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Iterative process of measurement and computation used to characterize work cell of robot, increasing accuracy of mathematical model of work cell. Characterization needed because model used in off-line programming (OLP) to compute paths to control motion of robot. Increases accuracies of model and paths.
A parallel processing scheme for a single chain robot arm is presented for high speed computation on a shared memory multiprocessor. A recursive formulation that is derived from a virtual work form of the d'Alembert equations of motion is utilized for robot arm dynamics. A joint drive system that consists of a motor rotor and gears is included in the arm dynamics model, in order to take into account gyroscopic effects due to the spinning of the rotor. The fine grain parallelism of mechanical and control subsystem models is exploited, based on independent computation associated with bodies, joint drive systems, and controllers. Efficiency and effectiveness of the parallel scheme are demonstrated through simulations of a telerobotic manipulator arm. Two different mechanical subsystem models, i.e., with and without gyroscopic effects, are compared, to show the trade-off between efficiency and accuracy.
An adaptive control algorithm is proposed for a class of nonlinear systems, such as robotic manipulators, which is capable of improving its performance in repetitive motions. When the task is repeated, the error between the desired trajectory and that of the system is guaranteed to decrease. The design is based on the combination of a direct adaptive control and a learning process. This method does not require any knowledge of the dynamic parameters of the system.
Papers are presented on the contribution of space remote sensing observations to the World Climate Research Program and the Global Change Program, covering topics such as space observations for global environmental monitoring, experiments related to land surface fluxes, studies of atmospheric composition, structure, motions, and precipitation, and remote sensing for oceanography, observational studies of the atmosphere, clouds, and the earth radiation budget. Also, papers are given on results from space observations for meteorology, oceanography, and mesoscale atmospheric and ocean processes. The topics include vertical atmospheric soundings, surface water temperature determination, sea level variability, data on the prehurricane atmosphere, linear and circular mesoscale convective systems, Karman vortex clouds, and temporal patterns of phytoplankton abundance.
This paper addresses a solution to the problem of scene estimation of motion video data in the fuzzy set theoretic framework. Using fuzzy image feature extractors, a new algorithm is developed to compute the change of information in each of two successive frames to classify scenes. This classification process of raw input visual data can be used to establish structure for correlation. The algorithm attempts to fulfill the need for nonlinear, frame-accurate access to video data for applications such as video editing and visual document archival/retrieval systems in multimedia environments.
This paper addresses a solution to the problem of scene estimation of motion video data in the fuzzy set theoretic framework. Using fuzzy image feature extractors, a new algorithm is developed to compute the change of information in each of two successive frames to classify scenes. This classification process of raw input visual data can be used to establish structure for correlation. The algorithm attempts to fulfill the need for non-linear, frame-accurate access to video data for applications such as video editing and visual document archival/retrieval systems in multimedia environments.
The Guara Campaign consisted of a series of sounding rockets that were launched from August to October, 1994 at a new launch facility at Alcantara, Brazil, which is within one degree of the Earth's magnetic equator. The campaign was based on focused scientific experiments designed to investigate the electrodynamics and irregularities in the ionosphere and mesosphere at the Earth's magnetic equator and to study their relationship with neutral upper atmosphere motions. In all, 13 large sounding rockets and 20 small meteorological rockets were launched as part of four different experiment groups designed to investigate: (1) the daytime equatorial electrojet, (2) very high altitude Spread-F processes, (3) sunset electrodynamics, and (4) middle atmosphere-thermosphere coupling at the equator. The instrumentation on the sounding rockets varied with each investigation, but primarily included experiments to measure electric fields, currents, plasma densities,- neutral winds, neutral densities and temperatures, and ionospheric instabilities. All of the experiments utilized ground-based scientific instruments including a VHF backscatter radar interferometer, magnetometers, ionosondes, and scintillation receivers. An overview of each investigation is provided, along with a description of the launch site and the ground-based experiments. Scientific highlights of the campaign are provided.
After spaceflight, the process of readapting to Earth s gravity causes locomotor dysfunction. We are developing a gait training countermeasure to facilitate adaptive responses in locomotor function. Our training system is comprised of a treadmill placed on a motion-base facing a virtual visual scene that provides an unstable walking surface combined with incongruent visual flow designed to train subjects to rapidly adapt their gait patterns to changes in the sensory environment. The goal of our present study was to determine if training improved both the locomotor and dual-tasking ability responses to a novel sensory environment and to quantify the retention of training. Subjects completed three, 30-minute training sessions during which they walked on the treadmill while receiving discordant support surface and visual input. Control subjects walked on the treadmill without any support surface or visual alterations. To determine the efficacy of training, all subjects were then tested using a novel visual flow and support surface movement not previously experienced during training. This test was performed 20 minutes, 1 week, and 1, 3, and 6 months after the final training session. Stride frequency and auditory reaction time were collected as measures of postural stability and cognitive effort, respectively. Subjects who received training showed less alteration in stride frequency and auditory reaction time compared to controls. Trained subjects maintained their level of performance over 6 months. We conclude that, with training, individuals became more proficient at walking in novel discordant sensorimotor conditions and were able to devote more attention to competing tasks.
A study in Kalman-filter theory has led to a method of processing relative measurements to estimate the current state of a physical system, using less computation than has previously been thought necessary. As used here, relative measurements signifies measurements that yield information on the relationship between a later and an earlier state of the system. An important example of relative measurements arises in computer vision: Information on relative motion is extracted by comparing images taken at two different times. Relative measurements do not directly fit into standard Kalman filter theory, in which measurements are restricted to those indicative of only the current state of the system. One approach heretofore followed in utilizing relative measurements in Kalman filtering, denoted state augmentation, involves augmenting the state of the system at the earlier of two time instants and then propagating the state to the later time instant.While state augmentation is conceptually simple, it can also be computationally prohibitive because it doubles the number of states in the Kalman filter. When processing a relative measurement, if one were to follow the state-augmentation approach as practiced heretofore, one would find it necessary to propagate the full augmented state Kalman filter from the earlier time to the later time and then select out the reduced-order components. The main result of the study reported here is proof of a property called reduced-order equivalence (ROE). The main consequence of ROE is that it is not necessary to augment with the full state, but, rather, only the portion of the state that is explicitly used in the partial relative measurement. In other words, it suffices to select the reduced-order components first and then propagate the partial augmented state Kalman filter from the earlier time to the later time; the amount of computation needed to do this can be substantially less than that needed for propagating the full augmented Kalman state filter.
Instrument includes gallium arsenide light-emitting diode (LED) and silicon phototransistor with infrared filter, all cast in single plastic housing. Housing attached to subject's face with transparent doublesided adhesive tape. LED directs pulses of infrared light to skin, which reflects them to phototransistor. Phototransistor produces signal that is processed by external circuits to yield plot of infrared reflectance with time. External circuits temperature-compensated and respond only to pulsed component of detector output, rejecting those components caused by stray light. Circuits also extract blood-volume pulse amplitude and heart rate.
Liquid cell transmission electron microscopy (TEM) enables the direct observation of dynamic physical and chemical processes in liquids at the nanoscale. Quantitative investigations into reactions with fast kinetics and/or multiple reagents will benefit from further advances in liquid cell design that facilitate rapid in situ mixing and precise control over reagent volumes and concentrations. This work reports the development of inorganic–organic nanocapsules for high-resolution TEM imaging of nanoscale reactions in liquids with well-defined zeptoliter volumes. These hybrid nanocapsules, with 48 nm average diameter, consist of a thin layer of gold coating a lipid vesicle. As a model reaction, the nucleation, growth, and diffusion of nanobubbles generated by the radiolysis of water is investigated inside the nanocapsules. When the nanobubbles are sufficiently small (10–25 nm diameter), they are mobile in the nanocapsules, but their movement deviates from Brownian motion, which may result from geometric confinement by the nanocapsules. Gases and fluids can be transported between two nanocapsules when they fuse, demonstrating in situ mixing without using complex microfluidic schemes. The ability to synthesize nanocapsules with controlled sizes and to monitor dynamics simultaneously inside multiple nanocapsules provides opportunities to investigate nanoscale processes such as single nanoparticle synthesis in confined volumes and biological processes such as biomineralization and membrane dynamics.
In this work, the dynamics of the organic components of the deep eutectic solvent (DES) glyceline are analyzed using an array of complementary nuclear magnetic resonance (NMR) methods. Fast-Field Cycling 1 H relaxometry, Pulsed Field Gradient diffusion, Nuclear Overhauser Effect Spectroscopy (NOESY), 13 C NMR relaxation and pressure dependent NMR experiments are deployed to sample a range of frequencies and modes of motion of the glycerol and choline components of the DES. Generally, translational and rotational diffusion of glycerol are more rapid than those of choline while short range rotational motions observed from 13 C relaxation indicate slow local motion of glycerol at low choline chloride (ChCl) content. The rates of glycerol and choline local motions become more similar at higher ChCl. This result taken together with pressure dependent NMR studies show that the addition of ChCl makes it easier to disrupt glycerol packing. Finally, a relatively slow hydroxyl H-exchange process between glycerol and choline protons is deduced from the data. Consistent with this, NOESY results indicate relatively little direct H-bonding between glycerol and choline. These results suggest that the glycerol H-bonding network is disrupted as choline is added, but primarily in regions where there is intimate mixing of the two components. Thus, the local dynamics of most of the glycerol, resembles that of pure glycerol until substantial choline chloride is present.
Abstract A new microphysical treatment that includes aerosol–cloud interactions and secondary ice production (SIP) mechanisms is implemented in the convection scheme of the Community Atmosphere Model, version 6 (CAM6). The approach is to embed a 1D Lagrangian parcel model in the bulk convective plume of the existing deep convection parameterization. Aerosol activation, growth processes including collision/coalescence, and three processes of SIP mechanisms, two of which are normally overlooked in atmospheric models, are represented in this embedded parcel model. These microphysical processes are treated with a hybrid bin/bulk scheme and a high spatial and temporal resolution for the integration of the embedded parcel in 1D, allowing vertical velocity to determine the microphysical evolution following the in-cloud motion during ascent. Simulations of an observed case (Midlatitude Continental Convective Clouds Experiment) of a mesoscale convective system in Oklahoma, United States, with a single-column model (SCAM) version of CAM, are compared with aircraft in situ and ground-based observations of microphysical properties from the convection and precipitation. Results from the validation show the new microphysical scheme has a good representation of the ice initiation in the bulk convective plume, including the known and empirically quantified pathways of primary and secondary initiation, with benefits for the accuracy of properties of its supercooled cloud liquid. The sensitivity simulations and use of tagging tracers for the validated simulation confirm that the newly included SIP mechanisms are of paramount importance for convective microphysics and can be successfully treated in the global model.
Natural and man-made degraded visual environments pose major threats to national security. The random scattering and absorption of light by tiny particles suspended in the air reduces situational awareness and causes unacceptable down-time for critical systems and operations. To improve the situation, we have developed several approaches to interpret the information contained within scattered light to enhance sensing and imaging in scattering media. These approaches were tested at the Sandia National Laboratory Fog Chamber facility and with tabletop fog chambers. Computationally efficient light transport models were developed and leveraged for computational sensing. The models are based on a weak angular dependence approximation to the Boltzmann or radiative transfer equation that appears to be applicable in both the moderate and highly scattering regimes. After the new model was experimentally validated, statistical approaches for detection, localization, and imaging of objects hidden in fog were developed and demonstrated. A binary hypothesis test and the Neyman-Pearson lemma provided the highest theoretically possible probability of detection for a specified false alarm rate and signal-to-noise ratio. Maximum likelihood estimation allowed estimation of the fog optical properties as well as the position, size, and reflection coefficient of an object in fog. A computational dehazing approach was implemented to reduce the effects of scatter on images, making object features more readily discernible. We have developed, characterized, and deployed a new Tabletop Fog Chamber capable of repeatably generating multiple unique fog-analogues for optical testing in degraded visual environments. We characterized this chamber using both optical and microphysical techniques. In doing so we have explored the ability of droplet nucleation theory to describe the aerosols generated within the chamber, as well as Mie scattering theory to describe the attenuation of light by said aerosols, and correlated the aerosol microphysics to optical properties such as transmission and meteorological optical range (MOR). This chamber has proved highly valuable and has supported multiple efforts inclusive to and exclusive of this LDRD project to test optics in degraded visual environments. Circularly polarized light has been found to maintain its polarization state better than linearly polarized light when propagating through fog. This was demonstrated experimentally in both the visible and short-wave infrared (SWIR) by imaging targets made of different commercially available retroreflective films. It was found that active circularly polarized imaging can increase contrast and range compared to linearly polarized imaging. We have completed an initial investigation of the capability for machine learning methods to reduce the effects of light scattering when imaging through fog. Previously acquired experimental long-wave images were used to train an autoencoder denoising architecture. Overfitting was found to be a problem because of lack of variability in the object type in this data set. The lessons learned were used to collect a well labeled dataset with much more variability using the Tabletop Fog Chamber that will be available for future studies. We have developed several new sensing methods using speckle intensity correlations. First, the ability to image moving objects in fog was shown, establishing that our unique speckle imaging method can be implemented in dynamic scattering media. Second, the speckle decorrelation over time was found to be sensitive to fog composition, implying extensions to fog characterization. Third, the ability to distinguish macroscopically identical objects on a far-subwavelength scale was demonstrated, suggesting numerous applications ranging from nanoscale defect detection to security. Fourth, we have shown the capability to simultaneously image and localize hidden objects, allowing the speckle imaging method to be effective without prior object positional information. Finally, an interferometric effect was presented that illustrates a new approach for analyzing speckle intensity correlations that may lead to more effective ways to localize and image moving objects. All of these results represent significant developments that challenge the limits of the application of speckle imaging and open important application spaces. A theory was developed and simulations were performed to assess the potential transverse resolution benefit of relative motion in structured illumination for radar systems. Results for a simplified radar system model indicate that significant resolution benefits are possible using data from scanning a structured beam over the target, with the use of appropriate signal processing.
It is pointed out that distortions in received signals in solar occultation measurements made from space derive from the systematic motion of the electrooptical sensor. In a wide range of cases, the motion-related signal distortions brought about by the instrument's full modulation transfer function are as important as those from the optics. It is shown through simulation that existing techniques in the field of digital-image processing can be applied directly to solar occultation experiments to correct for these distortions. The resulting enhanced radiation profile is found to be much closer to the true radiance profile than is the sampled output of the instrument.
The coupled free-free modes of the 55M LMSS antenna configuration are shown. They were determined using modal synthesis. Reflector modes clamped at the hub were calculated adopting the efficient cyclic symmetry technique. Similarly, clamped hub modes of the offset boom structure were calculated. The modes of the two substructures were then combined through the process of modal synthesis on the assumption that the interface at the hub structure is rigid thus satisfying statically determinate matching conditions. For attitude control purposes, only modes associated with symmetric components zero and one involve net motions of the center of gravity of the reflector. This condition restricts the set of admissible eigenfunctions for modal synthesis. Modes with symmetric components higher than one are excited only by forces acting on the ribs. These modes are totally uncoupled from the boom dynamics.
A methodology is presented for simulating a docking process involving a rigid body and an unrestrained nonuniform beam in orbit, and the issues that must be faced in the course of producing any such simulation are discussed. An algorithm is produced for the simulation of motions of the unrestrained structure, which necessitates the use of a structural analysis program for the purpose of constructing modal functions. An impulse problem then is solved in order to discover the changes that take place in certain variables in the course of the docking. This information is utilized to determine the initial values of variables used to characterize postdocking motions of the system under consideration, and an algorithm for simulating these motions is created, in which a structural analysis program is again used to produce modal functions. Finally, an extension of the methodology to the simulation of the docking of a rigid body with more complex orbiting structures is discussed.
Numerical models permit modelling processes within galaxies that are seemingly beyond the reach of physical contact or close-up viewing from different angles. N-body equations permit simple computations of the interactions of individual stars within galaxies, but the motions of these objects feature nonlinear characteristics because of the forces exerted by the complex as a whole which are not amenable to examination with Newtonian laws of force. The models have, however, revealed that thin disk galactic are not stable forms, that barlike structures rotating end-over-end are more stable structures, and that galactic contraction occurs during collisions between galaxies. Internal effects have been successfully predicted for galaxies which are part of clusters, growth rate disturbances due to the expansion of the Universe have been quantified as 2-3 percent and dynamical friction has been shown to damage galaxies which are sliding into background material.