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Tracking of the Beacon Explorer-C satellite by a precision laser system was used to measure the polar motion and solid earth tide. The tidal perturbation of satellite latitude is plotted as variation in maximum latitude in seconds of arc on earth's surface as a function of the date, and polar motion is shown by plotting the variation in latitude of the laser in seconds of arc along the earth's surface as a function of date
The problem of the automatic landing of VTOL aircraft on small ships is considered. Linear quadratic optimal control theory is used to design a VTOL ship motion tracking controller. Optimal root-loci and step responses are obtained to study the dynamics of the closed-loop system. Standard deviations of the ship motion tracking errors, and of the VTOL control amplitudes are computed, illustrating the tradeoff between accurate tracking, and limited control authority. Multivariable robustness margins are also obtained. The tracking of the vertical motion presents the difficulty of requiring large variations of the VTOL total thrust, a control which is limited both in amplitude and in bandwidth. Lateral controls are less restricted, but the motions are strongly coupled, with some adverse couplings in the ship motions, and in the aircraft dynamics. The advantage of the LQ control theory is demonstrated however, by its ability to account for these couplings in a robust manner, and, when possible, to use them to limit the control amplitudes.
The modifications to Geodyn to substitute the Einstein gravitational theory for Newtonian gravitation are described. This results in modifications to both the satellite equations of motion and to the modeling of satellite tracking measurements. Since the Newtonian theory is a very close approximation to the Einstein theory (or general theory of relativity), observable deviations from Newtonian theory are small, and the applicable equations of motion or observation equations can be formulated so that they differ only by small terms which are denoted as relativistic perturbations. In the implementation of the Einstein theory in an orbital data reduction program, station coordinates and satellite coordinates which resemble the normal Cartesian coordinates are considered.
The first results of ERS-1 SAR sea-ice drift tracking are presented for Antarctica. Summer and winter examples illustrate temporal variations in ice drift in the Western and Eastern Weddell Sea during two field experiments. Time-series of mean drift velocity, divergence and rotation are compared with meteorological data from an ice camp and by instrumented buoys. Results indicate that SAR successfully characterizes the.
Observations of atmospheric 3D winds are critical for improving short-range and long-range forecasting. Such advancement in forecasting directly applies to research in a number of areas including convective processes, wildfire plumes and tornado prediction. Atmospheric Motion Vectors (AMVs) provide a passively sensed approach to quantifying horizontal motion and cloud heights, which are typically sourced from geostationary sensors due to the availability of high frequency observations. Recent work has shown that estimating AMVs by tracking individual pixels with dense optical flow is a promising new direction. In this work, we compare state-of-the-art convolutional neural networks for optical flow in a physics-guided deep learning framework for predicting AMVs. The approach is semi-supervised and uses physically informed wind vectors from high-resolution numerical simulations for supervised learning followed by fine-tuning though warping and reconstruction of full-disk geostationary images (GOES-16). In the vertical direction, we use labels from the CALIPSO low-earth orbit satellite to predict cloud height from 16-band geostationary images with a neural network. We present results for both tasks on held-out time periods and secondary datasets.
Atmospheric 3D winds in the horizontal and vertical directions are critical for improving short-range and long-range forecasting. Such advancement in forecasting directly applies to research in a number of areas including convective processes, wildfire plumes and tornado prediction. Atmospheric Motion Vectors (AMVs) provide a passively sensed approach to quantifying horizontal motion and cloud heights, which are typically sourced from geostationary sensors due to the availability of high frequency observations. Recent work has shown that estimating AMVs by tracking individual pixels with dense optical flow is a promising new direction. In this work, we use a state-of-the-art convolutional neural network for optical flow (FlowNetS) in a physics-guided deep learning framework for predicting AMVs in the horizontal direction. The approach is semi-supervised and uses physically informed wind vectors from high-resolution numerical simulations (DYAMOND) for supervised learning followed by fine-tuning though warping and reconstruction of full-disk geostationary images (GOES-16). In the vertical direction, we use labels from the CALIPSO low-earth orbit satellite to predict cloud height from 16-band geostationary images with a neural network. We present results for both tasks on held-out time periods and secondary datasets.
Effects of motion cues on manual tracking ability of pilots
My summer project evaluates the Kinect game sensor input/output and its suitability to perform as part of a human interface for a spacecraft application. The primary objective is to evaluate, understand, and communicate the Kinect system's ability to sense and track fine (human) position and motion. The project will analyze the performance characteristics and capabilities of this game system hardware and its applicability for gross and fine motion tracking. The software development kit for the Kinect was also investigated and some experimentation has begun to understand its development environment. To better understand the software development of the Kinect game sensor, research in hacking communities has brought a better understanding of the potential for a wide range of personal computer (PC) application development. The project also entails the disassembly of the Kinect game sensor. This analysis would involve disassembling a sensor, photographing it, and identifying components and describing its operation.
Research results on general serial robotic manipulators modeled with structural compliances are presented. Two compliant manipulator modeling approaches, distributed and lumped parameter models, are used in this study. System dynamic equations for both compliant models are derived by using the first and second order influence coefficients. Also, the properties of compliant manipulator system dynamics are investigated. One of the properties, which is defined as inaccessibility of vibratory modes, is shown to display a distinct character associated with compliant manipulators. This property indicates the impact of robot geometry on the control of structural oscillations. Example studies are provided to illustrate the physical interpretation of inaccessibility of vibratory modes. Two types of controllers are designed for compliant manipulators modeled by either lumped or distributed parameter techniques. In order to maintain the generality of the results, neither linearization is introduced. Example simulations are given to demonstrate the controller performance. The second type controller is also built for general serial robot arms and is adaptive in nature which can estimate uncertain payload parameters on-line and simultaneously maintain trajectory tracking properties. The relation between manipulator motion tracking capability and convergence of parameter estimation properties is discussed through example case studies. The effect of control input update delays on adaptive controller performance is also studied.
Determining air motions by tracking humidity patterns in isentropic layers was investigated. Upper-air rawinsonde data from the NSSL network and from the AVE-II pilot experiment were used to simulate temperature and humidity profile data that will eventually be available from geosynchronous satellites. Polynomial surfaces that move with time were fitted to the mixing-ratio values of the different isentropic layers. The velocity components of the polynomial surfaces are part of the coefficients that are determined in order to give an optimum fitting of the data. In the mid-troposphere, the derived humidity motions were in good agreement with the winds measured by rawinsondes so long as there were few or no clouds and the lapse rate was relatively stable. In the lower troposphere, the humidity motions were unreliable primarily because of nonadiabatic processes and unstable lapse rates. In the upper troposphere, the humidity amounts were too low to be measured with sufficient accuracy to give reliable results. However, it appears that humidity motions could be used to provide mid-tropospheric wind data over large regions of the globe.
Real time motion tracking hardware has for the most part been cost prohibitive for research to regularly take place until recently. With the release of the Microsoft Kinect in November 2010, researchers now have access to a device that for a few hundred dollars is capable of providing redgreenblue (RGB), depth, and skeleton data. It is also capable of tracking multiple people in real time. For its original intended purposes, i.e. gaming, being used with the Xbox 360 and eventually Xbox One, it performs quite well. However, researchers soon found that although the sensor is versatile, it has limitations in real world applications. I was brought aboard this summer by William Little in the Augmented Virtual Reality (AVR) Lab at Kennedy Space Center to find solutions to these limitations.
Astronauts experience changes in multiple physiological systems due to exposure to the microgravity conditions of space flight. To understand how changes in physiological function influence functional performance, a testing procedure has been developed that evaluates both astronaut postflight functional performance and related physiological changes. Astronauts complete seven functional and physiological tests. The objective of this project is to use motion tracking and digitizing software to visually display the postflight decrement in the functional performance of the astronauts. The motion analysis software will be used to digitize astronaut data videos into stick figure videos to represent the astronauts as they perform the Functional Tasks Tests. This project will benefit NASA by allowing NASA scientists to present data of their neurological studies without revealing the identities of the astronauts.
In order to collaborate engineering designs among NASA Centers and customers, to in clude hardware and human activities from multiple remote locations, live human-centered modeling and collaboration across several sites has been successfully facilitated by Kennedy Space Center. The focus of this paper includes innovative a pproaches to engineering design analyses and training, along with research being conducted to apply new technologies for tracking, immersing, and evaluating humans as well as rocket, vehic le, component, or faci lity hardware utilizing high resolution cameras, motion tracking, ergonomic analysis, biomedical monitoring, wor k instruction integration, head-mounted displays, and other innovative human-system integration modeling, simulation, and collaboration applications.
Synoptic observations of ice motion in the Arctic Basin are currently limited to those acquired by drifting buoys and, more recently, radar data from ERS-1. Buoys are not uniformly distributed throughout the Arctic, and SAR coverage is limited regionally and temporally due to the data volume, swath width, processing requirements, and power needs of the SAR. Additional ice-motion observations that can map ice responses simultaneously over large portions of the Arctic on daily to weekly time intervals are thus needed to augment the SAR and buoy data and to provide an intermediate-scale measure of ice drift suitable for climatological analyses and ice modeling. Merging the remotely-sensed ice motions with SAR, AVHRR, OLS, and SSM/I imagery permits studies of ice processes over a range of space and time scales. A medium-resolution passive microwave sensor might be ideal for this purpose, but no such satellite will be available in the near future. Combinations of existing data types are thus likely to be our best bet for generating motion fields with a coverage and resolution best suited to climate studies. Principal objectives of this project are to: (1) demonstrate whether sufficient ice features and ice motion existed within the consolidated ice pack to permit motion tracking using AVHRR imagery; (2) determine the limits imposed on AVHRR mapping by cloud cover; and (3) test the applicability of AVHRR-derived motions in studies of ice-atmosphere interactions.
Synoptic observations of ice motion in the Arctic Basin are currently limited to those acquired by drifting buoys and, more recently, radar data from ERS-1. Buoys are not uniformly distributed throughout the Arctic, and SAR coverage is currently limited regionally and temporally due to the data volume, swath width, processing requirements, and power needs of the SAR. Additional ice-motion observations that can map ice responses simultaneously over large portions of the Arctic on daily to weekly time intervals are thus needed to augment the SAR and buoys data and to provide an intermediate-scale measure of ice drift suitable for climatological analyses and ice modeling. Principal objectives of this project were to: (1) demonstrate whether sufficient ice features and ice motion existed within the consolidated ice pack to permit motion tracking using AVHRR imagery; (2) determine the limits imposed on AVHRR mapping by cloud cover; and (3) test the applicability of AVHRR-derived motions in studies of ice-atmosphere interactions. Each of these main objectives was addressed. We conclude that AVHRR data, particularly when blended with other available observations, provide a valuable data set for studying sea ice processes. In a follow-on project, we are now extending this work to cover larger areas and to address science questions in more detail.
Antarctic ERS-2, RADARSAT Synthetic Aperture Radar and ERS-1/2 Scatterometer images were analyzed with SMMI radiometer image time-series data to investigate seasonal variability in satellite-tracked sea-ice dynamics in the Southern Ocean during 1992. Supporting field data were acquired during 'in-situ' experiments including the winter 1992 Ice Station Weddell and Winter Weddell Gyre studies. A variety of surface measurements were made during these experiments including Argos-buoy deployment and GPS drift measurements. These are used in conjunction with International Program for Antarctic Buoys drift trajectories for ice-motion tracking validation. Comparisons between gridded Special Sensor Microwave Imager (SSMI) ice-motion vectors and European Center for Medium Range Weather Forecasts/National Centers for Environmental Prediction (ECMWF/NCEP) analyses indicate that large-scale drift is forced predominantly by the long-term mean, large-scale synoptic pressure field. Only sub-daily SAR sea-ice tracking can capture high-frequency fluctuations, driven by polar lows or tidal forcing. In these cases, sea-ice drift can respond rapidly to changes in forcing on semi-diurnal time scales depending on the location with respect to the coastline. Seasonality of ice drift, particularly in the Weddell and Ross Seas, is linked to ice extent and compactness, and internal ice stresses transmitted through the pack ice from the coast. Three-monthly seasonal climatologies are presented of austral winter of ice drift in the Southern Ocean. The large Weddell and Ross Sea gyres are clearly resolved along with key seasonal and spatial attributes of their cyclonic circulation. Regional time series of ice dynamics parameters are used to illustrate correlations with meteorological forcing. Persistent divergence such as that occurring in the Ronne-Filchner polynya system results in large fractions of new ice. Similarly, convergence zones produce large fractions of deformed ice and characterize the dynamics of regions where perennial ice is observed. High shear strains also help delineate the axis of the Antarctic divergence in many places in the ice cover. In these regions, the separation between the coastal 'east wind drift'and ACC-dominated drift regimes is characterized by zonally extended regions of intense shear.
Preliminary results from NWP impact studies are indicating that upper-tropospheric wind information provided by tracking motions in sequences of geostationary satellite water vapor imagery can positively influence forecasts on regional scales, and possibly on global scales as well. The data are complimentary to cloud-tracked winds by providing data in cloud-free regions, as well as comparable in quality. First results from GOES-8 winds are encouraging, and further efforts and model impacts will be directed towards optimizing these data in numerical weather prediction (NWP). Assuming successful launches of GOES-J and GMS-5 satellites in 1995, high quality and resolution water vapor imagers will be available to provide nearly complete global upper-tropospheric wind coverage.
A high-speed anthropometric three dimensional measurement system using the Selcom Selspot motion tracking instrument for visual data acquisition is discussed. A three-dimensional scanning system was created which collects video, audio, and performance data on a single standard video cassette recorder. Recording rates of 1 megabit per second for periods of up to two hours are possible with the system design. A high-speed off-the-shelf motion analysis system for collecting optical information as used. The video recording adapter (VRA) is interfaced to the Selspot data acquisition system.