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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

Controlling Herds of Cooperative Robots

A document poses, and suggests a program of research for answering, questions of how to achieve autonomous operation of herds of cooperative robots to be used in exploration and/or colonization of remote planets. In a typical scenario, a flock of mobile sensory robots would be deployed in a previously unexplored region, one of the robots would be designated the leader, and the leader would issue commands to move the robots to different locations or aim sensors at different targets to maximize scientific return. It would be necessary to provide for this hierarchical, cooperative behavior even in the face of such unpredictable factors as terrain obstacles. A potential-fields approach is proposed as a theoretical basis for developing methods of autonomous command and guidance of a herd. A survival-of-the-fittest approach is suggested as a theoretical basis for selection, mutation, and adaptation of a description of (1) the body, joints, sensors, actuators, and control computer of each robot, and (2) the connectivity of each robot with the rest of the herd, such that the herd could be regarded as consisting of a set of artificial creatures that evolve to adapt to a previously unknown environment. A distributed simulation environment has been developed to test the proposed approaches in the Titan environment. One blimp guides three surface sondes via a potential field approach. The results of the simulation demonstrate that the method used for control is feasible, even if significant uncertainty exists in the dynamics and environmental models, and that the control architecture provides the autonomy needed to enable surface science data collection.

Quadrelli, Marco B.↗
NASA NTRS1972

The flares of August 1972

Analysis is made of observations of the August, 1972 flares at Big Bear and Tel Aviv, involving monochromatic movies, magnetograms, and spectra. In each flare the observations fit a model of particle acceleration in the chromosphere with emission produced by impart and by heating by the energetic electrons and protons. The region showed twisted flux and high gradients from birth, and flares appear due to strong magnetic shears and gradients across the neutral line produced by sunspot motions. Post flare loops show a strong change from sheared, force-free fields parallel to potential-field-like loops, perpendicular to the neutral line above the surface.

Zirin, H.↗
NASA NTRS1977

Measurement of magnetic field aligned potential differences using high resolution conjugate photoelectron energy spectra

Simultaneous high-resolution observations of a distinctive feature in the energy spectrum of conjugate photoelectrons and spacecraft potential relative to the local ionosphere have allowed the net potential difference between magnetic conjugate points at latitudes below the region of low-energy (i.e., lower than 100 eV) auroral electron precipitation to be determined. Measurements made at 300 km from Atmosphere Explorer C show that there is normally no net potential difference between hemispheres in this region, which extended up to invariant latitudes as high as 74 deg. Two types of apparently related anomalous behavior were infrequently observed at high latitudes. During these periods the incident flux of conjugate photoelectrons was either decelerated by about 3 eV or was not detected.

Peterson, W. K.↗
NASA NTRS1981

Langmuir probe theory and the problem of anisotropic collection

A more general understanding of Langmuir probe theory by going beyond particular coordinate systems as far as possible was studied. To delineate the role of initial velocities in the problem and to characterize the interaction between the velocity flow field and the electrostatic potential field both of which enter into the determination of particle trajectories are desired. The probe is supposed to be negatively charged throughout and the ensuing region of positive space charge about it differs fundamentally from the plasma region beyond in the sense that the former represents a region in which deterministic trajectories dominate while the lattice is a region dominated by statistical interactions largely controlled by the collisionless stationary Boltzmann equation. A general solution of this Boltzmann equation is given and its relationship to the problem of saturation current density in 3D is elucidated.

Kyrala, A.↗
NASA NTRS1982

Computer prediction of three-dimensional potential flow fields in which aircraft propellers operate

A computer program was developed to calculate the three dimensional, steady, incompressible, inviscid, irrotational flow field at the propeller plane (propeller removed) located upstream of an arbitrary airframe geometry. The program uses a horseshoe vortex of known strength to model the wing. All other airframe surfaces are modeled by a network source panels of unknown strength which is exposed to a uniform free stream and the wing-induced velocity field. By satisfying boundary conditions on each panel (the Neumann problem), relaxed boundary conditions being used on certain panels to simulate inlet inflow, the source strengths are determined. From the known source and wing vortex strengths, the resulting velocity fields on the airframe surface and at the propeller plane are obtained. All program equations are derived in detail, and a brief description of the program structure is presented. A user's manual which fully documents the program is cited. Computer predictions of the flow on the surface of a sphere and at a propeller plane upstream of the sphere are compared with the exact mathematical solutions. Agreement is good, and correct program operation is verified.

Jumper, S. J.↗
NASA NTRS1988

On the origin of steep edges and filaments in vorticity and potential vorticity fields

High-resolution numerical calculations are shown which capture the fundamental process responsible for the intensification of vorticity gradients in an isolated vortex subject to externally imposed distrubances. Imposition of almost any weak strain or shear field in stripping away the relatively weak vorticity at the edge of the vortex and leaves it with gradients four to six orders of magnitude greater than in the initial state. Calculations displaying such enormous gradients have never been reported previously, because of the artificial eddy diffusivities that always limit such gradients in standard numerical models. The present calculations, which have no such limitations, have been made possible by the development of a novel and robust new numerical technique for vortex dynamics called contour surgery.

Dritschel, D. G.↗
NASA NTRS2001

Large Solar Flares and Sheared Magnetic Field Configuration

This Comment gives additional information about the nature of flaring locations on the Sun described in the article "Sun unleashes Halloween storm", by R. E. Lopez, et al. What causes the large explosions from solar active regions that unleash huge magnetic storms and adverse space weather? It is now beyond doubt that the magnetic field in solar active regions harbors free energy that is released during these events. Direct measurements of the longitudinal and transverse components of active region magnetic fields with the vector magnetograph at NASA Marshall Space Flight Center (MSFC), taken on a regular basis for the last 30 years, have found key signatures of the locations of powerful flares. A vector magnetograph detects and measures the magnetic shear, which is the deviation of the observed transverse magnetic field direction from the potential field. The sheared locations possess abundant free magnetic energy for solar flares. In addition to active region NOAA 10486, the one that produced the largest flares last October, the NASA/MSFC vector magnetograph has observed several other such complex super active regions, including NOAA 6555 and 6659.

Choudhary, Debi Prasad↗
NASA NTRS1981

Spherical-earth Gravity and Magnetic Anomaly Modeling by Gauss-legendre Quadrature Integration

The usefulness of long-wavelength potential field anomalies in lithospheric interpretation is greatly increased with spherical Earth modeling techniques. Gauss-Legendre quadrature integration is used to calculate the anomalous potential of gravity and magnetic fields and their spatial derivatives on a spherical Earth for an arbitrary body represented by an equivalent point source distribution of gravity poles or magnetic dipoles. The distribution of equivalent point sources is determined directly from the coordinate limits of the source volume. Variable integration limits for an arbitrarily shaped body are derived from interpolation of points which approximate the body's surface envelope. The versatility of the method is enhanced by the ability to treat physical property variations within the source volume and to consider variable magnetic fields over the source and observation surface. A number of examples verify and illustrate the capabilities of the technique, including preliminary modeling of potential field signatures for Mississippi embayment crustal structure at satellite elevations.

Spherical coordinate gravity modeling↗
NASA NTRS1998

Magnetic Field Configuration of Active Region NOAA 6555 at the Time of a Long Duration Flare on 23 March 1991: An Exception to Standard Flare Reconnection Model

The high-resolution H(sub alpha) images observed during the decay phase of a long duration flare on 23 March 1991 are used to study the three-dimensional magnetic field configuration of the active region NOAA 6555. Whereas, all the large flares in NOAA 6555 occurred at the location of high magnetic shear and flux emergence, this long duration flare was observed in the region of low magnetic shear at the photosphere. The H(sub alpha) loop activity started soon after the maximum phase of the flare. There were few long loop at the initial phase of the activity. Some of these were sheared in the chromosphere at an angle of about 45 deg with the east-west axis. Gradually, increasing number of shorter loops, oriented along the east-west axis, started appearing. The chromospheric Dopplergrams show blue-shifts at the end points of the loops. By using different magnetic field models, we have extrapolated the photospheric magnetograms to the chromospheric heights. The magnetic field lines computed by using the potential field model correspond to most of the observed H(sub alpha) loops. The height of the H(sub alpha) loops were derived by comparing them with the computed field lines. From the temporal evolution of the H(sub alpha) loop activity, we derive the negative rate of appearance of H(sub alpha) features as a function of height. It is found that the field lines oriented along one of the neutral lines was sheared and low lying. The higher field lines were mostly potential. The paper also outlines a possible scenario for describing the post-flare stage of the observed long duration flare.

Choudhary, Debi Prasad↗
NASA NTRS1979

Generation of the magnetospheric electric field

The potential electric field in the magnetosphere satisfies two boundary conditions, the outer boundary being the magnetosphere/solar-wind interface (magnetopause) and the inner boundary being the magnetosphere/atmosphere interface (ionosphere). The distribution of the imposed potential between the two boundaries affects, and is affected by, the configuration and motion of plasma in the magnetosphere. The paper surveys various mechanisms that are suspected of playing a role in the establishment of the boundary conditions on the magnetospheric electric field.

Hill, T. W.↗
NASA NTRS1985

Deduction of coronal magnetic fields using microwave spectroscopy

Gyroresonance opacity renders the solar corona optically thick at frequencies which are low integral multiples of the local gyrofrequency. This causes the microwave spectrum of sunspots to be sensitive to the strength of coronal magnetic fields. The concept is illustrated by high spectral resolution observations of a sunspot acquired with the Owens Valley frequency-agile interferometer. The observed spectrum is compared to the results of three-dimensional atmospheric model calculations in which the sunspot field is represented by the potential field of a dipole located beneath the photosphere. The comparison enables the depth, orientation and magnetic moment of the dipole that best fits the observations to be determined. Since such observations require that the microwave emission be resolved spectrally, not spatially, the technique may be applicable to the study of stellar coronal fields.

Hurford, G. J.↗
NASA NTRS1990

The significance of vector magnetic field measurements

Observations of four flaring solar active regions, obtained during 1980-1986 with the NASA Marshall vector magnetograph (Hagyard et al., 1982 and 1985), are presented graphically and characterized in detail, with reference to nearly simultaneous Big Bear Solar Observatory and USAF ASW H-alpha images. It is shown that the flares occurred where local photospheric magnetic fields differed most from the potential field, with initial brightening on either side of a magnetic-neutral line near the point of maximum angular shear (rather than that of maximum magnetic-field strength, typically 1 kG or greater). Particular emphasis is placed on the fact that these significant nonpotential features were detected only by measuring all three components of the vector magnetic field.

Hagyard, M. J.↗
NASA NTRS2011

Warp Field Mechanics 101

This paper will begin with a short review of the Alcubierre warp drive metric and describes how the phenomenon might work based on the original paper. The canonical form of the metric was developed and published in [6] which provided key insight into the field potential and boost for the field which remedied a critical paradox in the original Alcubierre concept of operations. A modified concept of operations based on the canonical form of the metric that remedies the paradox is presented and discussed. The idea of a warp drive in higher dimensional space-time (manifold) will then be briefly considered by comparing the null-like geodesics of the Alcubierre metric to the Chung-Freese metric to illustrate the mathematical role of hyperspace coordinates. The net effect of using a warp drive technology coupled with conventional propulsion systems on an exploration mission will be discussed using the nomenclature of early mission planning. Finally, an overview of the warp field interferometer test bed being implemented in the Advanced Propulsion Physics Laboratory: Eagleworks (APPL:E) at the Johnson Space Center will be detailed. While warp field mechanics has not had a Chicago Pile moment, the tools necessary to detect a modest instance of the phenomenon are near at hand.

White, Harold↗
NASA NTRS1994

Nonlinear evolution of the coronal magnetic field under reconnective relaxation

Recently, Vekstein et al. (Vekstein, Priest, & Steele 1993) have developed a model for coronal heating in which the corona responds to photospheric footpoint motions by small-scale reconnection events that bring about a relaxed state while conserving magnetic helicity but not field-line connectivity. Vekstein et al. consider a partially open field configuration in which magnetic helicity is ejected to infinity on open field lines but retained in the closed-field region. Under this scheme, they describe the evolution of an initially potential field, in response to helicity injection, in the linear regime. The present work uses numerical calculations to extend the model of Vekstein et al. into the fully nonlinear regime. The results show a rise and bulging of the field lines of the closed-field region with increasing magnetic helicity, to a point where further solutions are impossible. We interpret these solution-sequence endpoints as indicating a possible loss of equilibrium, in the sense that a relaxed equilibrium state may no longer be available to the corona when sufficient helicity has been injected. The rise and bulging behavior is reminiscent of what is observed in a helmet streamer just before the start of a coronal mass ejection (CME), and so our model suggests that a catastrophic loss of magnetic equilibrium might be the initiation mechanism for CMEs. We also find that some choices of boundary conditions can result in qualitative changes in the magnetic topology, with the appearance of magnetic islands. Whether or not this behavior occurs depends on the relative strengths of the fields in the closed- and open-field regions; in particular, island formation is most likely when the open field (which is potential) is strong and thus acts to confine the force-free closed field. Finally, we show that the energy released through reconnective relaxation can be a substantial fraction of the magnetic energy injected into the corona through footpoint motions and may be sufficient for heating the corona above active regions.

Wolfson, R.↗
NASA NTRS1987

Changes in measured vector magnetic fields when transformed into heliographic coordinates

The changes that occur in measured magnetic fields when they are transformed into a heliographic coordinate system are investigated. To carry out this investigation, measurements of the vector magnetic field of an active region that was observed at 1/3 the solar radius from disk center are taken, and the observed field is transformed into heliographic coordinates. Differences in the calculated potential field that occur when the heliographic normal component of the field is used as the boundary condition rather than the observed line-of-sight component are also examined. The results of this analysis show: (1) that the observed fields of sunspots more closely resemble the generally accepted picture of the distribution of umbral fields if they are displayed in heliographic coordinates; (2) that the differences in the potential calculations are less than 200 G in field strength and 20 deg in field azimuth outside sunspots; and (3) that differences in the two potential calculations in the sunspot areas are no more than 400 G in field strength but range from 60 to 80 deg in field azimuth in localized umbral areas.

Hagyard, M. J.↗
NASA NTRS1979

Characteristics of the inverted-V event

An attempt is made to determine the origin of the inverted-V precipitating electrons and mechanisms that could create the inverted-V structure. The energy and pitch angle structures are compared with predictions from several theories that have been proposed to explain the origin of inverted-V events. Data from the AE-D satellite indicate that the origin of the inverted-V precipitating electrons is in the magnetosphere, the most probable regions being the plasma sheet and the neutral sheet. The energy and pitch angle distributions show that electrons are trapped between the mirror points and the electric field potential. The observations suggest that field-aligned precipitating electrons have been heated, probably when they were accelerated by the parallel electric field. Qualitatively, the detailed structures of the inverted-V events favor the theory of anomalous resistivity.

Lin, C. S.↗