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At least 505 records · Page 28

Shape Servoing of Deformable Objects using Adaptive Deformation Model Estimation

In this paper, we propose an adaptive shape servoing method to deform a soft object into a desired 3-D shape. The high dimensional representation and the unknown deformation properties of the soft object pose a challenge to actively manipulate its shape. To address this issue, we develop a method to compute the deformation Jacobian matrix in real-time. The Jacobian is estimated using a set of basis functions and its corresponding parameters to capture the dynamics of the system and relate the applied input motion to changes in the soft object's shape. An integral concurrent learning (ICL) based adaptive update law is derived using Lyapunov analysis to estimate the deformation parameters and prove its convergence. A physics-based simulation is used to validate the proposed method and controller by performing manipulation tasks with different desired configurations. The performance is compared with a standard gradient update law to demonstrate the accuracy and robustness of our approach.

Vrithik Raj Guthikonda↗

Study of Fluid Flow Control in Protein Crystallization using Strong Magnetic Fields

An important component in biotechnology, particularly in the area of protein engineering and rational drug design is the knowledge of the precise three-dimensional molecular structure of proteins. The quality of structural information obtained from X-ray diffraction methods is directly dependent on the degree of perfection of the protein crystals. As a consequence, the growth of high quality macromolecular crystals for diffraction analyses has been the central focus for biochemists, biologists, and bioengineers. Macromolecular crystals are obtained from solutions that contain the crystallizing species in equilibrium with higher aggregates, ions, precipitants, other possible phases of the protein, foreign particles, the walls of the container, and a likely host of other impurities. By changing transport modes in general, i.e., reduction of convection and sedimentation, as is achieved in "microgravity", researchers have been able to dramatically affect the movement and distribution of macromolecules in the fluid, and thus their transport, formation of crystal nuclei, and adsorption to the crystal surface. While a limited number of high quality crystals from space flights have been obtained, as the recent National Research Council (NRC) review of the NASA microgravity crystallization program pointed out, the scientific approach and research in crystallization of proteins has been mainly empirical yielding inconclusive results. We postulate that we can reduce convection in ground-based experiments and we can understand the different aspects of convection control through the use of strong magnetic fields and field gradients. Whether this limited convection in a magnetic field will provide the environment for the growth of high quality crystals is still a matter of conjecture that our research will address. The approach exploits the variation of fluid magnetic susceptibility with concentration for this purpose and the convective damping is realized by appropriately positioning the crystal growth cell so that the magnetic susceptibility force counteracts terrestrial gravity. The general objective is to test the hypothesis of convective control using a strong magnetic field and magnetic field gradient and to understand the nature of the various forces that come into play. Specifically we aim to delineate causative factors and to quantify them through experiments, analysis and numerical modeling. Once the basic understanding is obtained, the study will focus on testing the hypothesis on proteins of pyruvate dehydrogenase complex (PDC), proteins E1 and E3. Obtaining high crystal quality of these proteins is of great importance to structural biologists since their structures need to be determined. Specific goals for the investigation are: 1. To develop an understanding of convection control in diamagnetic fluids with concentration gradients through experimentation and numerical modeling. Specifically solutal buoyancy driven convection due to crystal growth will be considered. 2. To develop predictive measures for successful crystallization in a magnetic field using analyses and numerical modeling for use in future protein crystal growth experiments. This will establish criteria that can be used to estimate the efficacy of magnetic field flow damping on crystallization of candidate proteins. 3. To demonstrate the understanding of convection damping by high magnetic fields to a class of proteins that is of interest and whose structure is as yet not determined. 4. To compare quantitatively, the quality of the grown crystals with and without a magnetic field. X-ray diffraction techniques will be used for the comparative studies. In a preliminary set of experiments, we studied crystal dissolution effects in a 5 Tesla magnet available at NASA Marshall Space Flight Center (MSFC). Using a Schlieren setup, a 1mm crystal of Alum (Aluminum-Potassium Sulfate) was introduced in a 75% saturated solution and the resulting dissolution plume was observed. The experiment was conducted both in the presence and absence of a magnetic field gradient. The magnet produces a gradient field of approx. 1 Tesla2/cm. Image analysis of the recorded images indicated an enhanced plume velocity that was of the order of the measurement limit. For this experiment, both the gradient and gravity fields are in the same direction resulting in an enhanced effective gravity that tends to accelerate the observed plume velocity. While the results are not conclusive, pending further tests, it clearly points out the inadequacy of the MSFC magnet for conducting protein crystallization experiments and the need for a stronger magnet. In spacebased experiments, however, where the gravitational effects are small, only a weak magnetic field will be required to control or mitigate the effects of convective contamination.

Ramachandran, Narayanan↗

Estimation of particle size based on LDV measurements in a de-accelerating flow field

The accuracy of velocity measurements made with a laser velocimeter is strongly dependent upon the response of the seeding particles to the dynamics of the flow field. The smaller the particle the better the response to flow fluctuations and gradients and therefore the more accurate velocity measurement. In direct conflict is the requirement of light scattering efficiency to obtain signals with the laser velocimeter which, in general, is better as the particle size is increased. In low speed flow fields these two requirements on particle size overlap and accurate measurements may be obtained. However in high speed flows, where the velocity gradients may be severe, very small particles are required to maintain sufficient dynamic response characteristics to follow the flow. Therefore if velocity measurements are to be made in these flows, the laser velocimeter must be designed with sufficient sensitivity to obtain signals from these small particles. An insitu determination of the size distribution of kaolin particles (Al2O3, .2 + or - SiO2 . 2H2O) in the 16-foot Transonic Tunnel and the sensitivity characteristics of the laser velocimeter system is described.

Meyers, J. F.↗

Olivine cooling speedometers

Several kinetic models of zoning in olivines are discussed at length. The effects on predicted cooling rates of various assumptions used in the analyses are evaluated. It is concluded that the models of Walker et al. (1977) and Taylor et al. (1977) both provide underestimates of the cooling rate required to preserve a given compositional profile, and that both models as well as the model of Taylor et al. (1978) can be used to provide order-of-magnitude estimates of cooling rates. A new model is described which considers diffusion in both solid and liquid during crystallization as well as diffusion in the solid after crystallization is complete. The model provides a description of the compositional gradients which develop during crystallization as well as after cooling at various rates. Applied to olivine crystals nucleated at 1272 C in a high-iron analogue to Lunar Composition 15555, the model predicts only slight compositional gradients - in accord with electron beam microprobe measurements on crystals grown isothermally at this temperature.

Onorato, P. I. K.↗

Gravitational orientation of the orbital complex, Salyut-6--Soyuz

A simple mathematical model is proposed for the Salyut-6-Soyuz orbital complex motion with respect to the center of mass under the one-axis gravity-gradient orientation regime. This model was used for processing the measurements of the orbital complex motion parameters when the above orientation region was implemented. Some actual satellite motions are simulated and the satellite's aerodynamic parameters are determined. Estimates are obtained for the accuracy of measurements as well as that of the mathematical model.

Grecho, G. M.↗

High-resolution forbidden Ne II observations of the ionized filaments in the Galactic center

The forbidden Ne II 12.8 micron emission from the central 10 arcsec of the Galaxy has been observed with 1.5 arcsec resolution. The broad lines previously observed in this region are resolved into separate features associated with the filaments and knots of radio continuum emission present. The radial velocity varies rapidly and continuously with position along the filaments, with gradients of up to 30 km/s. The emission along the 'eastern arm' is mapped. The velocities are consistent with streams of gas orbiting about the center. A simple model of gravitationally dominated orbits fits the data; the masses estimated to lie within the orbits suggest the presence of a central mass of about 2.5 million solar. The implications of this model and possible objections to it are considered.

Serabyn, E.↗

An estimate of the second law thermodynamic efficiency of the various units comprising an Environmental Control and Life Support System (ECLSS)

The objective of this paper is to present an estimate of the second law thermodynamic efficiency of the various units comprising an Environmental Control and Life Support System (ECLSS). The technique adopted here is based on an evaluation of the 'lost work' within each functional unit of the subsystem. Pertinent information for our analysis is obtained from a user interactive integrated model of an ECLSS. The model was developed using ASPEN. A potential benefit of this analysis is the identification of subsystems with high entropy generation as the most likely candidates for engineering improvements. This work has been motivated by the fact that the design objective for a long term mission should be the evaluation of existing ECLSS technologies not only the basis of the quantity of work needed for or obtained from each subsystem but also on the quality of work. In a previous study Brandhorst showed that the power consumption for partially closed and completely closed regenerable life support systems was estimated as 3.5 kw/individual and 10-12 kw/individual respectively. With the increasing cost and scarcity of energy resources, our attention is drawn to evaluate the existing ECLSS technologies on the basis of their energy efficiency. In general the first law efficiency of a system is usually greater than 50 percent. From literature, the second law efficiency is usually about 10 percent. The estimation of second law efficiency of the system indicates the percentage of energy degraded as irreversibilities within the process. This estimate offers more room for improvement in the design of equipment. From another perspective, our objective is to keep the total entropy production of a life support system as low as possible and still ensure a positive entropy gradient between the system and the surroundings. The reason for doing so is as the entropy production of the system increases, the entropy gradient between the system and the surroundings decreases, and the system will gradually approach equilibrium with the surroundings until it reaches the point where the entropy gradient is zero. At this point no work can be extracted from the system. This is called the 'dead state' of the system.

Chatterjee, Sharmista↗

A microwave technique for mapping thin sea ice

A technique is presented for mapping the distribution of new, young and first-year sea ice in seasonal sea ice zones that utilizes microwave spectral and polarization information from the Defense Meteorological Satellite Program Special Sensor Microwave/Imager (DMSP SSM/I). The motivation for this work stems from the need for accurate estimates of open water and thin ice within the Arctic ice pack. The technique utilizes the microwave polarization and spectral characteristics of these three ice types through two microwave radiance ratios: the 19.4 GHz polarization and the spectral gradient ratio, which is a measure of the spectral difference between the 19.4-GHz and the 37.0-GHz vertically polarized radiance components. The combined use of the spectral gradient ratio and polarization reduces the low ice concentration bias generally associated with the presence of thin ice types. The microwave polarization, which is sensitive to changes in ice thickness and ice surface characteristics, is used to classify new, young, and first-year ice types.

Cavalieri, Donald J.↗

In-depth Analysis of LISA Pathfinder Performance Results: Time Evolution, Noise Projection, Physical Models, and Implications for LISA

We present an in-depth analysis of the LISA Pathfinder differential acceleration performance over the entire course of its science operations, spanning approximately 500 days. We find: (1) The evolution of the Brownian noise that dominates the acceleration amplitude spectral density (ASD), for frequencies f≳1 mHz, is consistent with the decaying pressure due to the outgassing of a single gaseous species. (2) Between f=36 μHz and 1 mHz, the acceleration ASD shows a 1/f tail in excess of the Brownian noise of almost constant amplitude, with ≃20% fluctuations over a period of a few days, with no particular time pattern over the course of the mission. (3) At the lowest considered frequency of f=18 μHz, the ASD significantly deviates from the 1/f behavior, because of temperature fluctuations that appear to modulate a quasistatic pressure gradient, sustained by the asymmetries of the outgassing pattern. We also present the results of a projection of the observed acceleration noise on the potential sources for which we had either a direct correlation measurement or a quantitative estimate from dedicated experiments. These sources account for approximately 40% of the noise power in the 1/f tail. Finally, we analyze the possible sources of the remaining unexplained fraction and identify the possible measures that may be taken to keep those under control in LISA.

M Armano↗

Mean sea surface and geoid gradient comparisons with TOPEX altimeter data

Cycles 4 to 54 of TOPEX data have been analyzed through comparisons with the mean sea surface given on the disturbed geophysical data record (GDR). Two inverted barometer correction procedures were considered for the data reduction. One used a constant atmospheric pressure for all data while the one adopted for use, for most computations, introduced a cycle average pressure. The maximum difference between the two estimates was 3.0 cm with a clear annual signal. With the modified correction the TOPEX sea surface was compared to The Ohio State University (OSU) mean sea surface, given on the GDR, to estimate three translations ( delta x = -2.3 cm; delta y = 25.0 cm; delta z = -0.3 cm) and a bias (43.3 cm) between the two surfaces. The only significant translation is delta y which indicates the reference frame of the TOPEX system differs from that used in the OSU mean sea surface system. The bias between the TOPEX mean sea surface and the OSU mean sea surface was used to estimate an equatorial radius of 6,378,136.55 m based on an 18-cm biased estimate of the TOPEX altimeter. Examination of the average difference, by cycle, between the TOPEX sea surface and the OSU mean sea surface suggested a bias change of 3.1 +/- 2.2 mm/yr with a positive sign indicating the average ocean surface is rising or the altimeter measured distance is decreasing. Models were implemented that solved directly for a bias, bias rate annual/semiannual, and tide correction terms. The computations indicated that a simultaneous solution for this bias, bias rate, and annual/semiannual terms gave the most accurate results. Nonsimultaneous solutions led to slightly different bias rate values. The root mean square difference between the TOPEX sea surface and OSU sea surface, after translation and bias correction, was +/- 17 cm for a typical cycle. Some locations were indentified where the difference could reach 2.3 cm and were repeated over several cycles indicating errors in the mean sea surface. Most of the large differences occur in regions lacking altimeter data prior to the TOPEX/POSEIDON mission and/or areas of significant bathymetric signature. Geoid gradients are needed for the reduction of individual track data to a reference track. The accuracy of the determination of such gradients was determined through the comparison of predicted along-track gradients to the observed gradients. Among four mean sea surfaces tested the best agreement was found with the OSU mean sea surface placed on the TOPEX geophysical data record.

Rapp, Richard H.↗

Remotely sensed sea surface temperature variability off California during a 'Santa Ana' clearing

Multichannel atmospheric correction equations for the NOAA 6 proposed by Bernstein (1982) and by McClain (1981) are evaluated by using satellite and in situ data collected over and in the Southern California Bight. The temporal and spatial variation of sea surface temperature over small scales is estimated from the data, and the effect of this variation in matching satellite and in situ data sets is discussed. Changes in the temperature fields between images are examined for diurnal variation and for surface advection of horizontal temperature gradients.

Lynn, R. J.↗

Discrimination of hydrothermal alteration mineral assemblages at Virginia City, Nevada, using the airborne imaging spectrometer

The purpose of this study is to use airborne imaging spectrometer data to discriminate hydrothermal alteration mineral assemblages associated with silver and gold mineralization at Virginia City, NV. The data is corrected for vertical striping and sample gradients, and converted to flat-field logarithmic residuals. Log residual spectra from areas known to be altered are compared to field spectra for kaolinitic, illitic, sericitic, and propylitic alteration types. The areal distributions of these alteration types are estimated using a spectral matching technique. Both visual examination of spectra and the matching techniques are effective in distinguishing kaolinitic, illitic, and propylitic alteration types from each other. However, illitic and sericitic alteration cannot be separated using these techniques because the spectra of illite and sericite are very similar. A principal components analysis of 14 channels in the 2.14-2.38 micron wavelength region is also successful in discriminating and mapping illitic, kaolinitic, and propylitic alteration types.

Hutsinpiller, Amy↗

The Pilot Land Data System (PLDS) at the Ames Research Center manages aircraft data in collaboration with an ecosystem research project

The Pilot Land Data System (PLDS) is a data and information system serving NASA-supported investigators in the land science community. The three nodes of the PLDS, one each at the Ames Research Center (ARC), the Goddard Space Flight Center (GSFC) and the Jet Propulsion Laboratory (JPL), cooperate in providing consistent information describing the various data holding in the hardware and software (accessible via network and modem) that provide information about and access to PLDS-held data, which is available for distribution. A major new activity of the PLDS node at the Ames Research Center involves the interaction of the PLDS with an active NASA ecosystem science project, the Oregon Transect Ecosystems Research involves the management of, access to, and distribution of the large volume of widely-varying aircraft data collected by OTTER. The OTTER project, is managed by researchers at the Ames Research Center and Oregon State University. Its principal objective is to estimate major fluxes of carbon, nitrogen, and water of forest ecosystems using an ecosystem process model driven by remote sensing data. Ten researchers at NASA centers and universities are analyzing data for six sites along a temperature-moisture gradient across the western half of central Oregon (called the Oregon Transect). Sensors mounted on six different aircraft have acquired data over the Oregon Transect in support of the OTTER project.

Angelici, Gary↗

Refinement of Models for VLBI Analysis

Continual refinement of models and estimation methods is an integral part of improving VLBI measurements of Earth orientation and position along with advances in instrumentation and observing strategy. The modeling of the troposphere continues to be challenging with recent improvements in treating the mean gradient and gradient variations affecting the terrestrial reference frame scale and celestial declinations near the current limits of accuracy. Revised models of nutation and solid Earth tides are implemented in CALC 9.0 to conform to the latest IERS Conventions along with other changes to facilitate use by VLBI correlators. Using data since 1995 the celestial reference frame has been extended and improved consistent with the definition and 0.25 mas accuracy limit of the ICRF. The current definition of the VLBI terrestrial reference frame places a floor on the accuracy of station velocities at the 0.4 mm/yr level. The establishment of the IVS (International VLBI Service for Geodesy and Astrometry) in the past year will provide a forum for further improvements of VLBI data analysis.

Ma, C.↗

Modeling Atmospheric CO2 Processes to Constrain the Missing Sink

We report on a NASA supported modeling effort to reduce uncertainty in carbon cycle processes that create the so-called missing sink of atmospheric CO2. Our overall objective is to improve characterization of CO2 source/sink processes globally with improved formulations for atmospheric transport, terrestrial uptake and release, biomass and fossil fuel burning, and observational data analysis. The motivation for this study follows from the perspective that progress in determining CO2 sources and sinks beyond the current state of the art will rely on utilization of more extensive and intensive CO2 and related observations including those from satellite remote sensing. The major components of this effort are: 1) Continued development of the chemistry and transport model using analyzed meteorological fields from the Goddard Global Modeling and Assimilation Office, with comparison to real time data in both forward and inverse modes; 2) An advanced biosphere model, constrained by remote sensing data, coupled to the global transport model to produce distributions of CO2 fluxes and concentrations that are consistent with actual meteorological variability; 3) Improved remote sensing estimates for biomass burning emission fluxes to better characterize interannual variability in the atmospheric CO2 budget and to better constrain the land use change source; 4) Evaluating the impact of temporally resolved fossil fuel emission distributions on atmospheric CO2 gradients and variability. 5) Testing the impact of existing and planned remote sensing data sources (e.g., AIRS, MODIS, OCO) on inference of CO2 sources and sinks, and use the model to help establish measurement requirements for future remote sensing instruments. The results will help to prepare for the use of OCO and other satellite data in a multi-disciplinary carbon data assimilation system for analysis and prediction of carbon cycle changes and carbodclimate interactions.

Kawa, S. R.↗

Multifidelity Analysis and Optimization for Supersonic Design

Supersonic aircraft design is a computationally expensive optimization problem and multifidelity approaches over a significant opportunity to reduce design time and computational cost. This report presents tools developed to improve supersonic aircraft design capabilities including: aerodynamic tools for supersonic aircraft configurations; a systematic way to manage model uncertainty; and multifidelity model management concepts that incorporate uncertainty. The aerodynamic analysis tools developed are appropriate for use in a multifidelity optimization framework, and include four analysis routines to estimate the lift and drag of a supersonic airfoil, a multifidelity supersonic drag code that estimates the drag of aircraft configurations with three different methods: an area rule method, a panel method, and an Euler solver. In addition, five multifidelity optimization methods are developed, which include local and global methods as well as gradient-based and gradient-free techniques.

Kroo, Ilan↗

Radiative energy budget estimates for the 1979 southwest summer monsoon

A major objective of the summer monsoon experiment (SMONEX) was the determination of the heat sources and sinks associated with the southwest summer monsoon. The radiative component is presented here. The vertically integrated tropospheric radiation energy budget is negative and varies significantly as a function of monsoon activity. The gradient in the latitudinal mean tropospheric cooling reverses between the winter periods and the late spring/early summer periods. The radiative component of the vertical profile of the diabatic heating is derived. These profiles are a strong function of the stage of the monsoon as well as the geographic region. In general, the surface experiences a net gain of radiative energy during the late spring and early summer periods. During the winter periods, areas northward of 25 N display net surface losses, while the remaining areas exhibit net gains.

Ackerman, Steven A.↗

Reynolds stress development in pressure-driven three-dimensional turbulent boundary layers

The development of the Reynolds stress field was studied for flows in which an initially two-dimensional boundary layer was skewed sideways by a spanwise pressure gradient ahead of an upstream-facing wedge. Two different wedges were used, providing a variation in the boundary-layer skewing. Measurements of all components of the Reynolds stress tensor and all ten triple products were measured using a rotatable cross-wire anemometer. The results show the expected lag of the shear stress vector behind the strain rate. Comparison of the two present experiments with previous data suggests that the lag can be estimated if the radius of curvature of the free-stream streamline is known. The magnitude of the shear stress vector in the plane of the wall is seen to decrease rapidly as the boundary-layer skewing increases. The amount of decrease is apparently related to the skewing angle between the wall and the free stream. The triple products evolve rapidly and profiles in the three-dimensional boundary layer are considerably different than two-dimensional profiles, leaving little hope for gradient transport models for the Reynolds stresses. The simplified model presented by Rotta (1979) performs reasonably well providing that an appropriate value of the T-parameter is chosen.

Anderson, Shawn D.↗