The use of the Eliassen-Palm flux as a diagnostic of wave, mean-flow interaction in a general circulation model
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Andrews, D. G.↗
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Laboratory Astrophysics: The Universe in the Palm of Your Hand
Polycyclic aromatic compounds (PACs), a class of organic molecules whose structures are characterized by the presence of two or more fused aromatic rings, have been the subject of astrophysical interest for nearly two decades. Large by interstellar standards (from as few as 20 to perhaps as many as several hundred atoms), it has been suggested that these species are among the most abundant interstellar molecules impacting a wide range of astrophysical phenomena including: (1) the ubiquitous family of infrared emission bands observed in an ever-increasing assortment of astronomical objects; (2) the subtle but rich array of discrete visible/near-infrared interstellar molecular absorption features known as the diffuse interstellar bands (DIBs); (3) the broad near-infrared quasi-continuum observed in a number of nebulae known as excess red emission (ERE); (4) the interstellar ultraviolet extinction curve and broad '2200 Angstrom bump'; and (5) the heating/cooling mechanisms of interstellar clouds. Nevertheless, until recently a lack of good-quality laboratory spectroscopic data on PACs under astrophysically relevant conditions (i.e. isolated, ionized molecules, ionized molecular clusters, etc.) has hindered critical evaluation and extension of this model. Fortunately, the last decade has seen an explosion of experimental and theoretical techniques aimed specifically at addressing these issues. Indeed, many of these techniques will be explored in the series of talks which constitute this forum. This talk will provide an overview of the studies of the spectroscopic properties of isolated, neutral, and ionized PACs that have been conducted in the Astrochemistry Laboratory at NASA Ames, together with a consideration of their implications for astrophysics. Particular attention will be paid to models of the interstellar infrared emission spectra generated using the available database of laboratory PAC infrared spectra and the natural ability of this database to accommodate the variations observed in the astronomical spectra. Such models provide insight into the structure, abundance, and ionization state of the interstellar PAC population and, in turn, provide direct insight into the processes of carbon nucleation, growth and evolution as matter is processed through the interstellar medium. These models will be followed by a more in depth look at some specific aspects of the interstellar infrared emission spectrum, considering both what we can learn about them and what we can learn from them. Finally, some of the limitations of the current model and the available spectroscopic dataset will be 'dered along with future experimental directions designed to address these shortcomings. Further information about this and the related areas of research currently ongoing in the Astrochemistry Laboratory can be found at our world wide web site. http://www-space.arc.nasa.gov/(tilda)astrochem
Hudgins, Douglas M.↗
Long-Wavelength 256X256 GaAs/AlGaAs Quantum Well Photodetector (QWIP) Palm-Size Camera
In this paper, we discuss the development of this very sensitive long-wavelength infrared (LWIR) camera based on a GaAs/AlGaAs QWIP focal plane array (FPA) and its performance in terms of quantum efficiency, NEAT, uniformity, and operability.
infrared (IR) long-wavelength infrared LWIR IR Cam↗
Performance Analysis of AUTONAV GPS Orbit Determination. Institute of Navigation, International Technical Meeting, Palm Springs, California, September 12-15, 1995
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Wu, Sien↗
Compact Dexterous Robotic Hand
A compact robotic hand includes a palm housing, a wrist section, and a forearm section. The palm housing supports a plurality of fingers and one or more movable palm members that cooperate with the fingers to grasp and/or release an object. Each flexible finger comprises a plurality of hingedly connected segments, including a proximal segment pivotally connected to the palm housing. The proximal finger segment includes at least one groove defining first and second cam surfaces for engagement with a cable. A plurality of lead screw assemblies each carried by the palm housing are supplied with power from a flexible shaft rotated by an actuator and output linear motion to a cable move a finger. The cable is secured within a respective groove and enables each finger to move between an opened and closed position. A decoupling assembly pivotally connected to a proximal finger segment enables a cable connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.
Lovchik, Christopher Scott↗
Method for forming a glove attachment
An attachment principally for the palm of an astronaut glove to enhance the gripping area of the palm without detracting from the flexibility and utility of the glove is presented. The attachment is a composite construction formed from a layer of silicone rubber having an outer surface with a friction configuration and another layer of silicone rubber in which a Nomex Aramid mesh fabric is embedded prior to curing. The method of construction involves the use of a mold with a friction configuration surface. A first layer of silicone rubber or sealant is disposed in the mold and allowed to set for an hour. A second layer of silicone rubber or sealant is layered over the first layer and leveled. A Nomex Aramid mesh fabric is embedded into the second layer and the composite is permitted to cure. When cured, a configured area of the composite construction is glued or stitched to the palm area of the glove.
Dawn, Frederic S.↗
Mapping From an Instrumented Glove to a Robot Hand
An algorithm has been developed to solve the problem of mapping from (1) a glove instrumented with joint-angle sensors to (2) an anthropomorphic robot hand. Such a mapping is needed to generate control signals to make the robot hand mimic the configuration of the hand of a human attempting to control the robot. The mapping problem is complicated by uncertainties in sensor locations caused by variations in sizes and shapes of hands and variations in the fit of the glove. The present mapping algorithm is robust in the face of these uncertainties, largely because it includes a calibration sub-algorithm that inherently adapts the mapping to the specific hand and glove, without need for measuring the hand and without regard for goodness of fit. The algorithm utilizes a forward-kinematics model of the glove derived from documentation provided by the manufacturer of the glove. In this case, forward-kinematics model signifies a mathematical model of the glove fingertip positions as functions of the sensor readings. More specifically, given the sensor readings, the forward-kinematics model calculates the glove fingertip positions in a Cartesian reference frame nominally attached to the palm. The algorithm also utilizes an inverse-kinematics model of the robot hand. In this case, inverse-kinematics model signifies a mathematical model of the robot finger-joint angles as functions of the robot fingertip positions. Again, more specifically, the inverse-kinematics model calculates the finger-joint commands needed to place the fingertips at specified positions in a Cartesian reference frame that is attached to the palm of the robot hand and that nominally corresponds to the Cartesian reference frame attached to the palm of the glove. Initially, because of the aforementioned uncertainties, the glove fingertip positions calculated by the forwardkinematics model in the glove Cartesian reference frame cannot be expected to match the robot fingertip positions in the robot-hand Cartesian reference frame. A calibration must be performed to make the glove and robot-hand fingertip positions correspond more precisely. The calibration procedure involves a few simple hand poses designed to provide well-defined fingertip positions. One of the poses is a fist. In each of the other poses, a finger touches the thumb. The calibration subalgorithm uses the sensor readings from these poses to modify the kinematical models to make the two sets of fingertip positions agree more closely.
Goza, Michael↗
Robotic End Effectors for Hard-Rock Climbing
Special-purpose robot hands (end effectors) now under development are intended to enable robots to traverse cliffs much as human climbers do. Potential applications for robots having this capability include scientific exploration (both on Earth and other rocky bodies in space), military reconnaissance, and outdoor search and rescue operations. Until now, enabling robots to traverse cliffs has been considered too difficult a task because of the perceived need of prohibitively sophisticated planning algorithms as well as end effectors as dexterous as human hands. The present end effectors are being designed to enable robots to attach themselves to typical rock-face features with less planning and simpler end effectors. This advance is based on the emulation of the equipment used by human climbers rather than the emulation of the human hand. Climbing-aid equipment, specifically cams, aid hooks, and cam hooks, are used by sport climbers when a quick ascent of a cliff is desired (see Figure 1). Currently two different end-effector designs have been created. The first, denoted the simple hook emulator, consists of three "fingers" arranged around a central "palm." Each finger emulates the function of a particular type of climbing hook (aid hook, wide cam hook, and a narrow cam hook). These fingers are connected to the palm via a mechanical linkage actuated with a leadscrew/nut. This mechanism allows the fingers to be extended or retracted. The second design, denoted the advanced hook emulator (see Figure 2), shares these features, but it incorporates an aid hook and a cam hook into each finger. The spring-loading of the aid hook allows the passive selection of the type of hook used. The end effectors can be used in several different modes. In the aid-hook mode, the aid hook on one of the fingers locks onto a horizontal ledge while the other two fingers act to stabilize the end effector against the cliff face. In the cam-hook mode, the broad, flat tip of the cam hook is inserted into a non-horizontal crack in the cliff face. A subsequent transfer of weight onto the end effector causes the tip to rotate within the crack, creating a passive, self-locking action of the hook relative to the crack. In the advanced hook emulator, the aid hook is pushed into its retracted position by contact with the cliff face as the cam hook tip is inserted into the crack. When a cliff face contains relatively large pockets or cracks, another type of passive self-locking can be used. Emulating the function of the piece of climbing equipment called a "cam" (note: not the same as a "cam hook"; see Figure 1), the fingers can be fully retracted and the entire end effector inserted into the feature. The fingers are then extended as far as the feature allows. Any weight then transferred to the end effector will tend to extend the fingers further due to frictional force, passively increasing the grip on the feature. In addition to the climbing modes, these end effectors can be used to walk on (either on the palm or the fingertips) and to grasp objects by fully extending the fingers.
Kennedy, Brett↗
Numerical Modeling of the Atmosphere
Numerical models and numerical analyses of observations were used to improve the understanding of the physical processes important in global weather and climate. Results from a study of the effect of baroclinic waves on mid-latitude vertical temperature structure show that the waves' vertical eddy heat flux tend to eliminate the potential vorticity gradient near the steering level by causing the static stability to decrease rapidly with height in the lower troposphere above the boundary layer. An empirical study of the relationship between eddy heat fluxes and the meridional temperature gradient has been completed. The results indicate that the feedback in the flux-gradient system is comparable to dissipation on all time scales between the synoptic and the seasonal. The definition of the Eliassen-Palm flux and the Eliassen-Palm and non-acceleration theorems has been generalized to include eddy forcing of condensation. Calculations based on the generalized diagnostics showed that the annual mean eddy forcing of the zonal mean zonal wind is two and one half times stronger when the condensation effects are included.
Stone, P. H.↗
Effects of Rayleigh and Newtonian damping on wave-mean flow interaction
A theoretical study is made of the effects of mean damping on wave-mean flow interactions. A condition is derived for the Eliassen-Palm flux divergence to balance the steady-state residual circulations induced by eddies in the presence of mean damping. It is shown by a simple analytical model that this balance holds for stratospheric planetary waves when the Rayleigh friction coefficient is one order smaller than the Newtonian cooling coefficient, although the tall mean flow condition is not violated. In this case, the Eliassen-Palm flux divergence can be interpreted as approximating the steady residual circulation (approximately equal to Lagrangian-mean circulations) induced by eddies as well as the net mean acceleration in the absence of mean damping. This balance is consistent with the stratospheric circulations of a dynamical model.
Hayashi, Y.↗
A diagnostic study of eddy-mean flow interactions during FGGE SOP-1
Eliassen-Palm (EP) diagrams have been shown to be very useful diagnostics in both the troposphere and the stratosphere. However, the idea that the EP flux divergence is the sole forcing of the mean wind by the eddies can be misleading. A time series of the time rate of change of the zonal mean wind and the EP flux divergence shows that the two quantities were not well correlated during the FGGE special observing period (SOP-1, winter 1979). Calculation of the residual in the zonal momentum equation reveals that considerable negative acceleration (drag) is required to complete the momentum balance in some regions. This residual indicates that not all terms are well represented in atmospheric data sets, and may be largely due to the breaking of vertically propagating gravity waves near the tropopause. Eliassen-Palm diagrams are presented for the FGGE data, as well as Oort's 11-year climatology. The Oort EP diagrams serve as a standard with which to compare other EP diagrams. The FGGE year is shown to be very similar to climatology. A consistent method of displaying the EP flux vectors and divergence is suggested, which has advantages over previous methods.
Baldwin, M. P.↗
Nongeostrophic theory of zonally averaged circulation. I - Formulation
A nongeostrophic theory of zonally averaged circulation is formulated using the nonlinear primitive equations (mass conservation, thermodynamics, and zonal momentum) on a sphere. The relationship between the mean meridional circulation and diabatic heating rate is studied. Differences between results of nongeostropic theory and the geostrophic formulation concerning the role of eddy forcing of the diabatic circulation and the nonlinear nearly inviscid limit versus the geostrophic limit are discussed. Consideration is given to the Eliassen-Palm flux divergence, the Eliassen-Palm pseudodivergence, the nonacceleration theorem, and the nonlinear nongeostrophic Taylor relationship.
Tung, Ka Kit↗
Comparison of satellite-derived dynamical quantities for the stratosphere of the Southern Hemisphere
As part of the international Middle Atmosphere Program (MAP), a project was instituted to study the dynamics of the Middle Atmosphere in the Southern Hemisphere (MASH). A pre-MASH workshop was held with two aims: comparison of Southern Hemisphere dynamical quantities derived from various archives of satellite data; and assessing the impact of different base-level height information on such derived quantities. The dynamical quantities examined included geopotential height, zonal wind, potential vorticity, eddy heat and momentum fluxes, and Eliassen-Palm fluxes. It was found that while there was usually qualitative agreement between the different sets of fields, substantial quantitative differences were evident, particularly in high latitudes. The fidelity of the base-level analysis was found to be of prime importance in calculating derived quantities - especially the Eliassen-Palm flux divergence and potential vorticity. Improvements in base-level analyses are recommended. In particular, quality controls should be introduced to remove spurious localized features from analyses, and information from all Antarctic radiosondes should be utilized where possible. Caution in drawing quantitative inferences from satellite data for the middle atmosphere of the Southern Hemisphere is advised.
Miles, Thomas↗
Quasi-biennial modulation of planetary-wave fluxes in the Northern Hemisphere winter
Using 25 years of National Meteorological Center (NMC) data for 1964-88 the relation between tropical and extratropical quasi-biennial oscillations (QBOs) was examined for zonally averaged quantities and planetary-wave Eliassen-Palm fluxes in the Northern Hemisphere winter. The extratropical QBO discussed by Holton and Tan (1980) existed in both temporal halves of the dataset. Autocorrelation analysis demonstrated that it was an important mode of interannual variability in the extratropical winter stratosphere. Correlation with the tropics was strongest when 40-mb equatorial winds were used to define the tropical QBO. Easterly phase at 40 mb implied a weaker than normal polar night jet and warmer than normal polar temperature and vice versa. An opposite relationship was obtained using 10-mb equatorial winds. The association between tropical and extratropical QBOs was observed in about 90 percent of the winters and was statistically significant. It is shown that planetary-wave Eliassen-Palm fluxes were generally consistent with the extratropical QBO. These fluxes were more (less) convergent in the midlatitude (subtropical) upper stratosphere in the 40-mb east (= easterly) phase category relative to the west category.
Dunkerton, Timothy J.↗
Experimental partitioning of Zr, Ti, and Nb between silicate liquid and a complex noble metal alloy and the partitioning of Ti between perovskite and platinum metal
El Goresy et al.'s observation of Nb, Zr, and Ta in refractory platinum metal nuggets (RPMN's) from Ca-Al-rich inclusions (CAI's) in the Allende meteorite led them to propose that these lithophile elements alloyed in the metallic state with noble metals in the early solar nebula. However, Grossman pointed out that the thermodynamic stability of Zr in the oxide phase is vastly greater than metallic Zr at estimated solar nebula conditions. Jones and Burnett suggested this discrepancy may be explained by the very non-ideal behavior of some lithophile transition elements in noble metal solutions and/or intermetallic compounds. Subsequently, Fegley and Kornacki used thermodynamic data taken from the literature to predict the stability of several of these intermetallic compounds at estimated solar nebula conditions. Palme and Schmitt and Treiman et al. conducted experiments to quantify the partitioning behavior of certain lithophile elements between silicate liquid and Pt-metal. Although their results were somewhat variable, they did suggest that Zr partition coefficients were too small to explain the observed 'percent' levels in some RPMN's. Palme and Schmitt also observed large partition coefficients for Nb and Ta. No intermetallic phases were identified. Following the work of Treiman et al., Jurewicz and Jones performed experiments to examine Zr, Nb, and Ti partitioning near solar nebula conditions. Their results showed that Zr, Nb, and Ti all have an affinity for the platinum metal, with Nb and Ti having a very strong preference for the metal. The intermetallic phases (Zr,Fe)Pt3, (Nb,Fe)Pt3, and (Ti,Fe)Pt3 were identified. Curiously, although both experiments and calculations indicate that Ti should partition strongly into Pt-metal (possibly as TiPt3), no Ti has ever been observed in any RPMN's. Fegley and Kornacki also noticed this discrepancy and hypothesized that the Ti was stabilized in perovskite which is a common phase in Allende CAI's.
Jurewicz, Stephen R.↗
Compression under a mechanical counter pressure space suit glove
Background: Current gas-pressurized space suits are bulky stiff shells severely limiting astronaut function and capability. A mechanical counter pressure (MCP) space suit in the form of a tight elastic garment could dramatically improve extravehicular activity (EVA) dexterity, but also be advantageous in safety, cost, mass and volume. The purpose of this study was to verify that a prototype MCP glove exerts the design compression of 200 mmHg, a pressure similar to the current NASA EVA suit. Methods: Seven male subjects donned a pressure measurement array and MCP glove on the right hand, which was placed into a partial vacuum chamber. Average compression was recorded on the palm, the bottom of the middle finger, the top of the middle finger and the dorsum of the hand at pressures of 760 (ambient), 660 and 580 mmHg. The vacuum chamber was used to simulate the pressure difference between the low breathing pressure of the current NASA space suits (approximately 200 mmHg) and an unprotected hand in space. Results: At ambient conditions, the MCP glove compressed the dorsum of the hand at 203.5 +/- 22.7 mmHg, the bottom of the middle finger at 179.4 +/- 16.0 mmHg, and the top of the middle finger at 183.8 +/- 22.6 mmHg. The palm compression was significantly lower (59.6 +/- 18.8 mmHg, p<0.001). There was no significant change in glove compression with the chamber pressure reductions. Conclusions: The MCP glove compressed the dorsum of the hand and middle finger at the design pressure.
NASA Discipline Life Sciences Technologies↗
The detection of clouds, aerosols and marine atmospheric boundary layer characteristics from simulated GLAS data
Scheduled for launch in 2001 as part of NASA's Earth Observing System (EOS), the Geoscience Laser Altimeter System (GLAS) will provide continuous laser sounding of the earth's atmosphere from space for the first time. From its polar orbit about 600 km above the surface, GLAS will employ a 40 Hz solid state laser operating at 1064 nm to measure topography to an accuracy of 10 cm. Simultaneously, the atmospheric channels (1064 and 532 nm) of GLAS will provide profiles of atmospheric backscatter from 40 km to the ground with 75 meter vertical resolution (Spinhirne and Palm, 1996). These measurements will give scientists an unprecedented global data set on the vertical structure of clouds and aerosols which will greatly aid research efforts aimed at understanding their effects on climate and their role in climate change (Hartman, 1994). To better understand and predict the performance of the GLAS atmospheric channels, a computer model was developed to simulate the type of signal that the instrument would likely produce. The model uses aircraft lidar data and provides realistic simulated GLAS data sets over large areas spanning a wide range of atmospheric conditions. These simulated GLAS datasets are invaluable for designing and testing algorithms for the retrieval of parameters such as cloud and aerosol layer height, optical depth and extinction cross section. This work is currently proceeding and in this paper we will present results of the cloud and aerosol detection algorithm with emphasis on the detection of Marine Atmospheric Boundary Layer (MABL) aerosol. In addition, we use a recently developed technique to ascertain the feasability of estimating MABL moisture and temperature structure from spaceborne systems such as GLAS.
Palm, Stephen P.↗