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NASA NTRS2020

Impact of Gauge-Based Precipitation Corrections on the Skill of SMAP Level-4 Soil Moisture Estimates

The NASA Soil Moisture Active Passive (SMAP) mission provides observations of L-band (1.4 GHz) passive microwave brightness temperature (Tb) observations at a resolution of ~40 km globally every 2-3 days. These observations are routinely assimilated into the NASA Catchment land surface model to generate the Level-4 Soil Moisture (L4_SM) product, which provides global estimates of surface and root-zone soil moisture, soil temperature, and surface fluxes (among others) at 9-km, 3-hourly resolution with ~2.5-day latency. The Catchment land surface model in the L4_SM algorithm is driven with 0.25°, hourly surface meteorological forcing data from the NASA Goddard Earth Observing System (GEOS) "forward-processing" product. Outside of Africa and the high latitudes, the GEOS precipitation forcing is corrected using the Climate Prediction Center Unified (CPCU) gauge-based, 0.5°, daily precipitation product.Soil moisture estimates from the L4_SM product were previously shown to improve over land model-only estimates that do not benefit from the assimilation of Tb observations, thereby demonstrating the value of assimilating SMAP observations for soil moisture estimation. In this presentation, we further isolate the contribution of the gauge-based precipitation corrections to the skill of the L4_SM soil moisture estimates. Specifically, we compare the skill of the L4_SM soil moisture to that of separate model-only and assimilation estimates obtained without the benefit of the gauge-based precipitation corrections.Preliminary results suggest that the soil moisture skill added by the CPCU-based precipitation corrections primarily depends on the quality of the CPCU precipitation product and is greatest in regions where the CPCU gauge network is dense and reliable. Conversely, in regions where the CPCU product is known to be of poor quality, for example in central Australia, the assimilation of SMAP Tb observations provides the most benefit. The presentation will provide an in-depth evaluation of the soil moisture skill of the model-only and assimilation estimates vs. independent in situ and satellite measurements.

Reichle, Rolf↗
NASA NTRS2000

The Test and Evaluation of a Non-Chromate Finishing Agent

This research is focused on the design, development and implementation of an industry, military and commercial standard testing cell for surface coatings, which focuses on advanced non-chromate materials technology and their commercialization. Currently, within both private and commercial sectors, chromates are used in the corrosion prevention. processes. However, there is a great demand for chromate-free systems that are able to provide equal protection. At the end of this effort, it is intended that a patented alternative to chromate conversion coatings would be tested and processed for commercialization. Thus far, research studies have been concerned primarily with current corrosion knowledge and testing methods. Corrosion can be classified into five categories: The first type is uniform corrosion which is dominated by a uniform thinning due to an even and regular loss of metal. The second type is called localized corrosion in which most of the loss occurs in discrete areas. The third type, metallurgically influenced corrosion is a form of attack where metallurgy plays a significant role. The fourth type, titled mechanically assisted degradation is a form of attack where velocity, abrasion, and hydrodynamics control the corrosion process. The last type of corrosion is defined as environmentally induced cracking which occurs when cracks are produced under specific, premeditated stress. Oddly enough, with these varying classifications, there are not as many standardized corrosion testing sites. Two of the most common testing methods for corrosion are salt spray testing and filiform. Although neither has proven to be absolute, in terms of the resulting observations, our research aims to help provide data that may be used to support the standardization for corrosion testing. We would acquire and use a Singleton Cyclic Corrosion Testing Chamber. Singleton test chambers perform a wide range of commonly used catalytic corrosion tests. They are used throughout the industry, some of which are - automotive, aerospace, electronic and many more. In addition to this, Singleton test chambers are fully expandable to accommodate cyclic corrosion testing needs. Singleton chambers are also designed for complete compliance and conformity with ASTM (American Society for Testing and Materials), military and commercial standards.

Gulley, H.↗
NASA NTRS1993

Pinatubo and Pre-Pinatubo Optical-Depth Spectra: Mauna Loa Measurements, Comparisons, Inferred Particle Size Distributions, Radiative Effects, and Relationship to Lidar Data

The Ames airborne tracking sunphotometer was operated at the National Oceanic and Atmospheric Administration (NOAA) Mauna Loa Observatory (MLO) in 1991 and 1992 along with the NOAA Climate Monitoring and Diagnostics Laboratory (CMDL) automated tracking sunphotometer and lidar. June 1991 measurements provided calibrations, optical-depth spectra, and intercomparisons under relatively clean conditions; later measurements provided spectra and comparisons for the Pinatubo cloud plus calibration checks. June 1991 results are similar to previous MLO springtime measurements, with midvisible particle optical depth tau(sub p)(lambda = 0.526 microns) at the near-background level of 0.012 +/- 0.006 and no significant wavelength dependence in the measured range (lambda = 0.38 to 1.06 microns). The arrival of the Pinatubo cloud in July 1991 increased midvisible particle optical depth by more than an order of magnitude and changed the spectral shape of tau(sub p)(lambda) to an approximate power law with an exponent of about -1.4. By early September 1991, the spectrum was broadly peaked near 0.5 microns, and by July 1992, it was peaked near 0.8 microns. Our optical-depth spectra include corrections for diffuse light which increase postvolcanic midvisible tau(sub p) values by 1 to 3% (i.e., 0.0015 to 0.0023). NOAA- and Ames Research Center (ARC)-measured spectra are in good agreement. Columnar size distributions inverted from the spectra show that the initial (July 1991) post-Pinatubo cloud was relatively rich in small particles (r less than 0.25 microns), which were progressively depleted in the August-September 1991 and July 1992 periods. Conversely, both of the later periods had more of the optically efficient medium-sized particles (0.25 less than r less than 1 micron) than did the fresh July 1991 cloud. These changes are consistent with particle growth by condensation and coagulation. The effective, or area-weighted, radius increased from 0.22 +/- 0.06 micron in July 1991 to 0.56 +/- 0.12 micron in August-September 1991 and to 0.86 +/- 0.29 micron in July 1992. Corresponding column mass values were 4.8 +/- 0.7, 9.1 +/- 2.7, and 5.5 +/- 2 micro g/sq cm, and corresponding column surface areas were 4.4 +/- 0.5, 2.9 +/- 0.2, and 1.1 +/- 0.1 sq micron/sq cm,. Photometer-inferred column backscatter values agree with those measured by the CMDL lidar on nearby nights. Combining lidar-measured backscatter profiles with photometer-derived backscatter-to-area ratios gives peak particle areas that could cause rapid heterogeneous loss of ozone, given sufficiently low particle acidity and suitable solar zenith angles (achieved at mid- to high latitudes). Top-of-troposphere radiative forcings for the September 1991 and July 1992 optical depths and size distributions over MLO are about -5 and -3 W 1/sq m, respectively (hence comparable in magnitude but opposite in sign to the radiative forcing caused by the increase in manmade greenhouse gases since the industrial revolution). Heating rates in Pinatubo layer over MLO are 0.55 +/- 0.13 and 0.41 +/- 0.14 K/d for September 1991 and July 1992, respectively.

Russell, P. B.↗
NASA NTRS1993

Driving terrestrial ecosystem models from space

Regional air pollution, land-use conversion, and projected climate change all affect ecosystem processes at large scales. Changes in vegetation cover and growth dynamics can impact the functioning of ecosystems, carbon fluxes, and climate. As a result, there is a need to assess and monitor vegetation structure and function comprehensively at regional to global scales. To provide a test of our present understanding of how ecosystems operate at large scales we can compare model predictions of CO2, O2, and methane exchange with the atmosphere against regional measurements of interannual variation in the atmospheric concentration of these gases. Recent advances in remote sensing of the Earth's surface are beginning to provide methods for estimating important ecosystem variables at large scales. Ecologists attempting to generalize across landscapes have made extensive use of models and remote sensing technology. The success of such ventures is dependent on merging insights and expertise from two distinct fields. Ecologists must provide the understanding of how well models emulate important biological variables and their interactions; experts in remote sensing must provide the biophysical interpretation of complex optical reflectance and radar backscatter data.

Waring, R. H.↗
NASA NTRS1994

Advanced technology for a satellite multichannel demultiplexer/demodulator

Satellite on-board processing is needed to efficiently service multiple users while at the same time minimizing earth station complexity. The processing satellite receives a wideband uplink at 30 GHz and down-converts it to a suitable intermediate frequency. A multichannel demultiplexer then separates the composite signal into discrete channels. Each channel is then demodulated by bulk demodulators, with the baseband signals routed to the downlink processor for retransmission to the receiving earth stations. This type of processing circumvents many of the difficulties associated with traditional bent-pipe repeater satellites. Uplink signal distortion and interference are not retransmitted on the downlink. Downlink power can be allocated in accordance with user needs, independent of uplink transmissions. This allows the uplink users to employ different data rates as well as different modulation and coding schemes. In addition, all downlink users have a common frequency standard and symbol clock on the satellite, which is useful for network synchronization in time division multiple access schemes. The purpose of this program is to demonstrate the concept of an optically implemented multichannel demultiplexer (MCD). A proof-of-concept (POC) model has been developed which has the ability to receive a 40 MHz wide composite signal consisting of up to 1000 40 kHz QPSK modulated channels and perform the demultiplexing process. In addition a set of special test equipment (STE) has been configured to evaluate the performance of the POC model. The optical MCD is realized as an acousto-optic spectrum analyzer utilizing the capability of Bragg cells to perform the required channelization. These Bragg cells receive an optical input from a laser source and an RF input (the signal). The Bragg interaction causes optical output diffractions at angles proportional to the RF input frequency. These discrete diffractions are optically detected and output to individual demodulators for baseband conversion. Optimization of the MCD design was conducted in order to achieve a compromise between two opposing sources of signal degradation: adjacent channel interference and intersymbol interference. The system was also optimized to allow simple, inexpensive ground stations communications with the MCD. These design goals led to the realization of a POC MCD which demonstrates the demultiplexing function with minimal signal degradation. Performance evaluation results using the STE equipment indicate that the dynamic range of the demultiplexer in the presence of adjacent and multiple channel loading is 40 - 50 dB. Measured bit error rate (BER) probabilities varied from the predicted theoretical results by one dB or less. The performance of the proof-of-concept model indicate that the development of a space qualified optically implemented MCD are feasible. The advantages to such an implementation include reduced size, weight and power and increased reliability when compared with electronic approaches. All of these factors are critical to on-board satellite processors. Further optimization can be conducted which trade ground station complexity and MCD performance to achieve desired system results.

Abramovitz, Irwin J.↗
NASA NTRS2000

SAVANT: Solar Array Verification and Analysis Tool Demonstrated

The photovoltaics (PV) industry is now being held to strict specifications, such as end-oflife power requirements, that force them to overengineer their products to avoid contractual penalties. Such overengineering has been the only reliable way to meet such specifications. Unfortunately, it also results in a more costly process than is probably necessary. In our conversations with the PV industry, the issue of cost has been raised again and again. Consequently, the Photovoltaics and Space Environment Effects branch at the NASA Glenn Research Center at Lewis Field has been developing a software tool to address this problem. SAVANT, Glenn's tool for solar array verification and analysis is in the technology demonstration phase. Ongoing work has proven that more efficient and less costly PV designs should be possible by using SAVANT to predict the on-orbit life-cycle performance. The ultimate goal of the SAVANT project is to provide a user-friendly computer tool to predict PV on-orbit life-cycle performance. This should greatly simplify the tasks of scaling and designing the PV power component of any given flight or mission. By being able to predict how a particular PV article will perform, designers will be able to balance mission power requirements (both beginning-of-life and end-of-life) with survivability concerns such as power degradation due to radiation and/or contamination. Recent comparisons with actual flight data from the Photovoltaic Array Space Power Plus Diagnostics (PASP Plus) mission validate this approach.

Chock, Ricaurte↗
NASA NTRS1994

Performance of mean-frequency estimators for Doppler radar and lidar

The performance of mean-frequency estimators for Doppler radar and lidar measurements of winds is presented in terms of two basic parameters: Phi, the ratio of the average signal energy per estimate to the spectral noise level; and Omega, which is proportional to the number of independent samples per estimate. For fixed Phi and Omega, the Cramer-Rao bound (CRB) (theoretical best performance) for unbiased estimators of mean frequency (normalized by the spectral width of the signal), signal power, and spectral width are essentially independent of the number of data samples M. For large Phi, the estimators of mean frequency are unbiased and the performance is independent of M. The spectral domain estimators and covariance based estimators are bounded by the approximate period of M. The spectral domain estimators and covariance based estimators are bounded by the approximate periodogram CRB. The standard deviation of the maximum-likelihood estimator approaches the exact CRB, which can be more than a factor of 2 better than the performance of the spectral domain estimators or covariance-based estimators for typical Omega. For small Phi, the estimators are biased due to the effects of the uncorrelated noise (white noise), which results in uniformly distributed 'bad' estimates. The fraction of bad estimates is a function of Phi and M with weak dependence on the parameter Omega. Simple empirical models describe the standard deviation of the good estimates and the fraction of bad estimates. For Doppler lidar and for large Phi, better performance is obtained by using many low-energy pulses instead of one pulse with the same total energy. For small Phi, the converse is true.

Frehlich, R. G.↗
NASA NTRS1998

Thermophotovoltaic Energy Conversion Development Program

Completely integrated thermophotovoltaic (TPV) power sources in the range of 100 to 500 watts are being developed. The technical approach taken in this project focuses on optimizing the integrated performance of the primary subsystems in order to yield high energy conversion efficiency and cost effectiveness. An important aspect of the approach is the use of a narrow band fibrous emitter radiating to a bandgap matched photovoltaic array to minimize thermal and optical recuperation requirements, as well as the non-recoverable heat losses. For the prototype system, fibrous ytterbia emitters radiating in a narrow band centered at 980 nm are matched with high efficiency silicon photoconverters. The integrated system includes a dielectric stack filter for optical energy recovery and a ceramic recuperator for thermal energy recovery. The prototype TPV system uses a rapid mix distributed fuel delivery system with controlled feeding of the fuel and heated air into a flame at the surface of the emitter. This makes it possible to operate at air preheat temperatures well above the auto-ignition temperature of the fuel thereby substantially increasing the system efficiency. The system has been operated with air preheat temperatures up to 1367 K and has produced a uniform narrow band radiation over the surface of the emitter with this approach. The design of the system is described and test data for the system and some of the key components are presented. The results from a system model, which show the impact of various parameters on system performance, are also discussed.

Shukla, Kailash↗
NASA NTRS2005

Simplified Two-Time Step Method for Calculating Combustion Rates and Nitrogen Oxide Emissions for Hydrogen/Air and Hydorgen/Oxygen

A simplified single rate expression for hydrogen combustion and nitrogen oxide production was developed. Detailed kinetics are predicted for the chemical kinetic times using the complete chemical mechanism over the entire operating space. These times are then correlated to the reactor conditions using an exponential fit. Simple first order reaction expressions are then used to find the conversion in the reactor. The method uses a two-time step kinetic scheme. The first time averaged step is used at the initial times with smaller water concentrations. This gives the average chemical kinetic time as a function of initial overall fuel air ratio, temperature, and pressure. The second instantaneous step is used at higher water concentrations (> 1 x 10(exp -20) moles/cc) in the mixture which gives the chemical kinetic time as a function of the instantaneous fuel and water mole concentrations, pressure and temperature (T4). The simple correlations are then compared to the turbulent mixing times to determine the limiting properties of the reaction. The NASA Glenn GLSENS kinetics code calculates the reaction rates and rate constants for each species in a kinetic scheme for finite kinetic rates. These reaction rates are used to calculate the necessary chemical kinetic times. This time is regressed over the complete initial conditions using the Excel regression routine. Chemical kinetic time equations for H2 and NOx are obtained for H2/air fuel and for the H2/O2. A similar correlation is also developed using data from NASA s Chemical Equilibrium Applications (CEA) code to determine the equilibrium temperature (T4) as a function of overall fuel/air ratio, pressure and initial temperature (T3). High values of the regression coefficient R2 are obtained.

Molnar, Melissa↗
NASA NTRS2007

North American Vegetation Dynamics Observed with Multi-Resolution Satellite Data

North American vegetation has been discovered to be a net carbon sink, with atypical behavior of drawing down more carbon from the atmosphere during the past century. It has been suggested that the Northern Hemisphere will respond favorably to climate warming by enhancing productivity and reducing the impact of fossil fuel emissions into the atmosphere. Many investigations are currently underway to understand and identify mechanisms of storage so they might be actively managed to offset carbon emissions which have detrimental consequences to the functioning of ecosystems and human well being. This paper used a time series of satellite data from multiple sensors at multiple resolutions over the past thlrty years to identify and understand mechanisms of change to vegetation productivity throughout North America. We found that humans had a marked impact to vegetation growth in half of the six selected study regions which cover greater than two million km2. We found climatic influences of increasing temperatures, and longer growing seasons with reduced snow cover in the northern regions of North America with forest fire recovery in the Northern coniferous forests of Canada. The Mid-latitudes had more direct land cover changes induced by humans coupled with climatic influences such as severe drought and altered production strategies of rain-fed agriculture in the upper Midwest, expansion of irrigated agriculture in the lower Midwest, and insect outbreaks followed by subsequent logging in the upper Northeast. Vegetation growth over long time periods (20+ years) in North America appears to be associated with long term climate change but most of the marked changes appear to be associated with climate variability on decadal and shorter time scales along with direct human land cover conversions. Our results document regional land cover land use change and climatic influences that have altered continental scale vegetation dynamics in North America.

Neigh, Christopher S. R.↗
NASA NTRS2010

Planetary Image Geometry Library

The Planetary Image Geometry (PIG) library is a multi-mission library used for projecting images (EDRs, or Experiment Data Records) and managing their geometry for in-situ missions. A collection of models describes cameras and their articulation, allowing application programs such as mosaickers, terrain generators, and pointing correction tools to be written in a multi-mission manner, without any knowledge of parameters specific to the supported missions. Camera model objects allow transformation of image coordinates to and from view vectors in XYZ space. Pointing models, specific to each mission, describe how to orient the camera models based on telemetry or other information. Surface models describe the surface in general terms. Coordinate system objects manage the various coordinate systems involved in most missions. File objects manage access to metadata (labels, including telemetry information) in the input EDRs and RDRs (Reduced Data Records). Label models manage metadata information in output files. Site objects keep track of different locations where the spacecraft might be at a given time. Radiometry models allow correction of radiometry for an image. Mission objects contain basic mission parameters. Pointing adjustment ("nav") files allow pointing to be corrected. The object-oriented structure (C++) makes it easy to subclass just the pieces of the library that are truly mission-specific. Typically, this involves just the pointing model and coordinate systems, and parts of the file model. Once the library was developed (initially for Mars Polar Lander, MPL), adding new missions ranged from two days to a few months, resulting in significant cost savings as compared to rewriting all the application programs for each mission. Currently supported missions include Mars Pathfinder (MPF), MPL, Mars Exploration Rover (MER), Phoenix, and Mars Science Lab (MSL). Applications based on this library create the majority of operational image RDRs for those missions. A Java wrapper around the library allows parts of it to be used from Java code (via a native JNI interface). Future conversions of all or part of the library to Java are contemplated.

Deen, Robert C.↗
NASA NTRS2009

Determination of Chemical Kinetic Rate Constants of a Model for Carbothermal Processing of Lunar Regolith Simulant Using Methane

We have previously developed a chemical conversion model of the carbothermal processing of lunar regolith using methane to predict the rate of production of carbon monoxide. In this carbothermal process, gaseous methane is pyrolyzed as it flows over the hot surface of a molten zone of lunar regolith and is converted to carbon and hydrogen. Hydrogen is carried away by the exiting stream of gases and carbon is deposited on the melt surface. The deposited carbon mixes with the melt and reacts with the metal oxides in it to produce carbon monoxide that bubbles out of the melt. In our model, we assume that the flux of carbon deposited is equal to the product of the surface reaction rate constant gamma and the concentration of methane adjacent to the melt surface. Similarly, the rate of consumption of carbon per unit volume in the melt is equal to the product of the melt reaction rate constant k and the concentrations of carbon and metal oxide in the melt. In this paper, we describe our effort to determine gamma and k by comparison of the predictions from our model with test data obtained by ORBITEC (Orbital Technologies Corporation). The concentration of methane adjacent to the melt surface is a necessary input to the model. It is inferred from the test data by a mass balance of methane, adopting the usual assumptions of the continuously-stirred-tank-reactor model, whereby the average concentration of a given gaseous species equals its exit concentration. The reaction rates gamma and k have been determined by a non-linear least-squares fit to the test data for the production of carbon monoxide and the fraction of the incoming methane that is converted. The comparison of test data with our model predictions using the determined chemical kinetic rate constants provides a consistent interpretation of the process over the full range of temperatures, pressures, and methane flow rates used in the tests, thereby increasing our confidence to use the model for scale-up purposes.

Balasubramaniam, R↗
NASA NTRS1988

KAM (Knowledge Acquisition Module): A tool to simplify the knowledge acquisition process

Analysts, knowledge engineers and information specialists are faced with increasing volumes of time-sensitive data in text form, either as free text or highly structured text records. Rapid access to the relevant data in these sources is essential. However, due to the volume and organization of the contents, and limitations of human memory and association, frequently: (1) important information is not located in time; (2) reams of irrelevant data are searched; and (3) interesting or critical associations are missed due to physical or temporal gaps involved in working with large files. The Knowledge Acquisition Module (KAM) is a microcomputer-based expert system designed to assist knowledge engineers, analysts, and other specialists in extracting useful knowledge from large volumes of digitized text and text-based files. KAM formulates non-explicit, ambiguous, or vague relations, rules, and facts into a manageable and consistent formal code. A library of system rules or heuristics is maintained to control the extraction of rules, relations, assertions, and other patterns from the text. These heuristics can be added, deleted or customized by the user. The user can further control the extraction process with optional topic specifications. This allows the user to cluster extracts based on specific topics. Because KAM formalizes diverse knowledge, it can be used by a variety of expert systems and automated reasoning applications. KAM can also perform important roles in computer-assisted training and skill development. Current research efforts include the applicability of neural networks to aid in the extraction process and the conversion of these extracts into standard formats.

Gettig, Gary A.↗
NASA NTRS2005

Summary of Simplified Two Time Step Method for Calculating Combustion Rates and Nitrogen Oxide Emissions for Hydrogen/Air and Hydrogen/Oxygen

A simplified single rate expression for hydrogen combustion and nitrogen oxide production was developed. Detailed kinetics are predicted for the chemical kinetic times using the complete chemical mechanism over the entire operating space. These times are then correlated to the reactor conditions using an exponential fit. Simple first order reaction expressions are then used to find the conversion in the reactor. The method uses a two time step kinetic scheme. The first time averaged step is used at the initial times with smaller water concentrations. This gives the average chemical kinetic time as a function of initial overall fuel air ratio, temperature, and pressure. The second instantaneous step is used at higher water concentrations (greater than l x 10(exp -20)) moles per cc) in the mixture which gives the chemical kinetic time as a function of the instantaneous fuel and water mole concentrations, pressure and temperature (T(sub 4)). The simple correlations are then compared to the turbulent mixing times to determine the limiting properties of the reaction. The NASA Glenn GLSENS kinetics code calculates the reaction rates and rate constants for each species in a kinetic scheme for finite kinetic rates. These reaction rates are used to calculate the necessary chemical kinetic times. This time is regressed over the complete initial conditions using the Excel regression routine. Chemical kinetic time equations for H2 and NOx are obtained for H2/Air fuel and for H2/O2. A similar correlation is also developed using data from NASA's Chemical Equilibrium Applications (CEA) code to determine the equilibrium temperature (T(sub 4)) as a function of overall fuel/air ratio, pressure and initial temperature (T(sub 3)). High values of the regression coefficient R squared are obtained.

Marek, C. John↗
NASA NTRS1993

(abstract) Experimental and Modeling Studies of the Exchange Current at the Alkali Beta'-Alumina/Porous Electrode/Alkali Metal Vapor Three Phase Boundary

The microscopic mechanism of the alkali ion-electron recombination reaction at the three phase boundary zone formed by a porous metal electrode in the alkali vapor on the surface of an alkali beta'-alumina solid electrolyte (BASE) ceramic has been studied by comparison of the expected rates for the three simplest reaction mechanisms with known temperature dependent rate data; and the physical parameters of typical porous metal electrode/BASE/alkali metal vapor reaction zones. The three simplest reactions are tunneling of electrons from the alkali coated electrode to a surface bound alkali metal ion; emission of an electron from the electrode with subsequent capture by a surface bound alkali metal ion; and thermal emission of an alkali cation from the BASE and its capture on the porous metal electrode surface where it may recombine with an electron. Only the first reaction adequately accounts for both the high observed rate and its temperature dependence. New results include crude modeling of simple, one step, three phase, solid/solid/gas electrochemical reaction.

conversion↗
NASA NTRS2007

Telerobotic Surgery: An Intelligent Systems Approach to Mitigate the Adverse Effects of Communication Delay

An extremely innovative approach has been presented, which is to have the surgeon operate through a simulator running in real-time enhanced with an intelligent controller component to enhance the safety and efficiency of a remotely conducted operation. The use of a simulator enables the surgeon to operate in a virtual environment free from the impediments of telecommunication delay. The simulator functions as a predictor and periodically the simulator state is corrected with truth data. Three major research areas must be explored in order to ensure achieving the objectives. They are: simulator as predictor, image processing, and intelligent control. Each is equally necessary for success of the project and each of these involves a significant intelligent component in it. These are diverse, interdisciplinary areas of investigation, thereby requiring a highly coordinated effort by all the members of our team, to ensure an integrated system. The following is a brief discussion of those areas. Simulator as a predictor: The delays encountered in remote robotic surgery will be greater than any encountered in human-machine systems analysis, with the possible exception of remote operations in space. Therefore, novel compensation techniques will be developed. Included will be the development of the real-time simulator, which is at the heart of our approach. The simulator will present real-time, stereoscopic images and artificial haptic stimuli to the surgeon. Image processing: Because of the delay and the possibility of insufficient bandwidth a high level of novel image processing is necessary. This image processing will include several innovative aspects, including image interpretation, video to graphical conversion, texture extraction, geometric processing, image compression and image generation at the surgeon station. Intelligent control: Since the approach we propose is in a sense predictor based, albeit a very sophisticated predictor, a controller, which not only optimizes end effector trajectory but also avoids error, is essential. We propose to investigate two different approaches to the controller design. One approach employs an optimal controller based on modern control theory; the other one involves soft computing techniques, i.e. fuzzy logic, neural networks, genetic algorithms and hybrids of these.

Cardullo, Frank M.↗
NASA NTRS2012

Pickup Protons: Comparisons using the Three-Dimensional MHD HHMS-PI model and Ulysses SWICS Measurements

We report the first comparisons of pickup proton simulation results with in situ measurements of pickup protons obtained by the SWICS instrument on Ulysses. Simulations were run using the three dimensional (3D) time-dependent Hybrid Heliospheric Modeling System with Pickup Protons (HHMS-PI). HHMS-PI is an MHD solar wind model, expanded to include the basic physics of pickup protons from neutral hydrogen that drifts into the heliosphere from the local interstellar medium. We use the same model and input data developed by Detman et al. (2011) to now investigate the pickup protons. The simulated interval of 82 days in 2003 2004, includes both quiet solar wind (SW) and also the October November 2003 solar events (the Halloween 2003 solar storms). The HHMS-PI pickup proton simulations generally agree with the SWICS measurements and the HHMS-PI simulated solar wind generally agrees with SWOOPS (also on Ulysses) measurements. Many specific features in the observations are well represented by the model. We simulated twenty specific solar events associated with the Halloween 2003 storm. We give the specific values of the solar input parameters for the HHMS-PI simulations that provide the best combined agreement in the times of arrival of the solar-generated shocks at both ACE and Ulysses. We show graphical comparisons of simulated and observed parameters, and we give quantitative measures of the agreement of simulated with observed parameters. We suggest that some of the variations in the pickup proton density during the Halloween 2003 solar events may be attributed to depletion of the inflowing local interstellar medium (LISM) neutral hydrogen (H) caused by its increased conversion to pickup protons in the immediately preceding shock.

Intriligator, Devrie S.↗
NASA NTRS2012

Description and User Instructions for the Quaternion_to_Orbit_v3 Software

For a given inertial frame of reference, the software combines the spacecraft orbits with the spacecraft attitude quaternions, and rotates the body-fixed reference frame of a particular spacecraft to the inertial reference frame. The conversion assumes that the two spacecraft are aligned with respect to the mutual line of sight, with a parameterized time tag. The software is implemented in Python and is completely open source. It is very versatile, and may be applied under various circumstances and for other related purposes. Based on the solid linear algebra analysis, it has an extra option for compensating the linear pitch. This software has been designed for simulation of the calibration maneuvers performed by the two spacecraft comprising the GRAIL mission to the Moon, but has potential use for other applications. In simulations of formation flights, one needs to coordinate the spacecraft orbits represented in an appropriate inertial reference frame and the spacecraft attitudes. The latter are usually given as the time series of quaternions rotating the body-fixed reference frame of a particular spacecraft to the inertial reference frame. It is often desirable to simulate the same maneuver for different segments of the orbit. It is also useful to study various maneuvers that could be performed at the same orbit segment. These two lines of study are more timeand labor-efficient if the attitude and orbit data are generated independently, so that the part of the data that has not been changed can be recycled in the course of multiple simulations.

Strekalov, Dmitry V.↗