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At least 127 records · Page 7

Risk-Constrained Dynamic Programming for Optimal Mars Entry, Descent, and Landing

A chance-constrained dynamic programming algorithm was developed that is capable of making optimal sequential decisions within a user-specified risk bound. This work handles stochastic uncertainties over multiple stages in the CEMAT (Combined EDL-Mobility Analyses Tool) framework. It was demonstrated by a simulation of Mars entry, descent, and landing (EDL) using real landscape data obtained from the Mars Reconnaissance Orbiter. Although standard dynamic programming (DP) provides a general framework for optimal sequential decisionmaking under uncertainty, it typically achieves risk aversion by imposing an arbitrary penalty on failure states. Such a penalty-based approach cannot explicitly bound the probability of mission failure. A key idea behind the new approach is called risk allocation, which decomposes a joint chance constraint into a set of individual chance constraints and distributes risk over them. The joint chance constraint was reformulated into a constraint on an expectation over a sum of an indicator function, which can be incorporated into the cost function by dualizing the optimization problem. As a result, the chance-constraint optimization problem can be turned into an unconstrained optimization over a Lagrangian, which can be solved efficiently using a standard DP approach.

Ono, Masahiro↗

Analysis of complete quasar samples to obtain parameters of luminosity and evolution functions

A parametric likelihood analysis of the joint redshift-luminosity distribution is presented for a composite, complete sample of 32 quasars with B between 17.0 and 19.2 selected on the basis of ultraviolet excess. Best estimates and joint confidence regions are determined for the parameters of several models of the quasar optical luminosity and evolution function. These models are also tested explicitly for their acceptability. A steeper luminosity function is found than was found for previous samples. A model invoking pure density evolution is rejected on the basis of its extrapolation to fainter magnitudes through comparisons with the optical number counts and independently with the observed 2 keV X-ray background. Assuming an average value for L(x)/L(opt), the contribution of quasars to the X-ray background at 2 keV is discussed.

Marshall, H. L.↗

The mechanism of bolt loading

It is shown that the mechanism of bolt loading for preloaded fasteners can be effectively portrayed through simple spring models and some algebraic manipulations. Understanding schematically what is involved in such joints provides insight into the distribution of loads. The developed equations confirm that for both symmetric and nonsymmetric joints the loading plane factor and the stiffness factor directly affect the load seen in preloaded fasteners. The manner in which an external loading is transferred through the joint can be explained as energy dissipated in the various springs of both the abutment and the bolt itself.

Lee, H. M.↗

Activities of UAH

From its start in December 1996, the Cooperative Agreement allowed that some tasks could be performed primarily by UAH, some primarily by MSFC and some in a joint manner. The detailed distribution of effort has evolved in a pragmatic fashion, with each organization focusing on those tasks that seemed most urgent and for which appropriate capabilities existed. The final, all-up experiments were envisioned as a very careful measurement process carried out jointly using components developed at both UAH and MSFC. The total project began with an air of optimism that the necessary apparatus for the adopted objectives could be quickly and easily assembled. Not surprisingly, technological difficulties were encountered by all parties and it has proven impossible to complete the challenging experiments in the term of this cooperative agreement. The UAH accomplishments toward the ultimate experiments are reported here in a taskwise manner.

Li, Ning↗

Active Metal Brazing and Characterization of Brazed Joints in C-C and C-SiC Composites to Copper-Clad-Molybdenum System

Carbon/carbon composites with CVI and resin-derived matrices, and C/SiC composites reinforced with T-300 carbon fibers in a CVI SiC matrix were joined to Cu-clad Mo using two Ag-Cu braze alloys, Cusil-ABA (1.75% Ti) and Ticusil (4.5% Ti). The brazed joints revealed good interfacial bonding, preferential precipitation of Ti at the composite/braze interface, and a tendency toward delamination in resin-derived C/C composite. Extensive braze penetration of the inter-fiber channels in the CVI C/C composites was observed. The Knoop microhardness (HK) distribution across the C/C joints indicated sharp gradients at the interface, and a higher hardness in Ticusil than in Cusil-ABA. For the C/SiC composite to Cu-clad-Mo joints, the effect of composite surface preparation revealed that ground samples did not crack whereas unground samples cracked. Calculated strain energy in brazed joints in both systems is comparable to the strain energy in a number of other ceramic/metal systems. Theoretical predictions of the effective thermal resistance suggest that such joined systems may be promising for thermal management applications.

Singh, M.↗

Interactive robot control system and method of use

A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

Sanders, Adam M.↗

Adaptive independent joint control of manipulators - Theory and experiment

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Seraji, H.↗

On the joint bimodality of temperature and moisture near stratocumulus cloud tops

The observed distributions of the thermodynamic variables near stratocumulus top are highly bimodal. Two simple models of sub-grid fractional cloudiness motivated by this observed bimodality are examined. In both models, certain low order moments of two independent, moist-conservative thermodynamic variables are assumed to be known. The first model is based on the assumption of two discrete populations of parcels: a warm-day population and a cool-moist population. If only the first and second moments are assumed to be known, the number of unknowns exceeds the number of independent equations. If the third moments are assumed to be known as well, the number of independent equations exceeds the number of unknowns. The second model is based on the assumption of a continuous joint bimodal distribution of parcels, obtained as the weighted sum of two binormal distributions. For this model, the third moments are used to obtain 9 independent nonlinear algebraic equations in 11 unknowns. Two additional equations are needed to determine the covariance within the two subpopulations. In case these two internal covariance vanish, the system of equations can be solved analytically.

Randall, D. A.↗

Observations of Precipitation Size and Fall Speed Characteristics within Coexisting Rain and Wet Snow

Ground-based measurements of particle size and fall speed distributions using a Particle Size and Velocity (PARSIVEL) disdrometer are compa red among samples obtained in mixed precipitation (rain and wet snow) and rain in the Oregon Cascade Mountains and in dry snow in the Rock y Mountains of Colorado. Coexisting rain and snow particles are distinguished using a classification method based on their size and fall sp eed properties. The bimodal distribution of the particles' joint fall speed-size characteristics at air temperatures from 0.5 to 0 C suggests that wet-snow particles quickly make a transition to rain once mel ting has progressed sufficiently. As air temperatures increase to 1.5 C, the reduction in the number of very large aggregates with a diame ter > 10 mm coincides with the appearance of rain particles larger than 6 mm. In this setting. very large raindrops appear to be the result of aggregates melting with minimal breakup rather than formation by c oalescence. In contrast to dry snow and rain, the fall speed for wet snow has a much weaker correlation between increasing size and increasing fall speed. Wet snow has a larger standard deviation of fall spee d (120%-230% relative to dry snow) for a given particle size. The ave rage fall speed for observed wet-snow particles with a diameter great er than or equal to 2.4 mm is 2 m/s with a standard deviation of 0.8 m/s. The large standard deviation is likely related to the coexistence of particles of similar physical size with different percentages of melting. These results suggest that different particle sizes are not required for aggregation since wet-snow particles of the same size can have different fall speeds. Given the large standard deviation of fa ll speeds in wet snow, the collision efficiency for wet snow is likely larger than that of dry snow. For particle sizes between 1 and 10 mm in diameter within mixed precipitation, rain constituted I % of the particles by volume within the isothermal layer at 0 C and 4% of the particles by volume for the region just below the isothermal layer where air temperatures rise from 0" to 0.5"C. As air temperatures increa sed above 0.5 C, the relative proportions of rain versus snow particl es shift dramatically and raindrops become dominant. The value of 0.5 C for the sharp transition in volume fraction from snow to rain is sl ightly lower than the range from 1 .l to 1.7 C often used in hydrolog ical models.

Yuter, Sandra E.↗

Joint Bayesian Component Separation and CMB Power Spectrum Estimation

We describe and implement an exact, flexible, and computationally efficient algorithm for joint component separation and CMB power spectrum estimation, building on a Gibbs sampling framework. Two essential new features are (1) conditional sampling of foreground spectral parameters and (2) joint sampling of all amplitude-type degrees of freedom (e.g., CMB, foreground pixel amplitudes, and global template amplitudes) given spectral parameters. Given a parametric model of the foreground signals, we estimate efficiently and accurately the exact joint foreground- CMB posterior distribution and, therefore, all marginal distributions such as the CMB power spectrum or foreground spectral index posteriors. The main limitation of the current implementation is the requirement of identical beam responses at all frequencies, which restricts the analysis to the lowest resolution of a given experiment. We outline a future generalization to multiresolution observations. To verify the method, we analyze simple models and compare the results to analytical predictions. We then analyze a realistic simulation with properties similar to the 3 yr WMAP data, downgraded to a common resolution of 3 deg FWHM. The results from the actual 3 yr WMAP temperature analysis are presented in a companion Letter.

numerical↗

Monitoring and Controlling an Underwater Robotic Arm

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

Haas, John↗

FDR doesn't Tell the Whole Story: Joint Influence of Effect Size and Covariance Structure on the Distribution of the False Discovery Proportions

As part of a 2009 Annals of Statistics paper, Gavrilov, Benjamini, and Sarkar report results of simulations that estimated the false discovery rate (FDR) for equally correlated test statistics using a well-known multiple-test procedure. In our study we estimate the distribution of the false discovery proportion (FDP) for the same procedure under a variety of correlation structures among multiple dependent variables in a MANOVA context. Specifically, we study the mean (the FDR), skewness, kurtosis, and percentiles of the FDP distribution in the case of multiple comparisons that give rise to correlated non-central t-statistics when results at several time periods are being compared to baseline. Even if the FDR achieves its nominal value, other aspects of the distribution of the FDP depend on the interaction between signed effect sizes and correlations among variables, proportion of true nulls, and number of dependent variables. We show examples where the mean FDP (the FDR) is 10% as designed, yet there is a surprising probability of having 30% or more false discoveries. Thus, in a real experiment, the proportion of false discoveries could be quite different from the stipulated FDR.

Feiveson, Alan H.↗

How Difficult is it to Reduce Low-Level Cloud Biases With the Higher-Order Turbulence Closure Approach in Climate Models?

Low-level clouds cover nearly half of the Earth and play a critical role in regulating the energy and hydrological cycle. Despite the fact that a great effort has been put to advance the modeling and observational capability in recent years, low-level clouds remains one of the largest uncertainties in the projection of future climate change. Low-level cloud feedbacks dominate the uncertainty in the total cloud feedback in climate sensitivity and projection studies. These clouds are notoriously difficult to simulate in climate models due to its complicated interactions with aerosols, cloud microphysics, boundary-layer turbulence and cloud dynamics. The biases in both low cloud coverage/water content and cloud radiative effects (CREs) remain large. A simultaneous reduction in both cloud and CRE biases remains elusive. This presentation first reviews the effort of implementing the higher-order turbulence closure (HOC) approach to representing subgrid-scale turbulence and low-level cloud processes in climate models. There are two HOCs that have been implemented in climate models. They differ in how many three-order moments are used. The CLUBB are implemented in both CAM5 and GDFL models, which are compared with IPHOC that is implemented in CAM5 by our group. IPHOC uses three third-order moments while CLUBB only uses one third-order moment while both use a joint double-Gaussian distribution to represent the subgrid-scale variability. Despite that HOC is more physically consistent and produces more realistic low-cloud geographic distributions and transitions between cumulus and stratocumulus regimes, GCMs with traditional cloud parameterizations outperform in CREs because tuning of this type of models is more extensively performed than those with HOCs. We perform several tuning experiments with CAM5 implemented with IPHOC in an attempt to produce the nearly balanced global radiative budgets without deteriorating the low-cloud simulation. One of the issues in CAM5-IPHOC is that cloud water content is much higher than in CAM5, which is combined with higher low-cloud coverage to produce larger shortwave CREs in some low-cloud prevailing regions. Thus, the cloud-radiative feedbacks are exaggerated there. The turning exercise is focused on microphysical parameters, which are also commonly used for tuning in climate models. The results will be discussed in this presentation.

Xu, Kuan-Man↗

Distributed Optimization

We demonstrate a new framework for analyzing and controlling distributed systems, by solving constrained optimization problems with an algorithm based on that framework. The framework is ar. information-theoretic extension of conventional full-rationality game theory to allow bounded rational agents. The associated optimization algorithm is a game in which agents control the variables of the optimization problem. They do this by jointly minimizing a Lagrangian of (the probability distribution of) their joint state. The updating of the Lagrange parameters in that Lagrangian is a form of automated annealing, one that focuses the multi-agent system on the optimal pure strategy. We present computer experiments for the k-sat constraint satisfaction problem and for unconstrained minimization of NK functions.

Macready, William↗

Improvement of adhesive-bonded structural joints

Investigation is described of methods for obtaining uniform shear stress distribution in adhesives used in double-lap bonded joints. Design rules for reducing adhesive peak shear stresses are listed. Test results of an analysis of straight-lap joint design and stepped-lap joint design are given.

Evensen, H. A.↗

High Performance EVA Glove Collaboration: Glove Injury Data Mining Effort

Human hands play a significant role during Extravehicular Activity (EVA) missions and Neutral Buoyancy Lab (NBL) training events, as they are needed for translating and performing tasks in the weightless environment. Because of this high frequency usage, hand and arm related injuries are known to occur during EVA and EVA training in the NBL. The primary objectives of this investigation were to: 1) document all known EVA glove related injuries and circumstances of these incidents, 2) determine likely risk factors, and 3) recommend interventions where possible that could be implemented in the current and future glove designs. METHODS: The investigation focused on the discomforts and injuries of U.S. crewmembers who had worn the pressurized Extravehicular Mobility Unit (EMU) spacesuit and experienced 4000 Series or Phase VI glove related incidents during 1981 to 2010 for either EVA ground training or in-orbit flight. We conducted an observational retrospective case-control investigation using 1) a literature review of known injuries, 2) data mining of crew injury, glove sizing, and hand anthropometry databases, 3) descriptive statistical analyses, and finally 4) statistical risk correlation and predictor analyses to better understand injury prevalence and potential causation. Specific predictor statistical analyses included use of principal component analyses (PCA), multiple logistic regression, and survival analyses (Cox proportional hazards regression). Results of these analyses were computed risk variables in the forms of odds ratios (likelihood of an injury occurring given the magnitude of a risk variable) and hazard ratios (likelihood of time to injury occurrence). Due to the exploratory nature of this investigation, we selected predictor variables significant at p≤0.15. RESULTS: Through 2010, there have been a total of 330 NASA crewmembers, from which 96 crewmembers performed 322 EVAs during 1981-2010, resulting in 50 crewmembers being injured inflight and 44 injured during 11,704 ground EVA training events. Of the 196 glove related injury incidents, 106 related to EVA and 90 to EVA training. Over these 196 incidents, 277 total injuries (126 flight; 151 training) were reported and were then grouped into 23 types of injuries. Of EVA flight injuries, 65% were commonly reported to the hand (in general), metacarpophalangeal (MCP) joint, and finger (not including thumb) with fatigue, abrasion, and paresthesia being the most common injury types (44% of total flight injuries). Training injuries totaled to more than 70% being distributed to the fingernail, MCP joint, and finger crotch with 88% of the specific injuries listed as pain, erythema, and onycholysis. Of these training injuries, when reporting pain or erythema, the most common location was the index finger, but when reporting onycholysis, it was the middle finger. Predictor variables specific to increased risk of onycholysis included: female sex (OR=2.622), older age (OR=1.065), increased duration in hours of the flight or training event (OR=1.570), middle finger length differences in inches between the finger and the EVA glove (OR=7.709), and use of the Phase VI glove (OR=8.535). Differentiation between training and flight and injury reporting during 2002-2004 were significant control variables. For likelihood of time to first onycholysis injury, there was a 24% reduction in rate of reporting for each year increase in age. Also, more experienced crewmembers, based on number of EVA flight or training events completed, were less likely to report an onycholysis injury (3% less for every event). Longer duration events also found reporting rates to occur 2.37 times faster for every hour of length. Crewmembers with larger hand size reported onycholysis 23% faster than those with smaller hand size. Finally, for every 1/10th of an inch increase in difference between the middle finger length and the glove, the rate of reporting increased by 60%. DISCUSSION: One key finding was that the Series 4000 glove had a lower injury risk than the Phase VI, which provides a platform for further evaluation. General interventions that reduce hand overexertion and repetitive use exposure through tool development, procedural changes and shorter exposures may be one mitigation path, but due to the way the training event times were reported, we cannot provide a guideline for a specific event duration change. When the finger length was different from the glove length, the risk of injury increased indicating that the use of larger finger take-ups could be contributing to injury and therefore may not be recommended. Prior to this investigation, there was one previous investigation indicating hand anthropometry may be related to onycholysis. We found different hand anthropometry variables indicated by this investigation as compared to the prior, specifically differences in middle finger length compared to glove finger length, which point more towards a sizing issue than a specific anthropometry issue. Additionally, although this investigation has identified sizing as an issue, the force and environmental-related variables of the EVA glove that could also cause injury were not accounted for.

Reid, C. R.↗

Optical Fiber Distributed Sensing Structural Health Monitoring (SHM) Strain Measurements Taken During Cryotank Y-Joint Test Article Load Cycling at Liquid Helium Temperatures

This paper outlines cryogenic Y-joint testing at Langley Research Center (LaRC) to validate the performance of optical fiber Bragg grating strain sensors for measuring strain at liquid helium temperature (-240 C). This testing also verified survivability of fiber sensors after experiencing 10 thermal cool-down, warm-up cycles and 400 limit load cycles. Graphite composite skins bonded to a honeycomb substrate in a sandwich configuration comprised the Y-joint specimens. To enable SHM of composite cryotanks for consideration to future spacecraft, a light-weight, durable monitoring technology is needed. The fiber optic distributed Bragg grating strain sensing system developed at LaRC is a viable substitute for conventional strain gauges which are not practical for SHM. This distributed sensing technology uses an Optical Frequency Domain Reflectometer (OFDR). This measurement approach has the advantage that it can measure hundreds of Bragg grating sensors per fiber and the sensors are all written at one frequency, greatly simplifying fiber manufacturing. Fiber optic strain measurements compared well to conventional strain gauge measurements obtained during these tests. These results demonstrated a high potential for a successful implementation of a SHM system incorporating LaRC's fiber optic sensing system on the composite cryotank and other future cryogenic applications.

Allison, Sidney G.↗