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At least 19 records

A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator

Using a method based upon resolving joint velocities using reciprocal screw quantities, compact analytical expressions are generated for the inverse solution of the joint rates of a seven revolute (spherical-revolute-spherical) manipulator. The method uses a sequential decomposition of screw coordinates to identify reciprocal screw quantities used in the resolution of a particular joint rate solution, and also to identify a Jacobian null-space basis used for the direct solution of optimal joint rates. The results of the screw decomposition are used to study special configurations of the manipulator, generating expressions for the inverse velocity solution for all non-singular configurations of the manipulator, and identifying singular configurations and their characteristics. Two functions are therefore served: a new general method for the solution of the inverse velocity problem is presented; and complete analytical expressions are derived for the resolution of the joint rates of a seven degree of freedom manipulator useful for telerobotic and industrial robotic application.

Podhorodeski, R. P.↗

Non-spherical Lobate Chondrules in CO3.0 Y-81020: General Implications for the Formation of Low-FeO Porphyritic Chondrules in CO Chondrites

Non-spherical chondrules (arbitrarily defined as having aspect ratios greater than or equal to 1.20) in CO3.0 chondrites comprise multi-lobate, distended, and highly irregular objects with rounded margins; they constitute approx. 70% of the type-I (low-FeO) porphyritic chondrules in Y-81020, approx. 75% of such chondrules in ALHA77307, and approx. 60% of those in Colony. Although the proportion of non-spherical type-I chondrules in LL3.0 Semarkona is comparable (approx. 60%), multi-lobate OC porphyritic chondrules (with lobe heights equivalent to a significant fraction of the mean chondrule diameter) are rare. If the non-spherical type-I chondrules in CO chondrites had formed from totally molten droplets, calculations indicate that they would have collapsed into spheres within approx. 10(exp -3) s, too little time for their 20-micrometer-size olivine phenocrysts to have grown from the melt. These olivine grains must therefore be relicts from an earlier chondrule generation; the final heating episode experienced by the non-spherical chondrules involved only minor amounts of melting and crystallization. The immediate precursors of the individual non-spherical chondrules may have been irregularly shaped chondrule fragments whose fracture surfaces were rounded during melting. Because non-spherical chondrules and circular chondrules form a continuum in shape and have similar grain sizes, mineral and mesostasis compositions, and modal abundances of non-opaque phases, they must have formed by related processes. We conclude that a large majority of low-FeO chondrules in CO3 chondrites experienced a late, low-degree melting event. Previous studies have shown that essentially all type-II (high-FeO) porphyritic chondrules in Y-81020 formed by repeated episodes of low-degree melting. It thus appears that the type-I and type-II porphyritic chondrules in Y-81020 (and, presumably, all CO3 chondrites) experienced analogous formation histories. Because these two types constitute approx. 95% of all CO chondrules, it is clear that chondrule recycling was the rule in the CO chondrule-formation region and that most melting events produced only low degrees of melting. The rarity of significantly non-spherical, multi-lobate chondrules in Semarkona may reflect more-intense heating of chondrule precursors in the ordinary-chondrite region of the solar nebula.

Rubin, Alan E.↗

Wide scanning spherical antenna

A novel method for calculating the surface shapes for subreflectors in a suboptic assembly of a tri-reflector spherical antenna system is introduced, modeled from a generalization of Galindo-Israel's method of solving partial differential equations to correct for spherical aberration and provide uniform feed to aperture mapping. In a first embodiment, the suboptic assembly moves as a single unit to achieve scan while the main reflector remains stationary. A feed horn is tilted during scan to maintain the illuminated area on the main spherical reflector fixed throughout the scan thereby eliminating the need to oversize the main spherical reflector. In an alternate embodiment, both the main spherical reflector and the suboptic assembly are fixed. A flat mirror is used to create a virtual image of the suboptic assembly. Scan is achieved by rotating the mirror about the spherical center of the main reflector. The feed horn is tilted during scan to maintain the illuminated area on the main spherical reflector fixed throughout the scan.

Shen, Bing↗

Gravity Degree-Depth Relationship Using Point Mass Spherical Harmonics

Relationships between the degree of a spherical harmonic model of the gravitational field of a body and the depth of a source expressed as a density contrast can be used to study the structure of features. Here, we show that the gravitational acceleration per spherical harmonic degree of a constant density source has an extremum that depends on the depth of the source. Using the spherical harmonics expansion for a point mass source, we use this to derive a degree-depth relationship. Our relationship resembles an earlier one derived by Bowin (1983), with substantial differences at the lower degrees. We also find that a recent relationship derived by Deng et al. (2022) over-estimates the source depth. The relationship that we derive relates spherical harmonic degree n to depth d for a planet of radius R according to d = (1 - e -1/n+1 )R, which simplifies to d = R/(n + 1) for high degrees. We support our new relationship with synthetic models of a density contrast in a planet. We also show how the differences between our relationship and that of Bowin (1983) affect band-filtered gravity, for example when inspecting the upper 100 km of the Moon. Using point masses in our modeling results in an approximate relationship where in reality sources can be deeper than estimated, since any source contributes to all spherical harmonic degrees. The use of the contribution per individual degree however provides an intuitive relationship between spherical harmonic degree and depth that can be used to place relative bounds on source depths or to determine the bounds on spherical harmonic expansions when band-filtering gravity field models.

Geopotential theory↗

Occurrence of spherical ceramic debris in indentation and sliding contact

Indenting experiments were conducted with the silicon carbide (0001) surface in contact with a spherical diamond indenter in air. Sliding friction experiments were also conducted with silicon carbide in contact with iron and iron-based binary alloys at room temperature and 800 C. Fracture pits with a spherical particle and spherical wear debris were observed as a result of indenting and sliding. Spherical debris may be produced by a mechanism that involves a spherical-shaped fracture along the circular or spherical stress trajectories under the inelastic deformation zone.

Miyoshi, K.↗

Spherical disharmonics in the Earth sciences and the spatial solution: Ridges, hotspots, slabs, geochemistry and tomography correlations

There is increasing use of statistical correlations between geophysical fields and between geochemical and geophysical fields in attempts to understand how the Earth works. Typically, such correlations have been based on spherical harmonic expansions. The expression of functions on the sphere as spherical harmonic series has many pitfalls, especially if the data are nonuniformly and/or sparsely sampled. Many of the difficulties involved in the use of spherical harmonic expansion techniques can be avoided through the use of spatial domain correlations, but this introduces other complications, such as the choice of a sampling lattice. Additionally, many geophysical and geochemical fields fail to satisfy the assumptions of standard statistical significance tests. This is especially problematic when the data values to be correlated with a geophysical field were collected at sample locations which themselves correlate with that field. This paper examines many correlations which have been claimed in the past between geochemistry and mantle tomography and between hotspot, ridge, and slab locations and tomography using both spherical harmonic coefficient correlations and spatial domain correlations. No conclusively significant correlations are found between isotopic geochemistry and mantle tomography. The Crough and Jurdy (short) hotspot location list shows statistically significant correlation with lowermost mantle tomography for degree 2 of the spherical harmonic expansion, but there are no statistically significant correlations in the spatial case. The Vogt (long) hotspot location list does not correlate with tomography anywhere in the mantle using either technique. Both hotspot lists show a strong correlation between hotspot locations and geoid highs when spatially correlated, but no correlations are revealed by spherical harmonic techniques. Ridge locations do not show any statistically significant correlations with tomography, slab locations, or the geoid; the strongest correlation is with lowermost mantle tomography, which is probably spurious. The most striking correlations are between mantle tomography and post-Pangean subducted slabs. The integrated locations of slabs correlate strongly with fast areas near the transition zone and the core-mantle boundary and with slow regions from 1022-1248 km depth. This seems to be consistent with the 'avalanching' downwellings which have been indicated by models of the mantle which include an endothermic phase transition at the 670-km discontinuity, although this is not a unique interpretation. Taken as a whole, these results suggest that slabs and associated cold downwellings are the dominant feature of mantle convection. Hotspot locations are no better correlated with lower mantle tomography than are ridge locations.

Ray, Terrill W.↗

Effects of Non-Sphericity on Mineral Dust Modeling

The dependency of non-sphericity on gravitational settling of mineral dust particles is parameterized for prolate ellipsoids and Reynolds number lower than 2. The settling speed is numerically solved from the momentum equation as a function of particle diameter and aspect ratio. The reduction of settling speed due to non-sphericity is included in the GO-CART model to simulate dust size distribution for April 2001. Two numerical schemes for solving sedimentation are compared. For particles of diameter greater than 5 micron the simulated size distribution is sensitive to the numerical sedimentation scheme. Changing the particle shape from spherical to non-spherical with lambda=2, makes little difference to the simulated surface concentration and size distribution except at the periphery of the dust sources. However, when very elongated particles (lambda=5) are simulated the differences between non-spherical and spherical particles are significant. With limited in-situ measurements reporting most frequent lambda around 1.5, the overall effects on global modeling is rather negligible and the essential benefit is to relax the CFL condition of Eulerian settling schemes.

Ginoux, Paul↗

Spherical Harmonic Analysis of Particle Velocity Distribution Function: Comparison of Moments and Anisotropies using Cluster Data

This paper presents a spherical harmonic analysis of the plasma velocity distribution function using high-angular, energy, and time resolution Cluster data obtained from the PEACE spectrometer instrument to demonstrate how this analysis models the particle distribution function and its moments and anisotropies. The results show that spherical harmonic analysis produced a robust physical representation model of the velocity distribution function, resolving the main features of the measured distributions. From the spherical harmonic analysis, a minimum set of nine spectral coefficients was obtained from which the moment (up to the heat flux), anisotropy, and asymmetry calculations of the velocity distribution function were obtained. The spherical harmonic method provides a potentially effective "compression" technique that can be easily carried out onboard a spacecraft to determine the moments and anisotropies of the particle velocity distribution function for any species. These calculations were implemented using three different approaches, namely, the standard traditional integration, the spherical harmonic (SPH) spectral coefficients integration, and the singular value decomposition (SVD) on the spherical harmonic methods. A comparison among the various methods shows that both SPH and SVD approaches provide remarkable agreement with the standard moment integration method.

Gurgiolo, Chris↗

Broken Ergodicity in MHD Turbulence in a Spherical Domain

Broken ergodicity (BE) occurs in Fourier method numerical simulations of ideal, homogeneous, incompressible magnetohydrodynamic (MHD) turbulence. Although naive statistical theory predicts that Fourier coefficients of fluid velocity and magnetic field are zero-mean random variables, numerical simulations clearly show that low-wave-number coefficients have non-zero mean values that can be very large compared to the associated standard deviation. In other words, large-scale coherent structure (i.e., broken ergodicity) in homogeneous MHD turbulence can spontaneously grow out of random initial conditions. Eigenanalysis of the modal covariance matrices in the probability density functions of ideal statistical theory leads to a theoretical explanation of observed BE in homogeneous MHD turbulence. Since dissipation is minimal at the largest scales, BE is also relevant for resistive magnetofluids, as evidenced in numerical simulations. Here, we move beyond model magnetofluids confined by periodic boxes to examine BE in rotating magnetofluids in spherical domains using spherical harmonic expansions along with suitable boundary conditions. We present theoretical results for 3-D and 2-D spherical models and also present computational results from dynamical simulations of 2-D MHD turbulence on a rotating spherical surface. MHD turbulence on a 2-D sphere is affected by Coriolus forces, while MHD turbulence on a 2-D plane is not, so that 2-D spherical models are a useful (and simpler) intermediate stage on the path to understanding the much more complex 3-D spherical case.

Shebalin, John V.↗

Region Spherical Harmonic Magnetic Modeling from Near-Surface and Satellite-Altitude Anomlaies

The compiled near-surface data and satellite crustal magnetic measured data are modeled with a regionally concentrated spherical harmonic presentation technique over Australia and Antarctica. Global crustal magnetic anomaly studies have used a spherical harmonic analysis to represent the Earth's magnetic crustal field. This global approach, however is best applied where the data are uniformly distributed over the entire Earth. Satellite observations generally meet this requirement, but unequally distributed data cannot be easily adapted in global modeling. Even for the satellite observations, due to the errors spread over the globe, data smoothing is inevitable in the global spherical harmonic presentations. In addition, global high-resolution modeling requires a great number of global spherical harmonic coefficients for the regional presentation of crustal magnetic anomalies, whereas a lesser number of localized spherical coefficients will satisfy. We compared methods in both global and regional approaches and for a case where the errors were propagated outside the region of interest. For observations from the upcoming Swarm constellation, the regional modeling will allow the production a lesser number of spherical coefficients that are relevant to the region of interest

Modeling↗

3+2+X: What Is the Most Useful Depolarization Input for Inverting Lidar Measurements of Non-Spherical Particles to Microphysical Properties?

The typical multiwavelength aerosol lidar data set for inversion of optical to microphysical parameters is composed of three backscatter coefficients (β ) at 355, 532, and 1064 nm and two extinction coefficients (α ) at 355 and 532 nm. This data combination is referred to as 3β +2α or 3+2 data set. This set of data is sufficient for retrieving some important microphysical particle parameters if the particles have spherical shape. Here, we investigate the effect of including the particle linear depolarization ratio (δ) as a third input parameter to the inversion of lidar data. The inversion algorithm is generally not used if measurements show values of δ that exceed 0.10 at 532 nm, i.e. in the presence of non-spherical particles such as desert dust, volcanic ash, and under special circumstances biomass-burning smoke.We use experimental data collected with instruments that are capable of measuring δ at all three lidar wavelengths with an inversion routine that uses the theory of light scattering by randomly oriented spheroids to replicate scattering properties of non-spherical particles. This is the first systematic test of the effect of using all theoretically possible combinations of δ taken at 355, 532, and 1064 nm as input in the lidar data inversion. We find that depolarization information at least at one wavelength already provides useful information in the in version of optical data that describe light-scattering by nonspherical particles. However, any choice of δ(λ) will give lower values of the single-scattering albedo than the traditional 3+2 data set. We find that input data sets that include 355 give a non-spherical fraction that closely resembles the dust ratio we obtain from using β(532) and δ(532) in a methodology applied in aerosol-type separation. The use of 355 in data sets of two or three reduces the fraction of non-spherical particles that is retrieved when using δ(532) and δ(1064). Use of the latter two without accounting for 355 generally leads to high fractions of non-spherical particles that we consider not trustworthy. The use of three δ(λ) instead of two δ(λ) including the constraint that one of these is measured at 355 nm does not provide any advantage over using 3+2+δ(355). Because of the technical challenges involved with accurately measuring δ(1064) we conclude that — depending on measurement capability — the future standard input for inversion using spheroid kernels might be 3+2+δ(355) or 3+2+δ(355)+δ(532).

Tesche, M.↗

GRACE Fast Mascons from Spherical Harmonics and a Regularization Design Trade Study

Mass concentration (mascon) solutions have become a prominent medium for investigating time-variable gravity recovered by GRACE and GRACE Follow-On. While GRACE Level-2 spherical harmonic products require various post-processing techniques to eliminate correlated noise, mascon formulations employ spatial regularization strategies during the estimation step to improve signal recovery. However, mascon estimation has traditionally required large computing resources and GRACE Level-1B processing capabilities. In this study, we show that a typical mascon estimation system can be reformulated to allow for the estimation of regularized mascons from Level-2 spherical harmonics. Provided that spherical harmonic solution covariances are available, the computed mascons will be mathematically equivalent to similar mascons estimated from Level-1B observations. This method is computationally efficient, better leverages GRACE spherical harmonics than past methods, and matches the performance of typical mascon solutions without locking scientists into pre-determined regularization designs. We develop a proof-of-concept solution using ITSG-Grace2018 and compare results with traditional mascons from JPL and NASA GSFC. We then assess the effects of spherical harmonic truncation and use of regularization correlations on basin signal recovery. We find that spherical expansions to degree and order 60 provide the minimum expansion necessary to study most basins, while larger expansions help further localize signals. We also find that diagonal regularizations (i.e., regularizations that do not contain inter-mascon correlations) are adversely affected by leakage, especially across boundaries such as coastlines where signals are not highly correlated, whereas including inter-mascon correlations and regional boundaries in the regularization greatly improves signal recovery.

M. J. Croteau↗

Numerical Results for Polarized Light Scattering in a Spherical Atmosphere

We report numerical results for polarized light reflection from the top of a Rayleigh scattering spherical atmosphere with height-dependent single scattering albedo over a dark surface. Michael Mishchenko considered this scenario back in the 1990’s, for a plane-parallel atmosphere of unit optical thickness (OT), for which radiance errors arising from neglecting polarization reaches their highest values. To further extend Mishchenko’s results, we consider a value of OT = 0.25, for which the effect of atmospheric curvature is pronounced. New results are generated using three state-of-the art radiative transfer (RT) codes. These are: the MYSTIC and MCSSA models, which simulate light scattering in a true- spherical atmosphere using Monte Carlo methods; and the discrete ordinate code VLIDORT, operating with a new multiple-scatter spherical correction designed to deliver reasonable approximations to spherical-medium scattering. In this work, we report results for both single and multiple scattering; this will help to support the validation of existing and future polarized spherical RT codes, especially those using approximative methods to deal with sphericity.

S Korkin↗

Spatial symmetry breaking in rapidly rotating convective spherical shells

Many problems in geophysical and astrophysical convection systems are characterized by fast rotation and spherical shell geometry. The combined effects of Coriolis forces and spherical shell geometry produce a unique spatial symmetry for the convection pattern in a rapidly rotating spherical shell. In this paper, we first discuss the general spatial symmetries for rotating spherical shell convection. A special model, a spherical shell heated from below, is then used to illustrate how and when the spatial symmetries are broken. Symmetry breaking occurs via a sequence of spatial transitions from the primary conducting state to the complex multiple-layered columnar structure. It is argued that, because of the dominant effects of rotation, the sequence of spatial transitions identified from this particular model is likely to be generally valid. Applications of the spatial symmetry breaking to planetary convection problems are also discussed.

Zhang, Keke↗

Unsteady Spherical Diffusion Flames in Microgravity

The absence of buoyancy-induced flows in microgravity (mu-g) and the resulting increase in the reactant residence time significantly alters the fundamentals of many combustion processes. Substantial differences between normal gravity (ng) and (mu-g) flames have been reported in experiments on candle flames, flame spread over solids, droplet combustion, and others. These differences are more basic than just in the visible flame shape. Longer residence times and higher concentration of combustion products in the flame zone create a thermochemical environment that changes the flame chemistry and the heat and mass transfer processes. Processes such as flame radiation, that are often ignored in ng, become very important and sometimes even controlling. Furthermore, microgravity conditions considerably enhance flame radiation by: (i) the build-up of combustion products in the high-temperature reaction zone which increases the gas radiation, and (ii) longer residence times make conditions appropriate for substantial amounts of soot to form which is also responsible for radiative heat loss. Thus, it is anticipated that radiative heat loss may eventually extinguish the "weak" (low burning rate per unit flame area) mu-g diffusion flame. Yet, space shuttle experiments on candle flames show that in an infinite ambient atmosphere, the hemispherical candle flame in mu-g will burn indefinitely. This may be because of the coupling between the fuel production rate and the flame via the heat-feedback mechanism for candle flames, flames over solids and fuel droplet flames. Thus, to focus only on the gas-phase phenomena leading to radiative extinction, aerodynamically stabilized gaseous diffusion flames are examined. This enables independent control of the fuel flow rate to help identify conditions under which radiative extinction occurs. Also, spherical geometry is chosen for the mu-g experiments and modeling because: (i) It reduces the complexity by making the problem one-dimensional; (ii) The spherical diffusion flame completely encloses the soot which is formed on the fuel rich side of the reaction zone. This increases the importance of flame radiation because now both soot and gaseous combustion products co-exist inside the high temperature spherical diffusion flame. (iii) For small fuel injection velocities, as is usually the case for a pyrolyzing solid, the diffusion flame in mu-g around the solid naturally develops spherical symmetry. Thus, spherical diffusion flames are of interest to fires in mu-g and identifying conditions that lead to radiation-induced extinction is important for spacecraft fire safety.

Atreya, Arvind↗