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A real-time active stereo vision system incorporating gaze control and task directed vision is described. Emphasis is placed on object tracking and object size and shape determination. Techniques include motion-centroid tracking, depth tracking, and contour tracking.
Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.
The barotropic model is used to explore the advantages of parallel processing in deterministic forecasting. We apply this model to the track forecasting of hurricane Elena (1985). In this particular application, solutions to systems of elliptic equations are the essence of the computational mechanics. One set of equations is associated with the decomposition of the wind into irrotational and nondivergent components - this determines the initial nondivergent state. Another set is associated with recovery of the streamfunction from the forecasted vorticity. We demonstrate that direct parallel methods based on accelerated block cyclic reduction (BCR) significantly reduce the computational time required to solve the elliptic equations germane to this decomposition and forecast problem. A 72-h track prediction was made using incremental time steps of 16 min on a network of 3000 grid points nominally separated by 100 km. The prediction took 30 sec on the 8-processor Alliant FX/8 computer. This was a speed-up of 3.7 when compared to the one-processor version. The 72-h prediction of Elena's track was made as the storm moved toward Florida's west coast. Approximately 200 km west of Tampa Bay, Elena executed a dramatic recurvature that ultimately changed its course toward the northwest. Although the barotropic track forecast was unable to capture the hurricane's tight cycloidal looping maneuver, the subsequent northwesterly movement was accurately forecasted as was the location and timing of landfall near Mobile Bay.
Momentary short-circuit arcs between a polyimide insulated wire with defective insulation and another conductor may cause pyrolization of the insulation resulting in a conductive path capable of sustaining the arc. These sustained arcs may propagate along the wires or to neighboring wires leading to complete failure of the wire bundle. Wire insulation susceptibility to arc tracking may be dependent on its environment. Because all wire insulation types tested to date arc track, a test procedure has been developed to compare different insulation types with respect to their arc tracking susceptibility. This test procedure is presented along with a comparison of arc tracking in the following three environments: (1) Air at atmospheric pressure and 1 gravitational(g) force; (2) Vacuum (2.67 x 10(exp -3) Pa) and 1g, and (3) Air at atmospheric pressure and microgravity (less than 0.04g).
In this paper we consider the exact output tracking problem for systems with parameter jumps. Necessary and sufficient conditions are derived for the elimination of switching-introduced output transient. Previous works have studied this problem by developing a regulator that maintains exact tracking through parameter jumps (switches). Such techniques are, however, only applicable to minimum-phase systems. In contrast, our approach is applicable to nonminimum-phase systems and obtains bounded but possibly non-causal solutions. If the reference trajectories are generated by an exo-system, then we develop an exact-tracking controller in a feedback form. As in standard regulator theory, we obtain a linear map from the states of the exo-system to the desired system state which is defined via a matrix differential equation. The constant solution of this differential equation provides asymptotic tracking, and coincides with the feedback law used in standard regulator theory. The obtained results are applied to a simple flexible manipulator with jumps in the pay-load mass.
In the track structure model, the inactivation cross section is found by summing an inactivation probability over all impact parameters from the ion to the sensitive sites within the cell nucleus. The inactivation probability is evaluated by using the dose response of the system to gamma rays and the radial dose of the ions and may be equal to unity at small impact parameters. We apply the track structure model to recent data with heavy ion beams irradiating biological samples of E. Coli, B. Subtilis spores, and Chinese hamster (V79) cells. Heavy ions have observed cross sections for inactivation that approach and sometimes exceed the geometric size of the cell nucleus. We show how the effects of inactivation may be taken into account in the evaluation of the mutation cross sections in the track structure model through correlation of sites for gene mutation and cell inactivation. The model is fit to available data for HPRT (hypoxanthine guanine phosphoribosyl transferase) mutations in V79 cells, and good agreement is found. Calculations show the high probability for mutation by relativistic ions due to the radial extension of ions track from delta rays. The effects of inactivation on mutation rates make it very unlikely that a single parameter such as LET (linear energy transfer) can be used to specify radiation quality for heavy ion bombardment.
The Hubble Space Telescope required a complex method for tracking targets in motion in the solar system, due mostly to atmospheric drag effects. A NGST in high earth orbit, or on the Moon, would not suffer these drag effects, thus mitigating the tracking problem. Many of the HST problems arise from the "open-loop" nature of the tracking method. An NGST would be better off if it could use "closed-loop" tracking of all targets, both fixed and moving. A method to accomplish this is proposed. Methods to reduce the jitter and lower the ambient temperature of the optics via a tethered optical system are proposed.
Stable Inversion techniques can be used to achieve high-accuracy output tracking. However, for nonminimum phase systems, the inverse is non-causal - hence the inverse has to be pre-computed using a pre-specified desired-output trajectory. This requirement for pre-specification of the desired output restricts the use of inversion-based approaches to trajectory planning problems (for nonminimum phase systems). In the present article, it is shown that preview information of the desired output can be used to achieve online inversion-based output tracking of linear systems. The amount of preview-time needed is quantified in terms of the tracking error and the internal dynamics of the system (zeros of the system). The methodology is applied to the online output tracking of a flexible structure and experimental results are presented.
We consider the exact output tracking problem for systems with parameter jumps. Necessary and sufficient conditions are derived for the elimination of switching-introduced output transient. Previous works have studied this problem by developing a regulator that maintains exact tracking through parameter jumps (switches). Such techniques are, however, only applicable to minimum-phase systems. In contrast, our approach is applicable to non-minimum-phase systems and it obtains bounded but possibly non-causal solutions. If the reference trajectories are generated by an exosystem, then we develop an exact-tracking controller in a feed-back form. As in standard regulator theory, we obtain a linear map from the states of the exosystem to the desired system state which is defined via a matrix differential equation. The constant solution of this differential equation provides asymptotic tracking, and coincides with the feedback law used in standard regulator theory. The obtained results are applied to a simple flexible manipulator with jumps in the pay-load mass.
After a long period of aerobraking, Mars Global Surveyor entered a low altitude, near-circular and polar orbit about Mars on February 4, 1999. Since that time, the spacecraft has been tracked routinely by the antennae of the Deep Space Network (DSN). The X band tracking data for the first time provide us: with uniform low-altitude coverage over the entire planet. In terms of both quality and geographic distribution, these data supersede the S Band tracking obtained by the Viking Orbiters and Mariner 9. We have used all available tracking obtained by Mars Global Surveyor to determine improved models; of the Man geopotential to 70 x 70 in spherical harmonies. The new models provide an order of magnitude improvement in both accuracy and detail. For instance, the Valles Marimeris canyon system clearly appears in the gravity anomaly maps: with the new model. In this paper, we discuss the derivation of these new models, and we evaluate their performance in terms of observed features and orbit quality. We also discuss the use of altimeter data from the Mars Orbiter Laser Altimeter (MOLA) in the form of altimeter crossovers, and how these data can contribute to the determination of geopotential models for Mars.
Measurement of three-dimensional (3-D) three-component velocity fields is of great importance in both ground and space experiments for understanding materials processing and fluid physics. The experiments in these fields most likely inhibit the application of conventional planar probes for observing 3-D phenomena. Here, we present the investigation results of stereoscopic tracking velocimetry (STV) for measuring 3-D velocity fields, which include diagnostic technology development, experimental velocity measurement, and comparison with analytical and numerical computation. STV is advantageous in system simplicity for building compact hardware and in software efficiency for continual near-real-time monitoring. It has great freedom in illuminating and observing volumetric fields from arbitrary directions. STV is based on stereoscopic observation of particles-Seeded in a flow by CCD sensors. In the approach, part of the individual particle images that provide data points is likely to be lost or cause errors when their images overlap and crisscross each other especially under a high particle density. In order to maximize the valid recovery of data points, neural networks are implemented for these two important processes. For the step of particle overlap decomposition, the back propagation neural network is utilized because of its ability in pattern recognition with pertinent particle image feature parameters. For the step of particle tracking, the Hopfield neural network is employed to find appropriate particle tracks based on global optimization. Our investigation indicates that the neural networks are very efficient and useful for stereoscopically tracking particles. As an initial assessment of the diagnostic technology performance, laminar water jets with and without pulsation are measured. The jet tip velocity profiles are in good agreement with analytical predictions. Finally, for testing in material processing applications, a simple directional solidification apparatus is built for experimenting with a metal analog of succinonitrile. Its 3-D velocity field at the liquid phase is then measured to be compared with those from numerical computation. Our theoretical, numerical, and experimental investigations have proven STV to be a viable candidate for reliably measuring 3-D flow velocities. With current activities are focused on further improving the processing efficiency, overall accuracy, and automation, the eventual efforts of broad experimental applications and concurrent numerical modeling validation will be vital to many areas in fluid flow and materials processing.
Ship tracks represent a natural laboratory to study the effects of aerosols on clouds. A number of observations and simulations have shown that increased droplet concentrations in ship tracks increase their total cross-sectional area, thereby enhancing cloud albedo and providing a negative radiative forcing at the surface and the top of the atmosphere. In some cases, cloud water has been found to be enhanced in ship tracks, which has been attributed to suppression of drizzle and implies an enhanced susceptibility of cloud albedo to droplet concentrations. However, more recently compiled observations indicate that cloud water is instead reduced in daytime ship tracks on average. Such a response is consistent with cloud-burning due to solar absorption by soot (the semi-direct radiative forcing of aerosols), recently suggested to be suppressing trade cumulus cloud coverage over the Indian Ocean. We will summarize observational evidence and present large-eddy simulations that consider these competing mechanisms in the effects of aerosols on cloud albedo.
The Flight Dynamics Facility (FDF) reports its performance in meeting Tracking and Data Relay Satellite (TDRS) predicted ephemeris accuracy requirements with TDRS-3. The Terra (Earth Observing System AM-1) satellite has 3-sigma TDRS requirements of 75 m for total position accuracy predicted over one day onboard. The study sample includes selected cases over 21 months after Guam Remote Ground Terminal (GRGT) support started in June 1998. For daily solutions with a 1.5-day prediction span, predicted results of the study were below the Terra requirement by at least 12 m. Refined range bias estimation and modeled momentum unloads are needed to meet Terra's requirements for TDRS-3. Maintained at 275 W longitude over the zone of exclusion, TDRS-3 is analyzed separately from other TDRSs because of its unique tracking data. Only the Bilateration Ranging Transponder (BRT) at Alice Springs (ALS), Australia, and the Telemetry, Tracking and Command (TT&C) system at Guam are used for routine operational tracking data for TDRS-3. Simultaneous batch orbit solutions with three TDRSs and either the Compton Gamma Ray Observatory (GRO) or Terra were done with the Goddard Trajectory Determination System (GTDS) to periodically refine the TT&C and BRT System (BRTS) range biases. As new biases were determined, significant changes were made in estimating the absolute position. FDF achieved similar results using a sequential filter with all operational TDRSs and four user satellites. Definitive accuracy (3-sigma) is expected to be below 50 m. The White Sands Complex (WSC) performs momentum unloads to maintain three-axis stabilized attitude of TDRSs. The relationship between velocity changes (delta-V) and reaction wheel speed changes was empirically determined for roll/yaw unloads. A theoretical relationship was verified and used for pitch unloads. Modeling both pitch and roll/yaw momentum unloads is necessary to meet the 75-m requirement. Moving the orbit solution epoch an hour before a momentum unload can improve delta-V optimization and prediction accuracy over 1.5 days.
In this paper the control of the Lorenz system for both stabilization and tracking problems is studied via feedback linearization and differential flatness. By using the Rayleigh number as the control, only variable physically tunable, a barrier in the controllability of the system is incidentally imposed. This is reflected in the appearance of a singularity in the state transformation. Composite controllers that overcome this difficulty are designed and evaluated. The transition through the manifold defined by such a singularity is achieved by inducing a chaotic response within a boundary layer that contains it. Outside this region, a conventional feedback nonlinear control is applied. In this fashion, the authority of the control is enlarged to the whole. state space and the need for high control efforts is mitigated. In addition, the differential parametrization of the problem is used to track nonlinear functions of one state variable (single tracking) as well as several state variables (cooperative tracking). Control tasks that lead to integrable and non-integrable differential equations for the nominal flat output in steady-state are considered. In particular, a novel numerical strategy to deal with the non-integrable case is proposed. Numerical results validate very well the control design.
Differencing multiple, simultaneous Tracking and Data Relay Satellite System (TDRSS) one-way Doppler passes can yield metric tracking data usable for orbit determination for (low-cost) spacecraft which do not have TDRSS transponders or local oscillators stable enough to allow the one-way TDRSS Doppler tracking data to be used for early mission orbit determination. Orbit determination error analysis results are provided for low Earth orbiting spacecraft for various early mission tracking scenarios.
Relative biological effectiveness (RBE) and quality factor (Q) at extreme values of linear energy transfer (LET) have been determined on the basis of experiments with single-cell systems and specific tissue responses. In typical single-cell systems, each heavy particle (Ar or Fe) passes through a single cell or no cell. In experiments on animal tissues, however, each heavy particle passes through several cells, and the LET can exceed 200 keV micrometers-1 in every cell. In most laboratory animal tissue systems, however, only a small portion of the hit cells are capable of expressing the end-point being measured, such as cell killing, mutation or carcinogenesis. The following question was therefore addressed: do RBEs and Q factors derived from single-cell experiments properly account for the damage at high LET when multiple cells are hit by HZE tracks? A review is offered in which measured radiation effects and known tissue properties are combined to estimate on the one hand, the number of cells at risk, p3n, per track, where n is the number of cells per track based on tissue and organ geometry, and p3 is the probability that a cell in the track is capable of expressing the experimental end-point. On the other hand, the tissue and single-cell responses are compared by determining the ratio RBE in tissue/RBE in corresponding single cells. Experimental data from the literature indicate that tissue RBEs at very high LET (Fe and Ar ions) are higher than corresponding single-cell RBEs, especially in tissues in which p3n is high.
A new technique is proposed for an internal calibration of a two-layer detector assembly. Spatially coincident pairs of conical tracks on one surface and overetched tracks on the adjacent surface are selected for measurement. Both the etch rate ratio and the particle range can be obtained from the minor and major diameters of the elliptical track and the radii of the circular tracks for two etching steps. This technique was applied to CR-39 detectors exposed to fast neutrons and those flown on a high altitude balloon in order to evaluate the proton response. An improvement by using multi-step etching was also carried out. It was found that not only a single set of the etch rate ratio and the range but also the response curve could be estimated in an extended region by analyzing combined growth curves.
The average or amorphous track model uses the response of a system to gamma-rays and the radial distribution of dose about an ion's path to describe survival and other cellular endpoints from proton, heavy ion, and neutron irradiation. This model has been used for over 30 years to successfully fit many radiobiology data sets. We review several extensions of this approach that address objections to the original model, and consider applications of interest in radiobiology and space radiation risk assessment. In the light of present views of important cellular targets, the role of target size as manifested through the relative contributions from ion-kill (intra-track) and gamma-kill (inter-track) remains a critical question in understanding the success of the amorphous track model. Several variations of the amorphous model are discussed, including ones that consider the radial distribution of event-sizes rather than average electron dose, damage clusters rather than multiple targets, and a role for repair or damage processing.