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At least 433 records · Page 24

Kinematic analysis of 7 DOF anthropomorphic arms

A kinematic analysis of anthropomorphic seven-degree-of-freedom serial link spatial manipulators with revolute joints is presented. To uniquely determine joint angles for a given end-effector position and orientation, the redundancy is parameterized by a scalar variable which corresponds to the angle between the arm plane and a reference plane. The forward kinematic mappings from joint-space to end-effector coordinates and arm angle and the augmented Jacobian matrix which gives end-effector and arm angle rates as functions of joint rates are given. Conditions under which the augmented Jacobian becomes singular are given and are shown to correspond to the arm being either at a kinematically singular configuration or at a nonsingular configuration for which the arm angle ceases to parameterize the redundancy.

Kreutz-Delgado, K.↗

Transformation of two and three-dimensional regions by elliptic systems

A reliable linear system is presented for grid generation in 2-D and 3-D. The method is robust in the sense that convergence is guaranteed but is not as reliable as other nonlinear elliptic methods in generating nonfolding grids. The construction of nonfolding grids depends on having reasonable approximations of cell aspect ratios and an appropriate distribution of grid points on the boundary of the region. Some guidelines are included on approximating the aspect ratios, but little help is offered on setting up the boundary grid other than to say that in 2-D the boundary correspondence should be close to that generated by a conformal mapping. It is assumed that the functions which control the grid distribution depend only on the computational variables and not on the physical variables. Whether this is actually the case depends on how the grid is constructed. In a dynamic adaptive procedure where the grid is constructed in the process of solving a fluid flow problem, the grid is usually updated at fixed iteration counts using the current value of the control function. Since the control function is not being updated during the iteration of the grid equations, the grid construction is a linear procedure. However, in the case of a static adaptive procedure where a trial solution is computed and used to construct an adaptive grid, the control functions may be recomputed at every step of the grid iteration.

Mastin, C. Wayne↗

Incongruity, incongruity resolution, and mental states: The measure and modification of situational awareness and control

The research reported here describes the process of induction of various mental states. Our goals were to measure and to manipulate both the behavioral and the neurological correlates of particular mental states that have previously been demonstrated to be either beneficial or deleterious to in-flight performance situations. The experimental paradigm involved developing a context of which the participants were aware, followed by the introduction of an incongruity into that context. The empirical questions involved how the incongruity was resolved and the consequent effects on mental state. The dependent variables were measures of both the short-term ERP changes and the longer-term brain mapping indications of predominant mental states. The mission of NASA Flight Management Division and Human/Automation Integration Branch centers on the understanding and improvement of interaction between a complex system and a human operator. Specifically, the goal is improved efficiency through better operative procedures and control strategies. More efficient performance in demanding flight environments depends on improved situational awareness and replanning for fault management.

Derks, Peter L.↗

Multi-Epoch XMM Observations of NGC4258

The goal of this project is to better understand whether the well known, warped accretion disk around the supermassive black hole in NGC4258 is responsible for the observed X-ray absorbing column of gas. The active galactic nuclei (AGN) paradigm suggests that doughnut-like tori obscure black holes, not warped disks. Using radio interferometry, we have mapped the disk and its orientation. Through time monitoring radio observations we are following the rotation and variability in the disk structure. The disk crosses the line of sight to the black hole, if it is clumpy, then we will observe variations in the X-ray spectrum of NGC4258 on month to year time scales. We have reduced 14 epochs of very long base interferometry (VLBI) observations that we use to characterize the structure of the maser-laden accretion disk and its evolution. Five epochs of data remain to be reduced in the next year. We have received distributions of data for two of our four intended epochs of X-ray Multimirror Mission (XMM) observation. Because the first two epochs are relatively close in time, and because community understanding of how to calibrate XMM data has until recently been relatively immature, we are waiting until we receive the third epoch of data before we reduce the several datasets. Delivery of the third epoch should take place late this year. The last epoch of XMM observation will take place in mid-2002. In the next year, we will begin to combine constraints on disk clumpiness with estimates of X-ray variability observed by XMM.

Greenhill, Lincoln J.↗

The Glacier and Land Ice Surface Topography Interferometer (GLISTIN): A Novel Ka-band Digitally Beamformed Interferometer

The estimation of the mass balance of ice sheets and glaciers on Earth is a problem of considerable scientific and societal importance. A key measurement to understanding, monitoring and forecasting these changes is ice-surface topography, both for ice-sheet and glacial regions. As such NASA identified 'ice topographic mapping instruments capable of providing precise elevation and detailed imagery data for measurements on glacial scales for detailed monitoring of ice sheet, and glacier changes' as a science priority for the most recent Instrument Incubator Program (IIP) opportunities. Funded under this opportunity is the technological development for a Ka-Band (35GHz) single-pass digitally beamformed interferometric synthetic aperture radar (InSAR). Unique to this concept is the ability to map a significant swath impervious of cloud cover with measurement accuracies comparable to laser altimeters but with variable resolution as appropriate to the differing scales-of-interest over ice-sheets and glaciers.

ice surface topography↗

Advances in Remote Sensing for Vegetation Dynamics and Agricultural Management

Spaceborne remote sensing has led to great advances in the global monitoring of vegetation. For example, the NASA Global Inventory Modeling and Mapping Studies (GIMMS) group has developed widely used datasets from the Advanced Very High Resolution Radiometer (AVHRR) sensors as well as the Moderate Resolution Imaging Spectroradiometer (MODIS) map imagery and normalized difference vegetation index datasets. These data are valuable for analyzing vegetation trends and variability at the regional and global levels. Numerous studies have investigated such trends and variability for both natural vegetation (e.g., re-greening of the Sahel, shifts in the Eurasian boreal forest, Amazonian drought sensitivity) and crops (e.g., impacts of extremes on agricultural production). Here, a critical overview is presented on recent developments and opportunities in the use of remote sensing for monitoring vegetation and crop dynamics.

variability↗

Low-Thrust Trajectory Design for a Cislunar CubeSat Leveraging Structures from the Bicircular Restricted Four-Body Problem

The upcoming Lunar IceCube (LIC) mission will deliver a 6U CubeSat to a low lunar orbit via a ride-share opportunity during NASAs Artemis 1 mission. This presents a challenging trajectory design scenario, as the vast change in energy required to transfer from the initial deployment state to the destination orbit is compounded by the limitations of the LICs low-thrust engine. This investigation addresses these challenges by developing a trajectory design framework that utilizes dynamical structures available in the Bicircular Restricted Four-Body Problem (BCR4BP) along with a robust direct collocation algorithm. Maps are created that expedite the selection of invariant manifold paths from a periodic staging orbit in the BCR4BP that offer favorable connections between the LIC transfer phases. Initial guesses assembled from these maps are passed to a direct collocation algorithm that corrects them in the BCR4BP while including the variable low-thrust acceleration of the spacecraft engine. Results indicate that the ordered motion provided by the BCR4BP and the robustness of direct collocation combine to offer an efficient and adaptable framework for designing a baseline trajectory for the LIC mission.

Pritchett, Robert↗

Low-Thrust Trajectory Design for A Cislunar CubeSat Leveraging Structures from the Bicircular Restricted Four-Body Problem

The upcoming Lunar IceCube (LIC) mission will deliver a 6U CubeSat to a low lunar orbit via a ride-share opportunity during NASAs Artemis 1 mission. This presents a challenging trajectory design scenario, as the vast change in energy required to transfer from the initial deployment state to the destination orbit is compounded by the limitations of the LICs low-thrust engine. This investigation addresses these challenges by developing a trajectory design framework that utilizes dynamical structures available in the Bicircular Restricted Four-Body Problem (BCR4BP) along with a robust direct collocation algorithm. Maps are created that expedite the selection of invariant manifold paths from a periodic staging orbit in the BCR4BP that offer favorable connections between the LIC transfer phases. Initial guesses assembled from these maps are passed to a direct collocation algorithm that corrects them in the BCR4BP while including the variable low-thrust acceleration of the spacecraft engine. Results indicate that the ordered motion provided by the BCR4BP and the robustness of direct collocation combine to offer an efficient and adaptable framework for designing a baseline trajectory for the LIC mission.

Pritchett, Robert↗

Multi-scale variation in spatial heterogeneity for microbial community structure in an eastern Virginia agricultural field

To better understand the distribution of soil microbial communities at multiple spatial scales, a survey was conducted to examine the spatial organization of community structure in a wheat field in eastern Virginia (USA). Nearly 200 soil samples were collected at a variety of separation distances ranging from 2.5 cm to 11 m. Whole-community DNA was extracted from each sample, and community structure was compared using amplified fragment length polymorphism (AFLP) DNA fingerprinting. Relative similarity was calculated between each pair of samples and compared using geostatistical variogram analysis to study autocorrelation as a function of separation distance. Spatial autocorrelation was found at scales ranging from 30 cm to more than 6 m, depending on the sampling extent considered. In some locations, up to four different correlation length scales were detected. The presence of nested scales of variability suggests that the environmental factors regulating the development of the communities in this soil may operate at different scales. Kriging was used to generate maps of the spatial organization of communities across the plot, and the results demonstrated that bacterial distributions can be highly structured, even within a habitat that appears relatively homogeneous at the plot and field scale. Different subsets of the microbial community were distributed differently across the plot, and this is thought to be due to the variable response of individual populations to spatial heterogeneity associated with soil properties. c2003 Federation of European Microbiological Societies. Published by Elsevier Science B.V. All rights reserved.

NASA Discipline Life Support Systems↗

Recent progress in the application of satellite altimetry to observing the mesoscale variability and general circulation of the oceans

The application of GEOS-3 and Seasat altimeter data to the study of mesoscale variability and general circulation in the oceans is discussed in a survey of recent investigations. Seasat provided much more accurate measurements, but lasted only 3.5 months (compared to 3.5 years for GEOS-3). General-circulation studies are shown to be strongly dependent on an accurate geoid, which has not yet been developed; hence even large-wave-length (7000-km) mapping is of limited value. Geoid-independent methods allow the global mapping of mesoscale sea-surface height and geostrophic current and the analysis of their distribution in wavenumber space, at least to the limits allowed by the accuracy of the instruments. These studies demonstrate the feasibility of future satellite-altimeter measurements of variability over a wide range of periods and wavelengths, which if combined with improved mapping of the earth's gravity field) would permit the determination of the general circulation on scales as small as 200 km.

Fu, L.-L.↗

Using IKONOS Imagery to Estimate Surface Soil Property Variability in Two Alabama Physiographies

Knowledge of surface soil properties is used to assess past erosion and predict erodibility, determine nutrient requirements, and assess surface texture for soil survey applications. This study was designed to evaluate high resolution IKONOS multispectral data as a soil- mapping tool. Imagery was acquired over conventionally tilled fields in the Coastal Plain and Tennessee Valley physiographic regions of Alabama. Acquisitions were designed to assess the impact of surface crusting, roughness and tillage on our ability to depict soil property variability. Soils consisted mostly of fine-loamy, kaolinitic, thermic Plinthic Kandiudults at the Coastal Plain site and fine, kaolinitic, thermic Rhodic Paleudults at the Tennessee Valley site. Soils were sampled in 0.20 ha grids to a depth of 15 cm and analyzed for % sand (0.05 - 2 mm), silt (0.002 -0.05 mm), clay (less than 0.002 mm), citrate dithionite extractable iron (Fe(sub d)) and soil organic carbon (SOC). Four methods of evaluating variability in soil attributes were evaluated: 1) kriging of soil attributes, 2) co-kriging with soil attributes and reflectance data, 3) multivariate regression based on the relationship between reflectance and soil properties, and 4) fuzzy c-means clustering of reflectance data. Results indicate that co-kriging with remotely sensed data improved field scale estimates of surface SOC and clay content compared to kriging and regression methods. Fuzzy c-means worked best using RS data acquired over freshly tilled fields, reducing soil property variability within soil zones compared to field scale soil property variability.

Sullivan, Dana↗

Insights into Tropical Tropospheric Ozone from Satellite and Sonde Data

The first climatological overview of total, stratospheric and tropospheric ozone in the southern hemisphere tropical and subtropics is based on ozone sounding data from 10 sites comprising the Southern Hemisphere Additional OZonesondes (SHADOZ) network. Observations were made over: Ascension Island; Nairobi, Kenya; Irene, South Africa; Reunion Island; Watukosek, Java; Fiji; Tahiti; American Samoa; San Cristobal, Galapagos; Natal, Brazil. The data reside at: http://code916.gsfc.nasa.gov/Data_services/shadoz. SHADOZ ozone time-series and profiles give a perspective on tropical total, stratospheric and tropospheric ozone. Prominent features are highly variable tropospheric ozone and a zonal wave-one pattern in total (and tropospheric) column ozone. Dynamical and chemical influences appear to be of comparable magnitude though model studies are needed to quantify this. In addition to leading the SHADOZ network, we have been producing near-real tropical tropospheric ozone ('TTO') data from the Total Ozone Mapping Spectrometer (TOMS) since 1997 with Prof. Hudson and students at the University of Maryland: http://metosrv2.umd.edu/~tropo. Further perspective on the complexity of tropospheric ozone variability is shown using satellite observations.

Thompson, Anne M.↗

Hemispheric differences in the earth radiation budget derived from Nimbus-7 related to climate studies

Earth Radiation Budget (ERB) data from Nimbus-7 over the period November 1978-June 1980 has consistently shown strong hemispheric differences when analyzed over different temporal and spatial scales. Hemispheric variations in time latitude cross sections of net and emitted radiation were found to be caused by changes in the earth-sun distance and continental effects. Maps of annual range for the entire earth calculated from monthly averages showed areas of high and low variability of the different ERB parameters. The ERB of these regional areas were examined and most of the variability was found to lay in the large amplitude of the annual solar cycle. Variations in the global annual cycle of albedo (Campbell et al. 1980) are studied with respect to differences in latitudinal averaged albedo. The anomaly in the annual cycle of global averaged albedo was found to be caused by tropical albedo changes.

Randel, D. L.↗

Kinematic functions for the 7 DOF robotics research arm

The Robotics Research Model K-1207 manipulator is a redundant 7R serial link arm with offsets at all joints. To uniquely determine joint angles for a given end-effector configuration, the redundancy is parameterized by a scalar variable which corresponds to the angle between the manipulator elbow plane and the vertical plane. The forward kinematic mappings from joint-space to end-effector configuration and elbow angle, and the augmented Jacobian matrix which gives end-effector and elbow angle rates as a function of joint rates, are also derived.

Kreutz, K.↗

Rewriting the Landform History of One of Africa's Three Largest Basins

The Kalahari Basin in southern Africa - one of the largest basins in Africa, along with the Congo and Chad basins - has attracted attention since David Livingstone traveled through the area in the 1840s. It is a semiarid desert with a large freshwater swampland known as the Okavango Swamp (150 km radius). This prominent megafan (a fan with radii >100 km), with its fingers of dark green forests projecting into the dun colors of the dunes of the Kalahari semi-desert, has been well photographed by astronauts over the years. The study area in the northern Kalahari basin is centered on the Okavango megafan of northwest Botswana, whose swampland has become well known as an African wildlife preserve of importance to biology and tourism alike. The Okavango River is unusual because it has deposited not one but two megafans along its course: the Okavango megafan and the Cubango megafan. The Okavango megafan is one of only three well-known megafans in Africa. Megafans on Earth were once thought to be rare, but recent research has documented 68 in Africa alone. Eleven megafans, plus three more candidates, have been documented in the area immediately surrounding the Okavango feature. These 11 megafans occupy the flattest and smoothest terrains adjacent to the neighboring upland and stand out as the darkest areas in the roughness map of the area. Megafan terrains occupy at least 200,000 sq km of the study area. The roughness map shown is based on an algorithm used first on Mars to quantify topographic roughness. Research of Earth's flattest terrains is just beginning with the aid of such maps, and it appears that these terrains are analogous to the flattest regions of Mars. Implications: 1. The variability in depositional style in each subbasin may apply Africa-wide: rift megafan length is dominated by rift width, whereas Owambo subbasin megafans are probably controlled by upland basin size; Zambezi subbasin megafans appear more like foreland basin types, with the position of the trunk river controlling size. 2. These perspectives were successfully applied to identify the largest megafan in the group (Cubango), a fan that was sufficiently overprinted by dunes and dry lakelets not to be detectable remotely. Such undertsanding can probably be applied on Mars, where Earth experience suggests megafans ought to exist. 3. Sweep angles of rivers on megafans drastically change the hydrology in some subbasins: when the Cubango and Kunene rivers were oriented to the Etosha Pan, it was probably a permanent water body. Now that the rivers are oriented away from the basin, 93 percent of the discharge area from the pan's northerly (main) source area is gone. 4. Biotic contact between major river systems was probably controlled by megafans situated on divides: various fish species that originated in the Congo basin are now found in the Upper Zambezi R., and vice versa, apparently because of river switching behavior on the Cassai megafan that has mediated migrations both to the south and the north.

Wilkinson, Justin↗

Analysis of Satellite and Airborne Imagery for Detection of Water Hyacinth and Other Invasive Floating Macrophytes and Tracking of Aquatic Weed Control Efficacy

Waterways of the Sacramento San Joaquin Delta have recently become infested with invasive aquatic weeds such as floating water hyacinth (Eichhoria crassipes) and water primrose (Ludwigia peploides). These invasive plants cause many negative impacts, including, but not limited to: the blocking of waterways for commercial shipping and boating; clogging of irrigation screens, pumps and canals; and degradation of biological habitat through shading. Zhang et al. (1997, Ecological Applications, 7(3), 1039-1053) used NASA Landsat satellite imagery together with field calibration measurements to map physical and biological processes within marshlands of the San Francisco Bay. Live green biomass (LGB) and related variables were correlated with a simple vegetation index ratio of red and near infra-red bands from Landsat images. More recently, the percent (water area) cover of water hyacinth plotted against estimated LGB of emergent aquatic vegetation in the Delta from September 2014 Landsat imagery showed an 80 percent overall accuracy. For the past two years, we have partnered with the U. S. Department of Agriculture (USDA) and the Department of Plant Sciences, University of California at Davis to conduct new validation surveys of water hyacinth and water primrose coverage and LGB in Delta waterways. A plan is underway to transfer decision support tools developed at NASA's Ames Research Center based on Landsat satellite images to improve Delta-wide integrated management of floating aquatic weeds, while reducing chemical control costs. The main end-user for this application project will be the Division of Boating and Waterways (DBW) of the California Department of Parks and Recreation, who has the responsibility for chemical control of water hyacinth in the Delta.

Agriculture↗

Spectro-Photometer for the History of the Universe, Epoch of Reionization, and Ices Explorer, One Quarter Scale Prototype Thermal Testing

The Spectro-Photometer for the History of the Universe, Epoch of Reionization, and Ices Explorer (SPHEREx) instrument has been proposed as NASA Small Explorer (SMEX) and Medium Explorer (MIDEX) missions designed to perform an all-sky near-infrared survey. The primary science objective of the SPHEREx instrument is the mapping and cataloging of data on galaxy red shifts and absorption spectra. The SPHEREx instrument utilizes a linear variable band pass filter to provide discrete spectral coverage of the 0.75 to 5.0 μm range. The nominal on-orbit mission lifetime for the instrument is two years with continuous primary science imaging. The SPHEREx instrument will be placed in a near-circular LEO sun-synchronous terminator orbit with a mean altitude of 600 km, and solar beta angles ranging from 59° to 90°. A passive V-groove radiator cooling system was selected for the SPHEREx instrument. This design was chosen for its simplicity and lack of vibration. It includes five radiator stages with the coldest two stages providing temperatures below 80K and 55K for the 2.5μm and 5.3μm detectors respectively. A one quarter scale thermal prototype was constructed to characterize the performance of the SPHEREx thermal control subsystem. This prototype was directly derived and scaled from the current flight design, and accurately replicates all heat flow paths at scale. The prototype was tested in two bounding hot flight-like environments in the Cryogenic Systems Engineering, Advanced Thermal Technology Lab at NASA’s Jet Propulsion Laboratory. Following testing, a previously developed one quarter scale thermal model was correlated to the two conditions seen in test. The resultant correlated model is able to predict the prototype test temperatures to within 1K for all critical radiator stages. An overview of the thermal control design approach, the test configuration, and test and correlation results are presented.

Bolton, Douglas A.↗

Thermal History Mapping Technology for Turbine Engine Diagnostics

The infusion of ceramic matrix composites (CMCs) in next generation gas turbines represents daunting challenges as the failure of protective coating, known as Environmental Barrier Coating (EBC), means little remnant life of CMC components. Consequently reliable lifing is critical to the success of CMC components. Accurate thermal mapping of EBC in rig and engine test is of paramount importance because temperature is the most critical variable for EBC life. Current temperature measurement technologies include thermocouples, pyrometers, IR cameras, and thermal paints. Thermocouples require a passage to access the components and pyrometers and IR cameras require line-of-sight. Thermal paints are based on color-sensitive pigments that visually indicate the temperature that a component experienced. Thermal paints do not require line-of-sight, however, they have a low resolution and a limited temperature capability (~1400°C). Thermal history coating is based on oxide ceramic which luminesces when excited with a light source. The luminescence changes when the material's structure changes triggered by heat impact. The maximum temperature to which the material was exposed can be determined from the luminescence change. This paper describes the principles of this new technique and demonstrates its capabilities for EBCs exposed to excess of 1500°C.

Lee, Kang N.↗