is further developed to achieve a so-called shared control mode in which an operator specifies the free motion trajectory for a point on the object of manipulation via a joystick while the autonomous control system is used for coordination and control of the arms.

Hayati, Samad↗