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Dynamics and control of instrumented harmonic drives

Since torque in harmonic drives is transmitted by a pure couple, harmonic drives do not generate radial forces and therefore can be instrumented with torque sensors without interference from radial forces. The installation of torque sensors on the stationary component of harmonic drives (the Flexipline cup in this research work) produce backdrivability needed for robotic and telerobotic compliant maneuvers. Backdrivability of a harmonic drive, when used as torque increaser, means that the output shaft can be rotated via finite amount of torque. A high ratio harmonic drive is non-backdrivable because its output shaft cannot be turned by applying a torque on it. This article first develops the dynamic behavior of a harmonic drive, in particular the non-backdrivability, in terms of a sensitivity transfer function. The instrumentation of the harmonic drive with torque sensor is then described. This leads to a description of the control architecture which allows modulation of the sensitivity transfer function within the limits established by the closed-loop stability. A set of experiments on an active hand controller, powered by a DC motor coupled to an instrumented harmonic drive, is given to exhibit this method's limitations.

NASA Discipline Space Human Factors

Qualitative and quantitative effects of harmonic echocardiographic imaging on endocardial edge definition and side-lobe artifacts

Harmonic imaging is a new ultrasonographic technique that is designed to improve image quality by exploiting the spontaneous generation of higher frequencies as ultrasound propagates through tissue. We studied 51 difficult-to-image patients with blinded side-by-side cineloop evaluation of endocardial border definition by harmonic versus fundamental imaging. In addition, quantitative intensities from cavity versus wall were compared for harmonic versus fundamental imaging. Harmonic imaging improved left ventricular endocardial border delineation over fundamental imaging (superior: harmonic = 71.1%, fundamental = 18.7%; similar: 10.2%; P <.001). Quantitative analysis of 100 wall/cavity combinations demonstrated brighter wall segments and more strikingly darker cavities during harmonic imaging (cavity intensity on a 0 to 255 scale: fundamental = 15.6 +/- 8.6; harmonic = 6.0 +/- 5.3; P <.0001), which led to enhanced contrast between the wall and cavity (1.89 versus 1.19, P <.0001). Harmonic imaging reduces side-lobe artifacts, resulting in a darker cavity and brighter walls, thereby improving image contrast and endocardial delineation.

NASA Discipline Cardiopulmonary

Multi-harmonic electron cyclotron instabilities

The reported investigation constitutes an extension of studies conducted by Ashour-Abdalla and Kennel (1975, 1976, 1978) with respect to a basic plasma model of Young et al. (1973). The model involves a combination of a cold Maxwellian background plasma, a hot plasma, and a 'loss cone' type of free energy source. Previous results on the first cyclotron harmonic bands are extended to multiharmonics. The significance of the obtained relations is discussed and tentative conclusions are presented. Given that the spatial growth rates of the convective modes are comparable, and that simultaneous nonconvective instability (NCI) is possible, it is concluded that multiharmonic emissions ought to be a common feature of the magnetospheric electrostatic wave observations. Since the volume of parameter space for which the first harmonic is NCI, and the volume for which the convective first harmonic mode has significant spatial growth rates, exceed those for the higher harmonics, first harmonic waves should be the most commonly observed and the higher harmonics should usually be accompanied by the first harmonic.

Ashour-Abdalla, M.

Harmonic auroral kilometric radiation of natural origin

When the ISIS 1 satellite passes through the auroral kilometric radiation (AKR) source region the sounder receiver often detects harmonic bands of radiation associated with the fundamental AKR band. These harmonic components were earlier attributed to a nonlinear instrumental response to the strong wide-band bursty AKR fundamental signal. Evidence is here presented that indicates that these harmonics are of natural origin, namely: (1) all the harmonic signals are sometimes observed to have nearly the same bandwidth, (2) when the fundamental signal has two components the harmonic signal sometimes corresponds to the weaker rather than the stronger component, (3) a weak harmonic can be observed to be associated with a weak fundamental, and (4) a 'harmonic' signal can be observed when there is no fundamental.

Benson, R. F.

Harmonic multiplication using resonant tunneling

This paper demonstrates the use of resonant-tunneling diodes as varistors for harmonic multiplication. It is shown that efficient odd-harmonic conversion is possible and that even harmonics do not appear because of the antisymmetry of the current-voltage (I-V) curve. It is also shown that, with the proper choice of resonant-tunneling structure and pump amplitude, most of the harmonic output power can be confined to a single odd-harmonic frequency. Fifth-harmonic multiplication was demonstrated with an output at 21.75 GHz and a power conversion efficiency of 0.5 percent, and a fifth-harmonic efficiency of 2.7 percent was achieved in a circuit simulation using an improved I-V curve.

Sollner, T. C. L. G.

Failure of Harmonic Gears During Verification of a Two-Axis Gimbal for the Mars Reconnaissance Orbiter Spacecraft

The Mars Reconnaissance Orbiter (MRO) spacecraft has three two-axis gimbal assemblies that support and move the High Gain Antenna and two solar array wings. The gimbal assemblies are required to move almost continuously throughout the mission's seven-year lifetime, requiring a large number of output revolutions for each actuator in the gimbal assemblies. The actuator for each of the six axes consists of a two-phase brushless dc motor with a direct drive to the wave generator of a size-32 cup-type harmonic gear. During life testing of an actuator assembly, the harmonic gear teeth failed completely, leaving the size-32 harmonic gear with a maximum output torque capability less than 10% of its design capability. The investigation that followed the failure revealed limitations of the heritage material choices that were made for the harmonic gear components that had passed similar life requirements on several previous programs. Additionally, the methods used to increase the stiffness of a standard harmonic gear component set, while accepted practice for harmonic gears, is limited in its range. The stiffness of harmonic gear assemblies can be increased up to a maximum stiffness point that, if exceeded, compromises the reliability of the gear components for long life applications.

Johnson, Michael R.

STEREO and Wind Observations of Intense Cyclotron Harmonic Waves at the Earth's Bow Shock and Inside the Magnetosheath

We present the first observations of electron cyclotron harmonic waves at the Earth's bow shock from STEREO and Wind burst waveform captures. These waves are observed at magnetic field gradients at a variety of shock geometries ranging from quasi-parallel to nearly perpendicular along with whistler mode waves, ion acoustic waves, and electrostatic solitary waves. Large amplitude cyclotron harmonic waveforms are also observed in the magnetosheath in association with magnetic field gradients convected past the bow shock. Amplitudes of the cyclotron harmonic waves range from a few tens to more than 500 millivolts/meter peak-peak. A comparison between the short (15 meters) and long (100 meters) Wind spin plane antennas shows a similar response at low harmonics and a stronger response on the short antenna at higher harmonics. This indicates that wavelengths are not significantly larger than 100 meters, consistent with the electron cyclotron radius. Waveforms are broadband and polarizations are distinctively comma-shaped with significant power both perpendicular and parallel to the magnetic field. Harmonics tend to be more prominent in the perpendicular directions. These observations indicate that the waves consist of a combination of perpendicular Bernstein waves and field-aligned waves without harmonics. A likely source is the electron cyclotron drift instability which is a coupling between Bernstein and ion acoustic waves. These waves are the most common type of high-frequency wave seen by STEREO during bow shock crossings and magnetosheath traversals and our observations suggest that they are an important component of the high-frequency turbulent spectrum in these regions.

bow shock

New Evidence for Third Harmonic Electromagnetic Radiation in Interplanetary Type III Solar Radio Bursts

This article provides new evidence for a third harmonic component in the electromagnetic radiation generated by interplanetary type III solar radio bursts observed locally near 1 AU. This evidence comes mainly from the analysis of the low-frequency radio emissions observed by the Wind spacecraft. The analysis examines, at high-time and high-frequency resolution, the local type III radiation that is occasionally observed at Wind. The associated Langmuir waves and energetic electron beams, as well as simultaneous observations from the Solar Terrestrial Relations Observatory (STEREO) and Ulysses spacecraft where possible, are used to confirm the local nature of the observed radiation and to help identify the solar origin. We find that the detection of a third harmonic component in the local type III radiation near 1 AU is exceedingly rare. However, our analyses indicate that, in addition to the more commonly observed second harmonic component, a third harmonic component is sometimes conspicuously evident in the local type III radiation. We find that the third harmonic component, when observed, is less intense than the second harmonic component, with the intensity ratio varying between 0.3 and 0.7. Sometimes the third harmonic component is expected to be detected, but it is not observed.

Interplanetary

Human Factors and Behavioral Performance Exploration Measures Harmonized Across HERA, NEK, and ISS: Teams Risk

BACKGROUNDThe Human Factors and Behavioral Performance Exploration Measures (HFBP-EM) suite is a set of standardized measures to assess behavioral health and performance risk related to future exploration class missions, and to support reduction of the Human Research Program’s (HRP) Behavioral Medicine (BMed), Team, Sleep, and Human Systems Integration Architecture risks. HFBP-EM were collected during Human Exploration Research Analogs (HERA) campaigns 4 (C4) and 5 (C5), and during SIRIUS 17 and 19 missions in the Russian Ground Based Experiment Complex, NEK, to document the feasibility, flexibility, and acceptability of these measures in analogsof the spaceflight environment. A subset of the HFBP-EM suite was collected during spaceflight as part HRP’s Standard Measures in Spaceflight Project. Whenever possible, the HFBP-EM protocol and measures are kept the same across studies, however, differences across research settings (e.g., experimental manipulations, mission scenarios, mission length) and implementation of the measures require the data are harmonized to ensure comparable views across missions. The purpose of our project is to develop a harmonized database of HFBP-EM data from different settings, and to summarize the trajectory of behavioral health and performance within and between research settings. In this presentation, we will summarize the harmonized dataset and the trajectory of measures related to the Team Risk, including team performance, team cohesion, team processes, and psychological safety, over time and between and within settings.METHODSWe followed best practices for data harmonization. Characteristics of each research setting were assessed for harmonization potential, and we deemed NEK-SIRIUS 17 as inappropriate due to study aims, length, and data quality. Common variables of interest were identified. Study characteristics and key variables with which datafiles could be merged were defined as “meta-data.” HFBP-EM data from all settings were processed under a common format. We then created a harmonized team-level database designed to facilitate analyses that address HRP research gaps related to HRP’s Team risk. In this database, team cohesion, processes, performance, psychological safety, and group living were operationalized as the team mean of the crew responses for each data collection (e.g., on mission day 7). Data collected on the International Space Station (ISS) included a subset of scale items administered to participants. Data collected from ISS team members within +/- 7 days of the first data collection and every following 30 +/-4 days were aggregated to the team level. We generated figures that display the mean and variability of team constructs across research settings. We also generated plots of changes in team constructs with mission day and with percentage of the mission completed. Where possible, we compared data from spaceflight analogs with data from astronauts aboard the ISS. RESULTS AND DISCUSSIONThe team-level harmonized database was structured such that each row represents data for a team on a specific mission day. Team constructs (e.g., team cohesion) were included as columns (i.e., wide format) with repeated measures across mission days given in rows (i.e., long format). The database included data from 18 crews: five, 4-person American crews in HERA C4, four 4-person American crews in HERA C5, one 6-person multinational crew in NEK-SIRIUS 19, and eight, 2–11-person multinational crews aboard the ISS. Results provide insights into mission and campaign differences in team functioning and performance. For example, between campaign differences were observed for team processes—the interdependent team actions that orchestrate taskwork in pursuit of the team’s goals [1]. Greater between-team variability on team processes was detected during HERA C4 than during C5, and a downward trend was observed over the duration of C4, but not C5 or SIRIUS 19. This may be due to the campaign-level differences such as the sleep deprivation implemented during C4. Responses on the subset of team process items administered on the ISS indicate between-crew variability more like those observed in C4 than C5 and NEK, with some, but not all ISS crews demonstrating a downward trend over time. Additional findings will be presented. REFERENCESMarks, M. A., et al (2001) Academy of Management Review, 26(3), 356-376.

S T Bell

Gravity Degree-Depth Relationship Using Point Mass Spherical Harmonics

Relationships between the degree of a spherical harmonic model of the gravitational field of a body and the depth of a source expressed as a density contrast can be used to study the structure of features. Here, we show that the gravitational acceleration per spherical harmonic degree of a constant density source has an extremum that depends on the depth of the source. Using the spherical harmonics expansion for a point mass source, we use this to derive a degree-depth relationship. Our relationship resembles an earlier one derived by Bowin (1983), with substantial differences at the lower degrees. We also find that a recent relationship derived by Deng et al. (2022) over-estimates the source depth. The relationship that we derive relates spherical harmonic degree n to depth d for a planet of radius R according to d = (1 - e -1/n+1 )R, which simplifies to d = R/(n + 1) for high degrees. We support our new relationship with synthetic models of a density contrast in a planet. We also show how the differences between our relationship and that of Bowin (1983) affect band-filtered gravity, for example when inspecting the upper 100 km of the Moon. Using point masses in our modeling results in an approximate relationship where in reality sources can be deeper than estimated, since any source contributes to all spherical harmonic degrees. The use of the contribution per individual degree however provides an intuitive relationship between spherical harmonic degree and depth that can be used to place relative bounds on source depths or to determine the bounds on spherical harmonic expansions when band-filtering gravity field models.

Geopotential theory

Topsoil bulk geochemical compositions - An updated harmonized global dataset

Mineral weathering is a key biogeochemical process because of the capacity of minerals to stabilize organic matter. However, predicting soil weathering status across large spatial areas still isn’t possible due to a lack of global data and theoretical frameworks. To address this knowledge gap, multiple global datasets of bulk topsoil geochemical compositions have been harmonized using R. These datasets document topsoil bulk geochemical compositions across five continents (n = ~16,000 observations). Source data for these observations include the EuroGEOSurveys Geochemical Baseline Database (FOREGS), the US Geological Survey National Geochemical Database (NASGLP), the Geochemical Atlas of Australia (GAA), the US Geological Survey Alaska Geochemical Database (AGD84), the National Cooperative Soil Survey (NCSS), the European Geochemical Mapping of Agricultural Soil (GEMAS), Ecorespira-Amazon (ERA), the New Zealand Geochemical Baseline Survey (NZ_GBS), and the African Soil Information Service (AFSIS). Major elements observed include Aluminum (Al), Calcium (Ca), Iron (Fe), Potassium (K), Magnesium (Mg), Sodium (Na), Titanium (Ti), Manganese (Mn), Phosphorus (P), Carbon (C), and Sulfur (S). This data package includes the harmonized dataset itself, and the R scripts necessary to harmonize these datasets, in addition to metadata that describes all columns, files, and databases used in this project. Methods & Sampling Step 1 – Databases of geochemical data identified This study aimed to leverage existing measurements of topsoil geochemical data. Databases were first identified and deemed appropriate for inclusion if they were measuring soils and performed these measurements on the <2mm soil fraction. Databases such as NCSS and AGD84 needed more post processing to include in the database and this was done using the NCSS_datamerge_031626 R file and Alaska_USGSmerge_031626 R file, respectively. Step 2 – Database harmonization Once appropriate databases were identified, they were harmonized for ease of analysis using the R script Database_Harmonization_031826. This included removing columns from original datasets that would not be used in analysis (removed columns are noted in the code). Then, data cleaning procedures specific to each dataset were undertaken. This includes standardizing columns to include units and adding metadata columns regarding procedures for analyzing specific elements. Functions for standardizing measurements and units are outline in R files: calculate element_mg_kg_031626, calculate_oxide_wt_perc_031626, change_oxide_caps_031626, and conv_2_numeric_031626. This also included adding a unique identifier for each sample to identify it with its respective database (see CD_ID in data dictionary). Geographic information: Data reflect a compilation of datasets collected globally. Geographic areas covered by each of the datasets include: - EuroGEOSurveys Geochemical Baseline Database (FOREGS) - European continent - North American Soil Geochemical Landscapes (NASGLP) - continental United States and limited parts of Canada (see database key for more details) - National Geochemical Survey of Australia (GAA) - Australia - Alaska geochemical database (AGDB4) - Alaska - National Cooperative Soil Survey (NCSS) - Global measurements, but concentrated in the continental United States - Geochemical data for arable land and land under permanent grass cover in continental Europe (GEMAS) - continental Europe - Ecorespira-Amazon (ERA) - Geochemical data from the Amazon basin - Geochemical baseline data for New Zealand (NZGBS) - New Zealand - Geochemical data collected across continental Africa (AfSIS) - Measurements across Africa

EARTH SCIENCE > LAND SURFACE > SOILS

Harmonic structure of Pc 3-4 pulsations

Power spectra of magnetic pulsations observed at synchronous orbit by the ATS 6 satellite often show several spectral peaks simultaneously. Such pulsations, called harmonic events because of the nearly constant separation between successive peaks, are continuously observed in the dayside in the Pc 3-4 frequency range (6.6-100 mHz). The harmonic events are seen clearly only in the east-west magnetic field component. The spectral peaks are regularly spaced with a typical minimum separation of 14 mHz in the morning gradually decreasing to 10 mHz in the afternoon. In the dynamic spectra of harmonic events, the fundamental mode is usually absent. In addition, the relative amplitudes of the higher harmonics depend on the magnetic latitude. These observed features can be explained by a standing Alfven wave consisting of many discrete harmonic frequencies. A statistical analysis of power spectra demonstrates that at least 10-30% of Pc 3 pulsations can be classified as harmonic events. For a selected event on August 7, 1975, the plasma mass density at the synchronous orbit is estimated to be 3-8 hydrogen mass/cu cm.

Takahashi, K.

Multispacecraft observations of the harmonic structure of Pc 3-4 magnetic pulsations

Harmonically related Pc 3-4 pulsations (7-100 mHz) are observed simultaneously by the three geosynchronous satellites ATS 6, SMS 1, and SMS 2, which are separated 20 deg from one another. At a given instant the frequency of the same harmonic is different from one spacecraft to another and each spacecraft observes a decrease in the fundamental frequency as it moves from morning (15 mHz) to afternoon (10 mHz). This frequency behavior is explained in terms of standing Alfven waves, for which the frequency is determined by the local magnetic field and plasma density. Occurrence of harmonic Pc 3-4 waves only during daytime hours (0400-2000 LT) and their frequency characteristics suggest a broadband energy source located on the dayside. Possible azimuthal wave number m and azimuthal phase velocity V(phi) of the second through fourth harmonics are determined from an unusual interval during which identical harmonic frequencies were observed at SMS 1 and ATS 6. Under the assumption of tailward propagation of constant-phase fronts at the same velocity for all these harmonics, V(phi) of about 1700 km/s is obtained.

Takahashi, K.

DE 1 observations of harmonic auroral kilometric radiation

The plasma wave instrument on board the DE 1 spacecraft has observed several intervals of auroral kilometric radiation during which harmonic structure is clearly present. The paper presents evidence, some of which is based on unique capabilities of the DE instrument, which argues strongly that the harmonic structures are natural rather than instrumental in origin. The harmonic emissions occur infrequently, but when present may persist for intervals of up to an hour. The emissions are relatively narrow band and consist of a relatively weak fundamental accompanied by an even weaker second harmonic. The ratio of power in the fundamental band to the power in the harmonic ranges from 10 to 100. In all cases, polarization data indicate that the fundamental is a left-hand ordinary (L-O) mode emission while the harmonic is right-hand extraordinary (R-X) mode. These observations are consistent with predictions based on the cyclotron maser mechanism.

Mellott, M. M.

Electromagnetic ion beam instabilities - Growth at cyclotron harmonic wave numbers

The linear theory of electromagnetic ion beam instabilities for arbitrary angles of propagation is studied, with an emphasis on the conditions necessary to generate unstable modes at low harmonics of the ion cyclotron resonance condition. The present results extend the analysis of Smith et al. (1985). That paper considered only the plasma parameters at a time during which harmonic wave modes were observed in the earth's foreshock. The parameters of that paper are used as the basis of parametric variations here to establish the range of beam properties which may give rise to observable harmonic spectra. It is shown that the growth rates of both left-hand and right-hand cyclotron harmonic instabilities are enhanced by an increase in the beam temperature anisotropy and/or the beam speed. Decreases in the beam density and/or the core-ion beta reduce the overall growth of the cyclotron harmonic instabilities but favor the growth of these modes over the growth of the nonresonant instability and thereby enhance the observability of the harmonics.

Smith, Charles W.

Spherical Harmonic Analysis of Particle Velocity Distribution Function: Comparison of Moments and Anisotropies using Cluster Data

This paper presents a spherical harmonic analysis of the plasma velocity distribution function using high-angular, energy, and time resolution Cluster data obtained from the PEACE spectrometer instrument to demonstrate how this analysis models the particle distribution function and its moments and anisotropies. The results show that spherical harmonic analysis produced a robust physical representation model of the velocity distribution function, resolving the main features of the measured distributions. From the spherical harmonic analysis, a minimum set of nine spectral coefficients was obtained from which the moment (up to the heat flux), anisotropy, and asymmetry calculations of the velocity distribution function were obtained. The spherical harmonic method provides a potentially effective "compression" technique that can be easily carried out onboard a spacecraft to determine the moments and anisotropies of the particle velocity distribution function for any species. These calculations were implemented using three different approaches, namely, the standard traditional integration, the spherical harmonic (SPH) spectral coefficients integration, and the singular value decomposition (SVD) on the spherical harmonic methods. A comparison among the various methods shows that both SPH and SVD approaches provide remarkable agreement with the standard moment integration method.

Gurgiolo, Chris

Laser pulse induced second- and third-harmonic generation of gold nanorods with real-time time-dependent density functional tight binding (RT-TDDFTB) method

In this paper, we investigate second- and third-harmonic generation processes in Au nanorod systems using the real-time time-dependent density functional tight binding method. Our study focuses on the computation of nonlinear signals based on the time dependent dipole response induced by linearly polarized laser pulses interacting with nanoparticles. We systematically explore the influence of various laser parameters, including pump intensity, duration, frequency, and polarization directions, on harmonic generation. We demonstrate all the results using Au nanorod dimer systems arranged in end-to-end configurations, and disrupting the spatial symmetry of regular single nanorod systems is crucial for second-harmonic generation processes. Furthermore, we study the impact of nanorod lengths, which lead to variable plasmon energies, on harmonic generation, and estimates of polarizabilities and hyper-polarizabilities are provided.

77 NANOSCIENCE AND NANOTECHNOLOGY

Ultrafast high-harmonic spectroscopy of solids

High-harmonic spectroscopy, an ultrafast all-optical technique initially conceptualized in atomic and molecular systems, has now emerged as a powerful platform for studying the structure and dynamics of condensed matter. Unlike that in the gas phase, solid-state high-harmonic generation relies on the fundamental response from high atomic density and periodicity, leading to interband transitions and coherent driving of electrons and holes in their respective bands. These mechanisms make high-harmonic spectroscopy particularly sensitive to the electronic band structure, topological properties and many-body correlations in condensed media. An advantage of high-harmonic spectroscopy over other spectroscopic methods is its ability to probe ultrafast phenomena, capturing femto- to attosecond dynamics of multi-band and strongly correlated electron interactions in solids. Furthermore, in this Review, we discuss the latest experimental and theoretical advances in ultrafast high-harmonic spectroscopy of solids and provide perspectives for future research in this field.

High-harmonic generation