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NASA NTRS1989

Properties of possible polar rings around Neptune

The near-polar-position rings whose possible existence and character around Neptune are presently considered correspond to the equilibrium configuration of a test-particle orbital plane in the gravitational potential of Neptune and Triton. At these equilibria, of which two whose invariable-plane nodal line is approximately perpendicular to the nodal line of Triton on the same plane are dynamically stable, the orbit of the test particle maintains a fixed orientation with respect to the invariable plane and the node of triton on that plane. The stable equilibria are noted to correspond to a maximum of the total energy for a given semimajor axis; their stability is found to remain unperturbed despite collisions among particles.

Borderies, Nicole↗

NASA NTRS1989

Determination of longitudinal aerodynamic derivatives using flight data from an icing research aircraft

A flight test was performed with the NASA Lewis Research Center's DH-6 icing research aircraft. The purpose was to employ a flight test procedure and data analysis method, to determine the accuracy with which the effects of ice on aircraft stability and control could be measured. For simplicity, flight testing was restricted to the short period longitudinal mode. Two flights were flown in a clean (baseline) configuration, and two flights were flown with simulated horizontal tail ice. Forty-five repeat doublet maneuvers were performed in each of four test configurations, at a given trim speed, to determine the ensemble variation of the estimated stability and control derivatives. Additional maneuvers were also performed in each configuration, to determine the variation in the longitudinal derivative estimates over a wide range of trim speeds. Stability and control derivatives were estimated by a Modified Stepwise Regression (MSR) technique. A measure of the confidence in the derivative estimates was obtained by comparing the standard error for the ensemble of repeat maneuvers, to the average of the estimated standard errors predicted by the MSR program. A multiplicative relationship was determined between the ensemble standard error, and the averaged program standard errors. In addition, a 95 percent confidence interval analysis was performed for the elevator effectiveness estimates, C sub m sub delta e. This analysis identified the speed range where changes in C sub m sub delta e could be attributed to icing effects. The magnitude of icing effects on the derivative estimates were strongly dependent on flight speed and aircraft wing flap configuration. With wing flaps up, the estimated derivatives were degraded most at lower speeds corresponding to that configuration. With wing flaps extended to 10 degrees, the estimated derivatives were degraded most at the higher corresponding speeds. The effects of icing on the changes in longitudinal stability and control derivat

Ranaudo, R. J.↗

NASA NTRS1989

A physical model for earthquakes. III - Thermodynamical approach and its relation to nonclassical theories

An earthquake theory based on fundamental thermodynamical considerations was developed using two principles. The first principle is that physical systems, including fault systems, tend toward a state of minimal Helmholtz free energy, which corresponds to static equilibrium. The second postulate is that, if the system is not at minimal free energy, thermodynamic forces arise which drive the system back toward a minimum. According to this theory, the propagation of a fracture, or the formation of a slip on a frictional surface, are manifestations of the physics which attempt to return the system to minimal free energy. It is shown that the process of return to minimal free energy by the system corresponds to the production of entropy, thereby rendering the process irreversible.

Rundle, John B.↗

NASA NTRS1988

Numerical simulation of the atmospheric response ito the time-varying El Nino SST anomalies during May 1982 through October 1983

An attempt is made to simulate the atmospheric circulation anomalies corresponding to the observed SST anomalies in the Pacific Ocean for the 18-month period of May 1982 through October 1983. A GCM is first integrated for 25 months with monthly climatological boundary conditions of SST, soil moisture, sea, ice, and albedo. Starting from day 165 of this 'control' integration, which corresponds to May 1, the 18-month integration is carried out with the same boundary conditions except that the observed monthly SST anomalies for May 1982-October 1983 are added to the climatological values in the Pacific from 40 S to 60 N. The evolution of the model-simulated circulation and rainfall anomalies are compared to actual observations for the same period, and remarkable agreement is found.

Fennessy, M. J.↗

NASA NTRS1989

Observational constraints on an embedded cloud model for the soft X-ray diffuse background

The reason for the observed anticorrelation between soft X-ray diffuse background (SXRB) and neutral hydrogen column densities are considered. Using the B and C band data from an all-sky survey of the SXRB, as well as data in the Be band, it is shown that the Jakobsen and Kahn (1986) embedded cloud model, in which several statistical properties of the SXRB in the B and C bands were used to constrain their model parameters, cannot fit the observed band ratios, except in the limit in which virtually all of the emission originates in the near side of the absorbing gas. It was also shown that model parameters corresponding to appreciably mixed emission and absorption, as proposed by Bunner et al. (1969) and Davidsen et al. (1972), do not fit the data. Model parameters corresponding to the absorption models of Bowyer et al. (1968), Bunner et al. (1969), Davidsen et al. (1972), and Yentis et al. (1972), cannot fit the data unless the absorbing material is more strongly clumped than is permitted by 21-cm observations.

Burrows, D. N.↗

NASA NTRS1989

Measurements of argon broadened Lorentz width and pressure-induced line shift coefficients in the nu4 band of (C-12)H4

Room temperature argon broadened halfwidth and pressure-induced line shift coefficients have been determined for 118 transitions in the nu4 band of (C-12)H4 from analysis of high resolution laboratory absorption spectra recorded with the McMath Fourier transform spectrometer operated on Kitt Peak by the National Solar Observatory. Transitions up to J-double-prime = 12 have been measured using a nonlinear least-squares spectral fitting procedure. The variation of the measured halfwidth coefficients with symmetry type and rotational quantum number is very similar to that measured previously for N2 and air broadening, but the absolute values of the argon broadening coefficients are all smaller. On average, the ratio of the argon broadened halfwidth coefficient to the corresponding N2 broadened halfwidth coefficient is 0.877 + or - 0.017 (2 Sigma). More than 95 percent of the pressure-induced shifts are negative with values ranging from -0.0081 to +0.0055/cm atm. The pressure shifts in argon are nearly equal to corresponding values measured previously in N2 and air.

Rinsland, Curtis P.↗

NASA NTRS1989

Coordination of two redundant robots

A solution is presented for the optimal force distributions of two redundant coordinating robots. Two robots whose end-effectors firmly grasp a common inertial load form a closed-chain structure, and thus the robots must observe a set of constraint conditions on (1) the end-effector positions, orientations, linear and angular velocities and (2) the forces and torques inserted onto the end-effectors by the load. To achieve the maximum load capability, the optimal force distribution under the known posture is developed. If the robots are redundant, joint solutions may be obtained if some optimization criterion such as manipulability is imposed. The singularity, manipulability, and force ellipsoids are investigated in terms of the two manipulator Jacobian matrices. The manipulability is shown to correspond to the cascade structure, while the force ellipsoid corresponds to the parallel structure in terms of the manipulator Jacobian matrices.

Tao, Jian M.↗

NASA NTRS1989

Novel techniques for data decomposition and load balancing for parallel processing of vision systems: Implementation and evaluation using a motion estimation system

Computer vision systems employ a sequence of vision algorithms in which the output of an algorithm is the input of the next algorithm in the sequence. Algorithms that constitute such systems exhibit vastly different computational characteristics, and therefore, require different data decomposition techniques and efficient load balancing techniques for parallel implementation. However, since the input data for a task is produced as the output data of the previous task, this information can be exploited to perform knowledge based data decomposition and load balancing. Presented here are algorithms for a motion estimation system. The motion estimation is based on the point correspondence between the involved images which are a sequence of stereo image pairs. Researchers propose algorithms to obtain point correspondences by matching feature points among stereo image pairs at any two consecutive time instants. Furthermore, the proposed algorithms employ non-iterative procedures, which results in saving considerable amounts of computation time. The system consists of the following steps: (1) extraction of features; (2) stereo match of images in one time instant; (3) time match of images from consecutive time instants; (4) stereo match to compute final unambiguous points; and (5) computation of motion parameters.

Choudhary, Alok Nidhi↗

NASA NTRS1989

Laboratory evaluation and application of microwave absorption properties under simulated conditions for planetary atmospheres

Radio absorptivity data for planetary atmospheres obtained from spacecraft radio occultation experiments and earth-based radio astronomical observations can be used to infer abundances of microwave absorbing atmospheric constituents in those atmospheres, as long as reliable information regarding the microwave absorbing properties of potential constituents is available. Work performed has shown that laboratory measurements of the millimeter-wave opacity of ammonia between 7.5 mm and 9.3 mm and also at the 3.2 mm wavelength require a different lineshape to be used in the theoretical prediction for millimeter-wave ammonia opacity than was previously used. The recognition of the need to make such laboratory measurements of simulated planetary atmospheres over a range of temperatures and pressures which correspond to the altitudes probed by both radio occultation experiments and radio astronomical observations, and over a range of frequencies which correspond to those used in both radio occultation experiments and radio astronomical observations, has led to the development of a facility at Georgia Tech which is capable of making such measurements. It has been the goal of this investigation to conduct such measurements and to apply the results to a wide range of planetary observations, both spacecraft and earth-based, in order to determine the identity and abundance profiles of constituents in those planetary atmospheres.

Steffes, Paul G.↗

NASA NTRS1989

A knowledge-based machine vision system for space station automation

A simple knowledge-based approach to the recognition of objects in man-made scenes is being developed. Specifically, the system under development is a proposed enhancement to a robot arm for use in the space station laboratory module. The system will take a request from a user to find a specific object, and locate that object by using its camera input and information from a knowledge base describing the scene layout and attributes of the object types included in the scene. In order to use realistic test images in developing the system, researchers are using photographs of actual NASA simulator panels, which provide similar types of scenes to those expected in the space station environment. Figure 1 shows one of these photographs. In traditional approaches to image analysis, the image is transformed step by step into a symbolic representation of the scene. Often the first steps of the transformation are done without any reference to knowledge of the scene or objects. Segmentation of an image into regions generally produces a counterintuitive result in which regions do not correspond to objects in the image. After segmentation, a merging procedure attempts to group regions into meaningful units that will more nearly correspond to objects. Here, researchers avoid segmenting the image as a whole, and instead use a knowledge-directed approach to locate objects in the scene. The knowledge-based approach to scene analysis is described and the categories of knowledge used in the system are discussed.

Chipman, Laure J.↗

NASA NTRS1989

Connectionist model-based stereo vision for telerobotics

Autonomous stereo vision for range measurement could greatly enhance the performance of telerobotic systems. Stereo vision could be a key component for autonomous object recognition and localization, thus enabling the system to perform low-level tasks, and allowing a human operator to perform a supervisory role. The central difficulty in stereo vision is the ambiguity in matching corresponding points in the left and right images. However, if one has a priori knowledge of the characteristics of the objects in the scene, as is often the case in telerobotics, a model-based approach can be taken. Researchers describe how matching ambiguities can be resolved by ensuring that the resulting three-dimensional points are consistent with surface models of the expected objects. A four-layer neural network hierarchy is used in which surface models of increasing complexity are represented in successive layers. These models are represented using a connectionist scheme called parameter networks, in which a parametrized object (for example, a planar patch p=f(h,m sub x, m sub y) is represented by a collection of processing units, each of which corresponds to a distinct combination of parameter values. The activity level of each unit in the parameter network can be thought of as representing the confidence with which the hypothesis represented by that unit is believed. Weights in the network are set so as to implement gradient descent in an energy function.

Hoff, William↗

NASA NTRS1989

Spatial displays as a means to increase pilot situational awareness

Experiences raise a number of concerns for future spatial-display developers. While the promise of spatial displays is great, the cost of their development will be correspondingly large. The knowledge and skills which must be coordinated to ensure successful results is unprecedent. From the viewpoint of the designer, basic knowledge of how human beings perceive and process complex displays appears fragmented and largely unquantified. Methodologies for display development require prototyping and testing with subject pilots for even small changes. Useful characterizations of the range of differences between individual users is nonexistent or at best poorly understood. The nature, significance, and frequency of interpretation errors associated with complex integrated displays is unexplored and undocumented territory. Graphic displays have intuitive appeal and can achieve face validity much more readily than earlier symbolic displays. The risk of misleading the pilot is correspondingly greater. Thus while some in the research community are developing the tools and techniques necessary for effective spatial-display development, potential users must be educated about the issues so that informed choices can be made. The scope of the task facing all is great. The task is challenging and the potential for meaningful contributions at all levels is high indeed.

Fadden, Delmar M.↗

NASA NTRS1989

Experimental verification of dynamic simulation

The dynamics model here is a backhoe, which is a four degree of freedom manipulator from the dynamics standpoint. Two types of experiment are chosen that can also be simulated by a multibody dynamics simulation program. In the experiment, recorded were the configuration and force histories; that is, velocity and position, and force output and differential pressure change from the hydraulic cylinder, in the time domain. When the experimental force history is used as driving force in the simulation model, the forward dynamics simulation produces a corresponding configuration history. Then, the experimental configuration history is used in the inverse dynamics analysis to generate a corresponding force history. Therefore, two sets of configuration and force histories--one set from experiment, and the other from the simulation that is driven forward and backward with the experimental data--are compared in the time domain. More comparisons are made in regard to the effects of initial conditions, friction, and viscous damping.

Yae, K. Harold↗

NASA NTRS1990

Buckling and postbuckling behavior of square compression-loaded graphite-epoxy plates with circular cutouts

An experimental study of the postbuckling behavior of square compression-loaded graphite-epoxy plates and isotropic plates with a central circular cutout is presented. Results are presented for unidirectional (0 sub 10)s and (90 sub 10)s plates, (0/90 sub 5)s plates, and for aluminum plates. Results are also presented for (+ or - O sub 6)s angle-ply plates for values of O = 30, 46, and 60 degrees. The experimental results indicate that the change in axial stiffness of a plate at buckling is strongly dependent upon cutout size and plate orthotropy. The presence of a cutout gives rise to an internal load distribution that changes, sometimes dramtically, as a function of cutout size coupled with the plate orthotropy. In the buckled state, the role of orthotropy becomes more significant since bending in addition to membrane orthotropy is present. Most of the plates with cutouts exhibited less postbuckling stiffness than the corresponding plate without a cutout, and the postbuckling stiffness decreased with increasing cutout size. However, some of the highly orthotropic plates with cutouts exhibited more postbuckling stiffness than the corresponding plate without a cutout.

Nemeth, Michael P.↗

NASA NTRS1990

The 27-28 October 1986 FIRE cirrus case study: Meteorology and clouds

Detailed descriptions of the rawinsonde resolved meteorological conditions (3 hourly soundings) associated with a succession of five distinct mesoscale cirrus cloud regimes, that were intensively observed over a 36 hour period, are given. The synoptic scale systems in which these features were embedded are described and a brief overview of the experiment is given. Regional analyses of the static stability structure and vertical motion are presented and interpreted with respect to the characteristics of the corresponding cloud fields as deduced from satellite and lidar observations. The cloud fields exhibited a high degree of persistent mesoscale organization on scales of 20 to 500 km reflecting corresponding scales of dynamic and thermodynamic structure/variability as on the synoptic scale. Cloud generation was usually confined to layers less than 1 km deep (typically 0.5 km in depth) and cellular organization was evident in most cases irrespective of the thermal stratification. Multilayered development was prevalent (2 to 3 layers) and was associated with vertical structure of the temperature and moisture fields resulting primarily from vertical gradients in horizontal advection.

Starr, David↗

NASA NTRS1989

Satellite-map position estimation for the Mars rover

A method for locating the Mars rover using an elevation map generated from satellite data is described. In exploring its environment, the rover is assumed to generate a local rover-centered elevation map that can be used to extract information about the relative position and orientation of landmarks corresponding to local maxima. These landmarks are integrated into a stochastic map which is then matched with the satellite map to obtain an estimate of the robot's current location. The landmarks are not explicitly represented in the satellite map. The results of the matching algorithm correspond to a probabilistic assessment of whether or not the robot is located within a given region of the satellite map. By assigning a probabilistic interpretation to the information stored in the satellite map, researchers are able to provide a precise characterization of the results computed by the matching algorithm.

Hayashi, Akira↗

NASA NTRS1989

The correlation between the temperature dependence of the CRSS and the formation of superlattice-intrinsic stacking faults in the nickel-base superalloy PWA 1480

The PWA 1480 nickel-base superalloy is known to exhibit a unique minimum in the critical resolved shear stress (CRSS) at about 400 C. This paper reports an observation of a deformation mechanism whose temperature dependence correlates exactly with the reduction in the CRSS. It was found that, after monotonic or cyclic deformation of PWA 1480 at 20 C, the deformation substructures typically contain high density of superlattice-intrinsic stacking faults (S-ISFs) within the gamma-prime precipitates. As the temperature of deformation is increased, the density of S-ISFs is reduced, until finally no faults are observed after deformation in the range from 400 to 705 C. The reduction in the fault density corresponds exactly to the reduction in the CRSS, and the temperature at which the fault density is zero corresponds with the minimum in the CRRS. Two possible mechanisms related to the presence of the S-ISFs in the alloy are considered.

Milligan, Walter W.↗

NASA NTRS1989

Why DA and DB white dwarfs do not show coronal activity and p-mode oscillations

The problems of nonradiative heating of outer atmospheric layers and p-mode oscillations in white dwarfs caused by acoustic waves generated in convective zones are discussed. These effects have been studied by calculating the cutoff periods for adiabatic and isothermal waves propagating in atmospheres of DA and DB stars with Teff greater than or equal 20,000 K and log g = 6-9. The obtained cutoff periods are approximately bounded by 0.01 and 40 sec for high- and low-gravity white dwarfs, respectively. Expected amplitudes of p-mode oscillations corresponding to trapped acoustic waves with small angular wave numbers are estimated, indicating that the amplitudes could be observed as Doppler shifts of spectral lines which might be detectable if adequate spectral resolution were available. The luminosity variations corresponding to these amplitudes are unlikely to be observable when all damping processes are accounted for. Results also indicate that the present theory of convection predicts some irregularities in the behavior of physical parameters.

Musielak, Z. E.↗