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Robot constructs map from experience. Topological model consists of nodes and arcs corresponding to distinctive places and local travel edges linking nearby distinctive places. Model created by linking places and edges. Enables accumulation of metrical information with reduced vulnerability to metrical errors. Applications include robotic sentires, robotic delivery trucks, robotic floor cleaners, and robotic lawnmowers.
Published data sets of major geologic events of the past about 250 Myr (extinction events, sea-level lows, continental flood-basalt eruptions, mountain-building events, abrupt changes in sea-floor spreading, ocean-anoxic and blackshale events and the largest evaporite deposits) have been synthesized (with estimated errors). These events show evidence for a statistically significant periodic component with an underlying periodicity, formally equal to 26.6 Myr, and a recent maximum, close to the present time. The cycle may not be strictly periodic, but a periodicity of about 30 Myr is robust to probable errors in dating of the geologic events. The intervals of geologic change seem to involve jumps in sea-floor spreading associated with episodic continental rifting, volcanism, enhanced orogeny, global sea-level changes and fluctuations in climate. The period may represent a purely internal earth-pulsation, but evidence of planetesimal impacts at several extinction boundaries, and a possible underlying cycle of 28-36 Myr in crater ages, suggests that highly energetic impacts may be affecting global tectonics. A cyclic increase in the flux of planetesimals might result from the passage of the Solar System through the central plane of the Milky Way Galaxy - an event with a periodicity and mean phasing similar to that detected in the geologic changes.
Wind tunnel evaluations of two-dimensional high-lift airfoils and of vehicles operating in ground effect near the tunnel floor require special test facilities and procedures. These are needed to avoid errors caused by proximity to the walls and interference from the wall boundary layers. Pneumatic test techniques and facilities were developed for GTRI aerodynamic research tunnels and calibrated to verify that these wall effects had been removed. The modified facilities were then employed to evaluate the aerodynamic characteristics of blown very-high-lift airfoils and of racing hydroplanes operating in ground effect at various levels above the floor. The pneumatic facilities, techniques and calibrations are discussed and typical aerodynamic data recorded both with and without the test-section blowing systems are presented.
The goal of this project is to better understand the process of spatial orientation and navigation in unfamiliar gravito-inertial environments, and ultimately to use this new information to develop effective countermeasures against the orientation and navigation problems experienced by astronauts. How do we know our location, orientation, and motion of our body with respect to the external environment ? On earth, gravity provides a convenient "down" cue. Large body rotations normally occur only in a horizontal plane. In space, the gravitational down cue is absent. When astronauts roll or pitch upside down, they must recognize where things are around them by a process of mental rotation which involves three dimensions, rather than just one. While working in unfamiliar situations they occasionally misinterpret visual cues and experience striking "visual reorientation illusions" (VRIs), in which the walls, ceiling, and floors of the spacecraft exchange subjective identities. VRIs cause disorientation, reaching errors, trigger attacks of space motion sickness, and potentially complicate emergency escape. MIR crewmembers report that 3D relationships between modules - particularly those with different visual verticals - are difficult to visualize, and so navigating through the node that connects them is not instinctive. Crew members learn routes, but their apparent lack of survey knowledge is a concern should fire, power loss, or depressurization limit visibility. Anecdotally, experience in mockups, parabolic flight, neutral buoyancy and virtual reality (VR) simulators helps. However, no techniques have been developed to quantify individual differences in orientation and navigation abilities, or the effectiveness of preflight visual. orientation training. Our understanding of the underlying physiology - for example how our sense of place and orientation is neurally coded in three dimensions in the limbic system of the brain - is incomplete. During the 16 months that this human and animal research project has been underway, we have obtained several results that are not only of basic research interest, but which have practical implications for the architecture and layout of spacecraft interiors and for the development of astronaut spatial orientation training countermeasures.
Recent investigations have shown significant shortcomings in the model which is proposed by the IERS to account for the variations in the Earth s rotation with periods around one day and less. To overcome this, an empirical model can be estimated more or less directly from the observations of space geodetic techniques. The aim of this paper is to evaluate the quality and reliability of such a model based on VLBI observations. Therefore, the impact of the estimation method and the analysis options as well as the temporal stability are investigated. It turned out that, in order to provide a realistic accuracy measure of the model coefficients, the formal errors should be inflated by a factor of three. This coincides with the noise floor and the repeatability of the model coefficients and it captures almost all of the differences that are caused by different estimation techniques. The impact of analysis options is small but significant when changing troposphere parameterization or including harmonic station position variations.
The WFIRST coronagraph employs two sequential deformable mirrors to compensate for phase and amplitude errors in the coronagraph optical system. In such a system the actuators of the deformable mirrors would be used for two purposes: To flatten the overall wavefront errors at a system pupil, and to create "dark-holes". The actuators have limited stroke ranges. Therefore, if the pupil phase errors are relatively large, flattening them completely could use up a significant portion of the actuator stroke, sometimes leaving insufficient stroke for creating the dark-holes. We have investigated the impact of partially-corrected pupil phase errors on a Hybrid Lyot Coronagraph (HLC) broadband contrast performance. The predicted broadband contrast floor and the contrast chromaticity agree well with those measured on the HLC testbed.
Sensors to control and monitor welding operations are currently being developed at Marshall Space Flight Center. The laser based weld bead profiler/torch rotation sensor was modified to provide a weld joint tracking system for compressor girth welds. The tracking system features a precision laser based vision sensor, automated two-axis machine motion, and an industrial PC controller. The system benefits are elimination of weld repairs caused by joint tracking errors which reduces manufacturing costs and increases production output, simplification of tooling, and free costly manufacturing floor space.
The problem of synchronization and detection of random pulse-position-modulation (PPM) sequences is investigated under the assumption of perfect slot synchronization. Maximum-likelihood PPM symbol synchronization and receiver algorithms are derived that make decisions based both on soft as well as hard data; these algorithms are seen to be easily implementable. Bounds derived on the symbol error probability as well as the probability of false synchronization indicate the existence of a rather severe performance floor, which can easily be the limiting factor in the overall system performance. The performance floor is inherent in the PPM format and random data and becomes more serious as the PPM alphabet size Q is increased. A way to eliminate the performance floor is suggested by inserting special PPM symbols in the random data stream.
JPL has recently passed an important milestone in its technology development for a proposed NASA WFIRST mission: demonstration of a better than 1x10-8 contrast over broad bandwidth (10%) on both shaped pupil coronagraph (SPC) and hybrid Lyot coronagraph (HLC) testbeds with WFIRST telescope optics. Challenges remain, however, in the technology readiness for the proposed mission. One such is the discrepancy between the achieved contrast on testbeds and their corresponding model predictions. A series of testbed diagnosis and modeling activity were planned and (some) carried out on SPC testbed in order to close the gap. A very useful tool we developed was to analyze the measured testbed Jacobian and compare with its model version that was used to control image plane speckle pattern. The difference between these two is the error in the control Jacobian. When the error, which includes both amplitude and phase, was inserted into a separate prediction model with nominal Jacobian, the model prediction became closely matching the SPC testbed behavior in both contrast floor and contrast convergence speed. This offers a new perspective and is a step closer toward model validation for high contrast coronagraph. Further Jacobian analysis and modeling provided clues to the possible sources for the mismatch: the DM misregistration and the underrepresented testbed optics wavefront error (WFE) and the deformable mirror (DM) setting for correcting this WFE. These analyses suggested that high contrast coronagraph has a tight tolerance in the accuracy of its control Jacobian. Modifications to both testbed control model as well as prediction model are being implemented and future works discussed.
Near-Angle Scatter (NAS) of the host star’s light may limit the ability of a potential Habitable Worlds Observatory (HWO) to detect and characterize an Earth-like planet around a Sun-like star via coronagraphy. NAS from each optical surface before the coronagraph’s focal plane mask produces an E-field across the dark hole that is coherent. These E-fields sum and could be as large or larger than the coronagraph mask leakage E-field. This paper assumes an error budget allocation for scatter of 20 ppt. NAS E-fields contribute to the dark hole noise floor via both shot noise and heterodyne amplification of the wavefront instability. While previous papers have developed specifications for scatter from surface scatter, this paper develops specifications for scatter from surface contamination and micrometeoroid impacts. The development process utilizes an expression that predicts scatter throughput into the dark hole based on surface BRDF. Analysis does not include scatter from coating columnar structure, edges, contamination, micrometeoroid impacts, or polarization.
Calibrations were obtained in the Langley 6 by 28-inch transonic tunnel with newly installed controllable reentry flaps and test section floor and ceiling. Using available theory, the top and bottom slotted walls were redesigned for minimum wind tunnel interference errors of blockage and stream-line curvature. To minimize Mach number gradients along the tunnel axis downstream of the model, controllable flaps were installed to regulate the flow reentering the test section through the slotted walls. The flap setting is independent of stagnation pressure and varies only with Mach number. The freestream Mach number is determined from the pressrue measured at a station 66.04 cm upstream of the model station. The model has no significant influence on the vertical Mach number distribution at this station. This method of Mach number determination appears to be more accurate than one using the plenum pressure.
The problem of synchronization and detection of random pulse-position-modulation (PPM) sequences is investigated under the assumption of perfect slot synchronization. Maximum likelihood PPM symbol synchronization and receiver algorithms are derived that make decisions based both on soft as well as hard data; these algorithms are seen to be easily implementable. Bounds were derived on the symbol error probability as well as the probability of false synchronization that indicate the existence of a rather severe performance floor, which can easily be the limiting factor in the overall system performance. The performance floor is inherent in the PPM format and random data and becomes more serious as the PPM alphabet size Q is increased. A way to eliminate the performance floor is suggested by inserting special PPM symbols in the random data stream.
The problem of synchronization and detection of random pulse-position modulation (PPM) sequences is investigated under the assumption of perfect slot synchronization. Maximum-likelihood PPM symbol synchronization and receiver algorithms are derived that make decisions based on both soft as well as hard data; these algorithms are seen to be easily implementable. Bounds were derived on the symbol error probability as well as the probability of false synchronization that indicate the existence of a rather severe performance floor, which can easily be the limiting factor in the overall system performance. The performance floor is inherent in the PPM format and random data and becomes more serious as the PPM alphabet size Q is increased. A way to eliminate the performance floor is suggested by inserting special PPM symbols in the random data stream.
Chlorophyll is a key indicator of the physiological status of a forest canopy. However, its distribution may vary greatly in time and space, so that the estimation of chlorophyll content of canopies or branches by extrapolation from leaf values obtained by destructive sampling is labor intensive and potentially inaccurate. Chlorophy11 content is related positively to the point of maximum slope in vegetation reflectance spectra which occurs at wavelengths between 690-740 nm and is known as the "red edge." The red edge of needles on individual slash pine (Piniis elliottii Engelm.) branches and in whole forest canopies was measured with a spectroradiometer. Branches were measured on the ground against a spectrally flat reflectance target and canopies were measured from observation towers against a spectrally variable understory and forest floor. There was a linear relationship between red edge and chlorophyll content of branches (R(exp 2) = 0.91). Measurements of the red edge and this relationship were used to estimate the chlorophyll content of other branches with an error that was lower than that associated with the colorimetric (laboratory) method. There was no relationship between the red edge and the chlorophyll content of whole canopies. This can be explained by the overriding influence of the understory and forest floor, an influence that was illustrated by spectral mixture modeling. The results suggest that the red edge could be used to estimate the chlorophyll content in branches but it is unlikely to be of value for the estimation of chlorophyll content in canopies unless the canopy cover is high.
A NACA 64A010 airfoil with a sealed-gap 1/4-chord flap was tested between splitter plates in the NASA Ames 11- by 11-Foot Transonic Wind Tunnel at Mach numbers from 0.50 to 0.85, and Reynolds numbers based on chord from 3 to 13 million. Although the main purpose of the test was to obtain unsteady pressure data with the flap oscillating, no unsteady data are presented in this paper. The steady-state data are presented and compared with other test data to provide a basis for evaluating the results. Pressure data at two span stations are used to deduce early boundary-layer transitions at the midspan at higher Mach numbers, angles of attack, and flap angles. The effects of flap angle on pressures, normal force, pitching moment, and hinge moment are also presented in the report. Mach number errors caused by the splitter-plate configuration and the angle of attack are evaluated using pressure measurements near the floor and ceiling of the wind tunnel.
G-Sample is designed for sample collection missions to identify the presence and quantity of sample material gathered by spacecraft equipped with end effectors. The software method uses a maximum-likelihood estimator to identify the collected sample's mass based on onboard force-sensor measurements, thruster firings, and a dynamics model of the spacecraft. This makes sample mass identification a computation rather than a process requiring additional hardware. Simulation examples of G-Sample are provided for spacecraft model configurations with a sample collection device mounted on the end of an extended boom. In the absence of thrust knowledge errors, the results indicate that G-Sample can identify the amount of collected sample mass to within 10 grams (with 95-percent confidence) by using a force sensor with a noise and quantization floor of 50 micrometers. These results hold even in the presence of realistic parametric uncertainty in actual spacecraft inertia, center-of-mass offset, and first flexibility modes. Thrust profile knowledge is shown to be a dominant sensitivity for G-Sample, entering in a nearly one-to-one relationship with the final mass estimation error. This means thrust profiles should be well characterized with onboard accelerometers prior to sample collection. An overall sample-mass estimation error budget has been developed to approximate the effect of model uncertainty, sensor noise, data rate, and thrust profile error on the expected estimate of collected sample mass.
A supersonic wind tunnel with flow conditions of 3 lbm/s (1.5 kg/s) at a free-stream Mach number of 2.5 was designed and tested to provide an arena for future development work on laser measurement and flow-seeding techniques. The hybrid supersonic nozzle design that was used incorporated the rapid expansion method of propulsive nozzles while it maintained the uniform, disturbance-free flow required in supersonic wind tunnels. A viscous analysis was performed on the tunnel to determine the boundary layer growth characteristics along the flowpath. Appropriate corrections were then made to the contour of the nozzle. Axial pressure distributions were measured and Mach number distributions were calculated based on three independent data reduction methods. A complete uncertainty analysis was performed on the precision error of each method. Complex shock-wave patterns were generated in the flow field by wedges mounted near the roof and floor of the tunnel. The most stable shock structure was determined experimentally by the use of a focusing schlieren system and a novel, laser based dynamic shock position sensor. Three potential measurement regions for future laser and flow-seeding studies were created in the shock structure: deceleration through an oblique shock wave of 50 degrees, strong deceleration through a normal shock wave, and acceleration through a supersonic expansion fan containing 25 degrees of flow turning.
Electronic shot noise is an unavoidable reality in all optical techniques that depend on measuring light intensity. For steady-state, time-averaged measurements the impact of shot noise can be easily reduced by increasing the exposure time, or by averaging over multiple-exposures. That is not the case for unsteady measurements, where time histories of light intensity variations need to be created either by high-speed photography (unsteady PSP) or via photoelectron counting (spectrally resolved Rayleigh scattering) over short time durations using a photo-multiplier tube (PMT) and photon counting electronics. Electronic shot noise introduces a fixed amount of random error, which can overwhelm the light intensity variation caused by turbulent fluctuations. Spectrum computed from such time series shows a fixed noise floor that is independent of the number of data points in the time series. For a fixed optical system, where the collected power of the luminescent light (uPSP), or the scattered light (Rayleigh) is fixed, one needs to resort to special techniques to obtain enough signal-to noise ratio (SNR). For the uPSP application it is shown that averaging of the adjacent pixels improves SNR; although this may lead to a sacrifice of spatial resolution. A second means is to increase the exposure time, which leads to a lowering of the frequency range. For the Rayleigh application, improvements of SNR can be achieved via two different cross-correlation based approaches. The first involves measuring the light intensity using two PMTs using short, contiguous gates; thereby, creating two time-series of data. The second one involves collecting one long time-series of data using one set of measurement device, followed by an odd-even splitting into two time series. When the two time-series are cross-correlated, and a power spectrum is calculated, a significant reduction in the shot noise floor can be achieved. Examples from measurements of density and velocity fluctuations spectra from two different Rayleigh setup are presented to demonstrate the process.