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Three molecular clouds of Sgr B2 have been mapped in the 1(10) - 1(01) orthotransition of C3H2 at 18.3 GHz. The distribution of C3H2 and the C3H2 optical depth of the three clouds, centered near 50, 65, and 80 km/s, are reported.
We discuss the design considerations relevant to a very low frequency array, to be deployed on the lunar near side during an early expedition. Such an array would operate in the frequency range 1-10 MHz, and would consist nominally of 20 antennas distributed over a region approximately 40 km in extent. Each antenna station would consist of a crossed-dipole antenna, together with a receiver, digitizer, solar cells, and batteries. In addition, the station will contain a UHF transmitter for relaying the digitized signal to a central station where it will be transmitted to Earth for subsequent processing, including cross-correlation with signals from other antennas. Each antenna station (including the central station) would be deployed as a self-contained unit, mounted on a miniature robotic vehicle. No fixed structures are required for the array.
The 1(10)-1(11) transition of ortho-H2D(+) at 372 GHz has been sought in several dark clouds. The transition was not detected; the best upper limits obtained are about 0.3 K (3 sigma). We derive upper limits for the ortho-H2D(+) column density and briefly discuss their meaning in comparison with a simple chemical model we have developed (Pagani et al., 1992).
A substantial foundation of tools for model-based reasoning with incomplete knowledge was developed: QSIM (a qualitative simulation program) and its extensions for qualitative simulation; Q2, Q3 and their successors for quantitative reasoning on a qualitative framework; and the CC (component-connection) and QPC (Qualitative Process Theory) model compilers for building QSIM QDE (qualitative differential equation) models starting from different ontological assumptions. Other model-compilers for QDE's, e.g., using bond graphs or compartmental models, have been developed elsewhere. These model-building tools will support automatic construction of qualitative models from physical specifications, and further research into selection of appropriate modeling viewpoints. For monitoring and diagnosis, plausible hypotheses are unified against observations to strengthen or refute the predicted behaviors. In MIMIC (Model Integration via Mesh Interpolation Coefficients), multiple hypothesized models of the system are tracked in parallel in order to reduce the 'missing model' problem. Each model begins as a qualitative model, and is unified with a priori quantitative knowledge and with the stream of incoming observational data. When the model/data unification yields a contradiction, the model is refuted. When there is no contradiction, the predictions of the model are progressively strengthened, for use in procedure planning and differential diagnosis. Only under a qualitative level of description can a finite set of models guarantee the complete coverage necessary for this performance. The results of this research are presented in several publications. Abstracts of these published papers are presented along with abtracts of papers representing work that was synergistic with the NASA grant but funded otherwise. These 28 papers include but are not limited to: 'Combined qualitative and numerical simulation with Q3'; 'Comparative analysis and qualitative integral representations'; 'Model-based monitoring of dynamic systems'; 'Numerical behavior envelopes for qualitative models'; 'Higher-order derivative constraints in qualitative simulation'; and 'Non-intersection of trajectories in qualitative phase space: a global constraint for qualitative simulation.'
The present goal in qualitative reasoning is to develop methods for automatically building qualitative and semiquantitative models of dynamic systems and to use them for monitoring and fault diagnosis. The qualitative approach to modeling provides a guarantee of coverage while our semiquantitative methods support convergence toward a numerical model as observations are accumulated. We have developed and applied methods for automatic creation of qualitative models, developed two methods for obtaining tractable results on problems that were previously intractable for qualitative simulation, and developed more powerful methods for learning semiquantitative models from observations and deriving semiquantitative predictions from them. With these advances, qualitative reasoning comes significantly closer to realizing its aims as a practical engineering method.
Reliable radio astronomy support of space very long baseline interferometry (VLBI) missions by ground radio telescopes is mandatory in order to achieve a high scientific return from the missions. The 70 m DSN antennas along with other ground radio telescopes will perform as the ground segment of the earth-space interferometer. Improvements of radio astronomy VLBI operations at the DSN to achieve higher reliability, efficiency, flexibility, and lower operations costs is a major goal in preparing for radio astronomy support of SVLBI. To help realize this goal, a remote control and monitoring mode for radio astronomy operations at the DSN has been developed.
Intelligent tutoring systems (ITS's) play an increasing role in training and education of people with different levels of skill and knowledge. As compared to conventional computer based training (CBT) an ITS provides more tailored instruction by trying to mimic the teaching behavior of a human instructor as much as possible and is therefore much more flexible. This paper starts with an introduction to ITS's, followed by the description of an ITS for training of an (astronaut) operator in monitoring and controlling robotic arm procedures. The robotic arm will be used for exchange of equipment between a space station and a space plane involving critical and accurate movements of the robotic arm. The ITS for this application, called Pointer, is developed by TNO Physics and Electronics Laboratory and is based upon an existing ITS that includes procedural training. Pointer has been developed on a workstation whereas the target platform was a portable computer. Therefore, a lot of attention had to be paid to scaling effects and keeping up with user friendliness of the much smaller user interface. Although the learning domain was the control of a robotic arm, it is clear that use of intelligent training technologies on a portable computer has many other applications (payload operations, operation control rooms, etc.). Training can occur at any time and place in an attractive and cost effective way.
The intensities and optical depths of the (1, 1), (2, 2), and (2, 1) inversion transitions of ammonia can be calculated quite accurately without solving the equations of statistical equilibrium. A two-temperature partition function suffices. The excitation of the K-ladders can be approximated by using a temperature obtained from a two-level model with the (2, 1) and (1, 1) levels. Distribution of populations between the ladders is described with the kinetic temperature. This enables one to compute the (1, 1) and (2, 1) inversion transition excitation temperatures and optical depths. To compute the (2, 2) brightness temperatures, the fractional population of the (2, 2) doublet is computed from the population of the (1, 1) doublet using the 'true rotation temperature,' which is calculated using a three-level model with the (2, 1), (2, 2), and (1, 1) levels. In spite of some iterative steps, the calculation is quite fast.
The Compton Gamma Ray Observatory (CGRO) completed a full sky survey in November 1993 during which the number of known gamma-ray pulsars more than doubled. During this survey the Compton Telescope (COMPTEL) observed the classical isolated pulsars Crab and Vela and detected PSR 1509-58. Attempts to detect the newly discovered pulsars, Geminga, PSR 1706-44 and PSR 1055-52, in the COMPTEL energy range provide only upper limits. The results of these analyses are presented together with the outcome of a search for further candidate radio pulsars whose ephemerides are given in the Princeton Pulsar Catalogue.
The imaging Compton Telescope (COMPTEL) is sensitive in the energy range of 0.75 to 30 MeV. COMPTEL observed the Crab several times during the Compton Gamma Ray Observatory (CGRO) sky survey and CGRO Phase II. Both the Crab pulsar and nebula are detected over the entire COMPTEL energy range. The phase-averaged energy spectra of the Crab Pulsar and Nebula are presented. The combined observations provide sufficient statistics for a phase-resolved analysis of the Crab pulsar spectrum.
The imaging Compton telescope (COMPTEL) onboard the Compton Gamma Ray Observatory (CGRO) can localize gamma-ray bursts occurring inside its approximately 1 sr field-of-view in the energy range from 0.75 to 30 MeV with location accuracy of 1 deg. Additional time-resolved spectral measurements in the energy range 0.1 to 10 MeV are made by individual COMPTEL 'burst' detectors. During its second year of operation COMPTEL observed several gamma-ray bursts. Locations of five strong bursts (including the rapidly imaged events GRB 930131 and GRB 930309) are presented here along with the findings from preliminary spectral analysis.
A method for automatically building qualitative and semi-quantitative models of dynamic systems, and using them for monitoring and fault diagnosis, is developed and demonstrated. The qualitative approach and semi-quantitative method are applied to monitoring observation streams, and to design of non-linear control systems.
The Compton telescope (COMPTEL) onboard the Compton Gamma Ray Observatory (CGRO) detected the pulsar PSR B1951-32 at MeV energies, and found indications of a signal from PSR B0656+14. In the combined spectra from COMPTEL and the energetic gamma ray experiment telescope (EGRET) onboard CGRO, it can be seen that the maximum luminosities of these objects are reached in the COMPTEL energy range. These spectra can be compared with those from four other pulsars observed in MeV energies with COMPTEL. The spectral properties of five of the six pulsars, Vela, PSR B1509-58, PSR B1951-32 and PSR B0656+14, require breaks and bends at MeV energies. The sixth pulsar, the Crab pulsar, approximately follows a power law flux relation from keV to GeV energies. It is concluded that this spectral behavior may play a role in the discrimination between current gamma ray emission models.
This paper documents our progress during the first year of work on our original proposal entitled 'A Scalable Distributed Approach to Mobile Robot Vision'. We are pursuing a strategy for real-time visual identification and tracking of complex objects which does not rely on specialized image-processing hardware. In this system perceptual schemas represent objects as a graph of primitive features. Distributed software agents identify and track these features, using variable-geometry image subwindows of limited size. Active control of imaging parameters and selective processing makes simultaneous real-time tracking of many primitive features tractable. Perceptual schemas operate independently from the tracking of primitive features, so that real-time tracking of a set of image features is not hurt by latency in recognition of the object that those features make up. The architecture allows semantically significant features to be tracked with limited expenditure of computational resources, and allows the visual computation to be distributed across a network of processors. Early experiments are described which demonstrate the usefulness of this formulation, followed by a brief overview of our more recent progress (after the first year).
In three years of NASA-sponsored research preceding this project, we successfully developed a technology for: (1) building qualitative and semi-quantitative models from libraries of model-fragments, (2) simulating these models to predict future behaviors with the guarantee that all possible behaviors are covered, (3) assimilating observations into behaviors, shrinking uncertainty so that incorrect models are eventually refuted and correct models make stronger predictions for the future. In our object-oriented framework, a tracker is an object which embodies the hypothesis that the available observation stream is consistent with a particular behavior of a particular model. The tracker maintains its own status (consistent, superceded, or refuted), and answers questions about its explanation for past observations and its predictions for the future. In the MIMIC approach to monitoring of continuous systems, a number of trackers are active in parallel, representing alternate hypotheses about the behavior of a system. This approach is motivated by the need to avoid 'system accidents' [Perrow, 1985] due to operator fixation on a single hypothesis, as for example at Three Mile Island. As we began to address these issues, we focused on three major research directions that we planned to pursue over a three-year project: (1) tractable qualitative simulation, (2) semiquantitative inference, and (3) tracking set management. Unfortunately, funding limitations made it impossible to continue past year one. Nonetheless, we made major progress in the first two of these areas. Progress in the third area as slower because the graduate student working on that aspect of the project decided to leave school and take a job in industry. I enclosed a set of abstract of selected papers on the work describe below. Several papers that draw on the research supported during this period appeared in print after the grant period ended.
The telescopes on the Compton Gamma Ray Observatory (CCRO) have observed PSR B1055-52 a number of times between 1991 and 1998. From these data, a more detailed picture of the gamma radiation from this source has been developed, showing several characteristics which distinguish this pulsar: the light curve is complex; there is no detectable unpulsed emission; the energy spectrum is flat, with no evidence of a sharp high-energy cutoff up to greater than 4 GeV. Comparisons of the gamma-ray data with observations at longer wavelengths show that no two of the known gamma-ray pulsars have quite the same characteristics; this diversity makes interpretation in terms of theoretical models difficult.
The COMPTEL instrument on the Compton Gamma Ray Observatory is used to measure the locations of gamma-ray bursts through direct imaging of MeV photons. In a comprehensive search, we have detected and localized 29 bursts observed between 1991 April 19 and 1995 May 31. The average location accuracy of these events is 1.25 deg (1 sigma), including a systematic error of approx. 0.5 deg, which is verified through comparison with Interplanetary Network (IPN) timing annuli. The combination of COMPTEL and IPN measurements results in locations for 26 of the bursts with an average "error box" area of only approx. 0.3 deg (1 sigma). We find that the angular distribution of COMPTEL burst locations is consistent with large-scale isotropy and that there is no statistically significant evidence of small-angle autocorrelations. We conclude that there is no compelling evidence for burst repetition since no more than two of the events (or approx. 7% of the 29 bursts) could possibly have come from the same source. We also find that there is no significant correlation between the burst locations and either Abell clusters of galaxies or radio-quiet quasars. Agreement between individual COMPTEL locations and IPN annuli places a lower limit of approx. 100 AU (95% confidence) on the distance to the stronger bursts.
The telescopes on the Compton Gamma Ray Observatory (CGRO) have observed PSR B1055-52 a number of times between 1991 and 1998. From these data, a more detailed picture of the gamma radiation from this source has been developed, showing several characteristics which distinguish this pulsar: the light curve is complex; there is no detectable unpulsed emission; the energy spectrum is flat, with no evidence of a sharp high-energy cutoff up to greater than 4 GeV. Comparisons of the gamma-ray data with observations at longer wavelengths show that no two of the known gamma-ray pulsars have quite the same characteristics; this diversity makes interpretation in terms of theoretical models difficult.