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Software for guidance of robot to operate in plant-growth chamber provides for end effector of robot to avoid obstacles at known positions. Includes algorithm implementing potential-field method for guidance away from obstacles and toward goal point, where object manipulated by end effector may be located.
It is noted that the distorsions introduced by the variation of distance between the sources and the measurement points can be important enough to create fake anomalies. The average amplitude of the anomalies at MAGSAT altitude is of the order of a few nT. Thus it is necessary to be careful in reducing MAGSAT data to a common elevation. The achievement of the corresponding anomaly map is of primary importance for the study of regional and long wave length anomalies. A method for the continuation of potential fields is described which consists in representing any harmonic function (in particular the anomaly is function of space coordinates) as a sum of elementary harmonic functions; the continuation being achieved by an inverse technique. Tests, made on a synthetic set of data, evaluate the method.
A hybrid-network method for obstacle avoidance in the truck-backing system of D. Nguyen and B. Widrow (1989) is presented. A neural network technique for vehicle navigation and control in the presence of obstacles has been developed. A potential function which peaks at the surface of obstacles and has its minimum at the proper vehicle destination is computed using a network structure. The field is guaranteed not to have spurious local minima and does not have the property of flattening-out far from the goal. A feedforward neural network is used to control the steering of the vehicle using local field information. The network is trained in an obstacle-free space to follow the negative gradient of the field, after which the network is able to control and navigate the truck to its target destination in a space of obstacles which may be stationary or movable.
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Crustal anomaly detection with MAGSAT data is frustrated by the inherent resolving power of the data and by contamination from the external and core fields. The quality of the data might be tested by modeling specific tectonic features which produce anomalies that fall within the proposed resolution and crustal amplitude capabilities of the MAGSAT fields. To test this hypothesis, the north African hotspots associated with Ahaggar, Tibestia and Darfur have been modeled as magnetic induction anomalies due solely to shallower depth to the Curie isotherm surface beneath these features. The MAGSAT data were reduced by subtracting the external and core fields to isolate the scalar and vertical component crustal signals. The predicted model magnetic signal arising from the surface topography of the uplift and the Curie isotherm surface was calculated at MAGSAT altitudes by the Fourier transform technique modified to allow for variable magnetization. In summary it is suggested that the region beneath Ahaggar is associated with a strong thermal anomaly and the predicted anomaly best fits the associated MAGSAT anomaly if the African plate is moving in a northeasterly direction.
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Explore the source record for details and available documents.
Explore the source record for details and available documents.
Explore the source record for details and available documents.
Explore the source record for details and available documents.
A comparison is conducted of the structure of the heliospheric current sheet early in sunspot cycle 21 as computed from the observed photospheric magnetic field with a potential field approximation and as inferred from synoptic maps of the observed coronal polarization brightness. On most of the solar rotations compared, the two methods give essentially the same results; the basic shape of the warped current sheet and the amplitude (in solar latitude) of the displacements of the sheet from the solar equator are similar. On one rotation the current sheet computed with the potential field approximation appears to be distorted by a large photospheric region of unbalanced magnetic flux.
Photospheric line-of-sight and transverse-magnetic-field data obtained, with a vector magnetograph system for an isolated sunspot are described. A study of the linear polarization patterns and of the calculated transverse field lines indicates that the magnetic field of the region is very nearly potential. The H-alpha fibril structures of this region as seen in high-resolution photographs corroborate this conclusion. Consequently, a potential-field calculation is described using the measured line-of-sight fields together with assumed Neumann boundary conditions; both are necessary and sufficient for a unique solution. The computed transverse fields are then compared with the measured transverse fields to verify the potential-field model and assumed boundary values. The implications of these comparisons for the validity of magnetic-field extrapolations using potential theory are discussed.
Potential distribution in electron-collisionless plasma in weak magnetic field
Gravitational potential data from GRACE are being used to study mass redistribution within and between the atmosphere, hydrosphere, cryosphere, and solid Earth. The GRACE data are made available in a reference frame with its origin at the center of mass of the Earth system (geocenter) while many other geophysical models and data sets refer to a reference frame attached to the Earth's surface. Changes in the offset between these reference frames (geocenter motion) must be accounted for when GRACE data are used to quantify surface mass changes. In this study, we developed a technique for co‐estimation of geocenter motion and gravitational potential field seamlessly from degree 1 to 90 by simultaneously inverting a set of globally‐distributed GPS displacement time series and the temporally‐varying GRACE gravity data. We found that the effect of geocenter motion was evident particularly in the GPS time series of horizontal displacements. Our estimates of geocenter motion are most consistent with the Satellite Laser Ranging (SLR) results within 1 mm in X and Z components and a submillimeter in Y component, when compared to monthly variability averaged over the period of 2003–2016. The overall magnitude of the degree‐1 (l = 1) surface mass load is estimated to be ~3 cm in equivalent water height annually migrating south‐westward from Europe (December–January) to the South Pacific (June–July). Our results also show that dense GPS network data improve water storage recovery in major river basins in the United States and Europe by contributing significantly to the recovery of higher‐degree (l ≥ ~20) geopotential coefficients.
The mathematical basis of a Tikhonov regularization method for extrapolating the chromospheric-coronal magnetic field using photospheric vector magnetograms is discussed. The basic techniques show that the Cauchy initial value problem can be formulated for potential magnetic fields. The potential field analysis considers a set of linear, elliptic partial differential equations. It is found that, by introducing an appropriate smoothing of the initial data of the Cauchy potential problem, an approximate Fourier integral solution is found, and an upper bound to the error in the solution is derived. This specific regularization technique, which is a function of magnetograph measurement sensitivities, provides a method to extrapolate the potential magnetic field above an active region into the chromosphere and low corona.
Effects of field-aligned potential drops on the magnetosphere-ionosphere coupling in a steady state are studied on a global ionospheric scale. It is shown that a constant-current generator can support a larger field-aligned potential drop than a constant voltage generator under similar conditions. The magnetospheric convection pattern is distorted more in the constant current generator case than in the constant voltage generator case. The main difference between a constant current generator and a constant voltage generator is found to lie in their ability to adjust the vorticity of the magnetospheric convection. The results show that a constant current generator allows the vorticity of the magnetospheric convection to adjust so that the field-aligned current can be kept constant under the loading influence of the field-aligned potential. On the other hand, a constant voltage generator by definition cannot adjust the vorticity of the magnetospheric convection to maintain the field-aligned current under the loading influence of the field-aligned potential.
The coronal magnetic field defines the structure of the solar corona, the position of the heliospheric current sheet, the regions of fast and slow solar wind, and the most likely sites of coronal mass ejections. There are few measurements of the magnetic fields in the corona, but the line-of-sight component of the global magnetic fields in the photosphere have been routinely measured for many years (for example, at Stanford's Wilcox Solar Observatory, and at the National Solar Observatory at Kitt Peak). The SOI/MDI instrument is now providing high-resolution full-disk magnetograms several times a day. Understanding the large-scale structure of the solar corona and inner heliosphere requires accurately mapping the measured photospheric magnetic field into the corona and outward. Ideally, a model should not only extrapolate the magnetic field, but should self-consistently reconstruct both the plasma and magnetic fields in the corona and solar wind. Support from our NASA SR&T contract has allowed us to develop three-dimensional magnetohydrodynamic (MHD) computations of the solar corona that incorporate observed photospheric magnetic fields into the boundary conditions. These calculations not only describe the magnetic field in the corona and interplanetary spice, but also predict the plasma properties as well. Our computations thus far have been successful in reproducing many aspects of both coronal and interplanetary data, including the structure of the streamer belt, the location of coronal hole boundaries, and the position and shape of the heliospheric current sheet. The most widely used technique for extrapolating the photospheric magnetic field into the corona and heliosphere are potential field models, such as the potential field source-surface model (PFSS),and the potential field current-sheet (PFCS) model
A comparison is made between the properties at the source surface of a potential field model of the solar corona and solar wind properties observed with ISEE 3 at 1 AU and extrapolated back to the sun. This is done for three consecutive Carrington rotations in the summer of 1979. The already known properties of a velocity minimum at the interplanetary current sheet and a tendency for the average velocity to increase with longitudinal distance from the current sheet are recovered. A better correlation between source surface properties and velocity is demonstrated by using the field strength on the source surface rather than longitudinal distance from the current sheet. Applying a simple algorithm to distinguish between transient and corotating interplanetary variations substantially increases the correlation. However, given a reasonable estimate of the number of degrees of freedom for the sample, only the correlation between source surface field strength and flow speed after the transients have been eliminated is statistically significant at the 1 percent level.