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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 271 records · Page 15

Reliable automatic plan selection for visual robotic positioning

Reliability analysis techniques developed for robotics are applied to a six-DOF (degree-of-freedom) visual positioning system. The task is to measure an object's pose and then grip the object reliably subject to time and accuracy constraints. Errors due to pixel truncation in the stadimetric vision system, forward kinematic and inverse kinematic uncertainties, and joint position and velocity noise are stochastically modeled. Simulation results for PUMA 500 kinematic and dynamic characteristics are presented.

Mcinroy, John E.↗

Improved image decompression for reduced transform coding artifacts

The perceived quality of images reconstructed from low bit rate compression is severely degraded by the appearance of transform coding artifacts. This paper proposes a method for producing higher quality reconstructed images based on a stochastic model for the image data. Quantization (scalar or vector) partitions the transform coefficient space and maps all points in a partition cell to a representative reconstruction point, usually taken as the centroid of the cell. The proposed image estimation technique selects the reconstruction point within the quantization partition cell which results in a reconstructed image which best fits a non-Gaussian Markov random field (MRF) image model. This approach results in a convex constrained optimization problem which can be solved iteratively. At each iteration, the gradient projection method is used to update the estimate based on the image model. In the transform domain, the resulting coefficient reconstruction points are projected to the particular quantization partition cells defined by the compressed image. Experimental results will be shown for images compressed using scalar quantization of block DCT and using vector quantization of subband wavelet transform. The proposed image decompression provides a reconstructed image with reduced visibility of transform coding artifacts and superior perceived quality.

Orourke, Thomas P.↗

The short-term prediction of universal time and length of day using atmospheric angular momentum

The ability to predict short-term variations in the Earth's rotation has gained importance in recent years owing to more precise spacecraft tracking requirements. Universal time (UT1), that component of the Earth's orientation corresponding to the rotation angle, can be measured by number of high-precision space geodetic techniques. A Kalman filter developed at the Jet Propulsion Laboratory (JPL) optimally combines these different data sets and generates a smoothed times series and a set of predictions for UT1, as well as for additional Earth orientation components. These UT1 predictions utilize an empirically derived random walk stochastic model for the length of the day (LOD) and require frequent and up-to-date measurements of either UT1 or LOD to keep errors from quickly accumulating. Recent studies have shown that LOD variations are correlated with changes in the Earth's axial atmospheric angular momentum (AAM) over timescales of several years down to as little as 8 days. AAM estimates and forecasts out to 10 days are routinely available from meteorological analysis centers; these data can supplement geodetic measurements to improve the short-term prediction of LOD and have therefore been incorporated as independent data types in the JPL Kalman filter. We find that AAM and, to a lesser extent, AAM forecast data are extremely helpful in generating accurate near-real-time estimates of UT1 and LOD and in improving short-term predictions of these quantities out to about 10 days.

Freedman, A. P.↗

The second-moment climatology of the GATE rain rate data

The first part of this paper presents the description of the GARP (Global Atmospheric Research Program) Atlantic Tropical Experiment (GATE) 1 rain-rate data and its two-dimensional spectral and correlation characteristics, which has made it possible to accomplish the following: to show the concentration of a significant power along the frequency axis in the spatiotemporal spectra; to detect a diurnal cycle (which has a range of variation of about 3.4-5.4 mm/n) as one of the sources of bias in the rain statistics of satellite data; to study the distinction between the north-south and east-west transport of spatial rain-rate field and character of its anisotropy; to evaluate the scales of the distinction between second-moment estimates associated with ground and satellite samples; and to determine the appropriate spatial and temporal scales of simple linear stochastic models fitted to averaged rain-rate fields. The second part of this paper is devoted to an analysis of the diffusion of the rain rate by establishing a relationship between the parameters of the multivariate autoregressive model and the coefficients of a diffusion equation. This analysis led to the use of rain data to estimate the rain advection velocity as well as other coefficients of the diffusion equation of the corresponding field. The results obtained can be used for comparison with corresponding estimates of other sources of data (satellite, Tropical Oceans Global Atmosphere Coupled Ocean - Atmosphere Response Experiment (TOGA, COARE) or simulated by physical models), for generating multiple samples of any size, for solving the inverse problems of some of the hydrodynamic equations, and in some other areas of rain data analysis and modeling.

Polyak, Ilya↗

The Elastic Response of the Earth to Interannual Variations in Antarctic Precipitation

Measurements of elastic displacements of the bedrock surrounding large ice sheets have been proposed as a means to detect mass changes in these ice sheets. However, accumulation of glacial mass on the ice sheets is a noisy process, subject to large spatial and temporal variations in precipitation. We simulated the response of the Antarctic continent to a stochastic model of interannual precipitation variations and found that interannual variations in the elastic response of the earth are large when compared to the long-term mean of displacements produced by an assumed average ice mass imbalance of 10%. If, as some scientists predict, Antarctic ice mass changes in the future become dramatic, the long-term signal should be large enough to be detected by a few years of geodetic measurements, despite climatic noise.

Hager, Bradford H.↗

Evolutionary Cell Computing: From Protocells to Self-Organized Computing

On the path from inanimate to animate matter, a key step was the self-organization of molecules into protocells - the earliest ancestors of contemporary cells. Studies of the properties of protocells and the mechanisms by which they maintained themselves and reproduced are an important part of astrobiology. These studies also have the potential to greatly impact research in nanotechnology and computer science. Previous studies of protocells have focussed on self-replication. In these systems, Darwinian evolution occurs through a series of small alterations to functional molecules whose identities are stored. Protocells, however, may have been incapable of such storage. We hypothesize that under such conditions, the replication of functions and their interrelationships, rather than the precise identities of the functional molecules, is sufficient for survival and evolution. This process is called non-genomic evolution. Recent breakthroughs in experimental protein chemistry have opened the gates for experimental tests of non-genomic evolution. On the basis of these achievements, we have developed a stochastic model for examining the evolutionary potential of non-genomic systems. In this model, the formation and destruction (hydrolysis) of bonds joining amino acids in proteins occur through catalyzed, albeit possibly inefficient, pathways. Each protein can act as a substrate for polymerization or hydrolysis, or as a catalyst of these chemical reactions. When a protein is hydrolyzed to form two new proteins, or two proteins are joined into a single protein, the catalytic abilities of the product proteins are related to the catalytic abilities of the reactants. We will demonstrate that the catalytic capabilities of such a system can increase. Its evolutionary potential is dependent upon the competition between the formation of bond-forming and bond-cutting catalysts. The degree to which hydrolysis preferentially affects bonds in less efficient, and therefore less well-ordered, peptides is also critical to evolution of a non-genomic system. Based on these results, a new computational object called a "molnet" is defined. Like a neural network, it is formed of interconnected units that send "signals" to each other. Like molecules, neural networks have a specific function once their structure is defined. The difference between a molnet and traditional neural networks, is that input to molnets is not simply passed along and processed from input to output units, but rather it is utilized to form and break connections(bonds), and thus to form new structures. Molnets represent a powerful tool that can be used to understand the conditions under which chemical systems can form large molecules, such as proteins, and display ever more complex functions. This has direct applications, for example to the design of smart,synthetic fabrics. Additional information is contained in the original.

Colombano, Silvano↗

Visualizing Distributions from Multi-Return Lidar Data to Understand Forest Structure

Spatially distributed probability density functions (pdfs) are becoming relevant to the Earth scientists and ecologists because of stochastic models and new sensors that provide numerous realizations or data points per unit area. One source of these data is from multi-return airborne lidar, a type of laser that records multiple returns for each pulse of light sent towards the ground. Data from multi-return lidar is a vital tool in helping us understand the structure of forest canopies over large extents. This paper presents several new visualization tools that allow scientists to rapidly explore, interpret and discover characteristic distributions within the entire spatial field. The major contribution from-this work is a paradigm shift which allows ecologists to think of and analyze their data in terms of the distribution. This provides a way to reveal information on the modality and shape of the distribution previously not possible. The tools allow the scientists to depart from traditional parametric statistical analyses and to associate multimodal distribution characteristics to forest structures. Examples are given using data from High Island, southeast Alaska.

Kao, David L.↗

Spatial scale of motion segmentation from speed cues

For the accurate perception of multiple, potentially overlapping, surfaces or objects, the visual system must distinguish different local motion vectors and selectively integrate similar motion vectors over space to segment the retinal image properly. We recently showed that large differences in speed are required to yield a percept of motion transparency. In the present study, to investigate the spatial scale of motion segmentation from speed cues alone, we measured the speed-segmentation threshold (the minimum speed difference required for 75% performance accuracy) for 'corrugated' random-dot patterns, i.e. patterns in which dots with two different speeds were alternately placed in adjacent bars of variable width. In a first experiment, we found that, at large bar widths, a smaller speed difference was required to segment and perceive the corrugated pattern of moving dots, while at small bar-widths, a larger speed difference was required to segment the two speeds and perceive two transparent surfaces of moving dots. Both the perceptual and segmentation performance transitions occurred at a bar width of around 0.4 degrees. In a second experiment, speed-segmentation thresholds were found to increase sharply when dots with different speeds were paired within a local pooling area. The critical pairing distance was about 0.2 degrees in the fovea and increased linearly with stimulus eccentricity. However, across the range of eccentricities tested (up to 15 degrees ), the critical pairing distance did not change much and remained close to the receptive field size of neurons within the primate primary visual cortex. In a third experiment, increasing dot density changed the relationship between speed-segmentation thresholds and bar width. Thresholds decreased for large bar widths, but increased for small bar widths. All of these results are well fit by a simple stochastic model, which estimates the probabilities of having identical or different motion vectors within a local pooling area whose size is the same as that of primate V1 neurons. Altogether, these results demonstrate that speed-based segmentation can function well, even at small spatial scales (i.e. high-spatial frequencies of spatial corrugation) and thereby emphasizes the critical role of a local pooling process early in the cortical motion-processing pathway.

NASA Discipline Neuroscience↗

Combining Earth Orientation Measurements Using a Kalman Filter

A Kalman filter has many properties that make it an attractive choice as a technique for combining Earth orientation measurements. It allows the full accuracy of the measurements to be used, whether the measurements are degenerate or are of full rank, are irregularly or regularly spaced in time, or are corrupted by systematic or other errors that can be described by stochastic models.

Earth rotation combination Kalman filter↗

The Short-Term Prediction of Universal Time and Length-Of-Day Using Atmospheric Angular Momemtum

Methods to combine the diverse set of geodetic measurements of Earth orientation that are currently available, and to interpolate and extrapolate these data to generate an optimal estimate of Earth orientation, have been under development at JPL for a number of years. The strategy currently in use is a Kalman filtering scheme based on Earth orentation parameters and their excitation functions that incorporates stochastic models of the important physical processes and takes into account the variable form, quality, and temporal density of the data provided by diffent measurement services.

Universal Time↗

Toward a Physical Characterization of Raindrop Collision Outcome Regimes

A comprehensive raindrop collision outcome regime diagram that delineates the physical conditions associated with the outcome regimes (i.e., bounce, coalescence, and different breakup types) of binary raindrop collisions is proposed. The proposed diagram builds on a theoretical regime diagram defined in the phase space of collision Weber numbers We and the drop diameter ratio p by including critical angle of impact considerations. In this study, the theoretical regime diagram is first evaluated against a comprehensive dataset for drop collision experiments representative of raindrop collisions in nature. Subsequently, the theoretical regime diagram is modified to explicitly describe the dominant regimes of raindrop interactions in (We, p) by delineating the physical conditions necessary for the occurrence of distinct types of collision-induced breakup (neck/filament, sheet, disk, and crown breakups) based on critical angle of impact consideration. Crown breakup is a subtype of disk breakup for lower collision kinetic energy that presents distinctive morphology. Finally, the experimental results are analyzed in the context of the comprehensive collision regime diagram, and conditional probabilities that can be used in the parameterization of breakup kernels in stochastic models of raindrop dynamics are provided.

Testik, F. Y.↗

On the Impact Angle of Hurricane Sandy's New Jersey Landfall

Hurricane Sandy's track crossed the New Jersey coastline at an angle closer to perpendicular than any previous hurricane in the historic record, one of the factors contributing to recordsetting peak-water levels in parts of New Jersey and New York. To estimate the occurrence rate of Sandy-like tracks, we use a stochastic model built on historical hurricane data from the entire North Atlantic to generate a large sample of synthetic hurricanes. From this synthetic set we calculate that under long-term average climate conditions, a hurricane of Sandy's intensity or greater (category 1+) makes NJ landfall at an angle at least as close to perpendicular as Sandy's at an average annual rate of 0.0014 yr-1 (95% confidence range 0.0007 to 0.0023); i.e., a return period of 714 years (95% confidence range 435 to 1429).

hurricanes↗

Development of a Detailed Surface Chemistry Framework in DSMC

A generalized finite-rate surface chemistry framework incorporating a comprehensive list of reaction mechanisms is developed and implemented into the Direct Simulation Monte Carlo (DSMC) solver SPARTA (Stochastic PArallel Rarefied-gas Time-accurate Analyzer). The various mechanisms include adsorption, desorption, Eley-Rideal (ER), and several types of Langmuir-Hinshelwood (LH) mechanisms. The approach is to stochastically model the various competing reactions occurring on a set of active sites. Both gas-surface (e.g., adsorption, ER) and pure-surface (e.g., desorption) reaction mechanisms are incorporated, and the framework also includes catalytic or surface altering mechanisms involving the participation of the bulk-phase species (e.g., bulk carbon atoms). Marschall and MacLean developed a general formulation in which multiple phases and surface sites are used and a similar convention is adopted in the current work. Expressions for the microscopic parameters of reaction probabilities (for gas-surface reactions) and frequencies (for pure-surface reactions) that are required for DSMC are derived from the surface properties and macroscopic parameters such as rate constants, sticking coefficients, etc. The energy and angular distributions of the products are specified according to the reaction type and input parameters. This framework also presents physically consistent procedures to accurately compute the reaction probabilities and frequencies in the case of multiple reactions. The result is a modeling tool with a wide variety of surface reactions characterized via user-specified reaction rate constants, surface properties and parameters.

Surface Chemistry↗

Integration of Uncertain Ramp Area Aircraft Trajectories and Generation of Optimal Taxiway Schedules at Charlotte Douglas (CLT) Airport

The integration of aircraft maneuver characteristics into an optimal taxiway scheduling solution is challenging due to the uncertainties that are intrinsic to ramp area aircraft trajectories. To address the challenge, we build a stochastic model of ramp area aircraft trajectories that is used to generate a probabilistic measure of conflict within the Charlotte Douglas International Airport (CLT) ramp area. Parameters of the conflict distributions are estimated and passed to a Mixed Integer Linear Program that solves for an optimal taxiway schedule constrained to be conflict free in the presence of trajectory uncertainties. Here we extend our previous research by accounting for departing and arriving aircraft whereas our prior formulation only accounted for departing aircraft.

taxiway schedule↗

Loss of Control Detection for Commercial Transports Using Conditional Variational Autoencoders

This work describes a detector for the loss of control of a commercial transport in flight. The detector has a belief state defined by the latent variable stochastic modeling of a conditional variational autoencoder (CVAE) constructed with bidirectional recurrent layers. In 2000, the Boeing Company and the NASA Langley Research Center jointly developed a quantitative set of metrics for defining loss-of-control (LOC) for a commercial transport. We use the thresholds for these quantitative metrics to define a condition vector for training the CVAE. We demonstrate through experimentation that reconstruction probability is an accurate indicator that the vehicle has shifted to an LOC state. Second, we introduce a technique for inferring that the vehicle is experiencing a flight state change is approaching by measuring a shift in the sampling Gaussian distributions of the latent space. We provide an analysis of its applicability to flight data from a NASA generic commercial transport-type aircraft.

Newton H Campbell↗

Loss of Control Detection for Commercial Transport Aircraft Using Conditional Variational Autoencoders

This work describes a detector for the loss of control condition of a commercial transport in flight. The detector has a belief state defined by the latent variable stochastic modeling of a conditional variational autoencoder (CVAE) constructed with bidirectional recurrent layers. In 2000, the Boeing Company and the NASA Langley Research Center jointly developed a quantitative set of metrics for defining loss-of-control (LOC) for a commercial transport. We use the thresholds for these quantitative metrics to define a condition vector for training the CVAE. First, we demonstrate through experimentation that reconstruction probability is an accurate indicator that the vehicle has shifted to an LOC state. Second, we introduce a technique for inferring that the vehicle is approaching a flight state change by measuring a shift in the sampling distributions of the CVAE latent space. The sampling distributions for flight observations that are approaching envelope limits are localized to external areas of the latent space. We provide an analysis of its applicability to flight data from NASA’s dynamically-scaled generic transport model (GTM) aircraft.

Loss of control↗

NESC GN&C TDT Workshop on 2D Image Motion Optical Transfer Functions, Pointing Performance Analysis, and Requirements

What You Will Learn: The focus is on payload imaging performance due to pointing motion. Some historical background on pointing performance analysis is given. The Optical Transfer Function (OTF) and Modulation Transfer Function (MTF) are defined. The imaging performance due to pointing motion is measured by image motion optical transfer functions (IM OTF). IM OTFs are defined for displacement, smear, and jitter motions, which are all rigorously defined. Deterministic and Statistical IM OTFs are briefly derived and graphically illustrated and compared. The IM OTFs are parameterized by pointing error metrics(PEM), which are means and covariances of displacement, smear, and jitter. Emphasis is on procedures and algorithms to evaluate the image motion optical transfer functions and pointing error metrics. Three procedures are covered, which depend on whether the pointing error data is from time-domain simulation, frequency-domain analysis, or stochastic modeling. A method to evaluate the relative contribution of disturbance sources and to identify the most significant contributors is presented. The presentation includes pertinent discussion of flexible structures and control-structure interaction. No single book can adequately cover this subject, so a book is not required for the course. A list of selected articles, reports, documents, and books is provided for reference and further study. Mathis kept to the minimum necessary to convey principles; lengthy derivations are left to the reference material. Graphics are used to illustrate concepts. As with any such learning endeavor, the knowledge gained will be retained and strengthened through actual practice.c©2019–2021 Mark E. Pittelkau— 5

NASA Engineering and Safety Center (NESC)↗

Analyzing the Efficacy of Flexible Execution, Replanning, and Plan Optimization for a Planetary Lander

Plan execution in unknown environments poses a number of challenges: uncertainty in domain modeling, stochasticity at execution time, and the presence of exogenous events. These challenges motivate an integrated approach to planning and execution that is able to respond intelligently to variation. We examine this problem in the context of the Europa Lander mission concept, and evaluate a planning and execution framework that responds to feedback and task failure using two techniques: flexible execution and replanning with plan optimization. We develop a theoretical framework to estimate gains from these techniques, and we compare these predictions to empirical results generated in simulation. These results indicate that an integrated approach to planning and execution leveraging flexible execution, replanning, and utility maximization shows significant promise for future tightly-constrained space missions that must address significant uncertainty.

Chien, Steve↗