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NASA NTRS2008

Effect of GOES-R Image Navigation and Registration Errors on Atmospheric Motion Vectors

High temporal frequency imagery from geostationary satellites allows for the continuous monitoring of rapidly changing atmospheric constituents such as smoke, dust, water vapor and clouds. The image sequences are often used to quantify the displacement of image features such as water vapor and clouds to produce atmospheric motion vectors (AMVs) which are used as diagnostic tools and also assimilated into numerical weather forecast models. The basic principle behind the determination of AMVs is the calculation of the physical displacement of features from one image (time) to the next. This process assumes that the features being tracked do not change as a function of time, usually requiring the use of short time interval imagery to minimize substantial change in size and shape of the features being tracked. High spatial resolution imagery also is required for reliable feature identification. While these image resolution and temporal sampling requirements often provide major drivers for space-based instrument design requirements, accurate image navigation and registration, INn (between a sequence of images), is also critical to the derivation of useful AMVs. In this paper and poster to be presented at the conference, the image navigation and registration (INR) accuracy expected for the Advanced Baseline Imager (ABI) on the GOES-R series of satellites will be discussed in light of its impact on AMV accuracy. Significant satellite platform and modeling enhancements are planned which should significantly improve INn performance of the GOES-R instruments. Some of these improvements have been demonstrated for the GOES-13 satellite which was launched in summer of 2006. An analysis of GOES-13 INR data, from the special satellite check out period, will be used in the assessment.

Jedlovec, Gary↗

NASA NTRS2013

Advanced UVOIR Mirror Technology Development (AMTD) for Very Large Space Telescopes

ASTRO2010 Decadal Survey stated that an advanced large-aperture ultraviolet, optical, near-infrared (UVOIR) telescope is required to enable the next generation of compelling astrophysics and exoplanet science; and, that present technology is not mature enough to affordably build and launch any potential UVOIR mission concept. AMTD is the start of a multiyear effort to develop, demonstrate and mature critical technologies to TRL-6 by 2018 so that a viable flight mission can be proposed to the 2020 Decadal Review. AMTD builds on the state of art (SOA) defined by over 30 years of monolithic & segmented ground & space-telescope mirror technology to mature six key technologies: (1) Large-Aperture, Low Areal Density, High Stiffness Mirror Substrates: Both (4 to 8 m) monolithic and (8 to 16 m) segmented primary mirrors require larger, thicker, and stiffer substrates. (2) Support System: Large-aperture mirrors require large support systems to ensure that they survive launch and deploy on orbit in a stress-free and undistorted shape. (3) Mid/High Spatial Frequency Figure Error: Very smooth mirror is critical for producing high-quality point spread function (PSF) for high contrast imaging. (4) Segment Edges: The quality of segment edges impacts PSF for high-contrast imaging applications, contributes to stray light noise, and affects total collecting aperture. (5) Segment to Segment Gap Phasing: Segment phasing is critical for producing high-quality temporally-stable PSF. (6) Integrated Model Validation: On-orbit performance is driven by mechanical & thermal stability. Compliance cannot be 100% tested, but relies on modeling. AMTD is pursuing multiple design paths to provide the science community with options to enable either large aperture monolithic or segmented mirrors with clear engineering metrics traceable to science requirements.

Postman, Marc↗

NASA NTRS2014

Overview and Summary of Advanced UVOIR Mirror Technology Development (AMTD) Project

ASTRO2010 Decadal Survey stated that an advanced large-aperture ultraviolet, optical, near-infrared (UVOIR) telescope is required to enable the next generation of compelling astrophysics and exoplanet science; and, that present technology is not mature enough to affordably build and launch any potential UVOIR mission concept. AMTD is a multiyear effort to develop, demonstrate and mature critical technologies to TRL-6 by 2018 so that a viable flight mission can be proposed to the 2020 Decadal Review. AMTD builds on the state of art (SOA) defined by over 30 years of monolithic & segmented ground & space-telescope mirror technology to mature six key technologies: center dotLarge-Aperture, Low Areal Density, High Stiffness Mirror Substrates: Both (4 to 8 m) monolithic and (8 to 16 m) segmented telescopes require larger and stiffer mirrors. center dotSupport System: Large-aperture mirrors require large support systems to ensure that they survive launch, deploy on orbit, and maintain a stable, undistorted shape. center dotMid/High Spatial Frequency Figure Error: Very smooth mirror is critical for producing high-quality point spread function (PSF) for high contrast imaging. center dotSegment Edges: The quality of segment edges impacts PSF for high-contrast imaging applications, contributes to stray light noise, and affects total collecting aperture. center dotSegment to Segment Gap Phasing: Segment phasing is critical for producing high-quality temporally-stable PSF. center dotIntegrated Model Validation: On-orbit performance is driven by mechanical & thermal stability. Compliance cannot be 100% tested, but relies on modeling. Because we cannot predict the future, AMTD is pursuing multiple design paths to provide the science community with options to enable either large aperture monolithic or segmented mirrors with clear engineering metrics traceable to science requirements

Stahl, H. Philip↗

NASA NTRS2018

Microphysical Properties of Tropical Tropopause Layer Cirrus

Pervasive cirrus clouds in the tropical tropopause layer (TTL) play an important role in determining the composition of stratospheric air through dehydration of tropospheric air entering the stratosphere. This dehydration affects Earth's energy budget and climate, yet uncertainties remain regarding the microphysical processes that govern TTL cirrus. TTL cirrus were sampled with the NASA Global Hawk UAV for over 30 hr in the Western Pacific in 2014 during the Airborne Tropical TRopopause EXperiment. In situ measurements by a Fast Cloud Droplet Probe and Hawkeye probe (combination Fast Cloud Droplet Probe, Two‐Dimensional Stereo optical array probe, and Cloud Particle Imager) provided particle concentrations and sizing between 1‐ and 1,280‐μm diameter and high resolution images for habit identification. We present the variability in ice concentrations, size distributions, and habits as functions of temperature, altitude, and time since convective influence. Observed ice particles were predominantly small and quasi‐spheroidal in shape, with the percentage of quasi‐spheroids increasing with decreasing temperature. In comparison to the large fraction of the population consisting of quasi‐spheroids, faceted habits (columns, plates, rosettes, and budding rosettes) constituted a smaller percentage of the overall population and exhibited the opposite correlation with temperature. The trend of higher percentages of faceted crystals occurring at warmer temperatures may be due to diffusional growth or aggregation as particles descend through cloud, and/or the more rapid diffusional growth rate at warmer temperatures. Sampling was typically well away from deep convection, however, and very few aggregates were observed, so the trend of higher percentages of faceted habits is likely attributable to diffusional growth.

Woods, Sarah↗

NASA NTRSDate not supplied

Quantifying radiation quality for space relevant radiation types: Fitting excess risk models to three combined HZE-irradiated mouse datasets

Radiation health risks are predominantly derived from low linear energy transfer (LET) terrestrial exposures; however, space radiation includes exposure to high-LET and high-charge, high-energy (HZE) particles. Accurately quantifying the differences in radiation quality between the space and terrestrial radiation environments is important for assessing and predicting health risks for astronauts. Weil et al. 2009 and 2014 used two different inbred mouse strains to study differences in hepatocellular carcinoma (HCC) tumorigenesis after exposures to low- and high- LET radiation. More recently, Edmundson et al. 2020 provided valuable new tumor data in outbred mice that were exposed to low- and high-LET radiation. The present study aims to rigorously investigate a relative biological effectiveness (RBE) factor by leveraging the HCC tumor data from Weil et al. 2009, Weil et al. 2014, and Edmundson et al. 2020. The three experiments were similarly designed, allowing the raw data to be combined into a pooled dataset to estimate excess relative risk (ERR) and excess absolute risk (EAR) models using Bayesian Poisson regression. These effect estimates from the pooled data provide greater power to calculate a data driven RBE. Extensive sensitivity analyses test the robustness of RBE estimates to various model assumptions. The following questions will be explored through the sensitivity analyses: • Is the shape of the dose response different for low-LET radiation and HZE radiation, indicating that RBE is a function of dose? • Does attained age modify the effect estimates differently for low-LET radiation and HZE radiation, indicating RBE is a function of attained age? • Are the effect estimates and RBE estimates different for inbred mouse strains and outbred mouse strains? • Do assumptions about differences in ERR models and EAR models change the estimated RBE? Additional studies would be needed to validate the findings from these exploratory analyses.

Lori J. Chappell↗

NASA NTRS2024

Molecular Dynamics Simulations of Microstructural Effects on Austenite-Martensite Interfaces in NiTi

Formation and migration of austenite-martensite interfaces plays the key role in reversible martensitic transformations of shape memory alloys (SMAs). How these interfaces interact with the SMA microstructure is a primary determining factor in important functional properties such as hysteresis and transformation span. As such, successful microstructural engineering of SMAs requires in-depth knowledge of interface behavior. The rapid nature of martensitic transformations makes experimental observations of moving austenite-martensite interfaces challenging. Molecular dynamics (MD) simulation is a unique tool which can probe the atomic-scale details of austenite-martensite interfaces as they migrate through different microstructures. However, in focusing on the entire transformation process, including the nucleation of new phases, MD studies are usually performed so far from equilibrium that their relevance to experiment is questionable. Here, we demonstrate new MD techniques to generate energetically preferred austenite-martensite interfaces in NiTi under near-equilibrium conditions. The interfaces are semi-coherent, exhibiting a series of structural disconnections, and they can migrate rapidly through single crystals under only small thermodynamic driving forces. In contrast, when interfaces migrate in polycrystals, their motion is impeded by thermoelastic effects as well as changes in orientation relationships at grain boundaries. Microstructures which accumulate large amounts of elastic energy tend to release some fraction through irreversible, hysteresis-inducing mechanisms. We demonstrate that engineering microstructures with less constraints is a viable strategy to produce SMAs with reduced hysteresis and transformation span. Similar thermoelastic and hysteresis-inducing mechanisms also arise when austenite-martensite interfaces encounter precipitates and can be controlled by tuning characteristics of the precipitate distribution.

Gabriel Plummer↗

NASA NTRSDate not supplied

Molecular Dynamics Simulations of Microstructural Effects on Austenite-Martensite Interfaces in NiTi

The formation and migration of austenite-martensite interfaces plays the key role in reversible martensitic transformations of shape memory alloys (SMAs). How these interfaces interact with the SMA microstructure is a primary determining factor in important functional properties such as hysteresis and transformation span. As such, successful microstructural engineering of SMAs requires in-depth knowledge of interface behavior. The rapid nature of martensitic transformations makes experimental observations of moving austenite-martensite interfaces challenging. Molecular dynamics (MD) simulation is a unique tool which can probe the atomic-scale details of austenite-martensite interfaces as they migrate through different microstructures. However, in focusing on the entire transformation process, including the nucleation of new phases, MD studies are usually performed so far from equilibrium that their relevance to experiment is questionable. Here, we demonstrate new MD techniques to generate energetically preferred austenite-martensite interfaces in NiTi under near-equilibrium conditions. The interfaces are semi-coherent, exhibiting a series of structural disconnections, and they can migrate rapidly through single crystals under only small thermodynamic driving forces. In contrast, when interfaces migrate in polycrystals, their motion is impeded by thermoelastic effects as well as changes in orientation relationships at grain boundaries. Microstructures which accumulate large amounts of elastic energy tend to release some fraction through irreversible, hysteresis-inducing mechanisms. We demonstrate that engineering microstructures with less constraints is a viable strategy to produce SMAs with reduced hysteresis and transformation span. Similar thermoelastic and hysteresis-inducing mechanisms also arise when austenite-martensite interfaces encounter precipitates and can be controlled by tuning characteristics of the precipitate distribution.

Gabriel Plummer↗

NASA NTRSDate not supplied

Molecular Dynamics Simulations of Microstructural Effects on Austenite-Martensite Interfaces in NiTi

Gabriel Plummer↗

NASA NTRSDate not supplied

Towards Quantifying and Correlating RTV Intumescence to Entry-Relevant Conditions

Room Temperature Vulcanizing silicone (RTV) is a high-temperature adhesive used as a gap-filler between Thermal Protection System (TPS) tiles for heatshields on numerous missions. It is also adopted to bond instrumentation plugs of temperature and pressure sensors into heatshield’s tiles. While RTV has been traditionally assumed to be a non-porous and non-ablating material, numerous experiments have shown that RTV pyrolyzes and becomes highly porous as it is heated. Experimental data has also shown heating rate-dependent swelling (or intumescence) and shrinking of RTV, these volume changes may cause roughness-induced boundary layer transition. Outgassing and surface oxide formation of RTV upon decomposition also occur, which can be sources of contamination of heat shield sensors. This combination of detrimental effects motivates a critical need to develop a high-fidelity model for RTV ablation. As a first critical step in RTV modeling, a comprehensive material properties database for RTV was collected that account for the lack of data in properties such as pyrolysis char yield, shape change, virgin and char porosity. The next step is to quantify the volume change of RTV as a function of temperature. While this was done in previous campaigns, limited data was collected which showed a possible heating rate dependent intumescent behavior. To further understand the intumescence phenomenon of RTV, numerous dedicated experiments were performed at Beamline 8.3.2 of the Advanced Light Source, where RTV samples were heated while X-ray scans were taken in situ. Micro-Computed Tomography scans were taken in situ for low heating rates (≤ 60 °C/min), whereas continuous radiography scans were taken for higher heating rates (≤ 1500 ºC/min). Unconstrained samples and samples constrained in different holders (quartz, graphite, FiberForm and PICA) were tested to determine the change in intumescence due to confinement. Using deep learning techniques, the tomographies and radiographies are segmented to obtain volume change, porosity, pore size distributions and connectivity. From the results obtained, modifications to the previous RTV intumescence model are proposed, along with preliminary comparisons to testing RTV at high-enthalpy facilities.

RTV↗

DOE OSTI2023

Code for multi-shape Gaussian process (GP) fitting with uncertainty quantification (UQ)

This is code associated with the publication “Nonparametric Multi-shape Modeling with Uncertainty Quantification,” authored by Hengrui Luo (Lawrence Berkeley National Laboratory) and Justin Strait (Los Alamos National Laboratory). The code is used to fit multiple-output Gaussian process (GP) models of planar closed curves to collections of ordered point sets, allowing for flexible nonlinear prediction of the underlying curve under dense or sparse point set samplings and with or without noise, as well as tractable uncertainty quantification. To do this, we employ use of a periodic kernel to account for the nonlinear input space of closed curves, and combine with coregionalization models to account for dependence both (i) between curve coordinates, and (ii) between pairs of curves. Functions in the code are capable of fitting these models, as well as performing additional tasks with the fitted curves such as (a) shape registration and alignment, (b) shape averaging, and (c) fitting for curve sub-populations / clusters.

Strait, Justin↗

DOE OSTI2025

Mitigating imaging systematics for DESI 2024 emission Line Galaxies and beyond

Emission Line Galaxies (ELGs) are one of the main tracers that the Dark Energy Spectroscopic Instrument (DESI) uses to probe the universe. However, they are afflicted by strong spurious correlations between target density and observing conditions known as imaging systematics. In this paper, we present the imaging systematics mitigation applied to the DESI Data Release 1 (DR1) large-scale structure catalogs used in the DESI 2024 cosmological analyses. We also explore extensions of the fiducial treatment. This includes a combined approach, through forward image simulations (Obiwan) in conjunction with neural network-based regression, to obtain an angular selection function that mitigates the imaging systematics observed in the DESI DR1 ELGs target density. We further derive a line of sight selection function from the forward model that removes the strong redshift dependence between imaging systematics and low redshift ELGs. Combining both angular and redshift-dependent systematics, we construct a three-dimensional selection function and assess the impact of all selection functions on clustering statistics. We quantify differences between these extended treatments and the fiducial treatment in terms of the measured 2-point statistics. We find that the results are generally consistent with the fiducial treatment and conclude that the differences are far less than the imaging systematics uncertainty included in DESI 2024 full-shape measurements. We extend our investigation to the ELGs at 0.6 < z < 0.8, i.e., beyond the redshift range (0.8 < z < 1.6) adopted for the DESI clustering catalog, and demonstrate that determining the full three-dimensional selection function is necessary in this redshift range. Our tests showed that all changes are consistent with statistical noise for BAO analyses indicating they are robust to even severe imaging systematics. Specific tests for the full-shape analysis will be presented in a companion paper.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS2019

Characterizing the System Impulse Response Function from Photon-Counting LiDAR Data

NASA's Multiple Altimeter Beam Experimental LiDAR (MABEL) is an aircraft-based photon-counting laser altimeter designed as a simulator to test measurement techniques and algorithms for Advanced Topographic Laser Altimeter System (ATLAS), the sole instrument on NASA's Ice, Cloud, and land Elevation Satellite-2 (ICESat-2) mission. By measuring the time of flight, pointing angle, and absolute position for individual photons, ICESat-2 provides detailed elevation measurements of earth's surface. Calculating accurate and precise elevations requires an understanding of how photons interact with surfaces, and characterization of the photon distribution after returning from surfaces. Neither MABEL nor ATLAS records the transmitted laser pulse shape, relying instead on aggregating several pulses worth of photons, often using histograms, to characterize the pulse shape. In this paper, we assess the limitations of using histograms and propose a more robust method to describe MABEL's system impulse-response function using an exponentially modified Gaussian distribution. We also provide standard error estimates for the arithmetic mean and standard deviation calculations, and for exponentially modified Gaussian parameters using a Monte Carlo sensitivity analysis. We apply this method to photon returns from a sea ice lead and from a dry salt lake bed as case studies for estimating the standard error associated with sample size for the arithmetic mean and standard deviation, and for the exponentially modified Gaussian parameters. We use these standard errors to calculate the minimum number of photons required to find both Gaussian and exponentially modified Gaussian distribution parameters within 3 cm of their parent population values.

photoncounting↗

DOE OSTI2020

Variable-fidelity multipoint aerodynamic shape optimization with output-based adapted meshes

This work presents a method to control the discretization error in multipoint aerodynamic shape optimization using output-based adapted meshes. The meshes are adapted via adjoint-based error estimates, taking into account both the objective and constraint output errors. A multi-fidelity optimization framework is then developed by taking advantage of the variable fidelity offered by adaptive meshes. The objective functional and its sensitivity at each design point (operating condition) are first evaluated on the same initial coarse mesh, which is then subsequently adapted for each design point individually as the shape optimization proceeds. The effort to set up the optimization is minimal since the initial mesh can be fairly coarse and easy to generate. As the shape approaches the optimal design, the mesh at each design point becomes finer, in regions necessary for that particular operating condition. The multi-fidelity framework is tightly coupled with the objective error estimation to ensure the optimization accuracy at each fidelity. Computational savings arise from a reduction of the mesh size when the design is far from optimal and avoiding an exhaustive search on low-fidelity meshes. The proposed method is demonstrated on multipoint drag minimization problems of a transonic airfoil with lift and area constraints. Improved accuracy and efficiency are shown compared to traditional fixed-fidelity optimization with a fixed computational mesh.

42 ENGINEERING↗

DOE OSTI2025

Sensor Co-design for $\textit{smartpixels}$

Pixel tracking detectors at upcoming collider experiments will see unprecedented charged-particle densities. Real-time data reduction on the detector will enable higher granularity and faster readout, possibly enabling the use of the pixel detector in the first level of the trigger for a hadron collider. This data reduction can be accomplished with a neural network (NN) in the readout chip bonded with the sensor that recognizes and rejects tracks with low transverse momentum (p$_T$) based on the geometrical shape of the charge deposition (``cluster''). To design a viable detector for deployment at an experiment, the dependence of the NN as a function of the sensor geometry, external magnetic field, and irradiation must be understood. In this paper, we present first studies of the efficiency and data reduction for planar pixel sensors exploring these parameters. A smaller sensor pitch in the bending direction improves the p$_T$ discrimination, but a larger pitch can be partially compensated with detector depth. An external magnetic field parallel to the sensor plane induces Lorentz drift of the electron-hole pairs produced by the charged particle, broadening the cluster and improving the network performance. The absence of the external field diminishes the background rejection compared to the baseline by $\mathcal{O}$(10%). Any accumulated radiation damage also changes the cluster shape, reducing the signal efficiency compared to the baseline by $\sim$ 30 - 60%, but nearly all of the performance can be recovered through retraining of the network and updating the weights. Finally, the impact of noise was investigated, and retraining the network on noise-injected datasets was found to maintain performance within 6% of the baseline network trained and evaluated on noiseless data.

Shekar, Danush [Illinois U., Chicago]↗

NASA NTRS1994

Aerodynamic shape optimization of a HSCT type configuration with improved surface definition

Two distinct parametrization procedures of generating free-form surfaces to represent aerospace vehicles are presented. The first procedure is the representation using spline functions such as nonuniform rational b-splines (NURBS) and the second is a novel (geometrical) parametrization using solutions to a suitably chosen partial differential equation. The main idea is to develop a surface which is more versatile and can be used in an optimization process. Unstructured volume grid is generated by an advancing front algorithm and solutions obtained using an Euler solver. Grid sensitivity with respect to surface design parameters and aerodynamic sensitivity coefficients based on potential flow is obtained using an automatic differentiator precompiler software tool. Aerodynamic shape optimization of a complete aircraft with twenty four design variables is performed. High speed civil transport aircraft (HSCT) configurations are targeted to demonstrate the process.

Thomas, Almuttil M.↗

NASA NTRS1981

Effect of physical aging on stress relaxation of poly/methyl methacrylate/

A study was made on the stress relaxation behavior at 25 C of poly(methyl methacrylate) in uniaxial tension as a function of physical aging at both room temperature and 60 C. Test specimens were compression molded at 165 C, then quenched to room temperature and allowed to age for up to 30 days prior to testing. Stress relaxation curves measured after different aging times could be superposed to a single master curve for each aging temperature. Superposition was achieved by applying vertical and horizontal shifts. Hence, the shape of the response curves was not changed by aging. This is in accordance with observations made by Struik for tensile creep curves. Volume changes as a function of physical aging were also determined. Simple exponential relationships were observed between volume and both horizontal and vertical shifts. The horizontal shift implies a shift in the effective time scale caused by a change in free volume. The vertical shifts could be correlated with changes in Young's modulus caused by a change in density. For the range of aging studied, the response time scale varied over nearly two decades of log-time. For the same conditions modulus varied by 30 percent.

Cizmecioglu, M.↗

DOE OSTI2024

Engineered MXene quantum dots for micro-supercapacitors with excellent capacitive behaviors

Micro-supercapacitors (MSCs) have drawn tremendous attention as promising candidates to power miniaturized portable/wearable electronics, but they still suffer from unsatisfactory electrochemical performance (e.g., insufficient energy density, mediocre rate capability), thus impeding their widespread applications. Here, a synergistic surface and structure engineering strategy achieved by downsizing to quantum dot scale, doping of heteroatoms, and introducing defects and functional groups is proposed to regulate the physicochemical properties of Ti 3 C 2 T x MXene. Encouragingly, the resulting MSCs based on defect-rich nitrogen-doped Ti 3 C 2 T x quantum dots (QDs) possess excellent electrochemical performance as demonstrated by large operating voltage (3.0 V in ionic liquid and 1.0 V in aqueous electrolyte), perfect rectangular CV shape even at 1000 V·s -1 , high volumetric capacitance of 33.1 F·cm -3 , and superior cycling stability after 10000 cycles. By employing experimental characterizations and density functional theory calculations, the remarkable performance of the MSCs is mainly due to the special chemical states as well as the unique surface and structural features of Ti 3 C 2 T x QDs, which offer abundant active sites, shorten ion diffusion pathways, promote ion/electron transports, and provide enhanced capacitance. Finally, this work provides a new strategy for the design of high-performance MSCs and a reference for the applications of MXene QDs in other energy-related fields.

42 ENGINEERING↗

NASA NTRS1989

Global models: Robot sensing, control, and sensory-motor skills

Robotics research has begun to address the modeling and implementation of a wide variety of unstructured tasks. Examples include automated navigation, platform servicing, custom fabrication and repair, deployment and recovery, and science exploration. Such tasks are poorly described at onset; the workspace layout is partially unfamiliar, and the task control sequence is only qualitatively characterized. The robot must model the workspace, plan detailed physical actions from qualitative goals, and adapt its instantaneous control regimes to unpredicted events. Developing robust representations and computational approaches for these sensing, planning, and control functions is a major challenge. The underlying domain constraints are very general, and seem to offer little guidance for well-bounded approximation of object shape and motion, manipulation postures and trajectories, and the like. This generalized modeling problem is discussed, with an emphasis on the role of sensing. It is also discussed that unstructured tasks often have, in fact, a high degree of underlying physical symmetry, and such implicit knowledge should be drawn on to model task performance strategies in a methodological fashion. A group-theoretic decomposition of the workspace organization, task goals, and their admissible interactions are proposed. This group-mechanical approach to task representation helps to clarify the functional interplay of perception and control, in essence, describing what perception is specifically for, versus how it is generically modeled. One also gains insight how perception might logically evolve in response to needs of more complex motor skills. It is discussed why, of the many solutions that are often mathematically admissible to a given sensory motor-coordination problem, one may be preferred over others.

Schenker, Paul S.↗