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At least 19 records

Real-time obstacle avoidance using harmonic potential functions

This paper presents a new formulation of the artificial potential approach to the obstacle avoidance problem for a mobile robot or a manipulator in a known environment. Previous formulations of artificial potentials for obstacle avoidance have exhibited local minima in a cluttered environment. To build an artificial potential field, harmonic functions that completely eliminate local minima even for a cluttered environment are used. The panel method is employed to represent arbitrarily shaped obstacles and to derive the potential over the whole space. Based on this potential function, an elegant control strategy is proposed for the real-time control of a robot. The harmonic potential, the panel method, and the control strategy are tested with a bar-shaped mobile robot and a three-degree-of-freedom planar redundant manipulator.

Kim, Jin-Oh↗

Wave packet motion in harmonic potential and computer visualization

Wave packet motions of a single electron in harmonic potentials or a magnetic field are obtained analytically. The phase of the wave function which depends on both time and space is also presented explicitly. The probability density of the electron changes its width and central position periodically. These results are visualized using computer animation techniques.

Tsuru, Hideo↗

A possible generalization of the harmonic oscillator potential

A four-parameter potential is analyzed, which contains the three-dimensional harmonic oscillator as a special case. This potential is exactly solvable and retains several characteristics of the harmonic oscillator, and also of the Coulomb problem. The possibility of similar generalizations of other potentials is also pointed out.

Levai, Geza↗

Accuracy of analytic energy level formulas applied to hadronic spectroscopy of heavy mesons

Linear and harmonic potential models are used in the nonrelativistic Schroedinger equation to obtain article mass spectra for mesons as bound states of quarks. The main emphasis is on the linear potential where exact solutions of the S-state eigenvalues and eigenfunctions and the asymptotic solution for the higher order partial wave are obtained. A study of the accuracy of two analytical energy level formulas as applied to heavy mesons is also included. Cornwall's formula is found to be particularly accurate and useful as a predictor of heavy quarkonium states. Exact solution for all partial waves of eigenvalues and eigenfunctions for a harmonic potential is also obtained and compared with the calculated discrete spectra of the linear potential. Detailed derivations of the eigenvalues and eigenfunctions of the linear and harmonic potentials are presented in appendixes.

Badavi, Forooz F.↗

Reducing the error of geoid undulation computations by modifying Stokes' function

The truncation theory as it pertains to the calculation of geoid undulations based on Stokes' integral, but from limited gravity data, is reexamined. Specifically, the improved procedures of Molodenskii et al. are shown through numerical investigations to yield substantially smaller errors than the conventional method that is often applied in practice. In this improved method, as well as in a simpler alternative to the conventional approach, the Stokes' kernel is suitably modified in order to accelerate the rate of convergence of the error series. These modified methods, however, effect a reduction in the error only if a set of low-degree potential harmonic coefficients is utilized in the computation. Consider, for example, the situation in which gravity anomalies are given in a cap of radius 10 deg and the GEM 9 (20,20) potential field is used. Then, typically, the error in the computed undulation (aside from the spherical approximation and errors in the gravity anomaly data) according to the conventional truncation theory is 1.09 m; with Meissl's modification it reduces to 0.41m, while Molodenskii's improved method gives 0.45 m. A further alteration of Molodenskii's method is developed and yields an RMS error of 0.33 m. These values reflect the effect of the truncation, as well as the errors in the GEM 9 harmonic coefficients. The considerable improvement, suggested by these results, of the modified methods over the conventional procedure is verified with actual gravity anomaly data in two oceanic regions, where the GEOS-3 altimeter geoid serves as the basis for comparison. The optimal method of truncation, investigated by Colombo, is extremely ill-conditioned. It is shown that with no corresponding regularization, this procedure is inapplicable.

Jekeli, C.↗

Global accuracy estimates of point and mean undulation differences obtained from gravity disturbances, gravity anomalies and potential coefficients

Through the method of truncation functions, the oceanic geoid undulation is divided into two constituents: an inner zone contribution expressed as an integral of surface gravity disturbances over a spherical cap; and an outer zone contribution derived from a finite set of potential harmonic coefficients. Global, average error estimates are formulated for undulation differences, thereby providing accuracies for a relative geoid. The error analysis focuses on the outer zone contribution for which the potential coefficient errors are modeled. The method of computing undulations based on gravity disturbance data for the inner zone is compared to the similar, conventional method which presupposes gravity anomaly data within this zone.

Jekeli, C.↗

Human Factors and Behavioral Performance Exploration Measures Harmonized Across HERA, NEK, and ISS: Teams Risk

BACKGROUNDThe Human Factors and Behavioral Performance Exploration Measures (HFBP-EM) suite is a set of standardized measures to assess behavioral health and performance risk related to future exploration class missions, and to support reduction of the Human Research Program’s (HRP) Behavioral Medicine (BMed), Team, Sleep, and Human Systems Integration Architecture risks. HFBP-EM were collected during Human Exploration Research Analogs (HERA) campaigns 4 (C4) and 5 (C5), and during SIRIUS 17 and 19 missions in the Russian Ground Based Experiment Complex, NEK, to document the feasibility, flexibility, and acceptability of these measures in analogsof the spaceflight environment. A subset of the HFBP-EM suite was collected during spaceflight as part HRP’s Standard Measures in Spaceflight Project. Whenever possible, the HFBP-EM protocol and measures are kept the same across studies, however, differences across research settings (e.g., experimental manipulations, mission scenarios, mission length) and implementation of the measures require the data are harmonized to ensure comparable views across missions. The purpose of our project is to develop a harmonized database of HFBP-EM data from different settings, and to summarize the trajectory of behavioral health and performance within and between research settings. In this presentation, we will summarize the harmonized dataset and the trajectory of measures related to the Team Risk, including team performance, team cohesion, team processes, and psychological safety, over time and between and within settings.METHODSWe followed best practices for data harmonization. Characteristics of each research setting were assessed for harmonization potential, and we deemed NEK-SIRIUS 17 as inappropriate due to study aims, length, and data quality. Common variables of interest were identified. Study characteristics and key variables with which datafiles could be merged were defined as “meta-data.” HFBP-EM data from all settings were processed under a common format. We then created a harmonized team-level database designed to facilitate analyses that address HRP research gaps related to HRP’s Team risk. In this database, team cohesion, processes, performance, psychological safety, and group living were operationalized as the team mean of the crew responses for each data collection (e.g., on mission day 7). Data collected on the International Space Station (ISS) included a subset of scale items administered to participants. Data collected from ISS team members within +/- 7 days of the first data collection and every following 30 +/-4 days were aggregated to the team level. We generated figures that display the mean and variability of team constructs across research settings. We also generated plots of changes in team constructs with mission day and with percentage of the mission completed. Where possible, we compared data from spaceflight analogs with data from astronauts aboard the ISS. RESULTS AND DISCUSSIONThe team-level harmonized database was structured such that each row represents data for a team on a specific mission day. Team constructs (e.g., team cohesion) were included as columns (i.e., wide format) with repeated measures across mission days given in rows (i.e., long format). The database included data from 18 crews: five, 4-person American crews in HERA C4, four 4-person American crews in HERA C5, one 6-person multinational crew in NEK-SIRIUS 19, and eight, 2–11-person multinational crews aboard the ISS. Results provide insights into mission and campaign differences in team functioning and performance. For example, between campaign differences were observed for team processes—the interdependent team actions that orchestrate taskwork in pursuit of the team’s goals [1]. Greater between-team variability on team processes was detected during HERA C4 than during C5, and a downward trend was observed over the duration of C4, but not C5 or SIRIUS 19. This may be due to the campaign-level differences such as the sleep deprivation implemented during C4. Responses on the subset of team process items administered on the ISS indicate between-crew variability more like those observed in C4 than C5 and NEK, with some, but not all ISS crews demonstrating a downward trend over time. Additional findings will be presented. REFERENCESMarks, M. A., et al (2001) Academy of Management Review, 26(3), 356-376.

S T Bell↗

Modifying Stokes' function to reduce the error of geoid undulation computations

Errors in computations of the geoid undulation, which determines the position of the geoid with respect to a reference ellipsoid, introduced by various modifications of the Stokes' function in the Stokes integral formula for the undulation are examined in light of currently available harmonic coefficients. The variants considered include the conventional Molodenskii truncation theory, in which integration is limited to a spherical cap, and the variations suggested by Molodenskii (1958) and Meissl (1971). In computations of the undulation from gravity anomalies in a spherical cap and terrestrial and satellite harmonic potential coefficients (GEM 9 and GEM 10B), it is shown that either of the modifications to the conventional Molodenskii theory results in substantial reductions in truncation errors, with the simpler modification of Meissl even providing superior results in certain circumstances.

Jekeli, C.↗

Complex time dependent wave packet technique for thermal equilibrium systems - Electronic spectra

A time dependent wave packet method is presented for the rapid calculation of the properties of systems in thermal equilibrium and is applied, as an illustration, to electronic spectra. The thawed Gaussian approximation to quantum wave packet dynamics combined with evaluation of the density matrix operator by imaginary time propagation is shown to give exact electronic spectra for harmonic potentials and excellent results for both a Morse potential and for the band contours of the three transitions of the visible electronic absorption spectrum of the iodine molecule. The method, in principle, can be extended to many atoms (e.g., condensed phases) and to other properties (e.g., infrared and Raman spectra and thermodynamic variables).

Reimers, J. R.↗

An analytic solution for the orbital perturbations of the Venus Radar Mapper due to gravitational harmonics

Hill's variational equations are solved analytically for the orbital perturbations of a spacecraft nominally in an elliptic orbit around a non-spherical body. The rotation of the central planet about its spin-axis is not considered in the analysis. The perturbations are restricted to the planetary gravitational harmonics only. An extremely simple algorithm is derived to transform the spherical harmonic potentials to the orbital coordinate system, and the resulting accelerations are shown to be simply trigonometric functions of the true anomaly. With the principal matrix solution for the differential equations of the adjoint system given in closed form, the orthogonality of the trigonometric functions makes it possible to obtain an analytic solution for the non-homogeneous problem, at intervals of 2 pi in true anomaly. The solution for orbital perturbations can be extended over several revolutions by applying well-known results from Floquet's theory. The technique is demonstrated with results presented on the spacecraft periapsis altitude for the forthcoming Venus Radar Mapper Mission.

Vijayaraghavan, A.↗

Influence of damping on quantum interference - An exactly soluble model

This paper reports the result of a calculation which shows the effect of damping on the quantum interference of two Gaussian wave packets in a harmonic potential. The influence-functional method, which seems to be the most appropriate one for this kind of calculation, is used. It is shown that quantum-interference effects are severely diminished by the presence of damping even when its influence on the system is only light. The corrections to the undamped formulas are always expressible in terms of the phenomenological damping constant, the temperature (in the high-temperature limit), the cutoff frequency of the reservoir oscillators, and the mean number of quanta of energy intially present in the system. Both weakly and strongly damped systems are analyzed in the regime of low and high temperatures.

Caldeira, A. O.↗

Solar oscillations - A method for deriving nonlinear effects

The frequencies of solar oscillations are so closely spaced that nonlinear interactions among modes are probable. The rate of interaction is proportional to an integral involving the eigenfunctions of the interacting modes, which usually are known only numerically. An approximation in which the eigenfunctions are strictly sinusoidal functions of a suitably defined radial variable, and the numerical details of stellar structure are banished to a coefficient in the integrand, are here explored. The physical assumptions are the same as in the asymptotic approximation of p- or g-modes. This method should allow a general investigation as to likely nonlinear interactions and which modes may participate in such interactions. The coupling of two p-modes by possible large-scale internal magnetic fields is introduced as an anisotropic pressure response to a displacement. Pairs of modes differing in frequency by less than the fraction magnetic/thermal pressure are strongly coupled, and energy appears to oscillate slowly between the two associated spherical harmonics. Potentially, upper limits may be derived for internal magnetic fields.

Wentzel, Donat G.↗

New high-resolution electrostatic ion mass analyzer using time of flight

The design of a high-resolution ion-mass analyzer is described, which is based on an accurate measurement of the time of flight (TOF) of ions within a region configured to produce a harmonic potential. In this device, the TOF, which is independent of ion energy, is determined from a start pulse from secondary electrons produced when the ion passes through a thin carbon foil at the entrance of the TOF region and at a stop pulse from the ion striking a microchannel plate upon exciting the region. A laboratory prototype instrument called 'VMASS' was built and was tested at the Goddard Space Flight Center electrostatic accelerator, showing a good mass resolution of the instrument. Sensors of the VMASS type will form part of the WIND Solar Wind and Suprathermal Ion experiment, the Soho mission, and the Advanced Composition Explorer.

Hamilton, D. C.↗

A View of the Lunar Interior Through Lunar Laser Range Analysis

Laser ranges between observatories on the Earth and retroreflectors on the Moon started in 1969 and continue to the present. Recent range accuracies are 2 cm while earliest ranges are an C, order of magnitude less certain. Four retroreflectors are ranged: three located at the Apollo 11, 14, and 15 sites and one on the Lunakhod 2 rover. Accurate analysis of the range data determines a number of lunar science parameters. The lunar interior variables include a fluid core parameter. The Lunar Laser Ranging effort is reviewed elsewhere. Many parameters are detected through their influence on rotation. Also detected are solid-body tides and accurate selenocentric reflector locations. Determined through the rotation are moment-of-inertia differences, gravitational harmonics, potential Love number, and dissipation effects due to tides and molten core. The rotation of the Moon is not at its minimum energy state; some recently active process has caused free librations. The moment differences contributed to the recent improvement of the Moon's moment of inertia from the Lunar Prospector gravity field. The Love numbers provide bulk elastic properties. Future possibilities for measurement include oblateness of the core-mantle boundary and core moment. A study of dissipation signatures in the rotation determines tidal Q vs. frequency and concludes that the Moon has a molten core. At 1 month the tidal Q is 37 and at 1 yr it is 60. The core radius is < or = 352 km for Fe and < or = 374 km for the Fe-FeS eutectic. The core detection exceeds 3x its uncertainty. The spin of the core is not aligned with the spin of the mantle and torque arises from the velocity difference at the boundary. Yoder's turbulent boundary layer theory is used to compute the radii. The present heat generation from tides and core interaction is minor compared to radiogenic heating. The heating for ancient times is more interesting. Peale and Cassen investigated lunar tidal heating while the lunar orbit expanded due to tides on Earth. Their calculations predate the measurement of Q and should be multiplied by 3.45 to match the lunar-laser-determined Love number and monthly Q. Tidal-heating computations depend on how fast the lunar orbit evolved and whether the tidal dissipation is localized. Neither is known, but plausible assumptions lead to early central region temperature increases of several hundred degrees. Most of the energy is deposited early in the Moon's history. The turbulent boundary layer theory allows a prediction of energy dissipated at the core-mantle boundary during orbit evolution. Under the assumption that the properties of the early core are the same as at present, the energy dissipated by core-mantle interaction is about the same as for tidal dissipation, but it is deposited in a smaller volume. This source of energy is capable of promoting convection in an early fluid core and driving a dynamo. This is a transient phase with a duration depending on the rate of orbit evolution. Plausible assumptions lead to a duration of a few hundred million years. Thus, the remnant magnetization of many lunar rocks is compatible with a brief global magnetic field powered by dynamical energy dissipation. Analysis of the lunar laser ranges is providing information on lunar geophysics. Future data will improve accuracies of present solution parameters, and several more interior effects should be detectable.

Williams, J. G.↗

Developing Antimatter Containment Technology: Modeling Charged Particle Oscillations in a Penning-Malmberg Trap

The NASA MSFC Propulsion Research Center (PRC) is conducting a research activity examining the storage of low energy antiprotons. The High Performance Antiproton Trap (HiPAT) is an electromagnetic system (Penning-Malmberg design) consisting of a 4 Tesla superconductor, a high voltage confinement electrode system, and an ultra high vacuum test section; designed with an ultimate goal of maintaining charged particles with a half-life of 18 days. Currently, this system is being experimentally evaluated using normal matter ions which are cheap to produce and relatively easy to handle and provide a good indication of overall trap behavior, with the exception of assessing annihilation losses. Computational particle-in-cell plasma modeling using the XOOPIC code is supplementing the experiments. Differing electrode voltage configurations are employed to contain charged particles, typically using flat, modified flat and harmonic potential wells. Ion cloud oscillation frequencies are obtained experimentally by amplification of signals induced on the electrodes by the particle motions. XOOPIC simulations show that for given electrode voltage configurations, the calculated charged particle oscillation frequencies are close to experimental measurements. As a two-dimensional axisymmetric code, XOOPIC cannot model azimuthal plasma variations, such as those induced by radio-frequency (RF) modulation of the central quadrupole electrode in experiments designed to enhance ion cloud containment. However, XOOPIC can model analytically varying electric potential boundary conditions and particle velocity initial conditions. Application of these conditions produces ion cloud axial and radial oscillation frequency modes of interest in achieving the goal of optimizing HiPAT for reliable containment of antiprotons.

Chakrabarti, S.↗

An Improved Model of the Crustal Structure of Mars

The first reliable model of the structure of the crust and upper mantle of Mars from remote observations was produced using data from the Mars Orbiter Laser Altimeter (MOLA) and the Radio Science investigation of Mars Global Surveyor (MGS). That model assumed a uniform crustal density and solved for the global variations in crustal thickness using a gravity field derived from preliminary MGS tracking. In that study, spherical harmonic potential coefficients were derived to degree and order 80, but crustal structure was interpreted cautiously to degree 60, or 360 km wavelength, owing to the presence of noise. Tracking normal equations have since been generated to degree 75, to degree 80 (supplemented by altimetric crossovers), and recently to degree 90, using new constants for the orientation of the spin pole and the rotation rate of Mars provided by the IAU2000 rotation model. Gravity models now incorporate tracking data coverage from the Primary and Extended MGS missions and the early phases of the Mars Odyssey mission. In the present study we exploit these advances in gravity modeling to present a refined crustal inversion, which we also interpret in the context of Mars' internal structure and thermal evolution.

Zuber, M. T.↗