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At least 19 records

Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual Localisation

The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain.

Laubach, Sharon L.

COS-B observations of localised sources of gamma-ray emission

In October 1975 the high energy gamma ray flux from the Vela pulsar was measured by COS-B to be 1.6 to 2.1 times higher than the flux measured by SAS-2 in 1973. The existence is confirmed of a second region of enhanced radiation in the galactic anticenter in addition to that from the Crab pulsar.

Mayer-Hasselwander, H.

Rossby wavetrains in the stratosphere forced by localised disturbances in the troposphere

Studies have linked elements of the stratospheric circulation with particular localized features in the tropospheric circulation. This suggests a study of the response of the stratosphere to forcing by localized disturbances in the troposphere. A multilevel, primitive equation model is used of the stratosphere and mesosphere the height of whose lower boundary at 300 mb can be prescribed. Localized height disturbances which grow to steady amplitude are applied at this lower boundary, and the response of the initially axially symmetric stratosphere is studied. The perturbation, centered at 45 deg N, has a Gaussian distribution with a half width of 15 deg., corresponding roughly to the size of persistent troughs and blocking ridges in the troposphere. The forcing is nearly at fully amplitude 10 days after being switched on, and thereafter remains steady. Two types of experiments are conducted: in one the forcing is of small amplitude (100 gpm) and in the other it is of large amplitude (600 gpm). These pairs of experiments are compared to determine how nonlinear processes affect the perturbation fields. This is done locally by defining the perturbation response to the forcing as an anomaly, i.e., as a departure from the response in a controlled experiment in which no asymmetric forcing was applied at the lower boundary of the model. Experiments have been conducted for a number of atmospheric states obtained as zonal means of observations made by a stratospheric sounding unit (SSU). In this summary, results for the zonal mean flow on January 19, 1982 are outlined.

Marks, C. J.

Gamma-ray burst localisation with microspacecraft

It is shown that gamma-ray burst detectors on a network of microspacecraft can be used to directly determine burst directions to a few arcsec in both angular coordinates. This level of accuracy is sufficient to conduct searches for the quiescent counterpart of the burster at other wavelengths. It is maintained that the strawman instrument for the microspacecraft network, consisting of two 1 kg Na I detectors on opposite ends of the spacecraft, is capable of providing a nearly omnidirectional FOV with adequate sensitivity to gamma-ray bursts.

Mahoney, W. A.

Tunnelling from non-localised initial states

An approach for calculating tunneling amplitudes from a nonlocalized initial state is presented. Generalizing the matching conditions and equations of motion to allow for complex momentum permits a description of tunneling in the presence of so-called classical motion. Possible applications of the method are presented.

Bowcock, Peter

Vulcanian explosive eruptions: A mechanism for localised pyroclast dispersal on Venus

A model of the mechanisms involved in transient (vulcanian-type) explosive eruptions has enabled us to place constraints on the velocities of blocks ejected during such events on Earth as well as on the excess pressure and concentration of gas in the vent prior to the onset of the explosion. This model, suitably modified, can predict the results of similar eruptions occurring under the differing Venusian environmental conditions. It is found that the much higher atmospheric pressure (approximately 100 bars at the mean planetary radius) dominates the form of the resulting deposit in two main ways: (1) by inhibiting the expansion out of the vent of overpressured gas, hence reducing ejecta velocity; and (2) by retarding the flight of ejected blocks via drag effects. Thus, it is expected that such deposits will typically extend to approximately 200 m on Venus as compared to several km for documented terrestrial deposits.

Fagents, S. A.

Local Circumferential Buckling of Thin Circular Cylindrical Shells

The problem of circumferential buckling of a thin circular cylindrical shell due to compressive hoop stresses which vary in the axial direction is examined. For extremely localised compressive hoop stress distributions resulting from thermal discontinuity effects, or from a uniform, radial line loading, the buckle pattern should also be localised. Simplified analyses into these two types of problem are considered which show that only a limited number of buckle deflection modes needs to be assumed.

CYLINDRICAL SHELL

Observation of the initiation and progression of damage in compressively loaded composite plates containing a cutout

A series of experiments was carried out to determine the mechanism of failure in compressively loaded laminated plates with a circular cutout. Real time holographic interferometry and photomicrography are used to observe the progression of failure. These observations together with post experiment plate sectioning and deplying for interior damage observation provide useful information for modelling the failure process. It is revealed that the failure is initiated as a localised instability in the zero layers, at the hole surface. With increasing load extensive delamination cracking is observed. The progression of failure is by growth of these delaminations induced by delamination buckling. Upon reaching a critical state, catastrophic failure of the plate is observed. The levels of applied load and the rate at which these events occur depend on the plate stacking sequence.

Waas, A.

Applicability of the single equivalent point dipole model to represent a spatially distributed bio-electrical source

Although the single equivalent point dipole model has been used to represent well-localised bio-electrical sources, in realistic situations the source is distributed. Consequently, position estimates of point dipoles determined by inverse algorithms suffer from systematic error due to the non-exact applicability of the inverse model. In realistic situations, this systematic error cannot be avoided, a limitation that is independent of the complexity of the torso model used. This study quantitatively investigates the intrinsic limitations in the assignment of a location to the equivalent dipole due to distributed electrical source. To simulate arrhythmic activity in the heart, a model of a wave of depolarisation spreading from a focal source over the surface of a spherical shell is used. The activity is represented by a sequence of concentric belt sources (obtained by slicing the shell with a sequence of parallel plane pairs), with constant dipole moment per unit length (circumferentially) directed parallel to the propagation direction. The distributed source is represented by N dipoles at equal arc lengths along the belt. The sum of the dipole potentials is calculated at predefined electrode locations. The inverse problem involves finding a single equivalent point dipole that best reproduces the electrode potentials due to the distributed source. The inverse problem is implemented by minimising the chi2 per degree of freedom. It is found that the trajectory traced by the equivalent dipole is sensitive to the location of the spherical shell relative to the fixed electrodes. It is shown that this trajectory does not coincide with the sequence of geometrical centres of the consecutive belt sources. For distributed sources within a bounded spherical medium, displaced from the sphere's centre by 40% of the sphere's radius, it is found that the error in the equivalent dipole location varies from 3 to 20% for sources with size between 5 and 50% of the sphere's radius. Finally, a method is devised to obtain the size of the distributed source during the cardiac cycle.

NASA Discipline Cardiopulmonary

[Real time 3D echocardiography]

Three-dimensional representation of the heart is an old concern. Usually, 3D reconstruction of the cardiac mass is made by successive acquisition of 2D sections, the spatial localisation and orientation of which require complex guiding systems. More recently, the concept of volumetric acquisition has been introduced. A matricial emitter-receiver probe complex with parallel data processing provides instantaneous of a pyramidal 64 degrees x 64 degrees volume. The image is restituted in real time and is composed of 3 planes (planes B and C) which can be displaced in all spatial directions at any time during acquisition. The flexibility of this system of acquisition allows volume and mass measurement with greater accuracy and reproducibility, limiting inter-observer variability. Free navigation of the planes of investigation allows reconstruction for qualitative and quantitative analysis of valvular heart disease and other pathologies. Although real time 3D echocardiography is ready for clinical usage, some improvements are still necessary to improve its conviviality. Then real time 3D echocardiography could be the essential tool for understanding, diagnosis and management of patients.

Review

Structure in the radio counterpart to SGR 1806-20

On Dec 27, 2004, the magnetar SGR 1806-20 underwent an enormous outburst which has resulted in the formation of an expanding, moving, radio source. We report observations of this radio source with the Multi-Element Radio-Linked Interferometer Network (MERLIN) and the Very Long Baseline Array (VLBA). The observations confirm the elongation and expansion already reported based on observations at lower angular resolutions, but suggest that at early epochs the structure is not consistent with the very simplest models such as Gaussian flux distributions. In particular there appears to be significant non-Gaussian structure on small angular scales, which may correspond to localised sites of particle acceleration during the early phases of expansion and interaction with the ambient medium.

Fender, R. P.

A Quasi-Laue Neutron Crystallographic Study of D-Xylose Isomerase

Hydrogen atom location and hydrogen bonding interaction determination are often critical to explain enzymatic mechanism. Whilst it is difficult to determine the position of hydrogen atoms using X-ray crystallography even with subatomic (less than 1.0 Angstrom) resolution data available, neutron crystallography provides an experimental tool to directly localise hydrogeddeuteriwn atoms in biological macromolecules at resolution of 1.5-2.0 Angstroms. Linearisation and isomerisation of xylose at the active site of D-xylose isomerase rely upon a complex hydrogen transfer. Neutron quasi-Laue data were collected on Streptomyces rubiginosus D-xylose isomerase crystal using the LADI instrument at ILL with the objective to provide insight into the enzymatic mechanism (Myles et al. 1998). The neutron structure unambiguously reveals the protonation state of His 53 in the active site, identifying the model for the enzymatic pathway.

Meilleur, Flora

Vibro-Acoustic Modulation Based Damage Identification in a Composite Skin-Stiffener Structure

The vibro-acoustic modulation method is applied to a composite skin-stiffener structure to investigate the possibilities to utilize this method for damage identification in terms of detection, localisation and damage quantification. The research comprises a theoretical part and an experimental part. An impact load is applied to the skin-stiffener structure, resulting in a delamination underneath the stiffener. The structure is interrogated with a low frequency pump excitation and a high frequency carrier excitation. The analysis of the response in a frequency band around the carrier frequency is employed to assess the damage identification capabilities and to gain a better understanding of the modulations occurring and the underlying physical phenomena. Though vibro-acoustic is shown to be a sensitive method for damage identification, the complexity of the damage, combined with a high modal density, complicate the understanding of the relation between the physical phenomena and the modulations occurring. more research is recommended to reveal the physics behind the observations.

Ooijevaar, T. H.

Seasonal Variability of Saturn's Tropospheric Temperatures, Winds and Para-H2 from Cassini Far-IR Spectroscopy

Far-IR 16-1000 micrometer spectra of Saturn's hydrogen-helium continuum measured by Cassini's Composite Infrared Spectrometer (CIRS) are inverted to construct a near-continuous record of upper tropospheric (70-700 mbar) temperatures and para-H2 fraction as a function of latitude, pressure and time for a third of a saturnian year (2004-2014, from northern winter to northern spring). The thermal field reveals evidence of reversing summertime asymmetries superimposed onto the belt/zone structure. The temperature structure is almost symmetric about the equator by 2014, with seasonal lag times that increase with depth and are qualitatively consistent with radiative climate models. Localised heating of the tropospheric hazes (100-250 mbar) create a distinct perturbation to the temperature profile that shifts in magnitude and location, declining in the autumn hemisphere and growing in the spring. Changes in the para-H2 (f(sub p)) distribution are subtle, with a 0.02-0.03 rise over the spring hemisphere (200-500 mbar) perturbed by (i) low-f(sub p) air advected by both the springtime storm of 2010 and equatorial upwelling; and (ii) subsidence of high-f(sub p) air at northern high latitudes, responsible for a developing north-south asymmetry in f(sub p). Conversely, the shifting asymmetry in the para-H2 disequilibrium primarily reflects the changing temperature structure (and hence the equilibrium distribution of f(sub p)), rather than actual changes in f(sub p) induced by chemical conversion or transport. CIRS results interpolated to the same point in the seasonal cycle as re-analysed Voyager-1 observations (early northern spring) show qualitative consistency from year to year (i.e., the same tropospheric asymmetries in temperature and f(sub p)), with the exception of the tropical tropopause near the equatorial zones and belts, where downward propagation of a cool temperature anomaly associated with Saturn's stratospheric oscillation could potentially perturb tropopause temperatures, para-H2 and winds. Quantitative differences between the Cassini and Voyager epochs suggest that the oscillation is not in phase with the seasonal cycle at these tropospheric depths (i.e., it should be described as quasi-periodic rather than 'semi annual'). Variability in the zonal wind field derived from latitudinal thermal gradients is small (less than 10 m/s per scale height near the tropopause) and mostly affects the broad retrograde jets, with the notable exception of large variability on the northern flank of the equatorial jet. The meridional potential vorticity (PV) gradient, and hence the 'staircase of PV' associated with spatial variations in the vigour of vertical mixing, has varied over the course of the mission but maintained its overall shape. PV gradients in latitude and altitude are used to estimate the atmospheric refractive index for the propagation of stationary planetary (Rossby) waves, predicting that such wave activity would be confined to regions of real refractivity (tropical regions plus bands at 35-45 in both hemispheres). The penetration depth of these regions into the upper troposphere is temporally variable (potentially associated with stratification changes), whereas the latitudinal structure is largely unchanged over time (associated with the zonal jet system).

Fletcher, Leigh N.

Non-Linear Analysis of the NASA Super Pressure Balloons: Whole Flight Simulations

Tensys have a long-established background in the shape generation and load analysis of architectural stressed membrane structures. Founded upon their inTENS finite element analysis suite, these activities have broadened to encompass 'lighter than air' structures such as aerostats, airships, hybrid air vehicles and stratospheric balloons. Tensys have acted as consultants to the NASA Super Pressure Balloon (SPB) Program since 2004. Previous papers have focussed upon the application of inTENS to the overall structural and stability analysis of pumpkin type balloons as used in the SPB Program. Particular emphasis has been placed upon the ability to study both stress and stability at all stages of a flight. As the program has developed, increasing modelling fidelity has been introduced as design refinement has moved emphasis from the overall shape to the performance of individual details. Examples include the introduction of a contact capability into inTENS to better represent the separate cap layer of film. Localised investigations have considered the consequence of local geometric anomalies introduced during fabrication and the effects of debonding of the PBO tendon within its sleeve. Analysis to date has used a material model for the polyethylene shell film developed by Dr Rand of Winzen Engineering, supported by a program of fine resolution material tests at the Balloon Research and Development Laboratory (BRDL) at the GSFC Wallops Island Facility. Based upon work first reported by Schapery, this model has been incorporated into so-called 'snapshot' analyses within inTENS. For a given elapsed time point and temperature distribution, non-linear material properties are iteratively updated for the current stress state in each individual element until changes in those material properties are insignificant. This process has to be iterative as the film stresses and material properties are interdependent. Attempts to derive a time-stepping incremental viscoelastic capability using the Schapery Rand model encountered problems when dealing with the varying temperatures associated with balloon deployment, pressurisation and diurnal behaviour. An alternative approach has been developed by Pellegrino et al at Caltech, again with support from the NASA Balloon Program Office. This is a large strain non-linear viscoelastic model that includes film out-of-plane mechanical and thermal effects. Working from a unified base, this model can be utilised for time-stepping analyses in both a modulus or compliance mode, or a combination of both. This new capability is intended to enhance the current NASA balloon design process. This paper presents the implementation of the Caltech model into a specialist finite element suite, inTENS and its application to whole flight simulations.

Wakefield, David

Multi-Model Impacts of Climate Change on Pollution Transport from Global Emission Source Regions

The impacts of climate change on tropospheric transport, diagnosed from a carbon monoxide (CO)-like tracer species emitted from global CO sources, are evaluated from an ensemble of four chemistry-climate model (CCMs) contributing to the Atmospheric Chemistry and Climate Model Intercomparison Project (ACCMIP). Model time-slice simulations for present-day and end of the 21st century conditions were performed under the Representative Concentrations Pathways (RCP) climate scenario RCP 8.5. All simulations reveal a strong seasonality in transport, especially over the tropics. The highest CO-tracer mixing ratios aloft occur during boreal winter when strong vertical transport is co-located with biomass burning emission source regions. A consistent and robust decrease in future CO-tracer mixing ratios throughout most of the troposphere, especially in the tropics, and an increase around the tropopause is found across the four CCMs in both winter and summer. Decreases in CO-tracer mixing ratios in the tropical troposphere are associated with reduced convective mass fluxes in this region, which in turn may reflect a weaker Hadley Cell circulation in the future climate. Increases in CO-tracer mixing ratios near the tropopause are largely attributable to a rise in tropopause height, although a poleward shift in the midlatitude jets may also play an important role in the extra-tropical upper troposphere. An increase in CO-tracer mixing ratios also occurs near the Equator, centred over EquatorialCentral Africa, extending from the surface to the mid troposphere which is most likely related to localised decreases in convection in the vicinity of the Intertropical Convergence Zone, resulting in larger CO-tracer mixing ratios over biomass burning regions and smaller mixing ratios downwind.

Tropospheric Transport

Micrometer to Atomic Scale Characterisation of Primitive Astromaterials Using A Novel Method, Metis-Fa: A Coordinated Atom Probe Tomography, Transmission Electron Microscopy and NanoSIMS Approach

Introduction: Presolar grains preserve isotopic, chemical and microstructural records of physical and chemical processing, and formation mechanisms within a vast range of evolved stellar systems, the interstellar medium, solar nebula and their parent bodies. These evolutionary records are preserved at the micrometric to atomic scale, requiring coordinated studies to expand our understanding of evolutionary processes occurringthroughout ours and external stellar systems [1]. NanoSIMS enabled rapid in situ identification and isotopic characterisation of presolar grains and their stellar origins using 17O/16O and 18O/16O, and 13C/12C isotopic ratios [1]. Coordination with transmission electron microscopy (TEM) revealed crystallographic and localised contextual relationships and quantitively constrained their major and minor compositions [1]. However, trace elements cannot be quantified, the most sensitive geochemical tracers of environmental conditions, essential to unravelling the chemical record of their evolutionary pathway and parent stellar systems [2-3] . Furthermore, owing to the combination of technical limitations (only 5 – 7 isotopes can be measured per NanoSIMS run) and their small grain sizes of 100 nm < 3 μm (with rare exceptions in nanodiamonds (2 nm ≤) and SiC (< 40 μm)), the number of measurable isotopes per grain volume is limited [1,3] . Through more comprehensive isotopic studies of presolar grains, NanoSIMS studies have shown the importance of the latter, identifying Fe and Mg as important indicators of nuclear synthetic processing and their stellar origins, respectively [4- 5]. Coordination of NanoSIMS and Atom Probe Tomography (APT) revealed morphological signatures, and isotopic and chemical signatures at major to trace levels without requirements for preselection of elements [6]. However, crystallographic signatures in localized contextual relationships cannot be measured. Consequently, coordination of NanoSIMS, TEM and APT is essential to gain access to almost all contextual, structural and geochemical signatures within each presolar grain.Transmission electron microscopy requires a 100 nm thin lamella which is unstable in APT and would not produce any viable data. Atom probe tomography requires a needle-shaped specimen which when measured in TEM removes the local context, impacts the quality of the TEM diffraction images due to the shank angle of the needle, and can alter the chemistry of beam sensitive materials from the higher degree of surface exposure at the tip. To address these issues, we developed METIS-Fa (Multi-technical measurements of Electron Transparent materials using an Indium Sandwich - a FIB approach). A novel method which enables coordination of NanoSIMS, TEM and APT for generalized and targeted studies of individual grains, including beam sensitive materials, without compromising sample preparation requirements for TEM and APT. This method requires only indium and a Focus Ion Beam (FIB), minimizing the movement of fragile materials while still enabling preparation of TEM lamella into APT needles. Samples: Initial experimental development and testing of the method occurred at Astromaterials Research and Exploration Science (ARES), Johnson Space Centre (JSC), NASA and APT measurements and needle preparation occurred at JdLC, Curtin University. Synthetic silicate samples were used as analogs for presolar silicates when performing a trial run of the method. Samples were extracted from a polished thin section created at JSC, NASA, comprised of 38 wt.% Si, 17 wt.% FeO, 13 wt.% MgO, 12 wt.% Al, 11 wt.% Ca based on electron microprobe analysis (EMPA) [8] . Experimental details, pressure and temperature conditions were presented in [8] and references therein. Testing of the capability to target individual grains in mineral matrices using this method for acquisition in APT, measured matrix regions in meteoritic thin sections of primitive meteorites. These meteorites and their identified presolar grains for future targeted studies are detailed in [9]. Techniques: The TEM-FIB lamella were prepared using a FIB. An e-beam assisted pt deposition was used as a protective coating for the synthetic and meteoritic samples. When targeting individual grains, a secondary e-beam assisted pt deposition button is placed over the desired grain before the protective coating to denote its location. A JEOL 2500SE field-emission TEM was used for high-resolution imaging, energy-dispersive X-ray (EDX) and electron diffraction data.TheMETIS-Fa method was experimentally designed, tested and executed using a FIB at ARES, JSCNASA. Needles for APT were prepared using the Tescan Lyra3 GM Dual Beam Focus Ion Beam (FIB) Field Emission SEM (FE-SEM) at the JdLC, Curtin University. Atom probe tomography measurements were conducted using a CAMECA Local Electrode Atom Probe, LEAP 4000X HR. Two pure indium needles were analyzed initially to constraining acquisition parameters and stability under the beam. Manual acquisition was required to maintain evaporation of specimen’s at the apex and monitor interactions with measurement parameters. Experimental Design: Indium foil is pressed onto an Al stub with a pneumatic press and mounted into the FIB adjacent to the TEM-FIB lamella of interest. Using a FIB, two indium slices (5 μm x ~300 nm x 3 μm) are extracted from indium foil and aligned with the TEM-FIB lamella before touching the TEM-FIB lamella. Each slice is then attached through cold welding to the FIB-TEM lamella. This approach eliminates the need for chemical treatments and proved effective for aligning the Indium within the region of interest for APT, holding it in place for up to 4 days during testing.Once both indium slices are attached within their pre-determined region per grain targeting requirements, they are gradually melted onto the FIB-TEM lamella.When targeting a specific grain, measurements should be taken of the pt button and its distance from edge to edge of the lamella before and after sandwiching. A secondary button should be placed over the same region after the Indium slices have been attached to improve precision when preparing APT needles. Results: Figure 1 shows two indium slices melted onto a FIB-TEM lamella, adding additional bulk for preparation into APT needles as shown in Figure 2 [7] . The latter was essential so samples could be measured in TEM and APT without compromising sample preparation requirements and consequently data quality and acquisition stability. METIS-Fa proved effective forimproving geometry. Figure 3 shows a successful APTrun of the synthetic silicate. EMPA, TEM and APTshowed no chemical alterations. During targetingtesting, a solar silicate grain was successfully identifiedand measured in TEM, and prepared into an APTneedle. However, the indium was melted too long during sample preparation, causing expansion andformation of internal porosity leading to sample loss.Conclusion: METIS-Fa greatly expands the number of isotopic and chemical signatures measured per grain volume, and enables measurements of contextual, structural, crystallographic, isotopic and geochemical signatures within individual grains. Gaining access to such a vast range of evolutionary signatures required for expanding our understanding of external stellar and planetary systems and the evolution of our solar system. This method was designed for application to a vast range of phases including being sensitive materials and thus provides a way for coordination of NanoSIMS, TEM and APT not just for the study of presolar grains and by extension primitive astromaterials, but studies in a vast range of other fields including the geosciences and material sciences.Acknowledgments: Thankyou to ARES, JSC, NASA; JdLC Curtin University and Space Science Technology Centre for the use of laboratory facilities and funding [confirm].

Nicole D Nevill