A Digital Interface for the Computer Control of a Remote Manipulator
Design and implementation of digital interface for computer control of remote manipulator
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Design and implementation of digital interface for computer control of remote manipulator
We used a video digitizer system to measure surface extension and curvature in gravistimulated primary roots of maize (Zea mays L.). Downward curvature began about 25 +/- 7 min after gravistimulation and resulted from a combination of enhanced growth along the upper surface and reduced growth along the lower surface relative to growth in vertically oriented controls. The roots curved at a rate of 1.4 +/- 0.5 degrees min-1 but the pattern of curvature varied somewhat. In about 35% of the samples the roots curved steadily downward and the rate of curvature slowed as the root neared 90 degrees. A final angle of about 90 degrees was reached 110 +/- 35 min after the start of gravistimulation. In about 65% of the samples there was a period of backward curvature (partial reversal of curvature) during the response. In some cases (about 15% of those showing a period of reverse bending) this period of backward curvature occurred before the root reached 90 degrees. Following transient backward curvature, downward curvature resumed and the root approached a final angle of about 90 degrees. In about 65% of the roots showing a period of reverse curvature, the roots curved steadily past the vertical, reaching maximum curvature about 205 +/- 65 min after gravistimulation. The direction of curvature then reversed back toward the vertical. After one or two oscillations about the vertical the roots obtained a vertical orientation and the distribution of growth within the root tip became the same as that prior to gravistimulation. The period of transient backward curvature coincided with and was evidently caused by enhancement of growth along the concave and inhibition of growth along the convex side of the curve, a pattern opposite to that prevailing in the earlier stages of downward curvature. There were periods during the gravitropic response when the normally unimodal growth-rate distribution within the elongation zone became bimodal with two peaks of rapid elongation separated by a region of reduced elongation rate. This occurred at different times on the convex and concave sides of the graviresponding root. During the period of steady downward curvature the elongation zone along the convex side extended farther toward the tip than in the vertical control. During the period of reduced rate of curvature, the zone of elongation extended farther toward the tip along the concave side of the root. The data show that the gravitropic response pattern varies with time and involves changes in localized elongation rates as well as changes in the length and position of the elongation zone. Models of root gravitropic curvature based on simple unimodal inhibition of growth along the lower side cannot account for these complex growth patterns.
Quantum simulation of quantum field theory is a flagship application of quantum computers that promises to deliver capabilities beyond classical computing. The realization of quantum advantage will require methods that can accurately predict error scaling as a function of the resolution and parameters of the model and that can be implemented efficiently on quantum hardware. In this paper, we address the representation of lattice bosonic fields in a discretized field amplitude basis, develop methods to predict error scaling, and present efficient qubit implementation strategies. A low-energy subspace of the bosonic Hilbert space, defined by a boson occupation number cutoff, can be represented with exponentially good accuracy by a low-energy subspace of a finite-size Hilbert space. The finite representation construction and the associated errors are directly related to the accuracy of the Nyquist-Shannon sampling and the finite Fourier transforms of the boson number states in the field and the conjugate-field bases. We analyze the relation between the boson mass, the discretization parameters used for wave function sampling, and the finite representation size. Numerical simulations of small size Φ 4 problems demonstrate that the boson mass optimizing the sampling of the ground state wave function is a good approximation to the optimal boson mass yielding the minimum low-energy subspace size. However, we find that accurate sampling of general wave functions does not necessarily result in accurate representation. Finally, we develop methods for validating and adjusting the discretization parameters to achieve more accurate simulations.
Digital program for optimized scaling of linear or nonlinear differential equations for analog simulation
The flying spot digitizer and its applications are described. Suggestions are made as to how this apparatus might be used for the precise and fast measurement of star images on photographic plates.
Hologram is constructed by taking number of digitized sample points and blending them together to form ''continuous'' picture. New system selects better set of sample points resulting in improved hologram from same amount of information.
Results of a recent study of data handling requirements for future operational earth observation systems are reported. Such systems in the 1980's may have 10-20 meter resolution and generate .2 tecabits of data per day, with peak rates of 0.8 gigabits per second based on the dominant requirements of agriculture. System alternatives are considered that will handle such data. Data relayed to the facility are recorded at high rates and then processed at lower speed by computer. Hardwired special digital logic computers may be used with an appropriate classification algorithm for crop recognition. Optical mass memories now in the prototype stage will handle the 10 tecabits and 800 megabit per second read-in rate required.
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Formulation and digital coding of approximate hydrogen properties for application to flow computations
Symbolic programming digital computer techniques, hardware interfacing and system errors in simulation of lunar midcourse guidance and navigation systems
Computer analysis of density measurements of particle tracks in nuclear emulsions by use of digitized video scan
A guide for DTIZE, a two dimensional digitizing program with graphical editing capability, is presented. DTIZE provides the capability to simultaneously create and display a picture on the display screen. Data descriptions may be permanently saved in three different formats. DTIZE creates the picture graphics in the locator mode, thus inputting one coordinate each time the terminator button is pushed. Graphic input devices (GIN) are also used to select function command menu. These menu commands and the program's interactive prompting sequences provide a complete capability for creating, editing, and permanently recording a graphical picture file. DTIZE is written in FORTRAN IV language for the Tektronix 4081 graphic system utilizing the Plot 80 Distributed Graphics Library (DGL) subroutines. The Tektronix 4953/3954 Graphic Tablet with mouse, pen, or joystick are used as graphics input devices to create picture graphics.
An image representing the thermal inertia in the vicinity of Pisgah Crater and Lavic Lake in Southern California has been generated from visible, near IR, and thermal images taken from aircraft. Construction of the thermal inertia image required radiometric calibration and geometric rectification of the acquired images as well as registration to a topographic map. The Kahle thermal model used in the construction of the thermal inertia image requires specification of albedo, topographic slope and slope azimuth, diurnal temperature range and local meteorological conditions. Albedo information was derived from the visible image; digital topographic information was computed from digitized stereo aerial photographs; and thermal ranges were calculated by subtracting the predawn from the afternoon thermal image data. Our computed values of thermal inertia were in close agreement with published values for similar surface materials. Thermal inertia provides complementary information to conventional images of reflected solar radiation for use in lithologic mapping.
Our goal is to develop a digital twin of Arctic sea ice that combines high-resolution predictive modeling with observational products. This effort will provide an optimized model for use in seasonal to sub-seasonal forecasting and a tool for policymakers to better anticipate, plan for, and mitigate the national security impacts of rapidly changing Arctic conditions. The modeling component uses the Discrete Element Model for Sea Ice (DEMSI), which uses discrete elements to represent the sea ice with an explicit representation of forces between them.
Here we propose a generalized architecture for the first rapid-single-flux-quantum (RSFQ) associative memory circuit. The circuit employs hyperdimensional computing (HDC), a machine learning (ML) paradigm utilizing vectors with dimensionality in the thousands to represent information. HDC designs have small memory footprints, simple computations, and simple training algorithms compared to superconducting neural network accelerators (SNNAs), making them a better option for scalable SFQ machine learning (ML) solutions. The proposed superconducting HDC (SHDC) circuit uses entirely on-chip RSFQ memory which is tightly integrated with logic, operates at 33.3 GHz, is applicable to general ML tasks, and is manufacturable at practically useful scales given current SFQ fabrication limits. Tailored to a language recognition task, SHDC consists of ~ 2-20 M Josephson junctions (JJs) and consumes up to three times less power than an analogous CMOS HDC circuit while achieving 78-84% higher throughput. SHDC is capable of outperforming the state of the art RSFQ SNNA, SuperNPU, by 48-99% for all benchmark NN architectures tested while occupying up to 90% less area and consuming up to nine times less power. To the best of the authors' knowledge, SHDC is currently the only superconducting ML approach feasible at practically useful scales for real-world ML tasks and capable of online learning.
Commercially available general aviation autopilots are currently in transition from an analogue circuit system to a computer implemented digital flight control system. Well known advantages of the digital autopilot include enhanced modes, self-test capacity, fault detection, and greater computational capacity. A digital autopilot's computational capacity can be used to full advantage by increasing the sophistication of the digital autopilot's chief function, stability and control. NASA's Langley Research Center has been pursuing the development of direct digital design tools for aircraft stabilization systems for several years. This effort has most recently been directed towards the development and realization of multi-mode digital autopilots for GA aircraft, conducted under a SPIFR-related program called the General Aviation Terminal Operations Research (GATOR) Program. This presentation focuses on the implementation and testing of a candidate multi-mode autopilot designed using these newly developed tools.
The digitization of controls, data, and analysis in microscopy is bringing the idea of autonomous microscopes closer to reality than ever before. Automated transmission electron microscopy (TEM) is already fairly routine for some experiments the only require simple repetitive tasks such as imaging biological macromolecules for single particle cryoEM [1], tilt series for electron tomography [2], and movies for crystallography [3]. The vast majority of TEM experiments are conducted completely by human operators who choose the regions of interest, optimize experimental parameters, and make decisions about data quality visually during an experiment. The field is still a long way from having completely autonomous TEMs that can adapt to sample difficulties and tune experimental parameters based on data quality and desired experimental outcomes. Part of the issue is the lack of capability for feeding information learned from on-line, live data analysis back into the on-going experiment [4]. Furthermore, this presentation will discuss current capabilities for large scale data reduction and analysis using high performance computing (i.e. supercomputing) and progress towards developing a true feed-back loop that places data analysis and theory in the experimental loop.