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NASA NTRS2009

Steady-State ALPS for Real-Valued Problems

The two objectives of this paper are to describe a steady-state version of the Age-Layered Population Structure (ALPS) Evolutionary Algorithm (EA) and to compare it against other GAs on real-valued problems. Motivation for this work comes from our previous success in demonstrating that a generational version of ALPS greatly improves search performance on a Genetic Programming problem. In making steady-state ALPS some modifications were made to the method for calculating age and the method for moving individuals up layers. To demonstrate that ALPS works well on real-valued problems we compare it against CMA-ES and Differential Evolution (DE) on five challenging, real-valued functions and on one real-world problem. While CMA-ES and DE outperform ALPS on the two unimodal test functions, ALPS is much better on the three multimodal test problems and on the real-world problem. Further examination shows that, unlike the other GAs, ALPS maintains a genotypically diverse population throughout the entire search process. These findings strongly suggest that the ALPS paradigm is better able to avoid premature convergence then the other GAs.

Hornby, Gregory S.↗

NASA NTRS1994

Convection in the Physical Vapor Transport Process: Thermal - 1

The effects of convection on diffusive-convective physical vapor transport process are examined computationally. We analyze conditions ranging from typical laboratory conditions to conditions achievable only in a low gravity environment. This corresponds to thermal Rayleigh numbers Ra(sub tau) ranging from 1.80 x 10 to 1.92 x 10(exp 6). Our results indicate that the effect of the sublimation and condensation fluxes at the boundaries is to increase the threshold of instability. For typical ground based conditions, time dependent oscillatory convection can occur. This results in unsteady transport, and non-uniform temperature and concentration gradients at the crystal interface. Spectral analysis of the flow field shows parametric regions exhibiting both an oscillatory approach to steady state and a chaotic transient to a periodic state. Low gravity conditions stabilize the flow field. Convective effects are effectively reduced, thus resulting in uniform temperature and concentration gradients at the interface, a desirable condition for crystal growth.

Duval, Walter M. B.↗

NASA NTRS2005

Convergence Acceleration and Documentation of CFD Codes for Turbomachinery Applications

The development and analysis of turbomachinery components for industrial and aerospace applications has been greatly enhanced in recent years through the advent of computational fluid dynamics (CFD) codes and techniques. Although the use of this technology has greatly reduced the time required to perform analysis and design, there still remains much room for improvement in the process. In particular, there is a steep learning curve associated with most turbomachinery CFD codes, and the computation times need to be reduced in order to facilitate their integration into standard work processes. Two turbomachinery codes have recently been developed by Dr. Daniel Dorney (MSFC) and Dr. Douglas Sondak (Boston University). These codes are entitled Aardvark (for 2-D and quasi 3-D simulations) and Phantom (for 3-D simulations). The codes utilize the General Equation Set (GES), structured grid methodology, and overset O- and H-grids. The codes have been used with success by Drs. Dorney and Sondak, as well as others within the turbomachinery community, to analyze engine components and other geometries. One of the primary objectives of this study was to establish a set of parametric input values which will enhance convergence rates for steady state simulations, as well as reduce the runtime required for unsteady cases. The goal is to reduce the turnaround time for CFD simulations, thus permitting more design parametrics to be run within a given time period. In addition, other code enhancements to reduce runtimes were investigated and implemented. The other primary goal of the study was to develop enhanced users manuals for Aardvark and Phantom. These manuals are intended to answer most questions for new users, as well as provide valuable detailed information for the experienced user. The existence of detailed user s manuals will enable new users to become proficient with the codes, as well as reducing the dependency of new users on the code authors. In order to achieve the objectives listed, the following tasks were accomplished: 1) Parametric Study Of Preconditioning Parameters And Other Code Inputs; 2) Code Modifications To Reduce Runtimes; 3) Investigation Of Compiler Options To Reduce Code Runtime; and 4) Development/Enhancement of Users Manuals for Aardvark and Phantom

Marquart, Jed E.↗

NASA NTRS2018

Detonation to Deflagration-Mode Transitions in Pulsed Plasma Accelerators

PULSED plasma accelerators typically operate by storing energy in a capacitor bank and then discharging this energy through a gas. The current in such discharges will ionize the gas and produce a strong magnetic field, which interacts with the flowing current to accelerate the plasma through the Lorentz body force. For the present work, two plasma accelerator types employing this general scheme are of interest: the gas-fed pulsed plasma thruster (PPT) 1 and the quasi-steady magnetoplasmadynamic (MPD) accelerator. 2 The gas-fed pulsed plasma accelerator is generally understood as a completely transient device discharging in ∼1-10 μs. When the capacitor bank is discharged through the gas, a current sheet forms at the breech of the thruster and propagates forward under a j × B body force, entraining and accelerating propellant it encounters. This process is sometimes referred to in literature as 'snowplowing' the propellant or accelerating the gas in a detonation-mode because the current sheet representation approximates that of a strong detonation shockwave propagating through the gas. For these devices, acceleration of the initial current sheet ceases when either the current sheet reaches the end of the device and is ejected or when the current in the circuit reverses, striking a new 'crowbar' discharge at the breech and depriving the initial sheet of additional acceleration. In general, PPTs typically claim thrust efficiencies (ratio of jet kinetic energy to input electrical energy) registering in the teens or lower. 3 In the quasi-steady MPD accelerator, the pulse is lengthened to ∼1 ms or longer and maintained at an approximately constant level during discharge through the use of a pulse-forming network (PFN) of capacitors. After an initial transient discharge, which is typically short relative to the overall discharge period, the plasma assumes a relatively steady-state configuration, known as 'quasi-steady' MPD operation. 2 In this state, ionized gas flows through a stationary current channel in a manner that is sometimes referred to as deflagration-mode operation owing to the similarities to deflagration waves in gases. The plasma experiences electromagnetic acceleration as the plasma flows through the current channel towards the exit of the device. Quasi-steady MPD thrusters claim efficiencies up to 50% for certain propellants.4 There has been significant and sustained research over several decades on both gas-fed PPTs and quasi-steady MPD thrusters, however there have been pulsed thrusters that do not appear to exactly fit either classification, instead possessing a mixture of operational qualities characteristic of both thruster variants. The Coaxial High ENerGy (CHENG) thruster by Cheng, et al.5 operated on the short 10 μs timescales characteristic of PPTs, but claimed the high thrust densities, high efficiencies, and low electrode erosion rates that are more consistent with the MPD/deflagration mode of plasma acceleration. Gas-fed PPT research by Ziemer, et al. 3, 6 identified two separate regimes of performance in those thrusters. The regime at higher mass bits (termed Mode I in that work) possessed relatively constant thrust efficiency as a function of mass bit, while the second regime at very low mass bits (termed Mode II) exhibited an increase in efficiency with decreasing mass bit. Work by Poehlmann et al.7 and by Sitaraman and Raja8 sought to understand the performance of the CHENG thruster and the Mode I/Mode II performance in PPTs by modeling the acceleration using the Hugoniot Relation, with the detonation and deflagration modes of plasma acceleration representing two distinct sets of solutions to the relevant conservation laws. In these works, it was proposed that the values of the various controllable parameters determined whether the accelerator would operate in detonation or deflagration mode. Our hypothesized view of the acceleration process in the CHENG thruster and in PPTs experiencing a transition from Mode I to Mode II is inspired by observations of the transition from the PPT mode of operation to the quasi-steady MPD mode. Specifically, the quasi-steady MPD was discovered by driving a PPT to extended pulse lengths. Above a certain pulse length threshold the transient plasma current sheet transitions into a stable plasma acceleration mode that 'replicates in every observable detail steady flow self-field magnetoplasmadynamic acceleration.' 9 In the present work, instead of treating the accelerator as if it were only operating in a single mode during a pulse, we consider the initial stage of the discharge in all cases as a current sheet forming at the breach of the accelerator and moving towards the exit as a detonation wave. If the current sheet reaches the exit of the accelerator before the discharge is completed, the view of the acceleration mode transitions to the deflagration mode-type found in quasi-steady MPD thrusters. In previous work10 we presented a modeling framework that first captured the time-evolution of the current sheet (detonation) mode of the thruster and then transitioned into the quasi-steady MPD (deflagration) mode of plasma acceleration. In the present work, variations of the controllable parameters - specifically the pulsed circuit properties, the amount of mass injected into the thruster, and the relative timing between the initial gas injection and the initiation of the plasma current sheet - will be used to explore the thruster performance. A range of parameters are explored to demonstrate that standard gas-fed pulsed plasma accelerators, the CHENG thruster, and the quasi-steady MPD accelerator are variations of the same device, with the overall acceleration of the plasma depending upon the behavior of the plasma discharge during initial transient phase and the relative lengths of the detonation and deflagration modes of operation.

Polzin, Kurt A.↗

NASA NTRS1987

Computational interferometric description of nested flow fields

Computer graphics and theoretical descriptions of density are used to obtain computer generated flow visualizations called computational interferograms. Computational interferograms are pictorially analogous to optical interferograms, and examples showing the fringe pattern for the flow about a sharp tip cone in a supersonic air stream are presented. To ascertain the effect of unsteady behavior, local density disturbances are added to the steady state flow field. This introduces irregularities to the computational interferogram like those seen in the optical interferograms. These theoretical disturbances can be varied in geometry, density description, translated with time, and strengthened or dissipated. The accuracy of computational interferometry relies on the accuracy of the theoretical density descriptions and therefore, it provides a way of verifying existing models of flow fields, especially those containing unsteady or turbulent behavior. In addition to being a unique method of flow visualization, computational interferometry can be used to develop and modify theories or numerical solutions to both simple and complex flow fields. The presented research is a general description of this process.

Havener, A. George↗

NASA NTRS1996

Bubble Dynamics on a Heated Surface

In this work, we study the combined thermocapillary and natural convective flow generated by a bubble on a heated solid surface. The interaction between gas and vapor bubbles with the surrounding fluid is of interest for both space and ground-based processing. On earth, the volumetric forces are dominant, especially, in apparatuses with large volume to surface ratio. But in the reduced gravity environment of orbiting spacecraft, surface forces become more important and the effects of Marangoni convection are easily unmasked. In order to delineate the roles of the various interacting phenomena, a combined numerical-experimental approach is adopted. The temperature field is visualized using Mach-Zehnder interferometry and the flow field is observed by a laser sheet flow visualization technique. A finite element numerical model is developed which solves the two-dimensional momentum and energy equations and includes the effects of bubble surface deformation. Steady state temperature and velocity fields predicted by the finite element model are in excellent qualitative agreement with the experimental results. A parametric study of the interaction between Marangoni and natural convective flows including conditions pertinent to microgravity space experiments is presented. Numerical simulations clearly indicate that there is a considerable difference between 1-g and low-g temperature and flow fields induced by the bubble.

Kassemi, Mohammad↗

NASA NTRS2002

Quasi-One-Dimensional Modeling of Pulse Detonation Rocket Engines

Pulsed detonation rocket engines (PDREs) have generated considerable research interest in recent years as a chemical propulsion system potentially offering improved performance and reduced complexity compared to conventional rocket engines. The detonative mode of combustion employed by these devices offers a thermodynamic advantage over the constant-pressure deflagrative combustion mode used in conventional rocket engines and gas turbines. However, while this theoretical advantage has spurred a great deal of interest in building PDRE devices, the unsteady blowdown process intrinsic to the PDRE has made realistic estimates of the actual propulsive performance problematic. The recent review article by Kailasanath highlights some of the difficulties in comparing the available experimental measurements with numerical models. In a previous paper by the author, parametric studies of the performance of a single, straight-tube PDRE were reported. A 1-D, unsteady method of characteristics code, employing a constant-gamma assumption behind the detonation front, was developed for that study. Models of this type are computationally inexpensive, and are particularly useful for parametric performance comparisons. For example, a plot showing the specific impulse of various PDRE and steady-state rocket engine (SSRE) configurations as a function of blowdown pressure ratio. The performance curves clearly indicate that a straight-tube PDRE is superior in specific impulse to a SSRE with a sonic nozzle over the entire range of pressure ratios. Note, however, that a straight-tube PDRE in general does not compare favorably to a SSRE fitted with an optimized de Laval supersonic nozzle, particularly at the high pressure ratios typical for boost or in-space rocket applications. However, the calculations also show that if a dynamically optimized, supersonic de Laval nozzle could be could be fitted to a PDRE, then the specific impulse of the device would exceed that of a comparable SSRE. While such a nozzle is a considerable idealization, it is clear that nozzle design and optimization will play a critical role in whether the performance potential of PDREs can be effectively realized in practice. In order to study PDRE nozzle issues with greater accuracy, a quasi-one-dimensional, finite-rate chemistry CFD code has been developed by the author. Comparisons of the code with both the previous MOC model and experimental data from Stanford University are reported. The effect of constant-gamma and finite-rate chemistry assumptions on the flowfield and performance is examined. Parametric studies of the effect of nozzle throat size and expansion ratio, at various blowdown pressure ratios, are reported.

Morris, Christopher I.↗

NASA NTRS1998

Polymerization on the rocks: theoretical introduction

It is difficult if not impossible to synthesize long polymers of amino acids, nucleotides, etc., in homogeneous aqueous solution. We suggest that long polymers were synthesized on the surface of minerals in a prebiotic process analogous to solid-phase synthesis. Provided that the affinity of a mineral for an oligomer increases with the length of the oligomer, adsorption must become essentially irreversible for sufficiently long oligomers. Irreversibly adsorbed oligomers may be elongated indefinitely by repeated cycles in which the mineral with its adsorbed oligomers is first incubated with activated monomers and then washed free of deactivated monomer and side-products. We discuss in some detail the formation of oligomers of negatively-charged amino acids such as glutamic acid on anion-exchange minerals such as hydroxylapatite or illite. We show that the average length of adsorbed oligomers at steady state, n, depends on the balance between the rate of chain elongation and the rate of hydrolysis, and we derive a very approximate formula for n.

NASA Discipline Exobiology↗

NASA NTRS2012

NASA's Evolutionary Xenon Thruster (NEXT) Long-Duration Test as of 736 kg of Propellant Throughput

The NASA s Evolutionary Xenon Thruster (NEXT) program is developing the next-generation solar-electric ion propulsion system with significant enhancements beyond the state-of-the-art NASA Solar Electric Propulsion Technology Application Readiness (NSTAR) ion propulsion system to provide future NASA science missions with enhanced mission capabilities. A Long-Duration Test (LDT) was initiated in June 2005 to validate the thruster service life modeling and to qualify the thruster propellant throughput capability. The thruster has set electric propulsion records for the longest operating duration, highest propellant throughput, and most total impulse demonstrated. At the time of this publication, the NEXT LDT has surpassed 42,100 h of operation, processed more than 736 kg of xenon propellant, and demonstrated greater than 28.1 MN s total impulse. Thruster performance has been steady with negligible degradation. The NEXT thruster design has mitigated several lifetime limiting mechanisms encountered in the NSTAR design, including the NSTAR first failure mode, thereby drastically improving thruster capabilities. Component erosion rates and the progression of the predicted life-limiting erosion mechanism for the thruster compare favorably to pretest predictions based upon semi-empirical ion thruster models used in the thruster service life assessment. Service life model validation has been accomplished by the NEXT LDT. Assuming full-power operation until test article failure, the models and extrapolated erosion data predict penetration of the accelerator grid grooves after more than 45,000 hours of operation while processing over 800 kg of xenon propellant. Thruster failure due to degradation of the accelerator grid structural integrity is expected after

Shastry, Rohit↗

NASA NTRS2012

NASA's Evolutionary Xenon Thruster (NEXT) Long-Duration Test as of 736 kg of Propellant Throughput

Shastry, Rohit↗

NASA NTRS2003

Shared motion signals for human perceptual decisions and oculomotor actions

A fundamental question in primate neurobiology is to understand to what extent motor behaviors are driven by shared neural signals that also support conscious perception or by independent subconscious neural signals dedicated to motor control. Although it has clearly been established that cortical areas involved in processing visual motion support both perception and smooth pursuit eye movements, it remains unknown whether the same or different sets of neurons within these structures perform these two functions. Examination of the trial-by-trial variation in human perceptual and pursuit responses during a simultaneous psychophysical and oculomotor task reveals that the direction signals for pursuit and perception are not only similar on average but also co-vary on a trial-by-trial basis, even when performance is at or near chance and the decisions are determined largely by neural noise. We conclude that the neural signal encoding the direction of target motion that drives steady-state pursuit and supports concurrent perceptual judgments emanates from a shared ensemble of cortical neurons.

Visual Cortex/physiology↗

NASA NTRS2004

High Power MPD Thruster Performance Measurements

High power magnetoplasmadynamic (MPD) thrusters are being developed as cost effective propulsion systems for cargo transport to lunar and Mars bases, crewed missions to Mars and the outer planets, and robotic deep space exploration missions. Electromagnetic MPD thrusters have demonstrated, at the laboratory level, the ability to process megawatts of electrical power while providing significantly higher thrust densities than electrostatic electric propulsion systems. The ability to generate higher thrust densities permits a reduction in the number of thrusters required to perform a given mission, and alleviates the system complexity associated with multiple thruster arrays. The specific impulse of an MPD thruster can be optimized to meet given mission requirements, from a few thousand seconds with heavier gas propellants up to 10,000 seconds with hydrogen propellant. In support of programs envisioned by the NASA Office of Exploration Systems, Glenn Research Center is developing and testing quasi-steady MW-class MPD thrusters as a prelude to steady state high power thruster tests. This paper provides an overview of the GRC high power pulsed thruster test facility, and presents preliminary performance data for a quasi-steady baseline MPD thruster geometry.

LaPointe, Michael R.↗

NASA NTRS1992

Lumley's energy cascade dissipation rate model for boundary-free turbulent shear flows

True dissipation occurs mainly at the highest wavenumbers where the eddy sizes are comparatively small. These high wavenumbers receive their energy through the spectral cascade of energy starting with the largest eddies spilling energy into the smaller eddies, passing through each wavenumber until it is dissipated at the microscopic scale. However, a small percentage of the energy does not spill continuously through the cascade but is instantly passed to the higher wavenumbers. Consequently, the smallest eddies receive a certain amount of energy almost immediately. As the spectral energy cascade continues, the highest wavenumber needs a certain time to receive all the energy which has been transferred from the largest eddies. As such, there is a time delay, of the order of tau, between the generation of energy by the largest eddies and the eventual dissipation of this energy. For equilibrium turbulence at high Reynolds numbers, there is a wide range where energy is neither produced by the large eddies nor dissipated by viscosity, but is conserved and passed from wavenumber to higher wavenumbers. The rate at which energy cascades from one wavenumber to another is proportional to the energy contained within that wavenumber. This rate is constant and has been used in the past as a dissipation rate of turbulent kinetic energy. However, this is true only in steady, equilibrium turbulence. Most dissipation models contend that the production of dissipation is proportional to the production of energy and that the destruction of dissipation is proportional to the destruction of energy. In essence, these models state that the change in the dissipation rate is proportional to the change in the kinetic energy. This assumption is obviously incorrect for the case where there is no production of turbulent energy, yet energy continues to cascade from large to small eddies. If the time lag between the onset on the energy cascade to the destruction of energy at the microscale can be modeled, then there will be a better representation of the dissipation process. Development of an energy cascade time scale equation is discussed.

Duncan, B. S.↗

NASA NTRS2000

Substorms At Jupiter: Galileo Observations of Transient Reconnection in The Near Tail

The magnetic flux content of the Jovian magnetosphere is set by the internal dynamo, but those magnetic field lines are constantly being loaded by heavy ions at the orbit of lo and dragged inexorably outward by the centrifugal force. Vasyliunas has proposed a steady state reconnecting magnetospheric model that sheds plasma islands of zero net magnetic flux and returns nearly empty flux tubes to the inner magnetosphere. The Galileo observations indicate that beyond 40 Rj the current sheet begins to tear and beyond 50 Rj on the nightside explosively reconnects as the tearing site reaches the low density lobe region above and below the current sheet. Small events occur irregularly but on average about every 4 hours and large events about once a day. The magnetic flux reconnected in such events amounts up to about 70,000 Webers/sec and is sufficient to return the outwardly convected magnetic flux to the inner magnetosphere. Since this process releases plasmoids into the jovian tail, as do terrestrial substorms; since this process involves explosive reconnection across the current sheet on the nightside of the planet, as do terrestrial substorms; and since the process is a key in closing the circulation pattern of the magnetic and plasma flux, as it is in terrestrial substorms; we refer to these events as jovian substorms.

Russell, C. T.↗

NASA NTRS2013

Application of Statistically Derived CPAS Parachute Parameters

The Capsule Parachute Assembly System (CPAS) Analysis Team is responsible for determining parachute inflation parameters and dispersions that are ultimately used in verifying system requirements. A model memo is internally released semi-annually documenting parachute inflation and other key parameters reconstructed from flight test data. Dispersion probability distributions published in previous versions of the model memo were uniform because insufficient data were available for determination of statistical based distributions. Uniform distributions do not accurately represent the expected distributions since extreme parameter values are just as likely to occur as the nominal value. CPAS has taken incremental steps to move away from uniform distributions. Model Memo version 9 (MMv9) made the first use of non-uniform dispersions, but only for the reefing cutter timing, for which a large number of sample was available. In order to maximize the utility of the available flight test data, clusters of parachutes were reconstructed individually starting with Model Memo version 10. This allowed for statistical assessment for steady-state drag area (CDS) and parachute inflation parameters such as the canopy fill distance (n), profile shape exponent (expopen), over-inflation factor (C(sub k)), and ramp-down time (t(sub k)) distributions. Built-in MATLAB distributions were applied to the histograms, and parameters such as scale (sigma) and location (mu) were output. Engineering judgment was used to determine the "best fit" distribution based on the test data. Results include normal, log normal, and uniform (where available data remains insufficient) fits of nominal and failure (loss of parachute and skipped stage) cases for all CPAS parachutes. This paper discusses the uniform methodology that was previously used, the process and result of the statistical assessment, how the dispersions were incorporated into Monte Carlo analyses, and the application of the distributions in trajectory benchmark testing assessments with parachute inflation parameters, drag area, and reefing cutter timing used by CPAS.

Romero, Leah M.↗

NASA NTRS1975

Study of growth of single crystal ribbon in space

The technical feasibility is studied of growing single-crystal silicon ribbon in the space environment. Procedures are described for calculating the electromagnetic fields produced in a silicon ribbon by an rf shaping coil. The forces on the ribbon and the degree of shaping to be expected are determined. The expected steady-state temperature distribution in the ribbon is calculated in the one-dimensional approximation. Calculations on simplified models indicate, that lack of flatness of the shaped ribbon and excessive heating of the melt by the eddy currents induced by the shaping fields may pose problems. An analysis of the relative effects of various kinds of forces other than electromagnetic showed that in the space environment capillarity forces would dominate, and that the shape of the melt is thus principally determined by the shape of any solids with which it comes in contact. This suggests that ribbon may be produced simply by drawing between parallel wires. A concept is developed for a process of off-angle growth, in which the ribbon is pulled at an angle to the solidification front. Such a process promises to offer increased growth rate, better homogeneity, and thinner ribbon.

Wood, V. E.↗

NASA NTRS1993

Convective Effects During the Physical Vapor Transport Process. II - Thermosolutal Convection

The effect of an inert gas on the diffusive-convective physical vapor transport process is investigated for the case when the temperature gradient is stabilizing, and the concentration gradient destabilizing, for a wide parametric range. When an inert gas is present, the thermal and solutal convection oppose each other. The solutal field is destabilizing while the thermal field and the advective-diffusive flux stabilize the flow field. When the pressure of the inert component is increased, the stabilizing effect of the advective-diffusive flux is decreased; thus, convection becomes more vigorous. The nonlinear dynamics of the flow field here show a transition from quasi-periodic to chaotic state. When both stabilizing mechanisms are present, the flow field shows a transition to a steady state. Toward steady state, growth and amalgamation of rolls occur, which result in an overturning motion. This leads to a superposed flow consisting of one roll and a unidirectional flow. However, when the pressure is increased, the advective-diffusive stability mechanism is decreased. and oscillations of the flow field occur. The low gravity environment is effective at eliminating oscillatory behavior of the flow field and results in uniform temperature and concentration gradients.

Duval, Walter M. B.↗

NASA NTRS2000

Visual motion integration for perception and pursuit

To examine the relationship between visual motion processing for perception and pursuit, we measured the pursuit eye-movement and perceptual responses to the same complex-motion stimuli. We show that humans can both perceive and pursue the motion of line-figure objects, even when partial occlusion makes the resulting image motion vastly different from the underlying object motion. Our results show that both perception and pursuit can perform largely accurate motion integration, i.e. the selective combination of local motion signals across the visual field to derive global object motion. Furthermore, because we manipulated perceived motion while keeping image motion identical, the observed parallel changes in perception and pursuit show that the motion signals driving steady-state pursuit and perception are linked. These findings disprove current pursuit models whose control strategy is to minimize retinal image motion, and suggest a new framework for the interplay between visual cortex and cerebellum in visuomotor control.

NASA Center ARC↗