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All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

A software toolbox for robotics

A method for programming cooperating manipulators, which is guided by a geometric description of the task to be performed, is given. For this a suitable language must be used and a method for describing the workplace and the objects in it in geometric terms. A task level command language and its implementation for concurrently driven multiple robot arm is described. The language is suitable for driving a cell in which manipulators, end effectors, and sensors are controlled by their own dedicated processors. These processors can communicate with each other through a communication network. A mechanism for keeping track of the history of the commands already executed allows the command language for the manipulators to be event driven. A frame based world modeling system is utilized to describe the objects in the work environment and any relationships that hold between these objects. This system provides a versatile tool for managing information about the world model. Default actions normally needed are invoked when the data base is updated or accessed. Most of the first level error recovery is also invoked by the database by utilizing the concepts of demons. The package can be utilized to generate task level commands in a problem solver or a planner.

Sanwal, J. C.↗
NASA NTRS1987

Evidence for beaming of Jupiter's decametric radiation - Simultaneous observations from Voyagers and ground-based observatories

The paper presents incontrovertible evidence for the beaming of the Jovian decametric radiation, based on simultaneous observations at about 22 MHz from one or both of the Voyager spacecraft and one or the other of two ground-based observatories. The data are used to test the hollow-cone beaming models that have been proposed to account both for the long-term statistics of the ground-based observations and for the arc structures discovered in the dynamic spectral plots of Voyager data. It is concluded that occurrences of non-Io-related Source A events are determined by the corotation with the inner Jovian magnetosphere of curved-sheet beams, and those of Io-related Source B storms by a similar type of beam that moves with the northern foot of the Io flux tube. Both types of beam can be approximated by hollow-cone beam sectors. Rough measurements of the observed portions of some of the beams have been made.

Maeda, Koitiro↗
NASA NTRS1990

Ultraviolet observations of x ray transients

Preliminary results of new International Ultraviolet Explorer (IUE) observations of two major transient events, the April 1989 outburst of the Be star transient system A0535+26 and the remarkable May/June 1989 outburst of V404 Cygni, are discussed. The UV data for V404 Cygni, combined with contemporaneous published optical and x ray data are not satisfactorily represented by standard accretions disk models.

Shrader, Chris R.↗
NASA NTRS1992

Sudbury project (University of Muenster-Ontario Geological Survey): Sr-Nd in heterolithic breccias and gabbroic dikes

One major objective of our Sudbury project was to define origin and age of the huge breccia units below and above the Sudbury Igneous Complex (SIC). The heterolithic Footwall Breccia (FB) represents a part of the uplifted crater floor. It contains subrounded fragments up to several meters in size and lithic fragments with shock features (greater than 10 GPa) embedded into a fine- to medium-grained matrix. Epsilon(sub Nd)-epsilon(sub Sr) relationships point to almost exclusively parautochthonous precursor lithologies. The different textures of the matrix reflect the metamorphic history of the breccia layer; thermal annealing by the overlying hot impact melt sheet (SIC) at temperatures greater than 1000 C resulted in melting of the fine crushed material, followed by an episode of metasomatic K-feldspar growth and, finally, formation of low-grade minerals such as actinolite and chlorite. Isotope relationships in the Onaping breccias (Gray and Green Member) are much more complex. All attempts to date the breccia formation failed: Zircons are entirely derived from country rocks and lack the pronounced Pb loss caused by the heat of the slowly cooling impact melt sheet (SIC). Rb-Sr techniques using either lithic fragments of different shock stages or the thin slab method, set time limits for the apparently pervasive alkali mobility in these suevitic breccias. The data array and the intercept in the plots point to a major Rb-Sr fractionation around 1.54 Ga ago. This model age is in the same range as the age obtained for the metasomatic matrix of the FB. Rb-Sr dating of a shock event in impact-related breccias seems to be possible only if their matrix had suffered total melting by the hot melt sheet (FB) or if they contain a high fraction of impact melt (suevitic Onaping breccias), whereas the degree of shock metamorphism in rock or lithic fragments plays a minor role. In the Sudbury case, however, the impact melt in the seuvitic breccias is devitrified and recrystallized, which changed Rb/Sr ratios quite drastically. Therefore, the Onaping breccias give only age limits for alteration and low-grade metamorphism. The Sm-Nd system was not reset during the Sudbury event; clasts as well as the matrix in the FB and in the Onaping breccias show preimpact 'Archean' Nd isotope signatures.

Buhl, D.↗
NASA NTRS1993

SUMS experiment flight results on STS-35

Calibrated pressure measurements for species with mass to charge ratios up to 50 amu/e(-) were obtained from the Shuttle Upper Atmosphere Mass Spectrometer (SUMS) experiment during reentry on the STS-35 mission. Data were collected from 180 km, when the signal rose above the background, to about 87 km, when the SUMS system automatically closed the gas inlet value. However, data above 115 km was contaminated from a source of gas emanating from pressure transducers connected in parallel to the mass spectrometer. At lower altitudes, the pressure transducer data is compared with the mass spectrometer total pressure with excellent agreement. The free-stream density in the rarefied flow flight regime is calculated using an orifice pressure coefficient model based upon direct simulation Monte Carlo results. This density, when compared with the 1976 U.S. standard atmosphere model, exhibits the wave-like nature seen on previous flights using accelerometry. In addition, selected spectra are presented at higher altitudes (320 km) showing the effects of the ingestion of gases from a forward fuselage fuel dump. An analysis of the spectra data from this event is presented to show that no significant permanent changes occurred which affected the data interpretation at lower altitudes. Further, the localized chemistry from the individual species during the onset of aerodynamic heating is examined to the extent possible for a closed source system, such as SUMS. Near the orifice entrance, a significant amount of CO2 was generated from chemical reactions with the carbon panels of the Orbiter and absorbed oxygen on the system tubing.

Blanchard, Robert C.↗
NASA NTRS1994

Why galactic gamma-ray bursts might depend on environment: Blast waves around neutron stars

Although galactic models for gamma-ray bursts are hard to reconcile with the isotropy data, the issue is still sufficiently open that both options should be explored. The most likely 'triggers' for bursts in our Galaxy would be violent disturbances in the magnetospheres of neutron stars. Any event of this kind is likely to expel magnetic flux and plasma at relativistic speed. Such ejecta would be braked by the interstellar medium (ISM), and a gamma-ray flash may result from this interaction. The radiative efficiency, of this mechanism would depend on the density of the circumstellar ISM. Therefore, even if neutron stars were uniformly distributed in space (at least within 1-2 kpc of the Sun), the observed locations of bursts would correlate with regions of above-average ISM density.

Rees, Martin J.↗
NASA NTRS2000

Interannual Variability of the Tropical Energy Balance: Reconciling Observations and Models

Since the beginning of the World Climate Research Program's Global Precipitation Climatology Project (GPCP) satellite remote sensing of precipitation has made dramatic improvements, particularly for tropical regions. Data from microwave and infrared sensors now form the most critical input to precipitation data sets and can be calibrated with surface gauges to so that the strengths of each data source can be maximized in some statistically optimal sense. Recent availability of the TRMM (Tropical Rainfall Measuring Mission) has further aided in narrowing uncertainties in rainfall over the tropics and subtropics. Although climate modeling efforts have long relied on space-based precipitation estimates for validation, we now are in a position to make more quantitative assessments of model performance, particularly in tropical regions. An integration of the CCM3 using observed SSTs as a lower boundary condition is used to examine how well this model responds to ENSO forcing in terms of anomalous precipitation. An integration of the NCEP spectral model used for the Reanalysis-11 effort is also examined. This integration is run with specified SSTs, but no data assimilation. Our analysis focuses on two aspects. First are the spatial anomalies that are indicative of dislocations in Hadley and Walker circulations. Second, we consider the ability of models to replicate observed increases in oceanic precipitation that are noted in satellite observations for large ENSO events. Finally, we consider a slab ocean version of the CCM3 model with prescribed ocean heat transports that mimic upwelling anomalies, but which still allows the surface energy balance to be predicted. This less restrictive experiment is used to understand why model experiments with specified SSTs seem to have noticeably less interannual variability than do the satellite precipitation observations.

Robertson, Franklin R.↗
NASA NTRS2004

Variable Step Integration Coupled with the Method of Characteristics Solution for Water-Hammer Analysis, A Case Study

One-dimensional water-hammer modeling involves the solution of two coupled non-linear hyperbolic partial differential equations (PDEs). These equations result from applying the principles of conservation of mass and momentum to flow through a pipe, and usually the assumption that the speed at which pressure waves propagate through the pipe is constant. In order to solve these equations for the interested quantities (i.e. pressures and flow rates), they must first be converted to a system of ordinary differential equations (ODEs) by either approximating the spatial derivative terms with numerical techniques or using the Method of Characteristics (MOC). The MOC approach is ideal in that no numerical approximation errors are introduced in converting the original system of PDEs into an equivalent system of ODEs. Unfortunately this resulting system of ODEs is bound by a time step constraint so that when integrating the equations the solution can only be obtained at fixed time intervals. If the fluid system to be modeled also contains dynamic components (i.e. components that are best modeled by a system of ODEs), it may be necessary to take extremely small time steps during certain points of the model simulation in order to achieve stability and/or accuracy in the solution. Coupled together, the fixed time step constraint invoked by the MOC, and the occasional need for extremely small time steps in order to obtain stability and/or accuracy, can greatly increase simulation run times. As one solution to this problem, a method for combining variable step integration (VSI) algorithms with the MOC was developed for modeling water-hammer in systems with highly dynamic components. A case study is presented in which reverse flow through a dual-flapper check valve introduces a water-hammer event. The predicted pressure responses upstream of the check-valve are compared with test data.

Turpin, Jason B.↗
NASA NTRS1988

Transport of cosmic ray nuclei in various materials

Cosmic-ray heavy ions have become a concern in space radiation effects analyses. Heavy ions rapidly deposit energy and create dense ionization trails as they traverse materials. Collection of the free charge disrupts the operation of microelectronic circuits. This effect, called the single-event upset, can cause a loss of digital data. Passage of high linear energy transfer particles through the eyes has been observed by Apollo astronauts. These heavy ions have great radiobiological effectiveness and are the primary risk factor for leukemia induction on a manned Mars mission. Models of the transport of heavy cosmic-ray nuclei through materials depend heavily on our understanding of the cosmic-ray environment, nuclear spallation cross sections, and computer transport codes. Our group has initiated and pursued the development of a full capability for modeling these transport processes. A recent review of this ongoing effort is presented in Ref. 5. In this paper, we discuss transport methods and present new results comparing the attenuation of cosmic rays in various materials.

NASA Discipline Radiation Health↗
NASA NTRS2013

THEMIS Observations of Unusual Bow Shock Motion, Attending a Transient Magnetospheric Event

We present a multipoint case study of solar wind and magnetospheric observations during a transient magnetospheric compression at 2319 UT on October 15, 2008. We use high-time resolution magnetic field and plasma data from the THEMIS and GOES-11/12 spacecraft to show that this transient event corresponded to an abrupt rotation in the IMF orientation, a change in the location of the foreshock, and transient outward bow shock motion. We employ results from a global hybrid code model to reconcile the observations indicating transient inward magnetopause motion with the outward bow shock motion.

Korotova, Galina↗
NASA NTRS2018

The SMAP Level-4 ECO Product - Phase 1: Improving Vegetation Simulations Through Observation-Driven Parameter Estimation

Simulations of hydrological fields as well as water, energy and carbon fluxes from the land surface to the atmosphere are crucial for a wide range of applications, including agricultural advisories, forecasts of (short-term) atmospheric behavior and seasonal weather predictions including forecasts of extreme events, such as heatwaves or droughts. The NASA Soil Moisture Active Passive (SMAP) mission Level-4 (L4) Eco-Hydrology (ECO) project aims to improve modeled estimates of the terrestrial water, energy and carbon fluxes and states by developing a fully-coupled hydrology-vegetation data assimilation (DA) algorithm. The DA system is developed for the NASA Goddard Earth Observing System version 5 (GEOS-5) Catchment-CN land surface model, which combines land hydrology components of the GEOS-5 Catchment model with dynamic vegetation components of the Community Land Model version 4. Catchment-CN fully couples the terrestrial water, energy and carbon cycles, allowing feedbacks from the land hydrology to the biosphere and vice versa. For SMAP L4 ECO a calibration of the Catchment-CN vegetation parameterization against observations of the fraction of absorbed photosynthetically active radiation (FPAR) from the Moderate Resolution Imaging Spectroradiometer (MODIS) is implemented to improve the model's standalone skill. Next, the DA algorithm used to produce the SMAP L4 soil moisture product is adapted to Catchment-CN to assimilate SMAP brightness temperatures and inform the model's land hydrology component. The DA system is further extended to assimilate MODIS FPAR observations in order to constrain the model's dynamic vegetation component. In this presentation, we demonstrate that the Catchment-CN parameter calibration leads to more realistic vegetation simulations and reduces the root mean squared error between modeled and observed vegetation states across the model's various plant functional types. We also show that the assimilation of SMAP observations is able to improve the average correlation, bias and unbiased RMSE between the modeled surface and root zone soil moisture estimates, and ground observations from the SMAP core validation sites.

Kolassa, J.↗
NASA NTRS2004

A Study of Mesoscale Gravity Waves over the North Atlantic with Satellite Observations and a Mesoscale Model

Satellite microwave data are used to study gravity wave properties and variabilities over the northeastern United States and the North Atlantic in the December-January periods. The gravity waves in this region, found in many winters, can reach the stratopause with growing amplitude. The Advanced Microwave Sounding Unit-A (AMSU-A) observations show that the wave occurrences are correlated well with the intensity and location of the tropospheric baroclinic jet front systems. To further investigate the cause(s) and properties of the North Atlantic gravity waves, we focus on a series of wave events during 19-21 January 2003 and compare AMSU-A observations to simulations from a mesoscale model (MM5). The simulated gravity waves compare qualitatively well with the satellite observations in terms of wave structures, timing, and overall morphology. Excitation mechanisms of these large-amplitude waves in the troposphere are complex and subject to further investigations.

mesoscale gravity waves↗
NASA NTRS2010

Regional Precipitation Forecast with Atmospheric InfraRed Sounder (AIRS) Profile Assimilation

Advanced technology in hyperspectral sensors such as the Atmospheric InfraRed Sounder (AIRS; Aumann et al. 2003) on NASA's polar orbiting Aqua satellite retrieve higher vertical resolution thermodynamic profiles than their predecessors due to increased spectral resolution. Although these capabilities do not replace the robust vertical resolution provided by radiosondes, they can serve as a complement to radiosondes in both space and time. These retrieved soundings can have a significant impact on weather forecasts if properly assimilated into prediction models. Several recent studies have evaluated the performance of specific operational weather forecast models when AIRS data are included in the assimilation process. LeMarshall et al. (2006) concluded that AIRS radiances significantly improved 500 hPa anomaly correlations in medium-range forecasts of the Global Forecast System (GFS) model. McCarty et al. (2009) demonstrated similar forecast improvement in 0-48 hour forecasts in an offline version of the operational North American Mesoscale (NAM) model when AIRS radiances were assimilated at the regional scale. Reale et al. (2008) showed improvements to Northern Hemisphere 500 hPa height anomaly correlations in NASA's Goddard Earth Observing System Model, Version 5 (GEOS-5) global system with the inclusion of partly cloudy AIRS temperature profiles. Singh et al. (2008) assimilated AIRS temperature and moisture profiles into a regional modeling system for a study of a heavy rainfall event during the summer monsoon season in Mumbai, India. This paper describes an approach to assimilate AIRS temperature and moisture profiles into a regional configuration of the Advanced Research Weather Research and Forecasting (WRF-ARW) model using its three-dimensional variational (3DVAR) assimilation system (WRF-Var; Barker et al. 2004). Section 2 describes the AIRS instrument and how the quality indicators are used to intelligently select the highest-quality data for assimilation. Section 3 presents an overall precipitation improvement with AIRS assimilation during a 37-day case study period, and Section 4 focuses on a single case study to further investigate the meteorological impact of AIRS profiles on synoptic scale models. Finally, Section 5 provides a summary of the paper.

Chou, S.-H.↗
NASA NTRS2006

Upset Characterization of the PowerPC405 Hard-core Processor Embedded in Virtex-II Pro Field Programmable Gate Arrays

Shown in this presentation are recent results for the upset susceptibility of the various types of memory elements in the embedded PowerPC405 in the Xilinx V2P40 FPGA. For critical flight designs where configuration upsets are mitigated effectively through appropriate design triplication and configuration scrubbing, these upsets of processor elements can dominate the system error rate. Data from irradiations with both protons and heavy ions are given and compared using available models.

radiation effects↗
NASA NTRS2015

A WRF-Chem Analysis of Flash Rates, Lightning-NOx Production and Subsequent Trace Gas Chemistry of the 29-30 May 2012 Convective Event in Oklahoma During DC3

The Deep Convective Clouds and Chemistry (DC3) field campaign in 2012 provided a plethora of aircraft and ground-based observations (e.g., trace gases, lightning and radar) to study deep convective storms, their convective transport of trace gases, and associated lightning occurrence and production of nitrogen oxides (NOx). This is a continuation of previous work, which compared lightning observations (Oklahoma Lightning Mapping Array and National Lightning Detection Network) with flashes generated by various flash rate parameterization schemes (FRPSs) from the literature in a Weather Research and Forecasting Chemistry (WRF-Chem) model simulation of the 29-30 May 2012 Oklahoma thunderstorm. Based on the Oklahoma radar observations and Lightning Mapping Array data, new FRPSs are being generated and incorporated into the model. The focus of this analysis is on estimating the amount of lightning-generated nitrogen oxides (LNOx) produced per flash in this storm through a series of model simulations using different production per flash assumptions and comparisons with DC3 aircraft anvil observations. The result of this analysis will be compared with previously studied mid-latitude storms. Additional model simulations are conducted to investigate the upper troposphere transport, distribution, and chemistry of the LNOx plume during the 24 hours following the convective event to investigate ozone production. These model-simulated mixing ratios are compared against the aircraft observations made on 30 May over the southern Appalachians.

Cummings, Kristin A.↗
NASA NTRS1992

Brine shrimp development in space: ground-based data to shuttle flight results

The brine shrimp, Artemia salina, has been used as a model system to assess microgravity effects on developing organisms. Following fertilization and early development, the egg can arrest in early gastrula as a dehydrated cyst stage that is stable to harsh environments over long time periods. When salt water is added, the cysts can reactivate, with embryonic development and egg hatching occurring in about 24 h. A series of larval molts or instars, over about a 2 week period, results in the adult crustacean. We have assessed these developmental events in a closed syringe system, a bioprocessing module, in ground-based studies, and have conducted preliminary in-orbit experiments aboard the Space Shuttle Atlantis during the flights of STS-37 and STS-43. Although the in-flight data are limited, spectacular degrees of development have been achieved.

NASA Discipline Number 93-10↗
NASA NTRS1990

Three-dimensional simulation of the Denver 11 July Storm of 1988 - An intense microburst event

An account is given of results from a numerical simulation of an intense microburst-generating storm observed near Denver during a test operation of the Terminal Doppler Radar System, on July 11, 1988. The numerical simulation encompassed comparisons with 'observed' data from measurements by Doppler radar, aircraft flight data recorders, and surface field instruments. Model results are in excellent qualitative and quantitative agreement with major storm feature observations. The intense microburst that was generated some distance 'downshear' of the primary precipitation area was driven by cooling due to sublimating snow.

Proctor, Fred H.↗
NASA NTRS1977

Observations of Uranus occultation events

An analysis of photometric data obtained during the Uranus appulse to SAO 158687 shows three occultation events which appear to coincide with portions of the Uranian ring system. Two occultation events were associated with the alpha ring and one with the beta ring of the planet; the alpha ring event suggests a ring model with a random distribution of occulting bodies of about 1 km diameter, and an areal density of about 50% over a band 10 km wide. Calculations indicate that neither the inner nor outer rings of the planet are truly concentric circles (to within their radius). In addition, determination of the ring centers can be used to locate the center of mass of the planet, and an upper limit of 26,300 km can be assigned to its radius.

Hubbard, W. B.↗