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At least 937 records · Page 52

Ozone and nitrogen dioxide ground based monitoring by zenith sky visible spectrometry in Arctic and Antarctic

Unattended diode array spectrometers have been designed for ground based stratospheric trace species monitoring by zenith sky visible spectrometry. Measurements are performed with a 1.0 nm resolution between 290 nm and 590 nm in order to allow simultaneous evaluations of column densities of ozone, nitrogen dioxide. Field tests have shown that the species can be monitored with a precision of + or - 2 Dobson for the first and + or - 2.10 to the 15th mol/sq cm for the second, although the absolute accuracy of the method is limited by the error of the estimation of the atmospheric optical path of the scattered light. Two identical instruments were set up in January 1988, one in Antarctica at Dumont d'Urville (66 S, 140 E) to be operated all year and another one in the Arctic at ESRANGE at Kiruna (68 N; 22 E) which will operate to the final warming of spring 1988. The data are processed in real time at both stations. O3 and NO2 columns are transmitted together with surface and stratospheric temperature and winds. They are also recorded for further treatment and search for OClO and BrO. Only one month of data from Antarctica is available at the moment. Obtained during polar summer, they cannot show more than stable columns of O3 and NO2 and for the last species, the buildup of its diurnal variation.

Pommereau, J. P.↗

Infrared spectroscopic measurements of the vertical column abundance of sulfur hexafluoride, SF6, from the ground

The solar observations involved in the present monitoring evaluation were made at two facilities, using Fourier-transform spectrometers achieving spectral resolutions of 0.005/cm and signal-to-rms noise ratios for individual scans from near 500 to near 1000. The monthly mean total vertical-column abundances of SF6 above both facilities are reported for time intervals from June 1986 to June 1990 and from March 1981 to June 1990. It is found that the vertical-column abundances increased at mean rates of 6.9 +/- 2.8 pct above one station and 6.6 +/- 7.2 pct above the other. Since all the results were retrieved using the same spectroscopic parameters and similar nonlinear least-squares curve-fitting algorithms validated through intercomparison exercises, the large error reported for the second station is attributed to a larger measurement uncertainty due to stronger H2O and C2O interferences, and a greater variability during each month.

Zander, R.↗

Efficient Low Dissipative High Order Schemes for Multiscale MHD Flows: Minimization of Delta * B Numerical Error - II

The generalization of a class of low-dissipative high order filter finite difference schemes for long time wave propagation of shock/turbulence/combustion compressible viscous gas dynamic flows to compressible MHD equations for structured curvilinear grids has been developed. The new scheme consists of a divergence free preserving high order spatial base scheme with a filter approach which can be divergence-free preserving depending on the type of filter operator being used, the method of applying the filter step, and the type of flow problem to be considered. Several variants of the filter approach that cater to different flow types are proposed. These filters provide a natural and efficient way for the minimization of the divergence of the magnetic field (Delta * B) numerical error in the sense that no standard divergence cleaning is required. Performance evaluation of these variants, and the key role that the proper treatment of their corresponding numerical boundary conditions can play will be illustrated. Many levels of grid refinement and detailed comparison with several commonly used compressible MHD shock-capturing schemes will be sought. For certain MHD 2-D test problems, divergence free preservation of the magnetic fields of these filter schemes has been achieved.

Sjoegreen, Bjoern↗

Regional Model Nesting Within GFS Daily Forecasts Over West Africa

The study uses the RM3, the regional climate model at the Center for Climate Systems Research of Columbia University and the NASA/Goddard Institute for Space Studies (CCSR/GISS). The paper evaluates 30 48-hour RM3 weather forecasts over West Africa during September 2006 made on a 0.5 grid nested within 1 Global Forecast System (GFS) global forecasts. September 2006 was the Special Observing Period #3 of the African Monsoon Multidisciplinary Analysis (AMMA). Archived GFS initial conditions and lateral boundary conditions for the simulations from the US National Weather Service, National Oceanographic and Atmospheric Administration were interpolated four times daily. Results for precipitation forecasts are validated against Tropical Rainfall Measurement Mission (TRMM) satellite estimates and data from the Famine Early Warning System (FEWS), which includes rain gauge measurements, and forecasts of circulation are compared to reanalysis 2. Performance statistics for the precipitation forecasts include bias, root-mean-square errors and spatial correlation coefficients. The nested regional model forecasts are compared to GFS forecasts to gauge whether nesting provides additional realistic information. They are also compared to RM3 simulations driven by reanalysis 2, representing high potential skill forecasts, to gauge the sensitivity of results to lateral boundary conditions. Nested RM3/GFS forecasts generate excessive moisture advection toward West Africa, which in turn causes prodigious amounts of model precipitation. This problem is corrected by empirical adjustments in the preparation of lateral boundary conditions and initial conditions. The resulting modified simulations improve on the GFS precipitation forecasts, achieving time-space correlations with TRMM of 0.77 on the first day and 0.63 on the second day. One realtime RM3/GFS precipitation forecast made at and posted by the African Centre of Meteorological Application for Development (ACMAD) in Niamey, Niger is shown.

Druyan, Leonard M.↗

Third international challenge to model the medium- to long-range transport of radioxenon to four Comprehensive Nuclear-Test-Ban Treaty monitoring stations

In 2015 and 2016, atmospheric transport modeling challenges were conducted in the context of the Comprehensive Nuclear-Test-Ban Treaty (CTBT) verification, however, with a more limited scope with respect to emission inventories, simulation period and number of relevant samples (i.e., those above the Minimum Detectable Concentration (MDC)) involved. Therefore, a more comprehensive atmospheric transport modeling challenge was organized in 2019. Stack release data of Xe-133 were provided by the Institut National des Radioéléments/IRE (Belgium) and the Canadian Nuclear Laboratories/CNL (Canada) and accounted for in the simulations over a three (mandatory) or six (optional) months period. Best estimate emissions of additional facilities (radiopharmaceutical production and nuclear research facilities, commercial reactors or relevant research reactors) of the Northern Hemisphere were included as well. Model results were compared with observed atmospheric activity concentrations at four International Monitoring System (IMS) stations located in Europe and North America with overall considerable influence of IRE and/or CNL emissions for evaluation of the participants’ runs. Participants were prompted to work with controlled and harmonized model set-ups to make runs more comparable, but also to increase diversity. It was found that using the stack emissions of IRE and CNL with daily resolution does not lead to better results than disaggregating annual emissions of these two facilities taken from the literature if an overall score for all stations covering all valid observed samples is considered. A moderate benefit of roughly 10% is visible in statistical scores for samples influenced by IRE and/or CNL to at least 50% and there can be considerable benefit for individual samples. Effects of transport errors, not properly characterized remaining emitters and long IMS sampling times (12–24 h) undoubtedly are in contrast to and reduce the benefit of high-quality IRE and CNL stack data. Complementary best estimates for remaining emitters push the scores up by 18% compared to just considering IRE and CNL emissions alone. Despite the efforts undertaken the full multi-model ensemble built is highly redundant. An ensemble based on a few arbitrary runs is sufficient to model the Xe-133 background at the stations investigated. The effective ensemble size is below five. An optimized ensemble at each station has on average slightly higher skill compared to the full ensemble. However, the improvement (maximum of 20% and minimum of 3% in RMSE) in skill is likely being too small for being exploited for an independent period.

54 ENVIRONMENTAL SCIENCES↗

Removing Atmospheric Fringes from Zwicky Transient Facility i-band Images using Principal Component Analysis

The Zwicky Transient Facility is a time-domain optical survey that has substantially increased our ability to observe and construct massive catalogs of astronomical objects by use of its 47 square degree camera that can observe in multiple filters. However the telescope’s i-band filter suffers from significant atmospheric fringes that reduce photometric precision, especially for faint sources and in multi-epoch co-additions. Here we present a method for constructing models of these atmospheric fringes using Principal Component Analysis that can be used to identify and remove these artifacts from contaminated images. In addition, we present the Uniform Background Indicator as a quantitative measurement of the reduced correlated background noise and photometric error present after removing fringes. We conclude by evaluating the effect of our method on measuring faint sources through the injection and recovery of artificial stars in both single-image epochs and co-additions. Our method for constructing atmospheric fringe models and applying those models to produce cleaned images is available for public download in the open source Python package fringez.

79 ASTRONOMY AND ASTROPHYSICS↗

Dynamic global vegetation models underestimate net CO 2 flux mean and inter-annual variability in dryland ecosystems

Despite their sparse vegetation, dryland regions exert a huge influence over global biogeochemical cycles because they cover more than 40% of the world surface (Schimel 2010 Science 327 418–9). It is thought that drylands dominate the inter-annual variability (IAV) and long-term trend in the global carbon (C) cycle (Poulter et al 2014 Nature 509 600–3, Ahlstrom et al 2015 Science 348 895–9, Zhang et al 2018 Glob. Change Biol. 24 3954–68). Projections of the global land C sink therefore rely on accurate representation of dryland C cycle processes; however, the dynamic global vegetation models (DGVMs) used in future projections have rarely been evaluated against dryland C flux data. Here, we carried out an evaluation of 14 DGVMs (TRENDY v7) against net ecosystem exchange (NEE) data from 12 dryland flux sites in the southwestern US encompassing a range of ecosystem types (forests, shrub- and grasslands). We find that all the models underestimate both mean annual C uptake/release as well as the magnitude of NEE IAV, suggesting that improvements in representing dryland regions may improve global C cycle projections. Across all models, the sensitivity and timing of ecosystem C uptake to plant available moisture was at fault. Spring biases in gross primary production (GPP) dominate the underestimate of mean annual NEE, whereas models' lack of GPP response to water availability in both spring and summer monsoon are responsible for inability to capture NEE IAV. Errors in GPP moisture sensitivity at high elevation forested sites were more prominent during the spring, while errors at the low elevation shrub and grass-dominated sites were more important during the monsoon. We propose a range of hypotheses for why model GPP does not respond sufficiently to changing water availability that can serve as a guide for future dryland DGVM developments. Our analysis suggests that improvements in modeling C cycle processes across more than a quarter of the Earth's land surface could be achieved by addressing the moisture sensitivity of dryland C uptake.

54 ENVIRONMENTAL SCIENCES↗

Comprehensive Material Characterization and Simultaneous Model Calibration for Improved Computational Simulation Credibility

Computational simulation is increasingly relied upon for high-consequence engineering decisions, and a foundational element to solid mechanics simulations is a credible material model. Our ultimate vision is to interlace material characterization and model calibration in a real-time feedback loop, where the current model calibration results will drive the experiment to load regimes that add the most useful information to reduce parameter uncertainty. The current work investigated one key step to this Interlaced Characterization and Calibration (ICC) paradigm, using a finite load-path tree to incorporate history/path dependency of nonlinear material models into a network of surrogate models that replace computationally-expensive finite-element analyses. Our reference simulation was an elastoplastic material point subject to biaxial deformation with a Hill anisotropic yield criterion. Training data was generated using either a space-filling or adaptive sampling method, and surrogates were built using either Gaussian process or polynomial chaos expansion methods. Surrogate error was evaluated to be on the order of 10 ⁻5 and 10 ⁻3 percent for the space-filling and adaptive sampling training data, respectively. Direct Bayesian inference was performed with the surrogate network and with the reference material point simulator, and results agreed to within 3 significant figures for the mean parameter values, with a reduction in computational cost over 5 orders of magnitude. These results bought down risk regarding the surrogate network and facilitated a successful FY22-24 full LDRD proposal to research and develop the complete ICC paradigm.

36 MATERIALS SCIENCE↗

Evaluation of Thompson-type trend and monthly weather data models for corn yields in Iowa, Illinois, and Indiana

An evaluation was made of Thompson-Type models which use trend terms (as a surrogate for technology), meteorological variables based on monthly average temperature, and total precipitation to forecast and estimate corn yields in Iowa, Illinois, and Indiana. Pooled and unpooled Thompson-type models were compared. Neither was found to be consistently superior to the other. Yield reliability indicators show that the models are of limited use for large area yield estimation. The models are objective and consistent with scientific knowledge. Timely yield forecasts and estimates can be made during the growing season by using normals or long range weather forecasts. The models are not costly to operate and are easy to use and understand. The model standard errors of prediction do not provide a useful current measure of modeled yield reliability.

French, V.↗

Experimental investigation of adaptive control of a parallel manipulator

The implementation of a joint-space adaptive control scheme used to control non-compliant motion of a Stewart Platform-based Manipulator (SPBM) is presented. The SPBM is used in a facility called the Hardware Real-Time Emulator (HRTE) developed at Goddard Space Flight Center to emulate space operations. The SPBM is comprised of two platforms and six linear actuators driven by DC motors, and possesses six degrees of freedom. The report briefly reviews the development of the adaptive control scheme which is composed of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories of the SPBM actuator lengths. The derivation of the adaptation law is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method under the assumption that SPBM motion is slow as compared to the controller adaptation rate. An experimental study is conducted to evaluate the performance of the adaptive control scheme implemented to control the SPBM to track a vertical and circular paths under step changes in payload. Experimental results show that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

Nguyen, Charles C.↗

Soil Surface Runoff Scheme for Improving Land-Hydrology and Surface Fluxes in Simple SiB (SSiB)

Evapotranspiration on land is hard to measure and difficult to simulate. On the scale of a GCM grid, there is large subgrid-scale variability of orography, soil moisture, and vegetation. Our hope is to be able to tune the biophysical constants of vegetation and soil parameters to get the most realistic space-averaged diurnal cycle of evaporation and its climatology. Field experiments such as First ISLSCP Field Experiment (FIFE), Boreal Ecosystem-Atmosphere Study (BOREAS), and LBA help a great deal in improving our evapotranspiration schemes. However, these improvements have to be matched with, and coupled to, consistent improvement in land-hydrology; otherwise, the runoff problems will intrinsically reflect on the soil moisture and evapotranspiration errors. Indeed, a realistic runoff simulation also ensures a reasonable evapotranspiration simulation provided the precipitation forcing is reliable. We have been working on all of the above problems to improve the simulated hydrologic cycle. Through our participation in the evaluation and intercomparison of land-models under the behest of Global Soil Wetness Project (GSWP), we identified a few problems with Simple SiB (SSIB; Xue et al., 1991) hydrology in regions of significant snowmelt. Sud and Mocko (1999) show that inclusion of a separate snowpack model, with its own energy budget and fluxes with the atmosphere aloft and soil beneath, helps to ameliorate some of the deficiencies of delayed snowmelt and excessive spring season runoff. Thus, much more realistic timing of melt water generation was simulated with the new snowpack model in the subsequent GSWP re-evaluations using 2 years of ISLSCP Initiative I forcing data for 1987 and 1988. However, we noted an overcorrection of the low meltwater infiltration of SSiB. While the improvement in snowmelt timing was found everywhere, the snowmelt infiltration has became excessive in some regions, e.g., Lena river basin. This leads to much reduced runoff in many basins as compared to observations. We believe this is a consequence of neglect of the influence of subgrid-scale variations in orography that affects the production of surface runoff.

Sud, Y. C.↗

Influence of Combined Whole-Body Vibration Plus G-Loading on Visual Performance

Recent engineering analyses of the integrated Ares-Orion stack show that vibration levels for Orion crews have the potential to be much higher than those experienced in Gemini, Apollo, and Shuttle vehicles. Of particular concern to the Constellation Program (CxP) is the 12 Hz thrust oscillation (TO) that the Ares-I rocket develops during the final ~20 seconds preceding first-stage separation, at maximum G-loading. While the structural-dynamic mitigations being considered can assure that vibration due to TO is reduced to below the CxP crew health limit, it remains to be determined how far below this limit vibration must be reduced to enable effective crew performance during launch. Moreover, this "performance" vibration limit will inform the operations concepts (and crew-system interface designs) for this critical phase of flight. While Gemini and Apollo studies provide preliminary guidance, the data supporting the historical limits were obtained using less advanced interface technologies and very different operations concepts. In this study, supported by the Exploration Systems Mission Directorate (ESMD) Human Research Program, we investigated display readability-a fundamental prerequisite for any interaction with electronic crew-vehicle interfaces-while observers were subjected to 12 Hz vibration superimposed on the 3.8 G loading expected for the TO period of ascent. Two age-matched groups of participants (16 general population and 13 Crew Office) performed a numerical display reading task while undergoing sustained 3.8 G loading and whole-body vibration at 0, 0.15, 0.3, 0.5, and 0.7 g in the eyeballs in/out (x-axis) direction. The time-constrained reading task used an Orion-like display with 10- and 14-pt non-proportional sans-serif fonts, and was designed to emulate the visual acquisition and processing essential for crew system monitoring. Compared to the no-vibration baseline, we found no significant effect of vibration at 0.15 and 0.3 g on task error rates (ER) or response times (RT). Significant degradations in both ER and RT, however, were observed at 0.5 and 0.7 g for 10-pt, and at 0.7 g for 14-pt font displays. These objective performance measures were mirrored by participants' subjective ratings. Interestingly, we found that the impact of vibration on ER increased with distance from the center of the display, but only for vertical displacements. Furthermore, no significant ER or RT aftereffects were detected immediately following vibration, regardless of amplitude. Lastly, given that our reading task required no specialized spaceflight expertise, our finding that effects were not statistically distinct between our two groups is not surprising. The results from this empirical study provide initial guidance for evaluating the display readability trade-space between text-font size and vibration amplitude. However, the outcome of this work should be considered preliminary in nature for a number of reasons: 1. The single 12 Hz x-axis vibration employed was based on earlier load-cycle models of the induced TO environment at the end of Ares-I first stage flight. Recent analyses of TO mitigation designs suggest that significant concurrent off-axis vibration may also occur. 2. The shirtsleeve environment in which we tested fails to capture the full kinematic and dynamic complexity of the physical interface between crewmember and the still-to-bematured helmet-suit-seat designs, and the impact these will have for vibration transmission and consequent performance. 3. By examining performance in this reading and number processing task, we are only assessing readability, a first and necessary step that in itself does not directly address the performance of more sophisticated operational tasks such as vehicle-health monitoring or manual control of the vehicle.

readability↗

Assessing Uncertainties in Gridded Emissions: A Case Study for Fossil Fuel Carbon Dioxide (FFCO2) Emission Data

Fossil fuel carbon dioxide (CO2) emissions (FFCO2) are the largest input to the global carbon cycle on a decadal time scale. Because total emissions are assumed to be reasonably well constrained by fuel statistics, FFCO2 often serves as a reference in order to deduce carbon uptake by poorly understood terrestrial and ocean sinks. Conventional atmospheric CO2 flux inversions solve for spatially explicit regional sources and sinks and estimate land and ocean fluxes by subtracting FFCO2. Thus, errors in FFCO2 can propagate into the final inferred flux estimates. Gridded emissions are often based on disaggregation of emissions estimated at national or regional level. Although national and regional total FFCO2 are well known, gridded emission fields are subject to additional uncertainties due to the emission disaggregation. Assessing such uncertainties is often challenging because of the lack of physical measurements for evaluation. We first review difficulties in assessing uncertainties associated with gridded FFCO2 emission data and present several approaches for evaluation of such uncertainties at multiple scales. Given known limitations, inter-emission data differences are often used as a proxy for the uncertainty. The popular approach allows us to characterize differences in emissions, but does not allow us to fully quantify emission disaggregation biases. Our work aims to vicariously evaluate FFCO2 emission data using atmospheric models and measurements. We show a global simulation experiment where uncertainty estimates are propagated as an atmospheric tracer (uncertainty tracer) alongside CO2 in NASA's GEOS model and discuss implications of FFCO2 uncertainties in the context of flux inversions. We also demonstrate the use of high resolution urban CO2 simulations as a tool for objectively evaluating FFCO2 data over intense emission regions. Though this study focuses on FFCO2 emission data, the outcome of this study could also help improve the knowledge of similar gridded emissions data for non-CO2 compounds with similar emission characteristics.

FFCO↗

Characterizing leaf-scale fluorescence with spectral invariants

Sun-induced chlorophyll fluorescence (SIF) is increasingly recognized as a non-destructive probe for tracking terrestrial photosynthesis. Emerging developments in spectral invariants theory provide an innovative and efficient approach for representing SIF radiative transfer processes at the canopy scale. However, modeling leaf-scale fluorescence based on the spectral invariants properties (SIP) remains underexplored. In this study, the spectral invariants theory is employed for the first time to model the leaf-scale total, backward and forward fluorescence (leaf-SIP SIF). The leaf-SIP SIF model separates the leaf-scale radiative transfer process into two distinct components: the wavelength-dependent one associated with leaf biochemical properties, and the wavelength-independent component linked to leaf structural characteristics. The leaf structure-related effects are characterized by two spectrally invariant parameters: the photon recollision probability (p) and the scattering asymmetry parameter (q), which are parameterized using the directly measurable leaf dry matter. Evaluation against field measurements shows that the proposed leaf-SIP SIF model has a good performance, with coefficient of determination (R 2 ) of 0.89, 0.89, 0.90 and root mean squared errors (RMSE) of 1.28, 0.69, 0.74 Wm -2 µm -1 sr -1 , respectively for the total, backward, and forward fluorescence (660–800 nm). The leaf-SIP SIF model with a more concise formulation demonstrates comparable performance with the widely used Fluspect model. Further, the leaf-SIP SIF model provides a simple and efficient approach for simulating leaf-scale fluorescence, with the potential to be integrated into a unified SIP-based model framework for simulating the radiative transfer processes across the soil-leaf-canopy-atmosphere continuum.

59 BASIC BIOLOGICAL SCIENCES↗

Reinforcement Learning for Anomaly Detection in Nuclear Power Plant Operation and Maintenance

In nuclear power plants (NPPs), timely identification of sensor and human errors is critical to ensure safe and efficient plant operations. Anomaly detection models can be employed for this task. However, traditional anomaly detection approaches may have high dependency on labeled datasets and struggle with adaptability in complex, dynamic environments. Reinforcement learning (RL) has demonstrated significant potential in fault diagnosis and anomaly detection; however, its application to anomaly detection in NPPs remains a relatively underexplored research direction. Hence, to address this gap, in this study, we present a novel physics-informed reinforcement learning model, PIRL-AD: Physics-Informed Reinforcement Learning for Anomaly Detection, that integrates domain knowledge from calorimetric equations into the RL framework for enhanced sensor and human error anomaly detection. We evaluate the performance of PIRL-AD against a non-physics informed RL benchmark and a support vector machine (SVM) on data collected from a forced flow loop testbed. Experimental results suggest that PIRL-AD outperforms other baselines on a range of anomalous datasets that include both sensor and human-induced anomalies across key performance metrics, statistically outperforming the RL and SVM benchmarks with respect to geometric mean (respectively, 92.96% vs. 91.06% vs. 83.01%) and F1-score (respectively, 89.23% vs. 86.98% vs. 77.01%). Furthermore, the findings suggest the potential of physics-integrated reinforcement learning models for enhanced anomaly detection performance in NPPs.

Reinforcement learning↗

Ground state energy and magnetization curve of a frustrated magnetic system from real-time evolution on a digital quantum processor

Models of interacting many-body quantum systems that may realize new exotic phases of matter, notably quantum spin liquids, are challenging to study using even state-of-the-art classical methods such as tensor network simulations. Quantum computing provides a promising route for overcoming these difficulties to find ground states, dynamics, and more. In this paper, we argue that recently developed hybrid quantum-classical algorithms based on real-time evolution are promising methods for solving a particularly important model in the search for spin liquids, the antiferromagnetic Heisenberg model on the two-dimensional kagome lattice. We show how to construct efficient quantum circuits to implement time evolution for the model and to evaluate key observables on the quantum computer, and we argue that the method has favorable scaling with increasing system size. We then restrict to a 12-spin star plaquette from the kagome lattice and a related 8-spin system, and we give an empirical demonstration on these small systems that the hybrid algorithms can efficiently find the ground state energy and the magnetization curve. For these demonstrations, we use four levels of approximation: exact state vectors, exact state vectors with statistical noise from sampling, noisy classical emulators, and (for the 8-spin system only) real quantum hardware, specifically the Quantinuum H1-1 processor; for the noisy simulations and hardware demonstration, we also employ error mitigation strategies based on the symmetries of the Hamiltonian. Our results strongly suggest that these hybrid algorithms present a promising direction for studying quantum spin liquids and more generally for resolving important unsolved problems in condensed matter theory and beyond.

97 MATHEMATICS AND COMPUTING↗

Performance evaluation of a six-axis generalized force-reflecting teleoperator

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

Hannaford, B.↗

An approach to the development of numerical algorithms for first order linear hyperbolic systems in multiple space dimensions: The constant coefficient case

Two methods for developing high order single step explicit algorithms on symmetric stencils with data on only one time level are presented. Examples are given for the convection and linearized Euler equations with up to the eighth order accuracy in both space and time in one space dimension, and up to the sixth in two space dimensions. The method of characteristics is generalized to nondiagonalizable hyperbolic systems by using exact local polynominal solutions of the system, and the resulting exact propagator methods automatically incorporate the correct multidimensional wave propagation dynamics. Multivariate Taylor or Cauchy-Kowaleskaya expansions are also used to develop algorithms. Both of these methods can be applied to obtain algorithms of arbitrarily high order for hyperbolic systems in multiple space dimensions. Cross derivatives are included in the local approximations used to develop the algorithms in this paper in order to obtain high order accuracy, and improved isotropy and stability. Efficiency in meeting global error bounds is an important criterion for evaluating algorithms, and the higher order algorithms are shown to be up to several orders of magnitude more efficient even though they are more complex. Stable high order boundary conditions for the linearized Euler equations are developed in one space dimension, and demonstrated in two space dimensions.

Goodrich, John W.↗