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In this paper a hierarchical control structure using a fuzzy system for coordination of the control actions is studied. The architecture involves two levels of control: a coordination level and an execution level. Numerical experiments will be utilized to illustrate the behavior of the controller when it is applied to a nonlinear plant.
Viewgraphs on technology coordination are provided. Topics covered include: technology coordination process to date; goals; how the Office of Aeronautics and Space Technology (OAST) can support the Office of Space Science and Applications (OSSA); how OSSA can support OAST; steps to technology transfer; and recommendations.
The authors present the dynamic coordination of a self-reconfigurable manipulator system capable of changing its mechanical structure according to given task requirements. The self-reconfiguration is achieved by reconfiguring the topology of a dual-arm system through serial, parallel, and bracing structures. Particular emphasis is placed on the dynamic coordination of two arms having three different dual-arm topologies. The authors develop the Cartesian space dynamic models of a dual-arm system of three dual-arm topologies and derive the kinematic and dynamic constraints imposed on two arms in cooperation. Dual-arm dynamic manipulabilities are defined to quantify the dynamic performance of three dual-arm topologies in terms of the efficiency of generating Cartesian accelerations. A methodology of selecting serial, parallel, and bracing structures based on dual-arm dynamic manipulabilities is provided.
The state of the art in the modeling of the dynamics of coordinated multiple robot manipulators is summarized and various problems related to this subject are discussed. It is recognized that dynamics modeling is a component used in the design of controllers for multiple cooperating robots. As such, the discussion addresses some problems related to the control of multiple robots. The techniques used to date in the modeling of closed kinematic chains are summarized. Various efforts made to date for the control of coordinated multiple manipulators is summarized.
The purposes of this investigation are to determine the plasma properties and magnetic field structure of the solar corona using coordinated observations obtained with NASA/GSFC's Solar EUV rocket Telescope and Spectrograph (SERTS), the Very Large Array (VLA), and magnetographs. The observations were obtained under the auspices of NASA's Max '91 program. The methods of achieving the stated purposes of this investigation are: (1) to use SERTS spectra and spectroheliograms to determine coronal plasma properties such as temperature, density, and emission measure; (2) to use the coronal plasma properties to calculate the intensity of the thermal bremsstrahlung microwave emission from the coronal plasma (the minimum microwave intensity expected from the emitting plasma); (3) to establish which emission mechanism(s) contribute to the observed microwave emission by comparing the calculated thermal bremsstrahlung intensity with the observed microwave intensity; (4) to derive the coronal magnetic field for regions in which gyroemission contributes to the microwave emission by determining the appropriate harmonic of the local electron gyrofrequency; (5) to derive the coronal magnetic field for regions in which thermal bremsstrahlung emission alone is responsible for the observed microwave emission by calculating the magnetic field which yields the observed microwave polarization; (6) to derive three-dimensional models of the coronal plasma and magnetic field which are consistent with all of the EUV spectra and spectroheliograms, as well as with the intensity and polarization maps at all of the microwave observing frequencies; and (7) to compare the coronal magnetic field derived from the coordinated multiwaveband observations with extrapolations from photospheric magnetograms.
The purposes of this investigation are to use existing, calibrated, coaligned sets of coordinated multiwaveband observations of the Sun to determine the coronal magnetic field strength and structure, and interpret the collective observations in terms of a self-consistent model of the coronal plasma and magnetic field. This information is vital to understanding processes such as coronal heating, solar wind acceleration, pre-flare energy storage, and active region evolution. Understanding these processes is the central theme of Max '91, the NASA-supported series of solar observing campaigns under which the observations acquired for this work were obtained. The observations came from NASA/GSFC's Solar EUV Rocket Telescope and Spectrograph (SERTS), the Very Large Array (VLA), and magnetographs. The technique of calculating the coronal magnetic field is to establish the contributions to the microwave emission from the two main emission mechanisms: thermal bremsstrahlung and thermal gyroemission. This is done by using the EUV emission to determine values of the coronal plasma quantities needed to calculate the thermal bremsstrahlung contribution to the microwave emission. Once the microwave emission mechanism(s) are determined, the coronal magnetic field can be calculated. A comparison of the coronal magnetic field derived from the coordinated multiwaveband observations with extrapolations from photospheric magnetograms will provide insight into the nature of the coronal magnetic field.
Global total ozone measurements from the Nimbus 7 Total Ozone Mapping Spectrometer (TOMS) are analyzed using potential vorticity (PV) as an approximate vortex-following coordinate. We analyze the time period November 1978-May 1991, prior to the volcanic eruption of Mt. Pinatubo. The TOMS data are remapped into PV coordinates and trends are calculated, thereby characterizing ozone losses inside and outside the winter polar vortices. These analyses show large regions of ozone loss outside of the vortex in both hemispheres. Furthermore, these data suggest that midlatitude losses in the NH during winter-spring do not result solely from the transport of ozone depleted air from inside to outside the vortex.
Bolt Circle Calculation (BOLT-CALC) computer program used to reduce significant time consumed in manually computing trigonometry of rectangular Cartesian coordinates of holes in bolt circle as shown on blueprint or drawing. Eliminates risk of computational errors, particularly in cases involving many holes or in cases in which coordinates expressed to many significant digits. Program assists in many practical situations arising in machine shops. Written in BASIC. Also successfully compiled and implemented by use of Microsoft's QuickBasic v4.0.
The purposes of this investigation are to determine the plasma properties and magnetic field structure of the solar corona using coordinated observations obtained with NASA/GSFC's Solar EUV Rocket Telescope and Spectrograph (SERTS), the Very Large Array (VLA), and magnetographs. The observations were obtained under the auspices of NASA's Max '91 program. The methods of achieving the stated purposes are to use SERTS spectra and spectroheliograms to determine coronal plasma properties such as temperature, density, and emission measure. These properties are subsequently used to calculate the intensity of the thermal bremsstrahlung microwave emission from the coronal plasma (the minimum microwave intensity expected from the emitting plasma). This, in turn, can be used to establish which emission mechanism(s) contribute to the observed microwave emission. Because both mechanisms that may contribute to quiescent active region microwave emission (thermal bremsstrahlung and thermal gyroemission) depend upon the coronal magnetic field in known ways, this information can ultimately be used to derive the coronal magnetic field. Ideally, three-dimensional models of the coronal plasma and magnetic field which are consistent with all of the EUV spectra and spectroheliograms, as well as with the intensity and polarization maps at all of the microwave observing frequencies, can be derived. For completeness, the coronal magnetic field derived from the coordinated multiwaveband observations must be compared with extrapolations from photospheric magnetograms.
In this session, we address four fundamental questions related to environmental fields with emphasis on education. These are: What are the goals, objectives, and practical opportunities for coordinating our projects? How can we improve awareness of, interest in, access to, and support the products of our work? How can we build relationships between projects for scientific, educational, technical, and programmatic benefit? How can we evaluate the effectiveness of coordination efforts. In this working session, we produced answers to these questions and proposed a structure for future collaboration.
A simple and computationally efficient approach is disclosed for on-line coordinated control of mobile robots consisting of a manipulator arm mounted on a mobile base. The effect of base mobility on the end-effector manipulability index is discussed. The base mobility and arm manipulation degrees-of-freedom are treated equally as the joints of a kinematically redundant composite robot. The redundancy introduced by the mobile base is exploited to satisfy a set of user-defined additional tasks during the end-effector motion. A simple on-line control scheme is proposed which allows the user to assign weighting factors to individual degrees-of-mobility and degrees-of-manipulation, as well as to each task specification. The computational efficiency of the control algorithm makes it particularly suitable for real-time implementations. Four case studies are discussed in detail to demonstrate the application of the coordinated control scheme to various mobile robots.
We performed a coordinated RXTE observation of the prototypical eclipsing binary Algol in conjunction with EUVE and ASCA observations. Observing the x-ray spectrum of Algol with ASCA, EUVE, and RXTE provides critical, near-simultaneous constraints on the distribution of the hottest temperature plasma in the Agol system: this is required to unambiguously determine the coronal Fe abundance. After some initial shuffling of observatory schedules with the help of mission planners, the coordinated multiwavelength observation was successfully performed in February, 1996. Analysis of the data, including development of new, IDL-based global model fitting routines, was accomplished from mid-1996 to mid-1997. The results indicate that the initial estimates of [Fe/H] approximately 0.3 dex (Stern et al.) are confirmed, and the Algol high temperature plasma thus has an Fe deficiency relative to the (Anders and Grevesse) solar abundance.
The purpose of this report is to identify the essential characteristics of goal-directed whole-body motion. The report is organized into three major sections (Sections 2, 3, and 4). Section 2 reviews general themes from ecological psychology and control-systems engineering that are relevant to the perception and control of whole-body motion. These themes provide an organizational framework for analyzing the complex and interrelated phenomena that are the defining characteristics of whole-body motion. Section 3 of this report applies the organization framework from the first section to the problem of perception and control of aircraft motion. This is a familiar problem in control-systems engineering and ecological psychology. Section 4 examines an essential but generally neglected aspect of vehicular control: coordination of postural control and vehicular control. To facilitate presentation of this new idea, postural control and its coordination with vehicular control are analyzed in terms of conceptual categories that are familiar in the analysis of vehicular control.
There is increasing evidence that many air transport incidents and accidents are the result of the improper or inadequate utilization of the resources accessible to flight dock crew members. These resources obviously include the hardware and technical information necessary for the safe and efficient conduct of the flight, but they also Include the human resources which must be coordinated effectively. The focus of this paper is upon the human resources, and how communication styles, socio-psychological factors, and personality characteristics can affect crew coordination.
The main result of this paper is the derivation of a new expression for the tracer subgrid term in level coordinates S(l) to be employed in O-GCM. The novel feature is the proper account of the random nature of the density field which strongly affects the transformation from isopycnal to level coordinates of the variables of interest, velocity and tracer fields, their correlation functions and ultimately the subgrid terms. In deriving our result we made use of measured properties of vertical ocean turbulence. The major new results are: 1) the new subgrid expression is different from that of the heuristic GM model, 2) u++(tracer)=1/2u+(thickness), where u++ and u+ are the tracer and thickness bolus velocities. In previous models, u++ = u+, 2) the subgrid for a tracer tau is not the same as that for the density rho even when one accounts for the obvious absence of a diffusion term in the latter. The difference stems from a new treatment of the stochastic nature of the density, 3) the mesoscale diffusivity enters both locally and non-locally, as the integral over all z's from the bottom of the ocean to the level z.
The far-wing line shape theory within the binary collision and quasistatic framework has been developed using the coordinate representation. Within this formalism, the main computational task is the evaluation of multidimensional integrals whose variables are the orientational angles needed to specify the initial and final positions of the system during transition processes. Using standard methods, one is able to evaluate the 7-dimensional integrations required for linear molecular systems, or the 7-dimensional integrations for more complicated asymmetric-top (or symmetric-top) molecular systems whose interaction potential contains cyclic coordinates. In order to obviate this latter restriction on the form of the interaction potential, a Monte Carlo method is used to evaluate the 9-dimensional integrations required for systems consisting of one asymmetric-top (or symmetric-top) and one linear molecule, such as H20-N2. Combined with techniques developed previously to deal with sophisticated potential models, one is able to implement realistic potentials for these systems and derive accurate, converged results for the far-wing line shapes and the corresponding absorption coefficients. Conversely, comparison of the far-wing absorption with experimental data can serve as a sensitive diagnostic tool in order to obtain detailed information on the short-range anisotropic dependence of interaction potentials.
The 2001 Mars Surveyor Program Mission includes an orbiter with a gamma ray spectrometer and a multispectral thermal imager, and a lander with an extensive set of instrumentation, a robotic arm, and the Marie Curie Rover. The Mars 2001 Science Operations Working Group (SOWG) is a subgroup of the Project Science Group that has been formed to provide coordinated planning and implementation of scientific observations, particularly for the landed portion of the mission. The SOWG will be responsible for delivery of a science plan and, during operations, generation and delivery of conflict-free sequences. This group will also develop an archive plan that is compliant with Planetary Data System (PDS) standards, and will oversee generation, validation, and delivery of integrated archives to the PDS. In this report we cover one element of the SOWG planning activities, the development of a plan that maximizes the scientific return from lander-based observations by treating the instrument packages as an integrated payload. Scientific objectives for the lander mission have been defined. They include observations focused on determining the bedrock geology of the site through analyses of rocks and also local materials found in the soils, and the surficial geology of the site, including windblown deposits and the nature and history of formation of indurated sediments such as duricrust. Of particular interest is the identification and quantification of processes related to early warm, wet conditions and the presence of hydrologic or hydrothermal cycles. Determining the nature and origin of duricrust and associated salts is -very important in this regard. Specifically, did these deposits form in the vadose zone as pore water evaporated from soils or did they form by other processes, such as deposition of volcanic aerosols? Basic information needed to address these questions includes the morphology, topography, and geologic context of landforms and materials exposed at the site, together with quantitative information on material mineralogy, chemistry, and physical properties (rock textures; soil grain size and shape distributions; degree and nature of soil induration; soil magnetic properties). The calibration targets provide radiometric and mineralogical control surfaces. The magnets allow observations of magnetic phases. Patch plates are imaged to determine adhesive and abrasive properties of soils. Coordinated mission planning is crucial for optimizing the measurement synergy among the packages included on the lander. This planning has already begun through generation of multi-sol detailed operations activities. One focus has been to develop a scenario to use the arm to dig a soil trench to a depth of tens of centimeters. The activity will be monitored through use of Pancam and RAC to ensure nominal operations and to acquire data to determine subsurface physical properties (e.g., angle of repose of trench walls). Pancam and Mini-TES observations would also provide constraints on mineralogy and texture for the walls and bottom of the trench during excavation. If desired, soils excavated at depth could be deposited on the surface and Mossbauer and APXS measurements could be acquired for these materials. Soil samples from various depths would be delivered to MECA for characterization of aqueous geochemistry and physical properties of soil grains, particularly size, shape, and hardness. These physical properties would be determined by optical and atomic force microscopy. When completed, detailed information of soil properties as a function of depth would be obtained. These various data sets would constrain our understanding of whether or not there are systematic variations in soil characteristics as a function of depth. These variations might be related, for example, to evaporative moisture losses and formation of salt deposits, thereby indicating water transport processes occurred fairly recently. Many other value-added measurement scenarios are being developed. For example, characterizing the nature and dynamics of dust deposition will be done using MIP/DART to provide deposition rates, Pancam and RAC imaging of lander and rover surfaces to extrapolate these measurements to other areas, and a variety of measurements to determine if the bulk loose soil has the same characteristics as dust that accumulates during the mission. Bedrock geology of the site is primarily an APEX-focus setting, mineralogy, and texture, and APXS data to be we interest will be to determine the extent to which rock hydrothermal processes, given that APEX is the precursor 4 and 2005 rover missions. Additional information is contained in the original.
The purpose of this project is to apply the coronal magnetographic technique to SOHO (Solar Heliospheric Observatory) /CDS (Coronal Diagnostic Spectrometer) EUV (Extreme Ultraviolet Radiation) and coordinated VLA microwave observations of solar active regions to derive the strength and structure of the coronal magnetic field. A CDS observing plan was developed for obtaining spectra needed to derive active region differential emission measures (DEMs) required for coronal magnetography. VLA observations were proposed and obtained. SOHO JOP 100 was developed, tested, approved, and implemented to obtain coordinated CDS (Coronal Diagnostic Spectrometer)/EIT (Ultraviolet Imaging Telescope)/ VLA (Very Large Array)/ TRACE (Transition Region and Coronal Explorer)/ SXT (Solar X Ray Telescope) observations of active regions on April 12, May 9, May 13, and May 23. Analysis of all four data sets began, with heaviest concentration on COS data. It is found that 200-pixel (14 A in NIS1) wavelength windows are appropriate for extracting broadened Gaussian line profile fit parameters for lines including Fe XIV at 334.2, Fe XVI at 335.4, Fe XVI at 360.8, and Mg IX at 368.1 over the 4 arcmin by 4 arcmin CDS field of view. Extensive efforts were focused on learning and applying were focused on learning and applying CDS software, and including it in new IDL procedures to carry out calculations relating to coronal magnetography. An important step is to extract Gaussian profile fits to all the lines needed to derive the DEM in each spatial pixel of any given active region. The standard CDS absolute intensity calibration software was applied to derived intensity images, revealing that ratios between density-insensitive lines like Fe XVI 360.8/335.4 yield good agreement with theory. However, the resulting absolute intensities of those lines are very high, indicating that revisions to the CDS absolute intensity calibrations remain to be included in the CDS software, an essential step to deriving reliable coronal magnetograms. With lessons learned and high quality data obtained during the past year, coronal magnetography will be successfully pursued under my new SOHO GI program.