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Varactor diodes and transformer waveguide sections used instead of tuned circuits. Microwave phase modulator exhibits approximately flat delay-vs.-frequency response in frequency band of interest, according to design computations.
Remote viewing is critical for teleoperations, but the inherent limitations of standard video reduce the operator's effectiveness. These limitations have been compensated for in many ways, from using the operator's adaptability, to augmenting his capability with feedback from a variety of sensors and simulations. Omniview can overcome some of these limitations and improve the operator's efficiency without adding additional sensors or computational burden. It can minimize the potential collisions with facility equipment, provide peripheral vision, and display multiple images simultaneously from a single input device. The Omniview technology provides electronic pan, tilt, magnify, and rotational orientation within a hemispherical field-of-view without any moving parts. Image sizes, viewing directions, scale, offset, etc., may be adjusted to fit operator needs. This paper discusses the derivation of the image transformation, the design of the electronics, and two applications to telepresence that are under development. These are Video Emulated Tweening (VET), and Manipulator Guidance and Positioning (ManGAP). The VET effort uses Omniview to compensate for time-delayed video in teleoperation of remote vehicles. In ManGAP two Omniview systems are used to provide two sets of orientation vectors to points in the field-of-view (FOV). These vectors then provide absolute position information to both control the position of the telerobot, and to avoid collisions with the work sight equipment.
The nature of the 'delayed detonation' mechanism of Khokhlov for the explosion of Type Ia supernovae is investigated by using two-dimensional numerical hydrodynamics simulations. A new algorithm is used to treat the deflagration front. Assuming that it propagates locally at the laminar flame speed, the deflagration is insufficient to unbind the star. Expansion shuts of the flame; much of this small production of iron group nuclei occurs at lower densities, which reduces the electron-capture problem. The burning front does become wrinkled, but the wavelength of the instability is much larger than the computational grid size and is resolved; this is consistent with previous analysis. Because the degenerate star has an adiabatic exponent only slightly above 4/3, the energy released by deflagration drives a pulsation of large amplitude. During the first expansion phase, adiabatic cooling shuts off the burning, and a Rayleigh-Taylor instability then gives mixing of high-entropy ashes with low-entropy fuel. During the first contraction phase, compressional heating reignites the material. This paper deals with the deflagration phase, from the onset of burning, through expansion and quenching of the flame, to the first contraction.
The investigation, by use of two-dimensional numerical hydrodynamics simulations, of the 'delayed detonation' mechanism of Khokhlov for the explosion of Type Ia supernovae is continued. Previously we found that the deflagration is insufficient to unbind the star. Expansion shuts off the flame; much of this small production of iron group nuclei occurs at lower densities, which reduces the electron-capture problem. Because the degenerate star has an adiabatic exponent only slightly above 4/3, the energy released by deflagration drives a pulsation of large amplitude. During the first expansion phase, adiabatic cooling shuts off the burning, and a Rayleigh-Taylor instability then gives mixing of high-entropy ashes with low-entropy fuel. During the first contraction phase, compressional heating reignites the material. The burning was allowed to develop into a detonation in these nonspherical models. The detonation grows toward spherical symmetry at late times. At these densities (rho approx. 10(exp 7) to 10(exp 8) g cm(exp -3)), either Ni-56 or nuclei of the Si-Ca group are the dominant products of the burning. The bulk yields are sensitive to the density of the star when the transition to detonation occurs. The relevance of the abundances, velocities, mixing, and total energy release to the theory and interpretation of Type Ia supernovae is discussed.
The delayed hard (up to 25 GeV) photons observed more than an hour following a gamma-ray burst on 1994 February 17 may result from the collisions of relativistic nucleons with a dense cloud, producing pi(0). The required cloud density is approx. 2 x 10(exp 11)/cu cm. This cloud may be the remains of the disrupted envelope of a neutron star, and may survive as an excretion disk of approx. 10(exp 14) - 10 (exp 15) cm radius around the coalescing binary.
We present radio observations of the gravitational lens PKS 1830-211 at 8.4 and 15 GHz acquired using the Very Large Array. The observations were made over a 13 month period. Significant flux density changes over this period provide strong constraints on the time delay between the two lensed images and suffest a value of 44 +/- 9 days. This offers new direct evidence that this source is indeed a gravitational lens. The lens distance is dependent upon the model chosen, but reasonable limits on the mass of the lensing galaxy suggest that it is unlikely to be at a redshift less than a few tenths, and may well be significantly more distant.
Electronic signal-generating and processing subsystem of ultrasonic inspection or measurement system consists mainly of variable-and-fixed-frequency, pulsed phase-locked loop (VFFPPLL) measuring phase shifts from 0 degrees to more than 360 degrees with accurancy of 0.112 degrees. VFFPPLL measures phase shifts between transmitted ultrasonic toneburst and its echo, thereby measuring ultrasonic-propagation delay. Used to determine strain in bolt or to track irregular surface of specimen being inspected ultrasonically.
A fully automated two-way time and frequency transfer (TWSTFT) system including a satellite simulator, which allows the user to carry out signal delay measurements in conjunction with each time transfer measurement, is operated at the Technical University of Graz (TUG). After a brief description of the system, results obtained during fifteen months of operation are presented and discussed. Finally, envisaged experiments are mentioned.
Two-way satellite time and frequency transfer (TWSTFT) is the most accurate and precise method of comparing two remote clocks or time scales. The accuracy obtained is dependent on the accuracy of the determination of the non-reciprocal delays of the transmit and the receive paths. When the same transponders in the satellite at the same frequencies are used, then the non-reciprocity in the Earth stations is the limiting factor for absolute time transfer.
Several spaceborne altimeters have been built and flown, and others are being developed to provide measurements of ocean and ice sheet topography. Until the launch of TOPEX, altimeters were single frequency systems incapable of removing the effects of ionospheric delay on the radar pulse. With the current state of the art in satellite altimetry, the ionosphere causes the largest single error when using single frequency altimeters. Ionospheric models provide the only recourse short of adding a second frequency to the altimeter. Unfortunately, measurements of the ionosphere are lacking over the oceans or ice sheets where they are most needed. A possible solution to the lack of data density may result from an expanded use of the Global Positioning System (GPS). This paper discusses how the reflection of the GPS signal from the ocean can be used to extend ionospheric measurements by simply adding a GPS receiver and downward-pointing antenna to satellites carrying single frequency altimeters. This paper presents results of a study assessing the feasibility and effectiveness of adding a GPS receiver and downward-pointing antenna to satellites carrying single frequency altimeters.
This study is a preliminary analysis of the accuracy of various ionosphere models to correct single frequency altimeter height measurements for Ionospheric path delay. In particular, research focused on adjusting empirical and parameterized ionosphere models in the parameterized real-time ionospheric specification model (PRISM) 1.2 using total electron content (TEC) data from the global positioning system (GPS). The types of GPS data used to adjust PRISM included GPS line-of-sight (LOS) TEC data mapped to the vertical, and a grid of GPS derived TEC data in a sun-fixed longitude frame. The adjusted PRISM TEC values, as well as predictions by IRI-90, a climatotogical model, were compared to TOPEX/Poseidon (T/P) TEC measurements from the dual-frequency altimeter for a number of T/P tracks. When adjusted with GPS LOS data, the PRISM empirical model predicted TEC over 24 1 h data sets for a given local time to with in a global error of 8.60 TECU rms during a midnight centered ionosphere and 9.74 TECU rms during a noon centered ionosphere. Using GPS derived sun-fixed TEC data, the PRISM parameterized model predicted TEC within an error of 8.47 TECU rms centered at midnight and 12.83 TECU rms centered at noon. From these best results, it is clear that the proposed requirement of 3-4 TECU global rms for TOPEX/Poseidon Follow-On will be very difficult to meet, even with a substantial increase in the number of GPS ground stations, with any realizable combination of the aforementioned models or data assimilation schemes.
This paper presents algorithms for estimating the angular-rate vector of satellites using quaternion measurements. Two approaches are compared one that uses differentiated quaternion measurements to yield coarse rate measurements, which are then fed into two different estimators. In the other approach the raw quaternion measurements themselves are fed directly into the two estimators. The two estimators rely on the ability to decompose the non-linear part of the rotas rotational dynamics equation of a body into a product of an angular-rate dependent matrix and the angular-rate vector itself. This non unique decomposition, enables the treatment of the nonlinear spacecraft (SC) dynamics model as a linear one and, thus, the application of a PseudoLinear Kalman Filter (PSELIKA). It also enables the application of a special Kalman filter which is based on the use of the solution of the State Dependent Algebraic Riccati Equation (SDARE) in order to compute the gain matrix and thus eliminates the need to compute recursively the filter covariance matrix. The replacement of the rotational dynamics by a simple Markov model is also examined. In this paper special consideration is given to the problem of delayed quaternion measurements. Two solutions to this problem are suggested and tested. Real Rossi X-Ray Timing Explorer (RXTE) data is used to test these algorithms, and results are presented.
Ignition processes associated with two adjacent fuel-oxidizer interferences bounding a strained fuel strip are explored here using single-step activation energy asymptotics. Calculations are made for constant as well as temporally decaying strain fields. There possible models of ignition are determined: one in which the two interfaces ignite independently as diffusion flames; one in which the two interfaces ignite dependently and in which ignition occurs to form a single , premixed flame at very high strain rates before ignition is completely prevented. In contrast to a single, isolated interface in which ignition can be prevented by overmatching heat production with heat convection due to strain, ignition of a strained fuel strip can also be prevented if the finite extend of fuel is diluted by oxidizer more quickly than heat production can cause a positive feedback thermal runaway. These behaviors are dependent on the relative sizes of timescales associated with species and heat diffusion, with convection due to strain, and with the chemical reaction. The result here indicate that adjacent, strained species interfaces may ignite quite differently in nature from ignition of a single, strained intrface and that their interdependence should be considered as the interfaces are brought closer together in complex strain fields. Critical strain rates leading to complete ignition delay are found to be considerably smaller for the fuel strip than those for single interfaces as the fuel strip is made thin in comparison to diffusion and chemical length scales.
This paper discusses the implementation of a globally stable nonlinear controller algorithm for the Real-Time Interferometer Control System Testbed (RICST) brassboard optical delay line (ODL) developed for the Interferometry Technology Program at the Jet Propulsion Laboratory. The control methodology essentially employs loop shaping to implement linear control laws. while utilizing nonlinear elements as means of ameliorating the effects of actuator saturation in its coarse, main, and vernier stages. The linear controllers were implemented as high-order digital filters and were designed using Bode integral techniques to determine the loop shape. The nonlinear techniques encompass the areas of exact linearization, anti-windup control, nonlinear rate limiting and modal control. Details of the design procedure are given as well as data from the actual mechanism.
The Cassini spacecraft together with one of the stations of the Deep Space Network (DSN) have been instrumented to carry out extremely precise Doppler tracking that will be used to search for the direct evidence of Gravitational radiation passing through our solar system. The two-way communications link between the ground antenna and the spacecraft constitute an "antenna" for gravitational waves that would perturb the phase of the RF signal in the link. The experiments will be carried out during the long cruise phase of the spacecraft on its journey to Saturn and will be sensitive to gravitational wave perturbations larger than the noise level fluctuations of 3 x 10(exp -15) as measured in the Allan Standard Deviation domain. The use of simultaneous, coherent X- and Ka-Band up and down signals will reduce the errors associated with charged particle fluctuations in the interplanetary medium and Earth's ionosphere to a negligible level. The primary fluctuations in the phase of the signals both to and from the spacecraft are expected to be caused by fluctuations in water vapor in the Earth's atmosphere We have designed and are testing a new atmospheric calibration system (with duplicate components) to sense line-of-sight water vapor and its physical temperature with a goal of calibrating 95% or more of tropospheric path delay fluctuations during the Cassini Gravitational Wave Experiment (GWE). The critical component of the calibration system consists of a newly designed water vapor radiometer having a I degree sensing beamwidth and 0.01 K brightness temperature stability over hour time scales. Auxiliary instrumentation includes a microwave temperature profiler to retrieve the vertical distribution of the vapor physical temperature, and surface meteorology. A detailed error budget has been developed to account for all of the possible sources of error during calibration of the GWE and will be discussed. Two identical calibration systems have been constructed in order to provide capability as well as backup during the actual GWE experiment. We will report on side-by-side testing of the vapor and temperature sensing components of this calibrations system as well as a comparison with a short baseline radio interferometric measurement at our Goldstone complex.
The single crystal superalloy Rene'N5 (with or without Y-doping and hydrogen annealing) was cyclically oxidized at 1150 C for 1000 hours. After considerable scale growth (>= 500 hours), even the adherent alumina scales formed on Y-doped samples exhibited delayed interfacial spallation during subsequent water immersion tests, performed up to one year after oxidation. Spallation was characterized by weight loss, the amount of spalled area, and acoustic emission response. Hydrogen annealing (prior to oxidation) reduced spallation both before and after immersion, but without measurably reducing the bulk sulfur content of the Y-doped alloys. The duration and frequency of sequential, co-located acoustic emission events implied an interfacial crack growth rate at least 10(exp -3) m/s, but possibly higher than 10(exp 2) m/s. This is much greater than classic moisture-assisted slow crack growth rates in bulk alumina (10(exp -6) to 10(exp -3) m/s), which may still have occurred undetected by acoustic emission. An alternative failure sequence is proposed: an incubation process for preferential moisture ingress leads to a local decrease in interfacial toughness, thus allowing fast fracture driven by stored strain energy.
The contribution of interaural time differences (ITDs) to the localization of virtual sound sources with and without head motion was examined. Listeners estimated the apparent azimuth, elevation and distance of virtual sources presented over headphones. Stimuli (3 sec., white noise) were synthesized from minimum-phase representations of nonindividualized head-related transfer functions (HRTFs); binaural magnitude spectra were derived from the minimum phase estimates and ITDs were represented as a pure delay. During dynamic conditions, listeners were encouraged to move their heads; head position was tracked and stimuli were synthesized in real time using a Convolvotron to simulate a stationary external sound source. Two synthesis conditions were tested: (1) both interaural level differences (ILDs) and ITDs correctly correlated with source location and head motion, (2) ITDs correct, no ILDs (flat magnitude spectrum). Head movements reduced azimuth confusions primarily when interaural cues were correctly correlated, although a smaller effect was also seen for ITDs alone. Externalization was generally poor for ITD-only conditions and was enhanced by head motion only for normal HRTFs. Overall the data suggest that, while ITDs alone can provide a significant cue for azimuth, the errors most commonly associated with virtual sources are reduced by location-dependent magnitude cues.
Overall latency remains an impediment to perceived image stability and consequently to human performance in virtual environment (VE) systems. Predictive compensators have been proposed as a means to mitigate these shortcomings, but they introduce rendering errors because of induced motion overshoot and heightened noise. Discriminability of these compensator artifacts was investigated by a protocol in which head tracked image stability for 35 ms baseline VE system latency was compared against artificially added (16.7 to 100 ms) latency compensated by a previously studied Kalman Filter (K-F) predictor. A control study in which uncompensated 16.7 to 100 ms latencies were compared against the baseline was also performed. Results from 10 subjects in the main study and 8 in the control group indicate that predictive compensation artifacts are less discernible than the disruptions of uncompensated time delay for the shorter but not the longer added latencies. We propose that noise magnification and overshoot are contributory cues to the presence of predictive compensation.