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At least 613 records · Page 34

Decomposition and state variable feedback control of elastic robotic systems

Energy-efficient, lightweight robot arms for space applications have considerable structural flexibility. An approach to control of a class of flexible robotic systems is presented. A control law is derived which decouples the joint-angle motion from the flexible motion and, in addition, asymptotically decomposes the elastic dynamics into two subsystems. This allows the design of an elastic mode stabilizer independently based on lower order models representing structural flexibility. The closed-loop system is shown to be globally asymptotically stable and robust to uncertaintly in system parameters. Simulation results show that the combination of nonlinear decoupling and elastic stabilization permits rapid, accurate tracking of large joint angle commands with well damped elastic response, in spite of space vehicle motion and payload uncertainty.

Singh, S. N.↗

Meteorological variations in the middle clouds of Venus from Vega balloon in situ measurements

Instruments aboard the gondolas of the two Vega balloons obtained in situ measurements of pressure, temperature, vertical velocity relative to the balloon, cloud particle backscatter, lightning and the ambient light level. Atmospheric motions at the balloon float altitudes were also determined from earth-based tracking results. To illustrate the history of the balloon flights and to facilitate comparisons between some of the different observed quantities, measurements of pressure, temperature and backscatter are presented as time series for the entire lifetime of each balloon. Both long and short period variations have been detected. In addition, the environmental entropy encountered by each balloon will be discussed.

Elson, Lee S.↗

A noncontacting motion monitoring system for an astronaut translation aid

The development of a noncontacting motion sensing system designed to monitor the movement of a cart along a track in the low earth orbit space environment is described. The system uses Hall effect sensors to detect the position of small permanent magnets located along the track. The measurement criteria are described, the system design is discussed, and estimates of the system error are given. The system will be used on the Crew and Equipment Translation Aid (CETA) experiment scheduled for the STS37 flight in November 1990. It will allow the position, velocity, and acceleration of the cart to be determined as it moves along the track.

Finley, Tom D.↗

Simulation of a Controlled Airfoil with Jets

Numerical simulations of a two-dimensional airfoil, controlled by an applied moment in pitch and an airfoil controlled by jets, were investigated. These simulations couple the Reynolds-averaged Navier-Stokes equations and Euler's equations of rigid body motion, with an active control system. Controllers for both systems were designed to track altitude commands and were evaluated by simulating a closed-loop altitude step response using the coupled system. The airfoil controlled by a pitching moment used an optimal state feedback controller. A closed-loop simulation, of the airfoil with an applied moment, showed that the trajectories compared very well with quasi-steady aerodynamic theory, providing a measure of validation. The airfoil with jets used a controller designed by robust control methods. A linear plant model for this system was identified using open-loop data generated by the nonlinear coupled system. A closed-loop simulation of the airfoil with jets, showed good tracking of an altitude command. This simulation also showed oscillations in the control input as a result of dynamics not accounted for in the control design. This research work demonstrates how computational fluid dynamics, coupled with rigid body dynamics, and a control law can be used to prototype control systems in problematic nonlinear flight regimes.

Allan, Brian G.↗

Large decreases in ionospheric total electron content as a result of thermospheric composition changes during geomagnetic storms

The geomagnetic storms of April 17-21,2002 and May 29-30,2003 caused large decreases in the O/N2 column density ratio in the thermosphere. For these storms, ON2 column density decreases of greater than 50% were observed to extend to mid-to-low latitudes with the FUV sensitive Earth Camera of the Visible Imaging System (VIS) on the Polar spacecraft. Simultaneously in these same regions, the ground-based GPS network observed approximately 80% reductions in the Total Electron Content (TEC) of the ionosphere. The reduction in the Om2 column density ratio is due mainly to increases in the molecular species that have welled-up into the thermosphere from the lower levels of the atmosphere due to auroral heating. The geomagnetic-storm driven increase in molecular densities at typical ionospheric heights rapidly charge exchange with the ambient ionized atoms and subsequently dissociatively recombine with the ionospheric electrons leading to a reduction in the total charge density. The transition boundaries between high and low regions of O/N2 as well as TEC can be tracked in the images and the thermospheric winds can be determined from the motion of the boundaries. The motion of these boundaries during the development of the geomagnetic storm will be discussed.

Sigwarth, J. B.↗

The Dynamics of Thermospheric Composition and Ionospheric Total Electron Content During Geomagnetic Storms

The geomagnetic storms of April 17-21,2002 and May 29-30,2003 caused large decreases in the O/N2 column density ratio in the thermosphere. For these storms, O/N2 column density decreases of greater than 50% were observed to extend to mid-to-low latitudes with the FUV sensitive Earth Camera of the Visible Imaging System (VIS) on the Polar spacecraft. Simultaneously in these same regions, the ground-based GPS network observed approximately 80% reductions in the Total Electron Content (TEC) of the ionosphere. The reduction in the O/N2 column density ratio is due mainly to increases in the molecular species that have welled-up into the thermosphere from the lower levels of the atmosphere due to auroral heating. The geomagnetic-storm driven increase in molecular densities at typical ionospheric heights rapidly charge exchange with the ambient ionized atoms and subsequently dissociatively recombine with the ionospheric electrons leading to a reduction in the total charge density. The transition boundaries between high and low regions of O/N2 as well as TEC can be tracked in the images and the thermospheric winds may be inferred from the motion of the boundaries. The motion of these boundaries during the development of the geomagnetic storm will be discussed.

Sigwarth, John B.↗

Multi-sensor Testing for Automated Rendezvous and Docking

During the past two years, many sensors have been tested in an open-loop fashion in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL) to both determine their suitability for use in Automated Rendezvous and Docking (AR&D) systems and to ensure the test facility is prepared for future multi-sensor testing. The primary focus of this work was in support of the CEV AR&D system, because the AR&D sensor technology area was identified as one of the top risks in the program. In 2006, four different sensors were tested individually or in a pair in the MSFC FRL. In 2007, four sensors, two each of two different types, were tested simultaneously. In each set of tests, the target was moved through a series of pre-planned trajectories while the sensor tracked it. In addition, a laser tracker "truth" sensor also measured the target motion. The tests demonstrated the functionality of testing four sensors simultaneously as well as the capabilities (both good and bad) of all of the different sensors tested. This paper outlines the test setup and conditions, briefly describes the facility, summarizes the earlier results of the individual sensor tests, and describes in some detail the results of the four-sensor testing. Post-test analysis includes data fusion by minimum variance estimation and sequential Kalman filtering. This Sensor Technology Project work was funded by NASA's Exploration Technology Development Program.

Howard, Richard T.↗

Dual-Frequency Airborne Scanning Rain Radar Antenna System

A compact, dual-frequency, dual-polarization, wide-angle-scanning antenna system has been developed as part of an airborne instrument for measuring rainfall. This system is an upgraded version of a prior single-frequency airborne rain radar antenna system and was designed to satisfy stringent requirements. One particularly stringent combination of requirements is to generate two dual-polarization (horizontal and vertical polarizations) beams at both frequencies (13.405 and 35.605 GHz) in such a way that the beams radiated from the antenna point in the same direction, have 3-dB angular widths that match within 25 percent, and have low sidelobe levels over a wide scan angle at each polarization-and-frequency combination. In addition, the system is required to exhibit low voltage standing-wave ratios at both frequencies. The system (see figure) includes a flat elliptical scanning reflector and a stationary offset paraboloidal reflector illuminated by a common-aperture feed system that comprises a corrugated horn with four input ports one port for each of the four frequency-and-polarization combinations. The feed horn is designed to simultaneously (1) under-illuminate the reflectors 35.605 GHz and (2) illuminate the reflectors with a 15-dB edge taper at 13.405 GHz. The scanning mirror is rotated in azimuth to scan the antenna beam over an angular range of 20 in the cross-track direction for wide swath coverage, and in elevation to compensate for the motion of the aircraft. The design of common-aperture feed horn makes it possible to obtain the required absolute gain and low side-lobe levels in wide-angle beam scanning. The combination of the common-aperture feed horn with the small (0.3) focal-length-to-diameter ratio of the paraboloidal reflector makes it possible for the overall system to be compact enough that it can be mounted on a DC-8 airplane.

Hussein, Ziad A.↗

The Micro-Arcsecond Metrology Testbed

The Micro-Arcsecond Metrology (MAM) testbed is a ground-based system of optical and electronic equipment for testing components, systems, and engineering concepts for the Space Interferometer Mission (SIM) and similar future missions, in which optical interferometers will be operated in outer space. In addition, the MAM testbed is of interest in its own right as a highly precise metrological system. The designs of the SIM interferometer and the MAM testbed reflect a requirement to measure both the position of the starlight central fringe and the change in the internal optical path of the interferometer with sufficient spatial resolution to generate astrometric data with angular resolution at the microarcsecond level. The internal path is to be measured by use of a small metrological laser beam of 1,319-nm wavelength, whereas the position of the starlight fringe is to be estimated by use of a charge-coupled-device (CCD) image detector sampling a large concentric annular beam. For the SIM to succeed, the optical path length determined from the interferometer fringes must be tracked by the metrological subsystem to within tens of picometers, through all operational motions of an interferometer delay line and siderostats. The purpose of the experiments performed on the MAM testbed is to demonstrate this agreement in a large-scale simulation that includes a substantial portion of the system in the planned configuration for operation in outer space. A major challenge in this endeavor is to align the metrological beam with the starlight beam in order to maintain consistency between the metrological and starlight subsystems at the system level. The MAM testbed includes an optical interferometer with a white light source, all major optical components of a stellar interferometer, and heterodyne metrological sensors. The aforementioned subsystems are installed in a large vacuum chamber in order to suppress atmospheric and thermal disturbances. The MAM is divided into two distinct subsystems: the test article (TA), which is the interferometer proper, and the inverse interferometer pseudo-star (IIPS), which synthesizes the light coming from a distant target star by providing spatially coherent wavefronts out of two mirrors, separated by the MAM baseline, that feed directly into two siderostats that are parts of the TA. The two feed mirrors of the IIPS are articulated (in translation and tilt) in order to simulate stars located at different orientations in space, while still illuminating the TA siderostats. The spectrum of the simulated starlight of the IIPS corresponds to that of a blackbody at a temperature of about 3,100 K.

Goullioud, Renaud↗

Reaching for 20 Years with the IMERG Multi-Satellite Products

The latest releases of Global Precipitation Measurement (GPM) mission products cap five years of vigorous development cycle since the launch of the GPM Core Observatory, and these now provide datasets that are relatively homogeneous across the joint Tropical Rainfall Measuring Mission (TRMM) and GPM eras. Version 06 of the U.S. GPM team's Integrated Multi-satellitE Retrievals for GPM (IMERG) merged precipitation product enforces a consistent intercalibration for all precipitation products computed from individual satellites with the TRMM and GPM Core Observatory sensors as the TRMM- and GPM era calibrators, respectively, and incorporates monthly surface gauge data. The basic IMERG algorithm now features precipitation motion vectors (used to drive the Lagrangian interpolation, or "morphing") that arecomputed by tracking vertically integrated vapor fields analyzed in MERRA2 and GEOS5. This innovation provides globally complete coverage, expanding IMERG's coverage beyond the 60°N-S latitude band provided by IR-based vectors, although we continue to mask out precipitation over snowy/icy surfaces as unreliable. A second innovation is the Quality Index (QI) data field. The half-hourly QI is taken as the approximate Kalman Filter correlation computed in the morphing calculation.

Huffman, George J.↗

Antarctic Ice-Shelf Front Dynamics from ICESat

Time variable elevation profiles from ICESat Laser Altimetry over the period 2003-2009 provide a means to quantitatively detect and track topographic features on polar ice surfaces. The results of this study provide a measure of the horizontal motion of ice-shelf fronts. We examine the time histories of elevation profiles crossing the ice fronts of the Ross, Ronne, Filchner, Riiser-Larson and Fimbul shelves. This provides a basis for estimating dynamics in two dimensions, i.e. in elevation and horizontally in the along-track direction. Ice front velocities, corrected for ground-track intersection angle, range from nearly static to 1.1 km/yr. In many examples, a decrease in elevation up to 1 m/yr near the shelf frontis also detectable. Examples of tabular calving along shelf fronts are seen in some elevation profiles and are confirmed by corresponding MODIS imagery.

Robbins, John W.↗

Expansion of direction space around the cardinal axes revealed by smooth pursuit eye movements

It is well established that perceptual direction discrimination shows an oblique effect; thresholds are higher for motion along diagonal directions than for motion along cardinal directions. Here, we compare simultaneous direction judgments and pursuit responses for the same motion stimuli and find that both pursuit and perceptual thresholds show similar anisotropies. The pursuit oblique effect is robust under a wide range of experimental manipulations, being largely resistant to changes in trajectory (radial versus tangential motion), speed (10 versus 25 deg/s), directional uncertainty (blocked versus randomly interleaved), and cognitive state (tracking alone versus concurrent tracking and perceptual tasks). Our data show that the pursuit oblique effect is caused by an effective expansion of direction space surrounding the cardinal directions and the requisite compression of space for other directions. This expansion suggests that the directions around the cardinal directions are in some way overrepresented in the visual cortical pathways that drive both smooth pursuit and perception.

Visual Pathways/physiology↗

Quantifying the Correlation Between Eye-Movement and Perceptual Responses to Moving Plaids

To determine the extent to which the pursuit eye-movement and perceptual systems share a common neural motion-processing pathway, we simultaneously measure the psychophysical and eye-movement responses to drifting plaids in a direction-discrimination task. Correlation between the noise in the eye movements and percepts would suggest a shared neural substrate. Three observers were asked to track a plaid (Type I 90 deg; TF = 4 Hz, SF = 0.6 c/d; direction = -2, 0, or 2 deg), and to respond whether the motion was to the right or left of vertical. The eye-movement direction is computed from the initial 300 ms of saccade-free tracking (near open-loop). On each trial, we use the eye-movement direction to predict the perceptual response. We then compute the probability of successfully predicting the observer's response. We also use SOC analysis as an alternate measure of the correlation. We compare the data from both these analyses to the predictions of two models in which the eye movements and the percept are driven by either a common noisy signal (correlated model) or by two separate noisy signals (uncorrelated model). We also allow for the fact that our measured eye movements are degraded by eye-tracker noise. This noise causes our measured correlation to be lower than the actual biological correlation. The correlations in our data are higher than those predicted by the uncorrelated model, and are similar to the predictions of the correlated model. The proportion of perceptual responses correctly predicted by the eye movements were 0.66, 0.60, 0.73 for the -2, 0, 2 deg stimuli respectively (correlated model 0.65, 0.60, 0.70; uncorrelated model 0.58, 0.51, 0.60).The SOC proportions were 0.71, 0.64, 0.72 (correlated model 0.66, 0.64, 0.69; uncorrelated model 0.5, 0.5, 0.5). These results show that the oculomotor and perceptual system share a performance-limiting noise source and provide strong evidence that a common neural mechanism (perhaps MT or MST) drives both perception and smooth eye movements.

Beutter, Brent R.↗

The star identification, pointing and tracking system of UVSTAR, an attached payload instrument system for the Shuttle Hitchhiker-M platform

We describe an algorithm for star identification and pointing/tracking of a spaceborne electro-optical system and simulation analyses to test the algorithm. The algorithm will be implemented in the guiding system of UVSTAR, a spectrographic telescope for observations of astronomical and planetary sources operating in the 500-1250 A waveband at approximately 1 A resolution. The experiment is an attached payload and will fly as a Hitchhiker-M payload on the Shuttle. UVSTAR includes capabilities for independent target acquisition and tracking. The spectrograph package has internal gimbals that allow angular movement of plus or minus 3 deg from the central position. Rotation about the azimuth axis (parallel to the Shuttle z axis) and elevation axis (parallel to the Shuttle x axis) will actively position the field of view to center the target of interest in the fields of the spectrographs. The algorithm is based on an on-board catalog of stars. To identify star fields, the algorithm compares the positions of stars recorded by the guiding imager to positions computed from the on-board catalog. When the field has been identified, its position within the guiding imager field of view can be used to compute the pointing corrections necessary to point to a target of interest. In tracking mode, the software uses the past history to predict the quasi-periodic attitude control motions of the shuttle and sends pointing commands to cancel the motion and stabilize UVSTAR on the target. The guiding imager (guider) will have an 80-mm focal length and f/1.4 optics giving a field of view of 6 deg x 4.5 deg using a 385 x 288 pixel intensified CCD. It will be capable of providing high accuracy (better than 2 arc-sec) attitude determination from coarse (6 deg x 4.5 deg) initial knowledge of the pointing direction; and of pointing toward the target. It will also be capable of tracking at the same high accuracy with a processing time of less than a few hundredths of a second.

Decarlo, Francesco↗

Differenced Range Versus Integrated Doppler (DRVID) ionospheric analysis of metric tracking in the Tracking and Data Relay Satellite System (TDRSS)

The Differenced Range (DR) Versus Integrated Doppler (ID) (DRVID) method exploits the opposition of high-frequency signal versus phase retardation by plasma media to obtain information about the plasma's corruption of simultaneous range and Doppler spacecraft tracking measurements. Thus, DR Plus ID (DRPID) is an observable independent of plasma refraction, while actual DRVID (DR minus ID) measures the time variation of the path electron content independently of spacecraft motion. The DRVID principle has been known since 1961. It has been used to observe interplanetary plasmas, is implemented in Deep Space Network tracking hardware, and has recently been applied to single-frequency Global Positioning System user navigation This paper discusses exploration at the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) of DRVID synthesized from simultaneous two-way range and Doppler tracking for low Earth-orbiting missions supported by the Tracking and Data Relay Satellite System (TDRSS) The paper presents comparisons of actual DR and ID residuals and relates those comparisons to predictions of the Bent model. The complications due to the pilot tone influence on relayed Doppler measurements are considered. Further use of DRVID to evaluate ionospheric models is discussed, as is use of DRPID in reducing dependence on ionospheric modeling in orbit determination.

Radomski, M. S.↗

Superresolved Motions of Single Molecular Catalysts during Polymerization Show Wide Distributions

The motion of single molecular ruthenium catalysts during and after single turnover events of ring-opening metathesis polymerization is imaged through single-molecule superresolution tracking with a positional accuracy of ±32 nm. This tracking is achieved through the real-time incorporation of spectrally tagged monomer units into active polymer chain ends during living polymerization; thus, by design, only active-catalyst motion is detected and imaged, without convolution by inactive catalysts. The catalysts show diverse individualistic diffusive behaviors with respect to time that persist for up to 20 s. Catalysts occupy three mobility populations: quasi-stationary (23%), intermediate (53%, 65 nm), and large (24%, 145 nm) step sizes. Differences in catalyst mobility populations also exist between individual aggregates (p < 0.001). Such differential motion indicates widely different local catalyst microenvironments during the catalytic turnover. These mobility differences are uniquely observable through single-catalyst microscopy and are not measurable through traditional ensemble analytical techniques for characterizing the behavior of molecular catalysts, such as nuclear magnetic resonance spectroscopy. The measured distributions of active molecular catalyst motions would not be readily predictable through modeling or first-principles, and the range likely impacts individual catalyst turnover rate and selectivity. This range plausibly contributes to property distributions observable in bulk polymers, such as molecular weight polydispersity (e.g., 1.9 in this system), leading to a revised understanding of the mechanistic, microscale origins of macroscale polymer properties.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

The Effect of Geocenter Motion on Jason-2 and Jason-1 Orbits and the Mean Sea Level

We have investigated the impact of geocenter motion on Jason-2 orbits. This was accomplished by computing a series of Jason-1, Jason-2 GPS-based and SLR/DORIS-based orbits using ITRF2008 and the IGS repro1 framework based on the most recent GSFC standards. From these orbits, we extract the Jason-2 orbit frame translational parameters per cycle by the means of a Helmert transformation between a set of reference orbits and a set of test orbits. The fitted annual and seasonal terms of these time-series are compared to two different geocenter motion models. Subsequently, we included the geocenter motion corrections in the POD process as a degree-1 loading displacement correction to the tracking network. The analysis suggested that the GSFC's Jason-2 std0905 GPS-based orbits are closely tied to the center of mass (CM) of the Earth whereas the SLR/DORIS std0905 orbits are tied to the center of figure (CF) of the ITRF2005 (Melachroinos et al., 2012). In this study we extend the investigation to the centering of the GPS constellation and the way those are tied in the Jason-1 and Jason-2 POD process. With a new set of standards, we quantify the GPS and SLR/DORIS-based orbit centering during the Jason-1 and Jason-2 inter-calibration period and how this impacts the orbit radial error over the globe, which is assimilated into mean sea level (MSL) error, from the omission of the full term of the geocenter motion correction.

Melachroinos, Stavros A.↗

Toward higher order tests of the gravitational interaction

Analyses and interpretations of experiments which test post-Newtonian gravity are usually done under the assumption that gravity is a metric field phenomenon - a manifestation of space-time geometry. This, however, is unnecessary and one can start at a more primitive level - that there simply exists a phenomenological, gravitational, many-body equation of motion which must be determined by a package of observations. In fact, over the last couple decades, a diverse collection of solar system interbody tracking observations, supplemented by data from the binary pulsar system PSR 1913 + 16, has completely mapped out the first post-Newtonian order. After the fact, using empirically determined equations of motion, along with some observed properties of nongravitational clocks and rulers and conservation laws for energy, momentum and angular momentum, a post-Newtonian Lagrangian can be constructed, a geometrical space-time metric field conceptual interpretation can be developed, Lorentz invariance of the equations of motion can be shown, and the equations of motion are found to agree with the predictions of Einstein's gravitational theory, General Relativity, within experimental accuracy.

Nordtvedt, Ken↗