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At least 523 records · Page 29

Stochastic Evolutionary Algorithms for Planning Robot Paths

A computer program implements stochastic evolutionary algorithms for planning and optimizing collision-free paths for robots and their jointed limbs. Stochastic evolutionary algorithms can be made to produce acceptably close approximations to exact, optimal solutions for path-planning problems while often demanding much less computation than do exhaustive-search and deterministic inverse-kinematics algorithms that have been used previously for this purpose. Hence, the present software is better suited for application aboard robots having limited computing capabilities (see figure). The stochastic aspect lies in the use of simulated annealing to (1) prevent trapping of an optimization algorithm in local minima of an energy-like error measure by which the fitness of a trial solution is evaluated while (2) ensuring that the entire multidimensional configuration and parameter space of the path-planning problem is sampled efficiently with respect to both robot joint angles and computation time. Simulated annealing is an established technique for avoiding local minima in multidimensional optimization problems, but has not, until now, been applied to planning collision-free robot paths by use of low-power computers.

Fink, Wolfgang↗

Transitory Microbial Habitat in the Hyperarid Atacama Desert

Traces of life are nearly ubiquitous on Earth. However, a central unresolved question is whether these traces always indicate an active microbial community or whether, in extreme environments, such as hyperarid deserts, they instead reflect just dormant or dead cells. Although microbial biomass and diversity decrease with increasing aridity in the Atacama Desert, we provide multiple lines of evidence for the presence of an at times metabolically active, microbial community in one of the driest places on Earth. We base this observation on four major lines of evidence: (i) a physico-chemical characterization of the soil habitability after an exceptional rain event, (ii) identified biomolecules indicative of potentially active cells [e.g., presence of ATP, phospholipid fatty acids (PLFAs), metabolites, and enzymatic activity], (iii) measurements of in situ replication rates of genomes of uncultivated bacteria reconstructed from selected samples, and (iv) microbial community patterns specific to soil parameters and depths. We infer that the microbial populations have undergone selection and adaptation in response to their specific soil microenvironment and in particular to the degree of aridity. Collectively, our results highlight that even the hyperarid Atacama Desert can provide a habitable environment for microorganisms that allows them to become metabolically active following an episodic increase in moisture and that once it decreases, so does the activity of the microbiota. These results have implications for the prospect of life on other planets such as Mars, which has transitioned from an earlier wetter environment to today’s extreme hyperaridity.

Schulze-Makuch, Dirk↗

Visible - Near Infrared Spectral Indices for Mapping Mineralogy and Chemistry with OSIRIS-REx

The primary objective of the Origins, Spectral Interpretation, Resource Identification, SecurityRegolith Explorer (OSIRIS-REx) mission is to return to Earth a pristine sample of carbonaceous material from the primitive asteroid (101955) Bennu. To support compositional mapping as part of sample site selection and characterization, we tested 95 spectral parameters on visible to near infrared laboratory reflectance data of minerals and carbonaceous meteorites to find which of these parameters reliably identified spectral features of interest. Most spectral parameters had high positive detection rates when used on spectra of pure, single component materials. The meteorite spectra have fewer and weaker absorption features and, as a result, fewer detections with the spectral parameters. Parameters targeting absorptions at 0.7 and 2.7 – 3 µm, which arise due to hydrated minerals, were most successful for the meteorites. Based on these results, we have identified a set of 17 parameters that are most likely to be useful at Bennu and spectral analogs. These parameters detect olivines, pyroxenes, carbonates, water/OH-bearing minerals, serpentines, ferric minerals, and organics. Particle size and albedo are known to affect band depth but had a negligible impact on parameter accuracy. The effect of instrument-like noise added to the laboratory spectra can result in more false positive detections, but these exhibit large errors. Our study has determined the prioritization of spectral parameters used for OSIRISREx spectral analysis and mapping and informs the reliability of all parameter-derived data products.

Hannah H Kaplan↗

Probabilistic Blast Damage Modeling Uncertainties and Sensitivities

Blast overpressure is the predominant source of ground damage posed by potentially hazardous asteroid strikes. Estimates of the extent, severity, and likelihoods of potential blast damage regions will be one of the key metrics needed to mount civil defense or disaster response plans in the face of an impending impact. However, there are many inherent sources of uncertainty in evaluating the damage, both in characterizing the properties of the incoming object and in the approaches used to model the entry/impact and resulting damage, which make it difficult to produce a single ‘accurate’ or ‘best guess’ prediction of ground damage. The current 2021 PDC hypothetical impact scenario poses a particular challenge due to its short warning time. The need for rapid disaster response to prepare for an immanent impact, combined with lack of observational opportunities to refine basic knowledge about the object’s basic size and properties, make understanding the range and relative likelihood of consequences particularly critical. The potential damage caused by these blasts can be evaluated using a range of modeling and simulation approaches and levels of fidelity. Fast-running engineering-level models can be used to run large numbers of probabilistically sampled cases covering wide variations of uncertain properties or parameters. High-fidelity simulations, on the other hand, can capture more detailed/accurate blast physics, but can only be performed for a small selection of specific cases, requiring many assumptions to be made about the initial object and its unpredictable entry/breakup characteristics. In order to provide a more complete picture of the potential threat for effective disaster response, both types of analysis need to be employed together. In this approach, high-fidelity simulations are used to refine and anchor engineering models, and the probabilistic engineering models are used to evaluate broad parameters spaces and guide selection of the most pertinent simulation cases for a given scenario. This presentation expands upon the probabilistic asteroid impact risk assessments being performed as part of the 2021 PDC hypothetical impact exercise, focusing on key aspects of blast damage modeling uncertainties and sensitivities. We review the current modeling and simulation approaches employed in the current assessment, compare the relative levels of uncertainty stemming from each main element of the problem (i.e., knowledge of the asteroid properties, modeling of the atmospheric entry/breakup and airburst, and estimates of the ground damage from the resulting blasts waves), and highlight any notable trends and sensitivities for the current scenario case.

SMD↗

Iterating on a Design – Further Developments in the Evolution of the Ballistic Limit Equations for the Mars Sample Return Project

The goal of the Mars Sample Return–Capture, Containment, and Return System Project is to retrieve samples launched from the Martian surface and return them to Earth for detailed analysis. An important part of this project is the design of the system’s micrometeoroid protection system, which protects the Earth Entry System and the collected samples during their journey back to Earth. As mission parameters and the micrometeoroid and orbital debris threat became better understood, the design of the micrometeoroid protection system evolved. A key element used in the shield development process is the ballistic limit equation, which is an equation that is used to determine whether or not a particular structural element or system will end up in a failed state as a result of a specified impact. As the design of the Earth Entry System and the micrometeoroid protection system evolved, a new set of ballistic limit equations was needed to better predict and assess the performance of developing shield system designs in anticipation of possible damage from micrometeoroid and orbital debris particle impacts. This paper provides a summary of how a set of initial BLEs were either extended or modified so that the resulting equations were better suited to new types of target configurations being considered, as well as how additional ballistic limit equations were developed where none previously existed.

William P Schonberg↗

Analysis of resistance data on a good ceramic sample of YBa2Cu3O(7-x)

Resistance data between 91.4 and 200 K on a ceramic sample of YBa2Cu3O(7-x) are analyzed using a two-band model for normal-state conductance plus the Lawrence-Doniach theory for effects of superconducting fluctuations. The data is fitted to a rms accuracy of 0.16 percent of the resistance in the middle of the temperature range. The steepest slope of the resistance of the sample occurs at 91.13 K, and the analysis shows that the critical region extends to less than 0.3 K above Tc. Values of parameters found indicate that defect or impurity scattering within grains is unusually small in this sample. Some difficulties in understanding Hall data using either simple two-band models or more sophisticated one-band models are discussed briefly.

Eagles, David M.↗

Sensitivity analysis of the Space Shuttle to ascent wind profiles

This paper presents a parametric sensitivity analysis of the Space Shuttle Ascent flight to the wind profile. Engineering systems parameters are obtained by flight simulations using wind profile models and samples of detailed (Jimsphere) wind profile measurements. The wind models used are the synthetic vector wind model, with and without the design gust, and a model of the vector wind change with respect to time. From these comparison analyses an insight is gained on the contribution of winds to ascent subsystems flight parameters.

Smith, O. E.↗

Sensitivity analysis of the space shuttle to ascent wind profiles

A parametric sensitivity analysis of the space shuttle ascent flight to the wind profile is presented. Engineering systems parameters are obtained by flight simulations using wind profile models and samples of detailed (Jimsphere) wind profile measurements. The wind models used are the synthetic vector wind model, with and without the design gust, and a model of the vector wind change with respect to time. From these comparison analyses an insight is gained on the contribution of winds to ascent subsystems flight parameters.

Smith, O. E.↗

The extended medium sensitivity survey distant cluster sample - X-ray data and interpretation of the luminosity evolution

The X-ray properties of a cluster of galaxies subsample of the Einstein Extended Medium Sensitivity Survey is described. A summary of this sample and its implication has been presented previously; this paper gives the full details. The cluster subsample is 98.4 percent identified and contains 93 X-ray-selected clusters to a redshift of 0.58. The cluster X-ray luminosity function at three cosmic epochs is derived. While the present luminosity function agrees with previous determinations at the lowest redshifts, it is found that the volume density of high-luminosity clusters is greater now than it was in the past. The normalization, shape, and time dependence of the luminosity function can be described by a simple hierarchical formation model with parameters which also describe the temperature function of an independent sample of low-redshift clusters. In this model the comoving hot gas density remains constant with time at least to redshifts of order 0.35.

Henry, J. P.↗

MISR Level 2 TOA/Cloud Albedo parameters (MIL2TCAL_V1)

The TOA/Cloud Albedo data contain albedo values, including finely-sampled or local (2.2 km) TOA albedos registered to the RLRA, and two coarsely-sampled (35.2 km resolution) TOA albedos projected to 30-km altitude. The local (2.2 km) albedos do not take the obscuration of cloud features into account, so they should only be treated as traditional albedos when the number of obscured pixels is low. The restrictive and expansive albedos are both available at 35.2 km resolution: the restrictive albedos are only calculated using the radiation upwelling from the pixel under consideration, whereas the expansive albedos use all the radiation emanating from the surrounding area. Therefore, the expansive albedo is closer to the traditional definition of top-of-atmosphere albedos. [Location=GLOBAL] [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=35.2 km; Longitude_Resolution=35.2 km; Horizontal_Resolution_Range=10 km - < 50 km or approximately .09 degree - < .5 degree; Temporal_Resolution=about 15 orbits/day].

CLOUD TEXTURE↗

MISR Level 2 TOA/Cloud Albedo parameters (MIL2TCAL_V2)

The TOA/Cloud Albedo data contain albedo values, including finely-sampled or local (2.2 km) TOA albedos registered to the RLRA, and two coarsely-sampled (35.2 km resolution) TOA albedos projected to 30-km altitude. The local (2.2 km) albedos do not take the obscuration of cloud features into account, so they should only be treated as traditional albedos when the number of obscured pixels is low. The restrictive and expansive albedos are both available at 35.2 km resolution: the restrictive albedos are only calculated using the radiation upwelling from the pixel under consideration, whereas the expansive albedos use all the radiation emanating from the surrounding area. Therefore, the expansive albedo is closer to the traditional definition of top-of-atmosphere albedos. [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=1.1 km; Longitude_Resolution=1.1 km; Temporal_Resolution=about 15 orbits/day].

AM-1↗

Bayesian Estimation of Earth’s Undiscovered Mineralogical Diversity Using Noninformative Priors

Recently, statistical distributions have been explored to provide estimates of the mineralogical diversity of Earth, and Earth-like planets. In this paper, a Bayesian approach is introduced to estimate Earth’s undiscovered mineralogical diversity. Samples are generated from a posterior distribution of the model parameters using Markov chain Monte Carlo simulations such that estimates and inference are directly obtained. It was previously shown that the mineral species frequency distribution conforms to a generalized inverse Gauss–Poisson (GIGP) large number of rare events model. Even though the model fit was good, the population size estimate obtained by using this model was found to be unreasonably low by mineralogists. In this paper, several zero-truncated, mixed Poisson distributions are fitted and compared, where the Poisson-lognormal distribution is found to provide the best fit. Subsequently, the population size estimates obtained by Bayesian methods are compared to the empirical Bayes estimates. Species accumulation curves are constructed and employed to estimate the population size as a function of sampling size. Finally, the relative abundances, and hence the occurrence probabilities of species in a random sample, are calculated numerically for all mineral species in Earth’s crust using the Poisson-lognormal distribution. These calculations are connected and compared to the calculations obtained in a previous paper using the GIGP model for which mineralogical criteria of an Earth-like planet were given.

Bayesian statistics↗

Pore Formation and Mobility Investigation (PPMI): Description and Initial Analysis of Experiments Conducted aboard the International Space Station

Flow visualization experiments during the controlled directional melt back and re-solidification of succinonitrile (SCN) and SCN-water mixtures were conducted using the Pore Formation and Mobility Investigation (PFMI) apparatus in the glovebox facility (GBX) aboard the International Space Station. The study samples were initially 'cast' on earth under 450 millibar of nitrogen into 1 cm ID glass sample tubes approximately 30 cm in length, containing 6 in situ thermocouples. During the Space experiments, the processing parameters and flow visualization settings are remotely monitored and manipulated from the ground Telescience Center (TSC). The ground solidified sample is first subjected to a unidirectional melt back, generally at 10 microns per second, with a constant temperature gradient ahead of the melting interface. Bubbles of different sizes are seen to initiate at the melt interface and, upon release from the melting solid, translate at different speeds in the temperature field ahead of them before coming to rest. Over a period of time these bubbles dissolve into the melt. The gas-laden liquid is then directionally solidified in a controlled manner, generally starting at a rate of 1 micron /sec. Observation and preliminary analysis of bubble formation and mobility in pure SCN samples during melt back and the subsequent structure resulting during gas generation upon re-solidification are presented and discussed.

Grugel, R. N.↗

Pore Formation and Mobility Investigation (PFMI): Description and Initial Analysis of Experiments Conducted aboard the International Space Station

Flow visualization experiments during the controlled directional melt back and re-solidification of succinonitrile (SCN) and SCN-water mixtures were conducted using the Pore Formation and Mobility Investigation (PFMI) apparatus in the glovebox facility (GBX) aboard the International Space Station. The study samples were initially "cast" on earth under 450 millibar of nitrogen into 1 cm ID glass sample tubes approximately 30 cm in length, containing 6 in situ thermocouples. During the Space experiments, the processing parameters and flow visualization settings are remotely monitored and manipulated from the ground Telescience Center (TSC). The ground solidified sample is first subjected to a unidirectional melt back, generally at 10 microns per second, with a constant temperature gradient ahead of the melting interface. Bubbles of different sizes are seen to initiate at the melt interface and, upon release from the melting solid, translate at different speeds in the temperature field ahead of them before coming to rest. Over a period of time these bubbles dissolve into the melt. The gas-laden liquid is then directionally solidified in a controlled manner, generally starting at a rate of 1 micron /sec. Observation and preliminary analysis of bubble formation and mobility in pure SCN samples during melt back and the subsequent structure resulting during gas generation upon re-solidification are presented and discussed.

Grugel, R. N.↗

Low-Latitude Solar Wind During the Fall 1998 SOHO-Ulysses Quadrature

The Fall 1998 SOlar-Heliospheric Observatory (SOHO) - Ulysses quadrature occurred when Ulysses was at 5.2 AU, 17.4 deg South of the equator, and off the West line of the Sun. SOHO coronal observations, at heliocentric distances of a few solar radii, showed that the line through the solar center and Ulysses crossed, over the first days of observations, a dark, weakly emitting area and through the northern edge of a streamer complex during the second half of the quadrature campaign. Ulysses in situ observations showed this transition to correspond to a decrease from higher speed wind typical of coronal hole flow to low speed wind. Physical parameters (density, temperature, flow speed) of the low latitude coronal plasma sampled over the campaign are determined using constraints from what is the same plasma measured later in situ and simulating the intensities of the Hydrogen Lyman-alpha and OVI 1032 and 1037 Angstrom lines, measured by the Ultra Violet Coronagraph Spectrometer (UVCS) on SOHO. The densities, temperatures and outflow speed are compared with the same characteristic flow parameters for high-latitude fast wind streams and typical slow solar wind.

Poletto, G.↗

The Einstein observatory medium sensitivity survey - The quasars sample

A complete sample of X-ray-selected quasars and Seyfert galaxies extracted from the Einstein Observatory Medium Sensitivity Survey is described, and their physical characteristics are discussed. A Hubble constant of 50 km/s per Mpc and a Friedmann universe with a deceleration parameter of q(0)=0 are assumed throughout the survey, and the sample of X-ray sources was selected according to the following criteria: the significance of the detection exceeds a confidence level of 5 beta; the source is physically unrelated to the target of the IPC observation; and that the source is at a galactic latitude higher than 20 deg. The redshift and optical luminosity distributions of 55 Active Galactic Nuclei (AGNs) detected in the survey are discussed. A number flux relation for the different classes of extragalactic objects are analyzed in detail, using a Maximum Likelihood method and the assumption that the relation can be represented as a power law.

Gioia, I. M.↗

Constitutive parameter extraction for heated materials

The focus is the determination of the electrical constitutive paramaters of materials with general complex epsilon and mu values at elevated temperatures. Measurement fixtures and techniques are evaluated for frequencies between 8 and 12 GHz using a rectangular waveguide with the sample completely filling the fixture. Three different measurement techniques are evaluated to obtain the necessary measured quantities for parameter extraction. The most desirable technique used two reflection measurements from material samples of different thickness backed with a short. Temperatures up to 600 F were investigated.

Munk, J.↗

Self-tuning control of attitude and momentum management for the Space Station

This paper presents a hybrid state-space self-tuning design methodology using dual-rate sampling for suboptimal digital adaptive control of attitude and momentum management for the Space Station. This new hybrid adaptive control scheme combines an on-line recursive estimation algorithm for indirectly identifying the parameters of a continuous-time system from the available fast-rate sampled data of the inputs and states and a controller synthesis algorithm for indirectly finding the slow-rate suboptimal digital controller from the designed optimal analog controller. The proposed method enables the development of digitally implementable control algorithms for the robust control of Space Station Freedom with unknown environmental disturbances and slowly time-varying dynamics.

Shieh, L. S.↗