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NASA NTRS1988

Origin of petrofabrics and magnetic anisotropy in ordinary chondrites

Three-dimensional finite strain and magnetic susceptibility anisotropy have been determined for 15 ordinary chondrites. The axes of strain and magnetic ellipsoids roughly correlate in both magnitude and orientation. The shapes of these ellipsoids are generally oblate spheroids that define a dominant foliation and a weak lineation. These characteristics suggest deformation involving uniaxial compaction. The degree of uniaxial deformation correlates with intensity of shock, as indicated by optical, TEM and chemical criteria. These data, plus the lack of a relationship between foliation and metamorphic history, indicate that dynamic processes, i.e., impacts, produced planar deformation fabrics in chondrites.

Sneyd, Deana S.↗

NASA NTRS1988

Speckle interferometry of asteroids

By studying the image two-dimensional power spectra or autocorrelations projected by an asteroid as it rotates, it is possible to locate its rotational pole and derive its three axes dimensions through speckle interferometry under certain assumptions of uniform, geometric scattering, and triaxial ellipsoid shape. However, in cases where images can be reconstructed, the need for making the assumptions is obviated. Furthermore, the ultimate goal for speckle interferometry of image reconstruction will lead to mapping albedo features (if they exist) as impact areas or geological units. The first glimpses of the surface of an asteroid were obtained from images of 4 Vesta reconstructed from speckle interferometric observations. These images reveal that Vesta is quite Moon-like in having large hemispheric-scale albedo features. All of its lightcurves can be produced from a simple model developed from the images. Although undoubtedly more intricate than the model, Vesta's lightcurves can be matched by a model with three dark and four bright spots. The dark areas so dominate one hemisphere that a lightcurve minimum occurs when the maximum cross-section area is visible. The triaxial ellipsoid shape derived for Vesta is not consistent with the notion that the asteroid has an equilibrium shape in spite of its having apparently been differentiated.

Drummond, Jack↗

NASA NTRS1988

Photometric geodesy of main-belt asteroids. II - Analysis of lightcurves for poles, periods, and shapes

The assumption that asteroids can be modeled as smooth, featureless, triaxial ellipsoids that rotate about their shortest axes is presently used to study all but one of the 26 asteroids treated in the Weidenschilling et al. (1987) 'photometric geodesy' program. Rotational poles derived from three independent methods are used to determine each asteroid's sidereal period and triaxial ellipsoid axial ratios, together with their associated photometric parameters. The asteroids appear to have rotational poles that do not lie along their orbital planes.

Drummond, J. D.↗

NASA NTRS1989

Dual redundant arm configuration optimization with task-oriented dual arm manipulability

It is shown that the required motion and force trajectories of a given task can be abstracted by a series of desired manipulability ellipsoids, and that a task-oriented dual-arm manipulability measure (TODAMM) can be mathematically defined by quantifying how the manipulability of one arm affects the other and measuring the geometrical closeness between the desired and the actual manipulability ellipsoids. TODAMM can be used in the optimization of dual-arm joint configurations. The task-oriented manipulability measure developed can also be used in the joint configuration optimization of a single arm, providing efficient joint configurations in terms of joint motions and joint torques for the required Cartesian motions and static forces. The dual-arm joint configuration optimization based on TODAMM can be applied to a variety of tasks which require dual-arm cooperation.

Lee, Sukhan↗

NASA NTRS1988

Task-oriented dual-arm manipulability and its application to configuration optimization

A measure of static manipulability is derived for a dual-redundant-arm (DRA) system engaged in cooperative task execution. Considering the kinematic interaction between the two cooperating arms, the dual-arm (DA) manipulability is defined as the intersection between the two manipulability ellipsoids from individual arms. A task-oriented DA manipulability measure is defined as the measure of geometrical similarity between the desired and the actual DA manipulability ellipsoids at the selected task points. Mathematical formulas are developed to define task-oriented DRA static manipulability, and their application to the optimization of DRA joint and grasp configurations is demonstrated.

Lee, Sukhan↗

NASA NTRS1989

Problems in determining the surface density of the Galactic disk

A new method is presented for determining the local surface density of the Galactic disk from distance and velocity measurements of stars toward the Galactic poles. The procedure is fully three-dimensional, approximating the Galactic potential by a potential of Staeckel form and using the analytic third integral to treat the tilt and the change of shape of the velocity ellipsoid consistently. Applying the procedure to artificial data superficially resembling the K dwarf sample of Kuijken and Gilmore (1988, 1989), it is shown that the current best estimates of local disk surface density are uncertain by at least 30 percent. Of this, about 25 percent is due to the size of the velocity sample, about 15 percent comes from uncertainties in the rotation curve and the solar galactocentric distance, and about 10 percent from ignorance of the shape of the velocity distribution above z = 1 kpc, the errors adding in quadrature. Increasing the sample size by a factor of 3 will reduce the error to 20 percent. To achieve 10 percent accuracy, observations will be needed along other lines of sight to constrain the shape of the velocity ellipsoid.

Statler, Thomas S.↗

NASA NTRS1989

Coordination of two redundant robots

A solution is presented for the optimal force distributions of two redundant coordinating robots. Two robots whose end-effectors firmly grasp a common inertial load form a closed-chain structure, and thus the robots must observe a set of constraint conditions on (1) the end-effector positions, orientations, linear and angular velocities and (2) the forces and torques inserted onto the end-effectors by the load. To achieve the maximum load capability, the optimal force distribution under the known posture is developed. If the robots are redundant, joint solutions may be obtained if some optimization criterion such as manipulability is imposed. The singularity, manipulability, and force ellipsoids are investigated in terms of the two manipulator Jacobian matrices. The manipulability is shown to correspond to the cascade structure, while the force ellipsoid corresponds to the parallel structure in terms of the manipulator Jacobian matrices.

Tao, Jian M.↗

NASA NTRS1989

Infrared backscattering

All particles in the atmosphere are not spherical. Moreover, the scattering properties of randomly oriented nonspherical particles are not equivalent to those of spherical particles no matter how the term equivalent is defined. This is especially true for scattering in the backward direction and at the infrared wavelengths at which some atmospheric particles have strong absorption bands. Thus calculations based on Mie theory of infrared backscattering by dry or insoluble atmospheric particles are suspect. To support this assertion, it was noted that peaks in laboratory-measured infrared backscattering spectra show appreciable shifts compared with those calculated using Mie theory. One example is ammonium sulfate. Some success was had in modeling backscattering spectra of ammonium sulfate particles using a simple statistical theory called the continuous distribution of ellipsoids (CDE) theory. In this theory, the scattering properties of an ensemble are calculated. Recently a modified version of this theory was applied to measured spectra of scattering by kaolin particles. The particles were platelike, so the probability distribution of ellipsoidal shapes was chosen to reflect this. As with ammonium sulfate, the wavelength of measured peak backscattering is shifted longward of that predicted by Mie theory.

Bohren, Craig F.↗

NASA NTRS1990

Variable magnification variable dispersion glancing incidence imaging x ray spectroscopic telescope

A variable magnification variable dispersion glancing incidence x ray spectroscopic telescope capable of multiple high spatial revolution imaging at precise spectral lines of solar and stellar x ray and extreme ultraviolet radiation sources includes a primary optical system which focuses the incoming radiation to a primary focus. Two or more rotatable carriers each providing a different magnification are positioned behind the primary focus at an inclination to the optical axis, each carrier carrying a series of ellipsoidal diffraction grating mirrors each having a concave surface on which the gratings are ruled and coated with a multilayer coating to reflect by diffraction a different desired wavelength. The diffraction grating mirrors of both carriers are segments of ellipsoids having a common first focus coincident with the primary focus. A contoured detector such as an x ray sensitive photographic film is positioned at the second respective focus of each diffraction grating so that each grating may reflect the image at the first focus to the detector at the second focus. The carriers are selectively rotated to position a selected mirror for receiving radiation from the primary optical system, and at least the first carrier may be withdrawn from the path of the radiation to permit a selected grating on the second carrier to receive radiation.

Hoover, Richard↗

NASA NTRS1990

Task-dependent color discrimination

When color video displays are used in time-critical applications (e.g., head-up displays, video control panels), the observer must discriminate among briefly presented targets seen within a complex spatial scene. Color-discrimination threshold are compared by using two tasks. In one task the observer makes color matches between two halves of a continuously displayed bipartite field. In a second task the observer detects a color target in a set of briefly presented objects. The data from both tasks are well summarized by ellipsoidal isosensitivity contours. The fitted ellipsoids differ both in their size, which indicates an absolute sensitivity difference, and orientation, which indicates a relative sensitivity difference.

Poirson, Allen B.↗

NASA NTRS1990

Surface characterizations of color threshold

The paper evaluates how well three different parametric shapes, ellipsoids, rectangles, and parallelograms, serve as models of three-dimentional detection contours. The constraints of the procedures for deriving the best-fitting shapes on inferences about the theoretical visual detection mechanisms are described. Results of two statistical tests show that only the parallelogram fits the data with more precision than the variance in repeated threshold measurements, and thus provides a slightly better fit than the other two shapes. Nevertheless it does not serve as a better guide than the ellipsoidal model for interpolating from the measurements to thresholds in novel color directions.

Poirson, Allen B.↗

NASA NTRS1990

Bounding the states of systems with unknown-but-bounded disturbances

Control systems with hard constraints on certain variables are characterized, in an analytical review of recent investigations based on an unknown-but-bounded description of magnitude uncertainties. Hard-constraint problems typically arise in the design of controllers for potentially hazardous systems such as nuclear power plants. Consideration is given to norm bounds based on matrix measures, extensions of Schweppe's (1968) ellipsoid bounds, and set-theoretic regulator design. The performance of these approaches is evaluated by means of numerical simulations involving a third-order nonlinear steam-boiler model; the results are presented in graphs, and it is found that ellipsoid bounds are tightest in the general case, but that box bounds are even tighter for linear systems with Metzler system matrices.

Tsai, Wei K.↗

NASA NTRS1991

Photometric geodesy of main-belt asteroids. IV - An updated analysis of lightcurves for poles, periods, and shapes

The Drummond et al. (1988) analysis of main-belt asteroids is presently extended, using three independent methods to derive poles, periods, phase functions, and triaxial ellipsoid shapes from lightcurve maxima and minima. This group of 26 asteroids is also reinvestigated with a view to the distributions of triaxial shapes and obliquity distributions. Poles weakly tend to avoid asteroid orbital planes; a rough-smooth dichotomization appears to be justified by the persistence of two solar phase angle-amplitude relations. Seven of the objects may be Jacobi ellipsoids if axial ratios are slightly exaggerated by a systematic effect of the analytical method employed.

Drummond, J. D.↗

NASA NTRS1991

Zodiacal emission. II - Dust near ecliptic

The location and brightness of the peak zodiacal emission are derived from IRAS observations of the diffuse infrared background radiation. A uniform ellipsoid geometrical model is fitted to the latitudes of peak brightness, from which the orientation of the surface of maximum dust density near the earth's orbit is derived. Deviations from the uniform ellipsoid indicate that this surface bends toward the invariable plane of the solar system beyond 2.5 AU from the sun. The variations of the peak zodiacal emission brightness with solar elongation and observation date allow two independent determinations of the gradient of the volume emissivity of interplanetary dust. Combined with theoretical calculations of the infrared emission from silicate and graphite grains heated by the sun, the gradient of the dust density is found to be n proportional to r exp (-1.1 + or - 0.2). Systematic brightness variations with ecliptic longitude reveal two potential asymmetries in the dust complex: excess emission following the earth in its orbit, and excess emission along lines of sight with ecliptic longitude lambda = 190 + or - 20 deg and solar lambda about 100 deg.

Reach, William T.↗

NASA NTRS1992

Multispectral variable magnification glancing incidence x ray telescope

A multispectral, variable magnification, glancing incidence, x-ray telescope capable of broadband, high resolution imaging of solar and stellar x-ray and extreme ultraviolet radiation sources is discussed. The telescope includes a primary optical system which focuses the incoming radiation to a primary focus. Two or more rotatable mirror carriers, each providing a different magnification, are positioned behind the primary focus at an inclination to the optical axis. Each carrier has a series of ellipsoidal mirrors, and each mirror has a concave surface covered with a multilayer (layered synthetic microstructure) coating to reflect a different desired wavelength. The mirrors of both carriers are segments of ellipsoids having a common first focus coincident with the primary focus. A detector such as an x-ray sensitive photographic film is positioned at the second respective focus of each mirror so that each mirror may reflect the image at the first focus to the detector at the second focus. The carriers are selectively rotated to position a selected mirror for receiving radiation from the primary optical system, and at least the first carrier may be withdrawn from the path of the radiation to permit a selected mirror on the second carrier to receive the radiation.

Hoover, Richard B.↗

NASA NTRS1992

Tidal disruption of viscous bodies

Tidal disruptions are investigated in viscous-fluid planetesimals whose radius is small relative to the distance of closest (parabolic-orbit) approach to a planet. The planetesimal surface is in these conditions always ellipsoidal, facilitating treatment by coupled ODEs which are solvable with high accuracy. While the disrupted planetesimals evolve into needlelike ellipsoids, their density does not decrease. The validity of viscous fluid treatment holds for solid (ice or rock) planetesimals in cases where tidal stresses are greater than material strength, but integrity is maintained by self-gravity.

Sridhar, S.↗

NASA NTRS1992

The Great Wall in the CfA survey - Its origin and imprint on the microwave background radiation

The paper models the evolution of the Great Wall (GW) after recombination and the influence of its time-dependent gravitational potential on the MBR. It is shown that within the framework of the Zel'dovich approximation the (pre)GW region can be treated as an ellipsoid. The GW is approximated as an oblate ellipsoid that started at recombination with an almost spherical shape, but with initial density contrast, delta-i, much smaller than it had to be in the spherical model in order to reach the observed density contrast of beta-f of 5. The resultant delta-i is compatible with the rms value of delta-rho/rho on the GW scale at recombination for models with the n less than 0 power spectrum of the primordial density field. It is shown that the time-dependent potential of the GW will induce a detectable fluctuation in MBR. The possibility of similar structures located at higher redshifts producing measurable and perhaps dominant statistical MBR anisotropies by this effect is also discussed.

Atrio-Barandela, F.↗

NASA NTRS1993

Fullerenes formation in flames

Fullerenes are composed of carbon atoms arranged in approximately spherical or ellipsoidal cages resembling the geodesic domes designed by Buckminster Fuller, after whom the molecules were named. The approximately spherical fullerene, which resembles a soccer ball and contains sixty atoms (C60), is called buckminsterfullerene. The fullerene containing seventy carbon atoms (C70) is approximately ellipsoidal, similar to a rugby ball. Fullerenes were first detected in 1985, in carbon vapor produced by laser evaporation of graphite. The closed shell structure, which has no edge atoms vulnerable to reaction, was proposed to explain the observed high stability of certain carbon clusters relative to that of others at high temperatures and in the presence of an oxidizing gas.

Howard, Jack B.↗