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NASA NTRS1986

Algorithms and programming tools for image processing on the MPP, part 2

A number of algorithms were developed for image warping and pyramid image filtering. Techniques were investigated for the parallel processing of a large number of independent irregular shaped regions on the MPP. In addition some utilities for dealing with very long vectors and for sorting were developed. Documentation pages for the algorithms which are available for distribution are given. The performance of the MPP for a number of basic data manipulations was determined. From these results it is possible to predict the efficiency of the MPP for a number of algorithms and applications. The Parallel Pascal development system, which is a portable programming environment for the MPP, was improved and better documentation including a tutorial was written. This environment allows programs for the MPP to be developed on any conventional computer system; it consists of a set of system programs and a library of general purpose Parallel Pascal functions. The algorithms were tested on the MPP and a presentation on the development system was made to the MPP users group. The UNIX version of the Parallel Pascal System was distributed to a number of new sites.

Reeves, Anthony P.↗

NASA NTRS1987

Dynamic sensing of 6-axis external force and moment applied to a robot end

A dynamic force sensing method is proposed for a robot manipulator. A 6-axis wrist force sensor which is commonly used for robot force sensing does not take the direct measurement of the force and moment applied to an end effector externally from the environment of the manipulator, but takes the resultant of the gravity, the inertial force and moment on the end effector, and the external force and moment. The separation of gravitational and inertial force and moment from the measurement of the force sensor is crucial to achieving dynamically accurate force sensing and fast manipulator motion under force feedback control. A mathematical model is derived for the force sensing process and the separation of the force and moment as a nonlinear optimal state estimation problem formulated. Then an approximate solution is given using extended Kalman filtering techniques.

Yokota, Masaru Uchiyama↗

NASA NTRS1986

A densely spaced array of sea level monitors for the detection of vertical crustal deformation in the Shumagin seismic gap, Alaska

A network of sea level gauges has been installed with about 40 km spacing in the Shumagin Islands in order to detect relative vertical motion, in particular, possible crustal motion precursory to an expected major earthquake. This required the development and deployment of a pressure sensor sea level gauge suitable for installation on remote and harsh coastlines. Data are collected in near-real-time via satellite, both in order to exploit fully any precursors that may be observed and to provide continuous information on the status of the instruments. Using Wiener filtering techniques, it has been determined conservatively that no relative vertical crustal motion greater than 0.1 m between stations has occurred during 1981-1985. This is consistent with independent geodetic leveling and trilateration data, though evidence exists for more rapid deformation during 1978-1980. The sea level data collected so far have an rms noise level of about 0.04 m after processing; this is limited in part by the pressure sensor and associated electronics. Improved prressure gauges with better long-term stability have recently been installed. A short-baseline tiltmeter operating in a tunnel has demonstrated that suitably designed and located land-based tiltmeters have a lower noise level, and hence better precursor detection characteristics than the sea level gauges, at monthly and shorter periods.

Beavan, John↗

NASA NTRS1986

EUV astronomical spectroscopy with CCD detectors

The applicability of CCD detectors to astronomical extreme ultraviolet (EUV) spectroscopy (100-1250 A) is discussed. The advantages of CCDs in this spectral region include internal electron yield, the potential for very high quantum efficiency (about 50-90 percent), and broad wavelength response. Visible light suppression is achieved by a combination of low grating scattering, greater than unity electron yield in the EUV, and various filter techniques. For the current generation of CCDs, detection of only a few EUV photons will rapidly overwhelm the read noise; thus, for all practical S/N ratios used in astronomical spectroscopy, read noise will be negligible compared to the poisson statistics of the detected photons. A model based on experimental data for the quantum efficiency and electron yield of CCDs in the EUV is discussed.

Stern, R. A.↗

NASA NTRS1987

Pulse-timing study of Vela X-1 based on Hakucho and Tenma data - 1980-1984

The extensive observations of Vela X-1 acquired from 1980 to 1984 with the Hakucho and Tenma satellites, using a pulse-filtering technique that provides a significant improvement in pulse-timing precision, are reexamined. The details of the preparation of this data base, including the determination of updated orbital parameters based on these and previously published observations covering a 10-yr interval, are reported. Preparatory to estimation of angular-acceleration flux-correlation pairs, substantially improved estimates of the power density of fluctuations in the derivative of the pulse frequency on analysis periods between 0.5 and 80 days are presented. These results support the phenomenological hypothesis that unresolved fluctuations in the angular acceleration of the neutron star, describable as random noise, are responsible for the entire history of the observed variation in pulse frequency of Vela X-1 on all time scales longer than a few days.

Deeter, J. E.↗

NASA NTRS1989

Improving Estimates Of Phase Parameters When Amplitude Fluctuates

Adaptive inverse filter applied to incoming signal and noise. Time-varying inverse-filtering technique developed to improve digital estimate of phase of received carrier signal. Intended for use where received signal fluctuates in amplitude as well as in phase and signal tracked by digital phase-locked loop that keeps its phase error much smaller than 1 radian. Useful in navigation systems, reception of time- and frequency-standard signals, and possibly spread-spectrum communication systems.

Vilnrotter, V. A.↗

NASA NTRS1988

Filter measurements of chemical composition during the airborne Antarctic ozone experiment

During the Airborne Antarctic Ozone Experiment campaign, a filter sampler was flown to measure the bulk composition of aerosol and gas phases. The background sulfate aerosol was measured in regions inside and outside of the chemically perturbed region (CPR) of the polar vortex. The mass ratio of sulfate outside to inside was 2.8. This is indicative of a cleansing mechanism effecting the CPR or of a different air mass inside versus outside. The absolute value of the sulfate mixing ratio shows that the background aerosol has not been influenced by recent volcanic eruptions. The sulfate measured on the ferry flight returning to NASA Ames shows a decrease towards the equator with increasing concentrations in the northern hemisphere. Nitrate in the aerosol phase was observed on two flights. The largest amount of nitrate measured in the aerosol was 44 percent of the total amount of nitrate observed. Other samples on the same flights show no nitrate in the aerosol phase. The presence of nitrate in the aerosol is correlated with the coldest temperatures observed on a given flight. Total nitrate (aerosol plus acidic vapor nitrate) concentrations were observed to increase at flight altitude with increasing latitude north and south of the equator. Total nitrate was lower inside the CPR than outside. Chloride and flouride were not detected in the aerosol phase. From the concentrations of acidic chloride vapor, the ratio of acidic vapor Cl to acidic vapor F and a summing of the individual chloride containing species to yield a total chloride concentration, there is a suggestion that some of the air sampled was dechlorinated. Acidic vapor phase fluoride was observed to increase at flight altitude with increasing latitude both north and south of the equator. The acidic vapor phase fluoride was the only compound measured with the filter technique that exhibited larger concentrations inside the CPR than outside.

Grandrud, B. W.↗

NASA NTRS1988

Statistical properties of solar granulation from the SOUP instrument on Spacelab 2

The Solar Optical Universal Polarimeter (SOUP) on Spacelab 2 collected movies of solar granulation completely free from atmospheric blurring, and are not degraded by pointint jitter (the pointing stability was 0.003 sec root mean square). The movies illustrate that the solar five minute oscillation has a major role in the appearance of solar granulation and that exploding granules are a common feature of the granule evolution. Using 3-D Fourier filtering techniques the oscillations were removed and it was demonstrated that the autocorrelation lifetime of granulation is a factor of two greater in magnetic field regions than in field-free quiet sun. Horizontal velocities were measured and flow patterns were observed on the scale of meso- and super granulation. In quiet regions the mean flow velocity is 370 m/s while in the magnetic regions it is about 125 m/s. It was also found that the root mean square (RMS) fluctuating horizonal velocity field is substantially greater in quiet sun than in strong magnetic field regions. By superimposing the location of exploding granules on the average flow maps it was found that they appear almost exclusively in the center of mesogranulation size flow cells. Because of the nonuniformity of the distribution of exploding granules, the evolution of the granulation pattern in mesogranule cell centers and boundaries differs fundamentally. It is clear from this study there is neither a typical granule nor a typical granule evolution.

Topka, K.↗

NASA NTRS1987

An optical processor for object recognition and tracking

The design and development of a miniaturized optical processor that performs real time image correlation are described. The optical correlator utilizes the Vander Lugt matched spatial filter technique. The correlation output, a focused beam of light, is imaged onto a CMOS photodetector array. In addition to performing target recognition, the device also tracks the target. The hardware, composed of optical and electro-optical components, occupies only 590 cu cm of volume. A complete correlator system would also include an input imaging lens. This optical processing system is compact, rugged, requires only 3.5 watts of operating power, and weighs less than 3 kg. It represents a major achievement in miniaturizing optical processors. When considered as a special-purpose processing unit, it is an attractive alternative to conventional digital image recognition processing. It is conceivable that the combined technology of both optical and ditital processing could result in a very advanced robot vision system.

Sloan, J.↗

NASA NTRS1988

Measurements of the free-stream fluctuations above a turbulent boundary layer

The paper describes an investigation of the velocity fluctuations in the free stream above an incompressible turbulent boundary layer developing at constant pressure. Measurements were performed in a wind tunnel with an rms level of axial velocity fluctuations of about 0.2 percent. The possibility of assessing the contributions to the rms level of the velocity fluctuations without using the high-pass filtering technique is demonstrated.

Wood, D. H.↗

NASA NTRS1989

An intercomparison of measurement systems for vapor and particulate phase concentrations of formic and acetic acids

During June 1986, eight systems for measuring vapor phase and four for measuring particulate phase concentrations of formic acid (HCOOH) and acetic acid (CH3COOH) were intercompared in central Virginia. HCOOH and CH3COOH vapors were sampled by condensate, mist, Chromosorb 103 GC resin, NaOH-coated annular denuders, NaOH-impregnated quartz filters, K2CO3 and NaCO3-impregnated cellulose filters, and Nylasorb membranes. Atmospheric aerosol was collected on Teflon and Nuclepore filters using both hi-vol and lo-vol systems to measure particulate phase concentrations. Performances of the mist chamber and K2CO3-impregnated filter techniques were evaluated using zero air and ambient air spiked with HCOOH(g) and CH3COOH(g), and formaldehyde from permeation sources. The advantages and drawbacks of these methods are reported and discussed.

Keene, William C.↗

NASA NTRS1989

Kalman estimation for SEDS measurements

The first on-orbit experiment of the Small Expendable Deployer System (SEDS) for tethered satellites will collect telemetry data for tethered length, rate of deployment, and tether tension. The post-flight analysis will use this data to reconstruct the deployment history and determine payload position and tether shape. Two Kalman estimator algorithms were written, and output using simulated measurement data was compared. Both estimators exhibited the same estimated state histories, indicating that numerical instability in the traditional algorithm was not the cause of filter divergence. Estimation of acceleration biases was added, which reduced the error but did not correct the divergence. An add-a-bead estimator that adds lumped masses as the tether is deployed was written, which provides a state model that matches the BEADSIM simulation providing the true measurements and states. This twenty-one bead estimator produced state histories similar to those of the two-bead estimator, indicating that the filter divergence was not caused by a reduced-order model. The noise models used to date are relatively simple and may be the source of estimator divergence. The investigation of colored noise models, cross-correlated measurement and process covariances, and noise-adaptive filter techniques is recommended.

Carrington, Connie K.↗

NASA NTRS1990

Digital filtering of plume emission spectra

Fourier transformation and digital filtering techniques were used to separate the superpositioned spectral phenomena observed in the exhaust plumes of liquid propellant rocket engines. Space shuttle main engine (SSME) spectral data were used to show that extraction of spectral lines in the spatial frequency domain does not introduce error, and extraction of the background continuum introduces only minimal error. Error introduced during band extraction could not be quantified due to poor spectrometer resolution. Based on the atomic and molecular species found in the SSME plume, it was determined that spectrometer resolution must be 0.03 nm for SSME plume spectral monitoring.

Madzsar, George C.↗

NASA NTRS1990

The evolution from weak to strong geomagnetic activity - An interpretation in terms of deterministic chaos

An analogue of the magnetosphere developed on the basis of Shaw's (1984) dripping faucet model was used to model the mechanisms of the magnetospheric response to energy transfer from the solar wind. It is demonstrated that geomagnetic activity results from nonlinearly coupled physical processes and that the strength and the nature of the coupling changes dramatically as the magnetosphere is driven harder and harder by increasing energy input. Based on initial results obtained from the model, is is suggested that a chaotic transition takes place in the analogue system as the loading rate is increased beyond a critical value. This model is able to explain many of the features in the results of linear prediction filtering techniques.

Baker, D. N.↗

NASA NTRS1989

1960 Chile - New estimate of polar motion excitation

A recent reanalysis of the International Latitude Serivce (ILS) polar motion data-day has been processed using Kalman filtering techniques to generate the polar motion excitation function over the time-span from 1960 to 1965. The resulting excitation function has been examined for the effects of 1960 Chile in an attempt to determine experimentally how large earthquake affect polar motion. The resulting upper bound of about 75 x 10 to the 22nd N-m for a 10-deg dip (about 36 x 10 to the 22nd N-m for 20-deg dip) is consistent with results obtained from previous seismic studies, including a recent normal mode excitation result. Following future great earthquakes, monitoring of polar motion by space-based techniques such as VLBI should continue at high temporal resolution for several weeks in order to directly measure the rheological parameters of the upper mantle.

Slade, M. A.↗

NASA NTRS1990

Digital filtering of plume emission spectra

Madzsar, George C.↗

NASA NTRS1990

Identification of structural-borne noise components by the use of time-frequency filtering

In this paper it is shown that a time-frequency analysis of a structural impulse response may be used to identify the wave types carrying significant energy through a structure. The identification of various wave types is possible since each is characterized by its own dispersion relation, with the result that each wave type may be associated with characteristic features in the time-frequency domain representation of an impulse response. In the work described here, the Wigner Distribution has been used to obtain appropriate time-frequency representations of impulse responses. Practical aspects of the calculation of the Wigner Distribution are discussed briefly and examples of its application to the analysis of structural impulse responses are given. Additionally, filtering techniques are described that can be used both to detect the presence of and to quantify the energy carried by both nondispersive and dispersive waves.

Wahl, T. J.↗

NASA NTRS1991

High order filtering methods for approximating hyperbolic systems of conservation laws

The essentially nonoscillatory (ENO) schemes, while potentially useful in the computation of discontinuous solutions of hyperbolic conservation-law systems, are computationally costly relative to simple central-difference methods. A filtering technique is presented which employs central differencing of arbitrarily high-order accuracy except where a local test detects the presence of spurious oscillations and calls upon the full ENO apparatus to remove them. A factor-of-three speedup is thus obtained over the full-ENO method for a wide range of problems, with high-order accuracy in regions of smooth flow.

Lafon, F.↗