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NASA NTRS1993

Quantitative assessment of human motion using video motion analysis

In the study of the dynamics and kinematics of the human body a wide variety of technologies has been developed. Photogrammetric techniques are well documented and are known to provide reliable positional data from recorded images. Often these techniques are used in conjunction with cinematography and videography for analysis of planar motion, and to a lesser degree three-dimensional motion. Cinematography has been the most widely used medium for movement analysis. Excessive operating costs and the lag time required for film development, coupled with recent advances in video technology, have allowed video based motion analysis systems to emerge as a cost effective method of collecting and analyzing human movement. The Anthropometric and Biomechanics Lab at Johnson Space Center utilizes the video based Ariel Performance Analysis System (APAS) to develop data on shirtsleeved and space-suited human performance in order to plan efficient on-orbit intravehicular and extravehicular activities. APAS is a fully integrated system of hardware and software for biomechanics and the analysis of human performance and generalized motion measurement. Major components of the complete system include the video system, the AT compatible computer, and the proprietary software.

Probe, John D.↗

NASA NTRS2022

Automating Surface Attitude Positioning and Pointing Operations for Mars 2020

The Surface Attitude Positioning and Pointing (SAPP) subsystem of the Mars Perseverance rover keeps track of the rover’s position and attitude on the surface of Mars. The SAPP Downlink Engineering Operations team members receive data from the rover on a daily basis. They must interpret the data to make sure the rover is staying safe and to support uplink planning. The SAPP team keeps track of the error growth in the rover’s attitude estimate due to noise in the Rover Inertial Measurement Unit’s (RIMU) gyroscopes used to propagate that attitude estimate whenever the rover is moving. Whenever this error grows to a particular threshold, SAPP is responsible for updating the onboard attitude knowledge using the RIMU’s accelerometers to estimate rover roll and pitch and sun imaging to estimate rover yaw, thereby reducing this attitude estimation error. Accurate attitude estimation is required so that the rover can successfully point its High Gain Antenna (HGA) to receive information from Earth and as a backup to the Mars orbiters used for sending data from the rover to Earth, point instruments on its Remote Sensing Mast (RSM), and support safe movement and placement of instruments by the rover’s ARM relative to the Martian surface. The Mars 2020 Engineering Operations team has been working to increase the operational efficiency of the mission and eventually move to a five-hour timeline for daily operations. In pursuit of this goal, the SAPP Engineering Operations team has automated their downlink process by developing a centralized Jupyter notebook to analyze the data received daily from the rover. The SAPP downlink Jupyter notebook automatically collects the data relevant to the SAPP subsystem and visualizes this information in plots and tables that can be easily read by downlink operators to aid them in assessing the status of the subsystem. Various Application Programming Interfaces (APIs) have been incorporated into the downlink daily notebook to automate the collection and posting of data, such as gathering and posting data products to the cloud. The SAPP team has also developed a SAPP downlink software library that includes functions to aid the notebook in processing data. In addition to assessing the SAPP subsystem on a daily basis, operators need to assess the long-term trending behavior of the subsystem over time. An automated trending process has been developed to collect information from the daily notebooks in order to plot and analyze that data in a centralized place. These daily and trending processes have expedited the SAPP downlink assessment and laid the groundwork to completely automate the SAPP downlink process so that SAPP operators are unnecessary unless something unexpected occurs. This paper will provide an overview of the functions that the SAPP subsystem carries out on a daily basis, and will then dive into the automations that have been developed for daily and trending downlink assessment. An assessment of the downlink efficiency will be provided, along with a summary of lessons learned and work to go. Finally, the authors will discuss how these types of automated spacecraft health assessments could be more broadly used within mission operations.

Zarifian, Anais↗

NASA NTRSDate not supplied

Delay Tolerant, Radio Frequency Identification (RFID )-enabled Sensing

Radio Frequency Identification (RFID) technology offers a completely passive method to transmit fixed data sequences from an RFID tag, which typically doesn’t have its own power supply, to an interrogator. Radio frequency (RF) energy harvested from the interrogator is rectified by the tag and used to charge an integrated circuit (IC). The IC then modulates the received signal with the data stored on the tag and reflects the energy back to the interrogator. RFID has seen great proliferation in terrestrial inventory management applications, and it has recently made the jump to spaceflight applications onboard the International Space Station, augmenting an existing optical bar‐code infrastructure for tracking supplies. A number of advanced automated logistics management (ALM) concepts employing RFID are currently being developed and evaluated, including so‐called “smart” shelves, cubbies, and trash receptacles using low‐power, embeddable RFID interrogators. An infrastructure where both crew members and robotic assistants, such as autonomous free flyers, are similarly equipped with small RFID interrogators seems likely. It therefore behooves us to consider extending this infrastructure beyond ALM to applications such as low power, embedded sensing. Typically, data on an RFID tag can only be written by an RFID interrogator, using interrogator energy. In recent years, however, a few efforts have focused on using that energy to drive data acquisition from the tag IC, allowing the tag to modify its stored data sequence with sensor data before replying to an interrogator. In this way, the tag can act as a completely passive sensing device. One problem exists with this approach, however: the tag cannot gather data when an interrogator is not present. Thus, strictly passive RFID sensing tags cannot gather data at regular intervals, in the manner of a typical wireless sensor network, without careful, and impractical, planning of mobile interrogator movements. To address this shortcoming, we look to a recent advance in RFID technology which allows an external microprocessor to power the tag IC and write directly into its RFID memory using a wired serial interface. In this paradigm, data gathering is driven by a small, on‐board power supply (using batteries or harvested energy), and data transfer is provided passively through the RFID interrogation service. Since communication typically consumes the lion’s share of power in WSNs, such a technique has the potential to enable extremely long‐lived, embedded wireless sensing when used with extremely low‐current microcontrollers. Since the communication channel is only open when an interrogator is present and actively interrogating the RFID sensing tag, transport of periodically‐sampled sensor data presents itself as a delay/disruption‐tolerant networking (DTN) problem. In this paper, we present the design of a DTN‐like overlay on the common EPC Global, Class 1, Generation 2 RFID standard. This overlay allows seamless, guaranteed data transfer using the EPC Global protocol, supporting extremely low‐power, embedded sensing using an infrastructure likely to be already in place for ALM applications. We evaluate a prototype implementation of a complete end‐to‐end system using a robotic RFID interrogation agent, and we present future directions for the development of this sensing technique.

Raymond S. Wagner↗

DOE OSTI2023

Patterns and rates of soil movement and shallow failures across several small watersheds on the Seward Peninsula, Alaska

Abstract. Thawing permafrost can alter topography, ecosystems, and sediment and carbon fluxes, but predicting landscape evolution of permafrost-influenced watersheds in response to warming and/or hydrological changes remains an unsolved challenge. Sediment flux and slope instability in sloping saturated soils have been commonly predicted from topographic metrics (e.g., slope, drainage area). In addition to topographic factors, cohesion imparted by soil and vegetation and melting ground ice may also control spatial trends in slope stability, but the distribution of ground ice is poorly constrained and hard to predict. To address whether slope stability and surface displacements follow topographic-based predictions, we document recent drivers of permafrost sediment flux present on a landscape in western Alaska that include creep, solifluction, gullying, and catastrophic hillslope failures ranging in size from a few meters to tens of meters, and we find evidence of rapid and substantial landscape change on an annual timescale. We quantify the timing and rate of surface movements using a multi-pronged, multi-scalar dataset including aerial surveys, interannual GPS surveys, synthetic aperture radar interferometry (InSAR), and climate data. Despite clear visual evidence of downslope soil transport of solifluction lobes, we find that the interannual downslope surface displacement of these features does not outpace downslope displacement of soil in locations where lobes are absent (downslope movement means: 7 cm yr−1 for lobes over 2 years vs. 10 cm yr−1 in landscape positions without lobes over 1 year). Annual displacements do not appear related to slope, drainage area, or modeled total solar radiation but are likely related to soil thickness, and volumetric sediment fluxes are high compared to temperate landscapes of comparable bedrock lithology. Time series of InSAR displacements show accelerated movement in late summer, associated with intense rainfall and/or deep thaw. While mapped slope failures do cluster at slope–area thresholds, a simple slope stability model driven with hydraulic conductivities representative of throughflow in mineral and organic soil drastically overpredicts the occurrence of slope failures. This mismatch implies permafrost hillslopes have unaccounted-for cohesion and/or throughflow pathways, perhaps modulated by vegetation, which stabilize slopes against high rainfall. Our results highlight the breadth and complexity of soil transport processes in Arctic landscapes and demonstrate the utility of using a range of synergistic data collection methods to observe multiple scales of landscape change, which can aid in predicting periglacial landscape evolution.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2010

Analysis of Air Traffic Track Data with the AutoBayes Synthesis System

The Next Generation Air Traffic System (NGATS) is aiming to provide substantial computer support for the air traffic controllers. Algorithms for the accurate prediction of aircraft movements are of central importance for such software systems but trajectory prediction has to work reliably in the presence of unknown parameters and uncertainties. We are using the AutoBayes program synthesis system to generate customized data analysis algorithms that process large sets of aircraft radar track data in order to estimate parameters and uncertainties. In this paper, we present, how the tasks of finding structure in track data, estimation of important parameters in climb trajectories, and the detection of continuous descent approaches can be accomplished with compact task-specific AutoBayes specifications. We present an overview of the AutoBayes architecture and describe, how its schema-based approach generates customized analysis algorithms, documented C/C++ code, and detailed mathematical derivations. Results of experiments with actual air traffic control data are discussed.

Schumann, Johann Martin Philip↗

DOE OSTI2023

A hybrid machine-learning approach for analysis of methane hydrate formation dynamics in porous media with synchrotron CT imaging

Fast multi-phase processes in methane hydrate bearing samples pose a challenge for quantitative micro-computed tomography study and experiment steering due to complex tomographic data analysis involving time-consuming segmentation procedures. This is because of the sample's multi-scale structure, which changes over time, low contrast between solid and fluid materials, and the large amount of data acquired during dynamic processes. Here, a hybrid approach is proposed for the automatic segmentation of tomographic data from time-resolved imaging of methane gas-hydrate formation in sandy granular media, which includes a deep-learning 3D U-Net model. To prepare a training dataset for the 3D U-Net, a technique to automate data labeling based on sample-specific information about the mineral matrix immobility and occasional fluid movement in pores is proposed. Automatic segmentation allowed for studying properties of the hydrate growth in pores, as well as dynamic processes such as incremental flow and redistribution of pore brine. Results of the quantitative analysis showed that for typical gas-hydrate stability parameters (100 bar methane pressure, 7°C temperature) the rate of formation is slow (less than 1% per hour), after which the surface area of contact between brine and gas increases, resulting in faster formation (2.5% per hour). Hydrate growth reaches the saturation point after 11 h of the experiment. Finally, the efficacy of the proposed segmentation scheme in on-the-fly automatic data analysis and experiment steering with zooming to regions of interest is demonstrated.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2015

Human γ-glutamyl transpeptidase 1: Structures of the free enzyme, inhibitor-bound tetrahedral transition states, and glutamate-bound enzyme reveal novel movement within the active site during catalysis [Human gamma-glutamyl transpeptidase: Inhibitor binding and movement within the active site]

γ-Glutamyl transpeptidase 1 (GGT1) is a cell surface, N-terminal nucleophile hydrolase that cleaves glutathione and other γ-glutamyl compounds. GGT1 expression is essential in cysteine homeostasis, and its induction has been implicated in the pathology of asthma, reperfusion injury, and cancer. In this study, we report four new crystal structures of human GGT1 (hGGT1) that show conformational changes within the active site as the enzyme progresses from the free enzyme to inhibitor-bound tetrahedral transition states and finally to the glutamate-bound structure prior to the release of this final product of the reaction. The structure of the apoenzyme shows flexibility within the active site. The serine-borate-bound hGGT1 crystal structure demonstrates that serine-borate occupies the active site of the enzyme, resulting in an enzyme-inhibitor complex that replicates the enzyme's tetrahedral intermediate/transition state. The structure of GGsTop-bound hGGT1 reveals its interactions with the enzyme and why neutral phosphonate diesters are more potent inhibitors than monoanionic phosphonates. These structures are the first structures for any eukaryotic GGT that include a molecule in the active site covalently bound to the catalytic Thr-381. The glutamate-bound structure shows the conformation of the enzyme prior to release of the final product and reveals novel information regarding the displacement of the main chain atoms that form the oxyanion hole and movement of the lid loop region when the active site is occupied. Lastly,tThese data provide new insights into the mechanism of hGGT1-catalyzed reactions and will be invaluable in the development of new classes of hGGT1 inhibitors for therapeutic use.

36 MATERIALS SCIENCE↗

DOE OSTI2017

Structures of partition protein ParA with nonspecific DNA and ParB effector reveal molecular insights into principles governing Walker-box DNA segregation

Walker-box partition systems are ubiquitous in nature and mediate the segregation of bacterial and archaeal DNA. Well-studied plasmid Walker-box partition modules require ParA, centromere–DNA, and a centromere-binding protein, ParB. In these systems, ParA–ATP binds nucleoid DNA and uses it as a substratum to deliver ParB-attached cargo DNA, and ParB drives ParA dynamics, allowing ParA progression along the nucleoid. How ParA–ATP binds nonspecific DNA and is regulated by ParB is unclear. Also under debate is whether ParA polymerizes on DNA to mediate segregation. Here we describe structures of key ParA segregation complexes. The ParA–β,γ-imidoadenosine 5'-triphosphate (AMPPNP)–DNA structure revealed no polymers. Instead, ParA–AMPPNP dimerization creates a multifaceted DNA-binding surface, allowing it to preferentially bind high-density DNA regions (HDRs). DNA-bound ParA–AMPPNP adopts a dimer conformation distinct from the ATP sandwich dimer, optimized for DNA association. Our ParA–AMPPNP–ParB structure reveals that ParB binds at the ParA dimer interface, stabilizing the ATPase-competent ATP sandwich dimer, ultimately driving ParA DNA dissociation. Thus, the data indicate how harnessing a conformationally adaptive dimer can drive large-scale cargo movement without the requirement for polymers and suggest a segregation mechanism by which ParA–ATP dimers equilibrate to HDRs shown to be localized near cell poles of dividing chromosomes, thus mediating equipartition of attached ParB–DNA substrates.

Cell Biology↗

DOE OSTI2016

Novel silica stabilization method for the analysis of fine nanocrystals using coherent X-ray diffraction imaging

High-energy X-ray Bragg coherent diffraction imaging (BCDI) is a well established synchrotron-based technique used to quantitatively reconstruct the three-dimensional morphology and strain distribution in nanocrystals. The BCDI technique has become a powerful analytical tool for quantitative investigations of nanocrystals, nanotubes, nanorods and more recently biological systems. BCDI has however typically failed for fine nanocrystals in sub-100?nm size regimes ? a size routinely achievable by chemical synthesis ? despite the spatial resolution of the BCDI technique being 20?30?nm. The limitations of this technique arise from the movement of nanocrystals under illumination by the highly coherent beam, which prevents full diffraction data sets from being acquired. A solution is provided here to overcome this problem and extend the size limit of the BCDI technique, through the design of a novel stabilization method by embedding the fine nanocrystals into a silica matrix. Chemically synthesized FePt nanocrystals of maximum dimension 20?nm and AuPd nanocrystals in the size range 60?65?nm were investigated with BCDI measurement at beamline 34-ID-C of the APS, Argonne National Laboratory. Novel experimental methodologies to elucidate the presence of strain in fine nanocrystals are a necessary pre-requisite in order to better understand strain profiles in engineered nanocrystals for novel device development.

36 MATERIALS SCIENCE↗

DOE OSTI2021

Godiva Experiments for the Nuclear Criticality Safety Program (NCSP)

Godiva IV is a fast burst critical assembly constructed of approximately 65 kg of highly enriched uranium (HEU) fuel alloyed with 1.5 percent molybdenum for strength. Godiva is one of the last such critical assemblies in the United States, and can be used for studies of super-prompt critical behavior as well as irradiations and demonstrations. A demonstration of a Godiva burst is usually performed as a highlight of the hands-on portion of the Criticality Safety Training Classes taught at the National Criticality Experiment Research Center (NCERC). The Godiva burst is used to demonstrate the concept of super-prompt critical and the time-scale of a criticality accident. In addition, several NCSP projects have been conducted on Godiva IV over the past two years. One experiment focused on collecting data to support multiphysics simulations using Photo-Doppler Velocimetry (PDV) to measure surface movement and gamma detectors to measure the burst output as the burst develops from background to peak over ten orders of magnitude. Another experiment was performed to demonstrate the functionality of the Criticality Accident Alarm System (CAAS) system developed for installation in the Y-12 Uranium Processing Facility (UPF). The system must not only respond to a criticality event and alarm, but must also be shown to operate in a high dose environment.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2018

Observed Surface Disturbances Associated with the DPRK’s 3 September 2017 Underground Nuclear Test

Satellite-based Synthetic Aperture Radar (SAR) data of the Punggye-ri nuclear test site, along with pre- and post-test optical commercial satellite imagery and a short official video (which was apparently recorded during the 3 September 2017 test), provide additional insights on the widespread surface disturbances around the peak of Mt. Mantap. These were generated by North Korea’s sixth and by far largest nuclear test (estimated to be roughly a quarter of a megaton; Zerbo, 2017). Although a number of visible landslides that are associated with this test had been previously reported, these additional data reveal more information about the widespread nature of the detected larger-scale movements that have been reported by other researchers, in addition to some smaller scale instances of localized slumping or compression within the top 200 m of the mountain; these took place in an area that was observed to contain stratified volcanic deposits not otherwise described to date. A closer look at two previously described zones of localized slippage, subsidence, or slumping (located within those identified volcanic layer deposits on the western side of Mt. Mantap) revealed useful information about the landscape of the area. Several healthy trees have been knocked down in one zone; in the other, a rock prominence had collapsed, and a 60-m-long crack or crevice appeared to have opened. It remains unclear whether these surface disturbances were associated with what had been allegedly reported by the news media as a “cave-in that was externally observable.” However, given the likely 800 m depth of the test in the lower hard-rock geology, we have been led to conclude that the notable observed localized surface disturbances cannot be interpreted as a “collapse crater” that was a result of a “cave-in” above any nuclear test created cavity and/or associated tunneling. Although the broadscale nature of the SAR and visually detected movements inhibits more precise geolocation of the test within the mountain, the radar imagery did show that the various surface ground movements were generated in opposing directions. The movements were directed away from the center on either side of the mountain; as such, they provided an empirical basis to confirm the previous seismological estimates that the detonation had occurred somewhere under the peak of Mt. Mantap. Moreover, a North Korean-sourced short video that was acquired with a ground-based camera focused directly on the peak shows a large dust cloud rising up from the mountain. In conclusion, this provides additional evidence that is consistent with that conclusion.

58 GEOSCIENCES↗

DOE OSTI2016

Shared Freight Transportation and Energy Commodities Phase One: Coal, Crude Petroleum, & Natural Gas Flows

The Freight Analysis Framework (FAF) integrates data from a variety of sources to create a comprehensive picture of nationwide freight movements among states and major metropolitan areas for all modes of transportation. It provides a national picture of current freight flows to, from, and within the United States, assigns selected flows to the transportation network, and projects freight flow patterns into the future. The latest release of FAF is known as FAF4 with a base year of 2012. The FAF4 origin-destination-commodity-mode (ODCM) matrix is provided at national, state, major metropolitan areas, and major gateways with significant freight activities (e.g., El Paso, Texas). The U.S. Department of Energy (DOE) is interested in using FAF4 database for its strategic planning and policy analysis, particularly in association with the transportation of energy commodities. However, the geographic specification that DOE requires is a county-level ODCM matrix. Unfortunately, the geographic regions in the FAF4 database were not available at the DOE desired detail. Due to this limitation, DOE tasked Oak Ridge National Laboratory (ORNL) to assist in generating estimates of county-level flows for selected energy commodities by mode of transportation.

01 COAL, LIGNITE, AND PEAT↗

DOE OSTI2026

A Novel Segmentation Algorithm for the ARM User Facility All-Sky Imagers Using Machine Learning Applications

Cloud cover plays a pivotal role in modulating the Earth's energy budget through the reflection of incoming solar radiation and the trapping of outgoing longwave radiation. Ground-based all-sky imagers offer an objective assessment of cloud cover that can be used to estimate solar irradiance, classify cloud types, track cloud movement, and serve as a benchmark 10 for the evaluation of satellite and reanalysis data products. The Atmospheric Radiation Measurement (ARM) user facility has utilized all-sky imagers for more than 25 years to monitor cloud cover and augment its comprehensive suite of atmospheric measurements. Following the retirement of its Total Sky Imager (TSI), ARM recently deployed the TSI’s successor, the All Sky Imager (ASI-16 camera systems). To provide a smooth transition and continuity to the vast amount of knowledge gathered by the TSI over the years, while addressing typical deployment issues, we developed a novel pixel segmentation algorithm, 15 the ASI Sky Cover (ASISKYCOVER). ASISKYCOVER builds on the different strengths and properties of the TSI processing algorithm while integrating machine learning techniques, ensuring data validity and accuracy across diverse atmospheric conditions. It enhances cloud cover characterization with new features such as artifact detection and uncertainty quantification. ASISKYCOVER also includes cloud cover estimates for near-zenith (narrow field-of-view) and reduces susceptibility to false detections. This study introduces ASISKYCOVER, details its algorithm framework, and demonstrates its capabilities using a 20 year-long dataset from the ARM Southern Great Plains site. Comparisons with co-located TSI data and other ARM measurements, such as zenith-pointing radars and lidars, are presented, underscoring the ASISKYCOVER’s potential to improve cloud cover analyses and data evaluation efforts, as well as to be integrated into higher-level data products that synergize instrument suites to generate new and insightful information

Silber, Israel↗

NASA NTRS1973

Microminiaturized, biopotential conditioning system (MBCS)

Multichannel, medical monitoring system allows almost complete freedom of movement for subject during monitoring periods. System comprises monitoring unit (biobelt), transmission line, and data acquisition unit. Belt, made of polybenzimidizole fabric, is wrapped around individual's waist and held in place by overlapping sections of Velcro closure material.

Belasco, N.↗

NASA NTRS1975

Transonic buffet behavior of Northrop F-5A aircraft

Flight tests were performed on an extensively instrumented F-5A aircraft to investigate the dynamic buffet pressure distribution on the wing surfaces and the responses during a series of transonic maneuvers called the windup turns. The maneuvers to maximum lift were performed at three Mach number-altitude combinations with a constant 'q' of approximately 14,360 N/sq m (300 psf). The fluctuating buffet pressure data at 24 stations on the right wing of the F-5A were acquired by miniaturized semiconductor type pressure transducers mounted on the wing. A new transducer mounting and wiring technique was applied where the interference with the natural flow condition was minimized. The data acquired in this manner were found adequate to trace the shock origin, the movement of the shock front and the development of the separated flow (shock induced or leading edge induced) on the wing surface.

Hwang, C.↗

NASA NTRS1981

SAGE measurements of the stratospheric aerosol dispersion and loading from the Soufriere Volcano

Explosions of the Soufriere volcano on the Caribbean Island of St. Vincent reduced two major stratospheric plumes which the stratospheric aerosol and gas experiment (SAGE) satellite tracked to West Africa and the North Atlantic Ocean. The total mass of the stratospheric ejecta measured is less than 0.5% of the global stratospheric aerosol burden. No significant temperature or climate perturbation is expected. It is found that the movement and dispersion of the plumes agree with those deduced from high altitude meteorological data and dispersion theory. The stratospheric aerosol dispersion and loading from the Soufrier volcano was measured.

Mccormick, M. P.↗

NASA NTRS1989

Substorms, plasmoids, flux robes, and magnetotail flux loss on March 25, 1983 - CDAW-8

During a 9-hour period following a storm-sudden commencement, six spacecraft near geosynchronous orbit, one over the pole, and three in the mgnetotail, monitored a complex sequence of magnetospheric variations. Magnetic field compressions associated with the sudden commencement were seen first by the near-earth spacecraft and subsequently by the three down-tail spacecraft with increasing time delays that were consistent with the tailward movement of an interplanetary-shock-associated pressure enhancement. Ground magnetograms and synchronous orbit data are used to identify 7 substorm intensifications during this geomagnetically active period. Six of these intensifications are clearly associated with tail lobe field decreases about 18 R sub E behind the earth. Four of these intensifications are followed by both Bz field increases in the tail lobes at about 18 and about 30 R sub E and by the subsequent observation of rapidly flowing plasma sheet plasma at ISEE 3 about 110 R sub E down the tail. During two substorms where DE 1 was optically observing the auroral oval, the area of the polar cap was observed to decrease as the tail lobe field decreased at 18 R sub E. All these observations are consistent with the substorm associated release of a plasmoid at a neutral line near 20 R sub E.

Fairfield, D. H.↗

NASA NTRS1991

Architecture For Intelligent Control Of Robotic Tasks

Proposed architecture for control of such robotic devices as artificial hands calls for data-abstracting hierarchies of processing, controlling, and sensing equipment that plans, executes, and corrects movements of devices at acceptably high rates. Combines features developed in research on artificial intelligence and control theory. Characterized by casual connections between layers of hierarchy, approximately equal complexities of layers, and directed focus of attention.

Fiorini, Paolo↗