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Techniques developed originally for electronic systems also useful for multibody mechanical systems. Report summarizes methods developed to solve nonlinear forward-dynamics problem for robot of multiple-link arms connected by joints. Primary objective to show equivalence between recursive methods of dynamical analysis and some filtering and smoothing techniques from state-estimation theory.
...This paper presents results from a demonstration of a new sequential filter model and data reduction technique, dubbed the enhanced filter, performed with radio tracking data obtained from the Galileo spacecraft.
In this paper a technique is developed for choosing programing forms and bit configurations for digital filters that minimize the quantization errors. The technique applies to digital filters operating in fixed-point arithmetic in either open-loop or closed-loop systems, and is implemented by a digital computer program that is based on a digital simulation of the system. As an output the program gives the programing form required for minimum quantization errors, the total bit configuration required in the filter, and the location of the binary decimal point at each quantizer within the filter.
Charged track reconstruction is a critical task in nuclear physics experiments, enabling the identification and analysis of particles produced in high-energy collisions. Machine learning (ML) has emerged as a powerful tool for this purpose, addressing the challenges posed by complex detector geometries, high event multiplicities, and noisy data. Traditional methods rely on pattern recognition algorithms like the Kalman filter, but ML techniques, such as neural networks, graph neural networks (GNNs), and recurrent neural networks (RNNs), offer improved accuracy and scalability. By learning from simulated and real detector data, ML models can identify and classify tracks, predict trajectories, and handle ambiguities caused by overlapping or missing hits. Moreover, ML-based approaches can process data in near-real-time, enhancing the efficiency of experiments at large-scale facilities like the Large Hadron Collider (LHC) and Jefferson Lab (JLAB). As detector technologies and computational resources evolve, ML-driven charged track reconstruction continues to push the boundaries of precision and discovery in nuclear physics. In these proceedings, we highlight advancements in charged track identification leveraging Artificial Intelligence within the CLAS12 detector, achieving a notable enhancement in experimental statistics compared to traditional methods. Additionally, we showcase real-time event reconstruction capabilities, including the inference of charged particle properties, such as momentum, direction, and species identification, at speeds matching data acquisition rates. These innovations enable the extraction of physics observables directly from the experiment in real-time.
The interaction of a large‐amplitude disturbing wave with a thermally generated, highly ionized cesium plasma has been investigated using a small‐amplitude sensing wave as a probe. The subsequent interaction between the disturbing and sensing waves is related to the plasma electron temperature. The plasma was contained in a magnetic field of 500–1000 G and had an electron plasma frequency near 10 GHz and an electron gyromagnetic frequency around 2 GHz. The sensing wave was a 10 GHz plane wave of approximately 1.5 mW input power and the disturbing wave was 7.5 GHz plane wave of about 1.2 W peak power. Measurements of the sensing‐wave transmitted power were made using standard microwave techniques. A notch filter in the sensing‐wave receiving circuit reduced the scattered disturbing‐wave interference to an immeasurably low level. Langmuir probes were used to detect disturbing‐wave modulation and to measure plasma temperatures and densities. Measurements of the interaction were correlated with a solution of the Boltzmann transport equation for a perturbed Maxwellian distribution function with binary Coulomb collisions.
Adaptive notch filter, using modulation techniques for reversed phase noise signal
Methods of image enhancement which can be used by an operator who is not experienced with the mechanisms of enhancement to obtain satisfactory results were designed and implemented. Investigation of transformations which operate directly on the image domain resulted in a new technique of contrast enhancement. Transformations on the Fourier transform of the original image, including such techniques as homomorphic filtering, were also investigated. The methods of communication between the enhancement system and the computer operator were analyzed, and a language was developed for use in image enhancement. A working enhancement system was then created, and is included.
A system for measuring air pollutants in-situ using an aircraft was designed, fabricated, and tested. The system is based upon a technique called Gas Filter Correlation (GFC) which provides for high sensitivity and specificity in the presence of interfering species. This particular system was designed for measuring hydrochloric acid and carbon monoxide gases emitted from rocket exhaust effluents.
An approach to estimating the Curie point isotherm uses the classical Gauss method inverting a system of nonlinear equations. The method, slightly modified by a differential correction technique, directly inverts filtered Magsat data to calculate the crustal structure above the Curie depth, which is modeled as a magnetized layer of varying thickness and susceptibility. Since the depth below the layer is assumed to be nonmagnetic, the bottom of the layer is interpreted as the Curie depth. The method, once fully developed, tested, and compared with previous work by others, is to be applied to a portion of the eastern U.S. when sufficient Magsat data are accumulated for the region.
Nonlinear mathematical models of a rotor system, referred to as rotating blade-element models, produce steady-state, high-frequency harmonics of significant magnitude. In a discrete simulation model, certain of these harmonics may be incompatible with realistic real-time computational constraints because of their aliasing into the operational low-pass region. However, the energy is an aliased harmonic may be suppressed by increasing the computation rate of an isolated, causal nonlinearity and using an appropriate filter. This decontamination technique is applied to Sikorsky's real-time model of the Black Hawk helicopter, as supplied to NASA for handling-qualities investigations.
Most existing image analysis systems were designed with the Landsat Multi-Spectral Scanner in mind, leaving open the question of whether or not these systems could adequately process Thematic Mapper data. In this report, both hardware and software systems have been evaluated for compatibility with TM data. Lack of spectral analysis capability was not found to be a problem, though techniques for spatial filtering and texture varied. Computer processing speed and data storage of currently existing mini-computer based systems may be less than adequate. Upgrading to more powerful hardware may be required for many TM applications.
Paper discusses use of difference equations from Kalman filtering and Bryson-Frazier smoothing to solve equations of forward dynamics of closed chain of robot-arm links. "Forward dynamics" is computation of linear and angular accelerations of joints between links, given set of applied or prescribed joint torques. Paper lays foundation for potential use of filtering and smoothing techniques in dynamics of robots and in design of controls for robots.
The recursive difference equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing, arising in the state estimation theory for linear state space systems, are used here to solve problems of serial manipulator inverse and forward dynamics. The configuration analyzed is that of a joint connected N-link serial manipulator attached to an immobile base. The equivalence between the filtering and smoothing techniques from state estimation theory and recursive robot dynamics methods is demonstrated. Several areas for future research are suggested.
The ACES Program involved the experimental evaluation of three LSS (large space structures) control design techniques at the LSS GTF (ground test facility) at NASA/MSFC. The three techniques were developed under the ACOSS (active control of space structures) Program specifically for application to LSS. The techniques included FAMESS (filter accommodated model error sensitivity suppression), HAC/LAC (high authority control/low authority control), and positivity. Some of the lessons that have been learned during the course of the ACES program are examined.
A spatial operator algebra for modeling the control and trajectory design of manipulation is discussed, with emphasis on its analytical formulation and implementation in the Ada programming language. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of the manipulator. Inversion is obtained using techniques of recursive filtering and smoothing. The operator alegbra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. Implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection, thus greatly simplifying the transition from an abstract problem formulation and solution to the detailed mechanization of a specific algorithm.
A recently developed spatial operator algebra, useful for modeling, control, and trajectory design of manipulators is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics. Furthermore, implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection. Thus, the transition from an abstract problem formulation and solution to the detailed mechanizaton of specific algorithms is greatly simplified. The analytical formulation of the operator algebra, as well as its implementation in the Ada programming language are discussed.
An area-mapping technique, designed to filter out synoptic perturbations of the Antarctic polar vortex such as distortion or displacement away from the pole, was applied to the Nimbus-7 TOMS (Total Ozone Mapping Spectrometer) data. This procedure reveals the detailed morphology of the temporal evolution of column O3. The results for the austral spring of 1987 suggest the existence of a relatively stable collar region enclosing an interior that is undergoing large variations. A simplified photochemical model of O3 loss and the temporal evolution of the area-mapped polar O3 are used to constrain the chlorine monoxide (ClO) concentrations in the springtime Antarctic vortex. The O3 loss rates could be larger than deduced here because of underestimates of total O3 by TOMS near the terminator.
A recently developed spatial operator algebra for manipulator modeling, control, and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and for control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics.