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At least 127 records · Page 7

A class of parallel algorithms for computation of the manipulator inertia matrix

Parallel and parallel/pipeline algorithms for computation of the manipulator inertia matrix are presented. An algorithm based on composite rigid-body spatial inertia method, which provides better features for parallelization, is used for the computation of the inertia matrix. Two parallel algorithms are developed which achieve the time lower bound in computation. Also described is the mapping of these algorithms with topological variation on a two-dimensional processor array, with nearest-neighbor connection, and with cardinality variation on a linear processor array. An efficient parallel/pipeline algorithm for the linear array was also developed, but at significantly higher efficiency.

Fijany, Amir↗

Interval polynomial positivity

It is shown that a univariate interval polynomial is globally positive if and only if two extreme polynomials are globally positive. It is shown that the global positivity property of a bivariate interval polynomial is completely determined by four extreme bivariate polynomials. The cardinality of the determining set for k-variate interval polynomials is 2k. One of many possible generalizations, where vertex implication for global positivity holds, is made by considering the parameter space to be the set dual of a boxed domain.

Bose, N. K.↗

Software reliability through fault-avoidance and fault-tolerance

Twenty independently developed but functionally equivalent software versions were used to investigate and compare empirically some properties of N-version programming, Recovery Block, and Consensus Recovery Block, using the majority and consensus voting algorithms. This was also compared with another hybrid fault-tolerant scheme called Acceptance Voting, using dynamic versions of consensus and majority voting. Consensus voting provides adaptation of the voting strategy to varying component reliability, failure correlation, and output space characteristics. Since failure correlation among versions effectively reduces the cardinality of the space in which the voter make decisions, consensus voting is usually preferable to simple majority voting in any fault-tolerant system. When versions have considerably different reliabilities, the version with the best reliability will perform better than any of the fault-tolerant techniques.

Vouk, Mladen A.↗

Advanced CLIPS capabilities

The C Language Integrated Production System (CLIPS) is a forward chaining rule based language developed by NASA. CLIPS was designed specifically to provide high portability, low cost, and easy integration with external systems. The current release of CLIPS, version 4.3, is being used by over 2500 users throughout the public and private community. The primary addition to the next release of CLIPS, version 5.0, will be the CLIPS Object Oriented Language (COOL). The major capabilities of COOL are: class definition with multiple inheritance and no restrictions on the number, types, or cardinality of slots; message passing which allows procedural code bundled with an object to be executed; and query functions which allow groups of instances to be examined and manipulated. In addition to COOL, numerous other enhancements were added to CLIPS including: generic functions (which allow different pieces of procedural code to be executed depending upon the types or classes of the arguments); integer and double precision data type support; multiple conflict resolution strategies; global variables; logical dependencies; type checking on facts; full ANSI compiler support; and incremental reset for rules.

Riley, Gary↗

LDEF's map experiment foil perforations yield hypervelocity impact penetration parameters

The space exposure of LDEF for 5.75 years, forming a host target in low earth orbit (LEO) orbit to a wide distribution of hypervelocity particulates of varying dimensions and different impact velocities, has yielded a multiplicity of impact features. Although the projectile parameters are generally unknown and, in fact not identical for any two impacts on a target, the great number of impacts provides statistically meaningful basis for the valid comparison of the response of different targets. Given sufficient impacts for example, a comparison of impact features (even without knowledge of the project parameters) is possible between: (1) differing material types (for the same incident projectile distribution); (2) differing target configurations (e.g., thick and thin targets for the same material projectiles; and (3) different velocities (using LDEF's different faces). A comparison between different materials is presented for infinite targets of aluminum, Teflon, and brass in the same pointing direction; the maximum finite-target penetration (ballistic limit) is also compared to that of the penetration of similar materials comprising of a semi-infinite target. For comparison of impacts on similar materials at different velocities, use is made of the pointing direction relative to LDEF's orbital motion. First, however, care must be exercised to separate the effect of spatial flux anisotropies from those resulting from the spacecraft velocity through a geocentrically referenced dust distribution. Data comprising thick and thin target impacts, impacts on different materials, and in different pointing directions is presented; hypervelocity impact parameters are derived. Results are also shown for flux modeling codes developed to decode the relative fluxes of Earth orbital and unbound interplanetary components intercepting LDEF. Modeling shows the west and space pointing faces are dominated by interplanetary particles and yields a mean velocity of 23.5 km/s at LDEF, corresponding to a V(infinity) Earth approach velocity = 20.9 km/s. Normally resolved average impact velocities on LDEF's cardinal point faces are shown. As 'excess' flux on the east, north, and south faces is observed, compatible with an Earth orbital component below some 5 microns in particle diameter.

Mcdonnell, J. A. M.↗

Profile analysis of after-effects experienced during exposure to several virtual reality environments

Motion sickness symptoms are an unwanted by-product of exposure to virtual environments. This problem is not new and was reported in the early flight simulators and experiments on ego motions and vection. The cardinal symptom of motion sickness is, of course, vomiting, but this symptom is ordinarily preceded by a variety of other symptoms. In his classic studies of motion sickness conducted before and during World War II, G. R. Wendt introduced a three point scale to score motion sickness beyond a vomit/no vomit dichotomy. Later, Navy scientists developed a Motion Sickness Questionnaire (MSQ), originally for use in a slowly rotating room. In the last 20 years the MSQ has been used in a series of studies of air, sea, and space sickness. Only recently, however, has it been appreciated that symptom patterns in the MSQ are not uniform but vary with the way sickness is induced. In seasickness, for example, nausea is the most prominent symptom. In Navy simulators, however, the most common symptom is eye strain, especially when cathode ray tubes are employed in the simulation. The latter result was obtained in a survey of over 1,500 pilot exposures. Using this database, Essex scientists conducted a factor analysis of the MSQ. We found that signs and symptoms of motion sickness fell mainly into three clusters: 1) oculomotor disturbance, 2) nausea and related neurovegetative problems, and 3) disorientation, ataxia, and vertigo. We have since rescored the MSQ results obtained in Navy simulators in terms of these three components. We have also compared these and other profiles obtained from three different vitual reality systems to profiles obtained in sea sickness, space sickness, and alcohol intoxication. We will show examples of these various profiles and point out simularities and differences among them which indicate aspects of what might be called 'virtual-reality sickness'.

Kennedy, Robert S.↗

The Role of Linear Acceleration in Visual-Vestibular Interactions and Implications in Aircraft Operations

While considerable attention has been given to visual-vestibular interaction (VVI) during angular motion of the head as might occur during an aircraft spin, much less attention has been given to VVI during linear motion of the head. Such interaction might occur, for example, while viewing a stationary or moving display during vertical take-off and landing operations Research into linear VVI, particularly during prolonged periods of linear acceleration, has been hampered by the unavailability of a programmable translator capable of large excursions We collaborated with Otis Elevator Co. and used their research tower and elevator, whose motion could be digitally programmed, to vertically translate human subjects over a distance of 92.3 meters with a peak linear acceleration of 2 meters/sec(exp 2) During pulsatile or sinusoidal translation, the subjects viewed moving stripes (optokinetic stimulus) or a fixed point source (light emitting diode, led, display), respectively and it was generally found that. The direction of linear acceleration relative to the cardinal head axes and the direction of the slow component of optokinetic nystagmus (OKN) determined the extent of VVI during concomitant stripe motion and linear acceleration. Acceleration along the z head axis (A(sub z)) produced the largest VVI, particularly when the slow component of OKN was in the same direction as eye movements produced by the linear acceleration and Eye movements produced by linear acceleration are suppressed by viewing a fixed target at frequencies below 10 Hz But, above this frequency the suppression produced by VVI is removed. Finally, as demonstrated in non-human primates, vergence of the eyes appears to modulate the vertical eye movement response to linear acceleration in humans.

Correia, Manning J.↗

Neural Correlates of Birth: Labor Contractions Induce C-Fos Expression In Newborn Rat Brain

At birth, the newborn mammal must make rapid adaptations to the extrauterine environment to survive. We have previously shown that labor contractions augment the appearance of adaptive responses at birth, viz., postpartum breathing and the onset of suckling. Since neuronal activity has been shown to upregulate the activity of immediate early genes (IEGs) in the brain, we analyzed the neural distribution of c-Fos protein expression in newborn rats using immunohistochemistry. Previous studies have reported a burst of c-Fos mRNA expression in mouse and rat brain at birth however relationships to labor and delivery have not been examined. In the present study, we exposed near-term rat fetuses to elements of the vaginal birth process: 1) Simulated labor contractions. 2) Postpartum cooling (22 deg C). 3) Umbilical cord occlusion. and 4) Stroking to mimic postpartum licking by the dam. Cardinally delivered newborns (VG) were compared with those delivered by cesarean section following either prenatal exposure to compressions (C) [simulated labor contractions], or no compressions (NC) [no labor contractions]. Similar patterns of c-fos activation were observed throughout hypothalamic and thalamic nuclei, hippocampus and cerebral cortex in VG and C newborns that were not apparent in NC newborns. Our results indicate that labor contractions play a role in the induction of widespread neural activation in the newborn brain.

Ronca, A. E.↗

Foundations of the Bandera Abstraction Tools

Current research is demonstrating that model-checking and other forms of automated finite-state verification can be effective for checking properties of software systems. Due to the exponential costs associated with model-checking, multiple forms of abstraction are often necessary to obtain system models that are tractable for automated checking. The Bandera Tool Set provides multiple forms of automated support for compiling concurrent Java software systems to models that can be supplied to several different model-checking tools. In this paper, we describe the foundations of Bandera's data abstraction mechanism which is used to reduce the cardinality (and the program's state-space) of data domains in software to be model-checked. From a technical standpoint, the form of data abstraction used in Bandera is simple, and it is based on classical presentations of abstract interpretation. We describe the mechanisms that Bandera provides for declaring abstractions, for attaching abstractions to programs, and for generating abstracted programs and properties. The contributions of this work are the design and implementation of various forms of tool support required for effective application of data abstraction to software components written in a programming language like Java which has a rich set of linguistic features.

Hatcliff, John↗

Contributions of Spherical Harmonics to Magnetic and Gravitational Fields

Gravitational forces are of cardinal importance in the dynamics of spacecraft; magnetic attractions sometime play a significant role also, as was the case with the Long Duration Exposure Facility, and as is now true for the first segment of Space Station Freedom. Both satellites depend on gravitational moment and a device known as a magnetic damper to stabilize their orientation. Magnetic fields are mathematically similar to gravitational fields in one important respect: each can be regarded as a gradient of a potential function that, in turn, can be described as an infinite series of spherical harmonics. Consequently, the two fields can be computed, in part, with quantities that need only be evaluated once, resulting in a savings of time when both fields are needed. The objective of this material is to present magnetic field and gravitational force expressions, and point out the terms that belong to both this is accomplished in Section 1 and 2. Section 3 contains the deductive reasoning with which one obtains the expressions of interest. Finally, examples in Section 4 show these equations can be used to reproduce others that arise in connection with special cases such as the magnetic field produced by a tilted dipole, and gravitational force exerted by an oblate spheroid. The mathematics are discussed in the context of terrestrial fields; however, by substituting appropriate constants, the results can be made applicable to fields belonging to other celestial bodies. The expressions presented here share the characteristics of algorithms set forth for computing gravitational force. In particular, computation is performed speedily by means of recursion formulae, and the expressions do not suffer from the shortcoming of a singularity when evaluated at points that lie on the polar axis.

Roithmayr, Carlos M.↗

Human discrimination of visual direction of motion with and without smooth pursuit eye movements

It has long been known that ocular pursuit of a moving target has a major influence on its perceived speed (Aubert, 1886; Fleischl, 1882). However, little is known about the effect of smooth pursuit on the perception of target direction. Here we compare the precision of human visual-direction judgments under two oculomotor conditions (pursuit vs. fixation). We also examine the impact of stimulus duration (200 ms vs. ~800 ms) and absolute direction (cardinal vs. oblique). Our main finding is that direction discrimination thresholds in the fixation and pursuit conditions are indistinguishable. Furthermore, the two oculomotor conditions showed oblique effects of similar magnitudes. These data suggest that the neural direction signals supporting perception are the same with or without pursuit, despite remarkably different retinal stimulation. During fixation, the stimulus information is restricted to large, purely peripheral retinal motion, while during steady-state pursuit, the stimulus information consists of small, unreliable foveal retinal motion and a large efference-copy signal. A parsimonious explanation of our findings is that the signal limiting the precision of direction judgments is a neural estimate of target motion in head-centered (or world-centered) coordinates (i.e., a combined retinal and eye motion signal) as found in the medial superior temporal area (MST), and not simply an estimate of retinal motion as found in the middle temporal area (MT).

Saccades/physiology↗

Testing putative hemichordate homologues of the chordate dorsal nervous system and endostyle: expression of NK2.1 (TTF-1) in the acorn worm Ptychodera flava (Hemichordata, Ptychoderidae)

Recent phylogenetic investigations have confirmed that hemichordates and echinoderms are sister taxa. However, hemichordates share several cardinal characterstics with chordates and are thus an important taxon for testing hypotheses of homology between key chordate characters and their putative hemichordate antecedents. The chordate dorsal nervous system (DNS) and endostyle are intriguing characters because both hemichordate larval and adult structures have been hypothesized as homologues. This study attempts to test these purported homologies through examination of the expression pattem of a Ptychodera flava NK2 gene, PfNK2.1, because this gene is expressed both in the DNS and endostyle/thyroid in a wide range of chordate taxa. We found that PfNK2.1 is expressed in both neuronal and pharyngeal structures, but its expression pattem is broken up into distinct embryonic and juvenile phases. During embryogenesis, PfNK2.1 is expressed in the apical ectoderm, with transcripts later detected in presumable neuronal structures, including the apical organ and ciliated feeding band. In the developing juvenile we detected PfNK2.1 signal throughout the pharynx, including the stomochord, and later in the hindgut. We conclude that the similar utilization of NK2.1 in apical organ development and chordate DNS is probably due to a more general role for NK2.1 in neurogenesis and that hemichordates do not possess a homologue of the chordate DNS. In addition, we conclude that P. flava most likely does not possess a true endostyle; rather during the evolution of the endostyle NK2.1 was recruited from its more general role in pharynx development.

NASA Discipline Evolutionary Biology↗

Atypical form of Alzheimer's disease with prominent posterior cortical atrophy: a review of lesion distribution and circuit disconnection in cortical visual pathways

In recent years, the existence of visual variants of Alzheimer's disease characterized by atypical clinical presentation at onset has been increasingly recognized. In many of these cases post-mortem neuropathological assessment revealed that correlations could be established between clinical symptoms and the distribution of neurodegenerative lesions. We have analyzed a series of Alzheimer's disease patients presenting with prominent visual symptomatology as a cardinal sign of the disease. In these cases, a shift in the distribution of pathological lesions was observed such that the primary visual areas and certain visual association areas within the occipito-parieto-temporal junction and posterior cingulate cortex had very high densities of lesions, whereas the prefrontal cortex had fewer lesions than usually observed in Alzheimer's disease. Previous quantitative analyses have demonstrated that in Alzheimer's disease, primary sensory and motor cortical areas are less damaged than the multimodal association areas of the frontal and temporal lobes, as indicated by the laminar and regional distribution patterns of neurofibrillary tangles and senile plaques. The distribution of pathological lesions in the cerebral cortex of Alzheimer's disease cases with visual symptomatology revealed that specific visual association pathways were disrupted, whereas these particular connections are likely to be affected to a less severe degree in the more common form of Alzheimer's disease. These data suggest that in some cases with visual variants of Alzheimer's disease, the neurological symptomatology may be related to the loss of certain components of the cortical visual pathways, as reflected by the particular distribution of the neuropathological markers of the disease.

Review↗

Three-dimensional organization of otolith-ocular reflexes in rhesus monkeys. I. Linear acceleration responses during off-vertical axis rotation

1. The dynamic properties of otolith-ocular reflexes elicited by sinusoidal linear acceleration along the three cardinal head axes were studied during off-vertical axis rotations in rhesus monkeys. As the head rotates in space at constant velocity about an off-vertical axis, otolith-ocular reflexes are elicited in response to the sinusoidally varying linear acceleration (gravity) components along the interaural, nasooccipital, or vertical head axis. Because the frequency of these sinusoidal stimuli is proportional to the velocity of rotation, rotation at low and moderately fast speeds allows the study of the mid-and low-frequency dynamics of these otolith-ocular reflexes. 2. Animals were rotated in complete darkness in the yaw, pitch, and roll planes at velocities ranging between 7.4 and 184 degrees/s. Accordingly, otolith-ocular reflexes (manifested as sinusoidal modulations in eye position and/or slow-phase eye velocity) were quantitatively studied for stimulus frequencies ranging between 0.02 and 0.51 Hz. During yaw and roll rotation, torsional, vertical, and horizontal slow-phase eye velocity was sinusoidally modulated as a function of head position. The amplitudes of these responses were symmetric for rotations in opposite directions. In contrast, mainly vertical slow-phase eye velocity was modulated during pitch rotation. This modulation was asymmetric for rotations in opposite direction. 3. Each of these response components in a given rotation plane could be associated with an otolith-ocular response vector whose sensitivity, temporal phase, and spatial orientation were estimated on the basis of the amplitude and phase of sinusoidal modulations during both directions of rotation. Based on this analysis, which was performed either for slow-phase eye velocity alone or for total eye excursion (including both slow and fast eye movements), two distinct response patterns were observed: 1) response vectors with pronounced dynamics and spatial/temporal properties that could be characterized as the low-frequency range of "translational" otolith-ocular reflexes; and 2) response vectors associated with an eye position modulation in phase with head position ("tilt" otolith-ocular reflexes). 4. The responses associated with two otolith-ocular vectors with pronounced dynamics consisted of horizontal eye movements evoked as a function of gravity along the interaural axis and vertical eye movements elicited as a function of gravity along the vertical head axis. Both responses were characterized by a slow-phase eye velocity sensitivity that increased three- to five-fold and large phase changes of approximately 100-180 degrees between 0.02 and 0.51 Hz. These dynamic properties could suggest nontraditional temporal processing in utriculoocular and sacculoocular pathways, possibly involving spatiotemporal otolith-ocular interactions. 5. The two otolith-ocular vectors associated with eye position responses in phase with head position (tilt otolith-ocular reflexes) consisted of torsional eye movements in response to gravity along the interaural axis, and vertical eye movements in response to gravity along the nasooccipital head axis. These otolith-ocular responses did not result from an otolithic effect on slow eye movements alone. Particularly at high frequencies (i.e., high speed rotations), saccades were responsible for most of the modulation of torsional and vertical eye position, which was relatively large (on average +/- 8-10 degrees/g) and remained independent of frequency. Such reflex dynamics can be simulated by a direct coupling of primary otolith afferent inputs to the oculomotor plant. (ABSTRACT TRUNCATED).

NASA Discipline Neuroscience↗

Convective-Stratiform Precipitation Variability at Seasonal Scale from Eight Years of TRMM Observations: Implications for Multiple Modes of Diurnal Variability

This study investigated the variability of convective and stratiform rainfall from eight years (1998-2005) of Tropical Rainfall Measuring Mission (TRMM) Precipitation Radar (PR) and TRMM Microwave Imager (TMI) measurements--focusing on seasonal diurnal variability. The main scientific goals are: (1) to understand the climatological variability of these two dominant forms of precipitation across the four cardinal seasons and over continents and oceans separately, and (2) to understand how differences in convective and stratiform rainfall variations ultimately determine how diurnal variability of total rainfall is modulated into multiple modes. There are distinct day-night differences for both convective and stratiform rainfall. Oceanic (continental) convective rainfall is up to 25% (50%) greater during nighttime (daytime) than daytime (nighttime). Seasonal variability of convective rainfall's day-night difference is relatively small, while stratiform rainfall exhibits very apparent day-night variations with a seasonal variability of these variations. There are consistent late evening diurnal peaks without obvious seasonal variations over ocean for convective, stratiform, and total rainfall. Over continents, convective and total rainfall exhibit a consistent dominant afternoon peak with little seasonal variability--with a late evening secondary peal exhibiting seasonal variation. Stratiform rainfall over continents shows a consistent strong late evening peak with a weak afternoon peak--with the afternoon mode undergoing seasonal variability. Therefore, the diurnal characteristics of stratiform rainfall control the afternoon secondary maximum of oceanic rainfall and the late evening secondary peak of continental rainfall. Even at seasonal-regional scale spatially or an interannual global scale temporally, the secondary mode can become very pronounced, but on an intermittent basis. Overall, the results demonstrate the importance of partitioning total rainfall into convective and stratiform components and that diurnal modes largely arise from distinct diurnal stratiform variations modulating convective variations.

Yang, Song↗

TPSAS-NF1676L-33626-DND

NASA is conducting a series of computational experiments to quantify atmospheric effects on low noise sonic booms. In the current study, simulated cruise nearfield pressure data from NASA?s X-59 Quiet Supersonic Technology aircraft was propagated from the aircraft to the ground at four cardinal headings through five years of realistic atmospheric profiles at 30 locations across the eastern USA. Statistical design of experiments was used to select the locations where primary sonic thump carpet widths (CW) and metric levels at the ground were computed. Atmospheric profiles were taken from the Climate Forecast System Reanalysis database, which contains reanalyzed atmospheric profiles four times daily. Decision tree analyses were performed to determine relative importance of predictors for CW and metric levels. Predictors included were latitude, longitude, date, time of day, season, climate, aircraft heading, and ground elevation. Results of this study indicate the propagation resolution needed to adequately characterize the distributions of CW and ground metric data, i.e., necessary separation distance between propagation locations and total number of atmospheres through which to propagate. This resolution will be used for a follow-on study of simulated X-59 carpets across the entire US mainland.

Will Doebler↗

Experiments to Challenge Jet Noise Prediction

Recent fundamental jet noise tests were conducted with the objective of providing data that challenges jet noise prediction methods. Three cases have been extracted to pose as challenges to the jet noise prediction community. Case 1 targets efforts in LES to appropriately mimic unresolveable turbulent boundary layers in nozzles, and to demonstrate where they are, and are not, important for noise. Case 2 targets acoustic analogy methods, providing cardinal data for the question of azimuthal localization and the broader issue of designing nozzles with favorable azimuthal directivity. Case 3 is an example where nozzle systems exhibit global resonances, which cannot be attacked by steady-state calculations. Given that it is very difficult to foresee such unsteady behavior (speaking from experience), it is crucial that low-cost methods be developed to catch these during the design process. Analysis and documentation of the test data is ongoing.

jet noise↗

Quantum-accelerated Global Constraint Filtering

Motivated by recent advances in quantum algorithms and gate-model quantum computation, we introduce quantum-accelerated filtering algorithms for global constraints in constraint programming. We adapt recent work in quantum algorithms for graph problems and identify quantum subroutines that accelerate the main domain consistency algorithms for the all different constraint and the global cardinality constraint (gcc). The subroutines are based on quantum algorithms for finding maximum matchings and strongly connected components in graphs, and provide speedups over the best classical algorithms. We detail both complete and bounded-probability frameworks for quantum-accelerated global constraint filtering algorithms within backtracking search.

Quantum algorithms↗