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At least 361 records · Page 20

Docking System With Video Feedback

Video-sensor/electronic-feedback control system being developed to provide automatic control of final stage of approach of active vehicle to passive vehicle or object. No communication between vehicles necessary. Docking target, mounted on post on passive vehicle, has three reflective dots, positions of which measured in image to determine relative position and orientation of target and vehicle. Control channels process video-sensor feedback into motion-control signals (thrustor commands in spacecraft or motor commands in robot). Conceived for use aboard chasing spacecraft to control its maneuvers in docking with chased spacecraft, concept also useful in controlling coupling of aircraft in flight or vessels on water or in controlling approach of robot to object to be manipulated.

Dabrey, Richard↗

Detection Of Motion With A Phase-Conjugate Mirror

Photorefractive image-processing apparatus generates images of rapidly moving objects and suppresses images of stationary and slowly moving objects. Resembles apparatus described in article, "Improved Interferometric Photorefractive Optical Processor", NPO-17773. Principle of operation similar, except system includes two video cameras and instead of transparencies, electro-optical spatial light modulators used to impress image information from video camera on laser beams.

Cheng, Li-Jen↗

Generalized theory for seaplane impact

The motions, hydrodynamic loads, and pitching moments experienced by v-bottom seaplanes during step-landing impacts are analyzed and the theoretical results are compared with experimental data. In the analysis, the primary flow about the immersed portion of a keeled hull or float is considered to occur in transverse flow planes and the concept of virtual mass is applied to determined the reaction of the water to the motions of the seaplane. The entire immersion process is analyzed from the instant of initial contact until the seaplane rebounds from the water surfaces. The analysis is applicable to the complete range of initial contact conditions between the case of impacts where the resultant velocity is normal to the keel and the limiting condition of planing.

Milwitzky, Benjamin↗

Scripting human animations in a virtual environment

The current deficiencies of virtual environment (VE) are well known: annoying lag time in drawing the current view, drastically simplified environments to reduce that time lag, low resolution and narrow field of view. Animation scripting is an application of VE technology which can be carried out successfully despite these deficiencies. The final product is a smoothly moving high resolution animation displaying detailed models. In this system, the user is represented by a human computer model with the same body proportions. Using magnetic tracking, the motions of the model's upper torso, head and arms are controlled by the user's movements (18 degrees of freedom). The model's lower torso and global position and orientation are controlled by a spaceball and keypad (12 degrees of freedom). Using this system human motion scripts can be extracted from the user's movements while immersed in a simplified virtual environment. Recorded data is used to define key frames; motion is interpolated between them and post processing adds a more detailed environment. The result is a considerable savings in time and a much more natural-looking movement of a human figure in a smooth and seamless animation.

Goldsby, Michael E.↗

Numerical modeling of Bridgman growth of PbSnTe in a magnetic field

In this work we study heat and mass transport, fluid motion, and solid/liquid phase change in the process of steady Bridgman growth of Pb(.8)Sn(.2)Te (LTT) in an axially-imposed uniform magnetic field under terrestrial and microgravity conditions. In particular, this research is concerned with the interrelationships among segregation, buoyancy-driven convection, and magnetic damping in the LTT melt. The main objectives are to provide a quantitative understanding of the complex transport phenomena during solidification of the nondilute binary of LTT, to provide estimates of the strength of magnetic field required to achieve the desired diffusion-dominated growth, and to assess the role of magnetic damping for space and earth based control of the buoyancy-induced convection. The problem was solved by using FIDAP and numerical results for both vertical and horizontal growth configurations with respect to the acceleration of gravity vector are presented.

Yao, Minwu↗

Low Reynolds number kappa-epsilon and empirical transition models for oscillatory pipe flow and heat transfer

Stirling engine heat exchangers are shell-and-tube type with oscillatory flow (zero-mean velocity) for the inner fluid. This heat transfer process involves laminar-transition turbulent flow motions under oscillatory flow conditions. A low Reynolds number kappa-epsilon model, (Lam-Bremhorst form), was utilized in the present study to simulate fluid flow and heat transfer in a circular tube. An empirical transition model was used to activate the low Reynolds number k-e model at the appropriate time within the cycle for a given axial location within the tube. The computational results were compared with experimental flow and heat transfer data for: (1) velocity profiles, (2) kinetic energy of turbulence, (3) skin friction factor, (4) temperature profiles, and (5) wall heat flux. The experimental data were obtained for flow in a tube (38 mm diameter and 60 diameter long), with the maximum Reynolds number based on velocity being Re(sub max) = 11840, a dimensionless frequency (Valensi number) of Va = 80.2, at three axial locations X/D = 16, 30 and 44. The agreement between the computations and the experiment is excellent in the laminar portion of the cycle and good in the turbulent portion. Moreover, the location of transition was predicted accurately. The Low Reynolds Number kappa-epsilon model, together with an empirical transition model, is proposed herein to generate the wall heat flux values at different operating parameters than the experimental conditions. Those computational data can be used for testing the much simpler and less accurate one dimensional models utilized in 1-D Stirling Engine design codes.

Bauer, Christopher↗

Dynamic orbit determination using GPS measurements from TOPEX/POSEIDON

The GPAS data acquired by the TOPEX/POSEIDON (T/P) Demonstration Receiver (DR) have been used in a dynamic orbit determination, which was based on the description of the gravitational and nongravitational forces in the equations of motion. The GPS carrier phase data were processed in a double difference mode to remove clock errors, including the effects of Selective Availability. Simultaneous estimation of the T/P orbit and GPS orbits was performed using five 10-day cycles in the interval between December (1992) and April (1993). The resulting T/P orbits have been compared with the orbits determined from Satellite Laser Ranging, the French one-way Doppler tracking system, DORIS, and with the JPL reduced dynamic orbit determination strategies and force models with the GPS/DR to those used with SLR/DORIS, the radial component of the T/P orbit (based on JGM-2) was found to agree better than 30 mm (rms) and 35 mm with the JPL reduced dynamic orbit. An experiment gravity tuning was accomplished using four cycles of GPS/DR data. The resulting GPS./DR-orbits, determined by the dynamic technique with the experimental gravity field, are in better agreement with the JPL reduced dynamic orbits in both the radial component (21-25 mm) and altimeter crossover residuals than the JGM-2 orbits. (21-25 mm) and altimeter crossover residuals than the JGM-2 orbits.

Schultz, B. E.↗

Some wave-particle effects on large-scale Alfven wave propagation and damping

Phase mixing can reduce greatly the torsional Alfven wave's dissipation length for propagation in complex magnetic field-line geometries. This phase mixing causes significant energy transfers from large to small scales where a conversion from ordered wave energy into a particle kinetic form occurs. This conversion during its initial stages is an entropy conserving process well described by Vlasov theory, Nonlinear stages of wave-particle resonance, particle trapping, and collisional resistivity are often invoked as processes eventually responsible for converting ordered wave motions into random thermal motion. Strictly speaking, this entropy producing phase cannot be described within Vlasov theory, and the large-scale effects of these microscopic events resides at the difficult frontier between generalized fluid and kinetic theories. We attempt to describe certain aspects of such resonances within the framework of fluid theory focusing on torsional Alfven wave energy transport and deposition within flux tubes.

Siregar, E.↗

VLSI Neural Networks Help To Compress Video Signals

Advanced analog/digital electronic system for compression of video signals incorporates artificial neural networks. Performs motion-estimation and image-data-compression processing. Effectively eliminates temporal and spatial redundancies of sequences of video images; processes video image data, retaining only nonredundant parts to be transmitted, then transmits resulting data stream in form of efficient code. Reduces bandwidth and storage requirements for transmission and recording of video signal.

Fang, Wai-Chi↗

Interaction between Convection and Heat Transfer in Crystal Growth

Crystals are integral components in some of our most sophisticated and rapidly developing industries. Single crystals are solids with the most uniform structures that can be obtained on an atomic scale. Because of their structural uniformity, crystals can transmit acoustic and electromagnetic waves and charged particles with essentially no scattering or interferences. This transparency, which can be selectively modified by controlled additions of impurities known as dopants, is the foundation of modern electronic industry. It has brought about widespread application of crystals in transistors, lasers, microwave devices, infrared detectors, magnetic memory devices, and many other magnets and electro-optic components. The performance of a crystal depends strongly on its compositional homogeneity. For instance, in modern microcircuitry, compositional variations of a few percent (down to a submicron length scale) can seriously jeopardize predicted yields. Since crystals are grown by carefully controlled phase transformations, the compositional adjustment in the solid is often made during growth from the nutrient. Hence, a detailed understanding of mass transfer in the nutrient is essential. Moreover, since mass transfer is often the slowest process during growth, it is usually the rate limiting mechanism. Crystal growth processes are usually classified according to the nature of the parent phase. Nevertheless, whether the growth occurs by solidification from a melt (melt growth), nucleation from a solution (solution growth), condensation from a vapor (physical vapor transport) or chemical reaction of gases (chemical vapor deposition), the parent phase is a fluid. As is with most non-equilibrium processes involving fluids, liquid or vapor, fluid motion plays an important role, affecting both the concentration and temperature gradients at the soli-liquid interface.

Source record↗

A Note on Trapping Moving Vortices

The topic of stationary configurations of point vortices, also known as vortex equilibrium, has received considerable attention in recent years. By observing numerical results, it is found that a "counterpart" of this system also exists, in which moving vortices may be "trapped" by an inlet-like device to form a stationary pattern with no translational motion. After an intuitive explanation for the process, vortex trajectory maps based on numerical results are presented. These maps exhibit two stationary points under the present conditions, which are the focal points of vortex trajectories. A vortex upstream of these points, if within a certain offset range, will move towards these points spontaneously and be captured there. This proposed device is also capable of trapping spinning vortex pairs and triads. It is possible to impose a uniform stream at infinity, as long as the flow field is still dominated by the moving vortices.

Kao, Hsiao C.↗

Spacecraft Formation Design Near the Sun-Earth L(sub 2) Point

Over the next two decades international space agencies including the National Aeronautics and Space Administration and the European Space Agency are proposing space missions which employ distributed spacecraft technologies to enable vast improvements in remote sensing performance as compared to fundamental performance limitations associated with fairing sizes of even the largest launch vehicles. A key initial step towards enabling such challenging missions is the development of processes and algorithms for designing the desired motion of the spacecraft formation subject to simultaneous gravitational and fuel constraints. In this paper we develop analogous methodologies for designing trajectories of relative motion near the L(sub 2) point as have been thoroughly developed for the Earth-orbiting regime. In this preliminary study, we confine ourselves to the basic assumptions of the Circular Restricted Three-Body Problem where disturbances, non-gravitational effects, and fourth and greater body affects are ignored. The focus is on determining formations that are defined primarily by the natural gravitational effects on the vehicles, such that maintenance over long-term will not require significant fuel consumption.

Collange, Guillaume↗

Relative Navigation In Elliptical Orbits Using An Iterative Nonlinear Filter

The two step filter is applied to process intersatellite radar measurements to determine the motion of one satellite relative to another in close elliptical orbits. This filter breaks a nonlinear estimation problem into two state vectors. The 'first step' state is chosen so as to have a linear measurement equation. This is nonlinearly related to the 'second step' state which describes the dynamics. Two different forms are used. In one, the first step state is the second step state vector augmented by the measurement equation. In the other, the first step and second step state vectors are of equal dimension. The two step filter is compared against an iterated extended Kalman filter and a Kalman filter using a change of variables. Analytical differences between the two step estimator and these conventional filters are highlighted. Special concerns for initializing the first step state covariance matrix and handling the possibility of numerically rank deficient covariance matrices are addressed. Numerical simulations are performed which show that the Two Step estimator produces a lower estimation bias under two circumstances; large apriori initial error; and small dimension observation vectors which require a longer arc of measurements to generate observability of the state.

Garrison, James L.↗

The Precision Formation Flying Integrated Analysis Tool (PFFIAT)

Several space missions presently in the concept phase (e.g. Stellar Imager, Sub- millimeter Probe of Evolutionary Cosmic Structure, Terrestrial Planet Finder) plan to use multiple spacecraft flying in precise formation to synthesize unprecedently large aperture optical systems. These architectures present challenges to the attitude and position determination and control system; optical performance is directly coupled to spacecraft pointing with typical control requirements being on the scale of milliarcseconds and nanometers. To investigate control strategies, rejection of environmental disturbances, and sensor and actuator requirements, a capability is needed to model both the dynamical and optical behavior of such a distributed telescope system. This paper describes work ongoing at NASA Goddard Space Flight Center toward the integration of a set of optical analysis tools (Optical System Characterization and Analysis Research software, or OSCAR) with the Formation J?lying Test Bed (FFTB). The resulting system is called the Precision Formation Flying Integrated Analysis Tool (PFFIAT), and it provides the capability to simulate closed-loop control of optical systems composed of elements mounted on multiple spacecraft. The attitude and translation spacecraft dynamics are simulated in the FFTB, including effects of the space environment (e.g. solar radiation pressure, differential orbital motion). The resulting optical configuration is then processed by OSCAR to determine an optical image. From this image, wavefront sensing (e.g. phase retrieval) techniques are being developed to derive attitude and position errors. These error signals will be fed back to the spacecraft control systems, completing the control loop. A simple case study is presented to demonstrate the present capabilities of the tool.

Stoneking, Eric↗

The Precision Formation Flying Integrated Analysis Tool (PFFIAT)

Several space missions presently in the concept phase (e.g. Stellar Imager, Submillimeter Probe of Evolutionary Cosmic Structure, Terrestrial Planet Finder) plan to use multiple spacecraft flying in precise formation to synthesize unprecedently large aperture optical systems. These architectures present challenges to the attitude and position determination and control system; optical performance is directly coupled to spacecraft pointing with typical control requirements being on the scale of milliarcseconds and nanometers. To investigate control strategies, rejection of environmental disturbances, and sensor and actuator requirements, a capability is needed to model both the dynamical and optical behavior of such a distributed telescope system. This paper describes work ongoing at NASA Goddard Space Flight Center toward the integration of a set of optical analysis tools (Optical System Characterization and Analysis Research software, or OSCAR) with the Formation Flying Test Bed (FFTB). The resulting system is called the Precision Formation Flying Integrated Analysis Tool (PFFIAT), and it provides the capability to simulate closed-loop control of optical systems composed of elements mounted on multiple spacecraft. The attitude and translation spacecraft dynamics are simulated in the FFTB, including effects of the space environment (e.g. solar radiation pressure, differential orbital motion). The resulting optical configuration is then processed by OSCAR to determine an optical image. From this image, wavefront sensing (e.g. phase retrieval) techniques are being developed to derive attitude and position errors. These error signals will be fed back to the spacecraft control systems, completing the control loop. A simple case study is presented to demonstrate the present capabilities of the tool.

Stoneking, Eric↗

Using Visual Odometry to Estimate Position and Attitude

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Maimone, Mark↗

The Angular Momentum of Baryons and Dark Matter Halos Revisited

Recent theoretical studies have shown that galaxies at high redshift are fed by cold, dense gas filaments, suggesting angular momentum transport by gas differs from that by dark matter. Revisiting this issue using high-resolution cosmological hydrodynamics simulations with adaptive-mesh refinement (AMR), we find that at the time of accretion, gas and dark matter do carry a similar amount of specific angular momentum, but that it is systematically higher than that of the dark matter halo as a whole. At high redshift, freshly accreted gas rapidly streams into the central region of the halo, directly depositing this large amount of angular momentum within a sphere of radius r = 0.1R(sub vir). In contrast, dark matter particles pass through the central region unscathed, and a fraction of them ends up populating the outer regions of the halo (r/R(sub vir) > 0.1), redistributing angular momentum in the process. As a result, large-scale motions of the cosmic web have to be considered as the origin of gas angular momentum rather than its virialised dark matter halo host. This generic result holds for halos of all masses at all redshifts, as radiative cooling ensures that a significant fraction of baryons remain trapped at the centre of the halos. Despite this injection of angular momentum enriched gas, we predict an amount for stellar discs which is in fair agreement with observations at z=0. This arises because the total specific angular momentum of the baryons (gas and stars) remains close to that of dark matter halos. Indeed, our simulations indicate that any differential loss of angular momentum amplitude between the two components is minor even though dark matter halos continuously lose between half and two-thirds of their specific angular momentum modulus as they evolve. In light of our results, a substantial revision of the standard theory of disc formation seems to be required. We propose a new scenario where gas efficiently carries the angular momentum generated by large-scale structure motions deep inside dark matter halos, redistributing it only in the vicinity of the disc.

Kimm, Taysun↗

Supraglacial River Forcing of Subglacial Water Storage and Diurnal Ice Sheet Motion

Surface melting impacts ice sheet sliding by supplying water to the bed, but subglacial processes driving ice accelerations are complex. We examine linkages between surface runoff, transient subglacial water storage, and short-term ice motion from 168 consecutive hourly measurements of meltwater discharge (moulin input) and GPS-derived ice surface motion for Rio Behar, a ∼60 sq. km moulin-terminating supraglacial river catchment on the southwest Greenland Ice Sheet. Short-term accelerations in ice speed correlate strongly with lag-corrected measures of supraglacial river discharge (r = 0.9, τ = 0.7, p < 0.01). Though our 7 days record cannot address seasonal-scale forcing, diurnal ice accelerations align with normalized differenced supraglacial and proglacial discharge, a proxy for subglacial storage change, better than GPS-derived ice surface uplift. These observations counter theoretical steady state basal sliding laws and suggest that moulin and proglacially induced fluctuations in subglacial water storage, rather than absolute subglacial water storage, drive short-term ice accelerations.

Glacial↗