Engineering topics
Publications and source records attributed to Howard, A..
This paper presents a novel technique for real-time measurement of terrain characteristics and incorporation of this information into the navigation strategy of an autonomous mobile robot.
Turbulent convection is inherently non-local and a primary condition for a successful treatment of the PBL is a reliable model of non-locality. In the dynamic equations governing the convective flux, turbulent kinetic energy, etc, non-locality enters through the third-order moments, TOMs. Since the simplest form, the so-called down gradient approximation (DGA , severely underestimates the TOMs (by up to an order of magnitude), a more physical model is needed. In 1994, an analytical model was presented which was derived directly from the dynamical equations for the TOMs. It considerably improved the DGA but was a bit cumbersome to use. Here, we present a new analytic expression for the TOMs which is considerably simpler than the 1994 expression and which at the same time yields a much better fit to the LES data.
This chapter describes fundamental research aimed at achieving such long-term objectives through application of soft computing techniques for safe and reliable autonomous rover navigation.
We present an algoritm for detecting a specified set of targets for an Automatic Target Recognition (ATR) application.
Many applications that use hyperspectral imagery focus on dectection and recognition of targets that occupy a portion of a hyperspectral pixel.
Since the early forties, one-point turbulence closure models have been the canonical tools used to describe turbulent flows in many fields. In geophysics, Mellor and Yamada applied such models using the 1980 state-of-the art. Since then, no improvements were introduced to alleviate two major difficulties: 1) closure of the pressure correlations, which affects the correct determination of the critical Richardson number Ri(sub cr) above which turbulent mixing is no longer possible and 2) the need to express the non-local third-order moments (TOM) in terms of lower order moments rather than via the down-gradient approximation as done thus far, since the latter seriously underestimates the TOMs. Since 1) and 2) are still being dealt with adjustable parameters which weaken the credibility of the models, alternative models, not based on turbulence modeling, have been suggested. The aim of this paper is to show that new information, partly derived from the newest 2-point closure model discussed, can be used to solve these shortcomings. The new one-point closure model, which in its simplest form is algebraic and thus simple to implement, is first shown to reproduce a variety of data. Then, it is used in a Ocean-General Circulation Model (O-GCM) where it reproduces well a large variety of ocean data. While phenomenological models are specifically tuned to ocean turbulence, the present model is not. It is first tested against laboratory data on stably stratified flows and then used in an O-GCM. It is more general, more predictive and more resilient, e.g., it can incorporate phenomena like wave-breaking at the surface, salinity diffusivity, non-locality, etc. One important feature that naturally comes out of the new model is that the predicted Richardson critical value Ri(sub cr) is Ri (sub cr approx. = 1) in agreement with both Large Eddy Simulations (LES) and empirical evidence while all previous models predicted Ri (sub cr approx. = 0.2) which led to a considerable underestimate of the extent of turbulent mixing and thus to an incorrect mixed layer depth. The predicted temperature and salinity profiles (vs. depth) are presented and compared with those of the Kolmogorov-Petruvsky-Piskunuv (KPP) model and Levitus data.
In papers 1 and 2 we have presented the results of the most updated 1-point closure model for the turbulent vertical diffusivities of momentum, heat and salt, K(sub m,h,s). In this paper, we derive the analytic expressions for K(sub m,h,s) using a new 2-point closure model that has recently been developed and successfully tested against some approx. 80 turbulence statistics for different flows. The new model has no free parameters. The expressions for K(sub m, h. s) are analytical functions of two stability parameters: the Turner number R(sub rho) (salinity gradient/temperature gradient) and the Richardson number R(sub i) (temperature gradient/shear). The turbulent kinetic energy K and its rate of dissipation may be taken local or non-local (K-epsilon model). Contrary to all previous models that to describe turbulent mixing below the mixed layer (ML) have adopted three adjustable "background diffusivities" for momentum. heat and salt, we propose a model that avoids such adjustable diffusivities. We assume that below the ML, K(sub m,h,s) have the same functional dependence on R(sub i) and R(sub rho) derived from the turbulence model. However, in order to compute R(sub i) below the ML, we use data of vertical shear due to wave-breaking measured by Gargett et al. (1981). The procedure frees the model from adjustable background diffusivities and indeed we use the same model throughout the entire vertical extent of the ocean. Using the new K(sub m,h, s), we run an O-GCM and present a variety of results that we compare with Levitus and the KPP model. Since the traditional 1-point (used in papers 1 and 2) and the new 2-point closure models used here represent different modeling philosophies and procedures, testing them in an O-GCM is indispensable. The basic motivation is to show that the new 2-point closure model gives results that are overall superior to the 1-point closure in spite of the fact that the latter rely on several adjustable parameters while the new 2-point closure has none. After the extensive comparisons presented in papers 1 and 2, we conclude that the new model presented here is overall superior for it not only is parameter free but also 2 because is part of a more general turbulence model that has been previously successfully tested on a wide variety of other types of turbulent flows.
We develop and test a 1-point closure turbulence model with the following features: 1) we include the salinity field and derive the expression for the vertical turbulent diffusivities of momentum K(sub m) , heat K(sub h) and salt K(sub s) as a function of two stability parameters: the Richardson number R(sub i) (stratification vs. shear) and the Turner number R(sub rho) (salinity gradient vs. temperature gradient). 2) to describe turbulent mixing below the mixed layer (ML), all previous models have adopted three adjustable "background diffusivities" for momentum, heat and salt. We propose a model that avoids such adjustable diffusivities. We assume that below the ML, the three diffusivities have the same functional dependence on R( sub i) and R(sub rho) as derived from the turbulence model. However, in order to compute R(sub i) below the ML, we use data of vertical shear due to wave-breaking.measured by Gargett et al. The procedure frees the model from adjustable background diffusivities and indeed we employ the same model throughout the entire vertical extent of the ocean. 3) in the local model, the turbulent diffusivities K(sub m,h,s) are given as analytical functions of R(sub i) and R(sub rho). 5) the model is used in an O-GCM and several results are presented to exhibit the effect of double diffusion processes. 6) the code is available upon request.
The goal of many applications that using hyperspectral images is to describe the constituent components of each pixel in a scene.
The VIGILANTE project is a planned vision system capable of tracking and recognizing targets in real time, on a small airborne platform.
Layered deposits unique to the poles of Mars indicate long-term winter deposition of ice and sediment modulated by periodic climate change. The layered deposits contain at least two kinds of nonvolatile materials: one that is similar to the bright red dust raised in Martian dust storms, and one similar to dark sand dune materials observed at low and mild latitudes. The ice fraction of the deposits remains unknown. Because the present polar dust and ice budgets are poorly constrained, correlation of layer thicknesses with specific astronomical cycles remains very uncertain. Layered deposits in both polar regions appear to have been slightly more widespread in the past. Other sediments near the poles, and the estimated ages of the layered deposits, suggest that the polar sedimentary regime has evolved over the geologic history of Mars. Acquisition of good data on the vertical sequence of layer characteristics and better crater retention ages should allow revealing comparisons with astronomically driven cycles and secular atmospheric changes.
Velocity profile measurements are determined on and around a barchan dune model inserted in the roughness layer on the tunnel floor. A theoretical investigation is made into the factors influencing the rate of sand flow around the dune. Flow visualization techniques are employed in the mapping of streamlines of flow on the dune's surface. Maps of erosion and deposition of sand are constructed for the barchan model, utilizing both flow visualization techniques and friction velocities calculated from the measured velocity profiles. The sediment budget found experimentally for the model is compared to predicted and observed results reported. The comparison shows fairly good agreement between the experimentally determined and predicted sediment budgets.
Eolian erosion and deposition on earth was studied in order to interpret the eolian land forms of Mars. Emphasis of the wind tunnel studies was on the flow field around models of eolian forms. Areas of the wind tunnel studies include: simulation of the atmospheric boundary layer; velocity profile measurements around different models in the desert boundary layer, and estimating shear stress distributions on the model surfaces; flow visualization techniques; streamline mapping using tuft photographs; and roughness contrasts.