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At least 415 records · Page 23

Path planning for planetary rover using extended elevation map

This paper describes a path planning method for planetary rovers to search for paths on planetary surfaces. The planetary rover is required to travel safely over a long distance for many days over unfamiliar terrain. Hence it is very important how planetary rovers process sensory information in order to understand the planetary environment and to make decisions based on that information. As a new data structure for informational mapping, an extended elevation map (EEM) has been introduced, which includes the effect of the size of the rover. The proposed path planning can be conducted in such a way as if the rover were a point while the size of the rover is automatically taken into account. The validity of the proposed methods is verified by computer simulations.

Nakatani, Ichiro↗

The Decay of Optical Emission from the gamma-Ray Burst GRB970228

The origin of gamma-ray bursts has been one of the great unsolved mysteries in high-energy astrophysics for almost 30 years. The recent discovery of fading sources at X-ray and optical wavelengths coincident with the location of the gamma-ray burst GRB970228 therefore provides an unprecedented opportunity to probe the nature of these high-energy events. The optical counterpart appears to be a transient point source embedded in a region of extended nebulosity, the latter having been tentatively identified as a high-redshift galaxy. This would seem to favour models that place gamma-ray bursts at cosmological distances, although a range of mechanisms for producing the bursts is still allowed. A crucial piece of information for distinguishing between such models is how the brightness of the optical counterpart evolves with time. Here we re-evaluate the existing photometry of the optical counterpart of GRB970228 to construct an optical light curve for the transient event. We find that between 21 hours and six days after the burst, the R-band brightness decreased by a factor of approximately 40, with any subsequent decrease in brightness occurring at a much slower rate. As the point source faded, it also became redder. The initial behaviour of the source appears to be consistent with the 'fireball' model, but the subsequent decrease in the rate of fading may prove harder to explain.

Galama, T.↗

The Decay of Optical Emission Form the Gamma-Ray Burst GRB 970228

The origin of gamma-ray bursts has been one of the great unsolved mysteries in high-energy astrophysics for almost 30 years. The recent discovery of fading sources at X-ray and optical wave-lengths coincident with the location of the gamma-ray burst GRB970228 therefore provides an unprecedented opportunity to probe the nature of these high-energy events. The optical counterpart appears to be a transient point source embedded in a region of extended nebulosity, the latter having been tentatively identified as a high-redshift galaxy. This would seem to favour models that place gamma-ray bursts at cosmological distances, although a range of mechanisms for producing the bursts is still allowed. A crucial piece of information for distinguishing between such models is how the brightness of the optical counterpart evolves with time. Here we re-evaluate the existing photometry of the optical counterpart of GRB970228 to construct an optical light curve for the transient event. We find that between 21 hours and six days after the burst, the R-band brightness decreased by a factor of approx. 50, with any subsequent decrease in brightness occurring at a much slower rate. As the point source faded, it also became redder. The initial behaviour of the source appears to be consistent with the 'fireball' model, in which the burst results from the merger of two neutron stars, but the subsequent decrease in the rate of fading may prove harder to explain. The gamma-ray burst of 28 February 1997, detected with the Gamma-Ray Burst Monitor on board the BeppoSAX satellite, and located with an approx. 3 feet radius position with the Wide Field Camera on the same satellite, was the first for which a fading X-ray and optical counterpart were discovered. The optical Counterpart was discovered from a comparison of V- and I-band images taken with the William Herschel Telescope (WHT) on February 28.99 UT, and the Isaac Newton Telescope (INT; V band) and the WHT (I band) on March 8.8 uT.

Galama, T.↗

Bio-Optics of the Chesapeake Bay from Measurements and Radiative Transfer Calculations

We combined detailed bio-optical measurements and radiative transfer (RT) modeling to perform an optical closure experiment for optically complex and biologically productive Chesapeake Bay waters. We used this experiment to evaluate certain assumptions commonly used when modeling bio-optical processes, and to investigate the relative importance of several optical characteristics needed to accurately model and interpret remote sensing ocean-color observations in these Case 2 waters. Direct measurements were made of the magnitude, variability, and spectral characteristics of backscattering and absorption that are critical for accurate parameterizations in satellite bio-optical algorithms and underwater RT simulations. We found that the ratio of backscattering to total scattering in the mid-mesohaline Chesapeake Bay varied considerably depending on particulate loading, distance from land, and mixing processes, and had an average value of 0.0128 at 530 nm. Incorporating information on the magnitude, variability, and spectral characteristics of particulate backscattering into the RT model, rather than using a volume scattering function commonly assumed for turbid waters, was critical to obtaining agreement between RT calculations and measured radiometric quantities. In situ measurements of absorption coefficients need to be corrected for systematic overestimation due to scattering errors, and this correction commonly employs the assumption that absorption by particulate matter at near infrared wavelengths is zero.

Tzortziou, Maria↗

Trajectory Design Considerations for Exploration Mission 1

Exploration Mission 1 (EM-1) will be the first mission to send an uncrewed Orion Multi-Purpose Crew Vehicle (MPCV) to cislunar space in the fall of 2019. EM-1 was originally conceived as a lunar free-return mission, but was later changed to a Distant Retrograde Orbit (DRO) mission as a precursor to the Asteroid Redirect Mission. To understand the required mission performance (i.e., propellant requirement), a series of trajectory optimization runs was conducted using JSC's Copernicus spacecraft trajectory optimization tool. In order for the runs to be done in a timely manner, it was necessary to employ a parallelization approach on a computing cluster using a new trajectory scan tool written in Python. Details of the scan tool are provided and how it is used to perform the scans and post-process the results. Initially, a scan of daily due east launched EM-1 DRO missions in 2018 was made. Valid mission opportunities are ones that do not exceed the useable propellant available to perform the required burns. The initial scan data showed the propellant and delta-V performance patterns for each launch period. As questions were raised from different subsystems (e.g., power, thermal, communications, flight operations, etc.), the mission parameters or data that were of interest to them were added to the scan output data file. The additional data includes: (1) local launch and landing times in relation to sunrise and sunset, (2) length of eclipse periods during the in-space portion of the mission, (3) Earth line of sight from cislunar space, (4) Deep Space Network field of view looking towards cislunar space, and (5) variation of the downrange distance from Earth entry interface to splashdown. Mission design trades can also be performed based on the information that the additional data shows. For example, if the landing is in darkness, but the recovery operations team desires a landing in daylight, then an analysis is performed to determine how to change the mission design to meet this request. Also, subsystems request feasibility of alternate or contingency mission designs, such as adding an Orion main engine checkout burn or Orion completing all of its burns using only its auxiliary thrusters. This paper examines and presents the evolving trade studies that incorporate subsystem feedback and demonstrate the feasibility of these constrained mission trajectory designs and contingencies.

Dawn, Timothy F.↗

Improved Rainfall Data in the Philippines through Concurrent Use of GPM IMERG and Ground-Based Measurements

The availability of accurate and reliable rainfall data that are applicable to various phenomenological, climatological, and modeling studies is important, especially in the Philippines, which is considered to be highly vulnerable to natural hazards and a changing climate. The presented strategy involved constructing a dataset consisting of synoptic data, automatic rain gauge (ARG) measurements, and satellite data that are co-registered, consistent, and formatted in the same manner. Although sparse in number, the synoptic stations provide the most accurate rainfall information and were used as the baseline for creating the dataset. The ARGs that are within a distance of 1 km to the synoptic stations were used to determine the correction factors needed to make the synoptic and ARG data consistent. Subsequently, the corrected ARGs were used to make the satellite IMERG data consistent with both ARG and synoptic data. In case of the latter, only IMERG pixels with at least 10 ARGs within the relatively large footprint of the satellite sensor were used in estimating the required correction parameters derived from a combination of a power transform and linear regression correction techniques. The final results show good agreement of synoptic and corrected ARG data with correlation coefficients of 0.94 and 0.97 for the 10 day and monthly data, respectively, and improvement in the linear regression slope from 0.67 to 0.90 for 10 day data, and 0.70 to 0.94 for monthly data. In addition, the corrected ARG data agree well with the corrected IMERG data, with correlation coefficients of 0.88 and 0.93 for the 10 day and monthly data, respectively, and an improvement in slope from 0.66 to 0.87 for 10 day data, and 0.74 to 0.99 for monthly data. The merit of using a combined dataset is illustrated through comparative analyses of the IMERG data and spatially interpolated synoptic and ARG data. The results show general agreements in spatial patterns of rainfall across the datasets, especially in areas where in situ measurements are recorded. The observed discrepancy when ground data is limited emphasizes the need for satellite IMERG data to obtain the true spatial patterns of rainfall distribution.

rainfall↗

Reinforcement Learning for Energy-Movement Optimization in Arduino-Based Robotics

Our goal is to develop a learning method for an Arduino-based robotthat maximizes travel distance and minimizes energy expenditure. • Will implement State ActionReward State Action (SARSA) reinforcement learning algorithm • Learning steps informed by state of environment • Rewards good decisions and punishes bad ones.

Gilmore, Blake↗

A Data-Fusion Method using Bayesian Approach to Enhance Raw Data Accuracy of Position and Distance Measurements for Connected Vehicles

Accurate positioning of vehicles is a critical element of autonomous and connected vehicle systems. Most of other studies heavily focused on enhancing simultaneous localization and mapping (SLAM) methods, i.e., constructing or updating a map of an unknown environment and tracking an object within the map. This paper provides a method that can, in addition to existing SLAM or relevant methods, enhance the raw measurements of position and distance. The basic idea of this study is to identify and update the error distribution of each data source by combining all available information. A Bayesian approach was incorporated to estimate and update the error distribution of individual data sources or sensors. The proposed method can be conducted in real-time environments, and a self-learning scheme determines whether enough data has been collected to further improve the accuracy of such measurements. The simulated experiments show that the proposed model noticeably improves the accuracy of position and distance measurements. Especially, the estimated biases of position coordinates and distance measures are very close to the biases of true error distributions, with the R-squared over 0.98. A similar approach can also be utilized to enhance accuracy of other sensors or measurements in connected vehicle or relevant systems, where multi-data sources are available.

Lim, Hyeonsup↗

The X-ray luminosity function of Abell clusters

X-ray sources identified with Abell clusters of galaxies in distance classes less than or equal to 3 give a quantitative estimate of the volume luminosity function for those clusters emitting between 10 to the 44th and 10 to the 45th power ergs/s in X-rays. At higher luminosities, tentative identifications with more distant clusters can be interpreted at least as an upper limit. This limit allows a smooth extension of the luminosity function, but with a fairly steep decrease in the range from 10 to the 45th to 10 to the 46th power ergs/s. No direct information is available for luminosities less than 10 to the 44th power ergs/s because current X-ray surveys are limited to nearby distances with very few Abell clusters; however, constraints at the low-luminosity end can be set by considering the total volume density of Abell clusters and the upper limit to the numbers of unidentified X-ray sources. The luminosity function must flatten or turn over below 10 to the 44th power ergs/s; therefore, counts of distant X-ray clusters to such a faint intrinsic luminosity can yield cosmological information.

Schwartz, D. A.↗

Bandwidth-efficient high-speed coded trellis modulation

A burst-mode coded trellis modulation system is discussed which is capable of 200-Mbit/s information rate transmission over nonlinear satellite transponders whose center frequencies are separated by 100 MHz. An overall real bandwidth efficiency of 2 bit/s per Hz of the allocated spectrum is projected. Convolutional codec and 8-PSK modulation subsystems together maximize the minimum Euclidean distance between the modulated codeword sequences in the overall coded trellis, resulting in a 4.3-dB asymptotic coding advantage over an uncoded 8-PSK system signalling at the same information rate over the same channel. The system performance has been evaluated by computer simulation.

Fang, R. J. F.↗

The geoid: Definition and determination

The determination of the geoid has been one of the prime goals of geodesy. Knowledge of geoid undulations with respect to some reference surface was needed for the determination of the figure of the earth, for the precise reduction of distance measurements to a reference ellipsoid, and for the determination of the geocentric location of points on the surface of the earth. Currently and in the future, undulation information can also be used in geophysical studies related to crustal structures and in oceanographic studies related to sea surface topography. The actual determination of global geoids has been carried out by using gravimetric data, satellite‐derived information related to the gravitational field of the earth, or a combination of the two techniques. Regional geoid determinations have been made by astrogeodetic techniques. For some applications of undulation information, undulation standard deviations of the order of ±5 m would be sufficient. Such an accuracy can be obtained by using data currently available. In the past few years, renewed interest in the geoid arose when the concept of satellite altimetry was proposed to measure the distance from the satellite to some area on the ocean surface.

Richard H. Rapp↗

Markov Chain Monte Carlo Joint Analysis of Chandra X-Ray Imaging Spectroscopy and Sunyaev-Zel'dovich Effect Data

X-ray and Sunyaev-Zel'dovich effect data can be combined to determine the distance to galaxy clusters. High-resolution X-ray data are now available from Chandra, which provides both spatial and spectral information, and Sunyaev-Zel'dovich effect data were obtained from the BIMA and Owens Valley Radio Observatory (OVRO) arrays. We introduce a Markov Chain Monte Carlo procedure for the joint analysis of X-ray and Sunyaev- Zel'dovich effect data. The advantages of this method are the high computational efficiency and the ability to measure simultaneously the probability distribution of all parameters of interest, such as the spatial and spectral properties of the cluster gas and also for derivative quantities such as the distance to the cluster. We demonstrate this technique by applying it to the Chandra X-ray data and the OVRO radio data for the galaxy cluster A611. Comparisons with traditional likelihood ratio methods reveal the robustness of the method. This method will be used in follow-up paper to determine the distances to a large sample of galaxy cluster.

Bonamente, Massimillano↗

Sulfur Pellets Responses to a Bare and Steel Reflected Pulse of the Oak Ridge National Laboratory Health Physics Research Reactor

The experiments analyzed in this report were conducted at the Health Physics Research Reactor (HPRR), also known as the $\textit{Fast Burst Reactor}$. The reactor was designed and built at Oak Ridge National Laboratory (ORNL) in 1961. The HPRR was an unmoderated, unshielded fast reactor that used highly enriched uranium and molybdenum alloy as fuel. The reactor was initially sent to the Nevada Test Site in 1962, where it was used to evaluate radiation doses received as a result of the Hiroshima and Nagasaki bombings during World War II. A few years later, the reactor was sent back to ORNL to be part of the Dosimetry Application Research (DOSAR) facility shown in Figure 1, which included a reactor building shown on the left (west) of the picture and a control and laboratory building in the upper right corner (northeast). The critical assembly was used for numerous technical studies, including systems calibration, dosimetry, radiobiology of plants and animals, testing of radiation alarms, as well as teaching and training in radiation dosimetry and nuclear engineering. Between 1963 and 1987, the HPRR was operated for thousands of hours, achieving criticality close to 10,000 times and motivating many publications. The HPRR was decommissioned in 1987. The goal of this effort was to use historical data from operation of the HPRR to create a criticality accident alarm system (CAAS) benchmark to be included in the $\textit{International Handbook of Evaluated Criticality Safety Benchmark Experiments}$ (ICSBEP Handbook). A thorough inspection was performed of all available documentation and information available. The most promising experiments that were selected for evaluation were those described in the 1987 ORNL report entitled $\textit{Health Physics Research Reactor Reference Dosimetry}$, ORNL-6240. The report includes reference dosimetry results of the shielded and unshielded configurations of the HPRR after burst operations. Because of changes to the reactor positioning and storage systems that were made in 1985, the previous dosimetry reports became obsolete, and the newly designed experiments were needed to create the HPRR’s adjusted dosimetry data. The various results reported in ORNL-6240 include reference doses and dose equivalents from different conventions at different distances and elevations as determined using the detected neutron fluence and conversion factors. The HPRR neutron fluence was obtained through different methods, including sulfur pellet analysis and threshold detector unit data. Information about the HPRR spectrum was also obtained through Bonner sphere measurements. This benchmark is focused on a part of the measured sulfur fluences reported in Appendix H of ORNL-6240. Standard commercial sulfur pellets were placed at different distances from the HPRR centerline during burst operation and were activated due to the 32 S(n,p) 32 P reaction. The resulting 32 P activity was then measured and the information about the corresponding sulfur fluence and/or neutron dose could be extracted. Many of those measurements have 7 been performed with the HPRR in its bare configuration or with different shields (combinations of Lucite, concrete, steel). All the necessary, precise information about material and/or dimensions of the different shields was not found, so it was decided to focus only on the unshielded and steel-shielded configurations to minimize the benchmark uncertainty. A total of 31 cases (24 unshielded and 7 shielded cases at different positions) of sulfur fluence were selected before evaluation to develop the benchmark.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

Distance estimation and collision prediction for on-line robotic motion planning

An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time.

Kyriakopoulos, K. J.↗

The Coordination Behaviour of Cu I Photosensitizers Bearing Multidentate Ligands Investigated by X-ray Absorption Spectroscopy

A systematic series of four novel homo- and heteroleptic CuI photosensitizers based on tetradentate 1,10-phenanthroline ligands of the type X^N^N^X containing two additional donor moieties in the 2,9-position (X=SMe or OMe) were designed. Their solid-state structures were assessed by X-ray diffraction. Cyclic voltammetry, UV-vis absorption, emission and X-ray absorption spectroscopy were then used to determine their electrochemical, photophysical and structural features in solution. Following, time-resolved X-ray absorption spectroscopy in the picosecond time scale, coupled with time-dependent density functional theory calculations, provided in-depth information on the excited state electron configurations. For the first time, a significant shortening of the Cu–X distance and a change in the coordination mode to a pentacoordinated geometry is shown in the excited states of the two homoleptic complexes. These findings are important with respect to a precise understanding of the excited state structures and a further stabilization of this type of photosensitizers.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Nematic cell alignment directs calcium waves in an epithelial monolayer

Tissues rely on supracellular signals to coordinate their cells over a long range. Two such tissuescale cues are calcium waves and patterns of cell-cell alignment or nematic order. During wound healing, for example, calcium waves propagate across a tissue to guide directed cell migration and reepithelialization. Defects in long-range cell-cell alignment, or nematic orientation, can act to localize morphogenetic events in a tissue. Although these two cues have been considered in isolation, we demonstrate a relationship in epithelial tissue between long-range calcium signaling and the cell’s nematic order: The speed of a wound-induced calcium wave depends monotonically on the angle between the wave vector and cell axis, with maximal wave speed occurring perpendicular to the tissue’s orientation. Including anisotropic di↵usive coupling between cells in a canonical reactiondi↵usion model recapitulates our measured calcium wave dynamics. Our model demonstrates how orientation defects can desynchronize information propagation across a tissue. A calcium wave front is bent around nematic defects, therefore cells the same distance from a wound can receive the calcium signal at di↵erent times. Our work elucidates how spatial patterns in global cell alignment can control collective communication via calcium signaling during development, wound healing, and disease.

Winterstrain, Annemarie C. [Brandeis University, W↗

Quantum repeaters based on concatenated bosonic and discrete-variable quantum codes

Abstract We propose an architecture of quantum-error-correction-based quantum repeaters that combines techniques used in discrete- and continuous-variable quantum information. Specifically, we propose to encode the transmitted qubits in a concatenated code consisting of two levels. On the first level we use a continuous-variable GKP code encoding the qubit in a single bosonic mode. On the second level we use a small discrete-variable code. Such an architecture has two important features. Firstly, errors on each of the two levels are corrected in repeaters of two different types. This enables for achieving performance needed in practical scenarios with a reduced cost with respect to an architecture for which all repeaters are the same. Secondly, the use of continuous-variable GKP code on the lower level generates additional analog information which enhances the error-correcting capabilities of the second-level code such that long-distance communication becomes possible with encodings consisting of only four or seven optical modes.

Physics↗

Factorized QED and QCD contribution to deeply inelastic scattering

We present the first calculation of next-to-leading order (NLO) factorized QED and QCD contributions to the short-distance hard coefficients of inclusive lepton-hadron deep inelastic scattering (DIS) in a joint QED and QCD factorization approach. Unlike the traditional radiative correction approach to handle the collision-induced QED contributions to DIS, QED radiation from all charged leptons and quarks are treated equally, and their collinear sensitivities are systematically factorized into corresponding universal lepton and parton distribution functions. We demonstrate that the NLO factorized short-distance QED contribution is completely infrared safe and calculable without the need of any parameters other than the standard factorization scale in the same way as the factorized short-distance QCD contribution. We discuss the potential impact of this joint factorization approach on the extraction of partonic information from lepton-hadron DIS.

Deep inelastic scattering↗