Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “robust estimation”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 739 records · Page 41
All sourcesNASA NTRSDOE OSTI
NASA NTRS2008

Liquid Oxygen/Liquid Methane Ascent Main Engine Technology Development

The National Aeronautics & Space Administration (NASA) has identified Liquid Oxygen (LO2)/Liquid Methane (LCH4) as a potential propellant combination for future space vehicles based upon the Exploration Systems Architecture Study (ESAS). The technology is estimated to have higher performance and lower overall systems mass compared to existing hypergolic propulsion systems. The current application considering this technology is the lunar ascent main engine (AME). AME is anticipated to be an expendable, pressure-fed engine to provide ascent from the moon at the completion of a 210 day lunar stay. The engine is expected to produce 5,500 lbf (24,465 N) thrust with variable inlet temperatures due to the cryogenic nature of the fuel and oxidizer. The primary technology risks include establishing reliable and robust ignition in vacuum conditions, maximizing specific impulse, developing rapid start capability for the descent abort, providing the capability for two starts and producing a total engine bum time over 500 seconds. This paper will highlight the efforts of the Marshall Space Flight Center (MSFC) in addressing risk reduction activities for this technology.

Robinson, Joel W.↗
NASA NTRS2012

Design and Performance Evaluation on Ultra-Wideband Time-Of-Arrival 3D Tracking System

A three-dimensional (3D) Ultra-Wideband (UWB) Time--of-Arrival (TOA) tracking system has been studied at NASA Johnson Space Center (JSC) to provide the tracking capability inside the International Space Station (ISS) modules for various applications. One of applications is to locate and report the location where crew experienced possible high level of carbon-dioxide and felt upset. In order to accurately locate those places in a multipath intensive environment like ISS modules, it requires a robust real-time location system (RTLS) which can provide the required accuracy and update rate. A 3D UWB TOA tracking system with two-way ranging has been proposed and studied. The designed system will be tested in the Wireless Habitat Testbed which simulates the ISS module environment. In this presentation, we discuss the 3D TOA tracking algorithm and the performance evaluation based on different tracking baseline configurations. The simulation results show that two configurations of the tracking baseline are feasible. With 100 picoseconds standard deviation (STD) of TOA estimates, the average tracking error 0.2392 feet (about 7 centimeters) can be achieved for configuration Twisted Rectangle while the average tracking error 0.9183 feet (about 28 centimeters) can be achieved for configuration Slightly-Twisted Top Rectangle . The tracking accuracy can be further improved with the improvement of the STD of TOA estimates. With 10 picoseconds STD of TOA estimates, the average tracking error 0.0239 feet (less than 1 centimeter) can be achieved for configuration "Twisted Rectangle".

Ni, Jianjun↗
NASA NTRS2017

Flight Tests of a Remaining Flying Time Prediction System for Small Electric Aircraft in the Presence of Faults

This paper addresses the problem of building trust in the online prediction of a battery powered aircraft's remaining flying time. A series of flight tests is described that make use of a small electric powered unmanned aerial vehicle (eUAV) to verify the performance of the remaining flying time prediction algorithm. The estimate of remaining flying time is used to activate an alarm when the predicted remaining time is two minutes. This notifies the pilot to transition to the landing phase of the flight. A second alarm is activated when the battery charge falls below a specified limit threshold. This threshold is the point at which the battery energy reserve would no longer safely support two repeated aborted landing attempts. During the test series, the motor system is operated with the same predefined timed airspeed profile for each test. To test the robustness of the prediction, half of the tests were performed with, and half were performed without, a simulated powertrain fault. The pilot remotely engages a resistor bank at a specified time during the test flight to simulate a partial powertrain fault. The flying time prediction system is agnostic of the pilot's activation of the fault and must adapt to the vehicle's state. The time at which the limit threshold on battery charge is reached is then used to measure the accuracy of the remaining flying time predictions. Accuracy requirements for the alarms are considered and the results discussed.

Hogge, Edward F.↗
NASA NTRS2020

The Chandra Deep Wide-field Survey: A New Chandra Legacy Survey in the Bootes Field. I. X-ray Point Source Catalog, Number Counts, and Multiwavelength Counterparts

We present a new, ambitious survey performed with the Chandra X-ray Observatory of the 9.3 deg2 Boötes field of the NOAO Deep Wide-Field Survey. The wide field probes a statistically representative volume of the universe at high redshift. The Chandra Deep Wide-field Survey exploits the excellent sensitivity and angular resolution of Chandra over a wide area, combining 281 observations spanning 15 yr, for a total exposure time of 3.4 Ms, and detects 6891 X-ray point sources down to limiting fluxes of 4.7 × 10−16, 1.5 × 10−16, and 9 × 10−16 erg cm−2 s−1 in the 0.5–7, 0.5–2, and 2–7 keV bands, respectively. The robustness and reliability of the detection strategy are validated through extensive, state-of-the-art simulations of the whole field. Accurate number counts, in good agreement with previous X-ray surveys, are derived thanks to the uniquely large number of point sources detected, which resolve 65.0% ± 12.8% of the cosmic X-ray background between 0.5 and 2 keV and 81.0% ± 11.5% between 2 and 7 keV. Exploiting the wealth of multiwavelength data available on the field, we assign redshifts to ∼94% of the X-ray sources, estimate their obscuration, and derive absorption-corrected luminosities. We provide an electronic catalog containing all of the relevant quantities needed for future investigations.

Catalogs↗
NASA NTRS2006

Estimating Resolution Lengths of Hybrid Turbulence Models

A two-stage procedure has been devised for estimating the spatial resolution achievable in the simulation of a given flow on a given computational grid by a computational fluid dynamics (CFD) code that incorporates a hybrid model of turbulence. The hybrid models to which this procedure is especially relevant are those of the Reynolds-averaged Navier-Stokes (RANS) and the partial-averaged Navier-Stokes (PANS) approaches. This procedure represents the first step toward adding variable-resolution turbulence-modeling capabilities to CFD codes as part of a continuing effort to increase the accuracy and robustness of CFD simulations of unsteady flows. Some background information is prerequisite to a meaningful summary of the procedure. Among experts in CFD, it is well known that combination of the Reynolds-averaged Navier-Stokes (RANS) approach and eddy-viscosity turbulence models offers limited capability for simulating unsteady and complex flows. The RANS approach includes an assumption that most of the energy in a given flow is modeled through turbulence-transport equations and is resolved in a computational grid used to simulate the flow. RANS also overpredicts eddy viscosity, thereby yielding excessive damping of unsteady motion. The eddy viscosity attains an unphysically large value because of unresolved scales, and suppresses most temporal and spatial fluctuations in the resolved flow field. One approach used to overcome this deficiency is to provide a mechanism for the RANS equations to resolve motion only on the largest scales and to use a hybrid model to represent effects at smaller scales. The RANS approach involves the use of a standard two-equation turbulence model in which the effect of turbulence is summarized by a viscosity that is a function of (1) the time-averaged kinetic- energy density (k) associated with the local fluctuating (turbulent) component of flow and (2) the time-averaged rate of dissipation of the turbulent-kinetic- energy density ( ). In PANS, which was developed to overcome the grid dependency associated with other hybrid turbulence models (including that of RANS), the standard two-equation turbulence model is replaced by another two-equation model in which one solves for the previously unresolved k and , which are now allowed to vary in space and time.

Abdol-Hamid, Khaled S.↗
NASA NTRS2001

"Cloud Slicing": A New Technique to Derive Upper Tropospheric Ozone from Satellite Measurements

A new technique called "cloud slicing" is introduced in this study to determine tropospheric ozone profile information. This method is unique because all previous methods incorporating satellite data were only capable of estimating the total column of ozone in the troposphere. Cloud slicing takes advantage of the opaque property of water vapor clouds to ultraviolet wavelength radiation. Measurements of above-cloud column ozone from the Nimbus 7 total ozone mapping spectrometer (TOMS) instrument are combined together with Nimbus 7 temperature humidity and infrared radiometer (THIR) cloud-top pressure data to derive ozone column amounts in the upper troposphere. In this study, tropical TOMS and THIR data for the period 1979-1984 are analyzed. Our investigation examines several case studies and illustrates the robust nature of this new technique for future satellite missions.

Chandra, Sushil↗
NASA NTRS2007

An Assessment of NASA Aeropropulsion Technologies: A System Study

Aviation industry s robust growth rate has given rise to growing concerns about the contribution that aviation emissions will make to local air quality and global climate change. Over the last several years, NASA has been engaged in the development of aeropropulsion technologies with specific objectives to reduce aircraft emissions. A system analysis was performed to evaluate the potential impact of these propulsion technologies on aircraft CO2 (directly proportional to fuel burn) and NOx reductions. A large subsonic aircraft, with two 396-kN thrust (85,000-pound) engines was chosen for the study. Performance benefit estimates are presented for each technology, with a summary of potential emissions reduction possible from the development of these technologies. The results show that NASA s aeropropulsion technologies have the potential to significantly reduce the CO2 and NO(x) emissions. The results are used to support informed decision-making on the development of aeropropulsion technology portfolio for CO2 and NO(x) reductions.

Tong, Michael T.↗
NASA NTRSDate not supplied

Development of a Consistent GEOsat Cloud Property Dataset for the CERES Climate Data Record

Cloud properties are critical for understanding the Earth’s radiation budget and cloud feedbacks. At NASA Langley Research Center, the Satellite ClOud and Radiative Property retrieval System (SatCORPS) provides real-time and historical analyses of clouds derived from Geostationary satellite (GEOsat) data for weather and climate applications. For the Clouds and the Earth’s Radiant Energy System (CERES) program, the global constellation of GEOsats has been analyzed since 2000 to help characterize and account for the diurnal cycle of clouds and their radiative impacts in the CERES climate data record. Obtaining consistent cloud properties over the GEOsat data record during the CERES era is a major objective but a significant challenge considering the diversity of imaging capabilities deployed during that time. The GEOsat data analysis approach for the current CERES Edition-4 (Ed4) data products was focused on accuracy and consistency with MODIS by employing as much spectral information as possible from each satellite. However, the inconsistent use of spectral information across GEOsats led to marked discontinuities in the spatial and temporal record of cloud properties that had to be accounted for post facto in downstream CERES processing. This paper reports progress in developing a new GEOsat analysis system for the next CERES edition (Ed5) that has potential to improve cross-platform consistency and continuity. In this approach, the spectral channel complement is limited to just 3-channels during daytime, ~0.65 µm (VIS), ~3.9 µm (NIR), and ~10.8 µm (IR), common to nearly all of the satellites in the record. At night, a 2-channel approach is taken with the NIR and IR, and ~6.7 µm bands that includes a machine learning approach for optically thick cloud properties. A tradeoff is the potential for reduced accuracy particularly using data from the more advanced satellites that have more spectral channels (e.g. SEVIRI, AHI and ABI) that are known to help improve thin cirrus detection, cloud-aerosol discrimination and estimates in other difficult conditions that challenge cloud remote sensing. The new continuity approach is applied to one month of global GEOSat data for each year of the CERES record since 2000 and compared with the Ed4 GEO and MODIS cloud property time series in order to evaluate the level of improved consistency in the GEOsat record and to assess the accuracy impacts. Cloud fraction will also be assessed with CALIPSO data. Outstanding issues and challenges will be discussed. The results are expected to guide future work needed to develop a more robust GEOsat cloud data record for CERES.

CERES CDR↗
NASA NTRSDate not supplied

The Design of a Flexible, Interoperable Navigation Signal for Future Lunar Missions

The LunaNet Interoperability Specification (LNIS) is a set of standards currently under development by NASA, ESA, and JAXA, which define a common, interoperable set of services and interfaces for lunar communication and navigation. The LNIS includes specifications for the GNSS-like Augmented Forward Signal (AFS). The LANS (Lunar Augmented Navigation Service) will be comprised of Multiple LunaNet Service Provider (LNSP) nodes broadcasting the AFS, such as NASA’s LCRNS (Lunar Communications Relay and Navigation Systems), ESA’s Moonlight LCNS (Lunar Communication and Navigation Services) and the Japan LNSS (Lunar Navigation Satellite System). The LANS will provide a GNSS-like capability enabling orbiting and surface users in lunar space (such as Artemis) to estimate their position, velocity and time as described in Giordano et al., (2023). Initial capabilities will focus on providing service to the lunar South pole region. The specification of AFS defines two orthogonal signal components on a single carrier, with the in-phase component (AFS-I) being a lower-chip-rate data channel tailored for applications where low SWaP is critical (e.g., IoT devices or search and rescue), and the quadrature component (AFS-Q) being a high-chip-rate data-less pilot signal for high-precision, robust lunar navigation and positioning applications. An initial description of AFS was provided in the LNIS, (2023), and initial analysis results were shown in Dafesh, et al., (2024). In this work, we provide rationale for updates to the LNIS that define key aspects of the signal including the primary spreading code designs for the data and pilot channels, and a three-tiered overlay code approach for the pilot channel that provides flexible signal acquisition alternatives, rapid time dissemination and robust frame Sync. The paper also describes a robust data sync word that is designed to enable frame Sync. for low-SWaP receivers that only use the I channel, as well as a low-density parity check code (LDPC) data message encoding design and interleaving definition. The work further describes the impact of the updated AFS design in terms of improved acquisition performance, interference resistance, navigation message capabilities and rapid absolute time dissemination for users able to access clock and ephemeris data over an external network. The cross-correlation and synchronization performance of the AFS design is also compared to potential alternatives, further providing rationale for the final signal design configuration.

LANS↗
NASA NTRS2025

The Design of a Flexible, Interoperable Navigation Signal for Future Lunar Missions

The LunaNet Interoperability Specification (LNIS) is a set of standards currently under development by NASA, ESA, and JAXA, which define a common, interoperable set of services and interfaces for lunar communication and navigation. The LNIS includes specifications for the GNSS-like Augmented Forward Signal (AFS). The LANS (Lunar Augmented Navigation Service) will be comprised of Multiple LunaNet Service Provider (LNSP) nodes broadcasting the AFS, such as NASA’s LCRNS (Lunar Communications Relay and Navigation Systems), ESA’s Moonlight LCNS (Lunar Communication and Navigation Services) and the Japan LNSS (Lunar Navigation Satellite System). The LANS will provide a GNSS-like capability enabling orbiting and surface users in lunar space (such as Artemis) to estimate their position, velocity and time as described in Giordano et al., (2023). Initial capabilities will focus on providing service to the lunar South pole region. The specification of AFS defines two orthogonal signal components on a single carrier, with the in-phase component (AFS-I) being a lower-chip-rate data channel tailored for applications where low SWaP is critical (e.g., IoT devices or search and rescue), and the quadrature component (AFS-Q) being a high-chip-rate data-less pilot signal for high-precision, robust lunar navigation and positioning applications. An initial description of AFS was provided in the LNIS, (2023), and initial analysis results were shown in Dafesh, et al., (2024). In this work, we provide rationale for updates to the LNIS that define key aspects of the signal including the primary spreading code designs for the data and pilot channels, and a three-tiered overlay code approach for the pilot channel that provides flexible signal acquisition alternatives, rapid time dissemination and robust frame Sync. The paper also describes a robust data sync word that is designed to enable frame Sync. for low-SWaP receivers that only use the I channel, as well as a low-density parity check code (LDPC) data message encoding design and interleaving definition. The work further describes the impact of the updated AFS design in terms of improved acquisition performance, interference resistance, navigation message capabilities and rapid absolute time dissemination for users able to access clock and ephemeris data over an external network. The cross-correlation and synchronization performance of the AFS design is also compared to potential alternatives, further providing rationale for the final signal design configuration.

LunaNet↗
NASA NTRS2023

Robustness of Gridded Precipitation Products for Vietnam Basins using the Comprehensive Assessment Framework of Rainfall

The use of satellite–based precipitation products (SPPs) have become increasingly prevalent as key inputs to provide regional rainfall for improving hydrological simulations in data–spare regions. This study introduces a new approach – Comprehensive Assessment Framework of Rainfall (CAFR) to evaluate six satellite–based precipitation products (SPPs) for eleven basins with different sizes across Vietnam (2007–2015). These SPPs include the Global Precipitation Mission (GPM) Integrated Multi-satellitE Retrievals for Global Precipitation Measurement Final run Version 6 (GPM IMERGF V6), Multi–Source Weighted–Ensemble Precipitation (MSWEP) V2.2, Soil Moisture to Rain (SM2RAIN) – Advanced SCATterometer (ASCAT) V1.5, Asian Precipitation–Highly–Resolved Observational Data Integration Towards Evaluation (APHRODITE) V1901, Climate Hazards group Infrared Precipitation with Stations (CHIRPS) V2.0, and Precipitation Estimation from Remotely Sensed Information using Artificial Neural Networks (PERSIANN) – Climate Data Record (CDR) V1.0. With the proposed CAFR: (1) IMERGF is suggested to have the best performance overall, especially when simulating flood peaks; (2) SM2RAIN–ASCAT demonstrates the best skills in metrics related to the dry season; (3) For streamflow simulations, SPPs' performance is sensitive to basin size, with larger basins showing better performance skills. In this study, we demonstrate the capability of our proposed framework to better understand SPP applications in hydrological modeling.

Comprehensive Assessment Framework of Rainfall (CA↗
NASA NTRS1992

GPS interferometric attitude and heading determination - Initial flight test results

Attitude and heading determination using GPS interferometry is a well-understood concept. However, efforts have been concentrated mainly in the development of robust algorithms and applications for low-dynamic, rigid platforms (e.g., shipboard). This paper presents results of what is believed to be the first real-time flight test of a GPS attitude and heading determination system. Signals from four antennas are processed by a 24-channel GPS receiver. Data from the receiver are sent to a microcomputer for storage and further computations. Attitude and heading data are sent to a second computer for display on a software-generated artificial horizon. Demonstration of this technique proves its candidacy for augmentation of aircraft state estimation for flight control and navigation, as well as for numerous other applications.

Van Graas, Frank↗
NASA NTRS1993

A pattern recognition system for locating small volvanoes in Magellan SAR images of Venus

The Magellan data set constitutes an example of the large volumes of data that today's instruments can collect, providing more detail of Venus than was previously available from Pioneer Venus, Venera 15/16, or ground-based radar observations put together. However, data analysis technology has not kept pace with data collection and storage technology. Due to the sheer size of the data, complete and comprehensive scientific analysis of such large volumes of image data is no longer feasible without the use of computational aids. Our progress towards developing a pattern recognition system for aiding in the detection and cataloging of small-scale natural features in large collections of images is reported. Combining classical image processing, machine learning, and a graphical user interface, the detection of the 'small-shield' volcanoes (less than 15km in diameter) that constitute the most abundant visible geologic feature in the more that 30,000 synthetic aperture radar (SAR) images of the surface of Venus are initially targeted. Our eventual goal is to provide a general, trainable tool for locating small-scale features where scientists specify what to look for simply by providing examples and attributes of interest to measure. This contrasts with the traditional approach of developing problem specific programs for detecting Specific patterns. The approach and initial results in the specific context of locating small volcanoes is reported. It is estimated, based on extrapolating from previous studies and knowledge of the underlying geologic processes, that there should be on the order of 10(exp 5) to 10(exp 6) of these volcanoes visible in the Magellan data. Identifying and studying these volcanoes is fundamental to a proper understanding of the geologic evolution of Venus. However, locating and parameterizing them in a manual manner is forbiddingly time-consuming. Hence, the development of techniques to partially automate this task were undertaken. The primary constraints for this particular problem are that the method must be reasonably robust and fast. Unlike most geological features, the small volcanoes of Venus can be ascribed to a basic process that produces features with a short list of readily defined characteristics differing significantly from other surface features on Venus. For pattern recognition purposes the relevant criteria include (1) a circular planimetric outline, (2) known diameter frequency distribution from preliminary studies, (3) a limited number of basic morphological shapes, and (4) the common occurrence of a single, circular summit pit at the center of the edifice.

Burl, M. C.↗
NASA NTRS2009

Enhancement of the MODIS Daily Snow Albedo Product

The MODIS daily snow albedo product is a data layer in the MOD10A1 snow-cover product that includes snow-covered area and fractional snow cover as well as quality information and other metadata. It was developed to augment the MODIS BRDF/Albedo algorithm (MCD43) that provides 16-day maps of albedo globally at 500-m resolution. But many modelers require daily snow albedo, especially during the snowmelt season when the snow albedo is changing rapidly. Many models have an unrealistic snow albedo feedback in both estimated albedo and change in albedo over the seasonal cycle context, Rapid changes in snow cover extent or brightness challenge the MCD43 algorithm; over a 16-day period, MCD43 determines whether the majority of clear observations was snow-covered or snow-free then only calculates albedo for the majority condition. Thus changes in snow albedo and snow cover are not portrayed accurately during times of rapid change, therefore the current MCD43 product is not ideal for snow work. The MODIS daily snow albedo from the MOD10 product provides more frequent, though less robust maps for pixels defined as "snow" by the MODIS snow-cover algorithm. Though useful, the daily snow albedo product can be improved using a daily version of the MCD43 product as described in this paper. There are important limitations to the MOD10A1 daily snow albedo product, some of which can be mitigated. Utilizing the appropriate per-pixel Bidirectional Reflectance Distribution Functions (BRDFs) can be problematic, and correction for anisotropic scattering must be included. The BRDF describes how the reflectance varies with view and illumination geometry. Also, narrow-to-broadband conversion specific for snow on different surfaces must be calculated and this can be difficult. In consideration of these limitations of MOD10A1, we are planning to improve the daily snow albedo algorithm by coupling the periodic per-pixel snow albedo from MCD43, with daily surface ref|outanoom, In this paper, we compare a daily version of MCD43B3 with the daily albedo from MOD10A1. and MCD43B3 with a 16-day average of MOD10A1, over Greenland. We also discuss some near-future planned enhancements to MOD10A1.

Hall, Dorothy K.↗
NASA NTRS2011

Evaluation of the Event Driven Phenology Model Coupled with the VegET Evapotranspiration Model Through Comparisons with Reference Datasets in a Spatially Explicit Manner

A new model coupling scheme with remote sensing data assimilation was developed for estimation of daily actual evapotranspiration (ET). The scheme represents a mix of the VegET, a physically based model to estimate ET from a water balance, and an event driven phenology model (EDPM), where the EDPM is an empirically derived crop specific model capable of producing seasonal trajectories of canopy attributes. In this experiment, the scheme was deployed in a spatially explicit manner within the croplands of the Northern Great Plains. The evaluation was carried out using 2007-2009 land surface forcing data from the North American Land Data Assimilation System (NLDAS) and crop maps derived from remotely sensed data of NASA's Moderate Resolution Imaging Spectroradiometer (MODIS). We compared the canopy parameters produced by the phenology model with normalized difference vegetation index (NDVI) data derived from the MODIS nadir bi-directional reflectance distribution function (BRDF) adjusted reflectance (NBAR) product. The expectations of the EDPM performance in prognostic mode were met, producing determination coefficient (r2) of 0.8 +/-.0.15. Model estimates of NDVI yielded root mean square error (RMSE) of 0.1 +/-.0.035 for the entire study area. Retrospective correction of canopy dynamics with MODIS NDVI brought the errors down to just below 10% of observed data range. The ET estimates produced by the coupled scheme were compared with ones from the MODIS land product suite. The expected r2=0.7 +/-.15 and RMSE = 11.2 +/-.4 mm per 8 days were met and even exceeded by the coupling scheme0 functioning in both prognostic and retrospective modes. Minor setbacks of the EDPM and VegET performance (r2 about 0.5 and additional 30 % of RMSR) were found on the peripheries of the study area and attributed to the insufficient EDPM training and to spatially varying accuracy of crop maps. Overall the experiment provided sufficient evidence of soundness and robustness of the EDPM and VegET coupling scheme, assuring its potential for spatially explicit applications.

Kovalskyy, V.↗
NASA NTRS2018

The fraction of ionizing radiation from massive stars that escapes to the intergalactic medium

Whether stars could have driven the reionization of the intergalactic medium depends critically on the proportion of ionizing radiation that escapes the galaxies in which it is produced. Spectroscopy of gamma-ray burst (GRB) afterglows can be used to estimate the opacity to extreme ultraviolet (EUV) radiation along the lines-of-sight to the bursts. Assuming that long-duration GRBs trace the locations of the massive stars dominating EUV production, the average escape fraction of ionizing radiation can be calculated independently of galaxy size or luminosity. Here we present a compilation of HI column density (N(HI)) measures for 140 GRBs in the range 1.6 < z <6.7. Although the sample is heterogeneous, in terms of spectral resolution and signal-to-noise ratio, fits to the Ly α absorption line provide robust constraints on N(HI), even for spectra of insufficient quality for other purposes. Thus we establish an escape fraction at the Lyman limit of {f(esc)} ≈ 0.005, with a 98 per cent confidence upper limit of {f(esc)} ≈ 0.015. This analysis suggests that stars provide a small contribution to the ionizing radiation budget at z < 5. At higher redshifts firm conclusions are limited by the small size of the GRB sample (7/140), but any decline in average HI column density seems to be modest. We also find no significant correlation of N(HI) with galaxy UV luminosity or host stellar mass. We discuss in some detail potential biases and argue that, while not negligible, systematic errors in f(esc) are unlikely to be more than a factor ∼2 in either direction, and so would not affect the primary conclusions. Given that many GRB hosts are low-metallicity dwarf galaxies with high specific star-formation rates, these results present a particular problem for the hypothesis that such galaxies dominated the reionization of the Universe.

N R Tanvir↗
NASA NTRS2007

The Local Stellar Velocity Field via Vector Spherical Harmonics

We analyze the local field of stellar tangential velocities for a sample of 42,339 nonbinary Hipparcos stars with accurate parallaxes, using a vector spherical harmonic formalism. We derive simple relations between the parameters of the classical linear model (Ogorodnikov-Milne) of the local systemic field and low-degree terms of the general vector harmonic decomposition. Taking advantage of these relationships, we determine the solar velocity with respect to the local stars of (V(sub X), V(sub Y), V(sub Z)) (10.5, 18.5, 7.3) +/- 0.1 km s(exp -1) not corrected for the asymmetric drift with respect to the local standard of rest. If only stars more distant than 100 pc are considered, the peculiar solar motion is (V(sub X), V(sub Y), V(sub Z)) (9.9, 15.6, 6.9) +/- 0.2 km s(exp -1). The adverse effects of harmonic leakage, which occurs between the reflex solar motion represented by the three electric vector harmonics in the velocity space and higher degree harmonics in the proper-motion space, are eliminated in our analysis by direct subtraction of the reflex solar velocity in its tangential components for each star. The Oort parameters determined by a straightforward least-squares adjustment in vector spherical harmonics are A=14.0 +/- 1.4, B=13.1 +/- 1.2, K=1.1 +/- 1.8, and C=2.9 +/- 1.4 km s(exp -1) kpc(exp -1). The physical meaning and the implications of these parameters are discussed in the framework of a general linear model of the velocity field. We find a few statistically significant higher degree harmonic terms that do not correspond to any parameters in the classical linear model. One of them, a third-degree electric harmonic, is tentatively explained as the response to a negative linear gradient of rotation velocity with distance from the Galactic plane, which we estimate at approximately -20 km s(exp -1) kpc(exp -1). A similar vertical gradient of rotation velocity has been detected for more distant stars representing the thick disk (z greater than 1 kpc), but here we surmise its existence in the thin disk at z less than 200 pc. The most unexpected and unexplained term within the Ogorodnikov-Milne model is the first-degree magnetic harmonic, representing a rigid rotation of the stellar field about the axis -Y pointing opposite to the direction of rotation. This harmonic comes out with a statistically robust coefficient of 6.2 +/- 0.9 km s(exp -1) kpc(exp -1) and is also present in the velocity field of more distant stars. The ensuing upward vertical motion of stars in the general direction of the Galactic center and the downward motion in the anticenter direction are opposite to the vector field expected from the stationary Galactic warp model.

Galaxy↗
NASA NTRS1989

A tesselated probabilistic representation for spatial robot perception and navigation

The ability to recover robust spatial descriptions from sensory information and to efficiently utilize these descriptions in appropriate planning and problem-solving activities are crucial requirements for the development of more powerful robotic systems. Traditional approaches to sensor interpretation, with their emphasis on geometric models, are of limited use for autonomous mobile robots operating in and exploring unknown and unstructured environments. Here, researchers present a new approach to robot perception that addresses such scenarios using a probabilistic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a multi-dimensional random field that maintains stochastic estimates of the occupancy state of each cell in the grid. The cell estimates are obtained by interpreting incoming range readings using probabilistic models that capture the uncertainty in the spatial information provided by the sensor. A Bayesian estimation procedure allows the incremental updating of the map using readings taken from several sensors over multiple points of view. An overview of the Occupancy Grid framework is given, and its application to a number of problems in mobile robot mapping and navigation are illustrated. It is argued that a number of robotic problem-solving activities can be performed directly on the Occupancy Grid representation. Some parallels are drawn between operations on Occupancy Grids and related image processing operations.

Elfes, Alberto↗