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At least 127 records · Page 7

Estimation of mean sea surfaces in the north Atlantic, the Pacific and the Indian Ocean using GEOS-3 altimeter data

The mean surfaces of several regions of the world's oceans were estimated using GEOS-3 altimeter data. The northwest Atlantic, the northeast Pacific off the coast of California, the Indian Ocean, the southwest Pacific, and the Phillipine Sea are included. These surfaces have been oriented with respect to a common earth center-of-mass system by constraining the separate solutions to conform to precisely determined laser reference control orbits. The same reference orbits were used for all regions assuring continuity of the separate solutions. Radial accuracies of the control orbits were in the order of one meter. The altimeter measured sea surface height crossover differences were minimized by the adjustment of tilt and bias parameters for each pass with the exception of laser reference control passes. The tilt and bias adjustments removed long wavelength errors which were primarily due to orbit error. Ocean tides were evaluated. The resolution of the estimated sea surfaces varied from 0.25 degrees off the east coast of the United States to about 2 degrees in part of the Indian Ocean near Australia. The rms crossover discrepancy after adjustment varied from 30 cm to 70 cm depending upon geographic location. Comparisons of the altimeter derived mean sea surface in the North Atlantic with the 5 feet x 5 feet GEM-8 detailed gravimetric geoid indicated a relative consistency of better than a meter.

Marsh, J. G.↗

Implicit dual control for general stochastic systems

A new implicit dual technique is presented for stochastic adaptive control synthesis. In this technique, denoted as the method of utility costs (MOUC), a new control policy is derived from a known starting control policy by using a single iteration in time-varying policy space. An important result is that the new control policy yields a corresponding improvement in adaptive performance relative to the known starting policy. Since the starting policy can be chosen arbitrarily, the new policy has potentially superior performance relative to any existing design. Unlike other implicit dual designs, the MOUC can be applied to systems having constrained inputs, discontinuities, discrete valued disturbances, as well as in situations where the variances of the associated process statistics are large. A numerical example is given in which a controller is synthesized to provide improved performance relative to the Open-Loop Feedback policy of Dreyfus.

Bayard, D. S.↗

Venus' superrotation, mixing length theory and eddy diffusion - A parametric study

The concept of the Hadley mechanism is adopted to describe the axisymmetric circulation of the Venus atmosphere. It is shown that, for the atmosphere of a slowly rotating planet such as Venus, a form of the nonliner 'closure' (self-consistent solution) of the fluid dynamics system which constrains the magnitude of the eddy diffusion coefficients can be postulated. A nonlinear one-layer spectral model of the zonally symmetric circulation was then used to establish the relationship between the heat source, the meridional circulation, and the eddy diffusion coefficients, yielding large zonal velocities. Computer experiments indicated that proportional changes in the heat source and eddy diffusion coefficients do not significantly change the zonal velocities. It was also found that, for large eddy diffusion coefficients, the meridional velocity is virtually constant; below a threshold in the diffusion rate, the meridional velocity decreases; and, for large eddy diffusion and small heating rates, the zonal velocities decrease with decreasing planetary rotation rates.

Mayr, H. G.↗

Nonlinear feedback control of multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗

New nonlinear control algorithms for multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Tarn, T. J.↗

On the self-noise in QASK decision-feedback carrier tracking loops

Quadrature amplitude-shift keying (QASK) is often used for transmitting two digital data streams in bandwidth-constrained communication systems. Previous analyses of the tracking performance of a decision-feedback carrier tracking loop, which can be used to provide a carrier reference for a QASK signal set, have neglected the effects of the self-noise in the derivation of the loop resonance. The authors incorporate the effects of the self-noise into the analysis of decision-feedback carrier tracking loops. It is demonstrated that failure to account for the self-noise will only result in a conservative assessment of the system's performance, contrary to what might be expected. All results obtained are in closed form and can easily be evaluated numerically for performance prediction purposes.

Hinedi, Sami↗

Experimental constraints on metric and non-metric theories of gravity

Experimental constraints on metric and non-metric theories of gravitation are reviewed. Tests of the Einstein Equivalence Principle indicate that only metric theories of gravity are likely to be viable. Solar system experiments constrain the parameters of the weak field, post-Newtonian limit to be close to the values predicted by general relativity. Future space experiments will provide further constraints on post-Newtonian gravity.

Will, Clifford M.↗

Studies of Triton and the Pluto-Charon system

The project is designed to take advantage of the six-year-long series of mutual occultation and eclipse events involving Pluto and its satellite Charon during one of its rare edge-on orbital alignments. High-precision, high-time-resolution photometry of these events can be utilized to extract several important physical parameters. An important derived parameter is the mean density of the system, which constrains the bulk composition of two bodies.

Tholen, David J.↗

An approach to simultaneous control of trajectory and interaction forces in dual-arm configurations

An approach to the control of constrained dynamic systems such as multiple arm systems, multifingered grippers, and walking vehicles is described. The basic philosophy is to utilize a minimal set of inputs to control the trajectory and the surplus input to control the constraint or interaction forces and moments in the closed chain. A dynamic control model for the closed chain is derived that is suitable for designing a controller in which the trajectory and the interaction forces and moments are explicitly controlled. Nonlinear feedback techniques derived from differential geometry are then applied to linearize and decouple the nonlinear model. These ideas are illustrated through a planar example in which two arms are used for cooperative manipulation. Results from a simulation are used to illustrate the efficacy of the method.

Yun, Xiaoping↗

The ferroan-anorthositic suite, the extent of primordial lunar melting, and the bulk composition of the moon

A major component of the moon's crust is fundamentally unrelated to the plagioclase flotation crust that is believed to have accumulated over the primordial magma ocean, as evidenced by the geochemical bimodality of pristine lunar rocks. This bimodality and the apparent ratio of ferroan-anorthositic suite rocks to non-ferroan-anorthositic suite rocks in the lunar crust are used to determine the proportion of the moon that was melted during the development of the primordial magma ocean. Models of the origin of the earth-moon system are constrained by this proportion. Another constraint, suggesting that the bulk-moon pyroxene/(pyroxene + olivine) ratio is higher than generally estimated, is also derived.

Warren, Paul H.↗

Computational strategies in the dynamic simulation of constrained flexible MBS

This research focuses on the computational dynamics of flexible constrained multibody systems. At first a recursive mapping formulation of the kinematical expressions in a minimum dimension as well as the matrix representation of the equations of motion are presented. The method employs Kane's equation, FEM, and concepts of continuum mechanics. The generalized active forces are extended to include the effects of high temperature conditions, such as creep, thermal stress, and elastic-plastic deformation. The time variant constraint relations for rolling/contact conditions between two flexible bodies are also studied. The constraints for validation of MBS simulation of gear meshing contact using a modified Timoshenko beam theory are also presented. The last part deals with minimization of vibration/deformation of the elastic beam in multibody systems making use of time variant boundary conditions. The above methodologies and computational procedures developed are being implemented in a program called DYAMUS.

Amirouche, F. M. L.↗

Masses and Luminosities of X-Ray Binaries

Using SIM, we will perform narrow-angle observations of several X-ray binaries to determine their orbits, and we will observe about 50 X-ray binary systems in wide-angle mode to measure their distances and proper motions. Sources with mass estimates for the compact component of greater than 3 solar masses are generally called black hole candidates since this mass is above the theoretical neutron star limit. Narrow-angle observations of these sources provide a direct test of the dynamical mass estimates on which the black hole evidence is based. Better measurements of the black hole masses will provide constraints on possible evolutionary paths that lead to black hole formation. When combined with X-ray data, mass measurements may provide additional constraints on the black hole spin. Precise mass determinations of neutron star systems can address the question of whether neutron stars can be significantly more massive than 1.4 solar masses, which would eliminate soft models of the neutron star equations of state. The wide-angle observations will probe the Galactic distribution of X-ray binaries through parallaxes and proper motions. They will also eliminate the uncertainties in the luminosities of individual sources, which is currently up to a full order of magnitude. This will enable more detailed comparisons of X-ray observations to physical models such as advection-dominated accretion flows (ADAFs). We intend to carry out the following measurements: 1) Determine the orbits of two black hole candidates to measure the black hole masses; 2) Obtain precise mass measurements for two neutron star systems to constrain neutron star equations of state; 3) Determine the distances and thus luminosities of selected representatives of various classes of X-ray binaries (black hole candidates, neutron stars, jet sources); 4) In the process of distance determination, proper motions will also be measured, from which the age of the population can be estimated.

Quirrenbach, Andreas↗

Automatic Hazard Detection for Landers

Unmanned planetary landers to date have landed 'blind'; that is, without the benefit of onboard landing hazard detection and avoidance systems. This constrains landing site selection to very benign terrain,which in turn constrains the scientific agenda of missions. The state of the art Entry, Descent, and Landing (EDL) technology can land a spacecraft on Mars somewhere within a 20-100km landing ellipse.Landing ellipses are very likely to contain hazards such as craters, discontinuities, steep slopes, and large rocks, than can cause mission-fatal damage. We briefly review sensor options for landing hazard detection and identify a perception approach based on stereo vision and shadow analysis that addresses the broadest set of missions. Our approach fuses stereo vision and monocular shadow-based rock detection to maximize spacecraft safety. We summarize performance models for slope estimation and rock detection within this approach and validate those models experimentally. Instantiating our model of rock detection reliability for Mars predicts that this approach can reduce the probability of failed landing by at least a factor of 4 in any given terrain. We also describe a rock detector/mapper applied to large-high-resolution images from the Mars Reconnaissance Orbiter (MRO) for landing site characterization and selection for Mars missions.

hazard detection↗

Enhanced Communication Network Solution for Positive Train Control Implementation

The commuter and freight railroad industry is required to implement Positive Train Control (PTC) by 2015 (2012 for Metrolink), a challenging network communications problem. This paper will discuss present technologies developed by the National Aeronautics and Space Administration (NASA) to overcome comparable communication challenges encountered in deep space mission operations. PTC will be based on a new cellular wireless packet Internet Protocol (IP) network. However, ensuring reliability in such a network is difficult due to the "dead zones" and transient disruptions we commonly experience when we lose calls in commercial cellular networks. These disruptions make it difficult to meet PTC s stringent reliability (99.999%) and safety requirements, deployment deadlines, and budget. This paper proposes innovative solutions based on space-proven technologies that would help meet these challenges: (1) Delay Tolerant Networking (DTN) technology, designed for use in resource-constrained, embedded systems and currently in use on the International Space Station, enables reliable communication over networks in which timely data acknowledgments might not be possible due to transient link outages. (2) Policy-Based Management (PBM) provides dynamic management capabilities, allowing vital data to be exchanged selectively (with priority) by utilizing alternative communication resources. The resulting network may help railroads implement PTC faster, cheaper, and more reliably.

Policy-Based Management (PBM)↗

Going Boldly Beyond: Progress on NASA's Space Launch System

NASA's Space Launch System is implementing an evolvable configuration approach to system development in a resource-constrained era. Legacy systems enable non-traditional development funding and contribute to sustainability and affordability. Limited simultaneous developments reduce cost and schedule risk. Phased approach to advanced booster development enables innovation and competition, incrementally demonstrating affordability and performance enhancements. Advanced boosters will provide performance for the most capable heavy lift launcher in history, enabling unprecedented space exploration benefiting all of humanity.

Singer, Jody↗

Delay-Tolerant Networking for Space Flight Operations: Design and Development

Large-scale future space exploration will offer complex communication challenges that may be best addressed by establishing a network infrastructure. The Internet protocols are not well suited for operation of a network over interplanetary distances; a Delay-Tolerant Networking (DTN) architecture has been proposed instead. DTN is now a rapidly growing research field, but most implementations are mainly aimed at supporting applications of DTN technology to terrestrial networking problems. Those implementations are not necessarily suitable for deployment in an interplanetary network. Interplanetary Overlay Network (ION) is an implementation of the DTN architecture that is specifically designed for use in resource-constrained embedded systems, such as interplanetary robotic spacecraft.

DTN↗

Determining the Water Ice Content of Martian Regolith by Nonlinear Spectral Mixture Modeling

In the search for evidence of life, Icebreaker will drill in to the Martian ice-rich regolith to collect samples, which will then be analyzed by an array of instruments designed to identify biomarkers. In addition, drilling into the subsurface will provide the opportunity to assess the vertical distribution of ice to a depth of 1 meter. The purpose of this particular project was to understand the uncertainties involved in the use of the imaging system to constrain the water ice content in regolith samples.

Subtractive Kramers-Kronig analysis↗