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The Kirchhoff integral for diffraction in the near-forward direction is derived from the exact solution of the electromagnetic boundary value problem of a focused Gaussian laser beam incident on a spherical particle. The diffracted intensity in the vicinity of the particle is computed and the way in which the features of the diffraction pattern depend on the width of the Gaussian beam is commented on.
Wire strikes are a significant cause of helicopter accidents. The aircraft most at risk are aerial applicators. The present study examines the effectiveness of a wire alert delivered by way of the lightbar, a GPS-based guidance system for aerial application. The alert lead-time needed to avoid an invisible wire is compared with that to avoid a visible wire. A flight simulator was configured to simulate an agricultural application helicopter. Two pilots flew simulated spray runs in fields with visible wires, invisible wires, and no wires. The wire alert was effective in reducing wire strikes. A lead-time of 3.5 sec was required for the alert to be effective. The lead- time required was the same whether the pilot could see the wire or not.
Wire strikes are a significant cause of helicopter accidents. The aircraft most at risk are aerial applicators. The present study examines the effectiveness of a wire alert delivered by way of the lightbar, a GPS-based guidance system for aerial application. The alert lead-time needed to avoid an invisible wire is compared with that to avoid a visible wire. A flight simulator was configured to simulate an agricultural application helicopter. Two pilots flew simulated spray runs in fields with visible wires, invisible wires, and no wires. The wire alert was effective in reducing wire strikes. A lead-time of 3.5 sec was required for the alert to be effective. The lead-time required was the same whether the pilot could see the wire or not.
Cyclization of activated nucleotide analogues by intramolecular phosphodiester-bond formation is likely to compete very effectively with template-directed condensation except in the cases of ribo- and arabinonucleotides. This could have excluded derivatives of most sugars from growing polyribonucleotide chains and thus reduced chain-termination in prebiotic polynucleotide synthesis.
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This paper presents a new approach for robot motion planning in dynamic.
Our work to date in connecting risk tools hs had successes, but also has revealed there to be significant impediments to information exchange between them. These impediments stem from the well-known phenomenon of 'semantic dissonance' - mismatch between conceptual assumptions made by the separately developed tools. This issue represents a fundamental challenge that arises regardless of the mechanism of information exchange. This paper explains the issue and illustrates it with reference to our experiences to date connecting several risk tools. We motivate this work, present and discuss the solutions we have adopted to surmount these impediments, and the implications this work has for future efforts to integrate risk tools.
After the Shuttle Columbia catastrophe, the investigation board (CAIB) stated that NASA needs to develop a "learning culture", meaning a capability to learn from past failures by understanding the technical and organizational causes of these mistakes (CAIB report, 2003). While many organizations learn from obvious failures, we argue that it is harder for organizations to learn from near-miss events (i.e., situations where a failure does not occur but nearly did), because these near-misses are processed as successes. For the shuttle program, prior debris problems could have caused a similar failure as on the Columbia mission except that the large pieces missed the highly sensitive portions of the orbiter. This acceptance of foam debris was adopted as a normal occurrence by the shuttle program managers similar to the problems at the time of the Challenger Disaster (detailed in Vaughan, 1996). We extend that work to show that an outcome bias influences people's evaluation of project managers, such that managers of failed missions were perceived more poorly than managers who made the same decisions but whose mission ended in either success or a near-miss. The similarity of ratings between the near-miss and success condition imply that even when a problem occurs that is clearly linked to prior managerial decisions, if the project is not harmed because of good luck, that manager is not held accountable for faculty decision making and neither the individual manager nor the organization learn from the experience potentially increasing the likelihood of a failure in the future.
Wingtip vortices were first described by British aerodynamicist F.W. Lanchester in 1907. A product of lift on a finite-span wing, these counterrotating masses of air trail behind an aircraft, gradually diffusing while convecting downward and moving about under mutual induction and the influence of wind and stratification. Should a smaller aircraft happen to be following the first aircraft, it could be buffeted and even flipped if it flew into the vortex, with dangerous consequences. Given the amount of air traffic in 1907, the wake vortex hazard was not initially much of a concern. The demand for air transportation continues to increase, and it is estimated that demand could double or even triple by 2025. One factor in the capacity of the air transportation system is wake turbulence and the consequent separation distances that must be maintained between aircraft to ensure safety.
ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently, any motion involving steps is cumbersome - each step can require multiple commands and take many minutes to complete. In this paper, we consider four different algorithms that generate a sequence of commands to take a step. We consider a baseline heuristic, a randomized motion planning algorithm, and two variants of A* search. Results for a variety of terrains are presented, and we discuss the quantitative and qualitative tradeoffs between the approaches.
Anticipating the plasma and electrical environments in permanently shadowed regions (PSRs) of the moon is critical in understanding local processes of space weathering, surface charging, surface chemistry, volatile production and trapping, exo-ion sputtering, and charged dust transport. In the present study, we have employed the open-source XOOPIC code [I] to investigate the effects of solar wind conditions and plasma-surface interactions on the electrical environment in PSRs through fully two-dimensional pattic1e-in-cell simulations. By direct analogy with current understanding of the global lunar wake (e.g., references) deep, near-terminator, shadowed craters are expected to produce plasma "mini-wakes" just leeward of the crater wall. The present results (e.g., Figure I) are in agreement with previous claims that hot electrons rush into the crater void ahead of the heavier ions, fanning a negative cloud of charge. Charge separation along the initial plasma-vacuum interface gives rise to an ambipolar electric field that subsequently accelerates ions into the void. However, the situation is complicated by the presence of the dynamic lunar surface, which develops an electric potential in response to local plasma currents (e.g., Figure Ia). In some regimes, wake structure is clearly affected by the presence of the charged crater floor as it seeks to achieve current balance (i.e. zero net current to the surface).
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Collision-free optimal motion and trajectory planning for robotic manipulators are solved by a method of sequential gradient restoration algorithm. Numerical examples of a two degree-of-freedom (DOF) robotic manipulator are demonstrated to show the excellence of the optimization technique and obstacle avoidance scheme. The obstacle is put on the midway, or even further inward on purpose, of the previous no-obstacle optimal trajectory. For the minimum-time purpose, the trajectory grazes by the obstacle and the minimum-time motion successfully avoids the obstacle. The minimum-time is longer for the obstacle avoidance cases than the one without obstacle. The obstacle avoidance scheme can deal with multiple obstacles in any ellipsoid forms by using artificial potential fields as penalty functions via distance functions. The method is promising in solving collision-free optimal control problems for robotics and can be applied to any DOF robotic manipulators with any performance indices and mobile robots as well. Since this method generates optimum solution based on Pontryagin Extremum Principle, rather than based on assumptions, the results provide a benchmark against which any optimization techniques can be measured.
Rotorcraft operating in high-threat environments fly close to the earth's surface to utilize surrounding terrain, vegetation, or manmade objects to minimize the risk of being detected by an enemy. Increasing levels of concealment are achieved by adopting different tactics during low-altitude flight. Rotorcraft employ three tactics during low-altitude flight: low-level, contour, and nap-of-the-earth (NOE). The key feature distinguishing the NOE mode from the other two modes is that the whole rotorcraft, including the main rotor, is below tree-top whenever possible. This leads to the use of lateral maneuvers for avoiding obstacles, which in fact constitutes the means for concealment. The piloting of the rotorcraft is at best a very demanding task and the pilot will need help from onboard automation tools in order to devote more time to mission-related activities. The development of an automation tool which has the potential to detect obstacles in the rotorcraft flight path, warn the crew, and interact with the guidance system to avoid detected obstacles, presents challenging problems. Research is described which applies techniques from computer vision to automation of rotorcraft navigtion. The effort emphasizes the development of a methodology for detecting the ranges to obstacles in the region of interest based on the maximum utilization of passive sensors. The range map derived from the obstacle-detection approach can be used as obstacle data for the obstacle avoidance in an automatic guidance system and as advisory display to the pilot. The lack of suitable flight imagery data presents a problem in the verification of concepts for obstacle detection. This problem is being addressed by the development of an adequate flight database and by preprocessing of currently available flight imagery. The presentation concludes with some comments on future work and how research in this area relates to the guidance of other autonomous vehicles.
Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as no-go regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.
The Pioneer Venus Orbiter (PVO) mission has played a key role in establishing the nature of the solar wind interaction with Venus. Although earlier probes had determined that Venus presented an obstacle much smaller than the size of earth's magnetosphere to the solar wind, they did not carry out in situ measurements pertaining to solar wind interaction studies at low enough altitudes to determine why. They also did not provide datasets of sufficient duration to study the variability of the interaction of both short (one day) and long (solar cycle) timescales. The first 600 of the nearly 5000 orbits of PVO magnetometer data have been used to determine a very low upper limit on the intrinsic dipolar magnetic moment of Venus. The consequence of that low magnetic moment is that the solar wind interacts directly with the upper atmosphere and ionosphere. Relative to a dipolar field obstacle, the ionospheric obstacle is rather incompressible. A bow shock is observed to stand in front of the nearly Venus-sized ionospheric obstacle at a comparatively steady subsolar altitude of approximately 1.5 R(v) (Venus radii). This shock decelerates the supersonic solar wind plasma so that it can flow around the obstacle. It was found to change its average position in the terminator plane from about 2.4 R(v) to 2.1 R(v) as the solar cycle progressed from the 1978 orbit insertion near solar maximum through the 1986-87 solar minimum, and back again during the latest solar activity increase. Between the bow shock and the ionosphere proper, the slowed solar wind plasma flow diverges near the subsolar point and makes its way across the terminator where it reaccelerates and continues anti-Sunward. The solar wind magnetic field, which is in effect frozen into the flowing plasma, is distorted in this 'magnetosheath' region so that it appears to hang up or drape over the dayside ionosphere before it slips around with the flow. These features of the solar wind interaction are also seen when the obstacle is a dipole magnetic field, but there are two important distinctions. In the wake of the Venus obstacle one finds an induced magnetic tail composed of varying interplanetary fields rather than the constant fields of intrinsic origin. This magnetotail is further seen to be populated by Heavy (0+) ions that are evidently escaping from the planet at significant (approximately 10(exp -25) s(exp -1)) rates. These heavy ions are also observed in the dayside magnetosheath. The interpretation is that ions are produced by both photoionization and solar wind electron impact ionization of the upper neutral atmosphere that extends into the magnetosheath.
When a supersonic flow encounters an obstacles, shocks form to divert the flow around the obstacle. The region between the shock and the obstacle is the sheath, where the supersonic flow is compressed, heated, decelerated, and deflected. Supersonic flows, obstacles, and thus sheaths are observed on many scales throughout the Universe. We compare three examples seen in the heliosphere, illustrating the interaction of the solar wind with obstacles of three very different scales lengths. Magnetosheaths form behind planetary bow shocks on scales ranging from tens to 100 planetary radii. ICME sheath form behind shocks driven by solar disturbances on scale lengths of a few to tens of AU. The heliosheath forms behind the termination shock due to the obstacle presented by the interstellar medium on scale lengths of tens to a hundred AU. Despite this range in scales some common features have been observed. Magnetic holes, possibly due to mirror mode waves, have been observed in all three of these sheaths. Plasma depletion layers are observed in planetary and ICME sheaths. Other features observed in some sheaths are wave activity (ion cyclotron, plasma), energetic particles, transmission of Alfven waves/shocks, tangential discontinuities turbulence behind quasi-parallel shocks, standing slow mode waves, and reconnection on the obstacle boundary. We compare these sheath regions, discussing similarities and differences and how these may relate to the scale lengths of these regions.