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Current Limitations on VLBI Accuracy

The contribution of VLBI to geophysics and geodesy arises from its ability to measure distances between stations in a network and to determine the orientation of stations in the network as well as the orientation of the network with respect to the external reference frame of extragalactic radio objects. Integrating nearly two decades of observations provides useful information about station positions and velocities and the orientation of the Earth, but the complications of the real world and the limitations of observing, modeling and analysis prevent recovery of all effects. Of the factors that limit the accuracy of seemingly straightforward geodetic parameters, the neutral propagation medium has been subject to the greatest scrutiny, but the treatment of the mapping function, the wet component and spatial/temporal inhomogeneities is still improving. These affect both the terrestrial scale and consistency over time. The modeling of non-secular site motions (tides and loading) has increased in sophistication, but there are some differences between the models and the observations. VLBI antennas are massive objects, so their behavior is quite unlike GPS monuments, but antenna deformations add some (generally) unmodeled signal. Radio sources used in geodetic VLBI observations are selected for strength and (relative) absence of structure, but apparent changes in position can leak into geodetic parameters. A linear rate of change of baseline or site parameters is the simplest model and its error improves with time span. However, in most cases the VLBI data distribution is insufficient to look for real non-linear behavior that might affect the average rate. A few sites have multiple VLBI antennas, and some show small differences in rate. VLBI intrinsically measures relative positions and velocities, but individual site positions and velocities are generally more useful. The creation of the VLBI terrestrial reference frame, which transforms relative information into individual results, is an empirical process that has intrinsic errors. While UT1 is uniquely measured by VLBI, the geographical distribution and availability of VLBI stations, especially in the southern hemisphere, and the consistency of the VLBI terrestrial reference frame may limit the accuracy of Earth orientation measurements. The effects of particular error sources on geodetic and geophysical parameters derived from VLBI data will be illustrated.

Ma, Chopo↗

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

The SIM astronmetric grid

The Space Interferometry Mission (SIM) is fundamentally a one-dimensional instrument with a 15-degree field-of-regard. Mission objectives require a global reference grid of thousands of well-understood stars with positions known to 4 microarcseconds which will be used to establish the instrument baseline vector during scientific observations. This accuracy will be achieved by frequently observing a set of stars throughout the mission and performing a global fit of the observations to determine position, proper motion and parallax for each star. Each star will be observed approximately 200 times with about 6.5 stars per single instrument field on the sky. We describe the nature of the reference grid, the candidate objects, and the results of simulations demonstrating grid performance, including estimates of the grid robustness when including effects such as instrument drift and possible contamination of the grid star sample by undetected binaries.

SIM grid astrometry Space Interferometry Mission S↗

Acoustic levitation in the presence of gravity

The method of Gor'kov (1961) has been applied to derive general expressions for the total potential and force on a small spherical object in a resonant chamber in the presence of both acoustic and gravitational force fields. The levitation position is also determined in rectangular resonators for the simultaneous excitation of up to three acoustic modes, and the results are applied to the triple-axis acoustic levitator. The analysis is applied to rectangular, spherical, and cylindrical single-mode levitators that are arbitrarily oriented relative to the gravitational force field. Criteria are determined for isotropic force fields in rectangular and cylindrical resonators. It is demonstrated that an object will be situated within a volume of possible levitation positions at a point determined by the relative strength of the acoustic and gravitational fields and the orientation of the chamber relative to gravity.

Collas, P.↗

Structure of radio sources with remarkably flat spectra - PKS 0735+178

Three incoherent synchrotron models are used to account for the very flat radio spectrum of the BL Lac object PKS 0735+178. The first interpretation is that the spectrum results from optically-thin synchrotron emission from relativistic electrons with a particular energy distribution. The second posits a single nonuniform, self-absorbed source generated by a wind flowing from a central object. The third suggests that sources with flat spectra are caused by the presence of multiple (three or more) discrete uniform components, and that the magnetic field and relativistic electron distribution for each source is correlated with the size of the individual components. It is proposed that the last model is the most tenable explanation of the phenomenon, and multi-frequency VLBI observations are suggested for the evaluation of the detailed structure of compact radio sources.

Marscher, A. P.↗

The project scientist's role in scientific spacecraft project management

The project scientists is in a position which rates very high in terms of behavioral study recommendations. His influence over objectives is generally considered to be important. He is highly autonomous in a moderately coordinated environment. He has diverse managerial and technical functions and the performance of these functions require him to grow beyond his role as an experimenter. However, the position within the line organization for those interviewed is also very stimulating, rating almost as high by the same criteria. The role of project scientist may not be the dominant means of professional growth for the experienced scientific investigators. The influence which the project scientist exerts on the project and the stimulation of that position for him are determined largely by his position outside the defined project scientist role. The role of the project scientist is changing because the environment of those who become project scientists is changing.

Eller, E. L.↗

Evidence for interstellar H2O in the Orion molecular cloud

A search for interstellar gas phase H2O in the infrared spectrum of the BN object in Orion is reported. There is absorption (S/N = 2-4) at the position of the nu3 1(01)-2(02) line of H2O at 3801.42/cm, the strongest expected H2O line. Statistical analysis of the spectrum provides corroborating evidence for other H2O lines. With an assumed H2O excitation temperature of 150 K, N(H2O) of 2.3 x 10 to the 17th/sq cm or less toward the BN object is derived. The H2O column density implies abundance ratios of (H2O)/(CO) = 0.01-0.08 or less and (HDO)/(H2O) = 0.8-3.0 x 10 to the -3rd or more. The gas-to-ice ratio is (H2O gas)/(H2O ice) = 0.06 with an estimated uncertainty of a factor of 5.

Knacke, R. F.↗

Description of the TCERT Vetting Reports for Data Release 25

The Q1Q17 DR25 TCERT Vetting Reports are a collection of plots and diagnostics used by the Threshold Crossing Event Review Team (TCERT) to evaluate threshold crossing events (TCEs). While designation of Kepler Objects of Interest (KOIs) and classification of them as Planet Candidates (PCs) or False Positives (FPs) is completely automated via a robotic vetting procedure (the Robovetter) for the Q1Q17 DR25 planet catalog, as described in Thompson et al. (2017), these reports help to visualize the metrics used by the Robovetter and evaluate those robotic decisions for individual objects. For each Q1Q17 DR25 TCE, these reports include the following products: (a) the DV one-page summary, (b) selected pertinent diagnostics and plots from the full DV report, and (c) additional plots and diagnostics not included in the full DV report, including an alternate means of data detrending.

Kepler Objects of Interest↗

Synchronization of autonomous objects in discrete event simulation

Autonomous objects in event-driven discrete event simulation offer the potential to combine the freedom of unrestricted movement and positional accuracy through Euclidean space of time-driven models with the computational efficiency of event-driven simulation. The principal challenge to autonomous object implementation is object synchronization. The concept of a spatial blackboard is offered as a potential methodology for synchronization. The issues facing implementation of a spatial blackboard are outlined and discussed.

Rogers, Ralph V.↗

Ultraviolet slit spectroscopy in the core of 30 Doradus with the International Ultraviolet Explorer

Low resolution (about 7 A) IUE observations of the core of the 30 Doradus Nebula in the Large Magellanic Cloud are presented. Data were obtained through the large entrance aperture at 11 different positions in both the long wavelength (1900-3200 A) and short wavelength (1150-2000 A) cameras. The aperture was stepped in 10-arcsec intervals, in the direction of the long axis of the aperture, effectively yielding a 2-arcmin long slit with the central object, R136, close to the center. The brightness distribution is strongly peaked at the position of R136, but it is found that the far-ultraviolet fluxes are dominated by luminous early-type stars at any position along the slit. The behavior of the ultraviolet colors along the slit implies that the core of 30 Dor lies behind a cloud of dust extending over at least 2 arcmin = 30 pc and suggests that the reddening law changes with distance from R136.

Koornneef, J.↗

Grasp synthesis for planar and solid objects

An analysis of the mechanics for multifingered grasps of planar and solid objects is presented. A method that is intuitive and computationally efficient is proposed. The search for finger grasp positions is combined with finger (manipulation and squeezing) for calculations in a single method. Physically, the squeezing and frictional effects between the fingers and the grasped objects are fully visualized through this approach. Mathematically, the complexity of finger force calculations are reduced when this scheme is compared with previously available schemes. The efficiency of the scheme is illustrated. On the basis of the analysis of grasp mechanics, an algorithm for quantitatively choosing the grasp points is proposed to ensure stable grasps.

Chen, Yu-Che↗

Telerobotic rovers for extraterrestrial construction

The topics are presented in viewgraph form and include the following: fundamental concepts; advantages of modularity; modular robot; robot design; motor control system; simple manipulator; 4 degree of freedom manipulator; intermodule communication; network layout; positioning system--IR-TROP; IR TROP system design; testbed layout; modularized control; and centralized control. The objectives are the following: to design small modular robots; to test robotic cooperation and teleoperation; to develop modular control software; to develop intermodule communication network; to develop high accuracy positioning system; and to explore distributed algorithms for coordination.

Grasso, Chris↗

Simulation study of the ROMPS robot control system

This is a report presenting the progress of a research grant funded by NASA for work performed from June 1, 1993 to August 1, 1993. The report deals with the Robot Operated Material Processing System (ROMPS). It presents results of a computer simulation study conducted to investigate the performance of the control systems controlling the azimuth, elevation, and radial axes of the ROMPS and its gripper. Four study cases are conducted. The first case investigates the control of free motion of the three areas. In the second case, the compliant motion in the elevation axis with the wrist compliant device is studied in terms of position accuracy and impact forces. The third case focuses on the behavior of the control system in controlling the robot motion along the radial axis when pulling the pallet out of the rack. In the fourth case, the compliant motion of the gripper grasping a solid object under the effect of the gripper passive compliance is studied in terms of position accuracy and contact forces. For each of the above cases, a set of PIR gains will be selected to optimize the controller performance and computer simulation results will be presented and discussed.

Nguyen, Charles C.↗

Occultation Predictions Using CCD Strip-Scanning Astrometry

We are developing the method of CCD strip-scanning astrometry for the purpose of deriving reliable advance predictions for occultations involving small objects in the outer solar system. We are using a camera system based on a Ford/Loral 2Kx2K CCD with the Crossley telescope at Lick Observatory for this work. The columns of die CCD are aligned East-West, the telescope drive is stopped, and the CCD is clocked at the same rate that the stars drift across it. In this way we obtain arbitrary length strip images 20 arcmin wide with 0.58" pixels. Since planets move mainly in RA, it is possible to obtain images of the planet and star to be occulted on the same strip well before the occultation occurs. The strip-to-strip precision (i.e. reproducibility) of positions is limited by atmospheric image motion to about 0.1" rms per strip. However, for objects that are nearby in R.A., the image motion is highly correlated and their relative positions are good to 0.02" rms per strip. We will show that the effects of atmospheric image motion on a given strip can be removed if a sufficient number of strips of a given area have been obtained. Thus, it is possible to reach an rms precision of 0.02" per strip, corresponding to about 0.3 of Pluto or Triton's angular radius. The ultimate accuracy of a prediction based on strip-scanning astrometry is currently limited by the accuracy of the positions of the stars in the astrometric network used and by systematic errors most likely due to the optical system. We will show the results of . the prediction of some recent occultations as examples of the current capabilities and limitations of this technique.

Dunham, Edward W.↗

Traction-drive force transmission for telerobotic joints

The U.S. Space Station Program is providing many technological developments to meet the increasing demands of designing such a facility. One of the key areas of research is that of telerobotics for space station assembly and maintenance. Initial implementation will be teleoperated, but long-term plans call for autonomous robotics. One of the essential components for making this transition successful is the manipulator joints mechanism. Historically, teleoperated manipulators and industrial robotics have had very different mechanisms for force transmission. This is because the design objectives are almost mutually exclusive. A teleoperator must have very low friction and inertia to minimize operator fatigue; backlash and stiffness are of secondary concern. A robot, however, must have minimum backlash, and high stiffness for accurate and rapid positioning. A joint mechanism has yet to be developed that can optimize these divergent performance objectives. A joint mechanism that approaches this optimal performance was developed for NASA Langley, Automation Technology Branch. It is a traction-drive differential that uses variable preload mechanisms. The differential provides compact, dexterous motion range with a torque density similar to geared systems. The traction drive offers high stiffness and zero backlash, for good robotic performance, and the variable loading mechanism (VLM) minimizes the drive-train friction, for improved teleoperation.

Kuban, D. P.↗

Estimating Foreign-Object-Debris Density from Photogrammetry Data

Within the first few seconds after launch of STS-124, debris traveling vertically near the vehicle was captured on two 16-mm film cameras surrounding the launch pad. One particular piece of debris caught the attention of engineers investigating the release of the flame trench fire bricks. The question to be answered was if the debris was a fire brick, and if it represented the first bricks that were ejected from the flame trench wall, or was the object one of the pieces of debris normally ejected from the vehicle during launch. If it was typical launch debris, such as SRB throat plug foam, why was it traveling vertically and parallel to the vehicle during launch, instead of following its normal trajectory, flying horizontally toward the north perimeter fence? By utilizing the Runge-Kutta integration method for velocity and the Verlet integration method for position, a method that suppresses trajectory computational instabilities due to noisy position data was obtained. This combination of integration methods provides a means to extract the best estimate of drag force and drag coefficient under the non-ideal conditions of limited position data. This integration strategy leads immediately to the best possible estimate of object density, within the constraints of unknown particle shape. These types of calculations do not exist in readily available off-the-shelf simulation software, especially where photogrammetry data is needed as an input.

Long, Jason↗

Measuring: The quantifying art

The photograph of a comet or asteroid against background stars contains information in analog form regarding the relative positions of comet and star images. Measuring is the procedure for covnerting this information to digital form for computation of the object's accurate equatorial coordinates at the time of observation. The use of one- and two-coordinate measuring engines to measure the positions of images which may be elongated, comatic, or both, as well as round images is discussed along with the training of novice measurers to cope with such images. The grading of plates for potential accuracy of positions, preparation of plates for measuring, the accuracy of measurement, effects of telescope focal length and reduction technique upon the accuracy of positions, and the procedures and checks which may prevent erroneous positions also are discussed.

Gibson, J.↗

The track-length extension fitting algorithm for energy measurement of interacting particles in liquid argon TPCs and its performance with ProtoDUNE-SP data

This paper introduces a novel track-length extension fitting algorithm for measuring the kinetic energies of inelastically interacting particles in liquid argon time projection chambers (LArTPCs). The algorithm finds the most probable offset in track length for a track-like object by comparing the measured ionization density as a function of position with a theoretical prediction of the energy loss as a function of the energy, including models of electron recombination and detector response. The algorithm can be used to measure the energies of particles that interact before they stop, such as charged pions that are absorbed by argon nuclei. The algorithm's energy measurement resolutions and fractional biases are presented as functions of particle kinetic energy and number of track hits using samples of stopping secondary charged pions in data collected by the ProtoDUNE-SP detector, and also in a detailed simulation. Additional studies describe the impact of the dE/dx model on energy measurement performance. The method described in this paper to characterize the energy measurement performance can be repeated in any LArTPC experiment using stopping secondary charged pions.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗