Controlling X-ray beam trajectory with a flexible hollow glass fibre.

PubMed

Tanaka, Yoshihito; Nakatani, Takashi; Onitsuka, Rena; Sawada, Kei; Takahashi, Isao

2014-01-01

A metre-length flexible hollow glass fibre with 20 µm-bore and 1.5 mm-cladding diameters for transporting a synchrotron X-ray beam and controlling the trajectory has been examined. The large cladding diameter maintains a moderate curvature to satisfy the shallow glancing angle of total reflection. The observed transmission efficiency was more than 20% at 12.4 keV. As a demonstration, a wide-area scan of a synchrotron radiation beam was performed to identify the elements for a fixed metal film through its absorption spectra.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Seletskiy, S.; De Monte, V.; Di Lieto, A.

In the LEReC Cooling Section (CS) the RHIC ions are traveling together with and getting cooled by the LEReC electrons. The required cooling rate sets the limit of 150 urad on tolerable angles of the electrons in the CS. One of the components of overall electron angle is the angle of the e-beam trajectory with respect to the ion beam trajectory. We set the limit for electron trajectory angle to 100 urad. It is critical for preserving small trajectory angle to keep the transverse magnetic field inside the CS drifts within +/- 2.3 mG. The drifts in the CS mustmore » be shielded from the ambient magnetic fields of the RHIC tunnel, which can be as high as 0.5 G, to minimize the transverse field inside the CS vacuum chamber. In this paper we present the final design of the magnetic shielding of the LEReC CS and discuss the results of tests dedicated to studies of the shielding effectiveness.« less

Handling Qualities of a Capsule Spacecraft During Atmospheric Entry

NASA Technical Reports Server (NTRS)

Bilimoria, Karl D.; Mueller, Eric R.

2010-01-01

A piloted simulation was conducted to study handling qualities for capsule spacecraft entering the Earth s atmosphere. Eight evaluation pilots, including six pilot astronauts, provided Cooper-Harper ratings, workload ratings, and qualitative comments. The simulation began after descending through the atmospheric entry interface point and continued until the drogue parachutes deployed. There were two categories of piloting tasks, both of which required bank angle control. In one task category, the pilot followed a closed-loop bank angle command computed by the backup guidance system to manage g-loads during entry. In the other task category, the pilot used intuitive rules to determine the desired bank angle independently, based on an open-loop schedule of vertical speed, Mach, and total energy specified at several range-to-target gates along the entry trajectory. Pilots were able to accurately track the bank angle guidance commands and steered the capsule toward the recovery site with essentially the same range error as the benchmark autopilot trajectory albeit with substantially higher propellant usage, and the handling qualities for this task were satisfactory. Another key result was that the complex piloting task of atmospheric entry could be performed satisfactorily, even in the presence of large dispersions, by controlling bank angle to follow a simple open-loop schedule.

Persistence length measurements from stochastic single-microtubule trajectories.

PubMed

van den Heuvel, M G L; Bolhuis, S; Dekker, C

2007-10-01

We present a simple method to determine the persistence length of short submicrometer microtubule ends from their stochastic trajectories on kinesin-coated surfaces. The tangent angle of a microtubule trajectory is similar to a random walk, which is solely determined by the stiffness of the leading tip and the velocity of the microtubule. We demonstrate that even a single-microtubule trajectory suffices to obtain a reliable value of the persistence length. We do this by calculating the variance in the tangent trajectory angle of an individual microtubule. By averaging over many individual microtubule trajectories, we find that the persistence length of microtubule tips is 0.24 +/- 0.03 mm.

Model for the anisotropic reentry of albedo

DOE Office of Scientific and Technical Information (OSTI.GOV)

Koenig, P.J.

1981-02-01

The trajectory-tracing technique was used to obtain the angles of incidence, and hence 'intensities,' of negatively charged 0.88-GV particles reentrant at Palestine, Texas. Splash albedo trajectories were traced from the conjugate point, and also from Palestine itself, for those trajectories that were unable to complete a full gyration before reentry into the shadow cone at Palestine. Both isotropic and anisotropic ejection configurations were used at these two locations. These simulations predict a north-south anisotropy (hence also a zenithal anisotropy) for reentrant albedo, with a dearth of trajectories incident from the south. The anisotropy is large enough to explain experimentally determinedmore » north-south anisotropies for lower-energy particles, as observed by other groups in the Northern Hemisphere. The results are in agreement with measurements and simulations previously obtained in the Southern Hemisphere.« less

Possible influences on bullet trajectory deflection in ballistic gelatine.

PubMed

Riva, Fabiano; Kerkhoff, Wim; Bolck, Annabel; Mattijssen, Erwin J A T

2017-02-01

The influence of the distance to the top and bottom of a gelatine block and to bullet tracks from previously fired shots on a bullet's trajectory, when passing through ballistic gelatine, was studied. No significant difference in deflection was found when trajectories of 9mm Luger bullets, fired at a 3.5cm distance to the top and bottom of a gelatine block and to bullet tracks from previously fired shots, were compared to trajectories of bullets fired 7cm or more away from any of the aforementioned aspects. A surprisingly consistent 6.5° absolute deflection angle was found when these bullets passed through 22.5 to 23.5cm of ballistic gelatine. The projection angle, determined by the direction of the deflection, appeared to be random. The consistent absolute angle, in combination with the random projection angle, resulted in a cone-like deflection pattern. Copyright © 2017 Elsevier Ireland Ltd. All rights reserved.

An oilspill trajectory analysis model with a variable wind deflection angle

USGS Publications Warehouse

Samuels, W.B.; Huang, N.E.; Amstutz, D.E.

1982-01-01

The oilspill trajectory movement algorithm consists of a vector sum of the surface drift component due to wind and the surface current component. In the U.S. Geological Survey oilspill trajectory analysis model, the surface drift component is assumed to be 3.5% of the wind speed and is rotated 20 degrees clockwise to account for Coriolis effects in the Northern Hemisphere. Field and laboratory data suggest, however, that the deflection angle of the surface drift current can be highly variable. An empirical formula, based on field observations and theoretical arguments relating wind speed to deflection angle, was used to calculate a new deflection angle at each time step in the model. Comparisons of oilspill contact probabilities to coastal areas calculated for constant and variable deflection angles showed that the model is insensitive to this changing angle at low wind speeds. At high wind speeds, some statistically significant differences in contact probabilities did appear. ?? 1982.

Multi-objective trajectory optimization for the space exploration vehicle

NASA Astrophysics Data System (ADS)

Qin, Xiaoli; Xiao, Zhen

2016-07-01

The research determines temperature-constrained optimal trajectory for the space exploration vehicle by developing an optimal control formulation and solving it using a variable order quadrature collocation method with a Non-linear Programming(NLP) solver. The vehicle is assumed to be the space reconnaissance aircraft that has specified takeoff/landing locations, specified no-fly zones, and specified targets for sensor data collections. A three degree of freedom aircraft model is adapted from previous work and includes flight dynamics, and thermal constraints.Vehicle control is accomplished by controlling angle of attack, roll angle, and propellant mass flow rate. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as avoidance of no-fly zones and exploration of space targets. In addition, the vehicle models include the environmental models(gravity and atmosphere). How these models are appropriately employed is key to gaining confidence in the results and conclusions of the research. Optimal trajectories are developed using several performance costs in the optimal control formation,minimum time,minimum time with control penalties,and maximum distance.The resulting analysis demonstrates that optimal trajectories that meet specified mission parameters and constraints can be quickly determined and used for large-scale space exloration.

A new approach to adaptive control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

Impingement of Cloud Droplets on 36.5-Percent-Thick Joukowski Airfoil at Zero Angle of Attack and Discussion of Use as Cloud Measuring Instrument in Dye-Tracer Technique

NASA Technical Reports Server (NTRS)

Brun, R. J.; Vogt, Dorothea E.

1957-01-01

The trajectories of droplets i n the air flowing past a 36.5-percent-thick Joukowski airfoil at zero angle of attack were determined. The amount of water i n droplet form impinging on the airfoil, the area of droplet impingement, and the rate of droplet impingement per unit area on the airfoil surface were calculated from the trajectories and cover a large range of flight and atmospheric conditions. With the detailed impingement information available, the 36.5-percent-thick Joukowski airfoil can serve the dual purpose of use as the principal element in instruments for making measurements in clouds and of a basic shape for estimating impingement on a thick streamlined body. Methods and examples are presented for illustrating some limitations when the airfoil is used as the principal element in the dye-tracer technique.

Impingement of Water Droplets on NACA 65A004 Airfoil and Effect of Change in Airfoil Thickness from 12 to 4 Percent at 4 deg Angle of Attack

NASA Technical Reports Server (NTRS)

Brun, Rinaldo J.; Gallagher, Helen M.; Vogt, Dorothea E.

1953-01-01

The trajectories of droplets in the air flowing past an NACA 65A004 a irfoil at an angle of attack of 4 deg were determined. The amount of water in droplet form impinging on the airfoil, the area of droplet impingement, and the rate of droplet impingement per unit area on the airfoil surface were calculated from the trajectories and presented to cover a large range of flight and atmospheric conditions. The effect of a change in airfoil thickness from 12 to 4 percent at 4 deg angle of attack is presented by comparing the impingement calculations for the NACA 65A004 airfoil with those for the NACA 65(sub 1)-208 and 65(sub 1)-212 airfoils. The rearward limit of impingement on the upper surface decreases as the airfoil thickness decreases. The rearward limit of impingement on the lower surface increases with a decrease in airfoil t hickness. The total water intercepted decreases as the airfoil thickness is decreased.

Advanced launch system trajectory optimization using suboptimal control

NASA Technical Reports Server (NTRS)

Shaver, Douglas A.; Hull, David G.

1993-01-01

The maximum-final mass trajectory of a proposed configuration of the Advanced Launch System is presented. A model for the two-stage rocket is given; the optimal control problem is formulated as a parameter optimization problem; and the optimal trajectory is computed using a nonlinear programming code called VF02AD. Numerical results are presented for the controls (angle of attack and velocity roll angle) and the states. After the initial rotation, the angle of attack goes to a positive value to keep the trajectory as high as possible, returns to near zero to pass through the transonic regime and satisfy the dynamic pressure constraint, returns to a positive value to keep the trajectory high and to take advantage of minimum drag at positive angle of attack due to aerodynamic shading of the booster, and then rolls off to negative values to satisfy the constraints. Because the engines cannot be throttled, the maximum dynamic pressure occurs at a single point; there is no maximum dynamic pressure subarc. To test approximations for obtaining analytical solutions for guidance, two additional optimal trajectories are computed: one using untrimmed aerodynamics and one using no atmospheric effects except for the dynamic pressure constraint. It is concluded that untrimmed aerodynamics has a negligible effect on the optimal trajectory and that approximate optimal controls should be able to be obtained by treating atmospheric effects as perturbations.

Controlling X-ray beam trajectory with a flexible hollow glass fibre

PubMed Central

Tanaka, Yoshihito; Nakatani, Takashi; Onitsuka, Rena; Sawada, Kei; Takahashi, Isao

2014-01-01

A metre-length flexible hollow glass fibre with 20 µm-bore and 1.5 mm-cladding diameters for transporting a synchrotron X-ray beam and controlling the trajectory has been examined. The large cladding diameter maintains a moderate curvature to satisfy the shallow glancing angle of total reflection. The observed transmission efficiency was more than 20% at 12.4 keV. As a demonstration, a wide-area scan of a synchrotron radiation beam was performed to identify the elements for a fixed metal film through its absorption spectra. PMID:24365917

Unsteady aerodynamic forces and torques on falling parallelograms in coupled tumbling-helical motions

NASA Astrophysics Data System (ADS)

Varshney, Kapil; Chang, Song; Wang, Z. Jane

2013-05-01

Falling parallelograms exhibit coupled motion of autogyration and tumbling, similar to the motion of falling tulip seeds, unlike maple seeds which autogyrate but do not tumble, or rectangular cards which tumble but do not gyrate. This coupled tumbling and autogyrating motion are robust, when card parameters, such as aspect ratio, internal angle, and mass density, are varied. We measure the three-dimensional (3D) falling kinematics of the parallelograms and quantify their descending speed, azimuthal rotation, tumbling rotation, and cone angle in each falling. The cone angle is insensitive to the variation of the card parameters, and the card tumbling axis does not overlap with but is close to the diagonal axis. In addition to this connection to the dynamics of falling seeds, these trajectories provide an ideal set of data to analyze 3D aerodynamic force and torque at an intermediate range of Reynolds numbers, and the results will be useful for constructing 3D aerodynamic force and torque models. Tracking these free falling trajectories gives us a nonintrusive method for deducing instantaneous aerodynamic forces. We determine the 3D aerodynamic forces and torques based on Newton-Euler equations. The dynamical analysis reveals that, although the angle of attack changes dramatically during tumbling, the aerodynamic forces have a weak dependence on the angle of attack. The aerodynamic lift is dominated by the coupling of translational and rotational velocities. The aerodynamic torque has an unexpectedly large component perpendicular to the card. The analysis of the Euler equation suggests that this large torque is related to the deviation of the tumbling axis from the principle axis of the card.

Unsteady aerodynamic forces and torques on falling parallelograms in coupled tumbling-helical motions.

PubMed

Varshney, Kapil; Chang, Song; Wang, Z Jane

2013-05-01

Falling parallelograms exhibit coupled motion of autogyration and tumbling, similar to the motion of falling tulip seeds, unlike maple seeds which autogyrate but do not tumble, or rectangular cards which tumble but do not gyrate. This coupled tumbling and autogyrating motion are robust, when card parameters, such as aspect ratio, internal angle, and mass density, are varied. We measure the three-dimensional (3D) falling kinematics of the parallelograms and quantify their descending speed, azimuthal rotation, tumbling rotation, and cone angle in each falling. The cone angle is insensitive to the variation of the card parameters, and the card tumbling axis does not overlap with but is close to the diagonal axis. In addition to this connection to the dynamics of falling seeds, these trajectories provide an ideal set of data to analyze 3D aerodynamic force and torque at an intermediate range of Reynolds numbers, and the results will be useful for constructing 3D aerodynamic force and torque models. Tracking these free falling trajectories gives us a nonintrusive method for deducing instantaneous aerodynamic forces. We determine the 3D aerodynamic forces and torques based on Newton-Euler equations. The dynamical analysis reveals that, although the angle of attack changes dramatically during tumbling, the aerodynamic forces have a weak dependence on the angle of attack. The aerodynamic lift is dominated by the coupling of translational and rotational velocities. The aerodynamic torque has an unexpectedly large component perpendicular to the card. The analysis of the Euler equation suggests that this large torque is related to the deviation of the tumbling axis from the principle axis of the card.

Shuttle Orbiter Contingency Abort Aerodynamics: Real-Gas Effects and High Angles of Attack

NASA Technical Reports Server (NTRS)

Prabhu, Dinesh K.; Papadopoulos, Periklis E.; Davies, Carol B.; Wright, Michael J.; McDaniel, Ryan D.; Venkatapathy, Ethiraj; Wercinski, Paul F.

2005-01-01

An important element of the Space Shuttle Orbiter safety improvement plan is the improved understanding of its aerodynamic performance so as to minimize the "black zones" in the contingency abort trajectories [1]. These zones are regions in the launch trajectory where it is predicted that, due to vehicle limitations, the Orbiter will be unable to return to the launch site in a two or three engine-out scenario. Reduction of these zones requires accurate knowledge of the aerodynamic forces and moments to better assess the structural capability of the vehicle. An interesting aspect of the contingency abort trajectories is that the Orbiter would need to achieve angles of attack as high as 60deg. Such steep attitudes are much higher than those for a nominal flight trajectory. The Orbiter is currently flight certified only up to an angle of attack of 44deg at high Mach numbers and has never flown at angles of attack larger than this limit. Contingency abort trajectories are generated using the data in the Space Shuttle Operational Aerodynamic Data Book (OADB) [2]. The OADB, a detailed document of the aerodynamic environment of the current Orbiter, is primarily based on wind-tunnel measurements (over a wide Mach number and angle-of-attack range) extrapolated to flight conditions using available theories and correlations, and updated with flight data where available. For nominal flight conditions, i.e., angles of attack of less than 45deg, the fidelity of the OADB is excellent due to the availability of flight data. However, at the off-nominal conditions, such as would be encountered on contingency abort trajectories, the fidelity of the OADB is less certain. The primary aims of a recent collaborative effort (completed in the year 2001) between NASA and Boeing were to determine: 1) accurate distributions of pressure and shear loads on the Orbiter at select points in the contingency abort trajectory space; and 2) integrated aerodynamic forces and moments for the entire vehicle and the control surfaces (body flap, speed brake, and elevons). The latter served the useful purpose of verification of the aerodynamic characteristics that went into the generation of the abort trajectories.

Fundamental study of flow field generated by rotorcraft blades using wide-field shadowgraph

NASA Technical Reports Server (NTRS)

Parthasarathy, S. P.; Cho, Y. I.; Back, L. H.

1985-01-01

The vortex trajectory and vortex wake generated by helicopter rotors are visualized using a wide-field shadowgraph technique. Use of a retro-reflective Scotchlite screen makes it possible to investigate the flow field generated by full-scale rotors. Tip vortex trajectories are visible in shadowgraphs for a range of tip Mach number of 0.38 to 0.60. The effect of the angle of attack is substantial. At an angle of attack greater than 8 degrees, the visibility of the vortex core is significant even at relatively low tip Mach numbers. The theoretical analysis of the sensitivity is carried out for a rotating blade. This analysis demonstrates that the sensitivity decreases with increasing dimensionless core radius and increases with increasing tip Mach number. The threshold value of the sensitivity is found to be 0.0015, below which the vortex core is not visible and above which it is visible. The effect of the optical path length is also discussed. Based on this investigation, it is concluded that the application of this wide-field shadowgraph technique to a large wind tunnel test should be feasible. In addition, two simultaneous shadowgraph views would allow three-dimensional reconstruction of vortex trajectories.

The rotate-plus-shift C-arm trajectory. Part I. Complete data with less than 180° rotation.

PubMed

Ritschl, Ludwig; Kuntz, Jan; Fleischmann, Christof; Kachelrieß, Marc

2016-05-01

In the last decade, C-arm-based cone-beam CT became a widely used modality for intraoperative imaging. Typically a C-arm CT scan is performed using a circular or elliptical trajectory around a region of interest. Therefore, an angular range of at least 180° plus fan angle must be covered to ensure a completely sampled data set. However, mobile C-arms designed with a focus on classical 2D applications like fluoroscopy may be limited to a mechanical rotation range of less than 180° to improve handling and usability. The method proposed in this paper allows for the acquisition of a fully sampled data set with a system limited to a mechanical rotation range of at least 180° minus fan angle using a new trajectory design. This enables CT like 3D imaging with a wide range of C-arm devices which are mainly designed for 2D imaging. The proposed trajectory extends the mechanical rotation range of the C-arm system with two additional linear shifts. Due to the divergent character of the fan-beam geometry, these two shifts lead to an additional angular range of half of the fan angle. Combining one shift at the beginning of the scan followed by a rotation and a second shift, the resulting rotate-plus-shift trajectory enables the acquisition of a completely sampled data set using only 180° minus fan angle of rotation. The shifts can be performed using, e.g., the two orthogonal positioning axes of a fully motorized C-arm system. The trajectory was evaluated in phantom and cadaver examinations using two prototype C-arm systems. The proposed trajectory leads to reconstructions without limited angle artifacts. Compared to the limited angle reconstructions of 180° minus fan angle, image quality increased dramatically. Details in the rotate-plus-shift reconstructions were clearly depicted, whereas they are dominated by artifacts in the limited angle scan. The method proposed here employs 3D imaging using C-arms with less than 180° rotation range adding full 3D functionality to a C-arm device retaining both handling comfort and the usability of 2D imaging. This method has a clear potential for clinical use especially to meet the increasing demand for an intraoperative 3D imaging.

The rotate-plus-shift C-arm trajectory. Part I. Complete data with less than 180° rotation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ritschl, Ludwig; Fleischmann, Christof; Kuntz, Jan, E-mail: j.kuntz@dkfz.de

Purpose: In the last decade, C-arm-based cone-beam CT became a widely used modality for intraoperative imaging. Typically a C-arm CT scan is performed using a circular or elliptical trajectory around a region of interest. Therefore, an angular range of at least 180° plus fan angle must be covered to ensure a completely sampled data set. However, mobile C-arms designed with a focus on classical 2D applications like fluoroscopy may be limited to a mechanical rotation range of less than 180° to improve handling and usability. The method proposed in this paper allows for the acquisition of a fully sampled datamore » set with a system limited to a mechanical rotation range of at least 180° minus fan angle using a new trajectory design. This enables CT like 3D imaging with a wide range of C-arm devices which are mainly designed for 2D imaging. Methods: The proposed trajectory extends the mechanical rotation range of the C-arm system with two additional linear shifts. Due to the divergent character of the fan-beam geometry, these two shifts lead to an additional angular range of half of the fan angle. Combining one shift at the beginning of the scan followed by a rotation and a second shift, the resulting rotate-plus-shift trajectory enables the acquisition of a completely sampled data set using only 180° minus fan angle of rotation. The shifts can be performed using, e.g., the two orthogonal positioning axes of a fully motorized C-arm system. The trajectory was evaluated in phantom and cadaver examinations using two prototype C-arm systems. Results: The proposed trajectory leads to reconstructions without limited angle artifacts. Compared to the limited angle reconstructions of 180° minus fan angle, image quality increased dramatically. Details in the rotate-plus-shift reconstructions were clearly depicted, whereas they are dominated by artifacts in the limited angle scan. Conclusions: The method proposed here employs 3D imaging using C-arms with less than 180° rotation range adding full 3D functionality to a C-arm device retaining both handling comfort and the usability of 2D imaging. This method has a clear potential for clinical use especially to meet the increasing demand for an intraoperative 3D imaging.« less

Corrigendum to: "Influence of magnetic-field-caused modifications of trajectories of plasma electrons on spectral line shapes: Applications to magnetic fusion and white dwarfs" [J. Quant. Spectrosc. Radiat. Transf. 171 (2016) 15

NASA Astrophysics Data System (ADS)

Oks, E.

2016-05-01

It should have been noted that the theoretical spectra in Figs. 5 and 6, as well the numerical results for theoretical ratio of intensities of the central and lateral peaks (presented in the paragraph after Fig. 5), were calculated for the observation at the angle of 55° with respect to the magnetic field in tokamak T-10 (at this angle, the central and lateral peaks would have equal intensities while disregarding the effect of the spiraling trajectories of the electrons). At smaller angles of the observation, the effect of the spiraling trajectories of the electrons would be even more significant than presented in Figs. 5 and 6, and in the numerical data after Fig. 5. For example, for the observation at the angle of 45°, the allowance for the spiraling trajectories of the perturbing electrons increases the ratio of the intensity of the central peak to the intensity of any of the two lateral peaks by 100% (while at the angle of 55° the corresponding increase was 58%).

Hybrid thrusters and reaction wheels strategy for large angle rapid reorientation with high precision

NASA Astrophysics Data System (ADS)

Ye, Dong; Sun, Zhaowei; Wu, Shunan

2012-08-01

The quaternion-based, high precision, large angle rapid reorientation of rigid spacecraft is the main problem investigated in this study. The operation is accomplished via a hybrid thrusters and reaction wheels strategy where thrusters are engaged in providing a primary maneuver torque in open loop, while reaction wheels provide fine control torque to achieve high precision in closed-loop control. The inaccuracy of thrusters is handled by a variable structure control (VSC). In addition, a signum function is mixed in the switching surface in VSC to produce a maneuver to the reference attitude trajectory in a shortest distance. Detailed proofs and numerical simulation examples are presented to illustrate all the technical aspects of this work.

Determination of optimal trajectories for an aircraft returning to the runway following a complete loss of thrust after takeoff

NASA Astrophysics Data System (ADS)

Gordon, Craig A.

This thesis examines the ability of a small, single-engine airplane to return to the runway following an engine failure shortly after takeoff. Two sets of trajectories are examined. One set of trajectories has the airplane fly a straight climb on the runway heading until engine failure. The other set of trajectories has the airplane perform a 90° turn at an altitude of 500 feet and continue until engine failure. Various combinations of wind speed, wind direction, and engine failure times are examined. The runway length required to complete the entire flight from the beginning of the takeoff roll to wheels stop following the return to the runway after engine failure is calculated for each case. The optimal trajectories following engine failure consist of three distinct segments: a turn back toward the runway using a large bank angle and angle of attack; a straight glide; and a reversal turn to align the airplane with the runway. The 90° turn results in much shorter required runway lengths at lower headwind speeds. At higher headwind speeds, both sets of trajectories are limited by the length of runway required for the landing rollout, but the straight climb cases generally require a lower angle of attack to complete the flight. The glide back to the runway is performed at an airspeed below the best glide speed of the airplane due to the need to conserve potential energy after the completion of the turn back toward the runway. The results are highly dependent on the rate of climb of the airplane during powered flight. The results of this study can aid the pilot in determining whether or not a return to the runway could be performed in the event of an engine failure given the specific wind conditions and runway length at the time of takeoff. The results can also guide the pilot in determining the takeoff profile that would offer the greatest advantage in returning to the runway.

Joint design of large-tip-angle parallel RF pulses and blipped gradient trajectories.

PubMed

Cao, Zhipeng; Donahue, Manus J; Ma, Jun; Grissom, William A

2016-03-01

To design multichannel large-tip-angle kT-points and spokes radiofrequency (RF) pulses and gradient waveforms for transmit field inhomogeneity compensation in high field magnetic resonance imaging. An algorithm to design RF subpulse weights and gradient blip areas is proposed to minimize a magnitude least-squares cost function that measures the difference between realized and desired state parameters in the spin domain, and penalizes integrated RF power. The minimization problem is solved iteratively with interleaved target phase updates, RF subpulse weights updates using the conjugate gradient method with optimal control-based derivatives, and gradient blip area updates using the conjugate gradient method. Two-channel parallel transmit simulations and experiments were conducted in phantoms and human subjects at 7 T to demonstrate the method and compare it to small-tip-angle-designed pulses and circularly polarized excitations. The proposed algorithm designed more homogeneous and accurate 180° inversion and refocusing pulses than other methods. It also designed large-tip-angle pulses on multiple frequency bands with independent and joint phase relaxation. Pulses designed by the method improved specificity and contrast-to-noise ratio in a finger-tapping spin echo blood oxygen level dependent functional magnetic resonance imaging study, compared with circularly polarized mode refocusing. A joint RF and gradient waveform design algorithm was proposed and validated to improve large-tip-angle inversion and refocusing at ultrahigh field. © 2015 Wiley Periodicals, Inc.

Large Angle Satellite Attitude Maneuvers

NASA Technical Reports Server (NTRS)

Cochran, J. E.; Junkins, J. L.

1975-01-01

Two methods are proposed for performing large angle reorientation maneuvers. The first method is based upon Euler's rotation theorem; an arbitrary reorientation is ideally accomplished by rotating the spacecraft about a line which is fixed in both the body and in space. This scheme has been found to be best suited for the case in which the initial and desired attitude states have small angular velocities. The second scheme is more general in that a general class of transition trajectories is introduced which, in principle, allows transfer between arbitrary orientation and angular velocity states. The method generates transition maneuvers in which the uncontrolled (free) initial and final states are matched in orientation and angular velocity. The forced transition trajectory is obtained by using a weighted average of the unforced forward integration of the initial state and the unforced backward integration of the desired state. The current effort is centered around practical validation of this second class of maneuvers. Of particular concern is enforcement of given control system constraints and methods for suboptimization by proper selection of maneuver initiation and termination times. Analogous reorientation strategies which force smooth transition in angular momentum and/or rotational energy are under consideration.

Misperceptions in the Trajectories of Objects undergoing Curvilinear Motion

PubMed Central

Yilmaz, Ozgur; Tripathy, Srimant P.; Ogmen, Haluk

2012-01-01

Trajectory perception is crucial in scene understanding and action. A variety of trajectory misperceptions have been reported in the literature. In this study, we quantify earlier observations that reported distortions in the perceived shape of bilinear trajectories and in the perceived positions of their deviation. Our results show that bilinear trajectories with deviation angles smaller than 90 deg are perceived smoothed while those with deviation angles larger than 90 degrees are perceived sharpened. The sharpening effect is weaker in magnitude than the smoothing effect. We also found a correlation between the distortion of perceived trajectories and the perceived shift of their deviation point. Finally, using a dual-task paradigm, we found that reducing attentional resources allocated to the moving target causes an increase in the perceived shift of the deviation point of the trajectory. We interpret these results in the context of interactions between motion and position systems. PMID:22615775

Calculations of atmospheric refraction for spacecraft remote-sensing applications

NASA Technical Reports Server (NTRS)

Chu, W. P.

1983-01-01

Analytical solutions to the refraction integrals appropriate for ray trajectories along slant paths through the atmosphere are derived in this paper. This type of geometry is commonly encountered in remote-sensing applications utilizing an occultation technique. The solutions are obtained by evaluating higher-order terms from expansion of the refraction integral and are dependent on the vertical temperature distributions. Refraction parameters such as total refraction angles, air masses, and path lengths can be accurately computed. It is also shown that the method can be used for computing refraction parameters in astronomical refraction geometry for large zenith angles.

Algorithm for fuel conservative horizontal capture trajectories

NASA Technical Reports Server (NTRS)

Neuman, F.; Erzberger, H.

1981-01-01

A real time algorithm for computing constant altitude fuel-conservative approach trajectories for aircraft is described. The characteristics of the trajectory computed were chosen to approximate the extremal trajectories obtained from the optimal control solution to the problem and showed a fuel difference of only 0.5 to 2 percent for the real time algorithm in favor of the extremals. The trajectories may start at any initial position, heading, and speed and end at any other final position, heading, and speed. They consist of straight lines and a series of circular arcs of varying radius to approximate constant bank-angle decelerating turns. Throttle control is maximum thrust, nominal thrust, or zero thrust. Bank-angle control is either zero or aproximately 30 deg.

Applications of low lift to drag ratio aerobrakes using angle of attack variation for control

NASA Technical Reports Server (NTRS)

Mulqueen, J. A.

1991-01-01

Several applications of low lift to drag ratio aerobrakes are investigated which use angle of attack variation for control. The applications are: return from geosynchronous or lunar orbit to low Earth orbit; and planetary aerocapture at Earth and Mars. A number of aerobrake design considerations are reviewed. It was found that the flow impingement behind the aerobrake and the aerodynamic heating loads are the primary factors that control the sizing of an aerobrake. The heating loads and other loads, such as maximum acceleration, are determined by the vehicle ballistic coefficient, the atmosphere entry conditions, and the trajectory design. Several formulations for defining an optimum trajectory are reviewed, and the various performance indices that can be used are evaluated. The 'nearly grazing' optimal trajectory was found to provide the best compromise between the often conflicting goals of minimizing the vehicle propulsive requirements and minimizing vehicle loads. The relationship between vehicle and trajectory design is investigated further using the results of numerical simulations of trajectories for each aerobrake application. The data show the sensitivity of the trajectories to several vehicle parameters and atmospheric density variations. The results of the trajectory analysis show that low lift to drag ratio aerobrakes, which use angle of attack variation for control, can potentially be used for a wide range of aerobrake applications.

Spray Cooling Trajectory Angle Impact Upon Heat Flux Using a Straight Finned Enhanced Surface

NASA Technical Reports Server (NTRS)

Silk, Eric A.; Kim, Jungho; Kiger, Ken

2005-01-01

Experiments were conducted to study the effects of spray trajectory angles upon heat flux for flat and enhanced surface spray cooling. The surface enhancement consisted of straight fins machined on the top surface of a copper heater block. Spray cooling curves were obtained with the straight fin surface aligned both parallel (axial) and perpendicular (transverse) to the spray axis. Measurements were also obtained on a flat surface heater block for comparison purposes. Each copper block had a cross-sectional area of 2.0 sq cm. A 2x2 nozzle array was used with PF-5060 as the working fluid. Thermal performance data was obtained under nominally degassed (chamber pressure of 41.4 kPa) conditions. Results show that the maximum CHF in all cases was attained for a trajectory angle of 30' from the surface normal. Furthermore, trajectory angles applied to straight finned surfaces can have a critical heat flux (CHF) enhancement as much as 75% (heat flux value of 140 W/sq cm) relative to the vertical spray orientation for the analogous flat surface case under nominally degassed conditions.

Comparison of Low-Energy Lunar Transfer Trajectories to Invariant Manifolds

NASA Technical Reports Server (NTRS)

Anderson, Rodney L.; Parker, Jeffrey S.

2011-01-01

In this study, transfer trajectories from the Earth to the Moon that encounter the Moon at various flight path angles are examined, and lunar approach trajectories are compared to the invariant manifolds of selected unstable orbits in the circular restricted three-body problem. Previous work focused on lunar impact and landing trajectories encountering the Moon normal to the surface, and this research extends the problem with different flight path angles in three dimensions. The lunar landing geometry for a range of Jacobi constants are computed, and approaches to the Moon via invariant manifolds from unstable orbits are analyzed for different energy levels.

Correlated motion of protein subdomains and large-scale conformational flexibility of RecA protein filament

NASA Astrophysics Data System (ADS)

Yu, Garmay; A, Shvetsov; D, Karelov; D, Lebedev; A, Radulescu; M, Petukhov; V, Isaev-Ivanov

2012-02-01

Based on X-ray crystallographic data available at Protein Data Bank, we have built molecular dynamics (MD) models of homologous recombinases RecA from E. coli and D. radiodurans. Functional form of RecA enzyme, which is known to be a long helical filament, was approximated by a trimer, simulated in periodic water box. The MD trajectories were analyzed in terms of large-scale conformational motions that could be detectable by neutron and X-ray scattering techniques. The analysis revealed that large-scale RecA monomer dynamics can be described in terms of relative motions of 7 subdomains. Motion of C-terminal domain was the major contributor to the overall dynamics of protein. Principal component analysis (PCA) of the MD trajectories in the atom coordinate space showed that rotation of C-domain is correlated with the conformational changes in the central domain and N-terminal domain, that forms the monomer-monomer interface. Thus, even though C-terminal domain is relatively far from the interface, its orientation is correlated with large-scale filament conformation. PCA of the trajectories in the main chain dihedral angle coordinate space implicates a co-existence of a several different large-scale conformations of the modeled trimer. In order to clarify the relationship of independent domain orientation with large-scale filament conformation, we have performed analysis of independent domain motion and its implications on the filament geometry.

Experimental investigation on underwater trajectory deviation of high-speed projectile with different nose shapes

NASA Astrophysics Data System (ADS)

Zhang, Wei; Huang, Wei; Gao, Yubo; Qi, Yafei; Hypervelocity Impact Research Center Team

2015-06-01

Laboratory-scaled oblique water entry experiments for the trajectory stability in the water column have been performed with four different nosed-projectiles at a range of velocities from 20m /s to 250 m /s . The slender projectiles are designed with flat, ogival, hemi-sperical, truncated-ogival noses to make comparisons on the trajectory deviation when they are launched at vertical and oblique impact angles (0°~25°). Two high-speed cameras that are positioned orthogonal to each other and normal to the column are employed to capture the entire process of projectiles' penetration. From the experimental results, the sequential images in two planes are presented to compare the trajectory deviation of different impact tests and the 3D trajectory models are extracted based on the location recorded by cameras. Considering the effect influenced by the impact velocities and noses of projectiles, it merited concluded that trajectory deviation is affected from most by impact angle, and least by impact velocities. Additionally, ogival projectiles tend to be more sensitive to oblique angle and experienced the largest attitude changing. National Natural Science Foundation of China (NO.: 11372088).

Decomposition technique and optimal trajectories for the aeroassisted flight experiment

NASA Technical Reports Server (NTRS)

Miele, A.; Wang, T.; Deaton, A. W.

1990-01-01

An actual geosynchronous Earth orbit-to-low Earth orbit (GEO-to-LEO) transfer is considered with reference to the aeroassisted flight experiment (AFE) spacecraft, and optimal trajectories are determined by minimizing the total characteristic velocity. The optimization is performed with respect to the time history of the controls (angle of attack and angle of bank), the entry path inclination and the flight time being free. Two transfer maneuvers are considered: direct ascent (DA) to LEO and indirect ascent (IA) to LEO via parking Earth orbit (PEO). By taking into account certain assumptions, the complete system can be decoupled into two subsystems: one describing the longitudinal motion and one describing the lateral motion. The angle of attack history, the entry path inclination, and the flight time are determined via the longitudinal motion subsystem. In this subsystem, the difference between the instantaneous bank angle and a constant bank angle is minimized in the least square sense subject to the specified orbital inclination requirement. Both the angles of attack and the angle of bank are shown to be constant. This result has considerable importance in the design of nominal trajectories to be used in the guidance of AFE and aeroassisted orbital transfer (AOT) vehicles.

Inverse photoelectron spectrometer with magnetically focused electron gun

NASA Technical Reports Server (NTRS)

Krainsky, Isay L.

1991-01-01

An inverse photoelectron spectrometer is described which is based on the design of a magnetically focused low energy electron gun. The magnetic lens extends its field over a relatively large segment of the electron trajectory, which could provide a better focusing effect on a high-current-density low-velocity electron beam, providing the magnetic field in the vicinity of the target is reduced sufficiently to preserve the collinearity of the beam. In order to prove the concept, ray tracing is conducted using the Herrmannsfeldt program for solving electron trajectories in electrostatic and magnetostatic focusing systems. The program allows the calculation of the angles of the electron trajectories with the z axis, at the target location. The results of the ray-tracing procedure conducted for this gun are discussed. Some of the advantages of the magnetic focusing are also discussed.

WE-AB-209-06: Dynamic Collimator Trajectory Algorithm for Use in VMAT Treatment Deliveries

DOE Office of Scientific and Technical Information (OSTI.GOV)

MacDonald, L; Thomas, C; Syme, A

2016-06-15

Purpose: To develop advanced dynamic collimator positioning algorithms for optimal beam’s-eye-view (BEV) fitting of targets in VMAT procedures, including multiple metastases stereotactic radiosurgery procedures. Methods: A trajectory algorithm was developed, which can dynamically modify the angle of the collimator as a function of VMAT control point to provide optimized collimation of target volume(s). Central to this algorithm is a concept denoted “whitespace”, defined as area within the jaw-defined BEV field, outside of the PTV, and not shielded by the MLC when fit to the PTV. Calculating whitespace at all collimator angles and every control point, a two-dimensional topographical map depictingmore » the tightness-of-fit of the MLC was generated. A variety of novel searching algorithms identified a number of candidate trajectories of continuous collimator motion. Ranking these candidate trajectories according to their accrued whitespace value produced an optimal solution for navigation of this map. Results: All trajectories were normalized to minimum possible (i.e. calculated without consideration of collimator motion constraints) accrued whitespace. On an acoustic neuroma case, a random walk algorithm generated a trajectory with 151% whitespace; random walk including a mandatory anchor point improved this to 148%; gradient search produced a trajectory with 137%; and bi-directional gradient search generated a trajectory with 130% whitespace. For comparison, a fixed collimator angle of 30° and 330° accumulated 272% and 228% of whitespace, respectively. The algorithm was tested on a clinical case with two metastases (single isocentre) and identified collimator angles that allow for simultaneous irradiation of the PTVs while minimizing normal tissue irradiation. Conclusion: Dynamic collimator trajectories have the potential to improve VMAT deliveries through increased efficiency and reduced normal tissue dose, especially in treatment of multiple cranial metastases, without significant safety concerns that hinder immediate clinical implementation.« less

Stability analyses of the mass abrasive projectile high-speed penetrating into a concrete target Part III: Terminal ballistic trajectory analyses

NASA Astrophysics Data System (ADS)

Wu, H.; Chen, X. W.; Fang, Q.; Kong, X. Z.; He, L. L.

2015-08-01

During the high-speed penetration of projectiles into concrete targets (the impact velocity ranges from 1.0 to 1.5 km/s), important factors such as the incident oblique and attacking angles, as well as the asymmetric abrasions of the projectile nose induced by the target-projectile interactions, may lead to obvious deviation of the terminal ballistic trajectory and reduction of the penetration efficiency. Based on the engineering model for the mass loss and nose-blunting of ogive-nosed projectiles established, by using the Differential Area Force Law (DAFL) method and semi-empirical resistance function, a finite differential approach was programmed (PENTRA2D) for predicting the terminal ballistic trajectory of mass abrasive high-speed projectiles penetrating into concrete targets. It accounts for the free-surface effects on the drag force acting on the projectile, which are attributed to the oblique and attacking angles, as well as the asymmetric nose abrasion of the projectile. Its validation on the prediction of curvilinear trajectories of non-normal high-speed penetrators into concrete targets is verified by comparison with available test data. Relevant parametric influential analyses show that the most influential factor for the stability of terminal ballistic trajectories is the attacking angle, followed by the oblique angle, the discrepancy of asymmetric nose abrasion, and the location of mass center of projectile. The terminal ballistic trajectory deviations are aggravated as the above four parameters increase.

Game of thrown bombs in 3D: using high speed cameras and photogrammetry techniques to reconstruct bomb trajectories at Stromboli (Italy)

NASA Astrophysics Data System (ADS)

Gaudin, D.; Taddeucci, J.; Scarlato, P.; Del Bello, E.; Houghton, B. F.; Orr, T. R.; Andronico, D.; Kueppers, U.

2015-12-01

Large juvenile bombs and lithic clasts, produced and ejected during explosive volcanic eruptions, follow ballistic trajectories. Of particular interest are: 1) the determination of ejection velocity and launch angle, which give insights into shallow conduit conditions and geometry; 2) particle trajectories, with an eye on trajectory evolution caused by collisions between bombs, as well as the interaction between bombs and ash/gas plumes; and 3) the computation of the final emplacement of bomb-sized clasts, which is important for hazard assessment and risk management. Ground-based imagery from a single camera only allows the reconstruction of bomb trajectories in a plan perpendicular to the line of sight, which may lead to underestimation of bomb velocities and does not allow the directionality of the ejections to be studied. To overcome this limitation, we adapted photogrammetry techniques to reconstruct 3D bomb trajectories from two or three synchronized high-speed video cameras. In particular, we modified existing algorithms to consider the errors that may arise from the very high velocity of the particles and the impossibility of measuring tie points close to the scene. Our method was tested during two field campaigns at Stromboli. In 2014, two high-speed cameras with a 500 Hz frame rate and a ~2 cm resolution were set up ~350m from the crater, 10° apart and synchronized. The experiment was repeated with similar parameters in 2015, but using three high-speed cameras in order to significantly reduce uncertainties and allow their estimation. Trajectory analyses for tens of bombs at various times allowed for the identification of shifts in the mean directivity and dispersal angle of the jets during the explosions. These time evolutions are also visible on the permanent video-camera monitoring system, demonstrating the applicability of our method to all kinds of explosive volcanoes.

Solution to Projectile Motion with Quadratic Drag and Graphing the Trajectory in Spreadsheets

ERIC Educational Resources Information Center

Benacka, Jan

2010-01-01

This note gives the analytical solution to projectile motion with quadratic drag by decomposing the velocity vector to "x," "y" coordinate directions. The solution is given by definite integrals. First, the impact angle is estimated from above, then the projectile coordinates are computed, and the trajectory is graphed at various launch angles and…

Rapid near-optimal trajectory generation and guidance law development for single-stage-to-orbit airbreathing vehicles

NASA Technical Reports Server (NTRS)

Calise, A. J.; Flandro, G. A.; Corban, J. E.

1990-01-01

General problems associated with on-board trajectory optimization, propulsion system cycle selection, and with the synthesis of guidance laws were addressed for an ascent to low-earth-orbit of an air-breathing single-stage-to-orbit vehicle. The NASA Generic Hypersonic Aerodynamic Model Example and the Langley Accelerator aerodynamic sets were acquired and implemented. Work related to the development of purely analytic aerodynamic models was also performed at a low level. A generic model of a multi-mode propulsion system was developed that includes turbojet, ramjet, scramjet, and rocket engine cycles. Provisions were made in the dynamic model for a component of thrust normal to the flight path. Computational results, which characterize the nonlinear sensitivity of scramjet performance to changes in vehicle angle of attack, were obtained and incorporated into the engine model. Additional trajectory constraints were introduced: maximum dynamic pressure; maximum aerodynamic heating rate per unit area; angle of attack and lift limits; and limits on acceleration both along and normal to the flight path. The remainder of the effort focused on required modifications to a previously derived algorithm when the model complexity cited above was added. In particular, analytic switching conditions were derived which, under appropriate assumptions, govern optimal transition from one propulsion mode to another for two cases: the case in which engine cycle operations can overlap, and the case in which engine cycle operations are mutually exclusive. The resulting guidance algorithm was implemented in software and exercised extensively. It was found that the approximations associated with the assumed time scale separation employed in this work are reasonable except over the Mach range from roughly 5 to 8. This phenomenon is due to the very large thrust capability of scramjets in this Mach regime when sized to meet the requirement for ascent to orbit. By accounting for flight path angle and flight path angle rate in construction of the flight path over this Mach range, the resulting algorithm provides the means for rapid near-optimal trajectory generation and propulsion cycle selection over the entire Mach range from take-off to orbit.

Accuracy and Repeatability of Trajectory Rod Measurement Using Laser Scanners.

PubMed

Liscio, Eugene; Guryn, Helen; Stoewner, Daniella

2017-12-22

Three-dimensional (3D) technologies contribute greatly to bullet trajectory analysis and shooting reconstruction. There are few papers which address the errors associated with utilizing laser scanning for bullet trajectory documentation. This study examined the accuracy and precision of laser scanning for documenting trajectory rods in drywall for angles between 25° and 90°. The inherent error range of 0.02°-2.10° was noted while the overall error for laser scanning ranged between 0.04° and 1.98°. The inter- and intraobserver errors for trajectory rod placement and virtual trajectory marking showed that the range of variation for rod placement was between 0.1°-1° in drywall and 0.05°-0.5° in plywood. Virtual trajectory marking accuracy tests showed that 75% of data values were below 0.91° and 0.61° on azimuth and vertical angles, respectively. In conclusion, many contributing factors affect bullet trajectory analysis, and the use of 3D technologies can aid in reduction of errors associated with documentation. © 2017 American Academy of Forensic Sciences.

Application of a symbolic motion structure representation algorithm to identify upper extremity kinematic changes during a repetitive task.

PubMed

Whittaker, Rachel L; Park, Woojin; Dickerson, Clark R

2018-04-27

Efficient and holistic identification of fatigue-induced movement strategies can be limited by large between-subject variability in descriptors of joint angle data. One promising alternative to traditional, or computationally intensive methods is the symbolic motion structure representation algorithm (SMSR), which identifies the basic spatial-temporal structure of joint angle data using string descriptors of temporal joint angle trajectories. This study attempted to use the SMSR to identify changes in upper extremity time series joint angle data during a repetitive goal directed task causing muscle fatigue. Twenty-eight participants (15 M, 13 F) performed a seated repetitive task until fatigued. Upper extremity joint angles were extracted from motion capture for representative task cycles. SMSRs, averages and ranges of several joint angles were compared at the start and end of the repetitive task to identify kinematic changes with fatigue. At the group level, significant increases in the range of all joint angle data existed with large between-subject variability that posed a challenge to the interpretation of these fatigue-related changes. However, changes in the SMSRs across participants effectively summarized the adoption of adaptive movement strategies. This establishes SMSR as a viable, logical, and sensitive method of fatigue identification via kinematic changes, with novel application and pragmatism for visual assessment of fatigue development. Copyright © 2018 Elsevier Ltd. All rights reserved.

Technology and operational considerations for low-heat-rate trajectories. [of future winged earth reentry vehicles

NASA Technical Reports Server (NTRS)

Wurster, K. E.; Eldred, C. H.

1979-01-01

A broad parametric study which examines several critical aspects of low-heat-rate entry trajectories is performed. Low planform loadings associated with future winged earth-entry vehicles coupled with the potential application of metallic thermal protection systems (TPS) suggest that such trajectories are of particular interest. Studied are three heating conditions - reference, stagnation, and windward centerline, for both laminar and turbulent flow; configuration-related factors including planform loading and hypersonic angle of attack; and mission-related factors such as cross-range and orbit inclination. Results indicate benefits in the design of TPS to be gained by utilizing moderate angles of attack as opposed to high-lift coefficient, high angles of attack, during entry. An assessment of design and technology implications is made.

Multi-objective four-dimensional vehicle motion planning in large dynamic environments.

PubMed

Wu, Paul P-Y; Campbell, Duncan; Merz, Torsten

2011-06-01

This paper presents Multi-Step A∗ (MSA∗), a search algorithm based on A∗ for multi-objective 4-D vehicle motion planning (three spatial and one time dimensions). The research is principally motivated by the need for offline and online motion planning for autonomous unmanned aerial vehicles (UAVs). For UAVs operating in large dynamic uncertain 4-D environments, the motion plan consists of a sequence of connected linear tracks (or trajectory segments). The track angle and velocity are important parameters that are often restricted by assumptions and a grid geometry in conventional motion planners. Many existing planners also fail to incorporate multiple decision criteria and constraints such as wind, fuel, dynamic obstacles, and the rules of the air. It is shown that MSA∗ finds a cost optimal solution using variable length, angle, and velocity trajectory segments. These segments are approximated with a grid-based cell sequence that provides an inherent tolerance to uncertainty. The computational efficiency is achieved by using variable successor operators to create a multiresolution memory-efficient lattice sampling structure. The simulation studies on the UAV flight planning problem show that MSA∗ meets the time constraints of online replanning and finds paths of equivalent cost but in a quarter of the time (on average) of a vector neighborhood-based A∗.

The relationship between the golf swing plane and ball impact characteristics using trajectory ellipse fitting.

PubMed

Morrison, Andrew; McGrath, Denise; Wallace, Eric S

2018-02-01

The trajectory of the clubhead close to ball impact during the golf swing has previously been shown to be planar. However, the relationship between the plane orientation and the orientation characteristics of the clubhead at ball impact has yet to be defined. Fifty-two male golfers (27 high skilled, 25 intermediate skilled) hit 40 drives each in an indoor biomechanics laboratory. This study successfully fitted the trajectory of the clubhead near impact to an ellipse for each swing for players of different skill levels to help better explain this relationship. Additionally, the eccentricities of the ellipses were investigated for links to skill level. The trajectory of the clubhead was found to fit to an ellipse with RMSE of 1.2 mm. The eccentricity of the ellipse was found to be greater in the high-skilled golfers. The club path and angle of attack generated from the ellipse fitted clubhead trajectory were found to have a normalised bias-corrected RMSE of 2% and 3%, respectively. A set of "rule of thumb" values for the relationship between the club path, angle of attack and delivery plane angle was generated for use by coaches.

Combined Structural and Trajectory Control of Variable-Geometry Planetary Entry Systems

NASA Technical Reports Server (NTRS)

Quadrelli, Marco B.; Pellegrino, Sergio; Kwok, Kawai

2011-01-01

Some of the key challenges of planetary entry are to dissipate the large kinetic energy of the entry vehicle and to land with precision. Past missions to Mars were based on unguided entry, where entry vehicles carried payloads of less than 0.6 T and landed within 100 km of the designated target. The Mars Science Laboratory (MSL) is expected to carry a mass of almost 1 T to within 20 km of the target site. Guided lifting entry is needed to meet these higher deceleration and targeting demands. If the aerodynamic characteristics of the decelerator are variable during flight, more trajectory options are possible, and can be tailored to specific mission requirements. In addition to the entry trajectory modulation, having variable aerodynamic properties will also favor maneuvering of the vehicle prior to descent. For proper supersonic parachute deployment, the vehicle needs to turn to a lower angle of attack. One approach to entry trajectory improvement and angle of attack control is to embed a variable geometry decelerator in the design of the vehicle. Variation in geometry enables the vehicle to adjust its aerodynamic performance continuously without additional fuel cost because only electric power is needed for actuating the mechanisms that control the shape change. Novel structural and control concepts have been developed that enable the decelerator to undergo variation in geometry. Changing the aerodynamic characteristics of a flight vehicle by active means can potentially provide a mechanically simple, affordable, and enabling solution for entry, descent, and landing across a wide range of mission types, sample capture and return, and reentry to Earth, Titan, Venus, or Mars. Unguided ballistic entry is not sufficient to meet this more stringent deceleration, heating, and targeting demands. Two structural concepts for implementing the cone angle variation, a segmented shell, and a corrugated shell, have been presented.

Matter-neutrino resonance in a multiangle neutrino bulb model

NASA Astrophysics Data System (ADS)

Vlasenko, Alexey; McLaughlin, G. C.

2018-04-01

Simulations of neutrino flavor evolution in compact merger environments have shown that neutrino flavor, and hence nucleosynthesis, can be strongly affected by the presence of matter-neutrino resonances (MNRs), where there is a cancelation between the matter and the neutrino potential. Simulations performed thus far follow flavor evolution along a single neutrino trajectory, but self-consistency requires all trajectories to be treated simultaneously, and it has not been known whether MNR phenomena would still occur in multiangle models. In this paper, we present the first fully multi-angle calculations of MNR. We find that familiar MNR phenomena, where neutrinos transform to a greater extent than anti-neutrinos and a feedback mechanism maintains the cancellation between the matter and neutrino potential, still occurs for a subset of angular bins, although the flavor transformation is not as efficient as in the single-angle case. In addition, we find other types of flavor transformation that are not seen in single-angle simulations. These flavor transformation phenomena appear to be robust and are present for a wide range of model parameters, as long as an MNR is present. Although computational constraints currently limit us to models with spherical symmetry, our results suggest that the presence of an MNR generally leads to large-scale neutrino flavor evolution in multiangle systems.

On the trajectories of null and timelike geodesics in different wormhole geometries

NASA Astrophysics Data System (ADS)

Mishra, Anuj; Chakraborty, Subenoy

2018-05-01

The paper deals with an extensive study of null and timelike geodesics in the background of wormhole geometries. Starting with a spherically symmetric spacetime, null geodesics are analyzed for the Morris-Thorne wormhole (WH) and photon spheres are examined in WH geometries. Both bounded and unbounded orbits are discussed for timelike geodesics. A similar analysis has been done for trajectories in a dynamic spherically symmetric WH and for a rotating WH. Finally, the invariant angle method of Rindler and Ishak has been used to calculate the angle between radial and tangential vectors at any point on the photon's trajectory.

Winding trajectories of noncircular composite shells

NASA Astrophysics Data System (ADS)

Nikityuk, V. A.; Fedorov, V. V.

1995-07-01

An approach has been proposed for determination of the trajectory parameters of a layer formed by winding of continuous ribbons on a complicated surface. An algorithm has been developed for determining the geodesic trajectories of the reinforcement fiber arrangement, reinforcement angles, and geodesic deviation angles. Conditions have been formulated for positional stability of the ribbons on the surface and avoidance of gaps and overlapping between the ribbons along with restrictions to the surface form. Results are given for a calculation of the geodesic turn parameters on a fuselage surface, which is not a surface of revolution, of a light airplane.

The relative effects of entry parameters on thermal protection system weight. [space shuttle orbiters

NASA Technical Reports Server (NTRS)

Hirasaki, P. N.

1971-01-01

Shielding a spacecraft from the severe thermal environment of an atmospheric entry requires a sophisticated thermal protection system (TPS). Thermal computer program models were developed for two such TPS designs proposed for the space shuttle orbiter. The multilayer systems, a reusable surface insulation TPS, and a re-radiative metallic skin TPS, were sized for a cross-section of trajectories in the entry corridor. This analysis indicates the relative influence of the entry parameters on the weight of each TPS concept. The results are summarized graphically. The trajectory variables considered were down-range, cross-range, orbit inclination, entry interface velocity and flight path angle, maximum heating rate level, angle of attack, and ballistic coefficient. Variations in cross-range and flight path angle over the ranges considered had virtually no effect on the required entry TPS weight. The TPS weight was significantly more sensitive to variations in angle of attack than to dispersions in the other trajectory considered.

Trajectory dynamics study of the Ar + CH4 dissociation reaction at high temperatures: the importance of zero-point-energy effects.

PubMed

Marques, J M C; Martínez-Núñez, E; Fernandez-Ramos, A; Vazquez, S A

2005-06-23

Large-scale classical trajectory calculations have been performed to study the reaction Ar + CH4--> CH3 +H + Ar in the temperature range 2500 < or = T/K < or = 4500. The potential energy surface used for ArCH4 is the sum of the nonbonding pairwise potentials of Hase and collaborators (J. Chem. Phys. 2001, 114, 535) that models the intermolecular interaction and the CH4 intramolecular potential of Duchovic et al. (J. Phys. Chem. 1984, 88, 1339), which has been modified to account for the H-H repulsion at small bending angles. The thermal rate coefficient has been calculated, and the zero-point energy (ZPE) of the CH3 product molecule has been taken into account in the analysis of the results; also, two approaches have been applied for discarding predissociative trajectories. In both cases, good agreement is observed between the experimental and trajectory results after imposing the ZPE of CH3. The energy-transfer parameters have also been obtained from trajectory calculations and compared with available values estimated from experiment using the master equation formalism; in general, the agreement is good.

Optimal trajectories for the aeroassisted flight experiment. Part 4: Data, tables, and graphs

NASA Technical Reports Server (NTRS)

Miele, A.; Wang, T.; Lee, W. Y.; Wang, H.; Wu, G. D.

1989-01-01

The determination of optimal trajectories for the aeroassisted flight experiment (AFE) is discussed. Data, tables, and graphs relative to the following transfers are presented: (IA) indirect ascent to a 178 NM perigee via a 197 NM apogee; and (DA) direct ascent to a 178 NM apogee. For both transfers, two cases are investigated: (1) the bank angle is continuously variable; and (2) the trajectory is divided into segments along which the bank angle is constant. For case (2), the following subcases are studied: two segments, three segments, four segments, and five segments; because the time duration of each segment is optimized, the above subcases involve four, six, eight, and ten parameters, respectively. Presented here are systematic data on a total of ten optimal trajectories (OT), five for Transfer IA and five for Transfer DA. For comparison purposes and only for Transfer IA, a five-segment reference trajectory RT is also considered.

Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model.

PubMed

Dadashzadeh, Behnam; Esmaeili, Mohammad; Macnab, Chris

2017-01-01

This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, making it more suitable as a template for real robots. The algorithm plans the necessary leg actuator force to cause the robot center of mass to undergo arbitrary trajectories in stance with any arbitrary attack angle and velocity angle. The necessary actuator forces follow from the inverse kinematics and dynamics. Then these calculated forces become the control input to the dynamic model. We compare various center-of-mass trajectories, including a circular arc and polynomials of the degrees 2, 4 and 6. The cost of transport and maximum leg force are calculated for various attack angles and velocity angles. The results show that choosing the velocity angle as small as possible is beneficial, but the angle of attack has an optimum value. We also find a new result: there exist biped running gaits with double-hump ground reaction force profiles which result in less maximum leg force than single-hump profiles.

Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model

PubMed Central

Esmaeili, Mohammad; Macnab, Chris

2017-01-01

This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, making it more suitable as a template for real robots. The algorithm plans the necessary leg actuator force to cause the robot center of mass to undergo arbitrary trajectories in stance with any arbitrary attack angle and velocity angle. The necessary actuator forces follow from the inverse kinematics and dynamics. Then these calculated forces become the control input to the dynamic model. We compare various center-of-mass trajectories, including a circular arc and polynomials of the degrees 2, 4 and 6. The cost of transport and maximum leg force are calculated for various attack angles and velocity angles. The results show that choosing the velocity angle as small as possible is beneficial, but the angle of attack has an optimum value. We also find a new result: there exist biped running gaits with double-hump ground reaction force profiles which result in less maximum leg force than single-hump profiles. PMID:28118401

Velocity Requirements for Abort From the Boost Trajectory of a Manned Lunar Mission

NASA Technical Reports Server (NTRS)

Slye, Robert E.

1961-01-01

An investigation is made of the abort velocity requirements associated with failure of a propulsion system for a manned lunar mission. Two cases are considered: abort at less than satellite speed, which results in maximum decelerations in the following entry, and abort at greater than satellite speed with immediate return to earth. The velocity requirements associated with the latter problem are found to be substantial (several thousand feet per second) and are found to be even more severe if boost trajectories which lead to burnout at high altitudes or large flight-path angles are used. The velocity requirements associated with abort at less than satellite speed are found to be less severe than those for abort at greater than satellite speed except for nonlifting vehicles. It is found that abort rockets sufficient for abort at greater than satellite speed can be used to reduce maximum decelerations in entries following an abort at lower speeds. This reduction is accomplished by use of the abort rockets to decrease entry angle immediately prior to entry into the atmosphere.

Analysis of Nonlinear Dynamics by Square Matrix Method

DOE Office of Scientific and Technical Information (OSTI.GOV)

Yu, Li Hua

The nonlinear dynamics of a system with periodic structure can be analyzed using a square matrix. In this paper, we show that because the special property of the square matrix constructed for nonlinear dynamics, we can reduce the dimension of the matrix from the original large number for high order calculation to low dimension in the first step of the analysis. Then a stable Jordan decomposition is obtained with much lower dimension. The transformation to Jordan form provides an excellent action-angle approximation to the solution of the nonlinear dynamics, in good agreement with trajectories and tune obtained from tracking. Andmore » more importantly, the deviation from constancy of the new action-angle variable provides a measure of the stability of the phase space trajectories and their tunes. Thus the square matrix provides a novel method to optimize the nonlinear dynamic system. The method is illustrated by many examples of comparison between theory and numerical simulation. Finally, in particular, we show that the square matrix method can be used for optimization to reduce the nonlinearity of a system.« less

Singular-Arc Time-Optimal Trajectory of Aircraft in Two-Dimensional Wind Field

NASA Technical Reports Server (NTRS)

Nguyen, Nhan

2006-01-01

This paper presents a study of a minimum time-to-climb trajectory analysis for aircraft flying in a two-dimensional altitude dependent wind field. The time optimal control problem possesses a singular control structure when the lift coefficient is taken as a control variable. A singular arc analysis is performed to obtain an optimal control solution on the singular arc. Using a time-scale separation with the flight path angle treated as a fast state, the dimensionality of the optimal control solution is reduced by eliminating the lift coefficient control. A further singular arc analysis is used to decompose the original optimal control solution into the flight path angle solution and a trajectory solution as a function of the airspeed and altitude. The optimal control solutions for the initial and final climb segments are computed using a shooting method with known starting values on the singular arc The numerical results of the shooting method show that the optimal flight path angle on the initial and final climb segments are constant. The analytical approach provides a rapid means for analyzing a time optimal trajectory for aircraft performance.

Characteristics of trajectory in the migration of Amoeba proteus.

PubMed

Miyoshi, Hiromi; Masaki, Noritaka; Tsuchiya, Yoshimi

2003-01-01

We investigated the behavior of migration of Amoeba proteus in an isotropic environment. We found that the trajectory in the migration of A. proteus is smooth in the observation time of 500-1000 s, but its migration every second (the cell velocity) on the trajectory randomly changes. Stochastic analysis of the cell velocity and the turn angle of the trajectory has shown that the histograms of the both variables well fit to Gaussian curves. Supposing a simple model equation for the cell motion, we have estimated the motive force of the migrating cell, which is of the order of piconewton. Furthermore, we have found that the cell velocity and the turn angle have a negative cross-correlation coefficient, which suggests that the amoeba explores better environment by changing frequently its migrating direction at a low speed and it moves rectilinearly to the best environment at a high speed. On the other hand, the model equation has simulated the negative correlation between the cell velocity and the turn angle. This indicates that the apparently rational behavior comes from intrinsic characteristics in the dynamical system where the motive force is not torquelike.

Target Tracking Using SePDAF under Ambiguous Angles for Distributed Array Radar.

PubMed

Long, Teng; Zhang, Honggang; Zeng, Tao; Chen, Xinliang; Liu, Quanhua; Zheng, Le

2016-09-09

Distributed array radar can improve radar detection capability and measurement accuracy. However, it will suffer cyclic ambiguity in its angle estimates according to the spatial Nyquist sampling theorem since the large sparse array is undersampling. Consequently, the state estimation accuracy and track validity probability degrades when the ambiguous angles are directly used for target tracking. This paper proposes a second probability data association filter (SePDAF)-based tracking method for distributed array radar. Firstly, the target motion model and radar measurement model is built. Secondly, the fusion result of each radar's estimation is employed to the extended Kalman filter (EKF) to finish the first filtering. Thirdly, taking this result as prior knowledge, and associating with the array-processed ambiguous angles, the SePDAF is applied to accomplish the second filtering, and then achieving a high accuracy and stable trajectory with relatively low computational complexity. Moreover, the azimuth filtering accuracy will be promoted dramatically and the position filtering accuracy will also improve. Finally, simulations illustrate the effectiveness of the proposed method.

Application of Linearized Kalman Filter-Smoother to Aircraft Trajectory Estimation.

DTIC Science & Technology

1988-06-01

the report). The kinematic relationships between wind-axis Euler angles and angular rates are given below (Etkin, 1972: 150): q w OS r w s i n* * (4...I values, and those for RP-2 were chosen in order to explore less accurate range measurements combined with more accurate angular measurements. This...was of interest because of the uncertainty in position introduced by large angular measurement uncertainties at long ranges. Finally, radar models RR

Angle of Attack Modulation for Mars Entry Terminal State Optimization

NASA Technical Reports Server (NTRS)

Lafleur, Jarret M.; Cerimele, Christopher J.

2009-01-01

From the perspective of atmospheric entry, descent, and landing (EDL), one of the most foreboding destinations in the solar system is Mars due in part to its exceedingly thin atmosphere. To benchmark best possible scenarios for evaluation of potential Mars EDL system designs, a study is conducted to optimize the entry-to-terminal-state portion of EDL for a variety of entry velocities and vehicle masses, focusing on the identification of potential benefits of enabling angle of attack modulation. The terminal state is envisioned as one appropriate for the initiation of terminal descent via parachute or other means. A particle swarm optimizer varies entry flight path angle, ten bank profile points, and ten angle of attack profile points to find maximum-final-altitude trajectories for a 10 30 m ellipsled at 180 different combinations of values for entry mass, entry velocity, terminal Mach number, and minimum allowable altitude. Parametric plots of maximum achievable altitude are shown, as are examples of optimized trajectories. It is shown that appreciable terminal state altitude gains (2.5-4.0 km) over pure bank angle control may be possible if angle of attack modulation is enabled for Mars entry vehicles. Gains of this magnitude could prove to be enabling for missions requiring high-altitude landing sites. Conclusions are also drawn regarding trends in the bank and angle of attack profiles that produce the optimal trajectories in this study, and directions for future work are identified.

Entry trajectory, entry environment, and analysis of spacecraft motion for the RAM C-3 flight experiment

NASA Technical Reports Server (NTRS)

Weaver, W. L.; Bowen, J. T.

1972-01-01

The RAM C-3 flight experiment was launched to study the problem of radiofrequency blackout at an entry velocity of 24,300 ft/sec. The flight is described, and data for the entry trajectory and environment, which include the effects of actual temperature measured the day of launch, are presented. An analysis of entry spacecraft motions was performed. This analysis included the determination of wind angles from measured accelerations and estimates of wind angles at high altitudes from gyro-measured rotation rates. The maximum wind angles were found to be less than 5 deg to the point of pitch-roll resonance where the total wind angle increased to 8.5 deg and the roll rate started decreasing. A plausible cause for the decrease in roll rate was shown to be a combination of trim angle and an offset center of gravity.

7. VAL CAMERA CAR, DETAIL OF 'FLARE' OR TRAJECTORY CAMERA ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

7. VAL CAMERA CAR, DETAIL OF 'FLARE' OR TRAJECTORY CAMERA INSIDE CAMERA CAR. - Variable Angle Launcher Complex, Camera Car & Track, CA State Highway 39 at Morris Reservior, Azusa, Los Angeles County, CA

Guidance, steering, load relief and control of an asymmetric launch vehicle. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Boelitz, Frederick W.

1989-01-01

A new guidance, steering, and control concept is described and evaluated for the Third Phase of an asymmetrical configuration of the Advanced Launch System (ALS). The study also includes the consideration of trajectory shaping issues and trajectory design as well as the development of angular rate, angular acceleration, angle of attack, and dynamic pressure estimators. The Third Phase guidance, steering and control system is based on controlling the acceleration-direction of the vehicle after an initial launch maneuver. Unlike traditional concepts, the alignment of the estimated and commanded acceleration-directions is unimpaired by an add-on load relief. Instead, the acceleration-direction steering-control system features a control override that limits the product of estimated dynamic pressure and estimated angle of attack. When this product is not being limited, control is based exclusively on the commanded acceleration-direction without load relief. During limiting, control is based on nulling the error between the limited angle of attack and the estimated angle of attack. This limiting feature provides full freedom to the acceleration-direction steering and control to shape the trajectory within the limit, and also gives full priority to the limiting of angle of attack when necessary. The flight software concepts were analyzed on the basis of their effects on pitch plane motion.

Some observations of tip-vortex cavitation

NASA Astrophysics Data System (ADS)

Arndt, R. E. A.; Arakeri, V. H.; Higuchi, H.

1991-08-01

Cavitation has been observed in the trailing vortex system of an elliptic platform hydrofoil. A complex dependence on Reynolds number and gas content is noted at inception. Some of the observations can be related to tension effects associated with the lack of sufficiently large-sized nuclei. Inception measurements are compared with estimates of pressure in the vortex obtained from LDV measurements of velocity within the vortex. It is concluded that a complete correlation is not possible without knowledge of the fluctuating levels of pressure in tip-vortex flows. When cavitation is fully developed, the observed tip-vortex trajectory flows. When cavitation is fully developed, the observed tip-vortex trajectory shows a surprising lack of dependence on any of the physical parameters varied, such as angle of attack, Reynolds number, cavitation number, and dissolved gas content.

Time Accurate CFD Simulations of the Orion Launch Abort Vehicle in the Transonic Regime

NASA Technical Reports Server (NTRS)

Ruf, Joseph; Rojahn, Josh

2011-01-01

Significant asymmetries in the fluid dynamics were calculated for some cases in the CFD simulations of the Orion Launch Abort Vehicle through its abort trajectories. The CFD simulations were performed steady state with symmetric boundary conditions and geometries. The trajectory points at issue were in the transonic regime, at 0 and 5 angles of attack with the Abort Motors with and without the Attitude Control Motors (ACM) firing. In some of the cases the asymmetric fluid dynamics resulted in aerodynamic side forces that were large enough that would overcome the control authority of the ACMs. MSFC s Fluid Dynamics Group supported the investigation into the cause of the flow asymmetries with time accurate CFD simulations, utilizing a hybrid RANS-LES turbulence model. The results show that the flow over the vehicle and the subsequent interaction with the AB and ACM motor plumes were unsteady. The resulting instantaneous aerodynamic forces were oscillatory with fairly large magnitudes. Time averaged aerodynamic forces were essentially symmetric.

Optimizing highly noncoplanar VMAT trajectories: the NoVo method.

PubMed

Langhans, Marco; Unkelbach, Jan; Bortfeld, Thomas; Craft, David

2018-01-16

We introduce a new method called NoVo (Noncoplanar VMAT Optimization) to produce volumetric modulated arc therapy (VMAT) treatment plans with noncoplanar trajectories. While the use of noncoplanar beam arrangements for intensity modulated radiation therapy (IMRT), and in particular high fraction stereotactic radiosurgery (SRS), is common, noncoplanar beam trajectories for VMAT are less common as the availability of treatment machines handling these is limited. For both IMRT and VMAT, the beam angle selection problem is highly nonconvex in nature, which is why automated beam angle selection procedures have not entered mainstream clinical usage. NoVo determines a noncoplanar VMAT solution (i.e. the simultaneous trajectories of the gantry and the couch) by first computing a [Formula: see text] solution (beams from every possible direction, suitably discretized) and then eliminating beams by examing fluence contributions. Also all beam angles are scored via geometrical considerations only to find out the usefulness of the whole beam space in a very short time. A custom path finding algorithm is applied to find an optimized, continuous trajectory through the most promising beam angles using the calculated score of the beam space. Finally, using this trajectory a VMAT plan is optimized. For three clinical cases, a lung, brain, and liver case, we compare NoVo to the ideal [Formula: see text] solution, nine beam noncoplanar IMRT, coplanar VMAT, and a recently published noncoplanar VMAT algorithm. NoVo comes closest to the [Formula: see text] solution considering the lung case (brain and liver case: second), as well as improving the solution time by using geometrical considerations, followed by a time effective iterative process reducing the [Formula: see text] solution. Compared to a recently published noncoplanar VMAT algorithm, using NoVo the computation time is reduced by a factor of 2-3 (depending on the case). Compared to coplanar VMAT, NoVo reduces the objective function value by 24%, 49% and 6% for the lung, brain and liver cases, respectively.

Optimizing highly noncoplanar VMAT trajectories: the NoVo method

NASA Astrophysics Data System (ADS)

Langhans, Marco; Unkelbach, Jan; Bortfeld, Thomas; Craft, David

2018-01-01

We introduce a new method called NoVo (Noncoplanar VMAT Optimization) to produce volumetric modulated arc therapy (VMAT) treatment plans with noncoplanar trajectories. While the use of noncoplanar beam arrangements for intensity modulated radiation therapy (IMRT), and in particular high fraction stereotactic radiosurgery (SRS), is common, noncoplanar beam trajectories for VMAT are less common as the availability of treatment machines handling these is limited. For both IMRT and VMAT, the beam angle selection problem is highly nonconvex in nature, which is why automated beam angle selection procedures have not entered mainstream clinical usage. NoVo determines a noncoplanar VMAT solution (i.e. the simultaneous trajectories of the gantry and the couch) by first computing a 4π solution (beams from every possible direction, suitably discretized) and then eliminating beams by examing fluence contributions. Also all beam angles are scored via geometrical considerations only to find out the usefulness of the whole beam space in a very short time. A custom path finding algorithm is applied to find an optimized, continuous trajectory through the most promising beam angles using the calculated score of the beam space. Finally, using this trajectory a VMAT plan is optimized. For three clinical cases, a lung, brain, and liver case, we compare NoVo to the ideal 4π solution, nine beam noncoplanar IMRT, coplanar VMAT, and a recently published noncoplanar VMAT algorithm. NoVo comes closest to the 4π solution considering the lung case (brain and liver case: second), as well as improving the solution time by using geometrical considerations, followed by a time effective iterative process reducing the 4π solution. Compared to a recently published noncoplanar VMAT algorithm, using NoVo the computation time is reduced by a factor of 2-3 (depending on the case). Compared to coplanar VMAT, NoVo reduces the objective function value by 24%, 49% and 6% for the lung, brain and liver cases, respectively.

8. VAL CAMERA CAR, CLOSEUP VIEW OF 'FLARE' OR TRAJECTORY ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

8. VAL CAMERA CAR, CLOSE-UP VIEW OF 'FLARE' OR TRAJECTORY CAMERA ON SLIDING MOUNT. - Variable Angle Launcher Complex, Camera Car & Track, CA State Highway 39 at Morris Reservior, Azusa, Los Angeles County, CA

Tables of asymptotic directions, cutoff rigidities, and reentrant albedo calculations for Palestine, Dallas, and Midland, Texas. Special repts

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shea, M.A.; Smart, D.F.

1974-03-26

Using the trajectory-tracing technique, the asymptotic directions and cut-off rigidities for Palestine, Dallas, amd Midland,Texas were calculated as a function of various zenith and azimuth angles. Continuation of the trajectory-tracing process below the Stormer cutoff allows an evaluation of the reentrant albedo; the invariant latitude of the guiding center of the trajectory at the albedo origin is seen to be the same as the invariant latitude of the guiding center of the particle trajectory at the specified zenith and azimuth angle of the detection point. Tables of asymptotic directions, cutoff rigidities, and the location of the reentrant albedo for eachmore » of these locations are given. Summaries of cutoff rigidity calculations as a function of zenith and azimuth directions for some miscellaneous locations are also included. (GRA)« less

Mathematical modeling of the burden distribution in the blast furnace shaft

NASA Astrophysics Data System (ADS)

Park, Jong-In; Jung, Hun-Je; Jo, Min-Kyu; Oh, Han-Sang; Han, Jeong-Whan

2011-06-01

Process efficiency in the blast furnace is influenced by the gas flow pattern, which is dictated by the burden profile. Therefore, it is important to control the burden distribution so as to achieve reasonable gas flow in the blast furnace operation. Additionally, the charging pattern selection is important as it affects the burden trajectory and stock profile. For analysis of the burden distribution, a new analysis model was developed by use of the spreadsheet program, Microsoft® Office Excel, based on visual basic. This model is composed of the falling burden trajectory and a stock model. The burden trajectory is determined by the burden type, batch weight, rotating velocity of the chute, tilting angle, and friction coefficient. After falling, stock lines are formed by the angle of repose, which is affected by the burden trajectory and the falling velocity. The mathematical formulas for developing this model were modified by a scaled model experiment and DEM simulation.

Program helps quickly calculate deviated well path

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gardner, M.P.

1993-11-22

A BASIC computer program quickly calculates the angle and measured depth of a simple directional well given only the true vertical depth and total displacement of the target. Many petroleum engineers and geologists need a quick, easy method to calculate the angle and measured depth necessary to reach a target in a proposed deviated well bore. Too many of the existing programs are large and require much input data. The drilling literature is full of equations and methods to calculate the course of well paths from surveys taken after a well is drilled. Very little information, however, covers how tomore » calculate well bore trajectories for proposed wells from limited data. Furthermore, many of the equations are quite complex and difficult to use. A figure lists a computer program with the equations to calculate the well bore trajectory necessary to reach a given displacement and true vertical depth (TVD) for a simple build plant. It can be run on an IBM compatible computer with MS-DOS version 5 or higher, QBasic, or any BASIC that does no require line numbers. QBasic 4.5 compiler will also run the program. The equations are based on conventional geometry and trigonometry.« less

Computed tomography assessment of lateral pedicle wall perforation by free-hand subaxial cervical pedicle screw placement.

PubMed

Wang, Yingsong; Xie, Jingming; Yang, Zhendong; Zhao, Zhi; Zhang, Ying; Li, Tao; Liu, Luping

2013-07-01

To present the technique of free-hand subaxial cervical pedicle screw (CPS) placement without using intra-operative navigating devices, and to investigate the crucial factors for safe placement and avoidance of lateral pedicle wall perforation, by measuring and classifying perforations with postoperative computed tomography (CT) scan. The placement of CPS has generally been considered as technically demanding and associated with considerable lateral wall perforation rate. For surgeons without access to navigation systems, experience of safe free-hand technique for subaxial CPS placement is especially valuable. A total of 214 consecutive traumatic or degenerative patients with 1,024 CPS placement using the free-hand technique were enrolled. In the operative process, the lateral mass surface was decorticated. Then a small curette was used to identify the pedicle entrance by touching the cortical bone of the medial pedicle wall. It was crucial to keep the transverse angle and make appropriate adjustment with guidance of the resistance of the thick medial cortical bone. The hand drill should be redirected once soft tissue breach was palpated by a slim ball-tip prober. With proper trajectory, tapping, repeated palpation, the 26-30 mm screw could be placed. After the procedure, the transverse angle of CPS trajectory was measured, and perforation of the lateral wall was classified by CT scan: grade 1, perforation of pedicle wall by screw placement, with the external edge of screw deviating out of the lateral pedicle wall equal to or less than 2 mm and grade 2, critical perforation of pedicle wall by screw placement, large than 2 mm. A total of 129 screws (12.64 %) were demonstrated as lateral pedicle wall perforation, of which 101 screws (9.86 %) were classified as grade 1, whereas 28 screws (2.73 %) as grade 2. Among the segments involved, C3 showed an obviously higher perforating rate than other (P < 0.05). The difference between the anatomical pedicle transverse angle and the screw trajectory angle was higher in patients of grade 2 perforation than the others. In the 28 screws of grade 2 perforation verified by axial CT, 26 screws had been palpated as abnormal during operation. However, only 19 out of the 101 screws of grade 1 perforation had shown palpation alarming signs during operation. The average follow-up was 36.8 months (range 5-65 months). There was no symptom and sign of neurovascular injuries. Two screws (0.20 %) were broken, and one screw (0.10 %) loosen. Placement of screw through a correct trajectory may lead to grade 1 perforation, which suggests transversal expansion and breakage of the thinner lateral cortex, probably caused by mismatching of the diameter of 3.5 mm screws and the tiny cancellous bone cavity of pedicle. Grade 1 perforation is deemed as relatively safe to the vertebral artery. Grade 2 perforation means obvious deviation of the trajectory angle of hand drill, which directly penetrates into the transverse foramen, and the risk of vertebral artery injury (VAI) or development of thrombi caused by the irregular blood flow would be much greater compared to grade 1 perforation. Moreover, there are two crucial maneuvers for increasing accuracy of screw placement: identifying the precise entry point using a curette or hand drill to touch the true entrance of the canal after decortication, and guiding CPS trajectory on axial plane by the resistant of thick medial wall.

Stationkeeping of Lissajous Trajectories in the Earth-Moon System with Applications to ARTEMIS

NASA Technical Reports Server (NTRS)

Folta, D. C.; Pavlak, T. A.; Howell, K. C.; Woodard, M. A.; Woodfork, D. W.

2010-01-01

In the last few decades, several missions have successfully exploited trajectories near the.Sun-Earth L1 and L2 libration points. Recently, the collinear libration points in the Earth-Moon system have emerged as locations with immediate application. Most libration point orbits, in any system, are inherently unstable. and must be controlled. To this end, several stationkeeping strategies are considered for application to ARTEMIS. Two approaches are examined to investigate the stationkeeping problem in this regime and the specific options. available for ARTEMIS given the mission and vehicle constraints. (I) A baseline orbit-targeting approach controls the vehicle to remain near a nominal trajectory; a related global optimum search method searches all possible maneuver angles to determine an optimal angle and magnitude; and (2) an orbit continuation method, with various formulations determines maneuver locations and minimizes costs. Initial results indicate that consistent stationkeeping costs can be achieved with both approaches and the costs are reasonable. These methods are then applied to Lissajous trajectories representing a baseline ARTEMIS libration orbit trajectory.

Empirical Model for Predicting Rockfall Trajectory Direction

NASA Astrophysics Data System (ADS)

Asteriou, Pavlos; Tsiambaos, George

2016-03-01

A methodology for the experimental investigation of rockfall in three-dimensional space is presented in this paper, aiming to assist on-going research of the complexity of a block's response to impact during a rockfall. An extended laboratory investigation was conducted, consisting of 590 tests with cubical and spherical blocks made of an artificial material. The effects of shape, slope angle and the deviation of the post-impact trajectory are examined as a function of the pre-impact trajectory direction. Additionally, an empirical model is proposed that estimates the deviation of the post-impact trajectory as a function of the pre-impact trajectory with respect to the slope surface and the slope angle. This empirical model is validated by 192 small-scale field tests, which are also presented in this paper. Some important aspects of the three-dimensional nature of rockfall phenomena are highlighted that have been hitherto neglected. The 3D space data provided in this study are suitable for the calibration and verification of rockfall analysis software that has become increasingly popular in design practice.

Logarithmic spiral trajectories generated by Solar sails

NASA Astrophysics Data System (ADS)

Bassetto, Marco; Niccolai, Lorenzo; Quarta, Alessandro A.; Mengali, Giovanni

2018-02-01

Analytic solutions to continuous thrust-propelled trajectories are available in a few cases only. An interesting case is offered by the logarithmic spiral, that is, a trajectory characterized by a constant flight path angle and a fixed thrust vector direction in an orbital reference frame. The logarithmic spiral is important from a practical point of view, because it may be passively maintained by a Solar sail-based spacecraft. The aim of this paper is to provide a systematic study concerning the possibility of inserting a Solar sail-based spacecraft into a heliocentric logarithmic spiral trajectory without using any impulsive maneuver. The required conditions to be met by the sail in terms of attitude angle, propulsive performance, parking orbit characteristics, and initial position are thoroughly investigated. The closed-form variations of the osculating orbital parameters are analyzed, and the obtained analytical results are used for investigating the phasing maneuver of a Solar sail along an elliptic heliocentric orbit. In this mission scenario, the phasing orbit is composed of two symmetric logarithmic spiral trajectories connected with a coasting arc.

A model calculation of coherence effects in the elastic backscattering of very low energy electrons (1-20 eV) from amorphous ice.

PubMed

Liljequist, David

2012-01-01

Backscattering of very low energy electrons in thin layers of amorphous ice is known to provide experimental data for the elastic and inelastic cross sections and indicates values to be expected in liquid water. The extraction of cross sections was based on a transport analysis consistent with Monte Carlo simulation of electron trajectories. However, at electron energies below 20 eV, quantum coherence effects may be important and trajectory-based methods may be in significant error. This possibility is here investigated by calculating quantum multiple elastic scattering of electrons in a simple model of a very small, thin foil of amorphous ice. The average quantum multiple elastic scattering of electrons is calculated for a large number of simulated foils, using a point-scatterer model for the water molecule and taking inelastic absorption into account. The calculation is compared with a corresponding trajectory simulation. The difference between average quantum scattering and trajectory simulation at energies below about 20 eV is large, in particular in the forward scattering direction, and is found to be almost entirely due to coherence effects associated with the short-range order in the amorphous ice. For electrons backscattered at the experimental detection angle (45° relative to the surface normal) the difference is however small except at electron energies below about 10 eV. Although coherence effects are in general found to be strong, the mean free path values derived by trajectory-based analysis may actually be in fair agreement with the result of an analysis based on quantum scattering, at least for electron energies larger than about 10 eV.

Numerical simulation of human orientation perception during lunar landing

NASA Astrophysics Data System (ADS)

Clark, Torin K.; Young, Laurence R.; Stimpson, Alexander J.; Duda, Kevin R.; Oman, Charles M.

2011-09-01

In lunar landing it is necessary to select a suitable landing point and then control a stable descent to the surface. In manned landings, astronauts will play a critical role in monitoring systems and adjusting the descent trajectory through either supervisory control and landing point designations, or by direct manual control. For the astronauts to ensure vehicle performance and safety, they will have to accurately perceive vehicle orientation. A numerical model for human spatial orientation perception was simulated using input motions from lunar landing trajectories to predict the potential for misperceptions. Three representative trajectories were studied: an automated trajectory, a landing point designation trajectory, and a challenging manual control trajectory. These trajectories were studied under three cases with different cues activated in the model to study the importance of vestibular cues, visual cues, and the effect of the descent engine thruster creating dust blowback. The model predicts that spatial misperceptions are likely to occur as a result of the lunar landing motions, particularly with limited or incomplete visual cues. The powered descent acceleration profile creates a somatogravic illusion causing the astronauts to falsely perceive themselves and the vehicle as upright, even when the vehicle has a large pitch or roll angle. When visual pathways were activated within the model these illusions were mostly suppressed. Dust blowback, obscuring the visual scene out the window, was also found to create disorientation. These orientation illusions are likely to interfere with the astronauts' ability to effectively control the vehicle, potentially degrading performance and safety. Therefore suitable countermeasures, including disorientation training and advanced displays, are recommended.

Multi-Objective Optimization of Spacecraft Trajectories for Small-Body Coverage Missions

NASA Technical Reports Server (NTRS)

Hinckley, David, Jr.; Englander, Jacob; Hitt, Darren

2017-01-01

Visual coverage of surface elements of a small-body object requires multiple images to be taken that meet many requirements on their viewing angles, illumination angles, times of day, and combinations thereof. Designing trajectories capable of maximizing total possible coverage may not be useful since the image target sequence and the feasibility of said sequence given the rotation-rate limitations of the spacecraft are not taken into account. This work presents a means of optimizing, in a multi-objective manner, surface target sequences that account for such limitations.

A role of abdomen in butterfly's flapping flight

NASA Astrophysics Data System (ADS)

Jayakumar, Jeeva; Senda, Kei; Yokoyama, Naoto

2017-11-01

Butterfly's forward flight with periodic flapping motion is longitudinally unstable, and control of the thoracic pitching angle is essential to stabilize the flight. This study aims to comprehend roles which the abdominal motion play in the pitching stability of butterfly's flapping flight by using a two-dimensional model. The control of the thoracic pitching angle by the abdominal motion is an underactuated problem because of the limit on the abdominal angle. The control input of the thorax-abdomen joint torque is obtained by the hierarchical sliding mode control in this study. Numerical simulations reveal that the control by the abdominal motion provides short-term pitching stabilization in the butterfly's flight. Moreover, the control input due to a large thorax-abdomen joint torque can counteract a quite large perturbation, and can return the pitching attitude to the periodic trajectory with a short recovery time. These observations are consistent with biologists' view that living butterflies use their abdomens as rudders. On the other hand, the abdominal control mostly fails in long-term pitching stabilization, because it cannot directly alter the aerodynamic forces. The control for the long-term pitching stabilization will also be discussed.

Bullet trajectory reconstruction - Methods, accuracy and precision.

PubMed

Mattijssen, Erwin J A T; Kerkhoff, Wim

2016-05-01

Based on the spatial relation between a primary and secondary bullet defect or on the shape and dimensions of the primary bullet defect, a bullet's trajectory prior to impact can be estimated for a shooting scene reconstruction. The accuracy and precision of the estimated trajectories will vary depending on variables such as, the applied method of reconstruction, the (true) angle of incidence, the properties of the target material and the properties of the bullet upon impact. This study focused on the accuracy and precision of estimated bullet trajectories when different variants of the probing method, ellipse method, and lead-in method are applied on bullet defects resulting from shots at various angles of incidence on drywall, MDF and sheet metal. The results show that in most situations the best performance (accuracy and precision) is seen when the probing method is applied. Only for the lowest angles of incidence the performance was better when either the ellipse or lead-in method was applied. The data provided in this paper can be used to select the appropriate method(s) for reconstruction and to correct for systematic errors (accuracy) and to provide a value of the precision, by means of a confidence interval of the specific measurement. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

TRAJECTORY AND INCINERATION OF ROGUE DROPLETS IN A TURBULENT DIFFUSION FLAME

EPA Science Inventory

The trajectory and incineration efficiency of individual droplet streams of a fuel mixture injected into a swirling gas turbulent diffusion flame were measured as a function of droplet size, droplet velocity, interdroplet spacing, and droplet injection angle. Additional experimen...

Localization of Ferromagnetic Target with Three Magnetic Sensors in the Movement Considering Angular Rotation

PubMed Central

Gao, Xiang; Yan, Shenggang; Li, Bin

2017-01-01

Magnetic detection techniques have been widely used in many fields, such as virtual reality, surgical robotics systems, and so on. A large number of methods have been developed to obtain the position of a ferromagnetic target. However, the angular rotation of the target relative to the sensor is rarely studied. In this paper, a new method for localization of moving object to determine both the position and rotation angle with three magnetic sensors is proposed. Trajectory localization estimation of three magnetic sensors, which are collinear and noncollinear, were obtained by the simulations, and experimental results demonstrated that the position and rotation angle of ferromagnetic target having roll, pitch or yaw in its movement could be calculated accurately and effectively with three noncollinear vector sensors. PMID:28892006

Target Tracking Using SePDAF under Ambiguous Angles for Distributed Array Radar

PubMed Central

Long, Teng; Zhang, Honggang; Zeng, Tao; Chen, Xinliang; Liu, Quanhua; Zheng, Le

2016-01-01

Distributed array radar can improve radar detection capability and measurement accuracy. However, it will suffer cyclic ambiguity in its angle estimates according to the spatial Nyquist sampling theorem since the large sparse array is undersampling. Consequently, the state estimation accuracy and track validity probability degrades when the ambiguous angles are directly used for target tracking. This paper proposes a second probability data association filter (SePDAF)-based tracking method for distributed array radar. Firstly, the target motion model and radar measurement model is built. Secondly, the fusion result of each radar’s estimation is employed to the extended Kalman filter (EKF) to finish the first filtering. Thirdly, taking this result as prior knowledge, and associating with the array-processed ambiguous angles, the SePDAF is applied to accomplish the second filtering, and then achieving a high accuracy and stable trajectory with relatively low computational complexity. Moreover, the azimuth filtering accuracy will be promoted dramatically and the position filtering accuracy will also improve. Finally, simulations illustrate the effectiveness of the proposed method. PMID:27618058

The Gavialis-Tomistoma debate: the contribution of skull ontogenetic allometry and growth trajectories to the study of crocodylian relationships.

PubMed

Piras, Paolo; Colangelo, Paolo; Adams, Dean C; Buscalioni, Angela; Cubo, Jorge; Kotsakis, Tassos; Meloro, Carlo; Raia, Pasquale

2010-01-01

The phylogenetic placement of Tomistoma and Gavialis crocodiles depends largely upon whether molecular or morphological data are utilized. Molecular analyses consider them as sister taxa, whereas morphological/paleontological analyses set Gavialis apart from Tomistoma and other crocodylian species. Here skull allometric trajectories of Tomistoma and Gavialis were contrasted with those of two longirostral crocodylian taxa, Crocodylus acutus and Mecistops cataphractus, to examine similarities in growth trajectories in light of this phylogenetic controversy. Entire skull shape and its two main modules, rostrum and postrostrum, were analyzed separately. We tested differences for both multivariate angles between trajectories and for shape differences at early and late stages of development. Based on a multivariate regression of shape data and size, Tomistoma seems to possess a peculiar rate of growth in comparison to the remaining taxa. However, its morphology at both juvenile and adult sizes is always closer to those of Brevirostres crocodylians, for the entire head shape, as well as the shape of the postrostrum and rostrum. By contrast, the allometric trajectory of Gavialis always begins and ends in a unique region of the multidimensional morphospace. These findings concur with a morphological hypothesis that places Gavialis separate from Brevirostres, and Tomistoma closer to other crocodylids, and provides an additional, and independent, data set to inform on this ongoing phylogenetic discussion. © 2010 Wiley Periodicals, Inc.

Transition Analysis for the HIFiRE-5 Vehicle

NASA Technical Reports Server (NTRS)

Choudhari, Meelan M.; Chang, Chau-Lyan; Li, Fei; Berger, Karen T.; Candler, Graham V.; Kimmel, Roger

2009-01-01

The Hypersonic International Flight Research and Experimentation (HIFiRE) 5 flight experiment by Air Force Research Laboratories and Australian Defense Science and Technology Organization is designed to provide in-flight boundary-layer transition data for a canonical 3D configuration at hypersonic Mach numbers. This paper outlines the progress, to date, on boundary layer stability analysis for the HIFiRE-5 flight configuration, as well as for selected test conditions from the wind tunnel experiments supporting the flight test. At flow conditions corresponding to the end of the test window, rather large values of linear amplification factor are predicted for both second mode (N>40) and crossflow (N>20) instabilities, strongly supporting the feasibility of first in-flight measurements of natural transition on a fully three-dimensional hypersonic configuration. Additional results highlight the rich mixture of instability mechanisms relevant to a large segment of the flight trajectory, as well as the effects of angle of attack and yaw angle on the predicted transition fronts for ground facility experiments at Mach 6.

Graphical Method for Determining Projectile Trajectory

ERIC Educational Resources Information Center

Moore, J. C.; Baker, J. C.; Franzel, L.; McMahon, D.; Songer, D.

2010-01-01

We present a nontrigonometric graphical method for predicting the trajectory of a projectile when the angle and initial velocity are known. Students enrolled in a general education conceptual physics course typically have weak backgrounds in trigonometry, making inaccessible the standard analytical calculation of projectile range. Furthermore,…

A Study of Shuttlecock's Trajectory in Badminton.

PubMed

Chen, Lung-Ming; Pan, Yi-Hsiang; Chen, Yung-Jen

2009-01-01

The main purpose of this study was to construct and validate a motion equation for the flight of the badminton and to find the relationship between the air resistance force and a shuttlecock's speed. This research method was based on motion laws of aerodynamics. It applied aerodynamic theories to construct motion equation of a shuttlecock's flying trajectory under the effects of gravitational force and air resistance force. The result showed that the motion equation of a shuttlecock's flight trajectory could be constructed by determining the terminal velocity. The predicted shuttlecock trajectory fitted the measured data fairly well. The results also revealed that the drag force was proportional to the square of a shuttlecock velocity. Furthermore, the angle and strength of a stroke could influence trajectory. Finally, this study suggested that we could use a scientific approach to measure a shuttlecock's velocity objectively when testing the quality of shuttlecocks. And could be used to replace the traditional subjective method of the Badminton World Federation based on players' striking shuttlecocks, as well as applying research findings to improve professional knowledge of badminton player training. Key pointsThe motion equation of a shuttlecock's flying trajectory could be constructed by determining the terminal velocity in aerodynamics.Air drag force is proportional to the square of a shuttlecock velocity. Furthermore, the angle and strength of a stroke could influence trajectory.

Guidance and Control Algorithms for the Mars Entry, Descent and Landing Systems Analysis

NASA Technical Reports Server (NTRS)

Davis, Jody L.; CwyerCianciolo, Alicia M.; Powell, Richard W.; Shidner, Jeremy D.; Garcia-Llama, Eduardo

2010-01-01

The purpose of the Mars Entry, Descent and Landing Systems Analysis (EDL-SA) study was to identify feasible technologies that will enable human exploration of Mars, specifically to deliver large payloads to the Martian surface. This paper focuses on the methods used to guide and control two of the contending technologies, a mid- lift-to-drag (L/D) rigid aeroshell and a hypersonic inflatable aerodynamic decelerator (HIAD), through the entry portion of the trajectory. The Program to Optimize Simulated Trajectories II (POST2) is used to simulate and analyze the trajectories of the contending technologies and guidance and control algorithms. Three guidance algorithms are discussed in this paper: EDL theoretical guidance, Numerical Predictor-Corrector (NPC) guidance and Analytical Predictor-Corrector (APC) guidance. EDL-SA also considered two forms of control: bank angle control, similar to that used by Apollo and the Space Shuttle, and a center-of-gravity (CG) offset control. This paper presents the performance comparison of these guidance algorithms and summarizes the results as they impact the technology recommendations for future study.

A high precision dual feedback discrete control system designed for satellite trajectory simulator

NASA Astrophysics Data System (ADS)

Liu, Ximin; Liu, Liren; Sun, Jianfeng; Xu, Nan

2005-08-01

Cooperating with the free-space laser communication terminals, the satellite trajectory simulator is used to test the acquisition, pointing, tracking and communicating performances of the terminals. So the satellite trajectory simulator plays an important role in terminal ground test and verification. Using the double-prism, Sun etc in our group designed a satellite trajectory simulator. In this paper, a high precision dual feedback discrete control system designed for the simulator is given and a digital fabrication of the simulator is made correspondingly. In the dual feedback discrete control system, Proportional- Integral controller is used in velocity feedback loop and Proportional- Integral- Derivative controller is used in position feedback loop. In the controller design, simplex method is introduced and an improvement to the method is made. According to the transfer function of the control system in Z domain, the digital fabrication of the simulator is given when it is exposed to mechanism error and moment disturbance. Typically, when the mechanism error is 100urad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.49urad, 6.12urad, 4.56urad, 4.09urad respectively. When the moment disturbance is 0.1rad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.26urad, 0.22urad, 0.16urad, 0.15urad respectively. The digital fabrication results demonstrate that the dual feedback discrete control system designed for the simulator can achieve the anticipated high precision performance.

Flexible mechanism of magnetic microbeads chains in an oscillating field

NASA Astrophysics Data System (ADS)

Li, Yan-Hom; Yen, Chia-Yen

2018-05-01

To investigate the use of magnetic microbeads for swimming at low Reynolds number, the flexible structure of microchains comprising superparamagnetic microbeads under the influence of oscillating magnetic fields is examined experimentally and theoretically. For a ductile chain, each particle has its own phase angle trajectory and phase-lag angle to the overall field. This present study thoroughly discusses the synchronicity of the local phase angle trajectory between each dyad of beads and the external field. The prominently asynchronous trajectories between the central and outer beads significantly dominate the flexible structure of the oscillating chain. In addition, the dimensionless local Mason number (Mnl) is derived as the solo controlling parameter to evaluate the structure of each dyad of beads in a flexible chain. The evolution of the local Mason number within an oscillating period implies the most unstable position locates near the center of the chain around 0.6P

Entry flight control system downmoding evaluation

NASA Technical Reports Server (NTRS)

Barnes, H. A.

1978-01-01

A method to desensitize the entry flight control system to structural vibration feedback which might induce an oscillatory instability is described. Trends in vehicle response and handling characteristics as a function of gain combinations in the FCS forward and rate feedback loops were described as observed in a man-in-the-loop simulation. Among the flight conditions considered are the effects of downmoding with APU failures, off-nominal trajectory conditions, sensed angle of attack errors, the impact on RCS fuel consumption, performance in the presence of aero variations, recovery from large FCS upsets, and default gains.

Ballistic food transport in toucans.

PubMed

Baussart, Sabine; Korsoun, Leonid; Libourel, Paul-Antoine; Bels, Vincent

2009-08-01

The basic mechanism of food transport in tetrapods is lingual-based. Neognathous birds use this mechanism for exploiting a large diversity of food resources, whereas paleognathous birds use cranioinertial mechanism with or without tongue involvement. Food transport in two neognathous species of toucans (Ramphastos toco and R. vitellinus) is defined as ballistic transport mechanism. Only one transport cycle is used for moving the food from the tip of the beak to the pharynx. The food is projected between jaws with similar initial velocity in both species. At the time of release, the angle between trajectory of food position and horizontal is higher in R. vitellinus with a shorter beak than in R. toco. The tongue never makes contact with the food nor is it used to expand the buccal cavity. Tongue movement is associated with throat expansion, permitting the food to reach the entrance of the esophagus at the end of the ballistic trajectory. Selection of large food items in the diet may explain the evolutionary trend of using ballistic transport in the feeding behavior of toucans, which plays a key role in ecology of tropical forest. 2009 Wiley-Liss, Inc.

Synergies between optical and physical variables in intercepting parabolic targets

PubMed Central

Gómez, José; López-Moliner, Joan

2013-01-01

Interception requires precise estimation of time-to-contact (TTC) information. A long-standing view posits that all relevant information for extracting TTC is available in the angular variables, which result from the projection of distal objects onto the retina. The different timing models rooted in this tradition have consequently relied on combining visual angle and its rate of expansion in different ways with tau being the most well-known solution for TTC. The generalization of these models to timing parabolic trajectories is not straightforward. For example, these different combinations rely on isotropic expansion and usually assume first-order information only, neglecting acceleration. As a consequence no optical formulations have been put forward so far to specify TTC of parabolic targets with enough accuracy. It is only recently that context-dependent physical variables have been shown to play an important role in TTC estimation. Known physical size and gravity can adequately explain observed data of linear and free-falling trajectories, respectively. Yet, a full timing model for specifying parabolic TTC has remained elusive. We here derive two formulations that specify TTC for parabolic ball trajectories. The first specification extends previous models in which known size is combined with thresholding visual angle or its rate of expansion to the case of fly balls. To efficiently use this model, observers need to recover the 3D radial velocity component of the trajectory which conveys the isotropic expansion. The second one uses knowledge of size and gravity combined with ball visual angle and elevation angle. Taking into account the noise due to sensory measurements, we simulate the expected performance of these models in terms of accuracy and precision. While the model that combines expansion information and size knowledge is more efficient during the late trajectory, the second one is shown to be efficient along all the flight. PMID:23720614

Nonresonant interaction of heavy ions with electromagnetic ion cyclotron waves

NASA Technical Reports Server (NTRS)

Berchem, J.; Gendrin, R.

1985-01-01

The motion of a heavy ion in the presence of an intense ultralow-frequency electromagnetic wave propagating along the dc magnetic field is analyzed. Starting from the basic equations of motion and from their associated two invariants, the heavy ion velocity-space trajectories are drawn. It is shown that after a certain time, particles whose initial phase angles are randomly distributed tend to bunch together, provided that the wave intensity b-sub-1 is sufficiently large. The importance of these results for the interpretation of the recently observed acceleration of singly charged He ions in conjunction with the occurrence of large-amplitude ion cyclotron waves in the equatorial magnetosphere is discussed.

Optimization and guidance of flight trajectories for the national aerospace plane

NASA Technical Reports Server (NTRS)

Miele, Angelo

1990-01-01

The research on optimal trajectories for the National Aerospace Plane (NASP) performed by the Aero-Astronautics Group of Rice University from June 22, 1989 to December 31, 1990 is summarized. The aerospace plane is assumed to be controlled via the angle of attack and the power setting. The time history of the controls is optimized simultaneously with the switch times from one powerplant to another and the final time. The intent is to arrive at NASP guidance trajectories exhibiting many of the desirable characteristics of NASP optimal trajectories.

Diurnal movements of cotton leaves expressed as thermodynamic work and entropy changes

NASA Technical Reports Server (NTRS)

Schutt, J. B.; Kimes, D. S.; Newcomb, W. W.

1985-01-01

It is pointed out that some important agricultural crops show heliotropic leaf movements. In these species, the proclivity of leaves to orient either perpendicularly or parallel or in some combination of these positions with respect to the sun is controlled by the leaf turgor and the availability of water. Such an orientational response is particularly noticeable for cotton. Schutt et al. (1985) have detailed leaf trajectories using three angles. The present investigation applies the three-angle representation to leaf trajectory mapping and to the calculation of the phase angle 'gamma' between the individual leaf normals and the solar direction. Using gamma, the thermodynamic work and entropy functions are evaluated and used to distinguish between the behavior of water-stressed and well watered cotton canopies.

On the evolution of jet energy and opening angle in strongly coupled plasma

NASA Astrophysics Data System (ADS)

Chesler, Paul M.; Rajagopal, Krishna

2016-05-01

We calculate how the energy and the opening angle of jets in {N} = 4 SYM theory evolve as they propagate through the strongly coupled plasma of that theory. We define the rate of energy loss dE jet /dx and the jet opening angle in a straightforward fashion directly in the gauge theory before calculating both holographically, in the dual gravitational description. In this way, we rederive the previously known result for dE jet /dx without the need to introduce a finite slab of plasma. We obtain a striking relationship between the initial opening angle of the jet, which is to say the opening angle that it would have had if it had found itself in vacuum instead of in plasma, and the thermalization distance of the jet. Via this relationship, we show that {N} = 4 SYM jets with any initial energy that have the same initial opening angle and the same trajectory through the plasma experience the same fractional energy loss. We also provide an expansion that describes how the opening angle of the {N} = 4 SYM jets increases slowly as they lose energy, over the fraction of their lifetime when their fractional energy loss is not yet large. We close by looking ahead toward potential qualitative lessons from our results for QCD jets produced in heavy collisions and propagating through quark-gluon plasma.

On the evolution of jet energy and opening angle in strongly coupled plasma

DOE PAGES

Chesler, Paul M.; Rajagopal, Krishna

2016-05-17

We calculate how the energy and the opening angle of jets in N = 4SYM theory evolve as they propagate through the strongly coupled plasma of that theory. We define the rate of energy loss dE jet/dx and the jet opening angle in a straightforward fashion directly in the gauge theory before calculating both holographically, in the dual gravitational description. In this way, we rederive the previously known result for dE jet/dx without the need to introduce a finite slab of plasma. We obtain a striking relationship between the initial opening angle of the jet, which is to say themore » opening angle that it would have had if it had found itself in vacuum instead of in plasma, and the thermalization distance of the jet. Via this relationship, we show that N = 4SYM jets with any initial energy that have the same initial opening angle and the same trajectory through the plasma experience the same fractional energy loss. We also provide an expansion that describes how the opening angle of the N = 4SYM jets increases slowly as they lose energy, over the fraction of their lifetime when their fractional energy loss is not yet large. In conclusion, we close by looking ahead toward potential qualitative lessons from our results for QCD jets produced in heavy collisions and propagating through quark-gluon plasma.« less

Locus of the apices of projectile trajectories under constant drag

NASA Astrophysics Data System (ADS)

Hernández-Saldaña, H.

2017-11-01

Using the hodograph method, we present an analytical solution for projectile coplanar motion under constant drag, parametrised by the velocity angle. We find the locus formed by the apices of the projectile trajectories, and discuss its implementation for the motion of a particle on an inclined plane in presence of Coulomb friction. The range and time of flight are obtained numerically, and we find that the optimal launching angle is smaller than in the drag-free case. This is a good example of a problem with constant dissipation of energy that includes curvature; it is appropriate for intermediate courses of mechanics.

Estimating Basic Preliminary Design Performances of Aerospace Vehicles

NASA Technical Reports Server (NTRS)

Luz, Paul L.; Alexander, Reginald

2004-01-01

Aerodynamics and Performance Estimation Toolset is a collection of four software programs for rapidly estimating the preliminary design performance of aerospace vehicles represented by doing simplified calculations based on ballistic trajectories, the ideal rocket equation, and supersonic wedges through standard atmosphere. The program consists of a set of Microsoft Excel worksheet subprograms. The input and output data are presented in a user-friendly format, and calculations are performed rapidly enough that the user can iterate among different trajectories and/or shapes to perform "what-if" studies. Estimates that can be computed by these programs include: 1. Ballistic trajectories as a function of departure angles, initial velocities, initial positions, and target altitudes; assuming point masses and no atmosphere. The program plots the trajectory in two-dimensions and outputs the position, pitch, and velocity along the trajectory. 2. The "Rocket Equation" program calculates and plots the trade space for a vehicle s propellant mass fraction over a range of specific impulse and mission velocity values, propellant mass fractions as functions of specific impulses and velocities. 3. "Standard Atmosphere" will estimate the temperature, speed of sound, pressure, and air density as a function of altitude in a standard atmosphere, properties of a standard atmosphere as functions of altitude. 4. "Supersonic Wedges" will calculate the free-stream, normal-shock, oblique-shock, and isentropic flow properties for a wedge-shaped body flying supersonically through a standard atmosphere. It will also calculate the maximum angle for which a shock remains attached, and the minimum Mach number for which a shock becomes attached, all as functions of the wedge angle, altitude, and Mach number.

The rotate-plus-shift C-arm trajectory: complete CT data with limited angular rotation

NASA Astrophysics Data System (ADS)

Ritschl, Ludwig; Kuntz, Jan; Kachelrieß, Marc

2015-03-01

In the last decade C-arm-based cone-beam CT became a widely used modality for intraoperative imaging. Typically a C-arm scan is performed using a circle-like trajectory around a region of interest. Therefor an angular range of at least 180° plus fan-angle must be covered to ensure a completely sampled data set. This fact defines some constraints on the geometry and technical specifications of a C-arm system, for example a larger C radius or a smaller C opening respectively. These technical modifications are usually not beneficial in terms of handling and usability of the C-arm during classical 2D applications like fluoroscopy. The method proposed in this paper relaxes the constraint of 180° plus fan-angle rotation to acquire a complete data set. The proposed C-arm trajectory requires a motorization of the orbital axis of the C and of ideally two orthogonal axis in the C plane. The trajectory consists of three parts: A rotation of the C around a defined iso-center and two translational movements parallel to the detector plane at the begin and at the end of the rotation. Combining these three parts to one trajectory enables for the acquisition of a completely sampled dataset using only 180° minus fan-angle of rotation. To evaluate the method we show animal and cadaver scans acquired with a mobile C-arm prototype. We expect that the transition of this method into clinical routine will lead to a much broader use of intraoperative 3D imaging in a wide field of clinical applications.

The design of hypersonic waveriders for aero-assisted interplanetary trajectories

NASA Technical Reports Server (NTRS)

Lewis, Mark J.; Mcronald, Angus D.

1991-01-01

The aerodynamic performance of a vehicle designed to execute an aerogravity assisted maneuver, which combines a gravitational turn with a low-drag atmosphere pass, is examined. The advantage of the aerogravity assisted maneuver, as opposed to a more traditional gravity-assist trajectory, is that, through the use of a controlled atmospheric flight, nearly any deflection angle around a gravitating body can be realized. This holds the promise of providing extremely large values of Delta V. The success of such a maneuver depends on being able to design a vehicle which can execute sustained atmospheric flight at Mach numbers in the range of 50 - 100 with minimal drag losses. Some simple modeling is used to demonstrate design rules for the design of such vehicles, and to estimate the deterioration of their performance during the flight. Two sample aerogravity-assisted maneuvers are detailed, including a close solar approach requiring modest Delta V, and a sprint mission to Pluto.

Zero-Propellant Maneuver[TM] Flight Results for 180 deg ISS Rotation

NASA Technical Reports Server (NTRS)

Bedrossian, Nazareth; Bhatt, Sagar; Lammers, Mike; Nguyen, Louis

2007-01-01

This paper presents results for the Zero Propellant Maneuver (ZPM) TradeMark attitude control concept flight demonstration. On March 3, 2007, a ZPM was used to reorient the International Space Station 180 degrees without using any propellant. The identical reorientation performed with thrusters would have burned 110lbs of propellant. The ZPM was a pre-planned trajectory used to command the CMG attitude hold controller to perform the maneuver between specified initial and final states while maintaining the CMGs within their operational limits. The trajectory was obtained from a PseudoSpectral solution to a new optimal attitude control problem. The flight test established the breakthrough capability to simultaneously perform a large angle attitude maneuver and momentum desaturation without the need to use thrusters. The flight implementation did not require any modifications to flight software. This approach is applicable to any spacecraft that are controlled by momentum storage devices.

Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

NASA Astrophysics Data System (ADS)

Yi, Seung-Jong

Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and motors to produce combined arc and straight-line motion. The simulation and experiment show interesting results by demonstrating smooth motion in both acceleration and jerk and significant improvements of positioning accuracy in trajectory planning.

The Movement- and Load-Dependent Differences in the EMG Patterns of the Human Arm Muscles during Two-Joint Movements (A Preliminary Study)

PubMed Central

Tomiak, Tomasz; Abramovych, Tetiana I.; Gorkovenko, Andriy V.; Vereshchaka, Inna V.; Mishchenko, Viktor S.; Dornowski, Marcin; Kostyukov, Alexander I.

2016-01-01

Slow circular movements of the hand with a fixed wrist joint that were produced in a horizontal plane under visual guidance during conditions of action of the elastic load directed tangentially to the movement trajectory were studied. The positional dependencies of the averaged surface EMGs in the muscles of the elbow and shoulder joints were compared for four possible combinations in the directions of load and movements. The EMG intensities were largely correlated with the waves of the force moment computed for a corresponding joint in the framework of a simple geometrical model of the system: arm - experimental setup. At the same time, in some cases the averaged EMGs exit from the segments of the trajectory restricted by the force moment singular points (FMSPs), in which the moments exhibited altered signs. The EMG activities display clear differences for the eccentric and concentric zones of contraction that are separated by the joint angle singular points (JASPs), which present extreme at the joint angle traces. We assumed that the modeled patterns of FMSPs and JASPs may be applied for an analysis of the synergic interaction between the motor commands arriving at different muscles in arbitrary two-joint movements. PMID:27375496

Cognitive loading affects motor awareness and movement kinematics but not locomotor trajectories during goal-directed walking in a virtual reality environment.

PubMed

Kannape, Oliver Alan; Barré, Arnaud; Aminian, Kamiar; Blanke, Olaf

2014-01-01

The primary purpose of this study was to investigate the effects of cognitive loading on movement kinematics and trajectory formation during goal-directed walking in a virtual reality (VR) environment. The secondary objective was to measure how participants corrected their trajectories for perturbed feedback and how participants' awareness of such perturbations changed under cognitive loading. We asked 14 healthy young adults to walk towards four different target locations in a VR environment while their movements were tracked and played back in real-time on a large projection screen. In 75% of all trials we introduced angular deviations of ±5° to ±30° between the veridical walking trajectory and the visual feedback. Participants performed a second experimental block under cognitive load (serial-7 subtraction, counter-balanced across participants). We measured walking kinematics (joint-angles, velocity profiles) and motor performance (end-point-compensation, trajectory-deviations). Motor awareness was determined by asking participants to rate the veracity of the feedback after every trial. In-line with previous findings in natural settings, participants displayed stereotypical walking trajectories in a VR environment. Our results extend these findings as they demonstrate that taxing cognitive resources did not affect trajectory formation and deviations although it interfered with the participants' movement kinematics, in particular walking velocity. Additionally, we report that motor awareness was selectively impaired by the secondary task in trials with high perceptual uncertainty. Compared with data on eye and arm movements our findings lend support to the hypothesis that the central nervous system (CNS) uses common mechanisms to govern goal-directed movements, including locomotion. We discuss our results with respect to the use of VR methods in gait control and rehabilitation.

Pitch and Yaw Trajectory Measurement Comparison Between Automated Video Analysis and Onboard Sensor Data Analysis Techniques

DTIC Science & Technology

2013-09-01

ORGANIZATION REPORT NUMBER ARL-TR-6576 9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR’S ACRONYM(S) 11 . SPONSOR... 11 Figure 11 . Estimated angle-of-attack components history, projectile no.2... 11 Figure 12. Comparison of angle-of-attack component estimates, projectile no.2. ........................12 Figure 13. Total angle-of

Posterolateral Trajectories Favor a Longer Motor Domain in Subthalamic Nucleus Deep Brain Stimulation for Parkinson Disease.

PubMed

Tamir, Idit; Marmor-Levin, Odeya; Eitan, Renana; Bergman, Hagai; Israel, Zvi

2017-10-01

The clinical outcome of patients with Parkinson disease (PD) who undergo subthalamic nucleus (STN) deep brain stimulation (DBS) is, in part, determined by the length of the electrode trajectory through the motor STN domain, the dorsolateral oscillatory region (DLOR). Trajectory length has been found to correlate with the stimulation-related improvement in patients' motor function (estimated by part III of the United Parkinson's Disease Rating Scale [UPDRS]). Therefore, it seems that ideally trajectories should have maximal DLOR length. We retrospectively studied the influence of various anatomic aspects of the brains of patients with PD and the geometry of trajectories planned on the length of the DLOR and STN recorded during DBS surgery. We examined 212 trajectories and 424 microelectrode recording tracks in 115 patients operated on in our center between 2010 and 2015. We found a strong correlation between the length of the recorded DLOR and STN. Trajectories that were more lateral and/or posterior in orientation had a longer STN and DLOR pass, although the DLOR/STN fraction length remained constant. The STN target was more lateral when the third ventricle was wider, and the latter correlated with older age and male gender. Trajectory angles correlate with the recorded STN and DLOR lengths, and should be altered toward a more posterolateral angle in older patients and atrophied brains to compensate for the changes in STN location and geometry. These fine adjustments should yield a longer motor domain pass, thereby improving the patient's predicted outcome. Copyright © 2017 Elsevier Inc. All rights reserved.

Three-dimensional trajectory analyses of two drop sizing instruments: PMS OAP and PMS FSSP

NASA Technical Reports Server (NTRS)

Norment, Hillyer G.

1988-01-01

Flow induced distortions of water drop fluxes and speeds seen by the instruments were predicted by use of three dimensional flow and trajectory calculation methods. Sensitivities were determined for the instruments, in isolation and mounted under the wing of an airplane, to: water drop diameter (2 to 1000 microns), angle of attack and free stream air speed. For the optical array probe in isolation and on the airplane at 0 deg angle of attack, flux distortions of practical consequence are not found. At 4 deg airplane angle of attack, partial flow stagnation under the uptilted wing causes significant decreases in both flux and speed for cloud size droplets. For the forward scattering spectrometer probe in isolation, only marginally significant sensitivities to free stream air speed are found, and no sensitivity is found to angle of attack. Both speed and flux of cloud size droplets are predicted to be undermeasured by from 12 to 24 percent depending on airplane angle of attack. For the wing-mounted instruments, effects of flow about the instruments themselves are found to be equal in importance to effects of flow about the airplane. Preferred orientation (canting) angles of distorted water drops are found to be functions of drop size, angle of attack and air speed.

A path planning method for robot end effector motion using the curvature theory of the ruled surfaces

NASA Astrophysics Data System (ADS)

Güler, Fatma; Kasap, Emin

Using the curvature theory for the ruled surfaces a technique for robot trajectory planning is presented. This technique ensures the calculation of robot’s next path. The positional variation of the Tool Center Point (TCP), linear velocity, angular velocity are required in the work area of the robot. In some circumstances, it may not be physically achievable and a re-computation of the robot trajectory might be necessary. This technique is suitable for re-computation of the robot trajectory. We obtain different robot trajectories which change depending on the darboux angle function and define trajectory ruled surface family with a common trajectory curve with the rotation trihedron. Also, the motion of robot end effector is illustrated with examples.

Steady States of the Parametric Rotator and Pendulum

ERIC Educational Resources Information Center

Bouzas, Antonio O.

2010-01-01

We discuss several steady-state rotation and oscillation modes of the planar parametric rotator and pendulum with damping. We consider a general elliptic trajectory of the suspension point for both rotator and pendulum, for the latter at an arbitrary angle with gravity, with linear and circular trajectories as particular cases. We treat the…

Navigation Challenges of the Mars Phoenix Lander Mission

NASA Technical Reports Server (NTRS)

Portock, Brian M.; Kruizinga, Gerhard; Bonfiglio, Eugene; Raofi, Behzad; Ryne, Mark

2008-01-01

The Mars Phoenix Lander mission was launched on August 4th, 2007. To land safely at the desired landing location on the Mars surface, the spacecraft trajectory had to be controlled to a set of stringent atmospheric entry and landing conditions. The landing location needed to be controlled to an elliptical area with dimensions of 100km by 20km. The two corresponding critical components of the atmospheric entry conditions are the entry flight path angle (target: -13.0 deg +/-0.21 deg) and the entry time (within +/-30 seconds). The purpose of this paper is to describe the navigation strategies used to overcome the challenges posed during spacecraft operations, which included an attitude control thruster calibration campaign, a trajectory control strategy, and a trajectory reconstruction strategy. Overcoming the navigation challenges resulted in final Mars atmospheric entry conditions just 0.007 deg off in entry flight path angle and 14.9 sec early in entry time. These entry dispersions in addition to the entry, descent, and landing trajectory dispersion through the atmosphere, lead to a final landing location just 7 km away from the desired landing target.

Forward and Inverse Predictive Model for the Trajectory Tracking Control of a Lower Limb Exoskeleton for Gait Rehabilitation: Simulation modelling analysis

NASA Astrophysics Data System (ADS)

Zakaria, M. A.; Majeed, A. P. P. A.; Taha, Z.; Alim, M. M.; Baarath, K.

2018-03-01

The movement of a lower limb exoskeleton requires a reasonably accurate control method to allow for an effective gait therapy session to transpire. Trajectory tracking is a nontrivial means of passive rehabilitation technique to correct the motion of the patients’ impaired limb. This paper proposes an inverse predictive model that is coupled together with the forward kinematics of the exoskeleton to estimate the behaviour of the system. A conventional PID control system is used to converge the required joint angles based on the desired input from the inverse predictive model. It was demonstrated through the present study, that the inverse predictive model is capable of meeting the trajectory demand with acceptable error tolerance. The findings further suggest the ability of the predictive model of the exoskeleton to predict a correct joint angle command to the system.

Comment on ‘Wind-influenced projectile motion’

NASA Astrophysics Data System (ADS)

Winther Andersen, Poul

2015-11-01

We comment on the article ‘Wind-influenced projectile motion’ by Bernardo et al (2015 Eur. J. Phys. 36 025016) where they examine the trajectory of a particle that is subjected to gravity and a linear air resistance plus the influence from the wind. They find by using the Lambert W function that the particle's trajectory for a special angle, the critical angle {θ }{{C}}, between the initial velocity and the horizontal is part of a straight line. In this comment we will show that this result can be proved without using the Lambert W function which is not that well known to beginning students of physics.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chesler, Paul M.; Rajagopal, Krishna

We calculate how the energy and the opening angle of jets in N = 4SYM theory evolve as they propagate through the strongly coupled plasma of that theory. We define the rate of energy loss dE jet/dx and the jet opening angle in a straightforward fashion directly in the gauge theory before calculating both holographically, in the dual gravitational description. In this way, we rederive the previously known result for dE jet/dx without the need to introduce a finite slab of plasma. We obtain a striking relationship between the initial opening angle of the jet, which is to say themore » opening angle that it would have had if it had found itself in vacuum instead of in plasma, and the thermalization distance of the jet. Via this relationship, we show that N = 4SYM jets with any initial energy that have the same initial opening angle and the same trajectory through the plasma experience the same fractional energy loss. We also provide an expansion that describes how the opening angle of the N = 4SYM jets increases slowly as they lose energy, over the fraction of their lifetime when their fractional energy loss is not yet large. In conclusion, we close by looking ahead toward potential qualitative lessons from our results for QCD jets produced in heavy collisions and propagating through quark-gluon plasma.« less

Transition paths of Met-enkephalin from Markov state modeling of a molecular dynamics trajectory.

PubMed

Banerjee, Rahul; Cukier, Robert I

2014-03-20

Conformational states and their interconversion pathways of the zwitterionic form of the pentapeptide Met-enkephalin (MetEnk) are identified. An explicit solvent molecular dynamics (MD) trajectory is used to construct a Markov state model (MSM) based on dihedral space clustering of the trajectory, and transition path theory (TPT) is applied to identify pathways between open and closed conformers. In the MD trajectory, only four of the eight backbone dihedrals exhibit bistable behavior. Defining a conformer as the string XXXX with X = "+" or "-" denoting, respectively, positive or negative values of a given dihedral angle and obtaining the populations of these conformers shows that only four conformers are highly populated, implying a strong correlation among these dihedrals. Clustering in dihedral space to construct the MSM finds the same four bistable dihedral angles. These state populations are very similar to those found directly from the MD trajectory. TPT is used to obtain pathways, parametrized by committor values, in dihedral state space that are followed in transitioning from closed to open states. Pathway costs are estimated by introducing a kinetics-based procedure that orders pathways from least (shortest) to greater cost paths. The least costly pathways in dihedral space are found to only involve the same XXXX set of dihedral angles, and the conformers accessed in the closed to open transition pathways are identified. For these major pathways, a correlation between reaction path progress (committors) and the end-to-end distance is identified. A dihedral space principal component analysis of the MD trajectory shows that the first three modes capture most of the overall fluctuation, and pick out the same four dihedrals having essentially all the weight in those modes. A MSM based on root-mean-square backbone clustering was also carried out, with good agreement found with dihedral clustering for the static information, but with results that differ significantly for the pathway analysis.

Energy-dependent angular shifts in the photoelectron momentum distribution for atoms in elliptically polarized laser pulses

NASA Astrophysics Data System (ADS)

Xie, Hui; Li, Min; Luo, Siqiang; Li, Yang; Zhou, Yueming; Cao, Wei; Lu, Peixiang

2017-12-01

We measure the photoelectron momentum distributions from atoms ionized by strong elliptically polarized laser fields at the wavelengths of 400 and 800 nm, respectively. The momentum distributions show distinct angular shifts, which sensitively depend on the electron energy. We find that the deflection angle with respect to the major axis of the laser ellipse decreases with the increase of the electron energy for large ellipticities. This energy-dependent angular shift is well reproduced by both numerical solutions of the time-dependent Schrödinger equation and the classical-trajectory Monte Carlo model. We show that the ionization time delays among the electrons with different energies are responsible for the energy-dependent angular shifts. On the other hand, for small ellipticities, we find the deflection angle increases with increasing the electron energy, which might be caused by electron rescattering in the elliptically polarized fields.

Evaluation of Mars Entry Reconstructured Trajectories Based on Hypothetical 'Quick-Look' Entry Navigation Data

NASA Technical Reports Server (NTRS)

Pastor, P. Rick; Bishop, Robert H.; Striepe, Scott A.

2000-01-01

A first order simulation analysis of the navigation accuracy expected from various Navigation Quick-Look data sets is performed. Here quick-look navigation data are observations obtained by hypothetical telemetried data transmitted on the fly during a Mars probe's atmospheric entry. In this simulation study, navigation data consists of 3-axis accelerometer sensor and attitude information data. Three entry vehicle guidance types are studied: I. a Maneuvering entry vehicle (as with Mars 01 guidance where angle of attack and bank angle are controlled); II. Zero angle-of-attack controlled entry vehicle (as with Mars 98); and III. Ballistic, or spin stabilized entry vehicle (as with Mars Pathfinder);. For each type, sensitivity to progressively under sampled navigation data and inclusion of sensor errors are characterized. Attempts to mitigate the reconstructed trajectory errors, including smoothing, interpolation and changing integrator characteristics are also studied.

A novel guidance law using fast terminal sliding mode control with impact angle constraints.

PubMed

Sun, Lianghua; Wang, Weihong; Yi, Ran; Xiong, Shaofeng

2016-09-01

This paper is concerned with the question of, for a missile interception with impact angle constraints, how to design a guidance law. Firstly, missile interception with impact angle constraints is modeled; secondly, a novel guidance law using fast terminal sliding mode control based on extended state observer is proposed to optimize the trajectory and time of interception; finally, for stationary targets, constant velocity targets and maneuvering targets, the guidance law and the stability of the closed loop system is analyzed and the stability of the closed loop system is analyzed, respectively. Simulation results show that when missile and target are on a collision course, the novel guidance law using fast terminal sliding mode control with extended state observer has more optimized trajectory and effectively reduces the time of interception which has a great significance in modern warfare. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Effects of heel base size, walking speed, and slope angle on center of pressure trajectory and plantar pressure when wearing high-heeled shoes.

PubMed

Luximon, Yan; Cong, Yan; Luximon, Ameersing; Zhang, Ming

2015-06-01

High-heeled shoes are associated with instability and a high risk of fall, fracture, and ankle sprain. This study investigated the effects of heel base size (HBS) on walking stability under different walking speeds and slope angles. The trajectory of the center of pressure (COP), maximal peak pressure, pressure time integral, contact area, and perceived stability were analyzed. The results revealed that a small HBS increased the COP deviations, shifting the COP more medially at the beginning of the gait cycle. The slope angle mainly affected the COP in the anteroposterior direction. An increased slope angle shifted the COP posterior and caused greater pressure and a larger contact area in the midfoot and rearfoot regions, which can provide more support. Subjective measures on perceived stability were consistent with objective measures. The results suggested that high-heeled shoes with a small HBS did not provide stable plantar support, particularly on a small slope angle. The changes in the COP and pressure pattern caused by a small HBS might increase joint torque and muscle activity and induce lower limb problems. Copyright © 2015 Elsevier B.V. All rights reserved.

Animal escapology II: escape trajectory case studies

PubMed Central

Domenici, Paolo; Blagburn, Jonathan M.; Bacon, Jonathan P.

2011-01-01

Summary Escape trajectories (ETs; measured as the angle relative to the direction of the threat) have been studied in many taxa using a variety of methodologies and definitions. Here, we provide a review of methodological issues followed by a survey of ET studies across animal taxa, including insects, crustaceans, molluscs, lizards, fish, amphibians, birds and mammals. Variability in ETs is examined in terms of ecological significance and morpho-physiological constraints. The survey shows that certain escape strategies (single ETs and highly variable ETs within a limited angular sector) are found in most taxa reviewed here, suggesting that at least some of these ET distributions are the result of convergent evolution. High variability in ETs is found to be associated with multiple preferred trajectories in species from all taxa, and is suggested to provide unpredictability in the escape response. Random ETs are relatively rare and may be related to constraints in the manoeuvrability of the prey. Similarly, reports of the effect of refuges in the immediate environment are relatively uncommon, and mainly confined to lizards and mammals. This may be related to the fact that work on ETs carried out in laboratory settings has rarely provided shelters. Although there are a relatively large number of examples in the literature that suggest trends in the distribution of ETs, our understanding of animal escape strategies would benefit from a standardization of the analytical approach in the study of ETs, using circular statistics and related tests, in addition to the generation of large data sets. PMID:21753040

A model for pion-pion scattering in large- N QCD

NASA Astrophysics Data System (ADS)

Veneziano, G.; Yankielowicz, S.; Onofri, E.

2017-04-01

Following up on recent work by Caron-Huot et al. we consider a generalization of the old Lovelace-Shapiro model as a toy model for ππ scattering satisfying (most of) the properties expected to hold in ('t Hooft's) large- N limit of massless QCD. In particular, the model has asymptotically linear and parallel Regge trajectories at positive t, a positive leading Regge intercept α 0 < 1, and an effective bending of the trajectories in the negative- t region producing a fixed branch point at J = 0 for t < t 0 < 0. Fixed (physical) angle scattering can be tuned to match the power-like behavior (including logarithmic corrections) predicted by perturbative QCD: A( s, t) ˜ s - β log( s)-γ F ( θ). Tree-level unitarity (i.e. positivity of residues for all values of s and J ) imposes strong constraints on the allowed region in the α0- β-γ parameter space, which nicely includes a physically interesting region around α 0 = 0 .5, β = 2 and γ = 3. The full consistency of the model would require an extension to multi-pion processes, a program we do not undertake in this paper.

Feasibility study of using a Microsoft Kinect for virtual coaching of wheelchair transfer techniques.

PubMed

Hwang, Seonhong; Tsai, Chung-Ying; Koontz, Alicia M

2017-05-24

The purpose of this study was to test the concurrent validity and test-retest reliability of the Kinect skeleton tracking algorithm for measurement of trunk, shoulder, and elbow joint angle measurement during a wheelchair transfer task. Eight wheelchair users were recruited for this study. Joint positions were recorded simultaneously by the Kinect and Vicon motion capture systems while subjects transferred from their wheelchairs to a level bench. Shoulder, elbow, and trunk angles recorded with the Kinect system followed a similar trajectory as the angles recorded with the Vicon system with correlation coefficients that are larger than 0.71 on both sides (leading arm and trailing arm). The root mean square errors (RMSEs) ranged from 5.18 to 22.46 for the shoulder, elbow, and trunk angles. The 95% limits of agreement (LOA) for the discrepancy between the two systems exceeded the clinical significant level of 5°. For the trunk, shoulder, and elbow angles, the Kinect had very good relative reliability for the measurement of sagittal, frontal and horizontal trunk angles, as indicated by the high intraclass correlation coefficient (ICC) values (>0.90). Small standard error of the measure (SEM) values, indicating good absolute reliability, were observed for all joints except for the leading arm's shoulder joint. Relatively large minimal detectable changes (MDCs) were observed in all joint angles. The Kinect motion tracking has promising performance levels for some upper limb joints. However, more accurate measurement of the joint angles may be required. Therefore, understanding the limitations in precision and accuracy of Kinect is imperative before utilization of Kinect.

The aerodynamic benefit of wing-wing interaction depends on stroke trajectory in flapping insect wings.

PubMed

Lehmann, Fritz-Olaf; Pick, Simon

2007-04-01

Flying insects may enhance their flight force production by contralateral wing interaction during dorsal stroke reversal ('clap-and-fling'). In this study, we explored the forces and moments due to clap-and-fling at various wing tip trajectories, employing a dynamically scaled electromechanical flapping device. The 17 tested bio-inspired kinematic patterns were identical in stroke amplitude, stroke frequency and angle of attack with respect to the horizontal stroke plane but varied in heaving motion. Clap-and-fling induced vertical force augmentation significantly decreased with increasing vertical force production averaged over the entire stroke cycle, whereas total force augmentation was independent from changes in force produced by a single wing. Vertical force augmentation was also largely independent of forces produced due to wing rotation at the stroke reversals, the sum of rotational circulation and wake capture force. We obtained maximum (17.4%) and minimum (1.4%) vertical force augmentation in two types of figure-eight stroke kinematics whereby rate and direction of heaving motion during fling may explain 58% of the variance in vertical force augmentation. This finding suggests that vertical wing motion distinctly alters the flow regime at the beginning of the downstroke. Using an analytical model, we determined pitching moments acting on an imaginary body of the flapping device from the measured time course of forces, the changes in length of the force vector's moment arm, the position of the centre of mass and body angle. The data show that pitching moments are largely independent from mean vertical force; however, clap-and-fling reinforces mean pitching moments by approximately 21%, compared to the moments produced by a single flapping wing. Pitching moments due to clap-and-fling significantly increase with increasing vertical force augmentation and produce nose-down moments in most of the tested patterns. The analytical model, however, shows that algebraic sign and magnitude of these moments may vary distinctly depending on both body angle and the distance between the wing hinge and the animal's centre of mass. Altogether, the data suggest that the benefit of clap-and-fling wing beat for vertical force enhancement and pitch balance may change with changing heaving motion and thus wing tip trajectory during manoeuvring flight. We hypothesize that these dependencies may have shaped the evolution of wing kinematics in insects that are limited by aerodynamic lift rather than by mechanical power of their flight musculature.

Rocket ascent G-limited moment-balanced optimization program (RAGMOP)

NASA Technical Reports Server (NTRS)

Lyons, J. T.; Woltosz, W. S.; Abercrombie, G. E.; Gottlieb, R. G.

1972-01-01

This document describes the RAGMOP (Rocket Ascent G-limited Momentbalanced Optimization Program) computer program for parametric ascent trajectory optimization. RAGMOP computes optimum polynomial-form attitude control histories, launch azimuth, engine burn-time, and gross liftoff weight for space shuttle type vehicles using a search-accelerated, gradient projection parameter optimization technique. The trajectory model available in RAGMOP includes a rotating oblate earth model, the option of input wind tables, discrete and/or continuous throttling for the purposes of limiting the thrust acceleration and/or the maximum dynamic pressure, limitation of the structural load indicators (the product of dynamic pressure with angle-of-attack and sideslip angle), and a wide selection of intermediate and terminal equality constraints.

Error tracking control for underactuated overhead cranes against arbitrary initial payload swing angles

NASA Astrophysics Data System (ADS)

Zhang, Menghua; Ma, Xin; Rong, Xuewen; Tian, Xincheng; Li, Yibin

2017-02-01

This paper exploits an error tracking control method for overhead crane systems for which the error trajectories for the trolley and the payload swing can be pre-specified. The proposed method does not require that the initial payload swing angle remains zero, whereas this requirement is usually assumed in conventional methods. The significant feature of the proposed method is its superior control performance as well as its strong robustness over different or uncertain rope lengths, payload masses, desired positions, initial payload swing angles, and external disturbances. Owing to the same attenuation behavior, the desired error trajectory for the trolley for each traveling distance is not needed to be reset, which is easy to implement in practical applications. By converting the error tracking overhead crane dynamics to the objective system, we obtain the error tracking control law for arbitrary initial payload swing angles. Lyapunov techniques and LaSalle's invariance theorem are utilized to prove the convergence and stability of the closed-loop system. Simulation and experimental results are illustrated to validate the superior performance of the proposed error tracking control method.

Economy, Movement Dynamics, and Muscle Activity of Human Walking at Different Speeds.

PubMed

Raffalt, P C; Guul, M K; Nielsen, A N; Puthusserypady, S; Alkjær, T

2017-03-08

The complex behaviour of human walking with respect to movement variability, economy and muscle activity is speed dependent. It is well known that a U-shaped relationship between walking speed and economy exists. However, it is an open question if the movement dynamics of joint angles and centre of mass and muscle activation strategy also exhibit a U-shaped relationship with walking speed. We investigated the dynamics of joint angle trajectories and the centre of mass accelerations at five different speeds ranging from 20 to 180% of the predicted preferred speed (based on Froude speed) in twelve healthy males. The muscle activation strategy and walking economy were also assessed. The movement dynamics was investigated using a combination of the largest Lyapunov exponent and correlation dimension. We observed an intermediate stage of the movement dynamics of the knee joint angle and the anterior-posterior and mediolateral centre of mass accelerations which coincided with the most energy-efficient walking speed. Furthermore, the dynamics of the joint angle trajectories and the muscle activation strategy was closely linked to the functional role and biomechanical constraints of the joints.

Traj_opt User's Guide

NASA Technical Reports Server (NTRS)

Saunders, David A.

2005-01-01

Trajectory optimization program Traj_opt was developed at Ames Research Center to help assess the potential benefits of ultrahigh temperature ceramic materials applied to reusable space vehicles with sharp noses and wing leading edges. Traj_opt loosely couples the Ames three-degrees-of-freedom trajectory package Traj (see NASA-TM-2004-212847) with the SNOPT optimization package (Stanford University Technical Report SOL 98-1). Traj_opt version January 22, 2003 is covered by this user guide. The program has been applied extensively to entry and ascent abort trajectory calculations for sharp and blunt crew transfer vehicles. The main optimization variables are control points for the angle of attack and bank angle time histories. No propulsion options are provided, but numerous objective functions may be specified and the nonlinear constraints implemented include a distributed surface heating constraint capability. Aero-capture calculations are also treated with an option to minimize orbital eccentricity at apoapsis. Traj_opt runs efficiently on a single processor, using forward or central differences for the gradient calculations. Results may be displayed conveniently with Gnuplot scripts. Control files recommended for five standard reentry and ascent abort trajectories are included along with detailed descriptions of the inputs and outputs.

On motions of a carrier with a mobile load along a rough inclined plane

NASA Astrophysics Data System (ADS)

Bilchenko, Grigory; Bilchenko, Grigory; Bilchenko, Nataly

2018-05-01

A mechanical system consisting of a carrier and a load is considered. The load can move respectively to the carrier according to a predetermined motion law. The carrier can move translationally along a rectilinear trajectory on a rough inclined plane. The trajectory is the line of the greatest descent. The axis of the rectilinear channel, along which the load moves, is located in a vertical plane passing through the trajectory of the carrier. The Coulomb dry friction model is applied for simulation the forces of resistance to the motion of the carrier from the side of the underlying inclined plane. The extreme value of plane inclination angle at which the carrier is at rest, when the load is stationary, is obtained by taking into account the frictional forces of sliding at rest. Differential equations of motion of a carrier with a load moving with respect to the carrier are obtained taking into account the requirement of motion of the carrier along an inclined plane without detachment. The determining relationships are given which made it possible to classify the types of carrier motion when the channel setting angle and the plane inclination angle are related by a certain inequality. The results of computational experiments are presented.

Modelling and simulation of particle-particle interaction in a magnetophoretic bio-separation chip

NASA Astrophysics Data System (ADS)

Alam, Manjurul; Golozar, Matin; Darabi, Jeff

2018-04-01

A Lagrangian particle trajectory model is developed to predict the interaction between cell-bead particle complexes and to track their trajectories in a magnetophoretic bio-separation chip. Magnetic flux gradients are simulated in the OpenFOAM CFD software and imported into MATLAB to obtain the trapping lengths and trajectories of the particles. A connector vector is introduced to calculate the interaction force between cell-bead complexes as they flow through a microfluidic device. The interaction force calculations are performed for cases where the connector vector is parallel, perpendicular, and at an angle of 45° with the applied magnetic field. The trajectories of the particles are simulated by solving a system of eight ordinary differential equations using a fourth order Runge-Kutta method. The model is then used to study the effects of geometric positions and angles of the connector vector between the particles as well as the cell size, number of beads per cell, and flow rate on the interaction force and trajectories of the particles. The results show that the interaction forces may be attractive or repulsive, depending on the orientation of the connector vector distance between the particle complexes and the applied magnetic field. When the interaction force is attractive, the particles are observed to merge and trap sooner than a single particle, whereas a repulsive interaction force has little or no effect on the trapping length.

Motion of a carrier with a mobile load along a rough inclined plane

NASA Astrophysics Data System (ADS)

Bilchenko, G. G.

2018-03-01

The mechanical system consisting of a carrier and a load is considered. The load can move respectively the carrier according to the preset given motion law. The carrier motion from rest caused the load motion is investigated. The carrier can move translationally along rectilinear trajectory along rough inclined plane. The trajectory is the line of the greatest descent. The axis of rectilinear channel along which the load moves is situated in vertical plane containing the carrier trajectory. The Coulomb model is taken to describe the friction forces on sloped plane. Differential equations of motion of carrier with load are obtained. The sufficient condition of the carrier motion without detachment from inclined plane is given. For two special cases of the channel installation angle and the plane inclination angle combination the motion types are described. The computation experiments results are presented: the carrier motions in the special cases are illustrated, the phase portraits for some types of motions are constructed.

Effects of Land Cover on the Movement of Frugivorous Birds in a Heterogeneous Landscape.

PubMed

Da Silveira, Natalia Stefanini; Niebuhr, Bernardo Brandão S; Muylaert, Renata de Lara; Ribeiro, Milton Cezar; Pizo, Marco Aurélio

2016-01-01

Movement is a key spatiotemporal process that enables interactions between animals and other elements of nature. The understanding of animal trajectories and the mechanisms that influence them at the landscape level can yield insight into ecological processes and potential solutions to specific ecological problems. Based upon optimal foraging models and empirical evidence, we hypothesized that movement by thrushes is highly tortuous (low average movement speeds and homogeneous distribution of turning angles) inside forests, moderately tortuous in urban areas, which present intermediary levels of resources, and minimally tortuous (high movement speeds and turning angles next to 0 radians) in open matrix types (e.g., crops and pasture). We used data on the trajectories of two common thrush species (Turdus rufiventris and Turdus leucomelas) collected by radio telemetry in a fragmented region in Brazil. Using a maximum likelihood model selection approach we fit four probability distribution models to average speed data, considering short-tailed, long-tailed, and scale-free distributions (to represent different regimes of movement variation), and one distribution to relative angle data. Models included land cover type and distance from forest-matrix edges as explanatory variables. Speed was greater farther away from forest edges and increased faster inside forest habitat compared to urban and open matrices. However, turning angle was not influenced by land cover. Thrushes presented a very tortuous trajectory, with many displacements followed by turns near 180 degrees. Thrush trajectories resembled habitat and edge dependent, tortuous random walks, with a well-defined movement scale inside each land cover type. Although thrushes are habitat generalists, they showed a greater preference for forest edges, and thus may be considered edge specialists. Our results reinforce the importance of studying animal movement patterns in order to understand ecological processes such as seed dispersal in fragmented areas, where the percentage of remaining habitat is dwindling.

Dynamic trajectory-based couch motion for improvement of radiation therapy trajectories in cranial SRT

DOE Office of Scientific and Technical Information (OSTI.GOV)

MacDonald, R. Lee; Thomas, Christopher G., E-mail: Chris.Thomas@cdha.nshealth.ca; Department of Medical Physics, Nova Scotia Cancer Centre, Queen Elizabeth II Health Sciences Centre, Halifax, Nova Scotia B3H 1V7

2015-05-15

Purpose: To investigate potential improvement in external beam stereotactic radiation therapy plan quality for cranial cases using an optimized dynamic gantry and patient support couch motion trajectory, which could minimize exposure to sensitive healthy tissue. Methods: Anonymized patient anatomy and treatment plans of cranial cancer patients were used to quantify the geometric overlap between planning target volumes and organs-at-risk (OARs) based on their two-dimensional projection from source to a plane at isocenter as a function of gantry and couch angle. Published dose constraints were then used as weighting factors for the OARs to generate a map of couch-gantry coordinate space,more » indicating degree of overlap at each point in space. A couch-gantry collision space was generated by direct measurement on a linear accelerator and couch using an anthropomorphic solid-water phantom. A dynamic, fully customizable algorithm was written to generate a navigable ideal trajectory for the patient specific couch-gantry space. The advanced algorithm can be used to balance the implementation of absolute minimum values of overlap with the clinical practicality of large-scale couch motion and delivery time. Optimized cranial cancer treatment trajectories were compared to conventional treatment trajectories. Results: Comparison of optimized treatment trajectories with conventional treatment trajectories indicated an average decrease in mean dose to the OARs of 19% and an average decrease in maximum dose to the OARs of 12%. Degradation was seen for homogeneity index (6.14% ± 0.67%–5.48% ± 0.76%) and conformation number (0.82 ± 0.02–0.79 ± 0.02), but neither was statistically significant. Removal of OAR constraints from volumetric modulated arc therapy optimization reveals that reduction in dose to OARs is almost exclusively due to the optimized trajectory and not the OAR constraints. Conclusions: The authors’ study indicated that simultaneous couch and gantry motion during radiation therapy to minimize the geometrical overlap in the beams-eye-view of target volumes and the organs-at-risk can have an appreciable dose reduction to organs-at-risk.« less

Molecular dynamics simulations of sputtering of Langmuir-Blodgett multilayers by keV C60 projectiles

PubMed Central

Paruch, R.; Rzeznik, L.; Czerwinski, B.; Garrison, B. J.; Winograd, N.; Postawa, Z.

2009-01-01

Coarse-grained molecular dynamics computer simulations are applied to investigate fundamental processes induced by an impact of keV C60 projectile at an organic overlayer composed of long, well-organized linear molecules. The energy transfer pathways, sputtering yields, and the damage induced in the irradiated system, represented by a Langmuir-Blodgett (LB) multilayers composed from molecules of bariated arachidic acid, are investigated as a function of the kinetic energy and impact angle of the projectile and the thickness of the organic system. In particular, the unique challenges of depth profiling through a LB film vs. a more isotropic solid are discussed. The results indicate that the trajectories of projectile fragments and, consequently, the primary energy can be channeled by the geometrical structure of the overlayer. Although, a similar process is known from sputtering of single crystals by atomic projectiles, it has not been anticipated to occur during C60 bombardment due to the large size of the projectile. An open and ordered molecular structure of LB films is responsible for such behavior. Both the extent of damage and the efficiency of sputtering depend on the kinetic energy, the impact angle, and the layer thickness. The results indicate that the best depth profiling conditions can be achieved with low-energy cluster projectiles irradiating the organic overlayer at large off-normal angles. PMID:20174461

A computational intelligence approach to the Mars Precision Landing problem

NASA Astrophysics Data System (ADS)

Birge, Brian Kent, III

Various proposed Mars missions, such as the Mars Sample Return Mission (MRSR) and the Mars Smart Lander (MSL), require precise re-entry terminal position and velocity states. This is to achieve mission objectives including rendezvous with a previous landed mission, or reaching a particular geographic landmark. The current state of the art footprint is in the magnitude of kilometers. For this research a Mars Precision Landing is achieved with a landed footprint of no more than 100 meters, for a set of initial entry conditions representing worst guess dispersions. Obstacles to reducing the landed footprint include trajectory dispersions due to initial atmospheric entry conditions (entry angle, parachute deployment height, etc.), environment (wind, atmospheric density, etc.), parachute deployment dynamics, unavoidable injection error (propagated error from launch on), etc. Weather and atmospheric models have been developed. Three descent scenarios have been examined. First, terminal re-entry is achieved via a ballistic parachute with concurrent thrusting events while on the parachute, followed by a gravity turn. Second, terminal re-entry is achieved via a ballistic parachute followed by gravity turn to hover and then thrust vector to desired location. Third, a guided parafoil approach followed by vectored thrusting to reach terminal velocity is examined. The guided parafoil is determined to be the best architecture. The purpose of this study is to examine the feasibility of using a computational intelligence strategy to facilitate precision planetary re-entry, specifically to take an approach that is somewhat more intuitive and less rigid, and see where it leads. The test problems used for all research are variations on proposed Mars landing mission scenarios developed by NASA. A relatively recent method of evolutionary computation is Particle Swarm Optimization (PSO), which can be considered to be in the same general class as Genetic Algorithms. An improvement over the regular PSO algorithm, allowing tracking of nonstationary error functions is detailed. Continued refinement of PSO in the larger research community comes from attempts to understand human-human social interaction as well as analysis of the emergent behavior. Using PSO and the parafoil scenario, optimized reference trajectories are created for an initial condition set of 76 states, representing the convex hull of 2001 states from an early Monte Carlo analysis. The controls are a set series of bank angles followed by a set series of 3DOF thrust vectoring. The reference trajectories are used to train an Artificial Neural Network Reference Trajectory Generator (ANNTraG), with the (marginal) ability to generalize a trajectory from initial conditions it has never been presented. The controls here allow continuous change in bank angle as well as thrust vector. The optimized reference trajectories represent the best achievable trajectory given the initial condition. Steps toward a closed loop neural controller with online learning updates are examined. The inner loop of the simulation employs the Program to Optimize Simulated Trajectories (POST) as the basic model, containing baseline dynamics and state generation. This is controlled from a MATLAB shell that directs the optimization, learning, and control strategy. Using mainly bank angle guidance coupled with CI strategies, the set of achievable reference trajectories are shown to be 88% under 10 meters, a significant improvement in the state of the art. Further, the automatic real-time generation of realistic reference trajectories in the presence of unknown initial conditions is shown to have promise. The closed loop CI guidance strategy is outlined. An unexpected advance came from the effort to optimize the optimization, where the PSO algorithm was improved with the capability for tracking a changing error environment.

Space Trajectory Error Analysis Program (STEAP) for halo orbit missions. Volume 2: Programmer's manual

NASA Technical Reports Server (NTRS)

Byrnes, D. V.; Carney, P. C.; Underwood, J. W.; Vogt, E. D.

1974-01-01

The six month effort was responsible for the development, test, conversion, and documentation of computer software for the mission analysis of missions to halo orbits about libration points in the earth-sun system. The software consisting of two programs called NOMNAL and ERRAN is part of the Space Trajectories Error Analysis Programs. The program NOMNAL targets a transfer trajectory from earth on a given launch date to a specified halo orbit on a required arrival date. Either impulsive or finite thrust insertion maneuvers into halo orbit are permitted by the program. The transfer trajectory is consistent with a realistic launch profile input by the user. The second program ERRAN conducts error analyses of the targeted transfer trajectory. Measurements including range, doppler, star-planet angles, and apparent planet diameter are processed in a Kalman-Schmidt filter to determine the trajectory knowledge uncertainty.

Effect of stern hull shape on turning circle of ships

NASA Astrophysics Data System (ADS)

Jaswar, Maimun, A.; Wahid, M. A.; Priyanto, A.; Zamani, Pauzi, Saman

2012-06-01

Many factors such as: stern hull shape, length, draught, trim, propulsion system and external forces affecting the drift angle influence rate of turn and size of turning circle of ships. This paper discusses turning circle characteristics of U and V stern hull shape of Very Large Crude Oil Carrier (VLCC) ships. The ships have same principal dimension such as length, beam, and draught. The turning circle characteristics of the VLCC ships are simulated at 35 degree of rudder angle. In the analysis, firstly, turning circle performance of U-type VLCC ship is simulated. In the simulation, initial ship speed is determined using given power and rpm. Hydrodynamic derivatives coefficients are determined by including effect of fullness of aft run. Using the obtained, speed and hydrodynamic coefficients, force and moment acting on hull, force and moment induced by propeller, force and moment induced by rudder are determined. Finally, ship trajectory, ratio of speed, yaw angle and drift angle are determined. Results of simulation results of the VLCC ship are compared with the experimental one as validation. Using the same method, V-type VLCC is simulated and the simulation results are compared with U-type VLCC ship. Results shows the turning circle of U-type is larger than V-type due to effect stern hul results of simulation are.

Spatiotemporal distribution of location and object effects in reach-to-grasp kinematics

PubMed Central

Rouse, Adam G.

2015-01-01

In reaching to grasp an object, the arm transports the hand to the intended location as the hand shapes to grasp the object. Prior studies that tracked arm endpoint and grip aperture have shown that reaching and grasping, while proceeding in parallel, are interdependent to some degree. Other studies of reaching and grasping that have examined the joint angles of all five digits as the hand shapes to grasp various objects have not tracked the joint angles of the arm as well. We, therefore, examined 22 joint angles from the shoulder to the five digits as monkeys reached, grasped, and manipulated in a task that dissociated location and object. We quantified the extent to which each angle varied depending on location, on object, and on their interaction, all as a function of time. Although joint angles varied depending on both location and object beginning early in the movement, an early phase of location effects in joint angles from the shoulder to the digits was followed by a later phase in which object effects predominated at all joint angles distal to the shoulder. Interaction effects were relatively small throughout the reach-to-grasp. Whereas reach trajectory was influenced substantially by the object, grasp shape was comparatively invariant to location. Our observations suggest that neural control of reach-to-grasp may occur largely in two sequential phases: the first determining the location to which the arm transports the hand, and the second shaping the entire upper extremity to grasp and manipulate the object. PMID:26445870

The Dance of the Foci

ERIC Educational Resources Information Center

Seppala-Holtzman, David

2010-01-01

It's well known that slicing a cone with a plane and then allowing the plane to rotate through all possible angles of inclination yields the conic sections. What paths then do the foci of these conics trace out as this cutting plane passes through the different angles? In this article, we derive formulae for these trajectories and generate the…

Numerical study of alfvénic wave activity in the solar wind as a cause for pitch angle scattering with focus on kinetic processes

NASA Astrophysics Data System (ADS)

Keilbach, D.; Berger, L.; Drews, C.; Marsch, E.; Wimmer-Schweingruber, R. F.

2017-12-01

Recent studies, that determined the inflow longitude of the local interstellar medium from the anisotropy of interstellar pickup ion (PUI) radial velocity, have once again raised the question, how transport effects and especially wave activity in the solar wind modifies the velocity distribution function of PUIs.This study investigates the modification of an oxygen PUI torus distribution by alfvénic waves qualitatively with a numerical approach. The focus of this study is to understand this modification kinetically, which means, that instead of describing the PUI transport through diffusion approaches, we trace the trajectories of test particles in pitch angle space with a time resolution of at least 100 time steps per gyro orbit in order to find first principles of wave particle interactions on the most basic scale.Therefore we have implemented a Leapfrog solver of the Lorentz-Newton equations of motion for a charged test particle in a electro-magnetic field. The alfvénic waves were represented through a continuous circularly polarized wave superimposed to a constant 5 nT background magnetic field. In addition an electric field arising from induction has been added to the simulation's boundary conditions. The simulation code computes the particles' trajectories in the solar wind bulk system.Upon interaction with mono frequent single-frequency waves, the particles are found to perform stationary trajectories in pitch angle space, so that the pitch angle distribution of a conglomerate of test particles does not experience a systematic broadening over time. Also the particles do not react most strongly with waves at resonant frequencies, since the pitch angle modification by the waves sweeps their parallel velocity out of resonance quickly. However, within frequencies close to first order resonance, strong interactions between waves and particles are observed.Altogether the framework of our simulation is readily expandable to simulate additional effects, which may modify the test particles' pitch angle distribution strongly (e.g. collisions with solar wind particles or gradient drifts). So far we have expanded the simulation to support intermittent waves, where we have observed, that the pitch angle distribution of the test particles broadens systematically over time.

Complex-shaped solar sails: A study of the coupled attitude and trajectory dynamics

NASA Astrophysics Data System (ADS)

van de Kolk, Christel Brigitte

The concept of solar sailing is to reflect sunlight of a large surface in space to generate a low thrust, but constantly present, force. By varying the angle between sail normal and incident sunlight, a solar sail can fly inward (to the sun) and outward. The lifetime of a solar sail is not limited by the amount of fuel it can carry, since its fuel is sunlight. Degradation of the reflective surface, due to micrometeorite impact, etc, is the main limiting factor for the lifetime, but it is safe to say that the lifetime of a solar sail will be decades. This extensive lifetime and the possibility of inward and outward travel within the solar system, make solar sails good candidates for cargo missions within our solar system. They are less useful for manned flight, due to the long flight times of solar sail propelled vehicles. For example, the flight time from Earth to Mars is about a year. The solar sails studied previously were flat, single surfaces. The required stiffness and rigidity are provided by either a supporting structure or by spinning the sail. What both concepts have in common is that it was assumed that the attitude dynamics and trajectory dynamics were uncoupled. This assumption eliminates an entire family of promising flight modes in which the coupled motion provides automatic passive attitude dynamics and control. The research presented here will focus on the development of a full 3 dimensional model for the coupled attitude/trajectory dynamics problem of a complex shaped solar sail. This model will then be used to investigate the possible trajectory types and the stability of the attitude dynamics. It will be shown that it is possible to fly either inward to the Sun or out away from the Sun, depending on the dimensions of the individual sail planes and the angle between the two sail planes. However, passive attitude stability for all three axes will not be possible. The roll motion about the sail-sun line is unstable and some form of active control will be needed here.

Optimal guidance for the space shuttle transition

NASA Technical Reports Server (NTRS)

Stengel, R. F.

1972-01-01

A guidance method for the space shuttle's transition from hypersonic entry to subsonic cruising flight is presented. The method evolves from a numerical trajectory optimization technique in which kinetic energy and total energy (per unit weight) replace velocity and time in the dynamic equations. This allows the open end-time problem to be transformed to one of fixed terminal energy. In its ultimate form, E-Guidance obtains energy balance (including dynamic-pressure-rate damping) and path length control by angle-of-attack modulation and cross-range control by roll angle modulation. The guidance functions also form the basis for a pilot display of instantaneous maneuver limits and destination. Numerical results illustrate the E-Guidance concept and the optimal trajectories on which it is based.

Analysis of a range estimator which uses MLS angle measurements

NASA Technical Reports Server (NTRS)

Downing, David R.; Linse, Dennis

1987-01-01

A concept that uses the azimuth signal from a microwave landing system (MLS) combined with onboard airspeed and heading data to estimate the horizontal range to the runway threshold is investigated. The absolute range error is evaluated for trajectories typical of General Aviation (GA) and commercial airline operations (CAO). These include constant intercept angles for GA and CAO, and complex curved trajectories for CAO. It is found that range errors of 4000 to 6000 feet at the entry of MLS coverage which then reduce to 1000-foot errors at runway centerline intercept are possible for GA operations. For CAO, errors at entry into MLS coverage of 2000 feet which reduce to 300 feet at runway centerline interception are possible.

WE-EF-207-02: The Rotate-Plus-Shift C-Arm Trajectory: Theory and First Clinical Results

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ritschl, L; Kachelriess, M; Kuntz, J

Purpose: The proposed method enables the acquisition of a complete dataset for 3D reconstruction of C-Arm data using less than 180° rotation. Methods: Typically a C–arm cone–beam CT scan is performed using a circle–like trajectory around a region of interest. Therefore an angular range of at least 180° plus fan–angle must be covered to ensure a completely sampled data set. This fact defines some constraints on the geometry and technical specifications of a C–arm system, for example a larger C radius or a smaller C opening respectively. This is even more important for mobile C-arm devices which are typically usedmore » in surgical applications.To overcome these limitations we propose a new trajectory which requires only 180° minusfan–angle of rotation for a complete data set. The trajectory consists of three parts: A rotation of the C around a defined iso–center and two translational movements parallel to the detector plane at the begin and at the end of the rotation (rotate plus shift trajectory). This enables the acquisition of a completely sampled dataset using only 180° minus fan–angle of rotation. Results: For the evaluation of the method we show simulated and measured data. The results show, that the rotate plus shift scan yields equivalent image quality compared to the short scan which is assumed to be the gold standard for C-arm CT today. Compared to the pure rotational scan over only 165°, the rotate plus shift scan shows strong improvements in image quality. Conclusion: The proposed method makes 3D imaging using C–arms with less than 180° rotation range possible. This enables integrating full 3D functionality into a C- arm device without any loss of handling and usability for 2D imaging.« less

Reentry trajectories of a space glider, taking acceleration and heating constraints into account

NASA Astrophysics Data System (ADS)

Strauss, Adi

1988-03-01

Three-dimensional trajectories for aerodynamically controlled reentry of an unpowered Space Shuttle-type vehicle from equatorial orbit are investigated analytically, summarizing the results obtained in the author's thesis (Strauss, 1987). Computer programs constructed on the basis of the governing equations of Chern and Yang (1982) and Chern and Vinh (1980) in modified dimensionless Chapman variables are used to optimize the roll angle and lift coefficient of the trajectories. Typical results are presented in graphs and maps and shown to be in good agreement with AVION SPATIAL predictions for the ESA Hermes spacecraft.

Effects of Speed and Visual-Target Distance on Toe Trajectory During the Swing Phase of Treadmill Walking

NASA Technical Reports Server (NTRS)

Miller, Christopher A.; Feiveson, Al; Bloomberg, Jacob J.

2007-01-01

Toe trajectory during swing phase is a precise motor control task that can provide insights into the sensorimotor control of the legs. The purpose of this study was to determine changes in vertical toe trajectory during treadmill walking due to changes in walking speed and target distance. For each trial, subjects walked on a treadmill at one of five speeds while performing a dynamic visual acuity task at either a far or near target distance (five speeds two targets distances = ten trials). Toe clearance decreased with increasing speed, and the vertical toe peak just before heel strike increased with increasing speed, regardless of target distance. The vertical toe peak just after toe-off was lower during near-target visual acuity tasks than during far-target tasks, but was not affected by speed. The ankle of the swing leg appeared to be the main joint angle that significantly affected all three toe trajectory events. The foot angle of the swing leg significantly affected toe clearance and the toe peak just before heel strike. These results will be used to enhance the analysis of lower limb kinematics during the sensorimotor treadmill testing, where differing speeds and/or visual target distances may be used.

Abort-once-around entry corridor analysis program document

NASA Technical Reports Server (NTRS)

Kyle, H. C.

1975-01-01

The abort once around entry target corridor analysis program (ABECAP) was studied. The allowable range of flight path angles at entry interface for acceptable entry trajectories from a shuttle abort once around (AOA) situation was established. The solutions thus determined may be shown as corridor plots of entry interface flight path angle versus range from entry interface (EI) to the target.

Fractional-order information in the visual control of lateral locomotor interception.

PubMed

Bootsma, Reinoud J; Ledouit, Simon; Casanova, Remy; Zaal, Frank T J M

2016-04-01

Previous work on locomotor interception of a target moving in the transverse plane has suggested that interception is achieved by maintaining the target's bearing angle (often inadvertently confused and/or confounded with the target heading angle) at a constant value. However, dynamics-based model simulations testing the veracity of the underlying control strategy of nulling the rate of change in the bearing angle have been restricted to limited conditions of target motion, and only a few alternatives have been considered. Exploring a wide range of target motion characteristics with straight and curving ball trajectories in a virtual reality setting, we examined how soccer goalkeepers moved along the goal line to intercept long-range shots on goal, a situation in which interception is naturally constrained to movement along a single dimension. Analyses of the movement patterns suggested reliance on combinations of optical position and velocity for straight trajectories and optical velocity and acceleration for curving trajectories. As an alternative to combining such standard integer-order derivatives, we demonstrate with a simple dynamical model that nulling a single informational variable of a self-tuned fractional (rather than integer) order efficiently captures the timing and patterning of the observed interception behaviors. This new perspective could fundamentally change the conception of what perceptual systems may actually provide, both in humans and in other animals. (PsycINFO Database Record (c) 2016 APA, all rights reserved).

Difference in quick phases induced by horizontal and vertical vestibular stimulations: role of the otolithic input.

PubMed

Pettorossi, V E; Errico, P; Ferraresi, A

1997-01-01

Quick phases (QPs) induced by horizontal and vertical sinusoidal vestibular stimulations were studied in rabbits, cats, and humans. In all the animals, large and frequent horizontal QPs were observed following yaw stimulation in prone position. By contrast, QPs were almost absent during roll stimulation in rabbits, and they were small and oblique during pitch stimulation in cats and humans. As a result of these differences, the range of gaze displacement induced by vestibular stimulations was greater in the horizontal plane than in the vertical one. We also found that the trajectory of the QPs in rabbits was kept horizontal even when the yaw rotation was off vertical axis of +/- 45 degrees in the sagittal plane. Moreover, in the rabbit, the rare horizontal QPs induced by roll stimulation did not change their orientation at various pitch angles of roll stimulation axis. The QPs were also analyzed following roll stimulation of the rabbit in supine position. In this condition, in which the otolithic receptors were activated in the opposite way compared to prone position, large vertical QPs were elicited. We concluded that these results provide evidence that the otolithic signal plays a role in controlling occurrence and trajectory orientation of the QPs.

Methods of reconstruction of multi-particle events in the new coordinate-tracking setup

NASA Astrophysics Data System (ADS)

Vorobyev, V. S.; Shutenko, V. V.; Zadeba, E. A.

2018-01-01

At the Unique Scientific Facility NEVOD (MEPhI), a large coordinate-tracking detector based on drift chambers for investigations of muon bundles generated by ultrahigh energy primary cosmic rays is being developed. One of the main characteristics of the bundle is muon multiplicity. Three methods of reconstruction of multiple events were investigated: the sequential search method, method of finding the straight line and method of histograms. The last method determines the number of tracks with the same zenith angle in the event. It is most suitable for the determination of muon multiplicity: because of a large distance to the point of generation of muons, their trajectories are quasiparallel. The paper presents results of application of three reconstruction methods to data from the experiment, and also first results of the detector operation.

Trajectory and Aeroheating Environment Development and Sensitivity Analysis for Capsule-shaped Vehicles

NASA Technical Reports Server (NTRS)

Robinson, Jeffrey S.; Wurster, Kathryn E.

2006-01-01

Recently, NASA's Exploration Systems Research and Technology Project funded several tasks that endeavored to develop and evaluate various thermal protection systems and high temperature material concepts for potential use on the crew exploration vehicle. In support of these tasks, NASA Langley's Vehicle Analysis Branch generated trajectory information and associated aeroheating environments for more than 60 unique entry cases. Using the Apollo Command Module as the baseline entry system because of its relevance to the favored crew exploration vehicle design, trajectories for a range of lunar and Mars return, direct and aerocapture Earth-entry scenarios were developed. For direct entry, a matrix of cases was created that reflects reasonably expected minimum and maximum values of vehicle ballistic coefficient, inertial velocity at entry interface, and inertial flight path angle at entry interface. For aerocapture, trajectories were generated for a range of values of initial velocity and ballistic coefficient that, when combined with proper initial flight path angles, resulted in achieving a low Earth orbit either by employing a full lift vector up or full lift vector down attitude. For each trajectory generated, aeroheating environments were generated which were intended to bound the thermal protection system requirements for likely crew exploration vehicle concepts. The trades examined clearly pointed to a range of missions / concepts that will require ablative systems as well as a range for which reusable systems may be feasible. In addition, the results clearly indicated those entry conditions and modes suitable for manned flight, considering vehicle deceleration levels experienced during entry. This paper presents an overview of the analysis performed, including the assumptions, methods, and general approach used, as well as a summary of the trajectory and aerothermal environment information that was generated.

Orbiter entry trajectory corridors: 32000 pound payload, 67.5 percent center of gravity. [glide path data compilation

NASA Technical Reports Server (NTRS)

Treybig, J. H.

1975-01-01

Thermal and equilibrium glide boundaries were used to analyze and/or design shuttle orbiter entry trajectories. Plots are presented of orbiter thermal and equilibrium glide boundaries in the drag/mass-relative velocity dynamic pressure-relative velocity, and altitude-relative velocity planes for an orbiter having a 32,000 pound payload and a 67.5% center of gravity location. These boundaries were defined for control points 1 through 4 of the shuttle orbiter for 40 deg-30 deg and 38 deg-28 deg ramped angle of attack entry profiles and 40 deg, 38 deg, 35 deg, 30 deg, 28 deg, and 25 deg constant angle of attack entry profiles each at 20 deg, 15 deg, and 10 deg constant body flap settings.

A study for the installation of the TEXT heavy-ion beam probe on DIII-D

NASA Astrophysics Data System (ADS)

Edmonds, P. H.; Solano, E. R.; Bravenec, R. V.; Wootton, A. J.; Schoch, P. M.; Crowley, T. P.; Hickok, R. L.; West, W. P.; Leuer, J.; Anderson, P.

1997-01-01

An assessment of the feasibility of installing the TEXT 2 MeV heavy-ion beam probe on the DIII-D tokamak has been completed. Detailed drawings of the machine cross section were imported into the CAD application AutoCAD. A set of programs written in AutoLisp were used to generate trajectories. Displays of the accessible cross section of the plasma, scan lines for the entire range of primary beam energy and injection angle ranges, and sample-volume dimensions can be rapidly generated. Because of the large deflection between the primary input beam and the emergent secondary beam, either the analyzer needs to be tracked over a ±20° angle or secondary poloidal deflector plates need to be installed at the exit port. Toroidal deflector plates will be installed at both the injection and exit ports to compensate for toroidal displacements and deflections. The sample volumes generated by this procedure are within a few centimeters of the locations derived from a full three-dimensional calculation.

Fast Ion Mesurements in LAPD

NASA Astrophysics Data System (ADS)

Zhao, L.; Boehmer, H.; Edrich, D.; Heidbrink, W.; McWilliams, R.; Zimmerman, D.; Leneman, D.

2003-10-01

To study fast-ion transport, a 3-cm diameter, 17 MHZ, ˜80W, ˜3 mA argon source launches ˜500 eV ions in the LArge Plasma Device (LAPD). The beam is diagnosed with a gridded analyzer and, on a test stand at Irvine, laser-induced fluorescence (LIF). Neutral scattering is important near the source. The measured beam energy can be more than 100 eV larger than the accelerating voltage applied to the extraction grids. In LAPD the profile of the pulsed ion beam is measured at various axial locations between z=0.3-6.0 m from the source. When the beam velocity is parallel to the solenoidal field (0^o) evidence of peristaltic focusing, beam attenuation, and radial scattering is observed. At an angle of 22^o with respect to the field the beam follows the expected helical trajectory. Three meters axially from the source strong attenuation and elongation of the beam in the direction of the gyro-angle are observed. The data are compared with classical Coulomb and neutral scattering theory.

Judgements about the relation between force and trajectory variables in verbally described ballistic projectile motion.

PubMed

White, Peter A

2013-01-01

How accurate are explicit judgements about familiar forms of object motion, and how are they made? Participants judged the relations between force exerted in kicking a soccer ball and variables that define the trajectory of the ball: launch angle, maximum height attained, and maximum distance reached. Judgements tended to conform to a simple heuristic that judged force tends to increase as maximum height and maximum distance increase, with launch angle not being influential. Support was also found for the converse prediction, that judged maximum height and distance tend to increase as the amount of force described in the kick increases. The observed judgemental tendencies did not resemble the objective relations, in which force is a function of interactions between the trajectory variables. This adds to a body of research indicating that practical knowledge based on experiences of actions on objects is not available to the processes that generate judgements in higher cognition and that such judgements are generated by simple rules that do not capture the objective interactions between the physical variables.

Trajectory Control of Small Rotating Projectiles by Laser Sparks

NASA Astrophysics Data System (ADS)

Starikovskiy, Andrey; Limbach, Christopher; Miles, Richard

2015-09-01

The possibility of controlling the trajectory of the supersonic motion of a rotating axisymmetric projectile using a remotely generated laser spark was investigated. The dynamic images of the interaction of thermal inhomogeneity created by the laser spark with the bow shock in front of the projectile were obtained. The criterion for a strong shock wave interaction with the thermal inhomogeneity at different angles of a shock wave was derived. Significant changes in the configuration of the bow shock wave and changes in the pressure distribution over the surface of the rotating projectile can appear for laser spark temperature of T' = 2500-3000 K. The experiment showed that strong interaction takes place for both plane and oblique shock waves. The measurement of the velocity of the precession of the rotating projectile axis from the initial position in time showed that the angle of attack of the projectile deviates with a typical time of perturbation propagation along the projectile's surface. Thus the laser spark can change the trajectory of the rotating projectile, moving at supersonic speed, through the creation of thermal heterogeneity in front of it.

Trajectory Reconstruction and Uncertainty Analysis Using Mars Science Laboratory Pre-Flight Scale Model Aeroballistic Testing

NASA Technical Reports Server (NTRS)

Lugo, Rafael A.; Tolson, Robert H.; Schoenenberger, Mark

2013-01-01

As part of the Mars Science Laboratory (MSL) trajectory reconstruction effort at NASA Langley Research Center, free-flight aeroballistic experiments of instrumented MSL scale models was conducted at Aberdeen Proving Ground in Maryland. The models carried an inertial measurement unit (IMU) and a flush air data system (FADS) similar to the MSL Entry Atmospheric Data System (MEADS) that provided data types similar to those from the MSL entry. Multiple sources of redundant data were available, including tracking radar and on-board magnetometers. These experimental data enabled the testing and validation of the various tools and methodologies that will be used for MSL trajectory reconstruction. The aerodynamic parameters Mach number, angle of attack, and sideslip angle were estimated using minimum variance with a priori to combine the pressure data and pre-flight computational fluid dynamics (CFD) data. Both linear and non-linear pressure model terms were also estimated for each pressure transducer as a measure of the errors introduced by CFD and transducer calibration. Parameter uncertainties were estimated using a "consider parameters" approach.

Multiscale statistics of trajectories with applications to fluid particles in turbulence and football players

NASA Astrophysics Data System (ADS)

Schneider, Kai; Kadoch, Benjamin; Bos, Wouter

2017-11-01

The angle between two subsequent particle displacement increments is evaluated as a function of the time lag. The directional change of particles can thus be quantified at different scales and multiscale statistics can be performed. Flow dependent and geometry dependent features can be distinguished. The mean angle satisfies scaling behaviors for short time lags based on the smoothness of the trajectories. For intermediate time lags a power law behavior can be observed for some turbulent flows, which can be related to Kolmogorov scaling. The long time behavior depends on the confinement geometry of the flow. We show that the shape of the probability distribution function of the directional change can be well described by a Fischer distribution. Results for two-dimensional (direct and inverse cascade) and three-dimensional turbulence with and without confinement, illustrate the properties of the proposed multiscale statistics. The presented Monte-Carlo simulations allow disentangling geometry dependent and flow independent features. Finally, we also analyze trajectories of football players, which are, in general, not randomly spaced on a field.

Qualitative to quantitative: linked trajectory of method triangulation in a study on HIV/AIDS in Goa, India.

PubMed

Bailey, Ajay; Hutter, Inge

2008-10-01

With 3.1 million people estimated to be living with HIV/AIDS in India and 39.5 million people globally, the epidemic has posed academics the challenge of identifying behaviours and their underlying beliefs in the effort to reduce the risk of HIV transmission. The Health Belief Model (HBM) is frequently used to identify risk behaviours and adherence behaviour in the field of HIV/AIDS. Risk behaviour studies that apply HBM have been largely quantitative and use of qualitative methodology is rare. The marriage of qualitative and quantitative methods has never been easy. The challenge is in triangulating the methods. Method triangulation has been largely used to combine insights from the qualitative and quantitative methods but not to link both the methods. In this paper we suggest a linked trajectory of method triangulation (LTMT). The linked trajectory aims to first gather individual level information through in-depth interviews and then to present the information as vignettes in focus group discussions. We thus validate information obtained from in-depth interviews and gather emic concepts that arise from the interaction. We thus capture both the interpretation and the interaction angles of the qualitative method. Further, using the qualitative information gained, a survey is designed. In doing so, the survey questions are grounded and contextualized. We employed this linked trajectory of method triangulation in a study on the risk assessment of HIV/AIDS among migrant and mobile men. Fieldwork was carried out in Goa, India. Data come from two waves of studies, first an explorative qualitative study (2003), second a larger study (2004-2005), including in-depth interviews (25), focus group discussions (21) and a survey (n=1259). By employing the qualitative to quantitative LTMT we can not only contextualize the existing concepts of the HBM, but also validate new concepts and identify new risk groups.

Analysis of the Accuracy of Ballistic Descent from a Circular Circumterrestrial Orbit

NASA Astrophysics Data System (ADS)

Sikharulidze, Yu. G.; Korchagin, A. N.

2002-01-01

The problem of the transportation of the results of experiments and observations to Earth every so often appears in space research. Its simplest and low-cost solution is the employment of a small ballistic reentry spacecraft. Such a spacecraft has no system of control of the descent trajectory in the atmosphere. This can result in a large spread of landing points, which make it difficult to search for the spacecraft and very often a safe landing. In this work, a choice of a compromise scheme of the flight is considered, which includes the optimum braking maneuver, adequate conditions of the entry into the atmosphere with limited heating and overload, and also the possibility of landing within the limits of a circle with a radius of 12.5 km. The following disturbing factors were taken into account in the analysis of the accuracy of landing: the errors of the braking impulse execution, the variations of the atmosphere density and the wind, the error of the specification of the ballistic coefficient of the reentry spacecraft, and a displacement of its center of mass from the symmetry axis. It is demonstrated that the optimum maneuver assures the maximum absolute value of the reentry angle and the insensitivity of the trajectory of descent with respect to small errors of orientation of the braking engine in the plane of the orbit. It is also demonstrated that the possible error of the landing point due to the error of specification of the ballistic coefficient does not depend (in the linear approximation) upon its value and depends only upon the reentry angle and the accuracy of specification of this coefficient. A guided parachute with an aerodynamic efficiency of about two should be used at the last leg of the reentry trajectory. This will allow one to land in a prescribed range and to produce adequate conditions for the interception of the reentry spacecraft by a helicopter in order to prevent a rough landing.

Optical polarization variations in the blazar PKS 1749+096

NASA Astrophysics Data System (ADS)

Uemura, Makoto; Itoh, Ryosuke; Liodakis, Ioannis; Blinov, Dmitry; Nakayama, Masanori; Xu, Longyin; Sawada, Naoko; Wu, Hsiang-Yun; Fujishiro, Issei

2017-12-01

We report on the variation in the optical polarization of the blazar PKS 1749+096 observed in 2008-2015. The degree of polarization (PD) tends to increase in short flares, having a time-scale of a few days. The object favors a polarization angle (PA) of 40°-50° at the flare maxima, which is close to the position angle of the jet (20°-40°). Three clear polarization rotations were detected in the negative PA direction associated with flares. In addition, a rapid and large decrease in the PA was observed in the other two flares, while another two flares showed no large PA variation. The light-curve maxima of the flares possibly tended to lag behind the PD maxima and color-index minima. The PA became -50° to -20° in the decay phase of active states, which is almost perpendicular to the jet position angle. We propose a scenario to explain these observational features, where transverse shocks propagate along curved trajectories. The favored PA at the flare maxima suggests that the observed variations were governed by the variations in the Doppler factor, δ. Based on this scenario, the minimum viewing angle of the source, θ _min = 4.8°-6.6°, and the location of the source, Δr ≳ 0.1 pc, from the central black hole were estimated. In addition, the acceleration of electrons by the shock and synchrotron cooling would have a time-scale similar to that of the change in δ. The combined effect of the variation in δ and acceleration/cooling of electrons is probably responsible for the observed diversity of the polarization variations in the flares.

Space Trajectory Error Analysis Program (STEAP) for halo orbit missions. Volume 1: Analytic and user's manual

NASA Technical Reports Server (NTRS)

Byrnes, D. V.; Carney, P. C.; Underwood, J. W.; Vogt, E. D.

1974-01-01

Development, test, conversion, and documentation of computer software for the mission analysis of missions to halo orbits about libration points in the earth-sun system is reported. The software consisting of two programs called NOMNAL and ERRAN is part of the Space Trajectories Error Analysis Programs (STEAP). The program NOMNAL targets a transfer trajectory from Earth on a given launch date to a specified halo orbit on a required arrival date. Either impulsive or finite thrust insertion maneuvers into halo orbit are permitted by the program. The transfer trajectory is consistent with a realistic launch profile input by the user. The second program ERRAN conducts error analyses of the targeted transfer trajectory. Measurements including range, doppler, star-planet angles, and apparent planet diameter are processed in a Kalman-Schmidt filter to determine the trajectory knowledge uncertainty. Execution errors at injection, midcourse correction and orbit insertion maneuvers are analyzed along with the navigation uncertainty to determine trajectory control uncertainties and fuel-sizing requirements. The program is also capable of generalized covariance analyses.

Internal velocity factors

NASA Technical Reports Server (NTRS)

Cathcart, J. R.; Frank, A. J.; Massaglia, J. L.

1968-01-01

Computer program analyzes the entries and planetary trajectories of space vehicles. It obtains the equivalence of altitude and flight path angle, respectively, to acceleration load factor with respect to velocity for a given inertial velocity.

Estimation of Center of Mass Trajectory using Wearable Sensors during Golf Swing.

PubMed

Najafi, Bijan; Lee-Eng, Jacqueline; Wrobel, James S; Goebel, Ruben

2015-06-01

This study suggests a wearable sensor technology to estimate center of mass (CoM) trajectory during a golf swing. Groups of 3, 4, and 18 participants were recruited, respectively, for the purpose of three validation studies. Study 1 examined the accuracy of the system to estimate a 3D body segment angle compared to a camera-based motion analyzer (Vicon®). Study 2 assessed the accuracy of three simplified CoM trajectory models. Finally, Study 3 assessed the accuracy of the proposed CoM model during multiple golf swings. A relatively high agreement was observed between wearable sensors and the reference (Vicon®) for angle measurement (r > 0.99, random error <1.2° (1.5%) for anterior-posterior; <0.9° (2%) for medial-lateral; and <3.6° (2.5%) for internal-external direction). The two-link model yielded a better agreement with the reference system compared to one-link model (r > 0.93 v. r = 0.52, respectively). On the same note, the proposed two-link model estimated CoM trajectory during golf swing with relatively good accuracy (r > 0.9, A-P random error <1cm (7.7%) and <2cm (10.4%) for M-L). The proposed system appears to accurately quantify the kinematics of CoM trajectory as a surrogate of dynamic postural control during an athlete's movement and its portability, makes it feasible to fit the competitive environment without restricting surface type. Key pointsThis study demonstrates that wearable technology based on inertial sensors are accurate to estimate center of mass trajectory in complex athletic task (e.g., golf swing)This study suggests that two-link model of human body provides optimum tradeoff between accuracy and minimum number of sensor module for estimation of center of mass trajectory in particular during fast movements.Wearable technologies based on inertial sensors are viable option for assessing dynamic postural control in complex task outside of gait laboratory and constraints of cameras, surface, and base of support.

Angulated Implants for Fabrication of Implant Supported Fixed Partial Denture in the Maxilla

PubMed Central

Egbert, Nicholas; Ahuja, Swati; Selecman, Audrey; Wicks, Russell

2017-01-01

Until recently, angled abutments have been the only solution to correcting the trajectory of the emergence profile of labially inclined implants in the maxilla. However, the clinical implications of angled abutments reveal several shortcomings. Newly designed angulated implants with a 12-degree restorative platform angulation are an alternative to angled abutments. The purpose of this article was to report a case utilizing new angulated implants (Co-axis, Keystone dental, Burlington, MA, USA) in the premaxilla thereby facilitating fabrication of a multi-unit implant retained fixed dental prosthesis. PMID:29201975

Wafer scale oblique angle plasma etching

DOEpatents

Burckel, David Bruce; Jarecki, Jr., Robert L.; Finnegan, Patrick Sean

2017-05-23

Wafer scale oblique angle etching of a semiconductor substrate is performed in a conventional plasma etch chamber by using a fixture that supports a multiple number of separate Faraday cages. Each cage is formed to include an angled grid surface and is positioned such that it will be positioned over a separate one of the die locations on the wafer surface when the fixture is placed over the wafer. The presence of the Faraday cages influences the local electric field surrounding each wafer die, re-shaping the local field to be disposed in alignment with the angled grid surface. The re-shaped plasma causes the reactive ions to follow a linear trajectory through the plasma sheath and angled grid surface, ultimately impinging the wafer surface at an angle. The selected geometry of the Faraday cage angled grid surface thus determines the angle at with the reactive ions will impinge the wafer.

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics

PubMed Central

Fu, Chunjiang; Suzuki, Yasuyuki; Kiyono, Ken; Morasso, Pietro; Nomura, Taishin

2014-01-01

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics. PMID:25339687

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics.

PubMed

Fu, Chunjiang; Suzuki, Yasuyuki; Kiyono, Ken; Morasso, Pietro; Nomura, Taishin

2014-12-06

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics.

Trajectory Design of the Lunar Impactor Mission Concept

NASA Technical Reports Server (NTRS)

Chung, Min-Kun J.; McElrath, Timothy P.; Roncoli, Ralph B.

2006-01-01

The National Aeronautics and Space Administration (NASA) solicited proposals in 2006 for an opportunity to include a small secondary payload with the launch of the Lunar Reconnaissance Orbiter (LRO) scheduled for October 2008. The cost cap of the proposal was between $50 and $80M, and the mass cap was 1,000 kilograms. JPL proposed a Lunar Impactor (LI) concept for this solicitation. The mission objective of LI was to impact the permanently shadowed region of a South polar crater ultimately to detect the presence of water. The detection of water ice would prove to be an important factor on future lunar exploration. NASA Ames Research Center also proposed a similar concept, the Lunar Crater observation and Sensing Satellite (LCROSS), which was selected by NASA for the mission. However, in this paper, the trajectory design of the LI proposed by JPL is considered. Since the LI spacecraft was to be launched on the LRO launch vehicle as a secondary payload, its initial trajectory must be diverted at some later time from the LRO trans-lunar trajectory for the subsequent impact. Several such trajectories have been considered, where each trajectory option fields some specific values for the mission parameters. The mission parameters include the availability of LRO instruments at the time of impact for the observation by LRO, the mission duration, the impact velocity, the impact angle, etc. It is possible for the LI to be deflected with a relatively low delta-V to impact a South polar crater at a reasonable impact velocity and impact angle directly with no delay. However, the instruments on-board LRO may not be ready for observation. Thus, several delayed trajectory options have been considered further. The lunar phase at the time of impact may also play an important factor for observation, especially from Earth. Several lunar flyby trajectory maneuvers have been identified to arrive at the Moon for impact at the desired lunar phase. By using a combination of these successive lunar flyby maneuvers, the impact lunar phase may be adjusted to the desired location. A few such trajectories have been suggested. Also, some attempts have been made to maximize the impact velocity by converting the impact trajectory into a retrograde orbit with respect to Earth. Since these types of trajectories take advantage of the Sun-Earth three-body region to minimize the delta-V, the mission duration is relatively long. A few such trajectories are suggested. Also, an attempt has been made to adjust the lunar impact within a desired time period for the optimum Earth observation for the above trajectories. The mission parameters resulting from each trajectory option above are considered and weighed against the cost and robustness of the mission in a brief summary.

Monteris AXiiiS Stereotactic Miniframe for Intracranial Biopsy: Precision, Feasibility, and Ease of Use.

PubMed

Manjila, Sunil; Knudson, Kathleen E; Johnson, Carleton; Sloan, Andrew E

2016-06-01

Stereotactic biopsy is an important and minimally invasive technique used for a variety of indications in neurosurgery. Initially, this technique required a frame, but recently there have been a number of newer, less cumbersome approaches to biopsy including robotic arms, fixed arms, and, more recently, skull-mounted miniframes. Miniframes are attractive because they are disposable and low profile. However, the relatively limited degree of freedom offered by currently available devices necessitates a preplanned burr hole, which in turn limits flexibility and multiple trajectories. The AXiiiS device is a skull-mounted, magnetic resonance imaging-compatible miniframe that provides a similar degree of freedom with a frame while maintaining a low-profile, disposable platform. To assess the image-guided trajectory alignment accuracy using AXiiiS stereotactic miniframe biopsy of intracranial lesions. The accuracy of the AXiiiS device is compared with the Navigus Trajectory Guide as platforms. After approval by our institutional review board, medical records of 10 neurosurgical patients with intracranial pathologies were chosen for AXiiiS stereotactic miniframe biopsy, and histological correlation was obtained. Ten reported cases demonstrate the precision and ease of using the AXiiiS stereotactic miniframe for biopsy of intracranial lesions in conjunction with preoperative magnetic resonance imaging. Multiple trajectories and angles have been used with precision and safety. The AXiiiS stereotactic miniframe is a feasible, safe, and disposable platform for multitrajectory intracranial biopsies. Compared with existing platforms, this novel device provides a more stable base and wider limits of trajectory angles with comparable accuracy and precision.

Trajectory Segmentation Map-Matching Approach for Large-Scale, High-Resolution GPS Data

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhu, Lei; Holden, Jacob R.; Gonder, Jeffrey D.

With the development of smartphones and portable GPS devices, large-scale, high-resolution GPS data can be collected. Map matching is a critical step in studying vehicle driving activity and recognizing network traffic conditions from the data. A new trajectory segmentation map-matching algorithm is proposed to deal accurately and efficiently with large-scale, high-resolution GPS trajectory data. The new algorithm separated the GPS trajectory into segments. It found the shortest path for each segment in a scientific manner and ultimately generated a best-matched path for the entire trajectory. The similarity of a trajectory segment and its matched path is described by a similaritymore » score system based on the longest common subsequence. The numerical experiment indicated that the proposed map-matching algorithm was very promising in relation to accuracy and computational efficiency. Large-scale data set applications verified that the proposed method is robust and capable of dealing with real-world, large-scale GPS data in a computationally efficient and accurate manner.« less

Trajectory Segmentation Map-Matching Approach for Large-Scale, High-Resolution GPS Data

DOE PAGES

Zhu, Lei; Holden, Jacob R.; Gonder, Jeffrey D.

2017-01-01

With the development of smartphones and portable GPS devices, large-scale, high-resolution GPS data can be collected. Map matching is a critical step in studying vehicle driving activity and recognizing network traffic conditions from the data. A new trajectory segmentation map-matching algorithm is proposed to deal accurately and efficiently with large-scale, high-resolution GPS trajectory data. The new algorithm separated the GPS trajectory into segments. It found the shortest path for each segment in a scientific manner and ultimately generated a best-matched path for the entire trajectory. The similarity of a trajectory segment and its matched path is described by a similaritymore » score system based on the longest common subsequence. The numerical experiment indicated that the proposed map-matching algorithm was very promising in relation to accuracy and computational efficiency. Large-scale data set applications verified that the proposed method is robust and capable of dealing with real-world, large-scale GPS data in a computationally efficient and accurate manner.« less

Conjugate gradient optimization programs for shuttle reentry

NASA Technical Reports Server (NTRS)

Powers, W. F.; Jacobson, R. A.; Leonard, D. A.

1972-01-01

Two computer programs for shuttle reentry trajectory optimization are listed and described. Both programs use the conjugate gradient method as the optimization procedure. The Phase 1 Program is developed in cartesian coordinates for a rotating spherical earth, and crossrange, downrange, maximum deceleration, total heating, and terminal speed, altitude, and flight path angle are included in the performance index. The programs make extensive use of subroutines so that they may be easily adapted to other atmospheric trajectory optimization problems.

Nonlinear Control Theory for Missile Autopilot Design.

DTIC Science & Technology

1987-04-24

minimum-time controller which includes constraints on both controls and angle-of-attack is developed and an example is given. -12- - - -~ *% PO PmCF E- A...constructed. In this case, some ideas from robotics on minimum-time trajectory planning under path constraints (see, e.g., Rajan (1985), Sahar and...Auto Cont., Vol. AC-29, No. 4, p. 361. Rajan, V.T. (1985), "Minimum-Time Trajectory Planning ", Proc IEEE Kobotics and Automation Conf., St. Louis. Reed

Trading Robustness Requirements in Mars Entry Trajectory Design

NASA Technical Reports Server (NTRS)

Lafleur, Jarret M.

2009-01-01

One of the most important metrics characterizing an atmospheric entry trajectory in preliminary design is the size of its predicted landing ellipse. Often, requirements for this ellipse are set early in design and significantly influence both the expected scientific return from a particular mission and the cost of development. Requirements typically specify a certain probability level (6-level) for the prescribed ellipse, and frequently this latter requirement is taken at 36. However, searches for the justification of 36 as a robustness requirement suggest it is an empirical rule of thumb borrowed from non-aerospace fields. This paper presents an investigation into the sensitivity of trajectory performance to varying robustness (6-level) requirements. The treatment of robustness as a distinct objective is discussed, and an analysis framework is presented involving the manipulation of design variables to effect trades between performance and robustness objectives. The scenario for which this method is illustrated is the ballistic entry of an MSL-class Mars entry vehicle. Here, the design variable is entry flight path angle, and objectives are parachute deploy altitude performance and error ellipse robustness. Resulting plots show the sensitivities between these objectives and trends in the entry flight path angles required to design to these objectives. Relevance to the trajectory designer is discussed, as are potential steps for further development and use of this type of analysis.

Comparative assessment of anti-sway control strategy for tower crane system

NASA Astrophysics Data System (ADS)

Samin, Reza Ezuan; Mohamed, Zaharuddin

2017-09-01

Tower crane is also known as rotary crane and widely used in constructions due to limited human capability to carry the various types of load at the construction site. In general crane is used for the purpose of loading and unloading heavy material from one place to another. However, in order to transfer the material in minimum time from one location to another, swaying of the payload will occur. Hence, this research presents the investigation of tower crane system which mainly focusing on the swaying angle of the payload by implementing conventional and intelligent controllers. Its mathematical modeling is developed using the Newton's Second Law and simulation is done within the MATLAB/Simulink environment. Simulation results are presented in cart trajectory capability and payload sway angle reduction. A comparative assessment between conventional controller and intelligent controller for the tower crane system are presented and discussed. Furthermore, the effect of various rope length and payload mass of the tower crane system to the performance of trajectory capability and sway angle reduction are also presented and discussed.

Study on Vortex-Induced Motions of A New Type of Deep Draft Multi-Columns FDPSO

NASA Astrophysics Data System (ADS)

Gu, Jia-yang; Xie, Yu-lin; Zhao, Yuan; Li, Wen-juan; Tao, Yan-wu; Huang, Xiang-hong

2018-03-01

A numerical simulation and an experimental study on vortex-induced motion (VIM) of a new type of deep draft multi-columns floating drilling production, storage and offloading (FDPSO) are presented in this paper. The main dimension, the special variable cross-section column and the cabin arrangement of the octagonal pontoon are introduced based on the result. The numerical simulation is adapted to study the effects of current incidence angles and reduced velocities on this platform's sway motion response. The 300 m water depth equivalent truncated mooring system is adopted for the model tests. The model tests are carried out to check the reliability of numerical simulation. The results consist of surge, sway and yaw motions, as well as motion trajectories. The maximum sway amplitudes for different types of offshore platform is also studied. The main results show that the peak frequencies of sway motion under different current incidence angles and reduced velocities vary around the natural frequency. The analysis result of flow field indicates that the change of distribution of vortex in vertical presents significant influences on the VIM of platform. The trend of sway amplitude ratio curve of this new type FDPSO differs from the other types of platform. Under 45° current incidence angle, the sway amplitude of this new type of FDPSO is much smaller than those of other types of offshore platform at 4.4 ≤ V r ≤ 8.9. The typical `8' shape trajectory does not appear in the platform's motion trajectories.

Mechanically robust microfluidics and bulk wave acoustics to sort microparticles

NASA Astrophysics Data System (ADS)

Dauson, Erin R.; Gregory, Kelvin B.; Greve, David W.; Healy, Gregory P.; Oppenheim, Irving J.

2016-04-01

Sorting microparticles (or cells, or bacteria) is significant for scientific, medical and industrial purposes. Research groups have used lithium niobate SAW devices to produce standing waves, and then to align microparticles at the node lines in polydimethylsiloxane (PDMS, silicone) microfluidic channels. The "tilted angle" (skewed) configuration is a recent breakthrough producing particle trajectories that cross multiple node lines, making it practical to sort particles. However, lithium niobate wafers and PDMS microfluidic channels are not mechanically robust. We demonstrate "tilted angle" microparticle sorting in novel devices that are robust, rapidly prototyped, and manufacturable. We form our microfluidic system in a rigid polymethyl methacrylate (PMMA, acrylic) prism, sandwiched by lead-zirconium-titanate (PZT) wafers, operating in through-thickness mode with inertial backing, that produce standing bulk waves. The overall configuration is compact and mechanically robust, and actuating PZT wafers in through-thickness mode is highly efficient. Moving to this novel configuration introduced new acoustics questions involving internal reflections, but we show experimental images confirming the intended nodal geometry. Microparticles in "tilted angle" devices display undulating trajectories, where deviation from the straight path increases with particle diameter and with excitation voltage to create the mechanism by which particles are sorted. We show a simplified analytical model by which a "phase space" is constructed to characterize effective particle sorting, and we compare our experimental data to the predictions from that simplified model; precise correlation is not expected and is not observed, but the important physical trends from the model are paralleled in the measured particle trajectories.

Spreadsheet Application Showing the Proper Elevation Angle, Points of Shot and Impact of a Projectile

ERIC Educational Resources Information Center

Benacka, Jan

2015-01-01

This paper provides the formula for the elevation angle at which a projectile has to be fired in a vacuum from a general position to hit a target at a given distance. A spreadsheet application that models the trajectory is presented, and the problem of finding the points of shot and impact of a projectile moving in a vacuum if three points of the…

Differential equations in airplane mechanics

NASA Technical Reports Server (NTRS)

Carleman, M T

1922-01-01

In the following report, we will first draw some conclusions of purely theoretical interest, from the general equations of motion. At the end, we will consider the motion of an airplane, with the engine dead and with the assumption that the angle of attack remains constant. Thus we arrive at a simple result, which can be rendered practically utilizable for determining the trajectory of an airplane descending at a constant steering angle.

Motion of the angular momentum vector in body coordinates for torque-free dual-spin spacecraft

NASA Technical Reports Server (NTRS)

Fedor, J. V.

1981-01-01

The motion of the angular momentum vector in body coordinates for torque free, asymmetric dual spin spacecraft without and, for a special case, with energy dissipation on the main spacecraft is investigated. Without energy dissipation, two integrals can be obtained from the Euler equations of motion. Using the classical method of elimination of variable, the motion about the equilibrium points (six for the general case) are derived with these integrals. For small nutation angle, theta, the trajectories about the theta = 0 deg and theta = 180 deg points readily show the requirements for stable motion about these points. Also the conditions needed to eliminate stable motion about the theta = 180 deg point as well as the other undesireable equilibrium points follow directly from these equations. For the special case where the angular momentum vector moves about the principal axis which contains the momentum wheel, the notion of 'free variable' azimuth angle is used. Physically this angle must vary from 0 to 2 pi in a circular periodic fashion. Expressions are thus obtained for the nutation angle in terms of the free variable and other spacecraft parameters. Results show that in general there are two separate trajectory expressions that govern the motion of the angular momentum vector in body coordinates.

Reentry Motion and Aerodynamics of the MUSES-C Sample Return Capsule

NASA Astrophysics Data System (ADS)

Ishii, Nobuaki; Yamada, Tetsuya; Hiraki, Koju; Inatani, Yoshifumi

The Hayabusa spacecraft (MUSES-C) carries a small capsule for bringing asteroid samples back to the earth. The initial spin rate of the reentry capsule together with the flight path angle of the reentry trajectory is a key parameter for the aerodynamic motion during the reentry flight. The initial spin rate is given by the spin-release mechanism attached between the capsule and the mother spacecraft, and the flight path angle can be modified by adjusting the earth approach orbit. To determine the desired values of both parameters, the attitude motion during atmospheric flight must be clarified, and angles of attack at the maximum dynamic pressure and the parachute deployment must be assessed. In previous studies, to characterize the aerodynamic effects of the reentry capsule, several wind-tunnel tests were conducted using the ISAS high-speed flow test facilities. In addition to the ground test data, the aerodynamic properties in hypersonic flows were analyzed numerically. Moreover, these data were made more accurate using the results of balloon drop tests. This paper summarized the aerodynamic properties of the reentry capsule and simulates the attitude motion of the full-configuration capsule during atmospheric flight in three dimensions with six degrees of freedom. The results show the best conditions for the initial spin rates and flight path angles of the reentry trajectory.

Mind the gap - tip leakage vortex in axial turbines

NASA Astrophysics Data System (ADS)

Dreyer, M.; Decaix, J.; Münch-Alligné, C.; Farhat, M.

2014-03-01

The tendency of designing large Kaplan turbines with a continuous increase of output power is bringing to the front the cavitation erosion issue. Due to the flow in the gap between the runner and the discharge ring, axial turbine blades may develop the so called tip leakage vortex (TLV) cavitation with negative consequences. Such vortices may interact strongly with the wake of guide vanes leading to their multiple collapses and rebounds. If the vortex trajectory remains close to the blade tip, these collapses may lead to severe erosion. One is still unable today to predict its occurrence and development in axial turbines with acceptable accuracy. Numerical flow simulations as well as the actual scale-up rules from small to large scales are unreliable. The present work addresses this problematic in a simplified case study representing TLV cavitation to better understand its sensitivity to the gap width. A Naca0009 hydrofoil is used as a generic blade in the test section of EPFL cavitation tunnel. A sliding mounting support allowing an adjustable gap between the blade tip and wall was manufactured. The vortex trajectory is visualized with a high speed camera and appropriate lighting. The three dimensional velocity field induced by the TLV is investigated using stereo particle image velocimetry. We have taken into account the vortex wandering in the image processing to obtain accurate measurements of the vortex properties. The measurements were performed in three planes located downstream of the hydrofoil for different values of the flow velocity, the incidence angle and the gap width. The results clearly reveal a strong influence of the gap width on both trajectory and intensity of the tip leakage vortex.

Optimal trajectories for an aerospace plane. Part 1: Formulation, results, and analysis

NASA Technical Reports Server (NTRS)

Miele, Angelo; Lee, W. Y.; Wu, G. D.

1990-01-01

The optimization of the trajectories of an aerospace plane is discussed. This is a hypervelocity vehicle capable of achieving orbital speed, while taking off horizontally. The vehicle is propelled by four types of engines: turbojet engines for flight at subsonic speeds/low supersonic speeds; ramjet engines for flight at moderate supersonic speeds/low hypersonic speeds; scramjet engines for flight at hypersonic speeds; and rocket engines for flight at near-orbital speeds. A single-stage-to-orbit (SSTO) configuration is considered, and the transition from low supersonic speeds to orbital speeds is studied under the following assumptions: the turbojet portion of the trajectory has been completed; the aerospace plane is controlled via the angle of attack and the power setting; the aerodynamic model is the generic hypersonic aerodynamics model example (GHAME). Concerning the engine model, three options are considered: (EM1), a ramjet/scramjet combination in which the scramjet specific impulse tends to a nearly-constant value at large Mach numbers; (EM2), a ramjet/scramjet combination in which the scramjet specific impulse decreases monotonically at large Mach numbers; and (EM3), a ramjet/scramjet/rocket combination in which, owing to stagnation temperature limitations, the scramjet operates only at M approx. less than 15; at higher Mach numbers, the scramjet is shut off and the aerospace plane is driven only by the rocket engines. Under the above assumptions, four optimization problems are solved using the sequential gradient-restoration algorithm for optimal control problems: (P1) minimization of the weight of fuel consumed; (P2) minimization of the peak dynamic pressure; (P3) minimization of the peak heating rate; and (P4) minimization of the peak tangential acceleration.

Indirect adaptive output feedback control of a biorobotic AUV using pectoral-like mechanical fins.

PubMed

Naik, Mugdha S; Singh, Sahjendra N; Mittal, Rajat

2009-06-01

This paper treats the question of servoregulation of autonomous underwater vehicles (AUVs) in the yaw plane using pectoral-like mechanical fins. The fins attached to the vehicle have oscillatory swaying and yawing motion. The bias angle of the angular motion of the fin is used for the purpose of control. Of course, the design approach considered here is applicable to AUVs for other choices of oscillation patterns of the fins, which produce periodic forces and moments. It is assumed that the vehicle parameters, hydrodynamic coefficients, as well the fin forces and moments are unknown. For the trajectory control of the yaw angle, a sampled-data indirect adaptive control system using output (yaw angle) feedback is derived. The control system has a modular structure, which includes a parameter identifier and a stabilizer. For the control law derivation, an internal model of the exosignals (reference signal (constant or ramp) and constant disturbance) is included. Unlike the direct adaptive control scheme, the derived control law is applicable to minimum as well as nonminimum phase biorobotic AUVs (BAUVs). This is important, because for most of the fin locations on the vehicle, the model is a nonminimum phase. In the closed-loop system, the yaw angle trajectory tracking error converges to zero and the remaining state variables remain bounded. Simulation results are presented which show that the derived modular control system accomplishes precise set point yaw angle control and turning maneuvers in spite of the uncertainties in the system parameters using only yaw angle feedback.

Collision avoidance for aircraft in abort landing

NASA Astrophysics Data System (ADS)

Mathwig, Jarret

We study the collision avoidance between two aircraft flying in the same vertical plane: a host aircraft on a glide path and an intruder aircraft on a horizontal trajectory below that of the host aircraft and heading in the opposite direction. Assuming that the intruder aircraft is uncooperative, the host aircraft executes an optimal abort landing maneuver: it applies maximum thrust setting and maximum angle of attack lifting the flight path over the original path, thereby increasing the timewise minimum distance between the two aircraft and, in this way, avoiding the potential collision. In the presence of weak constraints on the aircraft and/or the environment, the angle of attack must be brought to the maximum value and kept there until the maximin point is reached. On the other hand, in the presence of strong constraints on the aircraft and the environment, desaturation of the angle of attack might have to take place before the maximin point is reached. This thesis includes four parts. In the first part, after an introduction and review of the available literature, we reformulate and solve the one-subarc Chebyshev maximin problem as a two-subarc Bolza-Pontryagin problem in which the avoidance and the recovery maneuvers are treated simultaneously. In the second part, we develop a guidance scheme (gamma guidance) capable of approximating the optimal trajectory in real time. In the third part, we present the algorithms employed to solve the one-subarc and two-subarc problems. In the fourth part, we decompose the two-subarc Bolza-Pontryagin problem into two one-subarc problems: the avoidance problem and the recovery problem, to be solved in sequence; remarkably, for problems where the ratio of total maneuver time to avoidance time is sufficiently large (≥5), this simplified procedure predicts accurately the location of the maximin point as well as the maximin distance.

Adapted RF pulse design for SAR reduction in parallel excitation with experimental verification at 9.4 T.

PubMed

Wu, Xiaoping; Akgün, Can; Vaughan, J Thomas; Andersen, Peter; Strupp, John; Uğurbil, Kâmil; Van de Moortele, Pierre-François

2010-07-01

Parallel excitation holds strong promises to mitigate the impact of large transmit B1 (B+1) distortion at very high magnetic field. Accelerated RF pulses, however, inherently tend to require larger values in RF peak power which may result in substantial increase in Specific Absorption Rate (SAR) in tissues, which is a constant concern for patient safety at very high field. In this study, we demonstrate adapted rate RF pulse design allowing for SAR reduction while preserving excitation target accuracy. Compared with other proposed implementations of adapted rate RF pulses, our approach is compatible with any k-space trajectories, does not require an analytical expression of the gradient waveform and can be used for large flip angle excitation. We demonstrate our method with numerical simulations based on electromagnetic modeling and we include an experimental verification of transmit pattern accuracy on an 8 transmit channel 9.4 T system.

Guidance control of small UAV with energy and maneuverability limitations for a search and coverage mission

NASA Astrophysics Data System (ADS)

Gramajo, German G.

This thesis presents an algorithm for a search and coverage mission that has increased autonomy in generating an ideal trajectory while explicitly considering the available energy in the optimization. Further, current algorithms used to generate trajectories depend on the operator providing a discrete set of turning rate requirements to obtain an optimal solution. This work proposes an additional modification to the algorithm so that it optimizes the trajectory for a range of turning rates instead of a discrete set of turning rates. This thesis conducts an evaluation of the algorithm with variation in turn duration, entry-heading angle, and entry point. Comparative studies of the algorithm with existing method indicates improved autonomy in choosing the optimization parameters while producing trajectories with better coverage area and closer final distance to the desired terminal point.

How moths escape bats: predicting outcomes of predator-prey interactions.

PubMed

Corcoran, Aaron J; Conner, William E

2016-09-01

What determines whether fleeing prey escape from attacking predators? To answer this question, biologists have developed mathematical models that incorporate attack geometries, pursuit and escape trajectories, and kinematics of predator and prey. These models have rarely been tested using data from actual predator-prey encounters. To address this problem, we recorded multi-camera infrared videography of bat-insect interactions in a large outdoor enclosure. We documented 235 attacks by four Myotis volans bats on a variety of moths. Bat and moth flight trajectories from 50 high-quality attacks were reconstructed in 3-D. Despite having higher maximum velocity, deceleration and overall turning ability, bats only captured evasive prey in 69 of 184 attacks (37.5%); bats captured nearly all moths not evading attack (50 of 51; 98%). Logistic regression indicated that prey radial acceleration and escape angle were the most important predictors of escape success (44 of 50 attacks correctly classified; 88%). We found partial support for the turning gambit mathematical model; however, it underestimated the escape threshold by 25% of prey velocity and did not account for prey escape angle. Whereas most prey escaping strikes flee away from predators, moths typically escaped chasing bats by turning with high radial acceleration toward 'safety zones' that flank the predator. This strategy may be widespread in prey engaged in chases. Based on these findings, we developed a novel geometrical model of predation. We discuss implications of this model for the co-evolution of predator and prey kinematics and pursuit and escape strategies. © 2016. Published by The Company of Biologists Ltd.

Whole limb kinematics are preferentially conserved over individual joint kinematics after peripheral nerve injury

PubMed Central

Chang, Young-Hui; Auyang, Arick G.; Scholz, John P.; Nichols, T. Richard

2009-01-01

Summary Biomechanics and neurophysiology studies suggest whole limb function to be an important locomotor control parameter. Inverted pendulum and mass-spring models greatly reduce the complexity of the legs and predict the dynamics of locomotion, but do not address how numerous limb elements are coordinated to achieve such simple behavior. As a first step, we hypothesized whole limb kinematics were of primary importance and would be preferentially conserved over individual joint kinematics after neuromuscular injury. We used a well-established peripheral nerve injury model of cat ankle extensor muscles to generate two experimental injury groups with a predictable time course of temporary paralysis followed by complete muscle self-reinnervation. Mean trajectories of individual joint kinematics were altered as a result of deficits after injury. By contrast, mean trajectories of limb orientation and limb length remained largely invariant across all animals, even with paralyzed ankle extensor muscles, suggesting changes in mean joint angles were coordinated as part of a long-term compensation strategy to minimize change in whole limb kinematics. Furthermore, at each measurement stage (pre-injury, paralytic and self-reinnervated) step-by-step variance of individual joint kinematics was always significantly greater than that of limb orientation. Our results suggest joint angle combinations are coordinated and selected to stabilize whole limb kinematics against short-term natural step-by-step deviations as well as long-term, pathological deviations created by injury. This may represent a fundamental compensation principle allowing animals to adapt to changing conditions with minimal effect on overall locomotor function. PMID:19837893

Interpretation of deep directional resistivity measurements acquired in high-angle and horizontal wells using 3-D inversion

NASA Astrophysics Data System (ADS)

Puzyrev, Vladimir; Torres-Verdín, Carlos; Calo, Victor

2018-05-01

The interpretation of resistivity measurements acquired in high-angle and horizontal wells is a critical technical problem in formation evaluation. We develop an efficient parallel 3-D inversion method to estimate the spatial distribution of electrical resistivity in the neighbourhood of a well from deep directional electromagnetic induction measurements. The methodology places no restriction on the spatial distribution of the electrical resistivity around arbitrary well trajectories. The fast forward modelling of triaxial induction measurements performed with multiple transmitter-receiver configurations employs a parallel direct solver. The inversion uses a pre-conditioned gradient-based method whose accuracy is improved using the Wolfe conditions to estimate optimal step lengths at each iteration. The large transmitter-receiver offsets, used in the latest generation of commercial directional resistivity tools, improve the depth of investigation to over 30 m from the wellbore. Several challenging synthetic examples confirm the feasibility of the full 3-D inversion-based interpretations for these distances, hence enabling the integration of resistivity measurements with seismic amplitude data to improve the forecast of the petrophysical and fluid properties. Employing parallel direct solvers for the triaxial induction problems allows for large reductions in computational effort, thereby opening the possibility to invert multiposition 3-D data in practical CPU times.

Open-field arena boundary is a primary object of exploration for Drosophila

PubMed Central

Soibam, Benjamin; Mann, Monica; Liu, Lingzhi; Tran, Jessica; Lobaina, Milena; Kang, Yuan Yuan; Gunaratne, Gemunu H; Pletcher, Scott; Roman, Gregg

2012-01-01

Drosophila adults, when placed into a novel open-field arena, initially exhibit an elevated level of activity followed by a reduced stable level of spontaneous activity and spend a majority of time near the arena edge, executing motions along the walls. In order to determine the environmental features that are responsible for the initial high activity and wall-following behavior exhibited during exploration, we examined wild-type and visually impaired mutants in arenas with different vertical surfaces. These experiments support the conclusion that the wall-following behavior of Drosophila is best characterized by a preference for the arena boundary, and not thigmotaxis or centrophobicity. In circular arenas, Drosophila mostly move in trajectories with low turn angles. Since the boundary preference could derive from highly linear trajectories, we further developed a simulation program to model the effects of turn angle on the boundary preference. In an hourglass-shaped arena with convex-angled walls that forced a straight versus wall-following choice, the simulation with constrained turn angles predicted general movement across a central gap, whereas Drosophila tend to follow the wall. Hence, low turn angled movement does not drive the boundary preference. Lastly, visually impaired Drosophila demonstrate a defect in attenuation of the elevated initial activity. Interestingly, the visually impaired w1118 activity decay defect can be rescued by increasing the contrast of the arena's edge, suggesting that the activity decay relies on visual detection of the boundary. The arena boundary is, therefore, a primary object of exploration for Drosophila. PMID:22574279

Exposure of a Food Crop to Trichloroethylene from a Contaminated Aquifer

DTIC Science & Technology

1994-09-01

Chemicals From Soils," Chemosphere, 17(122): 2299-2323. 1988 Serway , Raymond A . Physics for Scientists and Engineers, (Second Edition). Philadelphia...trajectory equation ( Serway , 1986:61): Vd sin ( a ) td = g a = initial angle of trajectory (assume 300) g = acceleration due to gravity (980 cm / s2) This is...1 N/m2 ( Serway , 1986:317) For this Henrys constant and unstirred water, Chiou indicates an a of .9 (Chiou, 1979:235). The a for unstirred water is

Low-Thrust Many-Revolution Trajectory Optimization via Differential Dynamic Programming and a Sundman Transformation

NASA Astrophysics Data System (ADS)

Aziz, Jonathan D.; Parker, Jeffrey S.; Scheeres, Daniel J.; Englander, Jacob A.

2018-01-01

Low-thrust trajectories about planetary bodies characteristically span a high count of orbital revolutions. Directing the thrust vector over many revolutions presents a challenging optimization problem for any conventional strategy. This paper demonstrates the tractability of low-thrust trajectory optimization about planetary bodies by applying a Sundman transformation to change the independent variable of the spacecraft equations of motion to an orbit angle and performing the optimization with differential dynamic programming. Fuel-optimal geocentric transfers are computed with the transfer duration extended up to 2000 revolutions. The flexibility of the approach to higher fidelity dynamics is shown with Earth's J 2 perturbation and lunar gravity included for a 500 revolution transfer.

Low-Thrust Many-Revolution Trajectory Optimization via Differential Dynamic Programming and a Sundman Transformation

NASA Astrophysics Data System (ADS)

Aziz, Jonathan D.; Parker, Jeffrey S.; Scheeres, Daniel J.; Englander, Jacob A.

2018-06-01

Low-thrust trajectories about planetary bodies characteristically span a high count of orbital revolutions. Directing the thrust vector over many revolutions presents a challenging optimization problem for any conventional strategy. This paper demonstrates the tractability of low-thrust trajectory optimization about planetary bodies by applying a Sundman transformation to change the independent variable of the spacecraft equations of motion to an orbit angle and performing the optimization with differential dynamic programming. Fuel-optimal geocentric transfers are computed with the transfer duration extended up to 2000 revolutions. The flexibility of the approach to higher fidelity dynamics is shown with Earth's J 2 perturbation and lunar gravity included for a 500 revolution transfer.

Mars Entry Atmospheric Data System Trajectory Reconstruction Algorithms and Flight Results

NASA Technical Reports Server (NTRS)

Karlgaard, Christopher D.; Kutty, Prasad; Schoenenberger, Mark; Shidner, Jeremy; Munk, Michelle

2013-01-01

The Mars Entry Atmospheric Data System is a part of the Mars Science Laboratory, Entry, Descent, and Landing Instrumentation project. These sensors are a system of seven pressure transducers linked to ports on the entry vehicle forebody to record the pressure distribution during atmospheric entry. These measured surface pressures are used to generate estimates of atmospheric quantities based on modeled surface pressure distributions. Specifically, angle of attack, angle of sideslip, dynamic pressure, Mach number, and freestream atmospheric properties are reconstructed from the measured pressures. Such data allows for the aerodynamics to become decoupled from the assumed atmospheric properties, allowing for enhanced trajectory reconstruction and performance analysis as well as an aerodynamic reconstruction, which has not been possible in past Mars entry reconstructions. This paper provides details of the data processing algorithms that are utilized for this purpose. The data processing algorithms include two approaches that have commonly been utilized in past planetary entry trajectory reconstruction, and a new approach for this application that makes use of the pressure measurements. The paper describes assessments of data quality and preprocessing, and results of the flight data reduction from atmospheric entry, which occurred on August 5th, 2012.

C-arm based cone-beam CT using a two-concentric-arc source trajectory: system evaluation

NASA Astrophysics Data System (ADS)

Zambelli, Joseph; Zhuang, Tingliang; Nett, Brian E.; Riddell, Cyril; Belanger, Barry; Chen, Guang-Hong

2008-03-01

The current x-ray source trajectory for C-arm based cone-beam CT is a single arc. Reconstruction from data acquired with this trajectory yields cone-beam artifacts for regions other than the central slice. In this work we present the preliminary evaluation of reconstruction from a source trajectory of two concentric arcs using a flat-panel detector equipped C-arm gantry (GE Healthcare Innova 4100 system, Waukesha, Wisconsin). The reconstruction method employed is a summation of FDK-type reconstructions from the two individual arcs. For the angle between arcs studied here, 30°, this method offers a significant reduction in the visibility of cone-beam artifacts, with the additional advantages of simplicity and ease of implementation due to the fact that it is a direct extension of the reconstruction method currently implemented on commercial systems. Reconstructed images from data acquired from the two arc trajectory are compared to those reconstructed from a single arc trajectory and evaluated in terms of spatial resolution, low contrast resolution, noise, and artifact level.

C-arm based cone-beam CT using a two-concentric-arc source trajectory: system evaluation.

PubMed

Zambelli, Joseph; Zhuang, Tingliang; Nett, Brian E; Riddell, Cyril; Belanger, Barry; Chen, Guang-Hong

2008-01-01

The current x-ray source trajectory for C-arm based cone-beam CT is a single arc. Reconstruction from data acquired with this trajectory yields cone-beam artifacts for regions other than the central slice. In this work we present the preliminary evaluation of reconstruction from a source trajectory of two concentric arcs using a flat-panel detector equipped C-arm gantry (GE Healthcare Innova 4100 system, Waukesha, Wisconsin). The reconstruction method employed is a summation of FDK-type reconstructions from the two individual arcs. For the angle between arcs studied here, 30°, this method offers a significant reduction in the visibility of cone-beam artifacts, with the additional advantages of simplicity and ease of implementation due to the fact that it is a direct extension of the reconstruction method currently implemented on commercial systems. Reconstructed images from data acquired from the two arc trajectory are compared to those reconstructed from a single arc trajectory and evaluated in terms of spatial resolution, low contrast resolution, noise, and artifact level.

Experimental investigation on underwater trajectory deviation of high-speed projectile with different nose shape

NASA Astrophysics Data System (ADS)

Zhang, Wei; Qi, Yafei; Huang, Wei; Gao, Yubo

2017-01-01

The investigation on free-surface impact of projectiles has last for more than one hundred years due to its noticeable significance on improving defensive weapon technology. Laboratory-scaled water entry experiments for trajectory stability had been performed with four kinds of projectiles at a speed range of 20˜200 m/s. The nose shapes of the cylindrical projectiles were designed into flat, ogive, hemi-sphere and cone to make comparisons on the trajectory deviation when they were launched into water at a certain angle of 0˜20°. Two high-speed cameras positioned orthogonal to each other and normal to the water tank were employed to capture the entire process of projectiles' penetration. From the experimental results, the consecutive images in two planes were presented to display the general process of the trajectory deviation. Compared with the effect of impact velocities and nose shape on trajectory deviation, it merited conclude that flat projectiles had a better trajectory stability, while ogival projectiles experienced the largest attitude change. The characteristics of pressure waves were also investigated.

The balance and harmony of control power for a combat aircraft in tactical maneuvering

NASA Technical Reports Server (NTRS)

Bocvarov, Spiro; Cliff, Eugene M.; Lutze, Frederick H.

1992-01-01

An analysis is presented for a family of regular extremal attitude-maneuvers for the High Angle-of-Attack Research Vehicle that has thrust-vectoring capability. Different levels of dynamic coupling are identified in the combat aircraft attitude model, and the characteristic extremal-family motion is explained. It is shown why the extremal-family trajectories develop small sideslip-angles, a highly desirable feature from a practical viewpoint.

Adding rotation to translation: percepts and illusions.

PubMed

Magnussen, Camilla M; Orbach, Harry S; Loffler, Gunter

2014-01-01

This study investigated how the perception of a translating object is affected by rotation. Observers were asked to judge the motion and trajectory of objects that rotated around their centroid while linearly translating. The expected percept, consistent with the actual dynamics used to generate the movie sequences, is that of a translating and rotating object, akin to a tumbling rugby ball. Observers, however, do not always report this and, under certain circumstances, perceive the object to translate on an illusory curved trajectory, similar to a car driving on a curved road. The prevalence of veridical versus nonveridical percepts depends on a number of factors. First, if the object's orientation remains within a limited range relative to the axis of translation, the illusory, curved percept dominates. If the orientation, at any point of the movie sequence, differs sufficiently from the axis of translation, the percept switches to linear translation with rotation. The angle at which the switch occurs is dependent upon a number of factors that relate to an object's elongation and, with it, the prominence of its orientation. For an ellipse with an aspect ratio of 3, the switch occurs at approximately 45 degrees. Higher aspect ratios increase the range; lower ratios decrease it. This applies similarly to rectangular shapes. A line is more likely to be perceived on a curved trajectory than an elongated rectangle, which, in turn, is more likely seen on a curved path than a square. This is largely independent of rotational and translational speeds. Measuring perceived directions of motion at different instants in time allows the shape of the perceived illusory curved path to be extrapolated. This results in a trajectory that is independent of object size and corresponds closely to the actual object orientation at different points during the movie sequence. The results provide evidence for a perceptual transition from an illusory curved trajectory to a veridical linear trajectory (with rotation) for the same object. Both are consistent with special real-world cases such as objects rotating around a centre outside of the object so that their orientation remains tangent to the trajectory (cheetahs running along a curve, sailboats) or objects tumbling along simple trajectories (a monkey spinning in air, spinning cars on ice). In certain cases, the former is an illusion.

Development of a Smooth Trajectory Maneuver Method to Accommodate the Ares I Flight Control Constraints

NASA Technical Reports Server (NTRS)

Pinson, Robin M.; Schmitt, Terri L.; Hanson, John M.

2008-01-01

Six degree-of-freedom (DOF) launch vehicle trajectories are designed to follow an optimized 3-DOF reference trajectory. A vehicle has a finite amount of control power that it can allocate to performing maneuvers. Therefore, the 3-DOF trajectory must be designed to refrain from using 100% of the allowable control capability to perform maneuvers, saving control power for handling off-nominal conditions, wind gusts and other perturbations. During the Ares I trajectory analysis, two maneuvers were found to be hard for the control system to implement; a roll maneuver prior to the gravity turn and an angle of attack maneuver immediately after the J-2X engine start-up. It was decided to develop an approach for creating smooth maneuvers in the optimized reference trajectories that accounts for the thrust available from the engines. A feature of this method is that no additional angular velocity in the direction of the maneuver has been added to the vehicle after the maneuver completion. This paper discusses the equations behind these new maneuvers and their implementation into the Ares I trajectory design cycle. Also discussed is a possible extension to adjusting closed-loop guidance.

Entrainment and scattering in microswimmer-colloid interactions

NASA Astrophysics Data System (ADS)

Shum, Henry; Yeomans, Julia M.

2017-11-01

We use boundary element simulations to study the interaction of model microswimmers with a neutrally buoyant spherical particle. The ratio of the size of the particle to that of the swimmer is varied from RP/RS≪1 , corresponding to swimmer-tracer scattering, to RP/RS≫1 , approximately equivalent to the swimmer interacting with a fixed, flat surface. We find that details of the swimmer and particle trajectories vary for different swimmers. However, the overall characteristics of the scattering event fall into two regimes, depending on the relative magnitudes of the impact parameter, ρ , and the collision radius, Rcoll=RP+RS . The range of particle motion, defined as the maximum distance between two points on the trajectory, has only a weak dependence on the impact parameter when ρ Rcoll the range decreases as a power law in ρ and is insensitive to the size of the particle. We also demonstrate that large particles can cause swimmers to be deflected through large angles. In some instances, this swimmer deflection can lead to larger net displacements of the particle. Based on these results, we estimate the effective diffusivity of a particle in a dilute bath of swimmers and show that there is a nonmonotonic dependence on particle radius. Similarly, we show that the effective diffusivity of a swimmer scattering in a suspension of particles varies nonmonotonically with particle radius.

Trajectory Design for the Microwave Anisotropy Probe (MAP)

NASA Technical Reports Server (NTRS)

Newman, Lauri Kraft; Rohrbaugh, David; Bauer, Frank H. (Technical Monitor)

2001-01-01

The Microwave Anisotropy, Probe (MAP) is a Medium Class Explorers (MIDEX) Mission produced in partnership between Goddard Space Flight Center (GSFC) and Princeton University. The goal of the MAP mission is to produce an accurate fill-sky, map of the cosmic microwave background temperature fluctuations (anisotropy). The mission orbit is a Lissajous orbit about the L(sub 2) Sun-Earth Lagrange point. The trajectory design for MAP is complex, having many requirements that must be met including shadow avoidance, sun angle constraints, Lissqjous size and shape characteristics, and limited Delta-V budget. In order to find a trajectory that met the design requirements for the entire 4-year mission lifetime goal, GSFC Flight Dynamics engineers performed many analyses, the results of which are presented herein. The paper discusses the preliminary trade-offs to establish a baseline trajectory, analysis to establish the nominal daily trajectory, and the launch window determination to widen the opportunity from instantaneous to several minutes for each launch date.

Near-Optimal Re-Entry Trajectories for Reusable Launch Vehicles

NASA Technical Reports Server (NTRS)

Chou, H.-C.; Ardema, M. D.; Bowles, J. V.

1997-01-01

A near-optimal guidance law for the descent trajectory for earth orbit re-entry of a fully reusable single-stage-to-orbit pure rocket launch vehicle is derived. A methodology is developed to investigate using both bank angle and altitude as control variables and selecting parameters that maximize various performance functions. The method is based on the energy-state model of the aircraft equations of motion. The major task of this paper is to obtain optimal re-entry trajectories under a variety of performance goals: minimum time, minimum surface temperature, minimum heating, and maximum heading change; four classes of trajectories were investigated: no banking, optimal left turn banking, optimal right turn banking, and optimal bank chattering. The cost function is in general a weighted sum of all performance goals. In particular, the trade-off between minimizing heat load into the vehicle and maximizing cross range distance is investigated. The results show that the optimization methodology can be used to derive a wide variety of near-optimal trajectories.

Singular perturbation analysis of AOTV-related trajectory optimization problems

NASA Technical Reports Server (NTRS)

Calise, Anthony J.; Bae, Gyoung H.

1990-01-01

The problem of real time guidance and optimal control of Aeroassisted Orbit Transfer Vehicles (AOTV's) was addressed using singular perturbation theory as an underlying method of analysis. Trajectories were optimized with the objective of minimum energy expenditure in the atmospheric phase of the maneuver. Two major problem areas were addressed: optimal reentry, and synergetic plane change with aeroglide. For the reentry problem, several reduced order models were analyzed with the objective of optimal changes in heading with minimum energy loss. It was demonstrated that a further model order reduction to a single state model is possible through the application of singular perturbation theory. The optimal solution for the reduced problem defines an optimal altitude profile dependent on the current energy level of the vehicle. A separate boundary layer analysis is used to account for altitude and flight path angle dynamics, and to obtain lift and bank angle control solutions. By considering alternative approximations to solve the boundary layer problem, three guidance laws were derived, each having an analytic feedback form. The guidance laws were evaluated using a Maneuvering Reentry Research Vehicle model and all three laws were found to be near optimal. For the problem of synergetic plane change with aeroglide, a difficult terminal boundary layer control problem arises which to date is found to be analytically intractable. Thus a predictive/corrective solution was developed to satisfy the terminal constraints on altitude and flight path angle. A composite guidance solution was obtained by combining the optimal reentry solution with the predictive/corrective guidance method. Numerical comparisons with the corresponding optimal trajectory solutions show that the resulting performance is very close to optimal. An attempt was made to obtain numerically optimized trajectories for the case where heating rate is constrained. A first order state variable inequality constraint was imposed on the full order AOTV point mass equations of motion, using a simple aerodynamic heating rate model.

Flexible body dynamics of the goldfish C-start: implications for reticulospinal command mechanisms.

PubMed

Eaton, R C; DiDomenico, R; Nissanov, J

1988-08-01

As a model for learning how reticulospinal networks coordinate movement, we have analyzed the function of the Mauthner (M-) neurons in the escape response of the goldfish. We used water displacements of 3-6 micron to elicit C-start escape responses. These responses consist of 2 fundamental movements that grade into each other: Stage 1 lasts 15-40 msec and rotates the body 30 degrees-100 degrees about the center of mass; stage 2 is an axial acceleration that moves the center of mass 2-6 cm. Combined, the 2 stages result in trajectory turns ranging from 15 degrees to 135 degrees. Thus, these data show that M-initiated C-starts are not fixed movement patterns. The durations of stage 1 body muscle EMGs were correlated with turn angles achieved during stage 1. Since variable stage 1 EMGs are not seen when the M-cell is triggered by itself, other circuits, independent of the M-cell, must control the extent of the initial turn, and consequently escape trajectory. Furthermore, turning angles of stages 1 and 2 were correlated, allowing escape trajectory to be predicted, on average, 26 msec after movement started. This suggests that the commands for escape trajectory should be organized by the end of stage 1. In concert with this, the time of onset of the stage 2 EMG preceded the stage 2 onset by a range with a mean of 28.4 msec, typically putting the stage 2 command at the beginning of stage 1 movement. Thus, stage 2 initiation does not require motion-dependent feedback. Our findings indicate that the Mauthner cell initiates the first of a series of motor commands that establish the initial left-right decision of the escape sequence from the side of the stimulus, whereas parallel circuits simultaneously organize the command controlling the escape angle.

Optimum Strategies for Selecting Descent Flight-Path Angles

NASA Technical Reports Server (NTRS)

Wu, Minghong G. (Inventor); Green, Steven M. (Inventor)

2016-01-01

An information processing system and method for adaptively selecting an aircraft descent flight path for an aircraft, are provided. The system receives flight adaptation parameters, including aircraft flight descent time period, aircraft flight descent airspace region, and aircraft flight descent flyability constraints. The system queries a plurality of flight data sources and retrieves flight information including any of winds and temperatures aloft data, airspace/navigation constraints, airspace traffic demand, and airspace arrival delay model. The system calculates a set of candidate descent profiles, each defined by at least one of a flight path angle and a descent rate, and each including an aggregated total fuel consumption value for the aircraft following a calculated trajectory, and a flyability constraints metric for the calculated trajectory. The system selects a best candidate descent profile having the least fuel consumption value while the fly ability constraints metric remains within aircraft flight descent flyability constraints.

Energy and time optimal trajectories in exploratory jumps of the spider Phidippus regius.

PubMed

Nabawy, Mostafa R A; Sivalingam, Girupakaran; Garwood, Russell J; Crowther, William J; Sellers, William I

2018-05-08

Jumping spiders are proficient jumpers that use jumps in a variety of behavioural contexts. We use high speed, high resolution video to measure the kinematics of a single regal jumping spider for a total of 15 different tasks based on a horizontal gap of 2-5 body lengths and vertical gap of +/-2 body lengths. For short range jumps, we show that low angled trajectories are used that minimise flight time. For longer jumps, take-off angles are steeper and closer to the optimum for minimum energy cost of transport. Comparison of jump performance against other arthropods shows that Phidippus regius is firmly in the group of animals that use dynamic muscle contraction for actuation as opposed to a stored energy catapult system. We find that the jump power requirements can be met from the estimated mass of leg muscle; hydraulic augmentation may be present but appears not to be energetically essential.

High-precision tracking of brownian boomerang colloidal particles confined in quasi two dimensions.

PubMed

Chakrabarty, Ayan; Wang, Feng; Fan, Chun-Zhen; Sun, Kai; Wei, Qi-Huo

2013-11-26

In this article, we present a high-precision image-processing algorithm for tracking the translational and rotational Brownian motion of boomerang-shaped colloidal particles confined in quasi-two-dimensional geometry. By measuring mean square displacements of an immobilized particle, we demonstrate that the positional and angular precision of our imaging and image-processing system can achieve 13 nm and 0.004 rad, respectively. By analyzing computer-simulated images, we demonstrate that the positional and angular accuracies of our image-processing algorithm can achieve 32 nm and 0.006 rad. Because of zero correlations between the displacements in neighboring time intervals, trajectories of different videos of the same particle can be merged into a very long time trajectory, allowing for long-time averaging of different physical variables. We apply this image-processing algorithm to measure the diffusion coefficients of boomerang particles of three different apex angles and discuss the angle dependence of these diffusion coefficients.

Center of mass trajectory and orientation to ankle and knee in sagittal plane is maintained with forward lean when backpack load changes during treadmill walking.

PubMed

Caron, Robert R; Wagenaar, Robert C; Lewis, Cara L; Saltzman, Elliot; Holt, Kenneth G

2013-01-04

Maintaining the normal shape and amplitude of the vertical trajectory of the center of mass (COM) during stance has been shown to maximize the efficiency of unloaded gait. Kinematic adaptations to load carriage, such as forward lean have yet to be understood in relation to COM movement. The purpose of this study is to better understand how load impacts the vertical COM(TSYS) trajectory and to clarify the impact of forward lean as it relates to the dynamics of sagittal plane COM(TSYS) movement during stance with changing load. 17 subjects walked on treadmill at a constant preferred walking velocity while nine different loads ranging from 12.5% to 40% bodyweight were systematically added and removed from a backpack. Kinematic data were collected using an Optotrak, three-dimensional motion analysis system and used to estimate position of the COM as well as segment and COM-to-joint vector orientation angles. The shape and amplitude of the COM vertical trajectory was maintained across all loaded conditions. The orientations of COM-to-ankle and -knee vectors were maintained in all loaded conditions except the heaviest load (40% BW). Results suggest that forward lean changed linearly with changes in load to maintain the COM-to-ankle and -knee vector orientations. COM vertical trajectory was maintained by a combination of invariants including lower-limb segment angles and a constant direction of toe-off impulse vector. The kinematic invariants found suggest a simplified control mechanism by which the system limits degrees of freedom and potentially minimizes torque about lower-extremity joints with added load. Copyright © 2012 Elsevier Ltd. All rights reserved.

Optimization of Orifice Geometry for Cross-Flow Mixing in a Cylindrical Duct

NASA Technical Reports Server (NTRS)

Sowa, W. A.; Kroll, J. T.; Samuelsen, G. S.; Holdeman, J. D.

1994-01-01

Mixing of gaseous jets in a cross-flow has significant applications in engineering, one example of which is the dilution zone of a gas turbine combustor. Despite years of study, the design of jet injection in combustors is largely based on practical experience. A series of experiments was undertaken to delineate the optimal mixer orifice geometry. A cross-flow to core-flow momentum-flux ratio of 40 and a mass flow ratio of 2.5 were selected as representative of an advanced design. An experimental test matrix was designed around three variables: the number of orifices, the orifice aspect ratio (long-to-short dimension), and the orifice angle. A regression analysis was performed on the data to arrive at an interpolating equation that predicted the mixing performance of orifice geometry combinations within the range of the test matrix parameters. Results indicate that mixture uniformity is a non-linear function of the number of orifices, the orifice aspect ratio, and the orifice angle. Optimum mixing occurs when the asymptotic mean jet trajectories are in the range of 0.35 less than r/R less than 0.5 (where r = 0 is at the mixer wall) at z/R = 1.0. At the optimum number of orifices, the difference between shallow-angled slots with large aspect ratios and round holes is minimal and either approach will lead to good mixing performance. At the optimum number of orifices, it appears possible to have two local optimums where one corresponds to an aspect ratio of 1.0 and the other to a high aspect ratio.

Optimal trajectories of aircraft and spacecraft

NASA Technical Reports Server (NTRS)

Miele, A.

1990-01-01

Work done on algorithms for the numerical solutions of optimal control problems and their application to the computation of optimal flight trajectories of aircraft and spacecraft is summarized. General considerations on calculus of variations, optimal control, numerical algorithms, and applications of these algorithms to real-world problems are presented. The sequential gradient-restoration algorithm (SGRA) is examined for the numerical solution of optimal control problems of the Bolza type. Both the primal formulation and the dual formulation are discussed. Aircraft trajectories, in particular, the application of the dual sequential gradient-restoration algorithm (DSGRA) to the determination of optimal flight trajectories in the presence of windshear are described. Both take-off trajectories and abort landing trajectories are discussed. Take-off trajectories are optimized by minimizing the peak deviation of the absolute path inclination from a reference value. Abort landing trajectories are optimized by minimizing the peak drop of altitude from a reference value. Abort landing trajectories are optimized by minimizing the peak drop of altitude from a reference value. The survival capability of an aircraft in a severe windshear is discussed, and the optimal trajectories are found to be superior to both constant pitch trajectories and maximum angle of attack trajectories. Spacecraft trajectories, in particular, the application of the primal sequential gradient-restoration algorithm (PSGRA) to the determination of optimal flight trajectories for aeroassisted orbital transfer are examined. Both the coplanar case and the noncoplanar case are discussed within the frame of three problems: minimization of the total characteristic velocity; minimization of the time integral of the square of the path inclination; and minimization of the peak heating rate. The solution of the second problem is called nearly-grazing solution, and its merits are pointed out as a useful engineering compromise between energy requirements and aerodynamics heating requirements.

Effective force control by muscle synergies.

PubMed

Berger, Denise J; d'Avella, Andrea

2014-01-01

Muscle synergies have been proposed as a way for the central nervous system (CNS) to simplify the generation of motor commands and they have been shown to explain a large fraction of the variation in the muscle patterns across a variety of conditions. However, whether human subjects are able to control forces and movements effectively with a small set of synergies has not been tested directly. Here we show that muscle synergies can be used to generate target forces in multiple directions with the same accuracy achieved using individual muscles. We recorded electromyographic (EMG) activity from 13 arm muscles and isometric hand forces during a force reaching task in a virtual environment. From these data we estimated the force associated to each muscle by linear regression and we identified muscle synergies by non-negative matrix factorization. We compared trajectories of a virtual mass displaced by the force estimated using the entire set of recorded EMGs to trajectories obtained using 4-5 muscle synergies. While trajectories were similar, when feedback was provided according to force estimated from recorded EMGs (EMG-control) on average trajectories generated with the synergies were less accurate. However, when feedback was provided according to recorded force (force-control) we did not find significant differences in initial angle error and endpoint error. We then tested whether synergies could be used as effectively as individual muscles to control cursor movement in the force reaching task by providing feedback according to force estimated from the projection of the recorded EMGs into synergy space (synergy-control). Human subjects were able to perform the task immediately after switching from force-control to EMG-control and synergy-control and we found no differences between initial movement direction errors and endpoint errors in all control modes. These results indicate that muscle synergies provide an effective strategy for motor coordination.

Global dynamics of non-equilibrium gliding in animals.

PubMed

Yeaton, Isaac J; Socha, John J; Ross, Shane D

2017-03-17

Gliding flight-moving horizontally downward through the air without power-has evolved in a broad diversity of taxa and serves numerous ecologically relevant functions such as predator escape, expanding foraging locations, and finding mates, and has been suggested as an evolutionary pathway to powered flight. Historically, gliding has been conceptualized using the idealized conditions of equilibrium, in which the net aerodynamic force on the glider balances its weight. While this assumption is appealing for its simplicity, recent studies of glide trajectories have shown that equilibrium gliding is not the norm for most species. Furthermore, equilibrium theory neglects the aerodynamic differences between species, as well as how a glider can modify its glide path using control. To investigate non-equilibrium glide behavior, we developed a reduced-order model of gliding that accounts for self-similarity in the equations of motion, such that the lift and drag characteristics alone determine the glide trajectory. From analysis of velocity polar diagrams of horizontal and vertical velocity from several gliding species, we find that pitch angle, the angle between the horizontal and chord line, is a control parameter that can be exploited to modulate glide angle and glide speed. Varying pitch results in changing locations of equilibrium glide configurations in the velocity polar diagram that govern passive glide dynamics. Such analyses provide a new mechanism of interspecies comparison and tools to understand experimentally-measured kinematics data and theory. In addition, this analysis suggests that the lift and drag characteristics of aerial and aquatic autonomous gliders can be engineered to passively alter glide trajectories with minimal control effort.

Downlink Probability Density Functions for EOS-McMurdo Sound

NASA Technical Reports Server (NTRS)

Christopher, P.; Jackson, A. H.

1996-01-01

The visibility times and communication link dynamics for the Earth Observations Satellite (EOS)-McMurdo Sound direct downlinks have been studied. The 16 day EOS periodicity may be shown with the Goddard Trajectory Determination System (GTDS) and the entire 16 day period should be simulated for representative link statistics. We desire many attributes of the downlink, however, and a faster orbital determination method is desirable. We use the method of osculating elements for speed and accuracy in simulating the EOS orbit. The accuracy of the method of osculating elements is demonstrated by closely reproducing the observed 16 day Landsat periodicity. An autocorrelation function method is used to show the correlation spike at 16 days. The entire 16 day record of passes over McMurdo Sound is then used to generate statistics for innage time, outage time, elevation angle, antenna angle rates, and propagation loss. The levation angle probability density function is compared with 1967 analytic approximation which has been used for medium to high altitude satellites. One practical result of this comparison is seen to be the rare occurrence of zenith passes. The new result is functionally different than the earlier result, with a heavy emphasis on low elevation angles. EOS is one of a large class of sun synchronous satellites which may be downlinked to McMurdo Sound. We examine delay statistics for an entire group of sun synchronous satellites ranging from 400 km to 1000 km altitude. Outage probability density function results are presented three dimensionally.

Control Mechanisms of Photoisomerization in Protonated Schiff Bases.

PubMed

Vuković, Lela; Burmeister, Carl F; Král, Petr; Groenhof, Gerrit

2013-03-21

We performed ab initio excited-state molecular dynamics simulations of a gas-phase photoexcited protonated Schiff base (C1-N2═C3-C4═C5-C6) to search for control mechanisms of its photoisomerization. The excited molecule twists by ∼90° around either the N2C3 bond or the C4C5 bond and relaxes to the ground electronic state through a conical intersection with either a trans or cis outcome. We show that a large initial distortion of several dihedral angles and a specific normal vibrational mode combining pyramidalization and double-bond twisting can lead to a preferential rotation of atoms around the C4C5 bond. We also show that selective pretwisting of several dihedral angles in the initial ground state thermal ensemble (by analogy to a protein pocket) can significantly increase the fraction of photoreactive (cis → trans) trajectories. We demonstrate that new ensembles with higher degrees of control over the photoisomerization reaction can be obtained by a computational directed evolution approach on the ensembles of molecules with the pretwisted geometries.

A study for the installation of the TEXT heavy-ion beam probe on DIII-D

DOE Office of Scientific and Technical Information (OSTI.GOV)

Edmonds, P.H.; Solano, E.R.; Bravenec, R.V.

1997-01-01

An assessment of the feasibility of installing the TEXT 2 MeV heavy-ion beam probe on the DIII-D tokamak has been completed. Detailed drawings of the machine cross section were imported into the CAD application AutoCAD. A set of programs written in AutoLisp were used to generate trajectories. Displays of the accessible cross section of the plasma, scan lines for the entire range of primary beam energy and injection angle ranges, and sample{endash}volume dimensions can be rapidly generated. Because of the large deflection between the primary input beam and the emergent secondary beam, either the analyzer needs to be tracked overmore » a {plus_minus}20{degree} angle or secondary poloidal deflector plates need to be installed at the exit port. Toroidal deflector plates will be installed at both the injection and exit ports to compensate for toroidal displacements and deflections. The sample volumes generated by this procedure are within a few centimeters of the locations derived from a full three-dimensional calculation.{copyright} {ital 1997 American Institute of Physics.}« less

Small-Caliber Projectile Target Impact Angle Determined From Close Proximity Radiographs

DTIC Science & Technology

2006-10-01

discrete motion data that can be numerically modeled using linear aerodynamic theory or 6-degrees-of- freedom equations of motion. The values of Fφ...Prediction Excel® Spreadsheet shown in figure 9. The Gamma at Impact Spreadsheet uses the linear aerodynamics model , equations 5 and 6, to calculate αT...trajectory angle error via consideration of the RMS fit errors of the actual firings. However, the linear aerodynamics model does not include this effect

Development of an analytical guidance algorithm for lunar descent

NASA Astrophysics Data System (ADS)

Chomel, Christina Tvrdik

In recent years, NASA has indicated a desire to return humans to the moon. With NASA planning manned missions within the next couple of decades, the concept development for these lunar vehicles has begun. The guidance, navigation, and control (GN&C) computer programs that will perform the function of safely landing a spacecraft on the moon are part of that development. The lunar descent guidance algorithm takes the horizontally oriented spacecraft from orbital speeds hundreds of kilometers from the desired landing point to the landing point at an almost vertical orientation and very low speed. Existing lunar descent GN&C algorithms date back to the Apollo era with little work available for implementation since then. Though these algorithms met the criteria of the 1960's, they are cumbersome today. At the basis of the lunar descent phase are two elements: the targeting, which generates a reference trajectory, and the real-time guidance, which forces the spacecraft to fly that trajectory. The Apollo algorithm utilizes a complex, iterative, numerical optimization scheme for developing the reference trajectory. The real-time guidance utilizes this reference trajectory in the form of a quartic rather than a more general format to force the real-time trajectory errors to converge to zero; however, there exist no guarantees under any conditions for this convergence. The proposed algorithm implements a purely analytical targeting algorithm used to generate two-dimensional trajectories "on-the-fly"' or to retarget the spacecraft to another landing site altogether. It is based on the analytical solutions to the equations for speed, downrange, and altitude as a function of flight path angle and assumes two constant thrust acceleration curves. The proposed real-time guidance algorithm has at its basis the three-dimensional non-linear equations of motion and a control law that is proven to converge under certain conditions through Lyapunov analysis to a reference trajectory formatted as a function of downrange, altitude, speed, and flight path angle. The two elements of the guidance algorithm are joined in Monte Carlo analysis to prove their robustness to initial state dispersions and mass and thrust errors. The robustness of the retargeting algorithm is also demonstrated.

Estimation of Center of Mass Trajectory using Wearable Sensors during Golf Swing

PubMed Central

Najafi, Bijan; Lee-Eng, Jacqueline; Wrobel, James S.; Goebel, Ruben

2015-01-01

This study suggests a wearable sensor technology to estimate center of mass (CoM) trajectory during a golf swing. Groups of 3, 4, and 18 participants were recruited, respectively, for the purpose of three validation studies. Study 1 examined the accuracy of the system to estimate a 3D body segment angle compared to a camera-based motion analyzer (Vicon®). Study 2 assessed the accuracy of three simplified CoM trajectory models. Finally, Study 3 assessed the accuracy of the proposed CoM model during multiple golf swings. A relatively high agreement was observed between wearable sensors and the reference (Vicon®) for angle measurement (r > 0.99, random error <1.2° (1.5%) for anterior-posterior; <0.9° (2%) for medial-lateral; and <3.6° (2.5%) for internal-external direction). The two-link model yielded a better agreement with the reference system compared to one-link model (r > 0.93 v. r = 0.52, respectively). On the same note, the proposed two-link model estimated CoM trajectory during golf swing with relatively good accuracy (r > 0.9, A-P random error <1cm (7.7%) and <2cm (10.4%) for M-L). The proposed system appears to accurately quantify the kinematics of CoM trajectory as a surrogate of dynamic postural control during an athlete’s movement and its portability, makes it feasible to fit the competitive environment without restricting surface type. Key points This study demonstrates that wearable technology based on inertial sensors are accurate to estimate center of mass trajectory in complex athletic task (e.g., golf swing) This study suggests that two-link model of human body provides optimum tradeoff between accuracy and minimum number of sensor module for estimation of center of mass trajectory in particular during fast movements. Wearable technologies based on inertial sensors are viable option for assessing dynamic postural control in complex task outside of gait laboratory and constraints of cameras, surface, and base of support. PMID:25983585

Analytical impact time and angle guidance via time-varying sliding mode technique.

PubMed

Zhao, Yao; Sheng, Yongzhi; Liu, Xiangdong

2016-05-01

To concretely provide a feasible solution for homing missiles with the precise impact time and angle, this paper develops a novel guidance law, based on the nonlinear engagement dynamics. The guidance law is firstly designed with the prior assumption of a stationary target, followed by the practical extension to a moving target scenario. The time-varying sliding mode (TVSM) technique is applied to fulfill the terminal constraints, in which a specific TVSM surface is constructed with two unknown coefficients. One is tuned to meet the impact time requirement and the other one is targeted with a global sliding mode, so that the impact angle constraint as well as the zero miss distance can be satisfied. Because the proposed law possesses three guidance gain as design parameters, the intercept trajectory can be shaped according to the operational conditions and missile׳s capability. To improve the tolerance of initial heading errors and broaden the application, a new frame of reference is also introduced. Furthermore, the analytical solutions of the flight trajectory, heading angle and acceleration command can be totally expressed for the prediction and offline parameter selection by solving a first-order linear differential equation. Numerical simulation results for various scenarios validate the effectiveness of the proposed guidance law and demonstrate the accuracy of the analytic solutions. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Retrograde lag screw placement in anterior acetabular column with regard to the anterior pelvic plane and midsagittal plane -- virtual mapping of 260 three-dimensional hemipelvises for quantitative anatomic analysis.

PubMed

Ochs, Bjoern Gunnar; Stuby, Fabian Maria; Ateschrang, Atesch; Stoeckle, Ulrich; Gonser, Christoph Emanuel

2014-10-01

Percutaneous screw placement can be used for minimally invasive treatment of none or minimally displaced fractures of the anterior column. The complex pelvic geometry can pose a major challenge even for experienced surgeons. The present study examined the preformed bone stock of the anterior column in 260 hemipelvises (130 male and 130 female). Screws were virtually implanted using iPlan(®) CMF (BrainLAB AG, Feldkirchen, Germany); the maximal implant length and the maximal implant diameter were assessed. The study showed, that 6.5mm can generally be used in men; in women however individual planning is essential in regard to the maximal implant diameter since we found that in 15.4% of women, screws with a diameter less than 6.5mm were necessary. The virtual analysis of the preformed bone stock corridor of the anterior column showed two constrictions of crucial clinical importance. These can be found after 18% and 55% (men) respectively 16% and 55% (women) measured from the entry point along the axis of the implant. The entry point of the retrograde anterior column screw in our collective was located lateral of tuberculum pubicum at the level of the superior-medial margin of foramen obturatum. In female patients, the entry point was located significantly more lateral of symphysis and closer to the cranial margin of ramus superior ossis pubis. The mean angle between the screw trajectory and the anterior pelvic plane in sagittal section was 31.6 ± 5.5°, the mean angle between the screw trajectory and the midsagittal plane in axial section was 55.9 ± 4.6° and the mean angle between the screw trajectory and the midsagittal plane in coronal section was 42.1 ± 3.9° with no significant deviation between both sexes. The individual angles formed by the screw trajectory and the anterior pelvic and midsagittal plane are independent from anthropometric parameters sex, age, body length and weight. Therefore, they can be used for orientation in lag screw placement keeping in mind that the entry point differs in both sexes. Copyright © 2014 Elsevier Ltd. All rights reserved.

Trajectory optimization study of a lifting body re-entry vehicle for medium to intermediate range applications

NASA Astrophysics Data System (ADS)

Rizvi, S. Tauqeer ul Islam; Linshu, He; ur Rehman, Tawfiq; Rafique, Amer Farhan

2012-11-01

A numerical optimization study of lifting body re-entry vehicles is presented for nominal as well as shallow entry conditions for Medium and Intermediate Range applications. Due to the stringent requirement of a high degree of accuracy for conventional vehicles, lifting re-entry can be used to attain the impact at the desired terminal flight path angle and speed and thus can potentially improve accuracy of the re-entry vehicle. The re-entry of a medium range and intermediate range vehicles is characterized by very high negative flight path angle and low re-entry speed as compared to a maneuverable re-entry vehicle or a common aero vehicle intended for an intercontinental range. Highly negative flight path angles at the re-entry impose high dynamic pressure as well as heat loads on the vehicle. The trajectory studies are carried out to maximize the cross range of the re-entry vehicle while imposing a maximum dynamic pressure constraint of 350 KPa with a 3 MW/m2 heat rate limit. The maximum normal acceleration and the total heat load experienced by the vehicle at the stagnation point during the maneuver have been computed for the vehicle for possible future conceptual design studies. It has been found that cross range capability of up to 35 km can be achieved with a lifting-body design within the heat rate and the dynamic pressure boundary at normal entry conditions. For shallow entry angle of -20 degree and intermediate ranges a cross range capability of up to 250 km can be attained for a lifting body design with less than 10 percent loss in overall range. The normal acceleration also remains within limits. The lifting-body results have also been compared with wing-body results at shallow entry condition. An hp-adaptive pseudo-spectral method has been used for constrained trajectory optimization.

Heliocentric phasing performance of electric sail spacecraft

NASA Astrophysics Data System (ADS)

Mengali, Giovanni; Quarta, Alessandro A.; Aliasi, Generoso

2016-10-01

We investigate the heliocentric in-orbit repositioning problem of a spacecraft propelled by an Electric Solar Wind Sail. Given an initial circular parking orbit, we look for the heliocentric trajectory that minimizes the time required for the spacecraft to change its azimuthal position, along the initial orbit, of a (prescribed) phasing angle. The in-orbit repositioning problem can be solved using either a drift ahead or a drift behind maneuver and, in general, the flight times for the two cases are different for a given value of the phasing angle. However, there exists a critical azimuthal position, whose value is numerically found, which univocally establishes whether a drift ahead or behind trajectory is superior in terms of flight time it requires for the maneuver to be completed. We solve the optimization problem using an indirect approach for different values of both the spacecraft maximum propulsive acceleration and the phasing angle, and the solution is then specialized to a repositioning problem along the Earth's heliocentric orbit. Finally, we use the simulation results to obtain a first order estimate of the minimum flight times for a scientific mission towards triangular Lagrangian points of the Sun-[Earth+Moon] system.

Aerodynamics for the Mars Phoenix Entry Capsule

NASA Technical Reports Server (NTRS)

Edquist, Karl T.; Desai, Prasun N.; Schoenenberger, Mark

2008-01-01

Pre-flight aerodynamics data for the Mars Phoenix entry capsule are presented. The aerodynamic coefficients were generated as a function of total angle-of-attack and either Knudsen number, velocity, or Mach number, depending on the flight regime. The database was constructed using continuum flowfield computations and data from the Mars Exploration Rover and Viking programs. Hypersonic and supersonic static coefficients were derived from Navier-Stokes solutions on a pre-flight design trajectory. High-altitude data (free-molecular and transitional regimes) and dynamic pitch damping characteristics were taken from Mars Exploration Rover analysis and testing. Transonic static coefficients from Viking wind tunnel tests were used for capsule aerodynamics under the parachute. Static instabilities were predicted at two points along the reference trajectory and were verified by reconstructed flight data. During the hypersonic instability, the capsule was predicted to trim at angles as high as 2.5 deg with an on-axis center-of-gravity. Trim angles were predicted for off-nominal pitching moment (4.2 deg peak) and a 5 mm off-axis center-ofgravity (4.8 deg peak). Finally, hypersonic static coefficient sensitivities to atmospheric density were predicted to be within uncertainty bounds.

Properties of the optimal trajectories for coplanar, aeroassisted orbital transfer

NASA Technical Reports Server (NTRS)

Miele, A.; Wang, T.; Deaton, A. W.

1990-01-01

The optimization of trajectories for coplaner, aeroassisted orbital transfer (AOT) from a high Earth orbit (HEO) to a low Earth orbit (LEO) is examined. In particular, HEO can be a geosynchronous Earth orbit (GEO). It is assumed that the initial and final orbits are circular, that the gravitational field is central and is governed by the inverse square law, and that two impulses are employed, one at HEO exit and one at LEO entry. During the atmospheric pass, the trajectory is controlled via the lift coefficient in such a way that the total characteristic velocity is minimized. First, an ideal optimal trajectory is determined analytically for lift coefficient unbounded. This trajectory is called grazing trajectory, because the atmospheric pass is made by flying at constant altitude along the edge of the atmosphere until the excess velocity is depleted. For the grazing trajectory, the lift coefficient varies in such a way that the lift, the centrifugal force due to the Earth's curvature, the weight, and the Coriolis force due to the Earth's rotation are in static balance. Also, the grazing trajectory minimizes the total characteristic velocity and simultaneously nearly minimizes the peak values of the altitude drop, dynamic pressure, and heating rate. Next, starting from the grazing trajectory results, a real optimal trajectory is determined numerically for the lift coefficient bounded from both below and above. This trajectory is characterized by atmospheric penetration with the smallest possible entry angle, followed by flight at the lift coefficient lower bound. Consistently with the grazing trajectory behavior, the real optimal trajectory minimizes the total characteristic velocity and simultaneously nearly minimizes the peak values of the altitude drop, the dynamic pressure, and the heating rate.

Benefit finding trajectories in cancer patients receiving psychological care: Predictors and relations to depressive and anxiety symptoms.

PubMed

Zhu, Lei; Ranchor, Adelita V; Helgeson, Vicki S; van der Lee, Marije; Garssen, Bert; Stewart, Roy E; Sanderman, Robbert; Schroevers, Maya J

2018-05-01

This study aimed to (1) identify benefit finding trajectories in cancer patients receiving psychological care; (2) examine associations of benefit finding trajectories with levels of and changes in psychological symptoms; and (3) examine whether socio-demographic and medical characteristics distinguished trajectories. Naturalistic longitudinal study design. Participants were 241 cancer patients receiving psychological care at specialized psycho-oncological institutions in the Netherlands. Data were collected before starting psychological care, and three and 9 months thereafter. Latent class growth analysis was performed to identify benefit finding trajectories. Five benefit finding trajectories were identified: 'high level-stable' (8%), 'very low level-small increase' (16%), 'low level-small increase' (39%), 'low level-large increase' (9%), and 'moderate level-stable' (28%). People in distinct benefit finding trajectories reported significant differential courses of depression but not of anxiety symptoms. Compared with the other four trajectories, people in the 'low level-large increase' trajectory reported the largest decreases in depression over time. Perceptions of cancer prognosis distinguished these trajectories, such that people with a favourable prognosis were more likely to belong to the 'high level-stable' trajectory, while people perceiving an uncertain prognosis were more likely to belong to the 'low level-large increase' trajectory of benefit finding. Cancer patients showed distinct benefit finding trajectories during psychological care. A small proportion reporting a large increase in benefit finding were also most likely to show decreases in depressive symptoms over time. These findings suggest a relation between perceiving benefits from cancer experience and improved psychological functioning in cancer patients receiving psychological care. Statement of contribution What is already known on this subject? People vary in course of benefit finding (BF) after trauma, with some experiencing enhanced BF and others decreased BF. Empirical studies have identified subgroups of cancer patients with distinct BF trajectories. What does this study add? This is the first study showing that cancer patients followed different BF trajectories during psychological care. Only a small proportion experienced clinically meaningful increases in BF over time. More attention is needed for cancer patients with decreased BF, as they are at a higher risk of remaining depressed. © 2017 The British Psychological Society.

Querying databases of trajectories of differential equations: Data structures for trajectories

NASA Technical Reports Server (NTRS)

Grossman, Robert

1989-01-01

One approach to qualitative reasoning about dynamical systems is to extract qualitative information by searching or making queries on databases containing very large numbers of trajectories. The efficiency of such queries depends crucially upon finding an appropriate data structure for trajectories of dynamical systems. Suppose that a large number of parameterized trajectories gamma of a dynamical system evolving in R sup N are stored in a database. Let Eta is contained in set R sup N denote a parameterized path in Euclidean Space, and let the Euclidean Norm denote a norm on the space of paths. A data structure is defined to represent trajectories of dynamical systems, and an algorithm is sketched which answers queries.

Analysis of various descent trajectories for a hypersonic-cruise, cold-wall research airplane

NASA Technical Reports Server (NTRS)

Lawing, P. L.

1975-01-01

The probable descent operating conditions for a hypersonic air-breathing research airplane were examined. Descents selected were cruise angle of attack, high dynamic pressure, high lift coefficient, turns, and descents with drag brakes. The descents were parametrically exercised and compared from the standpoint of cold-wall (367 K) aircraft heat load. The descent parameters compared were total heat load, peak heating rate, time to landing, time to end of heat pulse, and range. Trends in total heat load as a function of cruise Mach number, cruise dynamic pressure, angle-of-attack limitation, pull-up g-load, heading angle, and drag-brake size are presented.

Moments of inclination error distribution computer program

NASA Technical Reports Server (NTRS)

Myler, T. R.

1981-01-01

A FORTRAN coded computer program is described which calculates orbital inclination error statistics using a closed-form solution. This solution uses a data base of trajectory errors from actual flights to predict the orbital inclination error statistics. The Scott flight history data base consists of orbit insertion errors in the trajectory parameters - altitude, velocity, flight path angle, flight azimuth, latitude and longitude. The methods used to generate the error statistics are of general interest since they have other applications. Program theory, user instructions, output definitions, subroutine descriptions and detailed FORTRAN coding information are included.

Are snakes particles or waves? Scattering of a limbless locomotor through a single slit

NASA Astrophysics Data System (ADS)

Qian, Feifei; Dai, Jin; Gong, Chaohui; Choset, Howie; Goldman, Daniel

Droplets on vertically vibrated fluid surfaces can walk and diffract through a single slit by a pilot wave hydrodynamic interaction [Couder, 2006; Bush, 2015]. Inspired by the correspondence between emergent macroscale dynamics and phenomena in quantum systems, we tested if robotic snakes, which resemble wave packets, behave emergently like particles or waves when interacting with an obstacle. In lab experiments and numerical simulations we measured how a multi-module snake-like robot swam through a single slit. We controlled the snake undulation gait as a fixed serpenoid traveling wave pattern with varying amplitude and initial phase, and we examined the snake trajectory as it swam through a slit with width d. Robot trajectories were straight before interaction with the slit, then exited at different scattering angle θ after the interaction due to a complex interaction of the body wave with the slit. For fixed amplitude and large d, the snake passed through the slit with minimal interaction and theta was ~ 0 . For sufficiently small d, θ was finite and bimodally distributed, depending on the initial phase. For intermediate d, θ was sensitive to initial phase, and the width of the distribution of θ increased with decreasing d.

3-D high-speed imaging of volcanic bomb trajectory in basaltic explosive eruptions

USGS Publications Warehouse

Gaudin, D.; Taddeucci, J; Houghton, Bruce F.; Orr, Tim R.; Andronico, D.; Del Bello, E.; Kueppers, U.; Ricci, T.; Scarlato, P.

2016-01-01

Imaging, in general, and high speed imaging in particular are important emerging tools for the study of explosive volcanic eruptions. However, traditional 2-D video observations cannot measure volcanic ejecta motion toward and away from the camera, strongly hindering our capability to fully determine crucial hazard-related parameters such as explosion directionality and pyroclasts' absolute velocity. In this paper, we use up to three synchronized high-speed cameras to reconstruct pyroclasts trajectories in three dimensions. Classical stereographic techniques are adapted to overcome the difficult observation conditions of active volcanic vents, including the large number of overlapping pyroclasts which may change shape in flight, variable lighting and clouding conditions, and lack of direct access to the target. In particular, we use a laser rangefinder to measure the geometry of the filming setup and manually track pyroclasts on the videos. This method reduces uncertainties to 10° in azimuth and dip angle of the pyroclasts, and down to 20% in the absolute velocity estimation. We demonstrate the potential of this approach by three examples: the development of an explosion at Stromboli, a bubble burst at Halema'uma'u lava lake, and an in-flight collision between two bombs at Stromboli.

Enhanced Actuator Line Simulation of a Wind Turbine by including the Conservative Load at the Blade Tip

NASA Astrophysics Data System (ADS)

Herraez, Ivan; Micallef, Daniel; van Kuik, Gijs A. M.; Peinke, Joachim

2015-11-01

At the tip of wind turbine blades, the radial bound circulation is transformed into chordwise circulation just before being released as trailing vorticity, giving rise to the tip vortex. The force acting on the chordwise circulation contains a radial and a normal component with respect to the blade axis. This load does not contribute to the torque, so it is a conservative load. Due to this, it is disregarded in the engineering tools used for the design of wind turbines. However, as we demonstrated in a previous work, the conservative load might influence the trajectory of the tip vortex. In order to see how this affects the blade loads, in this research we perform large eddy simulations with an actuator line model where the conservative load has been included. The conservative load reduces the angle of attack in the tip region as a consequence of the modified tip vortex trajectory. This has a negative influence on the lift and the power output. We conclude that the accuracy of engineering design tools of wind turbines can be improved if the conservative load acting at the tip is considered.

Radiofrequency pulse design using nonlinear gradient magnetic fields.

PubMed

Kopanoglu, Emre; Constable, R Todd

2015-09-01

An iterative k-space trajectory and radiofrequency (RF) pulse design method is proposed for excitation using nonlinear gradient magnetic fields. The spatial encoding functions (SEFs) generated by nonlinear gradient fields are linearly dependent in Cartesian coordinates. Left uncorrected, this may lead to flip angle variations in excitation profiles. In the proposed method, SEFs (k-space samples) are selected using a matching pursuit algorithm, and the RF pulse is designed using a conjugate gradient algorithm. Three variants of the proposed approach are given: the full algorithm, a computationally cheaper version, and a third version for designing spoke-based trajectories. The method is demonstrated for various target excitation profiles using simulations and phantom experiments. The method is compared with other iterative (matching pursuit and conjugate gradient) and noniterative (coordinate-transformation and Jacobian-based) pulse design methods as well as uniform density spiral and EPI trajectories. The results show that the proposed method can increase excitation fidelity. An iterative method for designing k-space trajectories and RF pulses using nonlinear gradient fields is proposed. The method can either be used for selecting the SEFs individually to guide trajectory design, or can be adapted to design and optimize specific trajectories of interest. © 2014 Wiley Periodicals, Inc.

Evaluation of a Wedge on a Force Balance as a Flow Angle Probe

DTIC Science & Technology

1975-02-01

pitot rake attached to the Captive Trajectory System (CTS), and (3) measurement of flow angles in the same region with a probe attached to the CTS...localized pressures. Although it was the characteristics of supersonic flow which led to this conclusion, and even though the wedge design was based...vary the open area from near zero to 10 percent. Suction through the porous walls is used to maximize flow uniformity and to develop supersonic flow

Inverse kinematics problem in robotics using neural networks

NASA Technical Reports Server (NTRS)

Choi, Benjamin B.; Lawrence, Charles

1992-01-01

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

Atmospheric Entry Studies for Venus Missions: 45 Sphere-Cone Rigid Aeroshells and Ballistic Entries

NASA Technical Reports Server (NTRS)

Prabhu, Dinesh K.; Spilker, Thomas R.; Allen, Gary A., Jr.; Hwang, Helen H.; Cappuccio, Gelsomina; Moses, Robert W.

2013-01-01

The present study considers direct ballistic entries into the atmosphere of Venus using a 45deg sphere-cone rigid aeroshell, a legacy shape that has been used successfully in the past in the Pioneer Venus Multiprobe Mission. For a number of entry mass and heatshield diameter combinations (i.e., various ballistic coefficients) and entry velocities, the trajectory space in terms of entry flight path angles between skip out and -30deg is explored with a 3DoF trajectory code, TRAJ. From these trajectories, the viable entry flight path angle space is determined through the use of mechanical and thermal performance limits on the thermal protection material and science payload; the thermal protection material of choice is entry-grade carbon phenolic, for which a material thermal response model is available. For mechanical performance, a 200 g limit is placed on the peak deceleration load experienced by the science instruments, and 10 bar is assumed as the pressure limit for entry-grade carbon-phenolic material. For thermal performance, inflection points in the total heat load distribution are used as cut off criteria. Analysis of the results shows the existence of a range of critical ballistic coefficients beyond which the steepest possible entries are determined by the pressure limit of the material rather than the deceleration load limit.

The relationship between trans-femoral prosthesis alignment and the center trajectory of plantar pressure in the frontal plane

PubMed Central

Nomura, Tomohiro; Watanabe, Kota; Nosaka, Toshiya; Matsubara, Hiroyuki; Akiyama, Masaharu; Inui, Kimiharu

2016-01-01

[Purpose] It is difficult to identify by visual observation whether alignment abnormalities in trans-femoral prostheses in the frontal plane are attributable to the adduction angle or the abnormal alignment of the positions of the medial and lateral sides of the socket in relation to the foot. Therefore, we focused on the trajectory of the center of plantar pressure during walking, and we proposed a method for differentiating these two alignment abnormalities. [Subjects and Methods] We recruited 4 trans-femoral unilateral amputees. Bench alignment was achieved initially. We compared the amplitude of the trajectory of the center of plantar pressure when walking under 2 conditions: 1) when changing the adduction angle and 2) when changing the positional relationship between the socket and the foot. [Results] It was not possible to distinguish between the 2 types of malalignment on the prosthesis side. There was a significant difference when changing the positional relationship on the contralateral side. Thereby, the plantar pressure of the contralateral side could be used to distinguish between the 2 types of malalignment. [Conclusion] The results of this study suggested that trans-femoral prosthesis malalignment could be evaluated through the plantar pressure of the contralateral side in amputees. PMID:27065546

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mooij, E.

Application of simple adaptive control (SAC) theory to the design of guidance and control systems for winged re-entry vehicles has been proven successful. To apply SAC to these non-linear and non-stationary systems, it needs to be Almost Strictly Passive (ASP), which is an extension of the Almost Strictly Positive Real (ASPR) condition for linear, time-invariant systems. To fulfill the ASP condition, the controlled, non-linear system has to be minimum-phase (i.e., the zero dynamics is stable), and there is a specific condition for the product of output and input matrix. Earlier studies indicate that even the linearised system is not ASPR.more » The two problems at hand are: 1) the system is non-minimum phase when flying with zero bank angle, and 2) whenever there is hybrid control, e.g., yaw control is established by combined reaction and aerodynamic control for the major part of flight, the second ASPR condition cannot be met. In this paper we look at both issues, the former related to the guidance system and the latter to the attitude-control system. It is concluded that whenever the nominal bank angle is zero, the passivity conditions can never be met, and guidance should be based on nominal commands and a redefinition of those whenever the error becomes too large. For the remaining part of the trajectory, the passivity conditions are marginally met, but it is proposed to add feedforward compensators to alleviate these conditions. The issue of hybrid control is avoided by redefining the controls with total control moments and adding a so-called control allocator. Deriving the passivity conditions for rotational motion, and evaluating these conditions along the trajectory shows that the (non-linear) winged entry vehicle is ASP. The sufficient conditions to apply SAC for attitude control are thus met.« less

Development of quadruped walking locomotion gait generator using a hybrid method

NASA Astrophysics Data System (ADS)

Jasni, F.; Shafie, A. A.

2013-12-01

The earth, in many areas is hardly reachable by the wheeled or tracked locomotion system. Thus, walking locomotion system is becoming a favourite option for mobile robot these days. This is because of the ability of walking locomotion to move on the rugged and unlevel terrains. However, to develop a walking locomotion gait for a robot is not a simple task. Central Pattern Generator (CPGs) method is a biological inspired method that is introduced as a method to develop the gait for the walking robot recently to tackle the issue faced by the conventional method of pre-designed trajectory based method. However, research shows that even the CPG method do have some limitations. Thus, in this paper, a hybrid method that combines CPG and the pre-designed trajectory based method is introduced to develop a walking gait for quadruped walking robot. The 3-D foot trajectories and the joint angle trajectories developed using the proposed method are compared with the data obtained via the conventional method of pre-designed trajectory to confirm the performance.

A point vortex model for the formation of ocean eddies by flow separation

NASA Astrophysics Data System (ADS)

Southwick, O. R.; Johnson, E. R.; McDonald, N. R.

2015-01-01

A simple model for the formation of ocean eddies by flow separation from sharply curved horizontal boundary topography is developed. This is based on the Brown-Michael model for two-dimensional vortex shedding, which is adapted to more realistically model mesoscale oceanic flow by including a deforming free surface. With a free surface, the streamfunction for the flow is not harmonic so the conformal mapping methods used in the standard Brown-Michael approach cannot be used and the problem must be solved numerically. A numerical scheme is developed based on a Chebyshev spectral method for the streamfunction partial differential equation and a second order implicit timestepping scheme for the vortex position ordinary differntial equations. This method is used to compute shed vortex trajectories for three background flows: (A) a steady flow around a semi-infinite plate, (B) a free vortex moving around a semi-infinite plate, and (C) a free vortex moving around a right-angled wedge. In (A), the inclusion of surface deformation dramatically slows the vortex and changes its trajectory from a straight path to a curved one. In (B) and (C), without the inclusion of flow separation, free vortices traverse fully around the tip along symmetrical trajectories. With the effects of flow separation included, very different trajectories are found: for all values of the model parameter—the Rossby radius—the free and shed vortices pair up and move off to infinity without passing around the tip. Their final propagation angle depends strongly and monotonically on the Rossby radius.

Multi-Objective Trajectory Optimization of a Hypersonic Reconnaissance Vehicle with Temperature Constraints

NASA Astrophysics Data System (ADS)

Masternak, Tadeusz J.

This research determines temperature-constrained optimal trajectories for a scramjet-based hypersonic reconnaissance vehicle by developing an optimal control formulation and solving it using a variable order Gauss-Radau quadrature collocation method with a Non-Linear Programming (NLP) solver. The vehicle is assumed to be an air-breathing reconnaissance aircraft that has specified takeoff/landing locations, airborne refueling constraints, specified no-fly zones, and specified targets for sensor data collections. A three degree of freedom scramjet aircraft model is adapted from previous work and includes flight dynamics, aerodynamics, and thermal constraints. Vehicle control is accomplished by controlling angle of attack, roll angle, and propellant mass flow rate. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as avoidance of no-fly zones and coverage of high-value targets. To solve the optimal control formulation, a MATLAB-based package called General Pseudospectral Optimal Control Software (GPOPS-II) is used, which transcribes continuous time optimal control problems into an NLP problem. In addition, since a mission profile can have varying vehicle dynamics and en-route imposed constraints, the optimal control problem formulation can be broken up into several "phases" with differing dynamics and/or varying initial/final constraints. Optimal trajectories are developed using several different performance costs in the optimal control formulation: minimum time, minimum time with control penalties, and maximum range. The resulting analysis demonstrates that optimal trajectories that meet specified mission parameters and constraints can be quickly determined and used for larger-scale operational and campaign planning and execution.

Influence of the Angle of Attack on the Aerothermodynamics of the Mars Science Laboratory

NASA Technical Reports Server (NTRS)

Dyakonov, Artem A.; Edquist, Karl T.; Schoenenberger, Mark

2006-01-01

An investigation of the effects of the incidence angle on the aerothermodynamic environments of the Mars Science Laboratory has been conducted. Flight conditions of peak heating, peak deceleration and chute deploy are selected and the effects of the angle of attack on the aerodynamics and aerothermodynamics are analyzed. The investigation found that static aerodynamics are well behaved within the considered range of incidence angles. Leeside laminar and turbulent computed heating rates decrease with incidence, despite the increase in the leeside running length. Stagnation point was found to stay on the conical flank at all angles of attack, and this is linked to the rapid flow expansion around the shoulder. Hypersonic lift to drag ratio is limited by the heating rates in the region of the windside shoulder. The effects of the high angle of incidence on the dynamic aero at low Mach remains to be determined. Influence of the angle of attack on the smooth-wall transition parameter indicates, that higher angle of attack flight may result in delayed turbulence onset, however, a coupled analysis, involving flight trajectory simulation is necessary.

Energetic Particle Loss Estimates in W7-X

NASA Astrophysics Data System (ADS)

Lazerson, Samuel; Akaslompolo, Simppa; Drevlak, Micheal; Wolf, Robert; Darrow, Douglass; Gates, David; W7-X Team

2017-10-01

The collisionless loss of high energy H+ and D+ ions in the W7-X device are examined using the BEAMS3D code. Simulations of collisionless losses are performed for a large ensemble of particles distributed over various flux surfaces. A clear loss cone of particles is present in the distribution for all particles. These simulations are compared against slowing down simulations in which electron impact, ion impact, and pitch angle scattering are considered. Full device simulations allow tracing of particle trajectories to the first wall components. These simulations provide estimates for placement of a novel set of energetic particle detectors. Recent performance upgrades to the code are allowing simulations with > 1000 processors providing high fidelity simulations. Speedup and future works are discussed. DE-AC02-09CH11466.

Mars Microprobe Entry Analysis

NASA Technical Reports Server (NTRS)

Braun, Robert D.; Mitcheltree, Robert A.; Cheatwood, F. McNeil

1998-01-01

The Mars Microprobe mission will provide the first opportunity for subsurface measurements, including water detection, near the south pole of Mars. In this paper, performance of the Microprobe aeroshell design is evaluated through development of a six-degree-of-freedom (6-DOF) aerodynamic database and flight dynamics simulation. Numerous mission uncertainties are quantified and a Monte-Carlo analysis is performed to statistically assess mission performance. Results from this 6-DOF Monte-Carlo simulation demonstrate that, in a majority of the cases (approximately 2-sigma), the penetrator impact conditions are within current design tolerances. Several trajectories are identified in which the current set of impact requirements are not satisfied. From these cases, critical design parameters are highlighted and additional system requirements are suggested. In particular, a relatively large angle-of-attack range near peak heating is identified.

Surface periodicity of Ir(110) from time-of-flight scattering and recoiling spectrometry (TOF-SARS)

NASA Astrophysics Data System (ADS)

Bu, H.; Shi, M.; Rabalais, J. W.

1991-03-01

The surface periodicity of the Ir(110) surface in both the clean reconstructed (1×3) and oxygen stabilized unreconstructed (1×1) phases have been investigated using time-of-flight scattering and recoiling spectrometry (TOF-SARS). A pulsed 4 keV Ar + ion beam is directed at a grazing incident angle to the surface and the scattered neutral plus ion flux is monitored as a function of beam exit angle and crystal azimuthal angle. It is demonstrated that either maxima or minima are obtained in the scattered flux along the low-index crystallographic directions depending on whether near-specular or off-specular scattering conditions, respectively, are used. These scattering intensity patterns as a function of crystal azimuthal angle provide a direct measure of the surface periodicity. These intensity variations are explained in terms of the Lindhard critical angle, semichannel focusing effects, and trajectory simulations.

Tidal reorientation and the fracturing of Jupiter's moon Europa

NASA Technical Reports Server (NTRS)

Mcewen, A. S.

1986-01-01

The lineaments on Europa are discussed in terms of the orientation of the lineaments relative to the tensile stress trajectories due to tidal distortions and to nonsynchronous rotation. The cracks are noticeable by their darker albedo compared to the presumed water ice surrounding them. The stress trajectories for tidal distortion of a thin elastic shell are superimposed on Mercator projection maps of the lineaments. It is shown that the lineaments are mainly oriented at high angles to the tensile stress trajectories that would be expected for regularly occurring nonsynchronous rotation, i.e., extensional fractures would appear. The reorientation motions which would cause the fractures are estimated. It is suggested that the fractures occur episodically to release stresses built up on the tensile surface of the crust during the continuous nonsynchronous rotation of Europa.

Wide-angle display-type retarding field analyzer with high energy and angular resolutions

NASA Astrophysics Data System (ADS)

Muro, Takayuki; Ohkochi, Takuo; Kato, Yukako; Izumi, Yudai; Fukami, Shun; Fujiwara, Hidenori; Matsushita, Tomohiro

2017-12-01

Deployments of spherical grids to obtain high energy and angular resolutions for retarding field analyzers (RFAs) having acceptance angles as large as or larger than ±45° were explored under the condition of using commercially available microchannel plates with effective diameters of approximately 100 mm. As a result of electron trajectory simulations, a deployment of three spherical grids with significantly different grid separations instead of conventional equidistant separations showed an energy resolving power (E/ΔE) of 3200 and an angular resolution of 0.6°. The mesh number of the wire mesh retarding grid used for the simulation was 250. An RFA constructed with the simulated design experimentally showed an E/ΔE of 1100 and an angular resolution of 1°. Using the RFA and synchrotron radiation of 900 eV, photoelectron diffraction (PED) measurements were performed for single-crystal graphite. A clear C 1s PED pattern was observed even when the differential energy of the RFA was set at 0.5 eV. Further improvement of the energy resolution was theoretically examined under the assumption of utilizing a retarding grid fabricated by making a large number of radially directed cylindrical holes through a partial spherical shell instead of using a wire mesh retarding grid. An E/ΔE of 14 500 was predicted for a hole design with a diameter of 60 μm and a depth of 100 μm. A retarding grid with this hole design and a holed area corresponding to an acceptance angle of ±7° was fabricated. An RFA constructed with this retarding grid experimentally showed an E/ΔE of 1800. Possible reasons for the experimental E/ΔE lower than the theoretical values are discussed.

The effects of the stellar wind and orbital motion on the jets of high-mass microquasars

NASA Astrophysics Data System (ADS)

Bosch-Ramon, V.; Barkov, M. V.

2016-05-01

Context. High-mass microquasar jets propagate under the effect of the wind from the companion star, and the orbital motion of the binary system. The stellar wind and the orbit may be dominant factors determining the jet properties beyond the binary scales. Aims: This is an analytical study, performed to characterise the effects of the stellar wind and the orbital motion on the jet properties. Methods: Accounting for the wind thrust transferred to the jet, we derive analytical estimates to characterise the jet evolution under the impact of the stellar wind. We include the Coriolis force effect, induced by orbital motion and enhanced by the wind's presence. Large-scale evolution of the jet is sketched, accounting for wind-to-jet thrust transfer, total energy conservation, and wind-jet flow mixing. Results: If the angle of the wind-induced jet bending is larger than its half-opening angle, the following is expected: (I) a strong recollimation shock; (II) bending against orbital motion, caused by Coriolis forces and enhanced by the wind presence; and (III) non-ballistic helical propagation further away. Even if disrupted, the jet can re-accelerate due to ambient pressure gradients, but wind entrainment can weaken this acceleration. On large scales, the opening angle of the helical structure is determined by the wind-jet thrust relation, and the wind-loaded jet flow can be rather slow. Conclusions: The impact of stellar winds on high-mass microquasar jets can yield non-ballistic helical jet trajectories, jet partial disruption and wind mixing, shocks, and possibly non-thermal emission. Among other observational diagnostics, such as radiation variability at any band, the radio morphology on milliarcsecond scales can be informative on the wind-jet interaction.

An angle-dependent estimation of CT x-ray spectrum from rotational transmission measurements

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lin, Yuan, E-mail: yuan.lin@duke.edu; Samei, Ehsan; Ramirez-Giraldo, Juan Carlos

2014-06-15

Purpose: Computed tomography (CT) performance as well as dose and image quality is directly affected by the x-ray spectrum. However, the current assessment approaches of the CT x-ray spectrum require costly measurement equipment and complicated operational procedures, and are often limited to the spectrum corresponding to the center of rotation. In order to address these limitations, the authors propose an angle-dependent estimation technique, where the incident spectra across a wide range of angular trajectories can be estimated accurately with only a single phantom and a single axial scan in the absence of the knowledge of the bowtie filter. Methods: Themore » proposed technique uses a uniform cylindrical phantom, made of ultra-high-molecular-weight polyethylene and positioned in an off-centered geometry. The projection data acquired with an axial scan have a twofold purpose. First, they serve as a reflection of the transmission measurements across different angular trajectories. Second, they are used to reconstruct the cross sectional image of the phantom, which is then utilized to compute the intersection length of each transmission measurement. With each CT detector element recording a range of transmission measurements for a single angular trajectory, the spectrum is estimated for that trajectory. A data conditioning procedure is used to combine information from hundreds of collected transmission measurements to accelerate the estimation speed, to reduce noise, and to improve estimation stability. The proposed spectral estimation technique was validated experimentally using a clinical scanner (Somatom Definition Flash, Siemens Healthcare, Germany) with spectra provided by the manufacturer serving as the comparison standard. Results obtained with the proposed technique were compared against those obtained from a second conventional transmission measurement technique with two materials (i.e., Cu and Al). After validation, the proposed technique was applied to measure spectra from the clinical system across a range of angular trajectories [−15°, 15°] and spectrum settings (80, 100, 120, 140 kVp). Results: At 140 kVp, the proposed technique was comparable to the conventional technique in terms of the mean energy difference (MED, −0.29 keV) and the normalized root mean square difference (NRMSD, 0.84%) from the comparison standard compared to 0.64 keV and 1.56%, respectively, with the conventional technique. The average absolute MEDs and NRMSDs across kVp settings and angular trajectories were less than 0.61 keV and 3.41%, respectively, which indicates a high level of estimation accuracy and stability. Conclusions: An angle-dependent estimation technique of CT x-ray spectra from rotational transmission measurements was proposed. Compared with the conventional technique, the proposed method simplifies the measurement procedures and enables incident spectral estimation for a wide range of angular trajectories. The proposed technique is suitable for rigorous research objectives as well as routine clinical quality control procedures.« less

Jet trajectories and surface pressures induced on a body of revolution with various dual jet configurations

NASA Technical Reports Server (NTRS)

Schetz, J. A.; Jakubowski, A. K.; Aoyagi, K.

1983-01-01

A jet in a cross flow is of interest in practical situations including jet-powered VTOL aircraft. Three aspects of the problem have received little prior study. First is the effect of the angle of the jet to the crossflow. Second is the performance of dual-jet configurations. The third item for further study is a jet injected from a body of revolution as opposed to a flat plate. The Test Plan for this work was designed to address these three aspects. The experiments were conducted in the 7 x 10 tunnel at NASA Ames at velocities 14.5 - 35.8 m/sec (47.6 - 117.4 ft/sec). Detailed pressure distributions are presented for single and dual jets over a range of velocity ratios from 3 to 8, spacings from 2 to 6 diameters and injection angles of 90, 75 and 60 degrees. Some flowfield measurements are also presented, and it is shown that a simple analysis is capable of predicting the trajectories of the jets.

Recent CFD Simulations of Shuttle Orbiter Contingency Abort Aerodynamics

NASA Technical Reports Server (NTRS)

Papadopoulos, Periklis; Prabhu, Dinesh; Wright, Michael; Davies, Carol; McDaniel, Ryan; Venkatapathy, Ethiraj; Wersinski, Paul; Gomez, Reynaldo; Arnold, Jim (Technical Monitor)

2001-01-01

Modern Computational Fluid Dynamics (CFD) techniques were used to compute aerodynamic forces and moments of the Space Shuttle Orbiter in specific portions of contingency abort trajectory space. The trajectory space covers a Mach number range of 3.5-15, an angle-of-attack range of 20-60 degrees, an altitude range of 100-190 kft, and several different settings of the control surfaces (elevons, body flap, and speed brake). While approximately 40 cases have been computed, only a sampling of the results is presented here. The computed results, in general, are in good agreement with the Orbiter Operational Aerodynamic Data Book (OADB) data (i.e., within the uncertainty bands) for almost all the cases. However, in a limited number of high angle-of-attack cases (at Mach 15), there are significant differences between the computed results, especially the vehicle pitching moment, and the OADB data. A preliminary analysis of the data from the CFD simulations at Mach 15 shows that these differences can be attributed to real-gas/Mach number effects.

A Low Cost Approach to the Design of Autopilot for Hypersonic Glider

NASA Astrophysics Data System (ADS)

Liang, Wang; Weihua, Zhang; Ke, Peng; Donghui, Wang

2017-12-01

This paper proposes a novel integrated guidance and control (IGC) approach to improve the autopilot design with low cost for hypersonic glider in dive and pull-up phase. The main objective is robust and adaptive tracking of flight path angle (FPA) under severe flight scenarios. Firstly, the nonlinear IGC model is developed with a second order actuator dynamics. Then the adaptive command filtered back-stepping control is implemented to deal with the large aerodynamics coefficient uncertainties, control surface uncertainties and unmatched time-varying disturbances. For the autopilot, a back-stepping sliding mode control is designed to track the control surface deflection, and a nonlinear differentiator is used to avoid direct differentiating the control input. Through a series of 6-DOF numerical simulations, it’s shown that the proposed scheme successfully cancels out the large uncertainties and disturbances in tracking different kinds of FPA trajectory. The contribution of this paper lies in the application and determination of nonlinear integrated design of guidance and control system for hypersonic glider.

Large-angle slewing maneuvers for flexible spacecraft

NASA Technical Reports Server (NTRS)

Chun, Hon M.; Turner, James D.

1988-01-01

A new class of closed-form solutions for finite-time linear-quadratic optimal control problems is presented. The solutions involve Potter's solution for the differential matrix Riccati equation, which assumes the form of a steady-state plus transient term. Illustrative examples are presented which show that the new solutions are more computationally efficient than alternative solutions based on the state transition matrix. As an application of the closed-form solutions, the neighboring extremal path problem is presented for a spacecraft retargeting maneuver where a perturbed plant with off-nominal boundary conditions now follows a neighboring optimal trajectory. The perturbation feedback approach is further applied to three-dimensional slewing maneuvers of large flexible spacecraft. For this problem, the nominal solution is the optimal three-dimensional rigid body slew. The perturbation feedback then limits the deviations from this nominal solution due to the flexible body effects. The use of frequency shaping in both the nominal and perturbation feedback formulations reduces the excitation of high-frequency unmodeled modes. A modified Kalman filter is presented for estimating the plant states.

Rare behavior of growth processes via umbrella sampling of trajectories

NASA Astrophysics Data System (ADS)

Klymko, Katherine; Geissler, Phillip L.; Garrahan, Juan P.; Whitelam, Stephen

2018-03-01

We compute probability distributions of trajectory observables for reversible and irreversible growth processes. These results reveal a correspondence between reversible and irreversible processes, at particular points in parameter space, in terms of their typical and atypical trajectories. Thus key features of growth processes can be insensitive to the precise form of the rate constants used to generate them, recalling the insensitivity to microscopic details of certain equilibrium behavior. We obtained these results using a sampling method, inspired by the "s -ensemble" large-deviation formalism, that amounts to umbrella sampling in trajectory space. The method is a simple variant of existing approaches, and applies to ensembles of trajectories controlled by the total number of events. It can be used to determine large-deviation rate functions for trajectory observables in or out of equilibrium.

Inferring the Chemotactic Strategy of P. putida and E. coli Using Modified Kramers-Moyal Coefficients

PubMed Central

Hintsche, Marius; Beta, Carsten; Stark, Holger

2017-01-01

Many bacteria perform a run-and-tumble random walk to explore their surrounding and to perform chemotaxis. In this article we present a novel method to infer the relevant parameters of bacterial motion from experimental trajectories including the tumbling events. We introduce a stochastic model for the orientation angle, where a shot-noise process initiates tumbles, and analytically calculate conditional moments, reminiscent of Kramers-Moyal coefficients. Matching them with the moments calculated from experimental trajectories of the bacteria E. coli and Pseudomonas putida, we are able to infer their respective tumble rates, the rotational diffusion constants, and the distributions of tumble angles in good agreement with results from conventional tumble recognizers. We also define a novel tumble recognizer, which explicitly quantifies the error in recognizing tumbles. In the presence of a chemical gradient we condition the moments on the bacterial direction of motion and thereby explore the chemotaxis strategy. For both bacteria we recover and quantify the classical chemotactic strategy, where the tumble rate is smallest along the chemical gradient. In addition, for E. coli we detect some cells, which bias their mean tumble angle towards smaller values. Our findings are supported by a scaling analysis of appropriate ratios of conditional moments, which are directly calculated from experimental data. PMID:28114420

Kinematic Optimization of Robot Trajectories for Thermal Spray Coating Application

NASA Astrophysics Data System (ADS)

Deng, Sihao; Liang, Hong; Cai, Zhenhua; Liao, Hanlin; Montavon, Ghislain

2014-12-01

Industrial robots are widely used in the field of thermal spray nowadays. Due to their characteristics of high-accuracy and programmable flexibility, spraying on complex geometrical workpieces can be realized in the equipped spray room. However, in some cases, the robots cannot guarantee the process parameters defined by the robot movement, such as the scanning trajectory, spray angle, relative speed between the torch and the substrate, etc., which have distinct influences on heat and mass transfer during the generation of any thermally sprayed coatings. In this study, an investigation on the robot kinematics was proposed to find the rules of motion in a common case. The results showed that the motion behavior of each axis of robot permits to identify the motion problems in the trajectory. This approach allows to optimize the robot trajectory generation in a limited working envelop. It also minimizes the influence of robot performance to achieve a more constant relative scanning speed which is represented as a key parameter in thermal spraying.

Program manual for HILTOP, a heliocentric interplanetary low thrust trajectory optimization program. Part 1: User's guide

NASA Technical Reports Server (NTRS)

Mann, F. I.; Horsewood, J. L.

1974-01-01

A performance-analysis computer program, that was developed explicitly to generate optimum electric propulsion trajectory data for missions of interest in the exploration of the solar system is presented. The program was primarily designed to evaluate the performance capabilities of electric propulsion systems, and in the simulation of a wide variety of interplanetary missions. A numerical integration of the two-body, three-dimensional equations of motion and the Euler-Lagrange equations was used in the program. Transversality conditions which permit the rapid generation of converged maximum-payload trajectory data, and the optimization of numerous other performance indices for which no transversality conditions exist are included. The ability to simulate constrained optimum solutions, including trajectories having specified propulsion time and constant thrust cone angle, is also in the program. The program was designed to handle multiple-target missions with various types of encounters, such as rendezvous, stopover, orbital capture, and flyby. Performance requirements for a variety of launch vehicles can be determined.

An adaptive inverse kinematics algorithm for robot manipulators

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Glass, K.; Seraji, H.

1990-01-01

An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.

The role of rock anisotropy in developing non-Andersonian faults: staircase trajectories for strike-slip faults

NASA Astrophysics Data System (ADS)

Barchi, M. R.; Collettini, C.; Lena, G.

2012-04-01

Thrust and normal faults affecting mechanically heterogeneous multilayers often show staircase trajectories, where flat segments follow less competent units. Within flat segments the initiation/reactivation angle, θ, which is the angle that the fault makes with the σ1 direction, is different from that predicted by the Andersonian theory. This suggests that fault trajectory is mainly controlled by rock anisotropy instead of frictional properties of the material. Our study areas are located in the Umbria-Marche fold-thrust belt, within the Northern Apennines of Italy. The area is characterized by a lithologically complex multilayer, about 2000 m thick, consisting of alternated competent (mainly calcareous) and less competent (marls or evaporites) units. At the outcrop scale, some units show a significant mechanical layering, consisting of alternated limestones and shales. Due to the complex tectonic evolution of the Apennines, well developed sets of conjugate normal, thrust and strike-slip faults are exposed in the region. The study outcrop, Candigliano Gourge, is characterized by steep (dip > 60°) NE dipping beds, affected by conjugate sets of strike-slip faults, exposed in the eastern limb of a NE verging anticline. The faults develop within the Marne a Fucoidi Fm., a Cretaceous sedimentary unit, about 70 m thick, made of competent calcareous beds (about 20 cm thick), separated by marly beds (1-20 cm thick). The conjugate strike-slip faults are formed after the major folding phase: in fact the strike-slip faults cut both minor folds and striated bedding surfaces, related to syn-folding flexural slip. Faults show marked staircase trajectories, with straight segments almost parallel to the marly horizons and ramps cutting through the calcareous layers. Slip along these faults induces local block rotation of the competent strata, dilational jogs (pull-aparts), extensional duplexes and boudinage of the competent layers, while marly levels are strongly laminated. In order to reconstruct the σ1 direction, calcite veins syntectonic to strike-slip faulting, have been used to constrain the σ1-σ2 plane: fixing the σ2 direction at the conjugate fault intersection, the σ1 is oriented N15°, forming an angle of about 70° with the bedding direction. Once constrained the σ1 direction, we have calculated the θ angle that is comprised between 40° and 55°, resulting therefore larger than expected from Andersonian theory, i.e. 22°-32° for friction coefficient in the range of 0.5-1.0. Initiation/reactivation angles, θ, as a function of the different lithologies, are less than 35° for calcareous beds, 50°-70° for the marly and clayey layers, and around 60° for the black shales. Our studies, focused on strike-slip small displacement faults, show that: 1) irrespective of the σ1 orientation, ramp and flat form along competent and less competent material respectively and 2) the overall fault orientation/initiation is at high-angle to the σ1 direction. Our results suggest that rock anisotropy and layering are one of the possible causes for faulting at high angle to the σ1 direction, i.e. fault weakness. Further studies are required to up-scale the results of our outcrop-based study to crustal scale structures.

Reconstruction of equilibrium trajectories and joint stiffness patterns during single-joint voluntary movements under different instructions.

PubMed

Latash, M L

1994-01-01

A method for reconstructing joint compliant characteristics during voluntary movements was applied to the analysis of oscillatory and unidirectional elbow flexion movements. In different series, the subjects were given one of the following instructions: (1) do not intervene voluntarily; (2) keep the trajectory; (3) in cases of perturbations, return back to the starting position as quickly as possible (only during unidirectional movements). Under the instruction 'keep trajectory', the apparent joint stiffness increased by 50% to 250%. During oscillatory movements, this was accompanied by a decrease in the maximal difference between the actual and equilibrium joint trajectories and, in several cases, led to a change in the phase relation between the two trajectories. The coefficients of correlation between joint torque and angle were very high (commonly, over 0.9) under the 'do not intervene' instruction. They dropped to about 0.6 under the 'keep trajectory' and to about 0.3 under the 'return back' instructions. Under these two instructions, the low values of the coefficients of correlation did not allow reconstruction of segments of equilibrium trajectories and joint stiffness values in all the subjects. The results provide further support for the lambda-version of the equilibrium-point hypothesis and for using the instruction 'do not intervene voluntarily' to obtain reproducible time patterns of the central motor command.

Moving from pixel to object scale when inverting radiative transfer models for quantitative estimation of biophysical variables in vegetation (Invited)

NASA Astrophysics Data System (ADS)

Atzberger, C.

2013-12-01

The robust and accurate retrieval of vegetation biophysical variables using RTM is seriously hampered by the ill-posedness of the inverse problem. The contribution presents our object-based inversion approach and evaluate it against measured data. The proposed method takes advantage of the fact that nearby pixels are generally more similar than those at a larger distance. For example, within a given vegetation patch, nearby pixels often share similar leaf angular distributions. This leads to spectral co-variations in the n-dimensional spectral features space, which can be used for regularization purposes. Using a set of leaf area index (LAI) measurements (n=26) acquired over alfalfa, sugar beet and garlic crops of the Barrax test site (Spain), it is demonstrated that the proposed regularization using neighbourhood information yields more accurate results compared to the traditional pixel-based inversion. Principle of the ill-posed inverse problem and the proposed solution illustrated in the red-nIR feature space using (PROSAIL). [A] spectral trajectory ('soil trajectory') obtained for one leaf angle (ALA) and one soil brightness (αsoil), when LAI varies between 0 and 10, [B] 'soil trajectories' for 5 soil brightness values and three leaf angles, [C] ill-posed inverse problem: different combinations of ALA × αsoil yield an identical crossing point, [D] object-based RTM inversion; only one 'soil trajectory' fits all nine pixelswithin a gliding (3×3) window. The black dots (plus the rectangle=central pixel) represent the hypothetical position of nine pixels within a 3×3 (gliding) window. Assuming that over short distances (× 1 pixel) variations in soil brightness can be neglected, the proposed object-based inversion searches for one common set of ALA × αsoil so that the resulting 'soil trajectory' best fits the nine measured pixels. Ground measured vs. retrieved LAI values for three crops. Left: proposed object-based approach. Right: pixel-based inversion

A new illusion of projected three-dimensional space

NASA Technical Reports Server (NTRS)

Ellis, Stephen R.; Grunwald, Arthur

1987-01-01

When perspective projections of orbital trajectories plotted in local-vertical local-horizontal coordinates are viewed with certain viewing angles, their appearance becomes perceptually unstable. They often lose their trochoidal appearance and reorganize as helices. This reorganization may be due to the viewer's familiarity with coiled springs.

Kinematic properties of solar coronal mass ejections: Correction for projection effects in spacecraft coronagraph measurements

NASA Astrophysics Data System (ADS)

Howard, T. A.; Nandy, D.; Koepke, A. C.

2008-01-01

One of the main sources of uncertainty in quantifying the kinematic properties of coronal mass ejections (CMEs) using coronagraphs is the fact that coronagraph images are projected into the sky plane, resulting in measurements which can differ significantly from their actual values. By identifying solar surface source regions of CMEs using X-ray and Hα flare and disappearing filament data, and through considerations of CME trajectories in three-dimensional (3-D) geometry, we have devised a methodology to correct for the projection effect. We outline this method here. The methodology was automated and applied to over 10,000 CMEs in the Coordinated Data Analysis Workshop (CDAW) (SOHO Large Angle Spectroscopic Coronagraph) catalog spanning 1996-2005, in which we could associate 1961 CMEs with an appropriate surface event. In the latter subset, deprojected speeds, accelerations, and launch angles were determined to study CME kinematics. Our analysis of this subset of events reconfirms some important trends, notably that previously uncovered solar cycle variation of CME properties are preserved, CMEs with greater width have higher speeds, and slower CMEs tend to accelerate while faster CMEs tend to decelerate. This points out that statistical trends in CME properties, recovered from plane-of-sky measurements, may be preserved even in the face of more sophisticated 3-D measurements from spacecrafts such as STEREO, if CME trajectories are predominantly radial. However, our results also show that the magnitude of corrected measurements can differ significantly from the projected plane-of-sky measurements on a case-by-case basis and that acceleration is more sensitive to the deprojection process than speed. Average corrected speed and acceleration tend to be a factor of 1.7 and 4.4 higher than their projected values, with mean corrected speed and acceleration magnitudes being on the order of 1000 km/s and 50 m/s2, respectively. We conclude that while using the plane-of-sky measurements may be suitable for studies of general trends in a large sample of events, correcting for projection effects is mandatory for those investigations which rely on a numerically precise determination of the properties of individual CMEs.

Prostate Brachytherapy With Oblique Needles to Treat Large Glands and Overcome Pubic Arch Interference

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ryu, Bon; Imaging Research Laboratories, Robarts Research Institute, University of Western Ontario, London, Ontario; Bax, Jeff

2012-08-01

Purpose: First, to show that low-dose-rate prostate brachytherapy plans using oblique needle trajectories are more successful than parallel trajectories for large prostates with pubic arch interference (PAI); second, to test the accuracy of delivering an oblique plan by using a three-dimensional (3D) transrectal ultrasonography (TRUS)-guided mechatronic system. Methods and Materials: Prostates were contoured for 5 subjects' 3D TRUS images showing a maximum PAI of {<=}1 cm and a prostate volume of <50 cc. Two planning studies were done. First, prostate contours were artificially enlarged to 45 to 80 cc in 5- to 10-cc increments for a single subject. Second, allmore » subject prostate contours were enlarged to 60 cc. For each study, three types of plans were manually created for comparison: a parallel needle template (PT) plan, a parallel needle no-template (PNT) plan, and an oblique needle no-template (OBL) plan. Needle positions and angles were not discretized for nontemplate plans. European Society for Therapeutic Radiology and Oncology dose-volume histogram guidelines, iodine-125 (145-Gy prescription, 0.43 U), and needle angles of <15 Degree-Sign were used. An OBL plan was delivered to a pubic arch containing a 60-cc prostate phantom that mimicked the anatomy of the subject with the greatest PAI (23% by volume). Results: In the increasing-prostate volume study, OBL plans were successful for prostates of {<=}80 cc, and PT plans were successful for prostates of <65 cc. In paired, one-sided t tests for the 60-cc volume study, OBL plans showed dosimetric improvements for all organs compared to both of the parallel type plans (p < 0.05); PNT plans showed a benefit only in planning target volumes receiving more than 100 Gy compared to PT plans. A computed tomography scan of the phantom showed submillimeter seed placement accuracy in all directions. Conclusion: OBL plans were significantly better than parallel plans, and an OBL plan was accurately delivered to a 60-cc prostate phantom with 23% PAI by volume.« less

[A delayed motor production of open chains of linear strokes presented visually in static and dynamic modes: a comparison between 9 to 11 years old children and adults].

PubMed

Antonova, A A; Absatova, K A; Korneev, A A; Kurgansky, A V

2015-01-01

The production of drawing movements was studied in 29 right-handed children of 9-to-11 years old. The movements were the sequences of horizontal and vertical linear stokes conjoined at right angle (open polygonal chains) referred to throughout the paper as trajectories. The length of a trajectory varied from 4 to 6. The trajectories were presented visually to a subject in static (linedrawing) and dynamic (moving cursor that leaves no trace) modes. The subjects were asked to draw (copy) a trajectory in response to delayed go-signal (short click) as fast as possible without lifting the pen. The production latency time, the average movement duration along a trajectory segment, and overall number of errors committed by a subject during trajectory production were analyzed. A comparison of children's data with similar data in adults (16 subjects) shows the following. First, a substantial reduction in error rate is observed in the age range between 9 and 11 years old for both static and dynamic modes of trajectory presentation, with children of 11 still committing more error than adults. Second, the averaged movement duration shortens with age while the latency time tends to increase. Third, unlike the adults, the children of 9-11 do not show any difference in latency time between static and dynamic modes of visual presentation of trajectories. The difference in trajectory production between adult and children is attributed to the predominant involvement of on-line programming in children and pre-programming in adults.

RF Pulse Design using Nonlinear Gradient Magnetic Fields

PubMed Central

Kopanoglu, Emre; Constable, R. Todd

2014-01-01

Purpose An iterative k-space trajectory and radio-frequency (RF) pulse design method is proposed for Excitation using Nonlinear Gradient Magnetic fields (ENiGMa). Theory and Methods The spatial encoding functions (SEFs) generated by nonlinear gradient fields (NLGFs) are linearly dependent in Cartesian-coordinates. Left uncorrected, this may lead to flip-angle variations in excitation profiles. In the proposed method, SEFs (k-space samples) are selected using a Matching-Pursuit algorithm, and the RF pulse is designed using a Conjugate-Gradient algorithm. Three variants of the proposed approach are given: the full-algorithm, a computationally-cheaper version, and a third version for designing spoke-based trajectories. The method is demonstrated for various target excitation profiles using simulations and phantom experiments. Results The method is compared to other iterative (Matching-Pursuit and Conjugate Gradient) and non-iterative (coordinate-transformation and Jacobian-based) pulse design methods as well as uniform density spiral and EPI trajectories. The results show that the proposed method can increase excitation fidelity significantly. Conclusion An iterative method for designing k-space trajectories and RF pulses using nonlinear gradient fields is proposed. The method can either be used for selecting the SEFs individually to guide trajectory design, or can be adapted to design and optimize specific trajectories of interest. PMID:25203286

CFD Analysis of Swing of Cricket Ball and Trajectory Prediction

NASA Astrophysics Data System (ADS)

G, Jithin; Tom, Josin; Ruishikesh, Kamat; Jose, Jyothish; Kumar, Sanjay

2013-11-01

This work aims to understand the aerodynamics associated with the flight and swing of a cricket ball and predict its flight trajectory over the course of the game: at start (smooth ball) and as the game progresses (rough ball). Asymmetric airflow over the ball due to seam orientation and surface roughness can cause flight deviation (swing). The values of Drag, Lift and Side forces which are crucial for determining the trajectory of the ball were found with the help of FLUENT using the standard K- ɛ model. Analysis was done to study how the ball velocity, spin imparted to be ball and the tilt of the seam affects the movement of the ball through air. The governing force balance equations in 3 dimensions in combination a MATLAB code which used Heun's method was used for obtaining the trajectory of the ball. The conditions for the conventional swing and reverse swing to occur were deduced from the analysis and found to be in alignment with the real life situation. Critical seam angle for maximum swing and transition speed for normal to reverse swing were found out. The obtained trajectories were compared to real life hawk eye trajectories for validation. The analysis results were in good agreement with the real life situation.

Formulation of additional observables for ENTREE

NASA Technical Reports Server (NTRS)

Findlay, J. T.; Heck, M. L.

1980-01-01

The S-band X and Y angles, SAMS, and TACAN range and bearing were incorporated into the ENTREE software for use by experimenters at LaRC for entry trajectory reconstruction purposes. Background discussions present the need for this added capability. Formulations for the various observables are presented. Both north-south and east-west antenna mounts were provided for in the S-band angle computations. Sub-vehicle terrain height variations are included in the SAMS model. Local magnetic variations were incorporated for the TACAN bearing computations. Observable formulations are discussed in detail along with the partial computations.

Elevator Sizing, Placement, and Control-Relevant Tradeoffs for Hypersonic Vehicles

NASA Technical Reports Server (NTRS)

Dickeson, Jeffrey J.; Rodriguez, Armando A.; Sridharan, Srikanth; Korad, Akshay

2010-01-01

Within this paper, control-relevant vehicle design concepts are examined using a widely used 3 DOF (plus flexibility) nonlinear model for the longitudinal dynamics of a generic carrot-shaped scramjet powered hypersonic vehicle. The impact of elevator size and placement on control-relevant static properties (e.g. level-flight trimmable region, trim controls, Angle of Attack (AOA), thrust margin) and dynamic properties (e.g. instability and right half plane zero associated with flight path angle) are examined. Elevator usage has been examine for a class of typical hypersonic trajectories.

Transonic Navier-Stokes wing solutions using a zonal approach. Part 2: High angle-of-attack simulation

NASA Technical Reports Server (NTRS)

Chaderjian, N. M.

1986-01-01

A computer code is under development whereby the thin-layer Reynolds-averaged Navier-Stokes equations are to be applied to realistic fighter-aircraft configurations. This transonic Navier-Stokes code (TNS) utilizes a zonal approach in order to treat complex geometries and satisfy in-core computer memory constraints. The zonal approach has been applied to isolated wing geometries in order to facilitate code development. Part 1 of this paper addresses the TNS finite-difference algorithm, zonal methodology, and code validation with experimental data. Part 2 of this paper addresses some numerical issues such as code robustness, efficiency, and accuracy at high angles of attack. Special free-stream-preserving metrics proved an effective way to treat H-mesh singularities over a large range of severe flow conditions, including strong leading-edge flow gradients, massive shock-induced separation, and stall. Furthermore, lift and drag coefficients have been computed for a wing up through CLmax. Numerical oil flow patterns and particle trajectories are presented both for subcritical and transonic flow. These flow simulations are rich with complex separated flow physics and demonstrate the efficiency and robustness of the zonal approach.

Optimization of Spiral-Based Pulse Sequences for First Pass Myocardial Perfusion Imaging

PubMed Central

Salerno, Michael; Sica, Christopher T.; Kramer, Christopher M.; Meyer, Craig H.

2010-01-01

While spiral trajectories have multiple attractive features such as their isotropic resolution, acquisition efficiency, and robustness to motion, there has been limited application of these techniques to first pass perfusion imaging because of potential off-resonance and inconsistent data artifacts. Spiral trajectories may also be less sensitive to dark-rim artifacts (DRA) that are caused, at least in part, by cardiac motion. By careful consideration of the spiral trajectory readout duration, flip angle strategy, and image reconstruction strategy, spiral artifacts can be abated to create high quality first pass myocardial perfusion images with high SNR. The goal of this paper was to design interleaved spiral pulse sequences for first-pass myocardial perfusion imaging, and to evaluate them clinically for image quality and the presence of dark-rim, blurring, and dropout artifacts. PMID:21590802

Adaptive zooming in X-ray computed tomography.

PubMed

Dabravolski, Andrei; Batenburg, Kees Joost; Sijbers, Jan

2014-01-01

In computed tomography (CT), the source-detector system commonly rotates around the object in a circular trajectory. Such a trajectory does not allow to exploit a detector fully when scanning elongated objects. Increase the spatial resolution of the reconstructed image by optimal zooming during scanning. A new approach is proposed, in which the full width of the detector is exploited for every projection angle. This approach is based on the use of prior information about the object's convex hull to move the source as close as possible to the object, while avoiding truncation of the projections. Experiments show that the proposed approach can significantly improve reconstruction quality, producing reconstructions with smaller errors and revealing more details in the object. The proposed approach can lead to more accurate reconstructions and increased spatial resolution in the object compared to the conventional circular trajectory.

Dynamics and control of high area-to-mass ratio spacecraft and its application to geomagnetic exploration

NASA Astrophysics Data System (ADS)

Luo, Tong; Xu, Ming; Colombo, Camilla

2018-04-01

This paper studies the dynamics and control of a spacecraft, whose area-to-mass ratio is increased by deploying a reflective orientable surface such as a solar sail or a solar panel. The dynamical system describing the motion of a non-zero attitude angle high area-to-mass ratio spacecraft under the effects of the Earth's oblateness and solar radiation pressure admits the existence of equilibrium points, whose number and the eccentricity values depend on the semi-major axis, the area-to-mass ratio and the attitude angle of the spacecraft together. When two out of three parameters are fixed, five different dynamical topologies successively occur through varying the third parameter. Two of these five topologies are critical cases characterized by the appearance of the bifurcation phenomena. A conventional Hamiltonian structure-preserving (HSP) controller and an improved HSP controller are both constructed to stabilize the hyperbolic equilibrium point. Through the use of a conventional HSP controller, a bounded trajectory around the hyperbolic equilibrium point is obtained, while an improved HSP controller allows the spacecraft to easily transfer to the hyperbolic equilibrium point and to follow varying equilibrium points. A bifurcation control using topologies and changes of behavior areas can also stabilize a spacecraft near a hyperbolic equilibrium point. Natural trajectories around stable equilibrium point and these stabilized trajectories around hyperbolic equilibrium point can all be applied to geomagnetic exploration.

Tiltrotor noise reduction through flight trajectory management and aircraft configuration control

NASA Astrophysics Data System (ADS)

Gervais, Marc

A tiltrotor can hover, takeoff and land vertically as well as cruise at high speeds and fly long distances. Because of these unique capabilities, tiltrotors are envisioned as an aircraft that could provide a solution to the issue of airport gridlock by operating on stub runways, helipads, or from smaller regional airports. However, during an approach-to-land a tiltrotor is susceptible to radiating strong impulsive noise, in particular, Blade-Vortex Interaction noise (BVI), a phenomenon highly dependent on the vehicle's performance-state. A mathematical model was developed to predict the quasi-static performance characteristics of a tiltrotor during a converting approach in the longitudinal plane. Additionally, a neural network was designed to model the acoustic results from a flight test of the XV-15 tiltrotor as a function of the aircraft's performance parameters. The performance model was linked to the neural network to yield a combined performance/acoustic model that is capable of predicting tiltrotor noise emitted during a decelerating approach. The model was then used to study noise trends associated with different combinations of airspeed, nacelle tilt, and flight path angle. It showed that BVI noise is the dominant noise source during a descent and that its strength increases with steeper descent angles. Strong BVI noise was observed at very steep flight path angles, suggesting that the tiltrotor's high downwash prevents the wake from being pushed above the rotor, even at such steep descent angles. The model was used to study the effects of various aircraft configuration and flight trajectory parameters on the rotor inflow, which adequately captured the measured BVI noise trends. Flight path management effectively constrained the rotor inflow during a converting approach and thus limited the strength of BVI noise. The maximum deceleration was also constrained by controlling the nacelle tilt-rate during conversion. By applying these constraints, low BVI noise approaches that take into account the first-order effects of deceleration on the acoustics were systematically designed and compared to a baseline approach profile. The low-noise approaches yielded substantial noise reduction benefits on a hemisphere surrounding the aircraft and on a ground plane below the aircraft's trajectory.

Importance sampling large deviations in nonequilibrium steady states. I.

PubMed

Ray, Ushnish; Chan, Garnet Kin-Lic; Limmer, David T

2018-03-28

Large deviation functions contain information on the stability and response of systems driven into nonequilibrium steady states and in such a way are similar to free energies for systems at equilibrium. As with equilibrium free energies, evaluating large deviation functions numerically for all but the simplest systems is difficult because by construction they depend on exponentially rare events. In this first paper of a series, we evaluate different trajectory-based sampling methods capable of computing large deviation functions of time integrated observables within nonequilibrium steady states. We illustrate some convergence criteria and best practices using a number of different models, including a biased Brownian walker, a driven lattice gas, and a model of self-assembly. We show how two popular methods for sampling trajectory ensembles, transition path sampling and diffusion Monte Carlo, suffer from exponentially diverging correlations in trajectory space as a function of the bias parameter when estimating large deviation functions. Improving the efficiencies of these algorithms requires introducing guiding functions for the trajectories.

Importance sampling large deviations in nonequilibrium steady states. I

NASA Astrophysics Data System (ADS)

Ray, Ushnish; Chan, Garnet Kin-Lic; Limmer, David T.

2018-03-01

Large deviation functions contain information on the stability and response of systems driven into nonequilibrium steady states and in such a way are similar to free energies for systems at equilibrium. As with equilibrium free energies, evaluating large deviation functions numerically for all but the simplest systems is difficult because by construction they depend on exponentially rare events. In this first paper of a series, we evaluate different trajectory-based sampling methods capable of computing large deviation functions of time integrated observables within nonequilibrium steady states. We illustrate some convergence criteria and best practices using a number of different models, including a biased Brownian walker, a driven lattice gas, and a model of self-assembly. We show how two popular methods for sampling trajectory ensembles, transition path sampling and diffusion Monte Carlo, suffer from exponentially diverging correlations in trajectory space as a function of the bias parameter when estimating large deviation functions. Improving the efficiencies of these algorithms requires introducing guiding functions for the trajectories.

Trajectory Optimization of a Bimodal Nuclear Powered Spacecraft to Mars

DTIC Science & Technology

1990-05-29

velocity M = initial mass of spacecraft o m= ion fuel expulsion rate (constant) 0 = thrust direction angle = gravitational constant of Sun AVto t...total velocity change possible for the impulsive engines AV1 = velocity change for Earth escape AV2 = velocity change for Mars capture AVto t = AV + AV

Entry Guidance for the Reusable Launch Vehicle

NASA Technical Reports Server (NTRS)

Lu, Ping

1999-01-01

The X-33 Advanced Technology Demonstrator is a half-scale prototype developed to test the key technologies needed for a full-scale single-stage reusable launch vehicle (RLV). The X-33 is a suborbital vehicle that will be launched vertically, and land horizontally. The goals of this research were to develop an alternate entry guidance scheme for the X-33 in parallel to the actual X-33 entry guidance algorithms, provide comparative and complementary study, and identify potential new ways to improve entry guidance performance. Toward these goals, the nominal entry trajectory is defined by a piecewise linear drag-acceleration-versus-energy profile, which is in turn obtained by the solution of a semi-analytical parameter optimization problem. The closed-loop guidance is accomplished by tracking the nominal drag profile with primarily bank-angle modulation on-board. The bank-angle is commanded by a single full-envelope nonlinear trajectory control law. Near the end of the entry flight, the guidance logic is switched to heading control in order to meet strict conditions at the terminal area energy management interface. Two methods, one on ground-track control and the other on heading control, were proposed and examined for this phase of entry guidance where lateral control is emphasized. Trajectory dispersion studies were performed to evaluate the effectiveness of the entry guidance algorithms against a number of uncertainties including those in propulsion system, atmospheric properties, winds, aerodynamics, and propellant loading. Finally, a new trajectory-regulation method is introduced at the end as a promising precision entry guidance method. The guidance principle is very different and preliminary application in X-33 entry guidance simulation showed high precision that is difficult to achieve by existing methods.

Part-Task Simulation of Synthetic and Enhanced Vision Concepts for Lunar Landing

NASA Technical Reports Server (NTRS)

Arthur, Jarvis J., III; Bailey, Randall E.; Jackson, E. Bruce; Williams, Steven P.; Kramer, Lynda J.; Barnes, James R.

2010-01-01

During Apollo, the constraints placed by the design of the Lunar Module (LM) window for crew visibility and landing trajectory were a major problem. Lunar landing trajectories were tailored to provide crew visibility using nearly 70 degrees look-down angle from the canted LM windows. Apollo landings were scheduled only at specific times and locations to provide optimal sunlight on the landing site. The complications of trajectory design and crew visibility are still a problem today. Practical vehicle designs for lunar lander missions using optimal or near-optimal fuel trajectories render the natural vision of the crew from windows inadequate for the approach and landing task. Further, the sun angles for the desirable landing areas in the lunar polar regions create visually powerful, season-long shadow effects. Fortunately, Synthetic and Enhanced Vision (S/EV) technologies, conceived and developed in the aviation domain, may provide solutions to this visibility problem and enable additional benefits for safer, more efficient lunar operations. Piloted simulation evaluations have been conducted to assess the handling qualities of the various lunar landing concepts, including the influence of cockpit displays and the informational data and formats. Evaluation pilots flew various landing scenarios with S/EV displays. For some of the evaluation trials, an eye glasses-mounted, monochrome monocular display, coupled with head tracking, was worn. The head-worn display scene consisted of S/EV fusion concepts. The results of this experiment showed that a head-worn system did not increase the pilot s workload when compared to using just the head-down displays. As expected, the head-worn system did not provide an increase in performance measures. Some pilots commented that the head-worn system provided greater situational awareness compared to just head-down displays.

Part-task simulation of synthetic and enhanced vision concepts for lunar landing

NASA Astrophysics Data System (ADS)

Arthur, Jarvis J., III; Bailey, Randall E.; Jackson, E. Bruce; Barnes, James R.; Williams, Steven P.; Kramer, Lynda J.

2010-04-01

During Apollo, the constraints placed by the design of the Lunar Module (LM) window for crew visibility and landing trajectory were "a major problem." Lunar landing trajectories were tailored to provide crew visibility using nearly 70 degrees look-down angle from the canted LM windows. Apollo landings were scheduled only at specific times and locations to provide optimal sunlight on the landing site. The complications of trajectory design and crew visibility are still a problem today. Practical vehicle designs for lunar lander missions using optimal or near-optimal fuel trajectories render the natural vision of the crew from windows inadequate for the approach and landing task. Further, the sun angles for the desirable landing areas in the lunar polar regions create visually powerful, season-long shadow effects. Fortunately, Synthetic and Enhanced Vision (S/EV) technologies, conceived and developed in the aviation domain, may provide solutions to this visibility problem and enable additional benefits for safer, more efficient lunar operations. Piloted simulation evaluations have been conducted to assess the handling qualities of the various lunar landing concepts, including the influence of cockpit displays and the informational data and formats. Evaluation pilots flew various landing scenarios with S/EV displays. For some of the evaluation trials, an eye glasses-mounted, monochrome monocular display, coupled with head tracking, was worn. The head-worn display scene consisted of S/EV fusion concepts. The results of this experiment showed that a head-worn system did not increase the pilot's workload when compared to using just the head-down displays. As expected, the head-worn system did not provide an increase in performance measures. Some pilots commented that the head-worn system provided greater situational awareness compared to just head-down displays.

Aerocapture Performance Analysis for a Neptune-Triton Exploration Mission

NASA Technical Reports Server (NTRS)

Starr, Brett R.; Westhelle, Carlos H.; Masciarelli, James P.

2004-01-01

A systems analysis has been conducted for a Neptune-Triton Exploration Mission in which aerocapture is used to capture a spacecraft at Neptune. Aerocapture uses aerodynamic drag instead of propulsion to decelerate from the interplanetary approach trajectory to a captured orbit during a single pass through the atmosphere. After capture, propulsion is used to move the spacecraft from the initial captured orbit to the desired science orbit. A preliminary assessment identified that a spacecraft with a lift to drag ratio of 0.8 was required for aerocapture. Performance analyses of the 0.8 L/D vehicle were performed using a high fidelity flight simulation within a Monte Carlo executive to determine mission success statistics. The simulation was the Program to Optimize Simulated Trajectories (POST) modified to include Neptune specific atmospheric and planet models, spacecraft aerodynamic characteristics, and interplanetary trajectory models. To these were added autonomous guidance and pseudo flight controller models. The Monte Carlo analyses incorporated approach trajectory delivery errors, aerodynamic characteristics uncertainties, and atmospheric density variations. Monte Carlo analyses were performed for a reference set of uncertainties and sets of uncertainties modified to produce increased and reduced atmospheric variability. For the reference uncertainties, the 0.8 L/D flatbottom ellipsled vehicle achieves 100% successful capture and has a 99.87 probability of attaining the science orbit with a 360 m/s V budget for apoapsis and periapsis adjustment. Monte Carlo analyses were also performed for a guidance system that modulates both bank angle and angle of attack with the reference set of uncertainties. An alpha and bank modulation guidance system reduces the 99.87 percentile DELTA V 173 m/s (48%) to 187 m/s for the reference set of uncertainties.

The Influence of Projectile Trajectory Angle on the Simulated Impact Response of a Shuttle Leading Edge Wing Panel

NASA Technical Reports Server (NTRS)

Spellman, Regina L.; Jones, Lisa E.; Lyle, Karen H.; Jackson, Karen E.; Fasanella, Edwin L.

2005-01-01

In support of recommendations by the Columbia Accident Investigation Board, a team has been studying the effect of debris impacting the reinforced carbon-carbon panels of the shuttle leading edge. The objective of this study was to examine the effect of varying parameters of the debris trajectory on the damage tolerance. Impacts at the upper and lower surface and the apex of the leading edge were examined. For each location, trajectory variances included both the alpha and beta directions. The results of the analysis indicated in all cases the beta sweep decreased the amount of damage to the panel. The increases in alpha resulted in a significant increase in damage to the RCC panel. In particular, for the lower surface, where the alpha can increase by 10 degrees, there was a nearly 40% increase in the impulse. As a result, it is recommended that for future analyses, a 10 degree offset in alpha from the nominal trajectory is included for impacts on the lower surface. It is also recommended to assume a straight aft, or zero beta, trajectory for a more conservative analysis.

TrackTable Trajectory Analysis

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wilson, Andrew T.

Tracktable is designed for analysis and rendering of the trajectories of moving objects such as planes, trains, automobiles and ships. Its purpose is to operate on large sets of trajectories (millions) to help a user detect, analyze and display patterns. It will also be used to disseminate trajectory research results from Sandia's PANTHER Grand Challenge LDRD.

Fluctuating observation time ensembles in the thermodynamics of trajectories

NASA Astrophysics Data System (ADS)

Budini, Adrián A.; Turner, Robert M.; Garrahan, Juan P.

2014-03-01

The dynamics of stochastic systems, both classical and quantum, can be studied by analysing the statistical properties of dynamical trajectories. The properties of ensembles of such trajectories for long, but fixed, times are described by large-deviation (LD) rate functions. These LD functions play the role of dynamical free energies: they are cumulant generating functions for time-integrated observables, and their analytic structure encodes dynamical phase behaviour. This ‘thermodynamics of trajectories’ approach is to trajectories and dynamics what the equilibrium ensemble method of statistical mechanics is to configurations and statics. Here we show that, just like in the static case, there are a variety of alternative ensembles of trajectories, each defined by their global constraints, with that of trajectories of fixed total time being just one of these. We show how the LD functions that describe an ensemble of trajectories where some time-extensive quantity is constant (and large) but where total observation time fluctuates can be mapped to those of the fixed-time ensemble. We discuss how the correspondence between generalized ensembles can be exploited in path sampling schemes for generating rare dynamical trajectories.

Connecting the dots across time: reconstruction of single-cell signalling trajectories using time-stamped data

NASA Astrophysics Data System (ADS)

Mukherjee, Sayak; Stewart, David; Stewart, William; Lanier, Lewis L.; Das, Jayajit

2017-08-01

Single-cell responses are shaped by the geometry of signalling kinetic trajectories carved in a multidimensional space spanned by signalling protein abundances. It is, however, challenging to assay a large number (more than 3) of signalling species in live-cell imaging, which makes it difficult to probe single-cell signalling kinetic trajectories in large dimensions. Flow and mass cytometry techniques can measure a large number (4 to more than 40) of signalling species but are unable to track single cells. Thus, cytometry experiments provide detailed time-stamped snapshots of single-cell signalling kinetics. Is it possible to use the time-stamped cytometry data to reconstruct single-cell signalling trajectories? Borrowing concepts of conserved and slow variables from non-equilibrium statistical physics we develop an approach to reconstruct signalling trajectories using snapshot data by creating new variables that remain invariant or vary slowly during the signalling kinetics. We apply this approach to reconstruct trajectories using snapshot data obtained from in silico simulations, live-cell imaging measurements, and, synthetic flow cytometry datasets. The application of invariants and slow variables to reconstruct trajectories provides a radically different way to track objects using snapshot data. The approach is likely to have implications for solving matching problems in a wide range of disciplines.

Altitude-dependent Drift of a Chemical Release Cloud at Middle Latitudes

NASA Astrophysics Data System (ADS)

Pedersen, T.; Holmes, J. M.; Sutton, E. K.

2017-12-01

A chemical release experiment conducted at the White Sands Missile Range in February 2015 consisted of firing of three identical canisters at different altitudes along a near-vertical trajectory, creating a large structured cloud after diffusion and expansion of the three initial dispersals. Dedicated optical observations from near the launch site and a remote site allow determination of the position and motion of the extended optical cloud as a function of time, while photographs captured and posted by members of the general public provide additional look angles to constrain the cloud shape in more detail. We compare the observed drift and evolution of the cloud with empirical and theoretical models of the neutral winds to examine the altitudinal shear in the neutral winds and their effects on the motion and shape of the extended optical cloud.

Evaluation of infrasound signals from the shuttle Atlantis using a large seismic network.

PubMed

de Groot-Hedlin, Catherine D; Hedlin, Michael A H; Walker, Kristoffer T; Drob, Douglas P; Zumberge, Mark A

2008-09-01

Inclement weather in Florida forced the space shuttle "Atlantis" to land at Edwards Air Force Base in southern California on June 22, 2007, passing near three infrasound stations and several hundred seismic stations in northern Mexico, southern California, and Nevada. The high signal-to-noise ratio, broad receiver coverage, and Atlantis' positional information allow for the testing of infrasound propagation modeling capabilities through the atmosphere to regional distances. Shadow zones and arrival times are predicted by tracing rays that are launched at right angles to the conical shock front surrounding the shuttle through a standard climatological model as well as a global ground to space model. The predictions and observations compare favorably over much of the study area for both atmospheric specifications. To the east of the shuttle trajectory, there were no detections beyond the primary acoustic carpet. Infrasound energy was detected hundreds of kilometers to the west and northwest (NW) of the shuttle trajectory, consistent with the predictions of ducting due to the westward summer-time stratospheric jet. Both atmospheric models predict alternating regions of high and low ensonifications to the NW. However, infrasound energy was detected tens of kilometers beyond the predicted zones of ensonification, possibly due to uncertainties in stratospheric wind speeds.

Short-arc orbit determination using coherent X-band ranging data

NASA Technical Reports Server (NTRS)

Thurman, S. W.; Mcelrath, T. P.; Pollmeier, V. M.

1992-01-01

The use of X-band frequencies in ground-spacecraft and spacecraft-ground telecommunication links for current and future robotic interplanetary missions makes it possible to perform ranging measurements of greater accuracy than previously obtained. It is shown that ranging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. The application of high-accuracy S/X-band and X-band ranging to orbit determination with relatively short data arcs is investigated in planetary approach and encounter scenarios. Actual trajectory solutions for the Ulysses spacecraft constructed from S/X-band ranging and Doppler data are presented; error covariance calculations are used to predict the performance of X-band ranging and Doppler data. The Ulysses trajectory solutions indicate that the aim point for the spacecraft's February 1992 Jupiter encounter was predicted to a geocentric accuracy of 0.20 to 0.23/microrad. Explicit modeling of range bias parameters for each station pass is shown to largely remove systematic ground system calibration errors and transmission media effects from the Ulysses range measurements, which would otherwise corrupt the angle finding capabilities of the data. The Ulysses solutions were found to be reasonably consistent with the theoretical results, which suggest that angular accuracies of 0.08 to 0.1/microrad are achievable with X-band ranging.

Biomechanics of Tetrahymena escaping from a dead end

PubMed Central

Kikuchi, Kenji

2018-01-01

Understanding the behaviours of swimming microorganisms in various environments is important for understanding cell distribution and growth in nature and industry. However, cell behaviour in complex geometries is largely unknown. In this study, we used Tetrahymena thermophila as a model microorganism and experimentally investigated cell behaviour between two flat plates with a small angle. In this configuration, the geometry provided a ‘dead end' line where the two flat plates made contact. The results showed that cells tended to escape from the dead end line more by hydrodynamics than by a biological reaction. In the case of hydrodynamic escape, the cell trajectories were symmetric as they swam to and from the dead end line. Near the dead end line, T. thermophila cells were compressed between the two flat plates while cilia kept beating with reduced frequency; those cells again showed symmetric trajectories, although the swimming velocity decreased. These behaviours were well reproduced by our computational model based on biomechanics. The mechanism of hydrodynamic escape can be understood in terms of the torque balance induced by lubrication flow. We therefore conclude that a cell's escape from the dead end was assisted by hydrodynamics. These findings pave the way for understanding cell behaviour and distribution in complex geometries. PMID:29491169

Projectile Motion Model

NASA Astrophysics Data System (ADS)

Cordry, Sean

2003-10-01

Textbooks almost always have a stroboscopic photograph of a ball falling alongside of one with an initial horizontal speed. These photos are great for showing how the two objects experience the same vertical acceleration; however, the photos don't usually illustrate what happens if a projectile is launched at some angle. There are a number of ways to illustrate the effects of the launch angle: shooting a ball or stream of water through hoops, for example. Those demonstrations, though, do not allow for side-by-side comparison of the effects of various launch angles. Thus, a few years ago I constructed this three-dimensional projectile model to do just that. The model is composed of two three-dimensional "stroboscopic sculptures" representing the trajectory of two projectiles.

Velocity field of a round jet in a cross flow for various jet injection angles and velocity ratios. [Langley V/STOL tunnel

NASA Technical Reports Server (NTRS)

Fearn, R. L.; Weston, R. P.

1979-01-01

A subsonic round jet injected from a flat plate into a subsonic crosswind of the same temperature was investigated. Velocity and pressure measurements in planes perpendicular to the path of the jet were made for nominal jet injection angles of 45 deg, 60 deg, 75 deg, 90 deg, and 105 deg and for jet/cross flow velocity ratios of four and eight. The velocity measurements were obtained to infer the properties of the vortex pair associated with a jet in a cross flow. Jet centerline and vortex trajectories were determined and fit with an empirical equation that includes the effects of jet injection angle, jet core length, and jet/cross flow velocity ratios.

Trajectory control method of stratospheric airship based on the sliding mode control and prediction in wind field

NASA Astrophysics Data System (ADS)

Zhang, Jia-shi; Yang, Xi-xiang

2017-11-01

The stratospheric airship has the characteristics of large inertia, long time delay and large disturbance of wind field , so the trajectory control is very difficult .Build the lateral three degrees of freedom dynamic model which consider the wind interference , the dynamics equation is linearized by the small perturbation theory, propose a trajectory control method Combine with the sliding mode control and prediction, design the trajectory controller , takes the HAA airship as the reference to carry out simulation analysis. Results show that the improved sliding mode control with front-feedback method not only can solve well control problems of airship trajectory in wind field, but also can effectively improve the control accuracy of the traditional sliding mode control method, solved problems that using the traditional sliding mode control to control. It provides a useful reference for dynamic modeling and trajectory control of stratospheric airship.

Effective force control by muscle synergies

PubMed Central

Berger, Denise J.; d'Avella, Andrea

2014-01-01

Muscle synergies have been proposed as a way for the central nervous system (CNS) to simplify the generation of motor commands and they have been shown to explain a large fraction of the variation in the muscle patterns across a variety of conditions. However, whether human subjects are able to control forces and movements effectively with a small set of synergies has not been tested directly. Here we show that muscle synergies can be used to generate target forces in multiple directions with the same accuracy achieved using individual muscles. We recorded electromyographic (EMG) activity from 13 arm muscles and isometric hand forces during a force reaching task in a virtual environment. From these data we estimated the force associated to each muscle by linear regression and we identified muscle synergies by non-negative matrix factorization. We compared trajectories of a virtual mass displaced by the force estimated using the entire set of recorded EMGs to trajectories obtained using 4–5 muscle synergies. While trajectories were similar, when feedback was provided according to force estimated from recorded EMGs (EMG-control) on average trajectories generated with the synergies were less accurate. However, when feedback was provided according to recorded force (force-control) we did not find significant differences in initial angle error and endpoint error. We then tested whether synergies could be used as effectively as individual muscles to control cursor movement in the force reaching task by providing feedback according to force estimated from the projection of the recorded EMGs into synergy space (synergy-control). Human subjects were able to perform the task immediately after switching from force-control to EMG-control and synergy-control and we found no differences between initial movement direction errors and endpoint errors in all control modes. These results indicate that muscle synergies provide an effective strategy for motor coordination. PMID:24860489

Trajectories of high energy electrons in a plasma focus

NASA Technical Reports Server (NTRS)

Harries, W. L.; Lee, J. H.; Mcfarland, D. R.

1978-01-01

Measurements are made of high-energy electron trajectories in a plasma focus as functions of position, time, energy, and angle of emission. The spatial resolution of the X-ray emission shows that low-energy X-rays are emitted from the anode surface. It is also suggested that the highest energy X-rays originate from a small region on the axis. The so-called shadow technique shows that the electron beam is perpendicular to the anode surface. Polar diagrams of medium and high-energy X-rays agree with the bremsstrahlung emission from a relativistic electron beam, the current of which is several 100 A.

Global Optimization of Interplanetary Trajectories in the Presence of Realistic Mission Contraints

NASA Technical Reports Server (NTRS)

Hinckley, David, Jr.; Englander, Jacob; Hitt, Darren

2015-01-01

Interplanetary missions are often subject to difficult constraints, like solar phase angle upon arrival at the destination, velocity at arrival, and altitudes for flybys. Preliminary design of such missions is often conducted by solving the unconstrained problem and then filtering away solutions which do not naturally satisfy the constraints. However this can bias the search into non-advantageous regions of the solution space, so it can be better to conduct preliminary design with the full set of constraints imposed. In this work two stochastic global search methods are developed which are well suited to the constrained global interplanetary trajectory optimization problem.

Quadrotor trajectory tracking using PID cascade control

NASA Astrophysics Data System (ADS)

Idres, M.; Mustapha, O.; Okasha, M.

2017-12-01

Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition.

Optimal Electrodynamic Tether Phasing Maneuvers

NASA Technical Reports Server (NTRS)

Bitzer, Matthew S.; Hall, Christopher D.

2007-01-01

We study the minimum-time orbit phasing maneuver problem for a constant-current electrodynamic tether (EDT). The EDT is assumed to be a point mass and the electromagnetic forces acting on the tether are always perpendicular to the local magnetic field. After deriving and non-dimensionalizing the equations of motion, the only input parameters become current and the phase angle. Solution examples, including initial Lagrange costates, time of flight, thrust plots, and thrust angle profiles, are given for a wide range of current magnitudes and phase angles. The two-dimensional cases presented use a non-tilted magnetic dipole model, and the solutions are compared to existing literature. We are able to compare similar trajectories for a constant thrust phasing maneuver and we find that the time of flight is longer for the constant thrust case with similar initial thrust values and phase angles. Full three-dimensional solutions, which use a titled magnetic dipole model, are also analyzed for orbits with small inclinations.

Results of tests OA12 and IA9 in the Ames Research Center unitary plan wind tunnels on an 0.030 scale model of the space shuttle vehicle 2A to determine aerodynamic loads, volume 7

NASA Technical Reports Server (NTRS)

Spangler, R. H.

1973-01-01

Tests were conducted in wind tunnels during April and May 1973, on an 0.030-scale replica of the Space Shuttle Vehicle Configuration 2A. Aerodynamic loads data were obtained at Mach numbers from 0.6 to 3.5. The investigation included tests on the integrated (launch) configuration and on the isolated orbiter (entry configuration). The integrated vehicle was tested at angles of attack and sideslip from -8 deg. The isolated orbiter was tested at angles of attack from -15 deg to +40 deg and angles of sideslip from -10 deg to +10 deg as dictated by trajectory considerations. The effects of orbiter/external tank incidence angle and deflected control surfaces on aerodynamic loads were also investigated.

Radio frequency source of a weakly expanding wedge-shaped xenon ion beam for contactless removal of large-sized space debris objects.

PubMed

Balashov, Victor; Cherkasova, Maria; Kruglov, Kirill; Kudriavtsev, Arseny; Masherov, Pavel; Mogulkin, Andrey; Obukhov, Vladimir; Riaby, Valentin; Svotina, Victoria

2017-08-01

A theoretical-experimental research has been carried out to determine the characteristics of a radio frequency (RF) ion source for the generation of a weakly expanding wedge-shaped xenon ion beam. Such ion beam geometry is of interest as a prototype of an on-board ion injector for contactless "ion shepherding" by service spacecraft to remove large space debris objects from geostationary orbits. The wedge shape of the ion beam increases its range. The device described herein comprises an inductive gas discharge chamber and a slit-type three-electrode ion extraction grid (IEG) unit. Calculations of accelerating cell geometries and ion trajectories determined the dependence of beam expansion half-angle on normalized perveance based on the measurements of the spatial distributions of the xenon plasma parameters at the IEG entrance for a xenon flow rate q ≈ 0.2 mg/s and an incident RF power P in ≤ 250 W at a driving frequency f = 2 MHz. Experimental studies showed that the ion beam, circular at the IEG exit, accepted the elliptical form at the distance of 580 mm with half-angle of beam expansion across IEG slits about 2°-3° and close to 0° along them. Thus, the obtained result proved the possibility of creating a new-generation on-board ion injector that could be used in spacecrafts for removal of debris.

When Worlds Collide

NASA Astrophysics Data System (ADS)

Schultz, P. H.

1997-07-01

Although considerable attention has been paid to the catastrophic fragmentation of small planetary bodies following hypervelocity collisions, laboratory experiments at the NASA Ames Vertical Gun Range allow documenting the fate of the impactor. Of particular interest is the effect of oblique impacts on curved planetary surfaces, i.e., when the size of the impactor approaches 20% of the size of the target. Such experiments reveal that the shock created at first contact disrupts and decouples the impactor before it penetrates the target for 5-6 km/s impact velocities. This process has five important consequences. First, relatively large impactor fragments can survive the collision with minimal damage (5-6 largest sizes = 10% of the impactor mass). Moreover, surface curvature ensures escape of larger impactor debris exhibiting a wide range of shocked states. Second, these fragments follow different trajectories depending on their style of failure (spallation or shear) and provenance (their location in the impactor). Third, a low impedance veneer (regolith) reduces the degree of impactor fragmentation. Fourth, the process significantly decreases the energy (peak pressure) in the target and allows its survival even for collisions with large specific energies. Nevertheless, significant residual mafic melts result through frictional heating. And fifth, nominal oblique trajectories (30 deg) become equivalent to much lower angle events (< 10 deg) as the impactor:target ratio approaches 1:4. This process can be scaled (to first order) to asteroid-size events and could provide a mechanism to produce different meteor streams and asteroid families from a single event while leaving behind an intact but mafic scar on the parent body.

Human observers are biased in judging the angular approach of a projectile.

PubMed

Welchman, Andrew E; Tuck, Val L; Harris, Julie M

2004-01-01

How do we decide whether an object approaching us will hit us? The optic array provides information sufficient for us to determine the approaching trajectory of a projectile. However, when using binocular information, observers report that trajectories near the mid-sagittal plane are wider than they actually are. Here we extend this work to consider stimuli containing additional depth cues. We measure observers' estimates of trajectory direction first for computer rendered, stereoscopically presented, rich-cue objects, and then for real objects moving in the world. We find that, under both rich cue conditions and with real moving objects, observers show positive bias, overestimating the angle of approach when movement is near the mid-sagittal plane. The findings question whether the visual system, using both binocular and monocular cues to depth, can make explicit estimates of the 3-D location and movement of objects in depth.

High-Fidelity Real-Time Trajectory Optimization for Reusable Launch Vehicles

DTIC Science & Technology

2006-12-01

6.20 Max DR Yawing Moment History. ...............................................................270 Figure 6.21 Snapshot from MATLAB “Profile...Propagation using “ode45” (Euler Angles)...........................................330 Figure 6.114 Interpolated Elevon Controls using Various MATLAB ...Schemes.................332 Figure 6.115 Interpolated Flap Controls using Various MATLAB Schemes.....................333 Figure 6.116 Interpolated

Program documentation. Program description and user information for the hydraulics/auxiliary power unit (HYDRA) computer program. [for the space shuttle orbiter

NASA Technical Reports Server (NTRS)

Redwine, W. J.

1979-01-01

A timeline containing altitude, control surface deflection rates and angles, hinge moment loads, thrust vector control gimbal rates, and main throttle settings is used to derive the model. The timeline is constructed from the output of one or more trajectory simulation programs.

Friction coefficient of an intact free liquid jet moving in air

NASA Astrophysics Data System (ADS)

Comiskey, P. M.; Yarin, A. L.

2018-04-01

Here, we propose a novel method of determining the friction coefficient of intact free liquid jets moving in quiescent air. The middle-size jets of this kind are relevant for such applications as decorative fountains, fiber-forming, fire suppression, agriculture, and forensics. The present method is based on measurements of trajectories created using a straightforward experimental apparatus emulating such jets at a variety of initial inclination angles. Then, the trajectories are described theoretically, accounting for the longitudinal traction imposed on such jets by the surrounding air. The comparison of the experimental data with the theoretical predictions shows that the results can be perfectly superimposed with the friction coefficient {C_{{fd}}}=5R{e_d}^{{ - 1/2 ± 0.05}}, in the 621 ≤ R{e_d} ≤ 1289 range, with Red being the Reynolds number based on the local cross-sectional diameter of the jet. The results also show that the farthest distance such jets can reach corresponds to the initial inclination angle α =35° which is in agreement with already published data.

An adaptive guidance algorithm for an aerodynamically assisted orbital plane change maneuver. M.S. Thesis

NASA Technical Reports Server (NTRS)

Blissit, J. A.

1986-01-01

Using analysis results from the post trajectory optimization program, an adaptive guidance algorithm is developed to compensate for density, aerodynamic and thrust perturbations during an atmospheric orbital plane change maneuver. The maneuver offers increased mission flexibility along with potential fuel savings for future reentry vehicles. Although designed to guide a proposed NASA Entry Research Vehicle, the algorithm is sufficiently generic for a range of future entry vehicles. The plane change analysis provides insight suggesting a straight-forward algorithm based on an optimized nominal command profile. Bank angle, angle of attack, and engine thrust level, ignition and cutoff times are modulated to adjust the vehicle's trajectory to achieve the desired end-conditions. A performance evaluation of the scheme demonstrates a capability to guide to within 0.05 degrees of the desired plane change and five nautical miles of the desired apogee altitude while maintaining heating constraints. The algorithm is tested under off-nominal conditions of + or -30% density biases, two density profile models, + or -15% aerodynamic uncertainty, and a 33% thrust loss and for various combinations of these conditions.

Target tracking and 3D trajectory acquisition of cabbage butterfly (P. rapae) based on the KCF-BS algorithm.

PubMed

Guo, Yang-Yang; He, Dong-Jian; Liu, Cong

2018-06-25

Insect behaviour is an important research topic in plant protection. To study insect behaviour accurately, it is necessary to observe and record their flight trajectory quantitatively and precisely in three dimensions (3D). The goal of this research was to analyse frames extracted from videos using Kernelized Correlation Filters (KCF) and Background Subtraction (BS) (KCF-BS) to plot the 3D trajectory of cabbage butterfly (P. rapae). Considering the experimental environment with a wind tunnel, a quadrature binocular vision insect video capture system was designed and applied in this study. The KCF-BS algorithm was used to track the butterfly in video frames and obtain coordinates of the target centroid in two videos. Finally the 3D trajectory was calculated according to the matching relationship in the corresponding frames of two angles in the video. To verify the validity of the KCF-BS algorithm, Compressive Tracking (CT) and Spatio-Temporal Context Learning (STC) algorithms were performed. The results revealed that the KCF-BS tracking algorithm performed more favourably than CT and STC in terms of accuracy and robustness.

Berry phase dependent quantum trajectories of electron-hole pairs in semiconductors under intense terahertz fields

NASA Astrophysics Data System (ADS)

Yang, Fan; Liu, Ren-Bao

2013-03-01

Quantum evolution of particles under strong fields can be approximated by the quantum trajectories that satisfy the stationary phase condition in the Dirac-Feynmann path integrals. The quantum trajectories are the key concept to understand strong-field optics phenomena, such as high-order harmonic generation (HHG), above-threshold ionization (ATI), and high-order terahertz siedeband generation (HSG). The HSG in semiconductors may have a wealth of physics due to the possible nontrivial ``vacuum'' states of band materials. We find that in a spin-orbit-coupled semiconductor, the cyclic quantum trajectories of an electron-hole pair under a strong terahertz field accumulates nontrivial Berry phases. We study the monolayer MoS2 as a model system and find that the Berry phases are given by the Faraday rotation angles of the pulse emission from the material under short-pulse excitation. This result demonstrates an interesting Berry phase dependent effect in the extremely nonlinear optics of semiconductors. This work is supported by Hong Kong RGC/GRF 401512 and the CUHK Focused Investments Scheme.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wijesooriya, K; Seitter, K; Desai, V

Purpose: To present our single institution experience on catching errors with trajectory log file analysis. The reported causes of failures, probability of occurrences (O), severity of effects (S), and the probability of the failures to be undetected (D) could be added to guidelines of FMEA analysis. Methods: From March 2013 to March 2014, 19569 patient treatment fields/arcs were analyzed. This work includes checking all 131 treatment delivery parameters for all patients, all treatment sites and all treatment delivery fractions. TrueBeam trajectory log files for all treatment field types as well as all imaging types were accessed, read in every 20ms,more » and every control point (total of 37 million parameters) compared to the physician approved plan in the planning system. Results: Couch angle outlier occurrence: N= 327, range = −1.7 −1.2 deg; gantry angle outlier occurrence: N =59, range = 0.09 – 5.61 deg, collimator angle outlier occurrence: N = 13, range = −0.2 – 0.2 deg. VMAT cases have slightly larger variations in mechanical parameters. MLC: 3D single control point fields have a maximum deviation of 0.04 mm, 39 step and shoot IMRT cases have MLC −0.3 – 0.5 mm deviations, all (1286) VMAT cases have −0.9 – 0.7 mm deviations. Two possible serious errors were found: 1) A 4 cm isocenter shift for the PA beam of an AP-PA pair, under-dosing a portion of PTV by 25%. 2) Delivery with MLC leaves abutted behind the jaws as opposed to the midline as planned, leading to a under-dosing of a small volume of the PTV by 25%, by just the boost plan. Due to their error origin, neither of these errors could have been detected by pre-treatment verification. Conclusion: Performing Trajectory Log file analysis could catch typically undetected errors to avoid potentially adverse incidents.« less

Optimal spacecraft formation establishment and reconfiguration propelled by the geomagnetic Lorentz force

NASA Astrophysics Data System (ADS)

Huang, Xu; Yan, Ye; Zhou, Yang

2014-12-01

The Lorentz force acting on an electrostatically charged spacecraft as it moves through the planetary magnetic field could be utilized as propellantless electromagnetic propulsion for orbital maneuvering, such as spacecraft formation establishment and formation reconfiguration. By assuming that the Earth's magnetic field could be modeled as a tilted dipole located at the center of Earth that corotates with Earth, a dynamical model that describes the relative orbital motion of Lorentz spacecraft is developed. Based on the proposed dynamical model, the energy-optimal open-loop trajectories of control inputs, namely, the required specific charges of Lorentz spacecraft, for Lorentz-propelled spacecraft formation establishment or reconfiguration problems with both fixed and free final conditions constraints are derived via Gauss pseudospectral method. The effect of the magnetic dipole tilt angle on the optimal control inputs and the relative transfer trajectories for formation establishment or reconfiguration is also investigated by comparisons with the results derived from a nontilted dipole model. Furthermore, a closed-loop integral sliding mode controller is designed to guarantee the trajectory tracking in the presence of external disturbances and modeling errors. The stability of the closed-loop system is proved by a Lyapunov-based approach. Numerical simulations are presented to verify the validity of the proposed open-loop control methods and demonstrate the performance of the closed-loop controller. Also, the results indicate the dipole tilt angle should be considered when designing control strategies for Lorentz-propelled spacecraft formation establishment or reconfiguration.

HyperPASS, a New Aeroassist Tool

NASA Technical Reports Server (NTRS)

Gates, Kristin; McRonald, Angus; Nock, Kerry

2005-01-01

A new software tool designed to perform aeroassist studies has been developed by Global Aerospace Corporation (GAC). The Hypersonic Planetary Aeroassist Simulation System (HyperPASS) [1] enables users to perform guided aerocapture, guided ballute aerocapture, aerobraking, orbit decay, or unguided entry simulations at any of six target bodies (Venus, Earth, Mars, Jupiter, Titan, or Neptune). HyperPASS is currently being used for trade studies to investigate (1) aerocapture performance with alternate aeroshell types, varying flight path angle and entry velocity, different gload and heating limits, and angle of attack and angle of bank variations; (2) variable, attached ballute geometry; (3) railgun launched projectile trajectories, and (4) preliminary orbit decay evolution. After completing a simulation, there are numerous visualization options in which data can be plotted, saved, or exported to various formats. Several analysis examples will be described.

Measurement and interpretation of electron angle at mabe beam stop

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sanford, T.W.L.; Coleman, P.D.; Poukey, J.W.

1985-10-01

This analysis shows that radiation measurements combined with a sophisticated simulation provides a simple but powerful tool for estimating beam temperature in intense pulsed annular electron-beam accelerators. Specifically, the mean angle of incidence of a 60 kA, 7 MeV annular electron-beam at the beam stop of the MABE accelerator and the transverse beam temperature are determined. The angle is extracted by comparing dose profiles measured downstream of the stop with that expected from a simulation of the electron/photon transport in the stop. By calculating and removing the effect on the trajectories due to the change in electric field near themore » stop, the beam temperature is determined. Such measurements help give insight to beam generation and propagation within the accelerator.« less

Longitudinal control effectiveness and entry dynamics of a single-stage-to-orbit vehicle

NASA Technical Reports Server (NTRS)

Vinh, N. X.; Lin, C. F.

1982-01-01

The classical theory of flight dynamics for airplane longitudinal stability and control analysis was extended to the case of a hypervelocity reentry vehicle. This includes the elements inherent in supersonic and hypersonic flight such as the influence of the Mach number on aerodynamic characteristics, and the effect of the reaction control system and aerodynamic controls on the trim condition through a wide range of speed. Phugoid motion and angle of attack oscillation for typical cases of cruising flight, ballistic entry, and glide entry are investigated. In each case, closed form solutions for the variations in altitude, flight path angle, speed and angle of attack are obtained. The solutions explicitly display the influence of different regions design parameters and trajectory variables on the stability of the motion.

A Cosmic Dust Sensor Based on an Array of Grid Electrodes

NASA Astrophysics Data System (ADS)

Li, Y. W.; Bugiel, S.; Strack, H.; Srama, R.

2014-04-01

We described a low mass and high sensitivity cosmic dust trajectory sensor using a array of grid segments[1]. the sensor determines the particle velocity vector and the particle mass. An impact target is used for the detection of the impact plasma of high speed particles like interplanetary dust grains or high speed ejecta. Slower particles are measured by three planes of grid electrodes using charge induction. In contrast to conventional Dust Trajectory Sensor based on wire electrodes, grid electrodes a robust and sensitive design with a trajectory resolution of a few degree. Coulomb simulation and laboratory tests were performed in order to verify the instrument design. The signal shapes are used to derive the particle plane intersection points and to derive the exact particle trajectory. The accuracy of the instrument for the incident angle depends on the particle charge, the position of the intersection point and the signal-to-noise of the charge sensitive amplifier (CSA). There are some advantages of this grid-electrodes based design with respect to conventional trajectory sensor using individual wire electrodes: the grid segment electrodes show higher amplitudes (close to 100%induced charge) and the overall number of measurement channels can be reduced. This allows a compact instrument with low power and mass requirements.

Trajectories of electrons with large longitudinal momenta in the phase plane during surfatron acceleration by an electromagnetic wave

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mkrtichyan, G. S., E-mail: hay-13@mail.ru

2015-07-15

The trajectories of electrons with large longitudinal momenta in the phase plane in the course of their surfatron acceleration by an electromagnetic wave propagating in space plasma across the external magnetic field are analyzed. Electrons with large longitudinal momenta are trapped immediately if the initial wave phase Ψ(0) on the particle trajectory is positive. For negative values of Ψ(0), no electrons trapping by the wave is observed over the available computational times. According to numerical calculations, the trajectories of trapped particles in the phase plane have a singular point of the stable focus type and the behavior of the trajectorymore » corresponds to the motion in a complex nonstationary effective potential well. For some initial phases, electrons are confined in the region of the accelerating electric field for relatively short time, the energy gain being about 50–130% and more.« less

Characteristics of VLF wave propagation in the Earth's magnetosphere in the presence of an artificial density duct

NASA Astrophysics Data System (ADS)

Pasmanik, Dmitry; Demekhov, Andrei

We study the propagation of VLF waves in the Earth's ionosphere and magnetosphere in the presence of large-scale artificial plasma inhomogeneities which can be created by HF heating facilities like HAARP and ``Sura''. A region with enhanced cold plasma density can be formed due to the action of HF heating. This region is extended along geomagnetic field (up to altitudes of several thousand km) and has rather small size across magnetic field (about 1 degree). The geometric-optical approximation is used to study wave propagation. The plasma density and ion composition are calculated with the use of SAMI2 model, which was modified to take the effect of HF heating into account. We calculate ray trajectories of waves with different initial frequency and wave-normal angles and originating at altitudes of about 100 km in the region near the heating area. The source of such waves could be the lightning discharges, modulated HF heating of the ionosphere, or VLF transmitters. Variation of the wave amplitude along the ray trajectories due to refraction is considered and spatial distribution of wave intensity in the magnetosphere is analyzed. We show that the presence of such a density disturbances can lead to significant changes of wave propagation trajectories, in particular, to efficient guiding of VLF waves in this region. This can result in a drastic increase of the VLF-wave intensity in the density duct. The dependence of wave propagation properties on parameters of heating facility operation regime is considered. We study the variation of the spatial distribution of VLF wave intensity related to the slow evolution of the artificial inhomogeneity during the heating.

The Impact of a Large Object on Jupiter in 2009 July

NASA Technical Reports Server (NTRS)

Sanchez-Lavega, A.; Wesley, A.; Orton, G.; Hueso, R.; Perez-Hoyos, S.; Fletcher, L. N.; Yanamandra-Fisher, P.; Legarreta, J.; de Pater, I.; Hammel, H.;

Cosmic Rays In The Magnetosphere, 2. Apparent Cut-off Rigidities and Coupling Functions

NASA Astrophysics Data System (ADS)

Dorman, L. I.; Danilova, O. A.; Iucci, N.; Parisi, M.; Ptitsyna, N. G.; Tyasto, M. I.; Villoresi, G.

We calculate the apparent cut-off rigidities along the survey Italy-Antarctica-Italy** on the basis of results of Danilova et al. (2001) on trajectory calculations for inclined cut- off rigidities at eight azimuths (through 45?) and five zeniths angles (through 15?) along the survey. For calculations of apparent cut-off rigidities we use also the infor- mation on integral multiplicities of secondary neutrons in dependence of zenith angle of incident primary cosmic ray particles, as theoretically computed. This information is based on the theoretical calculations of meson-nuclear cascades for primary protons with different rigidities arriving to the EarthSs atmosphere at different zenith angles (Dorman and Pakhomov, 1979). These results have been checked and normalized by using coupling functions obtained in the same survey [Dorman et al. (2000)]. The determined apparent cut-off rigidities have been compared with results obtained by Clem et al. (1997) and with those used by Dorman et al. (2000) computed by using vertical cut-off rigidities, for trajectories especially calculated for the survey. On the basis of the apparent cut-off rigidities along the latitude survey, the coupling functions for neutron monitor and bare neutron counters found by Dorman et al. (2000) are now determined more accurately. **Survey realized with logistic and financial support of the Italian Antarctic Program (PNRA) and with the co-operation of IFSI-CNR. REFERENCES: Clem, J.M., et al. J. Geophys. Res., 102, 26,919 (1997). Danilova, O.A., et al., Latitude survey in December 1996-March 1997, 1. Cut-off rigidities for different azimuth and zenith angles, Paper ST13, This issue (2001) Dorman L.I. and Pakhomov N.I., "The dependence of the integral generation multiplicity of neutron component at various depths in the atmosphere on zenith angle on primary particle in- cidence". Proc. 16-th ICRC, Kyoto, 4, 416-420 (1979) Dorman, L.I., et al., J. Geophys. Res. 105 , 21,047 (2000).

A Venus/Saturn Mission Study: 45deg Sphere-Cone Rigid Aeroshells and Ballistic Entries

NASA Technical Reports Server (NTRS)

Prabhu, Dinesh K.; Allen, Gary A.; Cappuccio, Gelsomina

2012-01-01

The present study considers ballistic entries into the atmospheres of Saturn and Venus using a 45deg sphere-cone rigid aeroshell (a legacy shape that has been successfully used in the Pioneer Venus and Galileo missions). For a number of entry mass and diameter combinations (i.e., various entries ballistic coefficients), entry velocities, and heading angles, the trajectory space in terms of entry flight path angles between skip out and -30deg is explored with a 3DOF trajectory code, TRAJ. Assuming that the thermal protection material of choice is carbon phenolic of flight heritage, the entry flight path angle space is constrained a posteriori by the mechanical and thermal performance parameters of the material. For mechanical performance, a 200 g limit is place on the peak deceleration load and 10 bar is assumed as the spallation pressure threshold for the legacy material. It is shown that both constraints cannot be active simultaneously. For thermal performance, a minimum margined heat flux threshold of 2.5 kW/sq cm is assumed for the heritage material. Using these constraints, viable entry flight path angle corridors are determined. Analysis of the results also hints at the existence of a "critical" ballistic coefficient beyond which the steepest possible entries are determined by the spallation pressure threshold. The results are verified against known performance of the various probes used in the Galileo and Pioneer Venus missions. It is hoped that the results presented here will serve as a baseline in the development of a new class of ablative materials for Venus and Saturn missions being considered in a future New Frontiers class of NASA missions.

A cardioid oscillator with asymmetric time ratio for establishing CPG models.

PubMed

Fu, Q; Wang, D H; Xu, L; Yuan, G

2018-01-13

Nonlinear oscillators are usually utilized by bionic scientists for establishing central pattern generator models for imitating rhythmic motions by bionic scientists. In the natural word, many rhythmic motions possess asymmetric time ratios, which means that the forward and the backward motions of an oscillating process sustain different times within one period. In order to model rhythmic motions with asymmetric time ratios, nonlinear oscillators with asymmetric forward and backward trajectories within one period should be studied. In this paper, based on the property of the invariant set, a method to design the closed curve in the phase plane of a dynamic system as its limit cycle is proposed. Utilizing the proposed method and considering that a cardioid curve is a kind of asymmetrical closed curves, a cardioid oscillator with asymmetric time ratios is proposed and realized. Through making the derivation of the closed curve in the phase plane of a dynamic system equal to zero, the closed curve is designed as its limit cycle. Utilizing the proposed limit cycle design method and according to the global invariant set theory, a cardioid oscillator applying a cardioid curve as its limit cycle is achieved. On these bases, the numerical simulations are conducted for analyzing the behaviors of the cardioid oscillator. The example utilizing the established cardioid oscillator to simulate rhythmic motions of the hip joint of a human body in the sagittal plane is presented. The results of the numerical simulations indicate that, whatever the initial condition is and without any outside input, the proposed cardioid oscillator possesses the following properties: (1) The proposed cardioid oscillator is able to generate a series of periodic and anti-interference self-exciting trajectories, (2) the generated trajectories possess an asymmetric time ratio, and (3) the time ratio can be regulated by adjusting the oscillator's parameters. Furthermore, the comparison between the simulated trajectories by the established cardioid oscillator and the measured angle trajectories of the hip angle of a human body show that the proposed cardioid oscillator is fit for imitating the rhythmic motions of the hip of a human body with asymmetric time ratios.

MO-G-17A-02: Computer Simulation Studies for On-Board Functional and Molecular Imaging of the Prostate Using a Robotic Multi-Pinhole SPECT System

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cheng, L; Duke University Medical Center, Durham, NC; Fudan University Shanghai Cancer Center, Shanghai

Purpose: To investigate prostate imaging onboard radiation therapy machines using a novel robotic, 49-pinhole Single Photon Emission Computed Tomography (SPECT) system. Methods: Computer-simulation studies were performed for region-of-interest (ROI) imaging using a 49-pinhole SPECT collimator and for broad cross-section imaging using a parallel-hole SPECT collimator. A male XCAT phantom was computersimulated in supine position with one 12mm-diameter tumor added in the prostate. A treatment couch was added to the phantom. Four-minute detector trajectories for imaging a 7cm-diameter-sphere ROI encompassing the tumor were investigated with different parameters, including pinhole focal length, pinhole diameter and trajectory starting angle. Pseudo-random Poisson noise wasmore » included in the simulated projection data, and SPECT images were reconstructed by OSEM with 4 subsets and up to 10 iterations. Images were evaluated by visual inspection, profiles, and Root-Mean- Square-Error (RMSE). Results: The tumor was well visualized above background by the 49-pinhole SPECT system with different pinhole parameters while it was not visible with parallel-hole SPECT imaging. Minimum RMSEs were 0.30 for 49-pinhole imaging and 0.41 for parallelhole imaging. For parallel-hole imaging, the detector trajectory from rightto- left yielded slightly lower RMSEs than that from posterior to anterior. For 49-pinhole imaging, near-minimum RMSEs were maintained over a broader range of OSEM iterations with a 5mm pinhole diameter and 21cm focal length versus a 2mm diameter pinhole and 18cm focal length. The detector with 21cm pinhole focal length had the shortest rotation radius averaged over the trajectory. Conclusion: On-board functional and molecular prostate imaging may be feasible in 4-minute scan times by robotic SPECT. A 49-pinhole SPECT system could improve such imaging as compared to broadcross-section parallel-hole collimated SPECT imaging. Multi-pinhole imaging can be improved by considering pinhole focal length, pinhole diameter, and trajectory starting angle. The project is supported by the NIH grant 5R21-CA156390.« less

Particle acceleration due to shocks in the interplanetary field: High time resolution data and simulation results

NASA Technical Reports Server (NTRS)

Kessel, R. L.; Armstrong, T. P.; Nuber, R.; Bandle, J.

1985-01-01

Data were examined from two experiments aboard the Explorer 50 (IMP 8) spacecraft. The Johns Hopkins University/Applied Lab Charged Particle Measurement Experiment (CPME) provides 10.12 second resolution ion and electron count rates as well as 5.5 minute or longer averages of the same, with data sampled in the ecliptic plane. The high time resolution of the data allows for an explicit, point by point, merging of the magnetic field and particle data and thus a close examination of the pre- and post-shock conditions and particle fluxes associated with large angle oblique shocks in the interplanetary field. A computer simulation has been developed wherein sample particle trajectories, taken from observed fluxes, are allowed to interact with a planar shock either forward or backward in time. One event, the 1974 Day 312 shock, is examined in detail.

Oblique impact: Projectile richochet, concomitant ejecta and momentum transfer

NASA Technical Reports Server (NTRS)

Gault, Donald E.; Schultz, Peter H.

1987-01-01

Experimental studies of oblique impact indicate that projectile richochet occurs for trajectory angles less than 30 deg and that the richocheted projectile, accompanied by some target material, are ejected at velocities that are a large fraction of the impact velocity. Because the probability of occurrence of oblique impact less than 30 deg on a planetary body is about one out of every four impact events, oblique impacts would seem to be a potential mechanism to provide a source of meteorites from even the largest atmosphere-free planetary bodies. Because the amount of richocheted target material cannot be determined from previous results, additional experiments in the Ames Vertical Gun laboratory were undertaken toward that purpose using pendulums; one to measure momentum of the richocheted projectile and concomitant target ejecta, and a second to measure the momentum transferred from projectile to target. These experiments are briefly discussed.

Optimal Variable-Structure Control Tracking of Spacecraft Maneuvers

NASA Technical Reports Server (NTRS)

Crassidis, John L.; Vadali, Srinivas R.; Markley, F. Landis

1999-01-01

An optimal control approach using variable-structure (sliding-mode) tracking for large angle spacecraft maneuvers is presented. The approach expands upon a previously derived regulation result using a quaternion parameterization for the kinematic equations of motion. This parameterization is used since it is free of singularities. The main contribution of this paper is the utilization of a simple term in the control law that produces a maneuver to the reference attitude trajectory in the shortest distance. Also, a multiplicative error quaternion between the desired and actual attitude is used to derive the control law. Sliding-mode switching surfaces are derived using an optimal-control analysis. Control laws are given using either external torque commands or reaction wheel commands. Global asymptotic stability is shown for both cases using a Lyapunov analysis. Simulation results are shown which use the new control strategy to stabilize the motion of the Microwave Anisotropy Probe spacecraft.

Strain energy density and surface layer energy for a crack-like ellipse

NASA Technical Reports Server (NTRS)

Kipp, M. E.; Sih, G. C.

1973-01-01

Some of the fundamental concepts of sharp crack fracture criteria are applied to cracks and narrow ellipses. The strain energy density theory is extended to notch boundaries, where the energy in a surface layer is calculated and the location of failure initiation is determined. The concept of a core region near the notch tip, and its consequences, are examined in detail. The example treated is that of an elliptical cavity loaded uniformly at a large distance from the hole, and at an angle to the hole; the results are shown to approach that of the crack solution for narrow ellipses, and to display quite satisfactory agreement with recently published experimental data under both tensile and compressive loading conditions. Results also indicate that in globally unstable configurations in brittle materials, the original loading and notch geometry are sufficient to predict the subsequent crack trajectory with considerable accuracy.

Patterns of gestational weight gain and birthweight outcomes in the Eunice Kennedy Shriver National Institute of Child Health and Human Development Fetal Growth Studies-Singletons: a prospective study.

PubMed

Pugh, Sarah J; Albert, Paul S; Kim, Sungduk; Grobman, William; Hinkle, Stefanie N; Newman, Roger B; Wing, Deborah A; Grantz, Katherine L

2017-09-01

Inadequate or excessive total gestational weight gain is associated with increased risks of small- and large-for-gestational-age births, respectively, but evidence is sparse regarding overall and trimester-specific patterns of gestational weight gain in relation to these risks. Characterizing the interrelationship between patterns of gestational weight gain across trimesters can reveal whether the trajectory of gestational weight gain in the first trimester sets the path for gestational weight gain in subsequent trimesters, thereby serving as an early marker for at-risk pregnancies. We sought to describe overall trajectories of gestational weight gain across gestation and assess the risk of adverse birthweight outcomes associated with the overall trajectory and whether the timing of gestational weight gain (first vs second/third trimester) is differentially associated with adverse outcomes. We conducted a secondary analysis of a prospective cohort of 2802 singleton pregnancies from 12 US prenatal centers (2009 through 2013). Small and large for gestational age were calculated using sex-specific birthweight references <5th, <10th, or ≥90th percentiles, respectively. At each of the research visits, women's weight was measured following a standardized anthropometric protocol. Maternal weight at antenatal clinical visits was also abstracted from the prenatal records. Semiparametric, group-based, latent class, trajectory models estimated overall gestational weight gain and separate first- and second-/third-trimester trajectories to assess tracking. Robust Poisson regression was used to estimate the relative risk of small- and large-for-gestational-age outcomes by the probability of trajectory membership. We tested whether relationships were modified by prepregnancy body mass index. There were 2779 women with a mean of 15 (SD 5) weights measured across gestation. Four distinct gestational weight gain trajectories were identified based on the lowest Bayesian information criterion value, classifying 10.0%, 41.8%, 39.2%, and 9.0% of the population from lowest to highest weight gain trajectories, with an inflection at 14 weeks. The average rate in each trajectory group from lowest to highest for 0-<14 weeks was -0.20, 0.04, 0.21, and 0.52 kg/wk and for 14-39 weeks was 0.29, 0.48, 0.63, and 0.79 kg/wk, respectively; the second lowest gaining trajectory resembled the Institute of Medicine recommendations and was designated as the reference with the other trajectories classified as low, moderate-high, or high. Accuracy of assignment was assessed and found to be high (median posterior probability 0.99, interquartile range 0.99-1.00). Compared with the referent trajectory, a low overall trajectory, but not other trajectories, was associated with a 1.55-fold (95% confidence interval, 1.06-2.25) and 1.58-fold (95% confidence interval, 0.88-2.82) increased risk of small-for-gestational-age <10th and <5th, respectively, while a moderate-high and high trajectory were associated with a 1.78-fold (95% confidence interval, 1.31-2.41) and 2.45-fold (95% confidence interval, 1.66-3.61) increased risk of large for gestational age, respectively. In a separate analysis investigating whether early (<14 weeks) gestational weight gain tracked with later (≥14 weeks) gestational weight gain, only 49% (n = 127) of women in the low first-trimester trajectory group continued as low in the second/third trimester, and had a 1.59-fold increased risk of small for gestational age; for the other 51% (n = 129) of women without a subsequently low second-/third-trimester gestational weight gain trajectory, there was no increased risk of small for gestational age (relative risk, 0.75; 95% confidence interval, 0.47-1.38). Prepregnancy body mass index did not modify the association between gestational weight gain trajectory and small for gestational age (P = 0.52) or large for gestational age (P = .69). Our findings are reassuring for women who experience weight loss or excessive weight gain in the first trimester; however, the risk of small or large for gestational age is significantly increased if women gain weight below or above the reference trajectory in the second/third trimester. Published by Elsevier Inc.

Trajectories of Aggressive Behavior and Children's Social-Cognitive Development

ERIC Educational Resources Information Center

Averdijk, Margit; Malti, Tina; Ribeaud, Denis; Eisner, Manuel

2011-01-01

The current study investigated developmental trajectories of teacher-reported aggressive behavior and whether these trajectories are associated with social-cognitive development (i.e., aggressive problem-solving) across the first three elementary grades in a large sample from Switzerland (N = 1,146). Semiparametric group-based analyses were…

Modeling on Fluid Flow and Inclusion Motion in Centrifugal Continuous Casting Strands

NASA Astrophysics Data System (ADS)

Wang, Qiangqiang; Zhang, Lifeng; Sridhar, Seetharaman

2016-08-01

During the centrifugal continuous casting process, unreasonable casting parameters can cause violent level fluctuation, serious gas entrainment, and formation of frozen shell pieces at the meniscus. Thus, in the current study, a three-dimensional multiphase turbulent model was established to study the transport phenomena during centrifugal continuous casting process. The effects of nozzle position, casting and rotational speed on the flow pattern, centrifugal force acting on the molten steel, level fluctuation, gas entrainment, shear stress on mold wall, and motion of inclusions during centrifugal continuous casting process were investigated. Volume of Fluid model was used to simulate the molten steel-air two-phase. The level fluctuation and the gas entrainment during casting were calculated by user-developed subroutines. The trajectory of inclusions in the rotating system was calculated using the Lagrangian approach. The results show that during centrifugal continuous casting, a large amount of gas was entrained into the molten steel, and broken into bubbles of various sizes. The greater the distance to the mold wall, the smaller the centrifugal force. Rotation speed had the most important influence on the centrifugal force distribution at the side region. Angular moving angle of the nozzle with 8° and keeping the rotation speed with 60 revolutions per minute can somehow stabilize the level fluctuation. The increase of angular angle of nozzle from 8 to 18 deg and rotation speed from 40 to 80 revolutions per minute favored to decrease the total volume of entrained bubbles, while the increase of distance of nozzle moving left and casting speed had reverse effects. The trajectories of inclusions in the mold were irregular, and then rotated along the strand length. After penetrating a certain distance, the inclusions gradually moved to the center of billet and gathered there. More work, such as the heat transfer, the solidification, and the inclusions entrapment during centrifugal continuous casting, will be performed.

A discrete-time adaptive control scheme for robot manipulators

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Asymmetric molecular-orbital tomography by manipulating electron trajectories

NASA Astrophysics Data System (ADS)

Wang, Bincheng; Zhang, Qingbin; Zhu, Xiaosong; Lan, Pengfei; Rezvani, Seyed Ali; Lu, Peixiang

2017-11-01

We present a scheme for tomographic imaging of asymmetric molecular orbital based on high-order harmonic generation with a two-color orthogonally polarized multicycle laser field. With the two-dimensional manipulation of the electron trajectories, the electrons can recollide with the target molecule from two noncollinear directions, and then the dipole moment generated from the single direction can be obtained to reconstructed the asymmetric molecular orbital. The recollision is independent from the molecular structure and the angular dependence of the ionization rate in the external field. For this reason, this scheme can avoid the negative effects arising from the modification of the angle-dependent ionization rate induced by Stark shift and be applied to various molecules.

Trails of Kilovolt Ions Created by Subsurface Channeling

DOE Office of Scientific and Technical Information (OSTI.GOV)

Redinger, Alex; Standop, Sebastian; Michely, Thomas

2010-02-19

Using scanning tunneling microscopy, we observe the damage trails produced by keV noble-gas ions incident at glancing angles onto Pt(111). Surface vacancies and adatoms aligned along the ion trajectory constitute the ion trails. Atomistic simulations reveal that these straight trails are produced by nuclear (elastic) collisions with surface layer atoms during subsurface channeling of the projectiles. In a small energy window around 5 keV, Xe{sup +} ions create vacancy grooves that mark the ion trajectory with atomic precision. The asymmetry of the adatom production on the two sides of the projectile path is traced back to the asymmetry of themore » ion's subsurface channel.« less

Review of the trajectory and atmospheric structure reconstruction for Mars Pathfinder

NASA Astrophysics Data System (ADS)

Withers, Paul; Towner, Martin; Hathi, Brijen; Zarnecki, John

2004-02-01

Mars Pathfinder landed on Mars on July 4, 1997. It used a novel deceleration procedure, consisting of a hypersonic aeroshell, a transonic parachute, retro-rockets, and airbags, to reach the surface safely. Its aerodynamic properties passively maintained a near-zero angle of attack throughout its entry. There were no gyroscopes to monitor attitude. Several different trajectory reconstructions have been based on the assumptions that accelerations along its symmetry axis are directed along its flight path and that accelerations in other directions are insignificant. The aerodynamics of Pathfinder once its parachute opened are still not well-understood and the available observations are probably not sufficient to improve matters significantly in the future.

Eddy current inspection of weld defects in tubing

NASA Technical Reports Server (NTRS)

Katragadda, G.; Lord, W.

1992-01-01

An approach using differential probes for the inspection of weld defects in tubing is studied. Finite element analysis is used to model the weld regions and defects. Impedance plane signals are predicted for different weld defect types and compared wherever possible with signals from actual welds in tubing. Results show that detection and sizing of defects in tubing is possible using differential eddy current techniques. The phase angle of the impedance plane trajectory gives a good indication of the sizing of the crack. Data on the type of defect can be obtained from the shape of the impedance plane trajectory and the phase. Depending on the skin depth, detection of outer wall, inner wall, and subsurface defects is possible.

Pulmonary artery imaging under free-breathing using golden-angle radial bSSFP MRI: a proof of concept.

PubMed

Fyrdahl, Alexander; Vargas Paris, Roberto; Nyrén, Sven; Holst, Karen; Ugander, Martin; Lindholm, Peter; Sigfridsson, Andreas

2018-03-14

To evaluate the feasibility of an improved motion and flow robust methodology for imaging the pulmonary vasculature using non-contrast-enhanced, free-breathing, golden-angle radial MRI. Healthy volunteers (n = 10, age 46 ± 11 years, 50% female) and patients (n = 2, ages 27 and 84, both female) were imaged at 1.5 T using a Cartesian and golden-angle radial 2D balanced SSFP pulse sequence. The acquisitions were made under free breathing without contrast agent enhancement. The radial acquisitions were reconstructed at 3 temporal footprints. All series were scored from 1 to 5 for perceived diagnostic quality, artifact level, and vessel sharpness in multiple anatomical locations. In addition, vessel sharpness and blood-to-blood clot contrast were measured. Quantitative measurements showed higher vessel sharpness for golden-angle radial (n = 76, 0.79 ± 0.11 versus 0.71 ± 0.16, p < .05). Blood-to-blood clot contrast was found to be 23% higher in golden-angle radial in the 2 patients. At comparable temporal footprints, golden-angle radial was scored higher for diagnostic quality (mean ± SD, 2.3 ± 0.7 versus 2.2 ± 0.6, p < .01) and vessel sharpness (2.2 ± 0.8 versus 2.1 ± 0.5, p < .01), whereas the artifact level did not differ (3.0 ± 0.9 versus 3.0 ± 1.0, p = .80). The ability to retrospectively choose a temporal resolution and perform sliding-window reconstructions was demonstrated in patients. In pulmonary artery imaging, the motion and flow robustness of a radial trajectory does both improve image quality over Cartesian trajectory in healthy volunteers, and allows for flexible selection of temporal footprints and the ability to perform real-time sliding window reconstructions, which could potentially provide further diagnostic insight. © 2018 International Society for Magnetic Resonance in Medicine.

The Language Growth of Spanish-Speaking English Language Learners

ERIC Educational Resources Information Center

Rojas, Raul; Iglesias, Aquiles

2013-01-01

Although the research literature regarding language growth trajectories is burgeoning, the shape and direction of English Language Learners' (ELLs) language growth trajectories are largely not known. This study used growth curve modeling to determine the shape of ELLs' language growth trajectories across 12,248 oral narrative language samples…

Shape of scoria cones on Mars: Insights from numerical modeling of ballistic pathways

NASA Astrophysics Data System (ADS)

Brož, Petr; Čadek, Ondřej; Hauber, Ernst; Rossi, Angelo Pio

2014-11-01

Morphological observations of scoria cones on Mars show that their cross-sectional shapes are different from those on Earth. Due to lower gravity and atmospheric pressure on Mars, particles are spread over a larger area than on Earth. Hence, erupted volumes are typically not large enough for the flank slopes to attain the angle of repose, in contrast to Earth where this is common. The distribution of ejected material forming scoria cones on Mars, therefore, is ruled mainly by ballistic distribution and not by redistribution of flank material by avalanching after the static angle of repose is reached. As a consequence, the flank slopes of the Martian scoria cones do not reach the critical angle of repose in spite of a large volume of ejected material. Therefore, the topography of scoria cones on Mars is governed mainly by ballistic distribution of ejected particles and is not influenced by redistribution of flank material by avalanching. The growth of a scoria cone can be studied numerically by tracking the ballistic trajectories and tracing the cumulative deposition of repeatedly ejected particles. We apply this approach to a specific volcanic field, Ulysses Colles on Mars, and compare our numerical results with observations. The scoria cones in this region are not significantly affected by erosion and their morphological shape still preserves a record of physical conditions at the time of eruption. We demonstrate that the topography of these scoria cones can be rather well (with accuracy of ∼10 m) reproduced provided that the ejection velocities are a factor of ∼2 larger and the ejected particles are about ten times finer than typical on Earth, corresponding to a mean particle velocity of ∼92 m/s and a real particle size of about 4 mm. This finding is in agreement with previous theoretical works that argued for larger magma fragmentation and higher ejection velocities on Mars than on Earth due to lower gravity and different environmental conditions.

Secondary electron emission from electrically charged fluorinated-ethylene-propylene Teflon for normal and non-normal electron incidence. M.S. Thesis; [spacecraft thermal coatings

NASA Technical Reports Server (NTRS)

Budd, P. A.

1981-01-01

The secondary electron emission coefficient was measured for a charged polymer (FEP-Teflon) with normally and obliquely incident primary electrons. Theories of secondary emission are reviewed and the experimental data is compared to these theories. Results were obtained for angles of incidence up to 60 deg in normal electric fields of 1500 V/mm. Additional measurements in the range from 50 to 70 deg were made in regions where the normal and tangential fields were approximately equal. The initial input angles and measured output point of the electron beam could be analyzed with computer simulations in order to determine the field within the chamber. When the field is known, the trajectories can be calculated for impacting electrons having various energies and angles of incidence. There was close agreement between the experimental results and the commonly assumed theoretical model in the presence of normal electric fields for angles of incidence up to 60 deg. High angle results obtained in the presence of tangential electric fields did not agree with the theoretical models.

Improving the trajectory of transpedicular transdiscal lumbar screw fixation with a computer-assisted 3D-printed custom drill guide

PubMed Central

Shao, Zhen-Xuan; Wang, Jian-Shun; Lin, Zhong-Ke; Ni, Wen-Fei; Wang, Xiang-Yang

2017-01-01

Transpedicular transdiscal screw fixation is an alternative technique used in lumbar spine fixation; however, it requires an accurate screw trajectory. The aim of this study is to design a novel 3D-printed custom drill guide and investigate its accuracy to guide the trajectory of transpedicular transdiscal (TPTD) lumbar screw fixation. Dicom images of thirty lumbar functional segment units (FSU, two segments) of L1–L4 were acquired from the PACS system in our hospital (patients who underwent a CT scan for other abdomen diseases and had normal spine anatomy) and imported into reverse design software for three-dimensional reconstructions. Images were used to print the 3D lumbar models and were imported into CAD software to design an optimal TPTD screw trajectory and a matched custom drill guide. After both the 3D printed FSU models and 3D-printed custom drill guide were prepared, the TPTD screws will be guided with a 3D-printed custom drill guide and introduced into the 3D printed FSU models. No significant statistical difference in screw trajectory angles was observed between the digital model and the 3D-printed model (P > 0.05). Our present study found that, with the help of CAD software, it is feasible to design a TPTD screw custom drill guide that could guide the accurate TPTD screw trajectory on 3D-printed lumbar models. PMID:28717599

Knee joint kinematics and kinetics during the hop and cut after soft tissue artifact suppression: Time to reconsider ACL injury mechanisms?

PubMed

Smale, Kenneth B; Potvin, Brigitte M; Shourijeh, Mohammad S; Benoit, Daniel L

2017-09-06

The recent development of a soft tissue artifact (STA) suppression method allows us to re-evaluate the tibiofemoral kinematics currently linked to non-contact knee injuries. The purpose of this study was therefore to evaluate knee joint kinematics and kinetics in six degrees of freedom (DoF) during the loading phases of a jump lunge and side cut using this in silico method. Thirty-five healthy adults completed these movements and their surface marker trajectories were then scaled and processed with OpenSim's inverse kinematics (IK) and inverse dynamics tools. Knee flexion angle-dependent kinematic constraints defined based on previous bone pin (BP) marker trajectories were then applied to the OpenSim model during IK and these constrained results were then processed with the standard inverse dynamics tool. Significant differences for all hip, knee, and ankle DoF were observed after STA suppression for both the jump lunge and side cut. Using clinically relevant effect size estimates, we conclude that STA contamination had led to misclassifications in hip transverse plane angles, knee frontal and transverse plane angles, medial/lateral and distractive/compressive knee translations, and knee frontal plane moments between the NoBP and the BP IK solutions. Our results have substantial clinical implications since past research has used joint kinematics and kinetics contaminated by STA to identify risk factors for musculoskeletal injuries. Copyright © 2017 Elsevier Ltd. All rights reserved.

Accuracy Improvement Capability of Advanced Projectile Based on Course Correction Fuze Concept

PubMed Central

Elsaadany, Ahmed; Wen-jun, Yi

2014-01-01

Improvement in terminal accuracy is an important objective for future artillery projectiles. Generally it is often associated with range extension. Various concepts and modifications are proposed to correct the range and drift of artillery projectile like course correction fuze. The course correction fuze concepts could provide an attractive and cost-effective solution for munitions accuracy improvement. In this paper, the trajectory correction has been obtained using two kinds of course correction modules, one is devoted to range correction (drag ring brake) and the second is devoted to drift correction (canard based-correction fuze). The course correction modules have been characterized by aerodynamic computations and flight dynamic investigations in order to analyze the effects on deflection of the projectile aerodynamic parameters. The simulation results show that the impact accuracy of a conventional projectile using these course correction modules can be improved. The drag ring brake is found to be highly capable for range correction. The deploying of the drag brake in early stage of trajectory results in large range correction. The correction occasion time can be predefined depending on required correction of range. On the other hand, the canard based-correction fuze is found to have a higher effect on the projectile drift by modifying its roll rate. In addition, the canard extension induces a high-frequency incidence angle as canards reciprocate at the roll motion. PMID:25097873

Accuracy improvement capability of advanced projectile based on course correction fuze concept.

PubMed

Elsaadany, Ahmed; Wen-jun, Yi

2014-01-01

Improvement in terminal accuracy is an important objective for future artillery projectiles. Generally it is often associated with range extension. Various concepts and modifications are proposed to correct the range and drift of artillery projectile like course correction fuze. The course correction fuze concepts could provide an attractive and cost-effective solution for munitions accuracy improvement. In this paper, the trajectory correction has been obtained using two kinds of course correction modules, one is devoted to range correction (drag ring brake) and the second is devoted to drift correction (canard based-correction fuze). The course correction modules have been characterized by aerodynamic computations and flight dynamic investigations in order to analyze the effects on deflection of the projectile aerodynamic parameters. The simulation results show that the impact accuracy of a conventional projectile using these course correction modules can be improved. The drag ring brake is found to be highly capable for range correction. The deploying of the drag brake in early stage of trajectory results in large range correction. The correction occasion time can be predefined depending on required correction of range. On the other hand, the canard based-correction fuze is found to have a higher effect on the projectile drift by modifying its roll rate. In addition, the canard extension induces a high-frequency incidence angle as canards reciprocate at the roll motion.

Pre-conditioned backward Monte Carlo solutions to radiative transport in planetary atmospheres. Fundamentals: Sampling of propagation directions in polarising media

NASA Astrophysics Data System (ADS)

García Muñoz, A.; Mills, F. P.

2015-01-01

Context. The interpretation of polarised radiation emerging from a planetary atmosphere must rely on solutions to the vector radiative transport equation (VRTE). Monte Carlo integration of the VRTE is a valuable approach for its flexible treatment of complex viewing and/or illumination geometries, and it can intuitively incorporate elaborate physics. Aims: We present a novel pre-conditioned backward Monte Carlo (PBMC) algorithm for solving the VRTE and apply it to planetary atmospheres irradiated from above. As classical BMC methods, our PBMC algorithm builds the solution by simulating the photon trajectories from the detector towards the radiation source, i.e. in the reverse order of the actual photon displacements. Methods: We show that the neglect of polarisation in the sampling of photon propagation directions in classical BMC algorithms leads to unstable and biased solutions for conservative, optically-thick, strongly polarising media such as Rayleigh atmospheres. The numerical difficulty is avoided by pre-conditioning the scattering matrix with information from the scattering matrices of prior (in the BMC integration order) photon collisions. Pre-conditioning introduces a sense of history in the photon polarisation states through the simulated trajectories. Results: The PBMC algorithm is robust, and its accuracy is extensively demonstrated via comparisons with examples drawn from the literature for scattering in diverse media. Since the convergence rate for MC integration is independent of the integral's dimension, the scheme is a valuable option for estimating the disk-integrated signal of stellar radiation reflected from planets. Such a tool is relevant in the prospective investigation of exoplanetary phase curves. We lay out two frameworks for disk integration and, as an application, explore the impact of atmospheric stratification on planetary phase curves for large star-planet-observer phase angles. By construction, backward integration provides a better control than forward integration over the planet region contributing to the solution, and this presents a clear advantage when estimating the disk-integrated signal at moderate and large phase angles. A one-slab, plane-parallel version of the PBMC algorithm is available at the CDS via anonymous ftp to http://cdsarc.u-strasbg.fr (ftp://130.79.128.5) or via http://cdsarc.u-strasbg.fr/viz-bin/qcat?J/A+A/573/A72

Measurement and interpretation of electron angle at MABE beam stop

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sanford, T.W.L.; Coleman, P.D.; Poukey, J.W.

1985-01-01

This analysis shows that radiation measurements combined with a sophisticated simulation provides a simple but powerful tool for estimating beam temperature in intense pulsed annular electron-beam accelerators. Specifically, the mean angle of incidence of a 60 kA, 7 MeV annular electron-beam at the beam stop of the MABE accelerator and the transverse beam temperature are determined. The angle is extracted by comparing dose profiles measured downstream of the stop with that expected from a simulation of the electron/photon transport in the stop. By calculating and removing the effect on the trajectories due to the change in electric field near themore » stop, the beam temperature is determined. Such measurements help give insight to beam generation and propagation within the accelerator. 9 refs., 6 figs., 1 tab.« less

Aerobraking characteristics for several potential manned Mars entry vehicles

NASA Technical Reports Server (NTRS)

Tartabini, Paul V.; Suit, William T.

1989-01-01

While a reduction in weight is always desirable for any space vehicle, it is crucial for vehicles to be used in the proposed Manned Mars Mission (MMM). One such way to reduce a spacecraft's weight is through aeroassist braking which is an alternative to retro-rockets, the traditional method of slowing a craft approaching from a high energy orbit. In this paper aeroassist braking was examined for two blunt vehicle configurations and one streamlined configuration. For each vehicle type, a range of lift-to-drag ratios was examined and the entry angle windows, bank profiles, and trajectory parameters were recorded here. In addition, the sensitivities of velocity and acceleration with respect to the entry angle and bank angles were included. Also, the effect of using different atmosphere models was tested by incorporating several models into the simulation program.

Using wood creep data to discuss the contribution of cell-wall reinforcing material.

PubMed

Gril, Joseph; Hunt, David; Thibaut, Bernard

2004-01-01

Longitudinal four-point creep bending tests were performed on small clear-wood spruce specimens having various microfibrillar angles. Cell-wall compliance was deduced from macroscopic data by accounting for porosity. Time-dependent compliance was converted into complex compliance and rigidity using the value and the slope of the compliance versus logarithm of time. Complex rigidity plots of all specimens, for the time range 10(3)-10(6) s, could be superimposed by a horizontal shift depending on the microfibrillar angle. The shape of complex trajectories allowed a decomposition of the cell-wall relaxation modulus as the sum of an elastic contribution function of the microfibrillar angle and a time-dependent term unrelated to it, and suggested a discussion on the contribution of the various cell-wall layers to the observed relaxation process.

Research on Precision Tracking on Fast Steering Mirror and Control Strategy

NASA Astrophysics Data System (ADS)

Di, Lin; Yi-ming, Wu; Fan, Zhu

2018-01-01

Fast steering mirror is a device used for controlling the beam direction precisely. Due to the short travel of the push-pull FSM, a compound fast steering mirror system driven by both limited-angle voice coil motor and push-pull FSM together is proposed. In the compound FSM system, limited-angle voice coil motor quickly swings at wide angle, while the push-pull FSM do high frequency movement in a small range, which provides the system with the high bandwidth and long travel. In the control strategy, the method of combining feed-forward control in Kalman filtering with auto-disturbance rejection control is used to improve trajectory tracking accuracy. The simulation result shows that tracking accuracy measured by the compound method can be improved by more than 5 times than that of the conventional PID.

Synchro-Curvature Radiation of Charged Particles in the Strong Curved Magnetic Fields

NASA Astrophysics Data System (ADS)

Kelner, S. R.; Prosekin, A. Yu.; Aharonian, F. A.

2015-01-01

It is generally believed that the radiation of relativistic particles in a curved magnetic field proceeds in either the synchrotron or the curvature radiation modes. In this paper we show that in strong curved magnetic fields a significant fraction of the energy of relativistic electrons can be radiated away in the intermediate, the so-called synchro-curvature regime. Because of the persistent change of the trajectory curvature, the radiation varies with the frequency of particle gyration. While this effect can be ignored in the synchrotron and curvature regimes, the variability plays a key role in the formation of the synchro-curvature radiation. Using the Hamiltonian formalism, we find that the particle trajectory has the form of a helix wound around the drift trajectory. This allows us to calculate analytically the intensity and energy distribution of prompt radiation in the general case of magnetic bremsstrahlung in the curved magnetic field. We show that the transition to the limit of the synchrotron and curvature radiation regimes is determined by the relation between the drift velocity and the component of the particle velocity perpendicular to the drift trajectory. The detailed numerical calculations, which take into account the energy losses of particles, confirm the principal conclusions based on the simplified analytical treatment of the problem, and allow us to analyze quantitatively the transition between different radiation regimes for a broad range of initial pitch angles. These calculations demonstrate that even very small pitch angles may lead to significant deviations from the spectrum of the standard curvature radiation when it is formally assumed that a charged particle moves strictly along the magnetic line. We argue that in the case of realization of specific configurations of the electric and magnetic fields, the gamma-ray emission of the pulsar magnetospheres can be dominated by the component radiated in the synchro-curvature regime.

Synchro-curvature radiation of charged particles in the strong curved magnetic fields

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kelner, S. R.; Prosekin, A. Yu.; Aharonian, F. A., E-mail: Stanislav.Kelner@mpi-hd.mpg.de, E-mail: Anton.Prosekin@mpi-hd.mpg.de, E-mail: Felix.Aharonian@mpi-hd.mpg.de

It is generally believed that the radiation of relativistic particles in a curved magnetic field proceeds in either the synchrotron or the curvature radiation modes. In this paper we show that in strong curved magnetic fields a significant fraction of the energy of relativistic electrons can be radiated away in the intermediate, the so-called synchro-curvature regime. Because of the persistent change of the trajectory curvature, the radiation varies with the frequency of particle gyration. While this effect can be ignored in the synchrotron and curvature regimes, the variability plays a key role in the formation of the synchro-curvature radiation. Usingmore » the Hamiltonian formalism, we find that the particle trajectory has the form of a helix wound around the drift trajectory. This allows us to calculate analytically the intensity and energy distribution of prompt radiation in the general case of magnetic bremsstrahlung in the curved magnetic field. We show that the transition to the limit of the synchrotron and curvature radiation regimes is determined by the relation between the drift velocity and the component of the particle velocity perpendicular to the drift trajectory. The detailed numerical calculations, which take into account the energy losses of particles, confirm the principal conclusions based on the simplified analytical treatment of the problem, and allow us to analyze quantitatively the transition between different radiation regimes for a broad range of initial pitch angles. These calculations demonstrate that even very small pitch angles may lead to significant deviations from the spectrum of the standard curvature radiation when it is formally assumed that a charged particle moves strictly along the magnetic line. We argue that in the case of realization of specific configurations of the electric and magnetic fields, the gamma-ray emission of the pulsar magnetospheres can be dominated by the component radiated in the synchro-curvature regime.« less

Wetting, meniscus structure, and capillary interactions of microspheres bound to a cylindrical liquid interface.

PubMed

Kim, Paul Y; Dinsmore, Anthony D; Hoagland, David A; Russell, Thomas P

2018-03-14

Wetting, meniscus structure, and capillary interactions for polystyrene microspheres deposited on constant curvature cylindrical liquid interfaces, constructed from nonvolatile ionic or oligomeric liquids, were studied by optical interferometry and optical microscopy. The liquid interface curvature resulted from the preferential wetting of finite width lines patterned onto planar silicon substrates. Key variables included sphere diameter, nominal (or average) contact angle, and deviatoric interfacial curvature. Menisci adopted the quadrupolar symmetry anticipated by theory, with interfacial deformation closely following predicted dependences on sphere diameter and nominal contact angle. Unexpectedly, the contact angle was not constant locally around the contact line, the nominal contact angle varied among seemingly identical spheres, and the maximum interface deviation did not follow the predicted dependence on deviatoric interfacial curvature. Instead, this deviation was up to an order-of-magnitude larger than predicted. Trajectories of neighboring microspheres visually manifested quadrupole-quadrupole interactions, eventually producing square sphere packings that foreshadow interfacial assembly as a potential route to hierarchical 2D particle structures.

Results of tests OA12 and IA9 in the Ames Research Center unitary plan wind tunnels on an 0.030-scale model of the space shuttle vehicle 2A to determine aerodynamic loads, volume 14

NASA Technical Reports Server (NTRS)

Spangler, R. H.

1974-01-01

Tests were conducted in wind tunnels during April and May 1973, on a 0.030-scale replica of the Space Shuttle Vehicle Configuration 2A. Aerodynamic loads data were obtained at Mach numbers from 0.6 to 3.5. The investigation included tests on the integrated (launch) configuration and the isolated orbiter (entry configuration). The integrated vehicle was tested at angles of attack and sideslip from -8 degrees to +8 degrees. The isolated orbiter was tested at angles of attack from -15 degrees to +40 degrees and angles of sideslip from -10 degrees to +10 degrees as dictated by trajectory considerations. The effects of orbiter/external tank incidence angle and deflected control surfaces on aerodynamic loads were also investigated. Tabulated pressure data were obtained for upper and lower wing surfaces and left and right vertical tail surfaces.

Angular distributions of reflected and refracted relativistic electron beams crossing a thin planar target at a small angle to its surface

DOE Office of Scientific and Technical Information (OSTI.GOV)

Serov, A. V., E-mail: serov@x4u.lebedev.ru; Mamonov, I. A.; Kol’tsov, A. V., E-mail: koltsov@x4u.lebedev.ru

2015-10-15

The scattering of electrons by aluminum, copper, and lead foils, as well as by bimetallic aluminum-lead and aluminum-copper foils, has been studied experimentally. A microtron with an energy of particles of 7.4 MeV has been used as a source of electrons. The beam of particles incident on a target at small angles is split into particles reflected from the foil, which constitute a reflected beam, and particles crossing the foil, which constitute a refracted beam. The effect of the material and thickness of the foil, as well as the angle between the initial trajectory of the beam and the planemore » of the target, on the direction of motion and the angular divergence of the beam crossing the foil and the beam reflected from the foil has been analyzed. Furthermore, the effect of the sequence of metal layers in bimetallic films on the angles of refraction and reflection of the beam has been examined.« less

Discrimination of curvature from motion during smooth pursuit eye movements and fixation.

PubMed

Ross, Nicholas M; Goettker, Alexander; Schütz, Alexander C; Braun, Doris I; Gegenfurtner, Karl R

2017-09-01

Smooth pursuit and motion perception have mainly been investigated with stimuli moving along linear trajectories. Here we studied the quality of pursuit movements to curved motion trajectories in human observers and examined whether the pursuit responses would be sensitive enough to discriminate various degrees of curvature. In a two-interval forced-choice task subjects pursued a Gaussian blob moving along a curved trajectory and then indicated in which interval the curve was flatter. We also measured discrimination thresholds for the same curvatures during fixation. Motion curvature had some specific effects on smooth pursuit properties: trajectories with larger amounts of curvature elicited lower open-loop acceleration, lower pursuit gain, and larger catch-up saccades compared with less curved trajectories. Initially, target motion curvatures were underestimated; however, ∼300 ms after pursuit onset pursuit responses closely matched the actual curved trajectory. We calculated perceptual thresholds for curvature discrimination, which were on the order of 1.5 degrees of visual angle (°) for a 7.9° curvature standard. Oculometric sensitivity to curvature discrimination based on the whole pursuit trajectory was quite similar to perceptual performance. Oculometric thresholds based on smaller time windows were higher. Thus smooth pursuit can quite accurately follow moving targets with curved trajectories, but temporal integration over longer periods is necessary to reach perceptual thresholds for curvature discrimination. NEW & NOTEWORTHY Even though motion trajectories in the real world are frequently curved, most studies of smooth pursuit and motion perception have investigated linear motion. We show that pursuit initially underestimates the curvature of target motion and is able to reproduce the target curvature ∼300 ms after pursuit onset. Temporal integration of target motion over longer periods is necessary for pursuit to reach the level of precision found in perceptual discrimination of curvature. Copyright © 2017 the American Physiological Society.

Trajectories of Identification Across Social Spaces: Intersections Between Home, School and Everyday Spaces

NASA Astrophysics Data System (ADS)

Fields, Deborah Anne

This is a theory-building study taking a wide-angled perspective on youths' development of trajectories of identification across social settings of their everyday lives. I investigated the relationships within and between trajectories of identification across the everyday lives of four youth, studying the conflicts, cohesion, and gaps in their trajectories of identification as they moved across and participated in multiple social settings. I asked how trajectories of identification were built across social settings (i.e. relationships within a trajectory of identification); what kinds of relationships existed between youths' trajectories of identification; and what facilitated the building of trajectories of identification across social settings. To study these questions, I argued for three interrelated lenses on identity: local acting and positioning in practice, the ways one thinks of oneself (self-narratives), and the ways that others think of one (others'-narratives). Using these lenses I shaped a connective ethnography studying four 11-12 year old youth across everyday settings including school, home, hobbies like sports and music, community organizations, and peer groups, following two youth for six months and two youth for one year. I analyzed findings across the four youth. The cases presented in this thesis demonstrate the ways that youth form identities through their travel and not just in a single setting. First, I found that youth build trajectories of identification across social settings and not just in a single setting. As learning is not just within a single mind, so is identity developed beyond a single space. Second, I demonstrated how multiple interacting trajectories of identification within a youth's life may shape each other in inclusive and exclusive ways. Third, throughout the cases I highlighted how traveling artifacts can support building trajectories of identification across social settings, including boundary objects, artifacts created by the youth, and succinct narratives. Their ability to travel depends on how well they encompass values of people from different social settings. In turn, the travel and influence of artifacts are strengthened by certification and brokering.

Higher medially-directed joint reaction forces are a characteristic of dysplastic hips: A comparative study using subject-specific musculoskeletal models.

PubMed

Harris, Michael D; MacWilliams, Bruce A; Bo Foreman, K; Peters, Christopher L; Weiss, Jeffrey A; Anderson, Andrew E

2017-03-21

Acetabular dysplasia is a known cause of hip osteoarthritis. In addition to abnormal anatomy, changes in kinematics, joint reaction forces (JRFs), and muscle forces could cause tissue damage to the cartilage and labrum, and may contribute to pain and fatigue. The objective of this study was to compare lower extremity joint angles, moments, hip JRFs and muscle forces during gait between patients with symptomatic acetabular dysplasia and healthy controls. Marker trajectories and ground reaction forces were measured in 10 dysplasia patients and 10 typically developing control subjects. A musculoskeletal model was scaled in OpenSim to each subject and subject-specific hip joint centers were determined using reconstructions from CT images. Joint kinematics and moments were calculated using inverse kinematics and inverse dynamics, respectively. Muscle forces and hip JRFs were estimated with static optimization. Inter-group differences were tested for statistical significance (p≤0.05) and large effect sizes (d≥0.8). Results demonstrated that dysplasia patients had higher medially directed JRFs. Joint angles and moments were mostly similar between the groups, but large inter-group effect sizes suggested some restriction in range of motion by patients at the hip and ankle. Higher medially-directed JRFs and inter-group differences in hip muscle forces likely stem from lateralization of the hip joint center in dysplastic patients. Joint force differences, combined with reductions in range of motion at the hip and ankle may also indicate compensatory strategies by patients with dysplasia to maintain joint stability. Copyright © 2017 Elsevier Ltd. All rights reserved.

Higher Medially-directed Joint Reaction Forces are a Characteristic of Dysplastic Hips: A Comparative Study Using Subject-Specific Musculoskeletal Models

PubMed Central

Harris, Michael D.; MacWilliams, Bruce A.; Foreman, K. Bo; Peters, Christopher L.; Weiss, Jeffrey A.; Anderson, Andrew E.

2018-01-01

Acetabular dysplasia is a known cause of hip osteoarthritis. In addition to abnormal anatomy, changes in kinematics, joint reaction forces (JRFs), and muscle forces could cause tissue damage to the cartilage and labrum, and may contribute to pain and fatigue. The objective of this study was to compare lower extremity joint angles, moments, hip JRFs and muscle forces during gait between patients with symptomatic acetabular dysplasia and healthy controls. Marker trajectories and ground reaction forces were measured in 10 dysplasia patients and 10 typically developing control subjects. A musculoskeletal model was scaled in OpenSim to each subject and subject-specific hip joint centers were determined using reconstructions from CT images. Joint kinematics and moments were calculated using inverse kinematics and inverse dynamics, respectively. Muscle forces and hip JRFs were estimated with static optimization. Inter-group differences were tested for statistical significance (p≤0.05) and large effect sizes (d≥0.8). Results demonstrated that dysplasia patients had higher medially directed JRFs. Joint angles and moments were mostly similar between the groups, but large inter-group effect sizes suggested some restriction in range of motion by patients at the hip and ankle. Higher medially-directed JRFs and inter-group differences in hip muscle forces likely stem from lateralization of the hip joint center in dysplastic patients. Joint force differences, combined with reductions in range of motion at the hip and ankle may also indicate compensatory strategies by patients with dysplasia to maintain joint stability. PMID:28233552

Lagrangian large eddy simulations of boundary layer clouds on ERA-Interim and ERA5 trajectories

NASA Astrophysics Data System (ADS)

Kazil, J.; Feingold, G.; Yamaguchi, T.

2017-12-01

This exploratory study examines Lagrangian large eddy simulations of boundary layer clouds along wind trajectories from the ERA-Interim and ERA5 reanalyses. The study is motivated by the need for statistically representative sets of high resolution simulations of cloud field evolution in realistic meteorological conditions. The study will serve as a foundation for the investigation of biomass burning effects on the transition from stratocumulus to shallow cumulus clouds in the South-East Atlantic. Trajectories that pass through a location with radiosonde data (St. Helena) and which exhibit a well-defined cloud structure and evolution were identified in satellite imagery, and sea surface temperature and atmospheric vertical profiles along the trajectories were extracted from the reanalysis data sets. The System for Atmospheric Modeling (SAM) simulated boundary layer turbulence and cloud properties along the trajectories. Mean temperature and moisture (in the free troposphere) and mean wind speed (at all levels) were nudged towards the reanalysis data. Atmospheric and cloud properties in the large eddy simulations were compared with those from the reanalysis products, and evaluated with satellite imagery and radiosonde data. Simulations using ERA-Interim data and the higher resolution ERA5 data are contrasted.

Numerical model describing optimization of fibres winding process on open and closed frame

NASA Astrophysics Data System (ADS)

Petrů, M.; Mlýnek, J.; Martinec, T.

2016-08-01

This article discusses a numerical model describing optimization of fibres winding process on open and closed frame. The quality production of said type of composite frame depends primarily on the correct winding of fibers on a polyurethane core. It is especially needed to ensure the correct angles of the fibers winding on the polyurethane core and the homogeneity of individual winding layers. The article describes mathematical model for use an industrial robot in filament winding and how to calculate the trajectory of the robot. When winding fibers on the polyurethane core which is fastened to the robot-end-effector so that during the winding process goes through a fibre-processing head on the basis of the suitably determined robot-end-effector trajectory. We use the described numerical model and matrix calculus to enumerate the trajectory of the robot-end-effector to determine the desired passage of the frame through the fibre-processing head. The calculation of the trajectory was programmed in the Delphi development environment. Relations of the numerical model are important for use a real solving of the passage of a polyurethane core through fibre-processing head.

Photodissociation Dynamics of Phenol: Multistate Trajectory Simulations including Tunneling

DOE PAGES

Xu, Xuefei; Zheng, Jingjing; Yang, Ke R.; ...

2014-10-27

We report multistate trajectory simulations, including coherence, decoherence, and multidimensional tunneling, of phenol photodissociation dynamics. The calculations are based on full-dimensional anchor-points reactive potential surfaces and state couplings fit to electronic structure calculations including dynamical correlation with an augmented correlation-consistent polarized valence double-ζ basis set. The calculations successfully reproduce the experimentally observed bimodal character of the total kinetic energy release spectra and confirm the interpretation of the most recent experiments that the photodissociation process is dominated by tunneling. Analysis of the trajectories uncovers an unexpected dissociation pathway for one quantum excitation of the O–H stretching mode of the S 1more » state, namely, tunneling in a coherent mixture of states starting in a smaller R OH (~0.9–1.0 Å) region than has previously been invoked. The simulations also show that most trajectories do not pass close to the S 1–S 2 conical intersection (they have a minimum gap greater than 0.6 eV), they provide statistics on the out-of-plane angles at the locations of the minimum energy adiabatic gap, and they reveal information about which vibrational modes are most highly activated in the products.« less

Adaptability of solar energy conversion systems on ships

NASA Astrophysics Data System (ADS)

Visa, I.; Cotorcea, A.; Neagoe, M.; Moldovan, M.

2016-08-01

International trade of goods largely uses maritime/transoceanic ships driven by engines using fossil fuels. This two centuries tradition is technologically mature but significantly adds to the CO2 emissions; therefore, recent trends focus on on-board implementation of systems converting the solar energy into power (photovoltaic systems) or heat (solar-thermal systems). These systems are carbon-emissions free but are still under research and plenty of effort is devoted to fast reach maturity and feasibility. Unlike the systems implemented in a specific continental location, the design of solar energy conversion systems installed on shipboard has to face the problem generated by the system base motion along with the ship travelling on routes at different latitudes: the navigation direction and sense and roll-pitch combined motion with reduced amplitude, but with relatively high frequency. These raise highly interesting challenges in the design and development of mechanical systems that support the maximal output in terms of electricity or heat. The paper addresses the modelling of the relative position of a solar energy conversion surface installed on a ship according to the current position of the sun; the model is based on the navigation trajectory/route, ship motion generated by waves and the relative sun-earth motion. The model describes the incidence angle of the sunray on the conversion surface through five characteristic angles: three used to define the ship orientation and two for the solar angles; based on, their influence on the efficiency in solar energy collection is analyzed by numerical simulations and appropriate recommendations are formulated for increasing the solar energy conversion systems adaptability on ships.

AIR VEHICLE INTEGRATION AND TECHNOLOGY RESEARCH (AVIATR) Task Order 0015: Predictive Capability for Hypersonic Structural Response and Life Prediction: Phase 1-Identification of Knowledge Gaps, Volume 1: Nonproprietary Version

DTIC Science & Technology

2010-09-01

22 Figure 23. Flow Type and the reference empirical model ............................................................ 24 Figure 24. Baseline...Trajectory ...................................................................................................... 25 Figure 25. Flow Features Important...94 viii GLOSSARY ACCTE Advanced Ceramic Composites for Turbine Engines AFRL Air Force Research Laboratory AoA Angle of Attack ASE

Race and the Educated Imagination: Outlining a Pedagogy of Belonging

ERIC Educational Resources Information Center

Jennings, Willie James

2017-01-01

A teaching life can be a powerful intervention into the structures of racial antagonism that shape the West, but only if we can find a way to overturn our colonial legacies and draw the dominant trajectories of Western educational institutions toward more life giving ends. A life that teaches in this racially agonistic moment must be angled in a…

Processing of high-precision ceramic balls with a spiral V-groove plate

NASA Astrophysics Data System (ADS)

Feng, Ming; Wu, Yongbo; Yuan, Julong; Ping, Zhao

2017-03-01

As the demand for high-performance bearings gradually increases, ceramic balls with excellent properties, such as high accuracy, high reliability, and high chemical durability used, are extensively used for highperformance bearings. In this study, a spiral V-groove plate method is employed in processing high-precision ceramic balls. After the kinematic analysis of the ball-spin angle and enveloped lapping trajectories, an experimental rig is constructed and experiments are conducted to confirm the feasibility of this method. Kinematic analysis results indicate that the method not only allows for the control of the ball-spin angle but also uniformly distributes the enveloped lapping trajectories over the entire ball surface. Experimental results demonstrate that the novel spiral Vgroove plate method performs better than the conventional concentric V-groove plate method in terms of roundness, surface roughness, diameter difference, and diameter decrease rate. Ceramic balls with a G3-level accuracy are achieved, and their typical roundness, minimum surface roughness, and diameter difference are 0.05, 0.0045, and 0.105 μm, respectively. These findings confirm that the proposed method can be applied to high-accuracy and high-consistency ceramic ball processing.

Inviscid Flow Computations of Two '07 Mars Lander Aeroshell Configurations Over a Mach Number Range of 2 to 24

NASA Technical Reports Server (NTRS)

Prabhu, Ramadas K.

2001-01-01

This report documents the results of an inviscid computational study conducted on two aeroshell configurations for a proposed '07 Mars Lander. The aeroshell configurations are asymmetric due to the presence of the tabs at the maximum diameter location. The purpose of these tabs was to change the pitching moment characteristics so that the aeroshell will trim at a non-zero angle of attack and produce a lift-to-drag ratio of approximately -0.25. This is required in the guidance of the vehicle on its trajectory. One of the two configurations is called the shelf and the other is called the tab. The unstructured grid software FELISA with the equilibrium Mars gas option was used for these computations. The computations were done for six points on a preliminary trajectory of the '07 Mars Lander at nominal Mach numbers of 2, 3, 5, 10, 15, and 24. Longitudinal aerodynamic characteristics namely lift, drag, and pitching moment were computed for 10, 15, and 20 degrees angles of attack. The results indicated that the two configurations have aerodynamic characteristics that have very similar aerodynamic characteristics, and provide the desired trim LID of approximately -0.25.

Gravitaxis in Spherical Janus Swimming Devices

PubMed Central

2013-01-01

In this work, we show that the asymmetrical distribution of mass at the surface of catalytic Janus swimmers results in the devices preferentially propelling themselves upward in a gravitational field. We demonstrate the existence of this gravitaxis phenomenon by observing the trajectories of fueled Janus swimmers, which generate thrust along a vector pointing away from their metallically coated half. We report that as the size of the spherical swimmer increases, the propulsive trajectories are no longer isotropic with respect to gravity, and they start to show a pronounced tendency to move in an upward direction. We suggest that this effect is due to the platinum caps asymmetric mass exerting an increasing influence on the azimuthal angle of the Janus sphere with size, biasing its orientation toward a configuration where the heavier propulsion generating surface faces down. This argument is supported by the good agreement we find between the experimentally observed azimuthal angle distribution for the Janus swimmers and predictions made by simple Boltzmann statistics. This gravitaxis phenomenon provides a mechanism to autonomously control and direct the motion of catalytic swimming devices and so enable a route to make autonomous transport devices and develop new separation, sensing, and controlled release applications. PMID:24134682

Integrated control design for driver assistance systems based on LPV methods

NASA Astrophysics Data System (ADS)

Gáspár, Péter; Németh, Balázs

2016-12-01

The paper proposes a control design method for a driver assistance system. In the operation of the system, a predefined trajectory required by the driver with a steering command is followed. During manoeuvres the control system generates differential brake moment and the auxiliary front-wheel steering angle and changes the camber angles of the wheels in order to improve the tracking of the road trajectory. The performance specifications are guaranteed by the local controllers, i.e. the brake, the steering, and the suspension systems, while the coordination of these components is provided by the supervisor. The advantage of this architecture is that local controllers are designed independently, which is ensured by the fact that the monitoring signals are taken into consideration in the formalisation of their performance specifications. The fault-tolerant control can be achieved by incorporating the detected fault signals in their performance specifications. The control system also uses a driver model, with which the reference signal can be generated. In the control design, the parameter-dependent linear parameter-varyingmethod, which meets the performance specifications, is used. The operation of the control system is illustrated through different normal and emergency vehicle manoeuvres with a high-accuracy simulation software.

An approach to multivariable control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms - implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and is designed to achieve pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. Simple and explicit expressions of computation of the feedforward and feedback gains are obtained based on the linearized model of robot dynamics. This leads to computationally efficient schemes for either on-line gain computation or off-line gain scheduling to account for variations in the linearized robot model due to changes in the operating point. The joint control scheme is extended to direct control of the end-effector motion in Cartesian space. Simulation results are given for illustration.

The OH + D2 --> HOD + D angle-velocity distribution: quasi-classical trajectory calculations on the YZCL2 and WSLFH potential energy surfaces and comparison with experiments at ET = 0.28 eV.

PubMed

Sierra, José Daniel; Martínez, Rodrigo; Hernando, Jordi; González, Miguel

2009-12-28

The angle-velocity distribution (HOD) of the OH + D(2) reaction at a relative translational energy of 0.28 eV has been calculated using the quasi-classical trajectory (QCT) method on the two most recent potential energy surfaces available (YZCL2 and WSLFH PESs), widely extending a previous investigation of our group. Comparison with the high resolution experiments of Davis and co-workers (Science, 2000, 290, 958) shows that the structures (peaks) found in the relative translational energy distributions of products could not be satisfactorily reproduced in the calculations, probably due to the classical nature of the QCT method and the importance of quantum effects. The calculations, however, worked quite well for other properties. Overall, both surfaces led to similar results, although the YZCL2 surface is more accurate to describe the H(3)O PES, as derived from comparison with high level ab initio results. The differences observed in the QCT calculations were interpreted considering the somewhat larger anisotropy of the YZCL2 PES when compared with the WSLFH PES.

Work and heat fluctuations in two-state systems: a trajectory thermodynamics formalism

NASA Astrophysics Data System (ADS)

Ritort, F.

2004-10-01

Two-state models provide phenomenological descriptions of many different systems, ranging from physics to chemistry and biology. We investigate work fluctuations in an ensemble of two-state systems driven out of equilibrium under the action of an external perturbation. We calculate the probability density PN(W) that work equal to W is exerted upon the system (of size N) along a given non-equilibrium trajectory and introduce a trajectory thermodynamics formalism to quantify work fluctuations in the large-N limit. We then define a trajectory entropy SN(W) that counts the number of non-equilibrium trajectories PN(W) = exp(SN(W)/kBT) with work equal to W and characterizes fluctuations of work trajectories around the most probable value Wmp. A trajectory free energy {\\cal F}_N(W) can also be defined, which has a minimum at W = W†, this being the value of the work that has to be efficiently sampled to quantitatively test the Jarzynski equality. Within this formalism a Lagrange multiplier is also introduced, the inverse of which plays the role of a trajectory temperature. Our general solution for PN(W) exactly satisfies the fluctuation theorem by Crooks and allows us to investigate heat fluctuations for a protocol that is invariant under time reversal. The heat distribution is then characterized by a Gaussian component (describing small and frequent heat exchange events) and exponential tails (describing the statistics of large deviations and rare events). For the latter, the width of the exponential tails is related to the aforementioned trajectory temperature. Finite-size effects to the large-N theory and the recovery of work distributions for finite N are also discussed. Finally, we pay particular attention to the case of magnetic nanoparticle systems under the action of a magnetic field H where work and heat fluctuations are predicted to be observable in ramping experiments in micro-SQUIDs.

Conformal bootstrap at large charge

NASA Astrophysics Data System (ADS)

Jafferis, Daniel; Mukhametzhanov, Baur; Zhiboedov, Alexander

2018-05-01

We consider unitary CFTs with continuous global symmetries in d > 2. We consider a state created by the lightest operator of large charge Q ≫ 1 and analyze the correlator of two light charged operators in this state. We assume that the correlator admits a well-defined large Q expansion and, relatedly, that the macroscopic (thermodynamic) limit of the correlator exists. We find that the crossing equations admit a consistent truncation, where only a finite number N of Regge trajectories contribute to the correlator at leading nontrivial order. We classify all such truncated solutions to the crossing. For one Regge trajectory N = 1, the solution is unique and given by the effective field theory of a Goldstone mode. For two or more Regge trajectories N ≥ 2, the solutions are encoded in roots of a certain degree N polynomial. Some of the solutions admit a simple weakly coupled EFT description, whereas others do not. In the weakly coupled case, each Regge trajectory corresponds to a field in the effective Lagrangian.

Automatic trajectory measurement of large numbers of crowded objects

NASA Astrophysics Data System (ADS)

Li, Hui; Liu, Ye; Chen, Yan Qiu

2013-06-01

Complex motion patterns of natural systems, such as fish schools, bird flocks, and cell groups, have attracted great attention from scientists for years. Trajectory measurement of individuals is vital for quantitative and high-throughput study of their collective behaviors. However, such data are rare mainly due to the challenges of detection and tracking of large numbers of objects with similar visual features and frequent occlusions. We present an automatic and effective framework to measure trajectories of large numbers of crowded oval-shaped objects, such as fish and cells. We first use a novel dual ellipse locator to detect the coarse position of each individual and then propose a variance minimization active contour method to obtain the optimal segmentation results. For tracking, cost matrix of assignment between consecutive frames is trainable via a random forest classifier with many spatial, texture, and shape features. The optimal trajectories are found for the whole image sequence by solving two linear assignment problems. We evaluate the proposed method on many challenging data sets.

The large deviation function for entropy production: the optimal trajectory and the role of fluctuations

NASA Astrophysics Data System (ADS)

Speck, Thomas; Engel, Andreas; Seifert, Udo

2012-12-01

We study the large deviation function for the entropy production rate in two driven one-dimensional systems: the asymmetric random walk on a discrete lattice and Brownian motion in a continuous periodic potential. We compare two approaches: using the Donsker-Varadhan theory and using the Freidlin-Wentzell theory. We show that the wings of the large deviation function are dominated by a single optimal trajectory: either in the forward direction (positive rate) or in the backward direction (negative rate). The joining of the two branches at zero entropy production implies a non-differentiability and thus the appearance of a ‘kink’. However, around zero entropy production, many trajectories contribute and thus the ‘kink’ is smeared out.

Shot trajectory parameters in gold medal stationary shot-putters during world-class competition.

PubMed

Frossard, Laurent; Smeathers, James; O'Riordan, Alison; Goodman, Scott

2007-10-01

The parameters of the shot's trajectory were reported for male and female gold medalists (classes F52, F53, F54, and F55) who competed at the 2000 Paralympic Games and the 2002 International Paralympic Committee (IPC) World Championships. The specific objective was to determine the magnitude of differences in these parameters across classes and genders. The release velocity of the shot increased with the performance and the classification for both males (8.30 m/s - 9.96 m/s) and females (4.58 m/s - 8.50 m/s). The measured angle of the shot's trajectory at release also increased with the performance and the classification for both males (27.54 degrees - 32.47 degrees) and females (9.02 degrees - 34.52 degrees). The position of the shot from a fixed reference point at release revealed a similar trend for both males (2.01 m - 2.68 m) and females (1.16 m - 1.98 m), although it was weaker.

[Research Award providing funds for a tracking video camera

NASA Technical Reports Server (NTRS)

Collett, Thomas

2000-01-01

The award provided funds for a tracking video camera. The camera has been installed and the system calibrated. It has enabled us to follow in real time the tracks of individual wood ants (Formica rufa) within a 3m square arena as they navigate singly in-doors guided by visual cues. To date we have been using the system on two projects. The first is an analysis of the navigational strategies that ants use when guided by an extended landmark (a low wall) to a feeding site. After a brief training period, ants are able to keep a defined distance and angle from the wall, using their memory of the wall's height on the retina as a controlling parameter. By training with walls of one height and length and testing with walls of different heights and lengths, we can show that ants adjust their distance from the wall so as to keep the wall at the height that they learned during training. Thus, their distance from the base of a tall wall is further than it is from the training wall, and the distance is shorter when the wall is low. The stopping point of the trajectory is defined precisely by the angle that the far end of the wall makes with the trajectory. Thus, ants walk further if the wall is extended in length and not so far if the wall is shortened. These experiments represent the first case in which the controlling parameters of an extended trajectory can be defined with some certainty. It raises many questions for future research that we are now pursuing.

Reentry trajectory optimization based on a multistage pseudospectral method.

PubMed

Zhao, Jiang; Zhou, Rui; Jin, Xuelian

2014-01-01

Of the many direct numerical methods, the pseudospectral method serves as an effective tool to solve the reentry trajectory optimization for hypersonic vehicles. However, the traditional pseudospectral method is time-consuming due to large number of discretization points. For the purpose of autonomous and adaptive reentry guidance, the research herein presents a multistage trajectory control strategy based on the pseudospectral method, capable of dealing with the unexpected situations in reentry flight. The strategy typically includes two subproblems: the trajectory estimation and trajectory refining. In each processing stage, the proposed method generates a specified range of trajectory with the transition of the flight state. The full glide trajectory consists of several optimal trajectory sequences. The newly focused geographic constraints in actual flight are discussed thereafter. Numerical examples of free-space flight, target transition flight, and threat avoidance flight are used to show the feasible application of multistage pseudospectral method in reentry trajectory optimization.

Reentry Trajectory Optimization Based on a Multistage Pseudospectral Method

PubMed Central

Zhou, Rui; Jin, Xuelian

2014-01-01

Of the many direct numerical methods, the pseudospectral method serves as an effective tool to solve the reentry trajectory optimization for hypersonic vehicles. However, the traditional pseudospectral method is time-consuming due to large number of discretization points. For the purpose of autonomous and adaptive reentry guidance, the research herein presents a multistage trajectory control strategy based on the pseudospectral method, capable of dealing with the unexpected situations in reentry flight. The strategy typically includes two subproblems: the trajectory estimation and trajectory refining. In each processing stage, the proposed method generates a specified range of trajectory with the transition of the flight state. The full glide trajectory consists of several optimal trajectory sequences. The newly focused geographic constraints in actual flight are discussed thereafter. Numerical examples of free-space flight, target transition flight, and threat avoidance flight are used to show the feasible application of multistage pseudospectral method in reentry trajectory optimization. PMID:24574929

Surface Modeling of Workpiece and Tool Trajectory Planning for Spray Painting Robot

PubMed Central

Tang, Yang; Chen, Wei

2015-01-01

Automated tool trajectory planning for spray-painting robots is still a challenging problem, especially for a large free-form surface. A grid approximation of a free-form surface is adopted in CAD modeling in this paper. A free-form surface model is approximated by a set of flat patches. We describe here an efficient and flexible tool trajectory optimization scheme using T-Bézier curves calculated in a new way from trigonometrical bases. The distance between the spray gun and the free-form surface along the normal vector is varied. Automotive body parts, which are large free-form surfaces, are used to test the scheme. The experimental results show that the trajectory planning algorithm achieves satisfactory performance. This algorithm can also be extended to other applications. PMID:25993663

Surface modeling of workpiece and tool trajectory planning for spray painting robot.

PubMed

Tang, Yang; Chen, Wei

2015-01-01

Automated tool trajectory planning for spray-painting robots is still a challenging problem, especially for a large free-form surface. A grid approximation of a free-form surface is adopted in CAD modeling in this paper. A free-form surface model is approximated by a set of flat patches. We describe here an efficient and flexible tool trajectory optimization scheme using T-Bézier curves calculated in a new way from trigonometrical bases. The distance between the spray gun and the free-form surface along the normal vector is varied. Automotive body parts, which are large free-form surfaces, are used to test the scheme. The experimental results show that the trajectory planning algorithm achieves satisfactory performance. This algorithm can also be extended to other applications.

Trajectory Studies of Large HNO3-Containing PSC Particles in the Arctic: Evidence for the Role of NAT

NASA Technical Reports Server (NTRS)

McKinney, K. A.; Wennberg, P. O.; Dhaniyala, S.; Fahey, D. W.; Northway, M. J.; Kuenzi, K. F.; Kleinboehl, A.; Sinnhuber, M.; Kuellmann, H.; Bremer, H.;

Reconstruction of the geometry of volcanic vents by trajectory tracking of fast ejecta - the case of the Eyjafjallajökull 2010 eruption (Iceland)

NASA Astrophysics Data System (ADS)

Dürig, Tobias; Gudmundsson, Magnus T.; Dellino, Pierfrancesco

2015-05-01

Two methods are introduced to estimate the depth of origin of ejecta trajectories (depth to magma level in conduit) and the diameter of a conduit in an erupting crater, using analysis of videos from the Eyjafjallajökull 2010 eruption to evaluate their applicability. Both methods rely on the identification of straight, initial trajectories of fast ejecta, observed near the crater rims before they are appreciably bent by air drag and gravity. In the first method, through tracking these straight trajectories and identifying a cut-off angle, the inner diameter and the depth level of the vent can be constrained. In the second method, the intersection point of straight trajectories from individual pulses is used to determine the maximum possible depth from which the tracked ejecta originated and the width of the region from which the pulses emanated. The two methods give nearly identical results on the depth to magma level in the crater of Eyjafjallajökull on 8 to 10 May of 51 ± 7 m. The inner vent diameter, at the level of origin of the pulses and ejecta, is found to have been 8 to 15 m. These methods open up the possibility to feed (near) real-time monitoring systems with otherwise inaccessible information about vent geometry during an ongoing eruption and help defining important eruption source parameters.

Prediction of human gait trajectories during the SSP using a neuromusculoskeletal modeling: A challenge for parametric optimization.

PubMed

Seyed, Mohammadali Rahmati; Mostafa, Rostami; Borhan, Beigzadeh

2018-04-27

The parametric optimization techniques have been widely employed to predict human gait trajectories; however, their applications to reveal the other aspects of gait are questionable. The aim of this study is to investigate whether or not the gait prediction model is able to justify the movement trajectories for the higher average velocities. A planar, seven-segment model with sixteen muscle groups was used to represent human neuro-musculoskeletal dynamics. At first, the joint angles, ground reaction forces (GRFs) and muscle activations were predicted and validated for normal average velocity (1.55 m/s) in the single support phase (SSP) by minimizing energy expenditure, which is subject to the non-linear constraints of the gait. The unconstrained system dynamics of extended inverse dynamics (USDEID) approach was used to estimate muscle activations. Then by scaling time and applying the same procedure, the movement trajectories were predicted for higher average velocities (from 2.07 m/s to 4.07 m/s) and compared to the pattern of movement with fast walking speed. The comparison indicated a high level of compatibility between the experimental and predicted results, except for the vertical position of the center of gravity (COG). It was concluded that the gait prediction model can be effectively used to predict gait trajectories for higher average velocities.

Fast three-dimensional inner volume excitations using parallel transmission and optimized k-space trajectories.

PubMed

Davids, Mathias; Schad, Lothar R; Wald, Lawrence L; Guérin, Bastien

2016-10-01

To design short parallel transmission (pTx) pulses for excitation of arbitrary three-dimensional (3D) magnetization patterns. We propose a joint optimization of the pTx radiofrequency (RF) and gradient waveforms for excitation of arbitrary 3D magnetization patterns. Our optimization of the gradient waveforms is based on the parameterization of k-space trajectories (3D shells, stack-of-spirals, and cross) using a small number of shape parameters that are well-suited for optimization. The resulting trajectories are smooth and sample k-space efficiently with few turns while using the gradient system at maximum performance. Within each iteration of the k-space trajectory optimization, we solve a small tip angle least-squares RF pulse design problem. Our RF pulse optimization framework was evaluated both in Bloch simulations and experiments on a 7T scanner with eight transmit channels. Using an optimized 3D cross (shells) trajectory, we were able to excite a cube shape (brain shape) with 3.4% (6.2%) normalized root-mean-square error in less than 5 ms using eight pTx channels and a clinical gradient system (Gmax  = 40 mT/m, Smax  = 150 T/m/s). This compared with 4.7% (41.2%) error for the unoptimized 3D cross (shells) trajectory. Incorporation of B0 robustness in the pulse design significantly altered the k-space trajectory solutions. Our joint gradient and RF optimization approach yields excellent excitation of 3D cube and brain shapes in less than 5 ms, which can be used for reduced field of view imaging and fat suppression in spectroscopy by excitation of the brain only. Magn Reson Med 76:1170-1182, 2016. © 2015 Wiley Periodicals, Inc. © 2015 Wiley Periodicals, Inc.

Trajectory Browser: An Online Tool for Interplanetary Trajectory Analysis and Visualization

NASA Technical Reports Server (NTRS)

Foster, Cyrus James

2013-01-01

The trajectory browser is a web-based tool developed at the NASA Ames Research Center for finding preliminary trajectories to planetary bodies and for providing relevant launch date, time-of-flight and (Delta)V requirements. The site hosts a database of transfer trajectories from Earth to planets and small-bodies for various types of missions such as rendezvous, sample return or flybys. A search engine allows the user to find trajectories meeting desired constraints on the launch window, mission duration and (Delta)V capability, while a trajectory viewer tool allows the visualization of the heliocentric trajectory and the detailed mission itinerary. The anticipated user base of this tool consists primarily of scientists and engineers designing interplanetary missions in the context of pre-phase A studies, particularly for performing accessibility surveys to large populations of small-bodies.

EDIN design study alternate space shuttle booster replacement concepts. Volume 2: Design simulation results

NASA Technical Reports Server (NTRS)

Demakes, P. T.; Hirsch, G. N.; Stewart, W. A.; Glatt, C. R.

1976-01-01

Historical weight estimating relationships were developed for the liquid rocket booster (LRB) using Saturn technology, and modified as required to support the EDIN05 study. Mission performance was computed using February 1975 shuttle configuration groundrules to allow reasonable comparison of the existing shuttle with the EDIN05 designs. The launch trajectory was constrained to pass through both the RTLS/AOA and main engine cut-off points. Performance analysis was based on a point design trajectory model which optimized initial tilt rate and exo-atmospheric pitch profile. A gravity turn was employed during the boost phase in place of the shuttle angle-of-attack profile. Engine throttling add/or shutdown was used to constrain dynamic pressure and/or longitudinal acceleration where necessary.

Adiabatic particle motion in a nearly drift-free magnetic field - Application to the geomagnetic tail

NASA Technical Reports Server (NTRS)

Stern, D. P.

1978-01-01

An investigation is made of the adiabatic particle motion occurring in an almost drift-free magnetic field. The dependence of the mean drift velocity on the equatorial pitch angle and the variation of the local drift velocity along the trajectories is studied. The fields considered are two-dimensional and resemble the geomagnetic tail. Derivations are presented for instantaneous and average drift velocities, bounce times, longitudinal invariants, and approximations to the adiabatic Hamiltonian. As expected, the mean drift velocity is significantly smaller than the instantaneous drift velocities found at typical points on the trajectory. The slow drift indicates that particles advance in the dawn-dusk direction rather slowly in the plasma sheet of the magnetospheric tail.

Trajectories of Internalizing Problems in War-Affected Sierra Leonean Youth: Examining Conflict and Postconflict Factors

ERIC Educational Resources Information Center

Betancourt, Theresa S.; McBain, Ryan; Newnham, Elizabeth A.; Brennan, Robert T.

2013-01-01

Three waves of data from a prospective longitudinal study in Sierra Leone were used to examine internalizing trajectories in 529 war-affected youth (ages 10-17 at baseline; 25% female). Latent class growth analyses identified 4 trajectories: A large majority of youth maintained lower levels of internalizing problems (41.4%) or significantly…

Math Achievement Trajectories among Black Male Students in the Elementary- and Middle-School Years

ERIC Educational Resources Information Center

Zilanawala, Afshin; Martin, Margary; Noguera, Pedro A.; Mincy, Ronald B.

2018-01-01

In this article, we analyze the variation in math achievement trajectories of Black male students to understand the different ways these students successfully or unsuccessfully navigate schools and the school characteristics that are associated with their trajectories. Using longitudinal student-level data from a large urban US city (n = 7,039),…

Influence of Tennis Racquet Kinematics on Ball Topspin Angular Velocity and Accuracy during the Forehand Groundstroke

PubMed Central

Kwon, Sunku; Pfister, Robin; Hager, Ronald L.; Hunter, Iain; Seeley, Matthew K.

2017-01-01

Forehand groundstroke effectiveness is important for tennis success. Ball topspin angular velocity (TAV) and accuracy are important for forehand groundstroke effectiveness, and have been extensively studied, previously; despite previous, quality studies, it was unclear whether certain racquet kinematics relate to ball TAV and shot accuracy during the forehand groundstroke. This study evaluated potential relationships between (1) ball TAV and (2) forehand accuracy, and five measures of racquet kinematics: racquet head impact angle (i.e., closed or open face), horizontal and vertical racquet head velocity before impact, racquet head trajectory (resultant velocity direction, relative to horizontal) before impact, and hitting zone length (quasi-linear displacement, immediately before and after impact). Thirteen collegiate-level tennis players hit forehand groundstrokes in a biomechanics laboratory, where racquet kinematics and ball TAV were measured, and on a tennis court, to assess accuracy. Correlational statistics were used to evaluate potential relationships between racquet kinematics, and ball TAV (mixed model) and forehand accuracy (between-subjects model; α = 0.05). We observed an average (1) racquet head impact angle, (2) racquet head trajectory before impact, relative to horizontal, (3) racquet head horizontal velocity before impact, (4) racquet head vertical velocity before impact, and (5) hitting zone length of 80.4 ± 3.6˚, 18.6 ± 4.3˚, 15.4 ± 1.4 m·s-1, 6.6 ± 2.2 m·s-1, and 79.8 ± 8.6 mm, respectively; and an average ball TAV of 969 ± 375 revolutions per minute. Only racquet head impact angle and racquet head vertical velocity, before impact, significantly correlated with ball TAV (p < 0.01). None of the observed racquet kinematics significantly correlated to the measures of forehand accuracy. These results confirmed mechanical logic and indicate that increased ball TAV is associated with a more closed racquet head impact angle (ranging from 70 to 85˚, relative to the ground) and increased racquet head vertical velocity before impact. Key points The study confirmed previous research that two key racquet kinematic variables, near impact, are significantly correlated to ball topspin angular velocity, during the forehand groundstroke: racquet head impact angle (i.e., open or closed racquet face) and racquet vertical velocity, before impact. The trajectory (direction of resultant velocity) and horizontal velocity of the racquet head before impact, and length of hitting zone were not significantly correlated to ball topspin angular velocity, or shot placement accuracy, during the tennis forehand groundstroke, for skilled male players. Hitting zone length was smaller than expected for skilled tennis players performing the forehand groundstroke. PMID:29238250

Finite-time and finite-size scalings in the evaluation of large-deviation functions: Numerical approach in continuous time.

PubMed

Guevara Hidalgo, Esteban; Nemoto, Takahiro; Lecomte, Vivien

2017-06-01

Rare trajectories of stochastic systems are important to understand because of their potential impact. However, their properties are by definition difficult to sample directly. Population dynamics provides a numerical tool allowing their study, by means of simulating a large number of copies of the system, which are subjected to selection rules that favor the rare trajectories of interest. Such algorithms are plagued by finite simulation time and finite population size, effects that can render their use delicate. In this paper, we present a numerical approach which uses the finite-time and finite-size scalings of estimators of the large deviation functions associated to the distribution of rare trajectories. The method we propose allows one to extract the infinite-time and infinite-size limit of these estimators, which-as shown on the contact process-provides a significant improvement of the large deviation function estimators compared to the standard one.

TU-CD-304-01: FEATURED PRESENTATION and BEST IN PHYSICS (THERAPY): Trajectory Modulated Arc Therapy: Development of Novel Arc Delivery Techniques Integrating Dynamic Table Motion for Extended Volume Treatments

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chin, E; Hoppe, R; Million, L

2015-06-15

Purpose: Integration of coordinated robotic table motion with inversely-planned arc delivery has the potential to resolve table-top delivery limitations of large-field treatments such as Total Body Irradiation (TBI), Total Lymphoid Irradiation (TLI), and Cranial-Spinal Irradiation (CSI). We formulate the foundation for Trajectory Modulated Arc Therapy (TMAT), and using Varian Developer Mode capabilities, experimentally investigate its practical implementation for such techniques. Methods: A MATLAB algorithm was developed for inverse planning optimization of the table motion, MLC positions, and gantry motion under extended-SSD geometry. To maximize the effective field size, delivery trajectories for TMAT TBI were formed with the table rotated atmore » 270° IEC and dropped vertically to 152.5cm SSD. Preliminary testing of algorithm parameters was done through retrospective planning analysis. Robotic delivery was programmed using custom XML scripting on the TrueBeam Developer Mode platform. Final dose was calculated using the Eclipse AAA algorithm. Initial verification of delivery accuracy was measured using OSLDs on a solid water phantom of varying thickness. Results: A comparison of DVH curves demonstrated that dynamic couch motion irradiation was sufficiently approximated by static control points spaced in intervals of less than 2cm. Optimized MLC motion decreased the average lung dose to 68.5% of the prescription dose. The programmed irradiation integrating coordinated table motion was deliverable on a TrueBeam STx linac in 6.7 min. With the couch translating under an open 10cmx20cm field angled at 10°, OSLD measurements along the midline of a solid water phantom at depths of 3, 5, and 9cm were within 3% of the TPS AAA algorithm with an average deviation of 1.2%. Conclusion: A treatment planning and delivery system for Trajectory Modulated Arc Therapy of extended volumes has been established and experimentally demonstrated for TBI. Extension to other treatment techniques such as TLI and CSI is readily achievable through the developed platform. Grant Funding by Varian Medical Systems.« less

Submerged Gas Jet Penetration: A Study of Bubbling Versus Jetting and Side Versus Bottom Blowing in Copper Bath Smelting

NASA Astrophysics Data System (ADS)

Kapusta, Joël P. T.

2017-06-01

Although the bottom blowing ShuiKouShan process has now been widely implemented in China, in both lead and copper smelters, some doubts, questions, and concerns still seem to prevail in the metallurgical community outside China. In the author's opinion, part of these doubts and concerns could be addressed by a better general understanding of key concepts of submerged gas injection, including gas jet trajectory and penetration, and the concept, application, and benefits of sonic injection in jetting regime. To provide some answers, this article first offers a discussion on the historical developments of the theory and mathematical characterization of submerged gas jet trajectory, including the proposed criteria for the transition from bubbling to jetting regime and the application of the Prandtl-Meyer theory to submerged gas jets. A second part is devoted to a quantitative study of submerged gas jet penetration in copper bath smelting, including a comparison between bubbling and jetting regimes, and side versus bottom blowing. In the specific cases studied, the calculated gas jet axis trajectory length in jetting regime is 159 cm for bottom blowing, whereas it varies between 129 and 168 cm for side blowing for inclination angles of +18° to -30° to the horizontal. This means that side blowing in the jetting regime would provide a deeper penetration and longer gas jet trajectory than generally obtained by conventional bath smelting vessels such as the Noranda and Teniente reactors. The theoretical results of this study do corroborate the successful high-intensity practice of the slag make converting process at Glencore Nickel in Canada that operates under high oxygen shrouded injection in the jetting regime, and this would then suggest that retrofitting conventional low-pressure, side-blowing tuyeres of bath smelting and converting reactors with sonic injectors in jetting regime certainly appears as a valuable option for process intensification with higher oxygen enrichment, without major process changes or large capital expenditure, i.e., no need for full reactor replacement.

Atmospheric trajectory and heliocentric orbit of the Ejby meteorite fall in Denmark on February 6, 2016

NASA Astrophysics Data System (ADS)

Spurný, P.; Borovička, J.; Baumgarten, G.; Haack, H.; Heinlein, D.; Sørensen, A. N.

2017-09-01

A very bright bolide illuminated the sky over Denmark and neighboring countries on February 6th, 2016 at 21:07:18-23UT. It terminated by a multiple meteorite fall in the heavily populated area of the western outskirts of Copenhagen. Several meteorites classified as the H5/6 ordinary chondrites have been found shortly after the fall and total recovered mass reached almost 9 kg (Haack, 2016). Although this spectacular bolide has been reported by many casual witnesses, the instrumental records are very scarce, mainly due to bad weather over Denmark and neighboring countries. Despite it we were able to collect five instrumental records taken from different locations which were useful for the analysis of this event. We used three high resolution digital photographic images taken in Germany, one high resolution radiometric light curve taken by the northernmost Czech automated fireball observatory and one video record taken by a surveillance camera on the Danish west coast where a part of the fireball trajectory was recorded. It allowed us to reliably determine basic parameters defining the luminous trajectory of the bolide in the atmosphere and also heliocentric orbit of the initial meteoroid causing this spectacular meteorite fall. We found that this event was caused by a relatively fragile 50 cm meteoroid with initial mass about 250 kg. It entered the atmosphere with velocity of 14.5 km s-1 and quite steep entry angle of 62°. Its luminous flight started at 85.5 km and after 76 km long trajectory it terminated at 18.3 km. The heliocentric orbit of this meteoroid was of Apollo type with low inclination of 1° and perihelion distance just inside the Earth's orbit. It had a relatively large semimajor axis of 2.8 AU and aphelion distance 4.64 AU. It is the second largest aphelion distance among all meteorites with known orbits and the orbit had the same character as that of the Košice meteorite (H5 ordinary chondrite), which fell on February 28, 2010 (Borovička et al., 2013).

ANALYTiC: An Active Learning System for Trajectory Classification.

PubMed

Soares Junior, Amilcar; Renso, Chiara; Matwin, Stan

2017-01-01

The increasing availability and use of positioning devices has resulted in large volumes of trajectory data. However, semantic annotations for such data are typically added by domain experts, which is a time-consuming task. Machine-learning algorithms can help infer semantic annotations from trajectory data by learning from sets of labeled data. Specifically, active learning approaches can minimize the set of trajectories to be annotated while preserving good performance measures. The ANALYTiC web-based interactive tool visually guides users through this annotation process.

On the relativistic large-angle electron collision operator for runaway avalanches in plasmas

NASA Astrophysics Data System (ADS)

Embréus, O.; Stahl, A.; Fülöp, T.

2018-02-01

Large-angle Coulomb collisions lead to an avalanching generation of runaway electrons in a plasma. We present the first fully conservative large-angle collision operator, derived from the relativistic Boltzmann operator. The relation to previous models for large-angle collisions is investigated, and their validity assessed. We present a form of the generalized collision operator which is suitable for implementation in a numerical kinetic equation solver, and demonstrate the effect on the runaway-electron growth rate. Finally we consider the reverse avalanche effect, where runaways are slowed down by large-angle collisions, and show that the choice of operator is important if the electric field is close to the avalanche threshold.

An Engineer's Physics Lab -- using a Large Force Frame

NASA Astrophysics Data System (ADS)

Heid, Christy; Rampolla, Donald

2009-03-01

We have constructed very economical, easy to assemble force frames that are used by students in our general physics laboratory at Chatham University. The force frame is used at the beginning of the semester to study vector properties of forces. The force frame can be used as a horizontal or vertical force table. Angles of forces are measured using a large movable (rotation and translation) Cartesian coordinate board attached to the frame with large binder clips. The force frame is a versatile device which is used for a number of other experiments, including beam bending and torsion, mechanical resonance, projectile trajectories, torque, mechanical equilibrium, an isolated non-magnetic support for magnetic field experiments, easily adjustable support for inclined plane experiments, support for traveling wave experiments with heavy rope, and support for large scale fluid flow experiments. One advantage to a wood frame is that things can be easily stapled, nailed, screwed or glued just about anywhere on the frame, and damaged frame members can be replaced easily. As one of the few remaining women's undergraduate institutions, we have found the use of these frames to provide an additional advantage in helping women overcome their fear of simple power tools and assembly of mechanical parts as they become comfortable with these through working with the force frames throughout the semester. We intend to describe and model these applications during the session.

RHEED-TRAXS as a tool for in-situ stoichiometry control.

NASA Astrophysics Data System (ADS)

Chandril, Sandeep; Keenan, Cameron; Myers, Thomas; Lederman, David

2008-03-01

RHEED-total reflection x-ray spectroscopy (-TRAXS) is an in-situ chemical and structural characterization technique which is highly surface sensitive. This consists of a grazing-angle electron beam from which characteristic x-rays from the sample are measured also at grazing angles. We have demonstrated that monolayer sensitivity in Y and Mn films on GaN can be achieved. We have also developed a theoretical model for the angular dependence of the x-ray Kα peaks for the thin films, based on Parratt's formalism for x-ray reflectivity and the electron trajectory simulation software CASINO, to correct for grazing angle electron beam as a source for x-rays. As the angular dependence is highly dependent upon the film thickness and the smoothness of the film, it can be used to determine the deposition rate of individual elements as well as the interface chemical roughness

Results of tests OA12 and IA9 in the Ames Research Center unitary plan wind tunnels on an 0.030-scale model of the space shuttle vehicle 2A to determine aerodynamic loads, volume 1

NASA Technical Reports Server (NTRS)

Spangler, R. H.

1973-01-01

Tests were conducted in unitary plan wind tunnels on an 0.030-scale replica of the space shuttle vehicle configuration 2A. Aerodynamic loads data were obtained at Mach numbers from 0.6 to 3.5. The investigation included tests on the integrated (launch) configuration and tests on the isolated orbiter (entry configuration). The integrated vehicle was tested at angles of attack and sideslip from minus 8 deg to plus 8 deg. The isolated orbiter was tested at angles of attack from minus 15 deg to plus 40 deg and angles of sideslip from minus 10 deg to plus 10 deg are dictated by trajectory considerations. The effects of orbiter/external tank incidence and deflected control surfaces on aerodynamic loads were also investigated.

Steering Angle Control of Car for Dubins Path-tracking Using Model Predictive Control

NASA Astrophysics Data System (ADS)

Kusuma Rahma Putri, Dian; Subchan; Asfihani, Tahiyatul

2018-03-01

Car as one of transportation is inseparable from technological developments. About ten years, there are a lot of research and development on lane keeping system(LKS) which is a system that automaticaly controls the steering to keep the vehicle especially car always on track. This system can be developed for unmanned cars. Unmanned system car requires navigation, guidance and control which is able to direct the vehicle to move toward the desired path. The guidance system is represented by using Dubins-Path that will be controlled by using Model Predictive Control. The control objective is to keep the car’s movement that represented by dinamic lateral motion model so car can move according to the path appropriately. The simulation control on the four types of trajectories that generate the value for steering angle and steering angle changes are at the specified interval.

Gain scheduled linear quadratic control for quadcopter

NASA Astrophysics Data System (ADS)

Okasha, M.; Shah, J.; Fauzi, W.; Hanouf, Z.

2017-12-01

This study exploits the dynamics and control of quadcopters using Linear Quadratic Regulator (LQR) control approach. The quadcopter’s mathematical model is derived using the Newton-Euler method. It is a highly manoeuvrable, nonlinear, coupled with six degrees of freedom (DOF) model, which includes aerodynamics and detailed gyroscopic moments that are often ignored in many literatures. The linearized model is obtained and characterized by the heading angle (i.e. yaw angle) of the quadcopter. The adopted control approach utilizes LQR method to track several reference trajectories including circle and helix curves with significant variation in the yaw angle. The controller is modified to overcome difficulties related to the continuous changes in the operating points and eliminate chattering and discontinuity that is observed in the control input signal. Numerical non-linear simulations are performed using MATLAB and Simulink to illustrate to accuracy and effectiveness of the proposed controller.

A simple analytical aerodynamic model of Langley Winged-Cone Aerospace Plane concept

NASA Technical Reports Server (NTRS)

Pamadi, Bandu N.

1994-01-01

A simple three DOF analytical aerodynamic model of the Langley Winged-Coned Aerospace Plane concept is presented in a form suitable for simulation, trajectory optimization, and guidance and control studies. The analytical model is especially suitable for methods based on variational calculus. Analytical expressions are presented for lift, drag, and pitching moment coefficients from subsonic to hypersonic Mach numbers and angles of attack up to +/- 20 deg. This analytical model has break points at Mach numbers of 1.0, 1.4, 4.0, and 6.0. Across these Mach number break points, the lift, drag, and pitching moment coefficients are made continuous but their derivatives are not. There are no break points in angle of attack. The effect of control surface deflection is not considered. The present analytical model compares well with the APAS calculations and wind tunnel test data for most angles of attack and Mach numbers.

Glancing angle metal evaporation synthesis of catalytic swimming Janus colloids with well defined angular velocity.

PubMed

Archer, R J; Campbell, A I; Ebbens, S J

2015-09-14

The ability to control the degree of spin, or rotational velocity, for catalytic swimming devices opens up the potential to access well defined spiralling trajectories, enhance cargo binding rate, and realise theoretically proposed behaviour such as chiral diffusion. Here we assess the potential to impart a well-defined spin to individual catalytic Janus swimmers by using glancing angle metal evaporation onto a colloidal crystal to break the symmetry of the catalytic patch due to shadowing by neighbouring colloids. Using this approach we demonstrate a well-defined relationship between the glancing angle and the ratio of rotational to translational velocity. This allows batches of colloids with well-defined spin rates in the range 0.25 to 2.5 Hz to be produced. With reference to the shape and thickness variations across the catalytically active shapes, and their propulsion mechanism we discuss the factors that can lead to the observed variations in rotational propulsion.

Efficient extraction of high power THz radiation generated by an ultra-relativistic electron beam in a dielectric loaded waveguide

DOE PAGES

Antipov, S.; Baryshev, S. V.; Kostin, R.; ...

2016-10-03

Here, we have measured an intense THz radiation produced by a sub-picosecond, relativistic electron bunch in a dielectric loaded waveguide. For efficient THz pulse extraction, the dielectric loaded waveguide end was cut at an angle. For an appropriate choice of angle cut, such antenna converts the TM 01 mode excited in the waveguide into a free-space fundamental Gauss-Hermite mode propagating at an angle with respect to the electron beam trajectory. Simulations show that more than 95% of energy can be extracted using such a simple approach. More than 40 oscillations of about 170 ps long 0.48 THz signal were explicitlymore » measured with an interferometer and 10 μJ of energy per pulse, as determined with a calorimetric energy meter, were delivered outside the electron beamline to an area suitable for THz experiments.« less

In-flight demonstration of a Real-Time Flush Airdata Sensing (RT-FADS) system

NASA Technical Reports Server (NTRS)

Whitmore, Stephen A.; Davis, Roy J.; Fife, John Michael

1995-01-01

A prototype real-time flush airdata sensing (RT-FADS) system has been developed and flight tested at the NASA Dryden Flight Research Center. This system uses a matrix of pressure orifices on the vehicle nose to estimate airdata parameters in real time using nonlinear regression. The algorithm is robust to sensor failures and noise in the measured pressures. The RT-FADS system has been calibrated using inertial trajectory measurements that were bootstrapped for atmospheric conditions using meteorological data. Mach numbers as high as 1.6 and angles of attack greater than 45 deg have been tested. The system performance has been evaluated by comparing the RT-FADS to the ship system airdata computer measurements to give a quantitative evaluation relative to an accepted measurement standard. Nominal agreements of approximately 0.003 in Mach number and 0.20 deg in angle of attack and angle of sideslip have been achieved.

Didactical Design Enrichment of Angle in Geometry

NASA Astrophysics Data System (ADS)

Setiadi, D. R.; Suryadi, D.; Mulyana, E.

2017-09-01

The underlying problem of this research is the lack of student’s competencies in understanding the concept of angle in geometry as the results of the teaching and learning pattern that only to receive the topic rather than to construct the topic and has not paid attention to the learning trajectory. The purpose of this research is to develop the didactical design of angle in space learning activity. The used research method is a method of qualitative research in the form of a didactical design research through three phases of analysis i.e. didactical situation analysis, metapedadidactical analysis, and retrospective analysis, which conducted in students from 10th grade at one of private schools in Bandung. Based on the results of research and discussion, the didactical design that has been made, is capable to change student’s learning habit and quite capable to develop student’s competencies although not optimal.

Early Childhood Precursors and School age Correlates of Different Internalising Problem Trajectories Among Young Children.

PubMed

Parkes, Alison; Sweeting, Helen; Wight, Daniel

2016-10-01

It is unclear why trajectories of internalising problems vary between groups of young children. This is the first attempt in the United Kingdom to identify and explain different trajectories of internalising problems from 46 to 94 months. Using both mother- and child-reported data from the large Growing Up in Scotland (GUS) birth cohort (N = 2901; male N = 1497, female N = 1404), we applied growth mixture modelling and multivariable multinomial regression models. Three trajectories were identified: low-stable, high-decreasing and medium-increasing. There were no gender differences in trajectory shape, membership, or importance of covariates. Children from both elevated trajectories shared several early risk factors (low income, poor maternal mental health, poor partner relationship, pre-school behaviour problems) and school-age covariates (low mother-child warmth and initial school maladjustment) and reported fewer supportive friendships at 94 months. However, there were also differences in covariates between the two elevated trajectories. Minority ethnic status and pre-school conduct problems were more strongly associated with the high-decreasing trajectory; and covariates measured after school entry (behaviour problems, mother-child conflict and school maladjustment) with the medium-increasing trajectory. This suggests a greater burden of early risk for the high-decreasing trajectory, and that children with moderate early problem levels were more vulnerable to influences after school transition. Our findings largely support the sparse existing international evidence and are strengthened by the use of child-reported data. They highlight the need to identify protective factors for children with moderate, as well as high, levels of internalising problems at pre-school age, but suggest different approaches may be required.

Cherry-picking functionally relevant substates from long md trajectories using a stratified sampling approach.

PubMed

Chandramouli, Balasubramanian; Mancini, Giordano

2016-01-01

Classical Molecular Dynamics (MD) simulations can provide insights at the nanoscopic scale into protein dynamics. Currently, simulations of large proteins and complexes can be routinely carried out in the ns-μs time regime. Clustering of MD trajectories is often performed to identify selective conformations and to compare simulation and experimental data coming from different sources on closely related systems. However, clustering techniques are usually applied without a careful validation of results and benchmark studies involving the application of different algorithms to MD data often deal with relatively small peptides instead of average or large proteins; finally clustering is often applied as a means to analyze refined data and also as a way to simplify further analysis of trajectories. Herein, we propose a strategy to classify MD data while carefully benchmarking the performance of clustering algorithms and internal validation criteria for such methods. We demonstrate the method on two showcase systems with different features, and compare the classification of trajectories in real and PCA space. We posit that the prototype procedure adopted here could be highly fruitful in clustering large trajectories of multiple systems or that resulting especially from enhanced sampling techniques like replica exchange simulations. Copyright: © 2016 by Fabrizio Serra editore, Pisa · Roma.

A Comparison of Splash Erosion Behavior between Wettable and Water Repellent 'Soil' Particles

NASA Astrophysics Data System (ADS)

Ahn, S.; Hamlett, C. A.; Doerr, S.; Bryant, R.; Shirtcliffe, N.; McHale, G.; Newton, M.

2011-12-01

Wildfires remove vegetation and litter cover and expose soil surfaces to particle detachment by rain splash. This can serve as an agent of initial soil modification and erosion in the post-fire period. Splash behavior is mainly determined by the kinetic energy delivered by impacting water drops (erosivity), and the detachability (erodibility) of surface particles, affected by their size, aggregate stability and shear strength. Soil detachability may also be affected by water repellency (hydrophobicity). This soil characteristic is influenced by wildfire and may affect splash behavior by reducing capillary forces between particles. Previous work on splash behavior using cumulative drop impact reported larger ejection droplets and lower and shorter trajectories of ejections for water repellent soil compared with wettable soil (Terry and Shakesby 1993). A water film generated by delayed infiltration on water repellent soil was suggested to account for the difference. This study compares the trajectories of ejected wettable and hydrophobic model soil particles from single water drop impacts in order to isolate the effect of soil particle wettability on splash erosion behavior. Acid-washed (wettable) and hydrophobized (water repellent) glass beads used as model soil particles were held in an array within a squat cylinder of 1.5 cm diameter in the centre of a 20 cm diameter disk covered with a viscous adhesive film. A distilled water drop (20μL) was released 40 cm above the centre of the array and the resultant impact was recorded at 976 frames per second using a high speed video camera. The populations of, and distances travelled by, the particles were measured for three arrays of bead sizes within the range (180-400 μm). Three to five replications were made for each test. The trajectory of each ejected particle was traced on video frames and corrected for the actual distance and direction of travel measured from the adhesive film. The initial velocity and ejecting angle of individual particles were calculated from the equation of motion, ignoring the air resistance and in-flight evaporation. In contrast to Terry and Shakesby (1993), we observed that a single drop impact resulted mainly in dispersion (splash saltation) with few ejections of particles entrained by a water droplet (splashing), and the trajectories of ejections from water repellent particle arrays were higher than those from the hydrophilic arrays. These higher trajectories were driven by higher initial velocity for the water repellent particles, despite lower ejecting angles. This result suggests that water repellent soil is more vulnerable to initial splash detachment before a water film is generated by accumulation of rain drops. The distributions of initial velocity and ejecting angle of all particles are compared between wettable and water repellent particles and discussed in detail in this contribution. Terry JP and Shakesby RA, 1993. Earth Surface Processes and Landforms 18: 519-525. Acknowledgement: This study has been funded by Engineering and Physical Sciences Research Council of United Kingdom.

Angles-only navigation for autonomous orbital rendezvous

NASA Astrophysics Data System (ADS)

Woffinden, David C.

The proposed thesis of this dissertation has both a practical element and theoretical component which aim to answer key questions related to the use of angles-only navigation for autonomous orbital rendezvous. The first and fundamental principle to this work argues that an angles-only navigation filter can determine the relative position and orientation (pose) between two spacecraft to perform the necessary maneuvers and close proximity operations for autonomous orbital rendezvous. Second, the implementation of angles-only navigation for on-orbit applications is looked upon with skeptical eyes because of its perceived limitation of determining the relative range between two vehicles. This assumed, yet little understood subtlety can be formally characterized with a closed-form analytical observability criteria which specifies the necessary and sufficient conditions for determining the relative position and velocity with only angular measurements. With a mathematical expression of the observability criteria, it can be used to (1) identify the orbital rendezvous trajectories and maneuvers that ensure the relative position and velocity are observable for angles-only navigation, (2) quantify the degree or level of observability and (3) compute optimal maneuvers that maximize observability. In summary, the objective of this dissertation is to provide both a practical and theoretical foundation for the advancement of autonomous orbital rendezvous through the use of angles-only navigation.

Synthetic Jet Interactions with Flows of Varying Separation Severity and Spanwise Flow Magnitude

NASA Astrophysics Data System (ADS)

Monastero, Marianne; Lindstrom, Annika; Amitay, Michael

2017-11-01

Flow physics associated with the interactions of synthetic jet actuators with a highly three-dimensional separated flow over a flapped airfoil were investigated experimentally and analyzed using stereo particle image velocimetry (SPIV) and surface pressure data. Increased understanding of active flow control devices in flows which are representative of airplane wings or tails can lead to actuator placement (i.e., chordwise location, spanwise spacing) with the greatest beneficial effect on performance. An array of discrete synthetic jets was located just upstream of the control surface hingeline and operated at a blowing ratio of 1 and non-dimensional frequency of 48. Detailed flowfield measurements over the control surface were conducted, where the airfoil's sweep angle and the control surface deflection angle were fixed at 20°. Focus was placed on the local and global flowfields as spanwise actuator spacing was varied. Moreover, surface pressure measurement for several sweep angles, control surface deflection angles, and angles of attack were also performed. Actuation resulted in an overall separation reduction and a dependence of local flowfield details (i.e. separation severity, spanwise flow magnitude, flow structures, and jet trajectory) on spanwise jet spacing. The Boeing Company.

Atmospheric Entry Studies for Venus Missions: 45 deg Sphere-Cone Rigid Aeroshells and Ballistic Entries

NASA Technical Reports Server (NTRS)

Prabu, Dinesh K.; Allen, Gary A., Jr.; Cappuccio, Gelsomina; Spilker, Thomas R.; Hwang, Helen H.; Moses, Robert W.

2013-01-01

The present study considers ballistic entries into the atmosphere of Venus using a 45deg sphere-cone rigid aeroshell, a legacy shape that has been used successfully in the past in the Pioneer Venus Multiprobe Mission. For a number of entry mass and capsule diameter combinations (i.e., various ballistic coefficients) and entry velocities, the trajectory space in terms of entry flight path angles between skip out and -30 is explored with a 3DOF trajectory code, TRAJ. Assuming that the thermal protection material of choice is carbon phenolic of flight heritage, the entry flight path angle space is constrained a posteriori by the mechanical and thermal performance parameters of the material. For mechanical performance, a 200 g limit is placed on the peak deceleration load and 10 bar is assumed as the limit for heritage carbon-phenolic material. It is shown that both constraints cannot be active simultaneously. For thermal performance, a heat flux 2.5 kW/sq cm is utilized as a threshold below which the heritage carbon phenolic is considered mass inefficient. Using these constraints, viable entry flight path angle corridors are determined. Analysis of the results also hints at the existence of a range of "critical" ballistic coefficients beyond which the steepest possible entries are determined by the pressure limit of 10 bar. The results are verified against known performance of the various probes used in the Pioneer Venus mission. It is anticipated that the results presented here will serve as a baseline in the development of a new class of ablative materials for future Venus missions.

Flow-Field Measurement of Device-Induced Embedded Streamwise Vortex on a Flat Plate

NASA Technical Reports Server (NTRS)

Yao, Chung-Sheng; Lin, John C.; Allan, Brian G.

2002-01-01

Detailed flow-field measurements were performed downstream of a single vortex generator (VG) using an advanced Stereo Digital Particle Image Velocimetry system. Thc passive flow-control devices examined consisted of a low-profile VG with a device height, h, approximately equal to 20 percent of the boundary-layer thickness, sigma, and a conventional VG with h is approximately sigma. Flow-field data were taken at twelve cross-flow planes downstream of the VG to document and quantify the evolution of embedded streamwise vortex. The effects of device angle of attack on vortex development downstream were compared between the low-profile VG and the conventional VG. Key parameters including vorticity, circulation, trajectory, and half-life radius - describing concentration, strength, path, and size, respectively--of the device-induced streamwise vortex were extracted from the flow-field data. The magnitude of maximum vorticity increases as angle of attack increases for the low-profile VG, but the trend is reversed for the conventional VG, probably due to flow stalling around the larger device at higher angles of attack. Peak vorticity and circulation for the low-profile VG decays exponentially and inversely proportional to the distance downstream from the device. The device-height normalized vortex trajectories for the low-profile VG, especially in the lateral direction, follow the general trends of the conventional VG. The experimental database was used to validate the predictive capability of computational fluid dynamics (CFD). CFD accurately predicts the vortex circulation and path; however, improvements are needed for predicting the vorticity strength and vortex size.

Experimental investigation on the effects of non-cyclical frequency and amplitude variation on dynamic stall

NASA Astrophysics Data System (ADS)

Heintz, Kyle C.

An experimental study of a cambered airfoil undergoing non-cyclical, transient pitch trajectories and the resulting effects on the dynamic stall phenomenon is presented. Surface pressure measurements and airfoil incidence angle are acquired simultaneously to resolve instantaneous aerodynamic load coefficients at Mach numbers ranging from 0.2 to 0.4. Derived from these coefficients are various formulations of the aerodynamic damping factor, referred to copiously throughout. Using a two-motor mechanism, each providing independent frequency and amplitude input to the airfoil, unique pitch motions can be implemented by actively controlling the phase between inputs. This work primarily focuses on three pitch motion schemas, the first of which is a "chirp" style trajectory featuring concurrent exponential frequency growth and amplitude decay. Second, these parameters are tested separately to determine their individual contributions. Lastly, a novel dual harmonic pitch motion is devised which rapidly traverses dynamic stall regimes on an inter-cycle basis by modulating the static-stall penetration angle. Throughout all results presented, there is evidence that for consecutive pitch-cycles, the process of dynamic stall is affected when prior oscillations prior have undergone deeper stall-penetration angles. In other words when stall-penetration is descending, retreating from a regime of light or deep stall, statistics of load coefficients, such as damping coefficient, maximum lift, minimum quarter-chord moment, and their phase relationships, do not match the values seen when stall-penetration was growing. The outcomes herein suggest that the airfoil retains some memory of previous flow separation which has the potential to change the influence of the dynamic stall vortex.

The Effect of Vascular Neuropathology on Late-life Cognition: Results from the SMART Project.

PubMed

Kryscio, R J; Abner, E L; Nelson, P T; Bennett, D; Schneider, J; Yu, L; Hemmy, L S; Lim, K O; Masaki, K; Cairns, N; Xiong, C; Woltjer, R; Dodge, H H; Tyas, S; Fardo, D W; Lou, W; Wan, L; Schmitt, F A

2016-06-01

Cerebral vascular pathology may contribute to cognitive decline experienced by some elderly near death. Given evidence for mixed neuropathologies in advanced age, preventing or reducing cerebrovascular burden in late life may be beneficial. To correlate measures of cerebral vascular pathology with cognitive trajectories. Observational study. A cohort of 2,274 individuals who came to autopsy at a mean age of 89.3 years and 82 percent of whom had at least two cognitive assessments within the last six years of life was compiled from six centers conducting longitudinal studies. For each cognitive domain: immediate and delayed memory, language, and naming, three trajectories were examined: good, intermediate, and poor cognition. The probability of a participant belonging to each trajectory was associated with measures of cerebral vascular pathology after adjustment for demographics, APOE, and Alzheimer neuropathology. A large proportion of the cohort (72-94%) experienced good or intermediate cognition in the four domains examined. The presence of arteriolosclerosis and the presence of lacunar infarcts doubled the odds of belonging to the poor cognitive trajectory for language when compared to the good trajectory. The presence of lacunar infarcts increased the odds of an intermediate or poor trajectory for immediate and delayed recall while the presence of large artery infarcts increased the odds of poor trajectories for all four cognitive domains examined. Microinfarcts and cerebral amyloid angiopathy had little effect on the trajectories. Indicators of cerebral vascular pathology act differently on late life cognition.

The Effect of Vascular Neuropathology on Late-life Cognition: Results from the SMART Project

PubMed Central

Kryscio, R.J.; Abner, E.L.; Nelson, P.T.; Bennett, D.; Schneider, J.; Yu, L.; Hemmy, L.S.; Lim, K.O.; Masaki, K.; Cairns, N.; Xiong, C.; Woltjer, R.; Dodge, H.H.; Tyas, S.; Fardo, D.W.; Lou, W.; Wan, L.; Schmitt, F.A.

2016-01-01

Background Cerebral vascular pathology may contribute to cognitive decline experienced by some elderly near death. Given evidence for mixed neuropathologies in advanced age, preventing or reducing cerebrovascular burden in late life may be beneficial. Objective To correlate measures of cerebral vascular pathology with cognitive trajectories. Setting Observational study. Participants A cohort of 2,274 individuals who came to autopsy at a mean age of 89.3 years and 82 percent of whom had at least two cognitive assessments within the last six years of life was compiled from six centers conducting longitudinal studies. Measurements For each cognitive domain: immediate and delayed memory, language, and naming, three trajectories were examined: good, intermediate, and poor cognition. The probability of a participant belonging to each trajectory was associated with measures of cerebral vascular pathology after adjustment for demographics, APOE, and Alzheimer neuropathology. Results A large proportion of the cohort (72-94%) experienced good or intermediate cognition in the four domains examined. The presence of arteriolosclerosis and the presence of lacunar infarcts doubled the odds of belonging to the poor cognitive trajectory for language when compared to the good trajectory. The presence of lacunar infarcts increased the odds of an intermediate or poor trajectory for immediate and delayed recall while the presence of large artery infarcts increased the odds of poor trajectories for all four cognitive domains examined. Microinfarcts and cerebral amyloid angiopathy had little effect on the trajectories. Conclusion Indicators of cerebral vascular pathology act differently on late life cognition. PMID:27709107

Querying databases of trajectories of differential equations 2: Index functions

NASA Technical Reports Server (NTRS)

Grossman, Robert

1991-01-01

Suppose that a large number of parameterized trajectories (gamma) of a dynamical system evolving in R sup N are stored in a database. Let eta is contained R sup N denote a parameterized path in Euclidean space, and let parallel to center dot parallel to denote a norm on the space of paths. A data structures and indices for trajectories are defined and algorithms are given to answer queries of the following forms: Query 1. Given a path eta, determine whether eta occurs as a subtrajectory of any trajectory gamma from the database. If so, return the trajectory; otherwise, return null. Query 2. Given a path eta, return the trajectory gamma from the database which minimizes the norm parallel to eta - gamma parallel.

State-resolved Thermal/Hyperthermal Dynamics of Atmospheric Species

DTIC Science & Technology

2015-06-23

gas -room temperature ionic liquid (RTIL) interfaces. 2) Large scale trajectory simulations for theoretical analysis of gas - liquid scattering studies...areas: 1) Diode laser and LIF studies of hyperthermal CO2 and NO collisions at the gas -room temperature ionic liquid (RTIL) interfaces. 2) Large...scale trajectory simulations for theoretical analysis of gas - liquid scattering studies, 3) LIF data for state-resolved scattering of hyperthermal NO at

Deconflicting Wind-Optimal Aircraft Trajectories in North Atlantic Oceanic Airspace

NASA Technical Reports Server (NTRS)

Rodionova, Olga; Delahaye, Daniel; Sridhar, Banavar; Ng, Hok K.

2016-01-01

North Atlantic oceanic airspace accommodates more than 1000 flights daily, and is subjected to very strong winds. Flying wind-optimal trajectories yields time and fuel savings for each individual flight. However, when taken together, these trajectories induce a large amount of potential en-route conflicts. This paper analyses the detected conflicts, figuring out conflict distribution in time and space. It further describes an optimization algorithm aimed at reducing the number of conflicts for a daily set of flights on strategic level. Several trajectory modification strategies are discussed, followed with simulation results. Finally, an algorithm improvement is presented aiming at better preserving the trajectory optimality.

Multi-rendezvous low-thrust trajectory optimization using costate transforming and homotopic approach

NASA Astrophysics Data System (ADS)

Chen, Shiyu; Li, Haiyang; Baoyin, Hexi

2018-06-01

This paper investigates a method for optimizing multi-rendezvous low-thrust trajectories using indirect methods. An efficient technique, labeled costate transforming, is proposed to optimize multiple trajectory legs simultaneously rather than optimizing each trajectory leg individually. Complex inner-point constraints and a large number of free variables are one main challenge in optimizing multi-leg transfers via shooting algorithms. Such a difficulty is reduced by first optimizing each trajectory leg individually. The results may be, next, utilized as an initial guess in the simultaneous optimization of multiple trajectory legs. In this paper, the limitations of similar techniques in previous research is surpassed and a homotopic approach is employed to improve the convergence efficiency of the shooting process in multi-rendezvous low-thrust trajectory optimization. Numerical examples demonstrate that newly introduced techniques are valid and efficient.

AGILE as a particle detector: Magnetospheric measurements of 10-100 MeV electrons in L shells less than 1.2

NASA Astrophysics Data System (ADS)

Argan, A.; Piano, G.; Tavani, M.; Trois, A.

2016-04-01

We study the capability of the AGILE gamma ray space mission in detecting magnetospheric particles (mostly electrons) in the energy range 10-100 MeV. Our measurements focus on the inner magnetic shells with L ≲ 1.2 in the magnetic equator. The instrument characteristics and a quasi-equatorial orbit of ˜500 km altitude make it possible to address several important properties of the particle populations in the inner magnetosphere. We review the on board trigger logic and study the acceptance of the AGILE instrument for particle detection. We find that the AGILE effective geometric factor (acceptance) is R≃50 cm2 sr for particle energies in the range 10-100 MeV. Particle event reconstruction allows to determine the particle pitch angle with the local magnetic field with good accuracy. We obtain the pitch angle distributions for both the AGILE "pointing" phase (July 2007 to October 2009) and the "spinning" phase (November 2009 to present). In spinning mode, the whole range (0-180 degrees) is accessible every 7 min. We find a pitch angle distribution of the "dumbbell" type with a prominent depression near α = 90° which is typical of wave-particle resonant scattering and precipitation in the inner magnetosphere. Most importantly, we show that AGILE is not affected by solar particle precipitation events in the magnetosphere. The satellite trajectory intersects magnetic shells in a quite narrow range (1.0 ≲ L ≲ 1.2); AGILE then has a high exposure to a magnetospheric region potentially rich of interesting phenomena. The large particle acceptance in the 10-100 MeV range, the pitch angle determination capability, the L shell exposure, and the solar-free background make AGILE a unique instrument for measuring steady and transient particle events in the inner magnetosphere.

Simulation for Prediction of Entry Article Demise (SPEAD): an Analysis Tool for Spacecraft Safety Analysis and Ascent/Reentry Risk Assessment

NASA Technical Reports Server (NTRS)

Ling, Lisa

2014-01-01

For the purpose of performing safety analysis and risk assessment for a probable offnominal suborbital/orbital atmospheric reentry resulting in vehicle breakup, a synthesis of trajectory propagation coupled with thermal analysis and the evaluation of node failure is required to predict the sequence of events, the timeline, and the progressive demise of spacecraft components. To provide this capability, the Simulation for Prediction of Entry Article Demise (SPEAD) analysis tool was developed. This report discusses the capabilities, modeling, and validation of the SPEAD analysis tool. SPEAD is applicable for Earth or Mars, with the option for 3 or 6 degrees-of-freedom (DOF) trajectory propagation. The atmosphere and aerodynamics data are supplied in tables, for linear interpolation of up to 4 independent variables. The gravitation model can include up to 20 zonal harmonic coefficients. The modeling of a single motor is available and can be adapted to multiple motors. For thermal analysis, the aerodynamic radiative and free-molecular/continuum convective heating, black-body radiative cooling, conductive heat transfer between adjacent nodes, and node ablation are modeled. In a 6- DOF simulation, the local convective heating on a node is a function of Mach, angle-ofattack, and sideslip angle, and is dependent on 1) the location of the node in the spacecraft and its orientation to the flow modeled by an exposure factor, and 2) the geometries of the spacecraft and the node modeled by a heating factor and convective area. Node failure is evaluated using criteria based on melting temperature, reference heat load, g-load, or a combination of the above. The failure of a liquid propellant tank is evaluated based on burnout flux from nucleate boiling or excess internal pressure. Following a component failure, updates are made as needed to the spacecraft mass and aerodynamic properties, nodal exposure and heating factors, and nodal convective and conductive areas. This allows the trajectory to be propagated seamlessly in a single run, inclusive of the trajectories of components that have separated from the spacecraft. The node ablation simulates the decreasing mass and convective/reference areas, and variable heating factor. A built-in database provides the thermo-mechanical properties of For the purpose of performing safety analysis and risk assessment for a probable offnominal suborbital/orbital atmospheric reentry resulting in vehicle breakup, a synthesis of trajectory propagation coupled with thermal analysis and the evaluation of node failure is required to predict the sequence of events, the timeline, and the progressive demise of spacecraft components. To provide this capability, the Simulation for Prediction of Entry Article Demise (SPEAD) analysis tool was developed. This report discusses the capabilities, modeling, and validation of the SPEAD analysis tool. SPEAD is applicable for Earth or Mars, with the option for 3 or 6 degrees-of-freedom (DOF) trajectory propagation. The atmosphere and aerodynamics data are supplied in tables, for linear interpolation of up to 4 independent variables. The gravitation model can include up to 20 zonal harmonic coefficients. The modeling of a single motor is available and can be adapted to multiple motors. For thermal analysis, the aerodynamic radiative and free-molecular/continuum convective heating, black-body radiative cooling, conductive heat transfer between adjacent nodes, and node ablation are modeled. In a 6- DOF simulation, the local convective heating on a node is a function of Mach, angle-ofattack, and sideslip angle, and is dependent on 1) the location of the node in the spacecraft and its orientation to the flow modeled by an exposure factor, and 2) the geometries of the spacecraft and the node modeled by a heating factor and convective area. Node failure is evaluated using criteria based on melting temperature, reference heat load, g-load, or a combination of the above. The failure of a liquid propellant tank is evaluated based on burnout flux from nucleate boiling or excess internal pressure. Following a component failure, updates are made as needed to the spacecraft mass and aerodynamic properties, nodal exposure and heating factors, and nodal convective and conductive areas. This allows the trajectory to be propagated seamlessly in a single run, inclusive of the trajectories of components that have separated from the spacecraft. The node ablation simulates the decreasing mass and convective/reference areas, and variable heating factor. A built-in database provides the thermo-mechanical properties of

Mist collection on parallel fiber arrays

NASA Astrophysics Data System (ADS)

Labbé, Romain; Duprat, Camille

2016-11-01

Fog is an important source of fresh water in specific arid regions such as the Atacama Desert in Chile. The method used to collect water passively from fog, either for domestic consumption or research purposes, consists in erecting large porous fiber nets on which the mist droplets impact. The two main mechanisms involved with this process are the impact of the drops on the fibers and the drainage of the fluid from the net, while the main limiting factor is the clogging of the mesh by accumulated water. We consider a novel collection system, made of an array of parallel fibers, that we study experimentally with a wind mist tunnel. In addition, we develop theoretical models considering the coupling of wind flow, droplet trajectories and wetting of the fibers. We find that the collection efficiency strongly depends on the size and distribution of the drops formed on the fibers, and thus on the fibers diameter, inclination angle and wetting properties. In particular, we show that the collection efficiency is greater when large drops are formed on the fibers. By adjusting the fibers diameter and the inter-fiber spacing, we look for an optimal structure that maximizes the collection surface and the drainage, while avoiding flow deviations.

Improvement of Automated POST Case Success Rate Using Support Vector Machines

NASA Technical Reports Server (NTRS)

Zwack, Mathew R.; Dees, Patrick D.

2017-01-01

During early conceptual design of complex systems, concept down selection can have a large impact upon program life-cycle cost. Therefore, any concepts selected during early design will inherently commit program costs and affect the overall probability of program success. For this reason it is important to consider as large a design space as possible in order to better inform the down selection process. For conceptual design of launch vehicles, trajectory analysis and optimization often presents the largest obstacle to evaluating large trade spaces. This is due to the sensitivity of the trajectory discipline to changes in all other aspects of the vehicle design. Small deltas in the performance of other subsystems can result in relatively large fluctuations in the ascent trajectory because the solution space is non-linear and multi-modal. In order to help capture large design spaces for new launch vehicles, the authors have performed previous work seeking to automate the execution of the industry standard tool, Program to Optimize Simulated Trajectories (POST). This work initially focused on implementation of analyst heuristics to enable closure of cases in an automated fashion, with the goal of applying the concepts of design of experiments (DOE) and surrogate modeling to enable near instantaneous throughput of vehicle cases.3 As noted in [4] work was then completed to improve the DOE process by utilizing a graph theory based approach to connect similar design points.

First-pass myocardial perfusion imaging with whole-heart coverage using L1-SPIRiT accelerated variable density spiral trajectories

PubMed Central

Yang, Yang; Kramer, Christopher M.; Shaw, Peter W.; Meyer, Craig H.; Salerno, Michael

2015-01-01

Purpose To design and evaluate 2D L1-SPIRiT accelerated spiral pulse sequences for first-pass myocardial perfusion imaging with whole heart coverage capable of measuring 8 slices at 2 mm in-plane resolution at heart rates up to 125 beats per minute (BPM). Methods Combinations of 5 different spiral trajectories and 4 k-t sampling patterns were retrospectively simulated in 25 fully sampled datasets and reconstructed with L1-SPIRiT to determine the best combination of parameters. Two candidate sequences were prospectively evaluated in 34 human subjects to assess in-vivo performance. Results A dual density broad transition spiral trajectory with either angularly uniform or golden angle in time k-t sampling pattern had the largest structural similarity (SSIM) and smallest root mean square error (RMSE) from the retrospective simulation, and the L1-SPIRiT reconstruction had well-preserved temporal dynamics. In vivo data demonstrated that both of the sampling patterns could produce high quality perfusion images with whole-heart coverage. Conclusion First-pass myocardial perfusion imaging using accelerated spirals with optimized trajectory and k-t sampling pattern can produce high quality 2D-perfusion images with wholeheart coverage at the heart rates up to 125 BPM. PMID:26538511

Measurement of three-dimensional posture and trajectory of lower body during standing long jumping utilizing body-mounted sensors.

PubMed

Ibata, Yuki; Kitamura, Seiji; Motoi, Kosuke; Sagawa, Koichi

2013-01-01

The measurement method of three-dimensional posture and flying trajectory of lower body during jumping motion using body-mounted wireless inertial measurement units (WIMU) is introduced. The WIMU is composed of three-dimensional (3D) accelerometer and gyroscope of two kinds with different dynamic range and one 3D geomagnetic sensor to adapt to quick movement. Three WIMUs are mounted under the chest, right thigh and right shank. Thin film pressure sensors are connected to the shank WIMU and are installed under right heel and tiptoe to distinguish the state of the body motion between grounding and jumping. Initial and final postures of trunk, thigh and shank at standing-still are obtained using gravitational acceleration and geomagnetism. The posture of body is determined using the 3D direction of each segment updated by the numerical integration of angular velocity. Flying motion is detected from pressure sensors and 3D flying trajectory is derived by the double integration of trunk acceleration applying the 3D velocity of trunk at takeoff. Standing long jump experiments are performed and experimental results show that the joint angle and flying trajectory agree with the actual motion measured by the optical motion capture system.

Geometry Calibration of the SVT in the CLAS12 Detector

NASA Astrophysics Data System (ADS)

Davies, Peter; Gilfoyle, Gerard

2016-09-01

A new detector called CLAS12 is being built in Hall B as part of the 12 GeV Upgrade at Jefferson Lab to learn how quarks and gluons form nuclei. The Silicon Vertex Tracker (SVT) is one of the subsystems designed to track the trajectory of charged particles as they are emitted from the target at large angles. The sensors of the SVT consist of long, narrow, strips embedded in a silicon substrate. There are 256 strips in a sensor, with a stereo angle of 0 -3° degrees. The location of the strips must be known to a precision of a few microns in order to accurately reconstruct particle tracks with the required resolution of 50-60 microns. Our first step toward achieving this resolution was to validate the nominal geometry relative to the design specification. We also resolved differences between the design and the CLAS12, Geant4-based simulation code GEMC. We developed software to apply alignment shifts to the nominal design geometry from a survey of fiducial points on the structure that supports each sensor. The final geometry will be generated by a common package written in JAVA to ensure consistency between the simulation and Reconstruction codes. The code will be tested by studying the impact of known distortions of the nominal geometry in simulation. Work supported by the Univeristy of Richmond and the US Department of Energy.

Experimental study of surface pressures induced on a flat plate and a body of revolution by various dual jet configurations. [wind tunnel tudies of a jet in a cross flow for V/STOL applications

NASA Technical Reports Server (NTRS)

Schetz, J. A.; Jakubowski, A. K.

1982-01-01

The effect of the angle of a jet to a crossflow, the performance of dual jet configurations, and a jet injected from a body of revolution as opposed to a flat plate were investigated during experiments conducted in the 7x10 tunnel at NASA Ames at Velocities from 14.5 m/sec to 35.8 m/sec (47.6 to 117.4 ft/sec.). Pressure distributions are presented for single and dual jets over a range of velocity ratios from 2 to 10, spacings from 2 to 6 diameters and injection angles of 90, 75, 60, and 105 degrees. For the body of revolution tests, the ratio of the jet to body diameters was set as large (1/2) in order to be more representative of V/STOL aircraft applications. Flat plate tests involved dual jets both aligned and in side by side configurations. The effects of the various parameters and the differences between the axisymmetric and planar body geometrics on the nature, size, shape, and strength of the interaction regions on the body surfaces are shown. Some flowfield measurements are also presented, and it is shown that a simple analysis is capable of predicting the trajectories of the jets.

Multi-scale full-orbit analysis on phase-space behavior of runaway electrons in tokamak fields with synchrotron radiation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Yulei; Liu, Jian, E-mail: jliuphy@ustc.edu.cn; Key Laboratory of Geospace Environment, CAS, Hefei, Anhui 230026

In this paper, the secular full-orbit simulations of runaway electrons with synchrotron radiation in tokamak fields are carried out using a relativistic volume-preserving algorithm. Detailed phase-space behaviors of runaway electrons are investigated in different dynamical timescales spanning 11 orders. In the small timescale, i.e., the characteristic timescale imposed by Lorentz force, the severely deformed helical trajectory of energetic runaway electron is witnessed. A qualitative analysis of the neoclassical scattering, a kind of collisionless pitch-angle scattering phenomena, is provided when considering the coupling between the rotation of momentum vector and the background magnetic field. In large timescale up to 1 s,more » it is found that the initial condition of runaway electrons in phase space globally influences the pitch-angle scattering, the momentum evolution, and the loss-gain ratio of runaway energy evidently. However, the initial value has little impact on the synchrotron energy limit. It is also discovered that the parameters of tokamak device, such as the toroidal magnetic field, the loop voltage, the safety factor profile, and the major radius, can modify the synchrotron energy limit and the strength of neoclassical scattering. The maximum runaway energy is also proved to be lower than the synchrotron limit when the magnetic field ripple is considered.« less

Molecular dynamics analysis of transitions between rotational isomers in polymethylene

NASA Astrophysics Data System (ADS)

Zúñiga, Ignacio; Bahar, Ivet; Dodge, Robert; Mattice, Wayne L.

1991-10-01

Molecular dynamics trajectories have been computed and analyzed for linear chains, with sizes ranging from C10H22 to C100H202, and for cyclic C100H200. All hydrogen atoms are included discretely. All bond lengths, bond angles, and torsion angles are variable. Hazard plots show a tendency, at very short times, for correlations between rotational isomeric transitions at bond i and i±2, in much the same manner as in the Brownian dynamics simulations reported by Helfand and co-workers. This correlation of next nearest neighbor bonds in isolated polyethylene chains is much weaker than the correlation found for next nearest neighbor CH-CH2 bonds in poly(1,4-trans-butadiene) confined to the channel formed by crystalline perhydrotriphenylene [Dodge and Mattice, Macromolecules 24, 2709 (1991)]. Less than half of the rotational isomeric transitions observed in the entire trajectory for C50H102 can be described as strongly coupled next nearest neighbor transitions. If correlated motions are identified with successive transitions, which occur within a time interval of Δt≤1 ps, only 18% of the transitions occur through cooperative motion of bonds i and i±2. An analysis of the entire data set of 2482 rotational isomeric state transitions, observed in a 3.7 ns trajectory for C50H102 at 400 K, was performed using a formalism that treats the transitions at different bonds as being independent. On time scales of 0.1 ns or longer, the analysis based on independent bonds accounts reasonably well for the results from the molecular dynamics simulations. At shorter times the molecular dynamics simulation reveals a higher mobility than implied by the analysis assuming independent bonds, presumably due to the influence of correlations that are important at shorter times.

Finite-Time and -Size Scalings in the Evaluation of Large Deviation Functions. Numerical Analysis in Continuous Time

NASA Astrophysics Data System (ADS)

Guevara Hidalgo, Esteban; Nemoto, Takahiro; Lecomte, Vivien

Rare trajectories of stochastic systems are important to understand because of their potential impact. However, their properties are by definition difficult to sample directly. Population dynamics provide a numerical tool allowing their study, by means of simulating a large number of copies of the system, which are subjected to a selection rule that favors the rare trajectories of interest. However, such algorithms are plagued by finite simulation time- and finite population size- effects that can render their use delicate. Using the continuous-time cloning algorithm, we analyze the finite-time and finite-size scalings of estimators of the large deviation functions associated to the distribution of the rare trajectories. We use these scalings in order to propose a numerical approach which allows to extract the infinite-time and infinite-size limit of these estimators.

Influence of Tennis Racquet Kinematics on Ball Topspin Angular Velocity and Accuracy during the Forehand Groundstroke.

PubMed

Kwon, Sunku; Pfister, Robin; Hager, Ronald L; Hunter, Iain; Seeley, Matthew K

2017-12-01

Forehand groundstroke effectiveness is important for tennis success. Ball topspin angular velocity (TAV) and accuracy are important for forehand groundstroke effectiveness, and have been extensively studied, previously; despite previous, quality studies, it was unclear whether certain racquet kinematics relate to ball TAV and shot accuracy during the forehand groundstroke. This study evaluated potential relationships between (1) ball TAV and (2) forehand accuracy, and five measures of racquet kinematics: racquet head impact angle (i.e., closed or open face), horizontal and vertical racquet head velocity before impact, racquet head trajectory (resultant velocity direction, relative to horizontal) before impact, and hitting zone length (quasi-linear displacement, immediately before and after impact). Thirteen collegiate-level tennis players hit forehand groundstrokes in a biomechanics laboratory, where racquet kinematics and ball TAV were measured, and on a tennis court, to assess accuracy. Correlational statistics were used to evaluate potential relationships between racquet kinematics, and ball TAV (mixed model) and forehand accuracy (between-subjects model; α = 0.05). We observed an average (1) racquet head impact angle, (2) racquet head trajectory before impact, relative to horizontal, (3) racquet head horizontal velocity before impact, (4) racquet head vertical velocity before impact, and (5) hitting zone length of 80.4 ± 3.6˚, 18.6 ± 4.3˚, 15.4 ± 1.4 m·s -1 , 6.6 ± 2.2 m·s -1 , and 79.8 ± 8.6 mm, respectively; and an average ball TAV of 969 ± 375 revolutions per minute. Only racquet head impact angle and racquet head vertical velocity, before impact, significantly correlated with ball TAV (p < 0.01). None of the observed racquet kinematics significantly correlated to the measures of forehand accuracy. These results confirmed mechanical logic and indicate that increased ball TAV is associated with a more closed racquet head impact angle (ranging from 70 to 85˚, relative to the ground) and increased racquet head vertical velocity before impact.

Biomechanical analysis of standing long jump from varying starting positions.

PubMed

Mackala, Krzysztof; Stodółka, Jacek; Siemienski, Adam; Coh, Milan

2013-10-01

The purpose of this study was (a) to investigate the effect of the different foot movement (placement) during take-off and the initial knee joint angle used in standing long jump by the ground reaction forces analysis and 3-dimensional motion analysis (BTS SMART motion) and (b) investigate how the jump performances of different foot placement is related to the electromyography (EMG) activity (Noraxon) of 3 selected muscle groups (m. gastrocnemius, m. gluteus maximus, m. rectus femoris, m. tibialis anterior, m. biceps femoris, and m. vastus medialis). Six high caliber sprinters (100 m: 10.87 ± 0.38 seconds and 400 m: 46.75 ± 1.05 seconds) performed a series of jumps from parallel and straddle foot placement at take-off on a 2 force platform (Kistler model 9286B) to determine if a different pattern of take-off improves jumping distance. Using kinematic and kinetic data, the knee joint angle, the trajectories of center of mass (COM), magnitude of take-off peak force, and impulse during take-off phase were calculated. Average standing long jump performances with straddle foot placement were 13.58 cm (5.18%) above that from parallel feet placement. The take-off velocity with 90° knee initial angle initiation of take-off was not different (1.18 and 1.17 m·s, respectively) between the 2 jumps. The take-off angles on the COM trajectory also showed differences (69.87 and 66.8°, respectively) between each other. The contribution (EMG activation) made by the 6 muscles were almost the same during all phases for the 2 jumps; however, some differences can be found, in either unilateral (single leg) or sums of both legs (bilateral) measurements. A recommendation can be formulated that the contribution of straddle foot placement during take-off can significantly increase the value of power measurement especially when the evaluation requires a complex movement structure with the division on the left and right legs, for example, sprint start from block.

SU-E-P-45: An Analytical Formula for Deriving Mechanical Iso-Center of Rotational Gantry Treatment Unit Rotational Gantry Treatment Unit

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ding, X; Bues, M

2015-06-15

Purpose: To present an analytical formula for deriving mechanical isocenter (MIC) of a rotational gantry treatment unit. The input data to the formula is obtained by a custom-made device. The formula has been implemented and used in an operational proton therapy facility since 2005. Methods: The custom made device consisted of 3 mutually perpendicular dial indicators and 5 clinometers, to obtain displacement data and gantry angle data simultaneously. During measurement, a steel sphere was affixed to the patient couch, and the device was attached to the snout rotating with the gantry. The displacement data and angle data were obtained simultaneouslymore » at angular increments of less than 1 degree. The analytical formula took the displacement and angle as input and derived the positions of dial indicator tips (DIT) position in room-fixed coordinate system. The formula derivation presupposes trigonometry and 3-dimentional coordinate transformations. Due to the symmetry properties of the defining equations, the DIT position can be solved for analytically without using mathematical approximations. We define the mean of all points in the DIT trajectory as the MIC. The formula was implemented in computer code, which has been employed during acceptance test, commissioning, as well as routine QA practice in an operational proton facility since 2005. Results: It took one minute for the custom-made device to acquire the measurement data for a full gantry rotation. The DIT trajectory and MIS are instantaneously available after the measurement. The MIC Result agrees well with vendor’s Result, which came from a different measurement setup, as well as different data analysis algorithm. Conclusion: An analytical formula for deriving mechanical isocenter was developed and validated. The formula is considered to be absolutely accurate mathematically. Be analyzing measured data of radial displacements as function of gantry angle, the formula calculates the MI position in room coordinate.« less

Trajectory design for a lunar mapping and near-Earth-asteroid flyby mission

NASA Technical Reports Server (NTRS)

Dunham, David W.; Farquhar, Robert W.

1993-01-01

In August, 1994, the unusual asteroid (1620) Geographos will pass very close to the Earth. This provides one of the best opportunities for a low-cost asteroid flyby mission that can be achieved with the help of a gravity assist from the Moon during the years 1994 and 1995. A Geographos flyby mission, including a lunar orbiting phase, was recommended to the Startegic Defense Initiative (SDI) Office when they were searching for ideas for a deep-space mission to test small imaging systems and other lightweight technologies. The goals for this mission, called Clementine, were defined to consist of a comprehensive lunar mapping phase before leaving the Earth-Moon system to encounter Geographos. This paper describes how the authors calculated a trajectory that met the mission goals within a reasonable total Delta-V budget. The paper also describes some refinements of the initially computed trajectory and alternative trajectories were investigated. The paper concludes with a list of trajectories to fly by other near-Earth asteroids during the two years following the Geographos opportunity. Some of these could be used if the Geographos schedule can not be met. If the 140 deg phase angle of the Geographos encounter turns out to be too risky, a flyby of (2120) Tantalus in January, 1995, has a much more favorable approach illumination. Tantalus apparently can be reached from the same lunar orbit needed to get to Geographos. However, both the flyby speed and distance from the Earth are much larger for Tantalus than for Geographos.

Real-Time Detection of In-flight Aircraft Damage

DOE PAGES

Blair, Brenton; Lee, Herbert K. H.; Davies, Misty

2017-10-02

When there is damage to an aircraft, it is critical to be able to quickly detect and diagnose the problem so that the pilot can attempt to maintain control of the aircraft and land it safely. We develop methodology for real-time classification of flight trajectories to be able to distinguish between an undamaged aircraft and five different damage scenarios. Principal components analysis allows a lower-dimensional representation of multi-dimensional trajectory information in time. Random Forests provide a computationally efficient approach with sufficient accuracy to be able to detect and classify the different scenarios in real-time. We demonstrate our approach by classifyingmore » realizations of a 45 degree bank angle generated from the Generic Transport Model flight simulator in collaboration with NASA.« less

Energy management during the space shuttle transition

NASA Technical Reports Server (NTRS)

Stengel, R. F.

1972-01-01

An approach to calculating optimal, gliding flight paths of the type associated with the space shuttle's transition from entry to cruising flight is presented. Kinetic energy and total energy (per unit weight) replace velocity and time in the dynamic equations, reducing the dimension and complexity of the problem. The capability for treating integral and terminal penalties (as well as Mach number effects) is retained in the numerical optimization; hence, stability and control boundaries can be observed as trajectories to the desired final energy, flight path angle, and range are determined. Numerical results show that the jump to the front-side of the L/D curve need not be made until the end of the transition and that the dynamic model provides a conservative range estimate. Alternatives for real time trajectory control are discussed.

Mars Science Laboratory Propulsive Maneuver Design and Execution

NASA Technical Reports Server (NTRS)

Wong, Mau C.; Kangas, Julie A.; Ballard, Christopher G.; Gustafson, Eric D.; Martin-Mur, Tomas J.

2012-01-01

The NASA Mars Science Laboratory (MSL) rover, Curiosity, was launched on November 26, 2011 and successfully landed at the Gale Crater on Mars. For the 8-month interplanetary trajectory from Earth to Mars, five nominal and two contingency trajectory correction maneuvers (TCM) were planned. The goal of these TCMs was to accurately deliver the spacecraft to the desired atmospheric entry aimpoint in Martian atmosphere so as to ensure a high probability of successful landing on the Mars surface. The primary mission requirements on maneuver performance were the total mission propellant usage and the entry flight path angle (EFPA) delivery accuracy. They were comfortably met in this mission. In this paper we will describe the spacecraft propulsion system, TCM constraints and requirements, TCM design processes, and their implementation and verification.

Real-Time Detection of In-flight Aircraft Damage

DOE Office of Scientific and Technical Information (OSTI.GOV)

Blair, Brenton; Lee, Herbert K. H.; Davies, Misty

When there is damage to an aircraft, it is critical to be able to quickly detect and diagnose the problem so that the pilot can attempt to maintain control of the aircraft and land it safely. We develop methodology for real-time classification of flight trajectories to be able to distinguish between an undamaged aircraft and five different damage scenarios. Principal components analysis allows a lower-dimensional representation of multi-dimensional trajectory information in time. Random Forests provide a computationally efficient approach with sufficient accuracy to be able to detect and classify the different scenarios in real-time. We demonstrate our approach by classifyingmore » realizations of a 45 degree bank angle generated from the Generic Transport Model flight simulator in collaboration with NASA.« less

Obstacle Detection using Binocular Stereo Vision in Trajectory Planning for Quadcopter Navigation

NASA Astrophysics Data System (ADS)

Bugayong, Albert; Ramos, Manuel, Jr.

2018-02-01

Quadcopters are one of the most versatile unmanned aerial vehicles due to its vertical take-off and landing as well as hovering capabilities. This research uses the Sum of Absolute Differences (SAD) block matching algorithm for stereo vision. A complementary filter was used in sensor fusion to combine obtained quadcopter orientation data from the accelerometer and the gyroscope. PID control was implemented for the motor control and VFH+ algorithm was implemented for trajectory planning. Results show that the quadcopter was able to consistently actuate itself in the roll, yaw and z-axis during obstacle avoidance but was however found to be inconsistent in the pitch axis during forward and backward maneuvers due to the significant noise present in the pitch axis angle outputs compared to the roll and yaw axes.

Generalization and refinement of an automatic landing system capable of curved trajectories

NASA Technical Reports Server (NTRS)

Sherman, W. L.

1976-01-01

Refinements in the lateral and longitudinal guidance for an automatic landing system capable of curved trajectories were studied. Wing flaps or drag flaps (speed brakes) were found to provide faster and more precise speed control than autothrottles. In the case of the lateral control it is shown that the use of the integral of the roll error in the roll command over the first 30 to 40 seconds of flight reduces the sensitivity of the lateral guidance to the gain on the azimuth guidance angle error in the roll command. Also, changes to the guidance algorithm are given that permit pi-radian approaches and constrain the airplane to fly in a specified plane defined by the position of the airplane at the start of letdown and the flare point.

The effect of spatial orientation on detecting motion trajectories in noise.

PubMed

Pavan, Andrea; Casco, Clara; Mather, George; Bellacosa, Rosilari M; Cuturi, Luigi F; Campana, Gianluca

2011-09-15

A series of experiments investigated the extent to which the spatial orientation of a signal line affects discrimination of its trajectory from the random trajectories of background noise lines. The orientation of the signal line was either parallel (iso-) or orthogonal (ortho-) to its motion direction and it was identical in all respects to the noise (orientation, length and speed) except for its motion direction, rendering the signal line indistinguishable from the noise on a frame-to-frame basis. We found that discrimination of ortho-trajectories was generally better than iso-trajectories. Discrimination of ortho-trajectories was largely immune to the effects of spatial jitter in the trajectory, and to variations in step size and line-length. Discrimination of iso-trajectories was reliable provided that step-size was not too short and did not exceed line length, and that the trajectory was straight. The new result that trajectory discrimination in moving line elements is modulated by line orientation suggests that ortho- and iso-trajectory discrimination rely upon two distinct mechanisms: iso-motion discrimination involves a 'motion-streak' process that combines motion information with information about orientation parallel to the motion trajectory, while ortho-motion discrimination involves extended trajectory facilitation in a network of receptive fields with orthogonal orientation tuning. Copyright © 2011 Elsevier Ltd. All rights reserved.

Evolved atmospheric entry corridor with safety factor

NASA Astrophysics Data System (ADS)

Liang, Zixuan; Ren, Zhang; Li, Qingdong

2018-02-01

Atmospheric entry corridors are established in previous research based on the equilibrium glide condition which assumes the flight-path angle to be zero. To get a better understanding of the highly constrained entry flight, an evolved entry corridor that considers the exact flight-path angle is developed in this study. Firstly, the conventional corridor in the altitude vs. velocity plane is extended into a three-dimensional one in the space of altitude, velocity, and flight-path angle. The three-dimensional corridor is generated by a series of constraint boxes. Then, based on a simple mapping method, an evolved two-dimensional entry corridor with safety factor is obtained. The safety factor is defined to describe the flexibility of the flight-path angle for a state within the corridor. Finally, the evolved entry corridor is simulated for the Space Shuttle and the Common Aero Vehicle (CAV) to demonstrate the effectiveness of the corridor generation approach. Compared with the conventional corridor, the evolved corridor is much wider and provides additional information. Therefore, the evolved corridor would benefit more to the entry trajectory design and analysis.

BATMAV: a 2-DOF bio-inspired flapping flight platform

NASA Astrophysics Data System (ADS)

Bunget, Gheorghe; Seelecke, Stefan

2010-04-01

Due to the availability of small sensors, Micro-Aerial Vehicles (MAVs) can be used for detection missions of biological, chemical and nuclear agents. Traditionally these devices used fixed or rotary wings, actuated with electric DC motortransmission, a system which brings the disadvantage of a heavier platform. The overall objective of the BATMAV project is to develop a biologically inspired bat-like MAV with flexible and foldable wings for flapping flight. This paper presents a flight platform that features bat-inspired wings which are able to actively fold their elbow joints. A previous analysis of the flight physics for small birds, bats and large insects, revealed that the mammalian flight anatomy represents a suitable flight platform that can be actuated efficiently using Shape Memory Alloy (SMA) artificial-muscles. A previous study of the flight styles in bats based on the data collected by Norberg [1] helped to identify the required joint angles as relevant degrees of freedom for wing actuation. Using the engineering theory of robotic manipulators, engineering kinematic models of wings with 2 and 3-DOFs were designed to mimic the wing trajectories of the natural flier Plecotus auritus. Solid models of the bat-like skeleton were designed based on the linear and angular dimensions resulted from the kinematic models. This structure of the flight platform was fabricated using rapid prototyping technologies and assembled to form a desktop prototype with 2-DOFs wings. Preliminary flapping test showed suitable trajectories for wrist and wingtip that mimic the flapping cycle of the natural flyer.

Martian Low-Altitude Magnetic Topology Deduced from MAVEN/SWEA Observations

NASA Astrophysics Data System (ADS)

Xu, S.; Mitchell, D. L.; Liemohn, M. W.; Fang, X.; Ma, Y.; Luhmann, J. G.; Brain, D. A.; Steckiewicz, M.; Mazelle, C. X.; Connerney, J. E. P.; Jakosky, B. M.

2016-12-01

The Mars Atmosphere and Volatile Evolution (MAVEN) mission is the first to make comprehensive plasma and magnetic field measurements down to 150 km altitude over wide ranges of solar zenith angle, local time, longitude, and latitude. The Magnetometer (MAG) and the Solar Wind Electron Analyzer (SWEA) measure the magnetic field vector and the energy-angle distribution of superthermal (3-4600 eV) electrons along the spacecraft trajectory. This study presents pitch angle-resolved electron energy spectra, which we use to infer the plasma source regions sampled by the magnetic field line at large distances from the spacecraft, and in particular whether one or both ends of the magnetic field line have access to the day-side ionosphere. This is a key piece of information for deducing Martian magnetic topology. In the northern hemisphere at altitudes below 400 km, we find that magnetic field lines typically have both ends embedded in the collisional ionosphere, forming loops that connect distant regions on both the day and night hemispheres. This implies that this low-altitude region is dominated by closed crustal magnetic field lines, as opposed to the draped interplanetary magnetic field (IMF), which is prevalent at higher altitudes. Closed loops straddling the terminator allow transport of superthermal photoelectrons to the night hemisphere, which provides a source of ionization to support Mars' patchy night-side ionosphere. This study can also identify "open" field lines, with one end embedded in the ionosphere and the other end connected to the solar wind. This topology provides a conduit for ion outflow from the day-side ionosphere as well as precipitation of (possibly energized) solar wind electrons onto the atmosphere, which can also produce ionospheric patches and possibly auroral emissions.

Trajectories of posttraumatic stress symptomatology in older persons affected by a large-magnitude disaster

PubMed Central

Pietrzak, Robert H.; Van Ness, Peter H.; Fried, Terri R.; Galea, Sandro; Norris, Fran H.

2013-01-01

This study examined the nature and determinants of longitudinal trajectories of disaster-related posttraumatic stress disorder (PTSD) symptoms in older persons affected by a large-magnitude disaster. Two hundred six adults age 60 or older (mean=69, range=60–92) who resided in the Galveston Bay area when Hurricane Ike struck in September 2008 completed telephone interviews an average of 3-, 6-, and 15-months after this disaster. Latent growth mixture modeling was employed to identify predominant trajectories of disaster-related PTSD symptoms over time; and pre-, peri-, and post-disaster determinants of these trajectories were then examined. A 3-class solution optimally characterized PTSD symptom trajectories, with the majority (78.7%) of the sample having low/no PTSD symptoms over all assessments (i.e., resistant); 16.0% having chronically elevated symptoms (i.e., chronic); and 5.3% having a delayed onset course of symptoms (i.e., delayed-onset). Lower education, greater severity of Hurricane Ike exposure (i.e., Ike-related physical illness or injury and high level of community destruction), and greater number of traumatic and stressful life events after Hurricane Ike, particularly financial problems, were associated with a chronic PTSD trajectory. Greater number of traumatic and stressful life events, particularly financial problems after Hurricane Ike, was also associated with a delayed-onset trajectory. These findings suggest that there are heterogeneous trajectories of disaster-related PTSD symptoms in older adults and that these trajectories have common and unique determinants. They also underscore the importance of prevention efforts designed to mitigate the effects of post-disaster stressors, most notably financial distress, in older persons affected by disasters. PMID:23290559

Disruption of spatial organization and interjoint coordination in Parkinson's disease, progressive supranuclear palsy, and multiple system atrophy.

PubMed

Leiguarda, R; Merello, M; Balej, J; Starkstein, S; Nogues, M; Marsden, C D

2000-07-01

Patients with basal ganglia diseases may exhibit ideomotor apraxia. To define the nature of the impairment of the action production system, we studied a repetitive gesture of slicing bread by three-dimensional computergraphic analysis in eight nondemented patients with Parkinson's disease in the "on" state, five with progressive supranuclear palsy and four with multiple system atrophy. Two patients with Parkinson's disease and two with progressive supranuclear palsy showed ideomotor apraxia for transitive movements on standard testing. A Selspott II system was used for kinematic analysis of wrist trajectories and angular motions of the shoulder and elbow joints. Patients with Parkinson's disease, progressive supranuclear palsy, and even some with multiple system atrophy exhibited kinematic deficits in the spatial precision of movement and velocity-curvature relationships; in addition, they failed to maintain proper angle/angle relationships and to apportion their relative joint amplitudes normally. Spatial disruption of wrist trajectories was more severe in patients with ideomotor apraxia. We posit that the basal ganglia are part of the parallel parieto-frontal circuits devoted to sensorimotor integration for object-oriented behavior. The severity and characteristics of spatial abnormalities of a transitive movement would therefore depend on the location and distribution of the pathologic process within these circuits.

Pitch Angle Dependence of Drift Resonant Ions Observed by the Van Allen Probes

NASA Astrophysics Data System (ADS)

Rankin, R.; Wang, C.; Wang, Y.; Zong, Q. G.; Zhou, X.

2017-12-01

Acceleration and modulation of ring current ions by poloidal mode ULF waves is investigated. A simplified MHD model of ULF waves in a dipole magnetic field is presented that includes phase mixing to perpendicular scales determined by the ionospheric Pedersen conductivity. The wave model is combined with a full Lorentz force test particle code to study drift and drift bounce resonance wave-particle interactions. Ion trajectories are traced backward-in-time to an assumed form of the distribution function, and Liouville's method is used to reconstruct the phase space density response (PSD) poloidal mode waves observed by the Van Allen Probes. In spite of its apparent simplicity, simulations using the wave and test particle models are able to explain the acceleration of ions and energy dispersion observed by the Van Allen Probes. The paper focuses on the pitch angle evolution of the initial PSD as it responds to the action of ULF waves. An interesting aspect of the study is the formation of butterfly ion distributions as ions make periodic radial oscillations across L. Ions become trapped in an effective potential well across a limited range of L and follow trajectories that cause them to surf along constant phase fronts. The impications of this new trapping mechanism for both ions and electrons is discussed.

Inverse Flush Air Data System (FADS) for Real Time Simulations

NASA Astrophysics Data System (ADS)

Madhavanpillai, Jayakumar; Dhoaya, Jayanta; Balakrishnan, Vidya Saraswathi; Narayanan, Remesh; Chacko, Finitha Kallely; Narayanan, Shyam Mohan

2017-12-01

Flush Air Data Sensing System (FADS) forms a mission critical sub system in future reentry vehicles. FADS makes use of surface pressure measurements from the nose cap of the vehicle for deriving the air data parameters of the vehicle such as angle of attack, angle of sideslip, Mach number, etc. These parameters find use in the flight control and guidance systems, and also assist in the overall mission management. The FADS under consideration in this paper makes use of nine pressure ports located in the nose cap of a technology demonstrator vehicle. In flight, the air data parameters are obtained from the FADS estimation algorithm using the pressure data at the nine pressure ports. But, these pressure data will not be available, for testing the FADS package during ground simulation. So, an inverse software to FADS which estimates the pressure data at the pressure ports for a given flight condition is developed. These pressure data at the nine ports will go as input to the FADS package during ground simulation. The software is run to generate the pressure data for the descent phase trajectory of the technology demonstrator. This data is used again to generate the air data parameters from FADS algorithm. The computed results from FADS algorithm match well with the trajectory data.

Human pelvis motions when walking and when riding a therapeutic horse.

PubMed

Garner, Brian A; Rigby, B Rhett

2015-02-01

A prevailing rationale for equine assisted therapies is that the motion of a horse can provide sensory stimulus and movement patterns that mimic those of natural human activities such as walking. The purpose of this study was to quantitatively measure and compare human pelvis motions when walking to those when riding a horse. Six able-bodied children (inexperienced riders, 8-12years old) participated in over-ground trials of self-paced walking and leader-paced riding on four different horses. Five kinematic measures were extracted from three-dimensional pelvis motion data: anteroposterior, superoinferior, and mediolateral translations, list angle about the anteroposterior axis, and twist angle about the superoinferior axis. There was generally as much or more variability in motion range observed between riding on the different horses as between riding and walking. Pelvis trajectories exhibited many similar features between walking and riding, including distorted lemniscate patterns in the transverse and frontal planes. In the sagittal plane the pelvis trajectory during walking exhibited a somewhat circular pattern whereas during riding it exhibited a more diagonal pattern. This study shows that riding on a horse can generate movement patterns in the human pelvis that emulate many, but not all, characteristics of those during natural walking. Copyright © 2014 Elsevier B.V. All rights reserved.

The power of a single trajectory

NASA Astrophysics Data System (ADS)

Schnellbächer, Nikolas D.; Schwarz, Ulrich S.

2018-03-01

Random walks are often evaluated in terms of their mean squared displacements, either for a large number of trajectories or for one very long trajectory. An alternative evaluation is based on the power spectral density, but here it is less clear which information can be extracted from a single trajectory. For continuous-time Brownian motion, Krapf et al now have mathematically proven that the one property that can be reliably extracted from a single trajectory is the frequency dependence of the ensemble-averaged power spectral density (Krapf et al 2018 New J. Phys. 20 023029). Their mathematical analysis also identifies the appropriate frequency window for this procedure and shows that the diffusion coefficient can be extracted by averaging over a small number of trajectories. The authors have verified their analytical results both by computer simulations and experiments.

Aerodynamic results of a separation effects test on a 0.010-scale model (52-OTS) of the integrated SSV in the AEDC/VKF 40-by-40 inch supersonic wind tunnel A (IA111), volume 1

NASA Technical Reports Server (NTRS)

Chee, E.

1976-01-01

Graphical data obtained during experimental wind tunnel aerodynamic investigations of a 0.010 scale model (52-OTS) of the integrated space shuttle vehicle was presented. The purpose of this investigation was to obtain data with the solid rocket booster (SRB) in proximity to the orbiter/external tank (O/ET), over a large O/ET initial angle of attack and sideslip range, as well as data on the SRB alone (greatly separated from the O/ET). A captive trajectory system, which supported the SRB, was used with the tunnel primary sector (supporting the O/ET) to obtain grid type separation effects data. One symmetrical SRB model was used interchangeably to obtain right-hand and left-hand SRB data. The entire investigation was conducted at a free-stream Mach number of 4.5 at unit Reynolds number of 3.95 and 5.9 million per foot.

Three-Dimensional Simulations of Oblique Asteroid Impacts into Water

NASA Astrophysics Data System (ADS)

Gisler, G. R.; Ferguson, J. M.; Heberling, T.; Plesko, C. S.; Weaver, R.

2016-12-01

Waves generated by impacts into oceans may represent the most significant danger from near-earth asteroids and comets. For impacts near populated shores, the crown splash and subsequent waves, accompanied by sediment lofting and high winds, could be more damaging than storm surges from the strongest hurricanes. For asteroids less than 500 m in diameter that impact into deep water far from shores, the waves produced will be detectable over large distances, but probably not significantly dangerous. We present new three-dimensional simulations of oblique impacts into deep water, with trajectory angles ranging from 20 degrees to 60 degrees (where 90 degrees is vertical). These simulations are performed with the Los Alamos Rage hydrocode, and include atmospheric effects including ablation and airbursts. These oblique impact simulations are specifically performed in order to help determine whether there are additional dangers from the obliquity of impact not covered by previous two-dimensional studies. Water surface elevation profiles, surface pressures, and depth-averaged mass fluxes within the water are prepared for use in propagation studies.

Data Intensive Analysis of Biomolecular Simulations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Straatsma, TP; Soares, Thereza A.

2007-12-01

The advances in biomolecular modeling and simulation made possible by the availability of increasingly powerful high performance computing resources is extending molecular simulations to biological more relevant system size and time scales. At the same time, advances in simulation methodologies are allowing more complex processes to be described more accurately. These developments make a systems approach to computational structural biology feasible, but this will require a focused emphasis on the comparative analysis of the increasing number of molecular simulations that are being carried out for biomolecular systems with more realistic models, multi-component environments, and for longer simulation times. Just asmore » in the case of the analysis of the large data sources created by the new high-throughput experimental technologies, biomolecular computer simulations contribute to the progress in biology through comparative analysis. The continuing increase in available protein structures allows the comparative analysis of the role of structure and conformational flexibility in protein function, and is the foundation of the discipline of structural bioinformatics. This creates the opportunity to derive general findings from the comparative analysis of molecular dynamics simulations of a wide range of proteins, protein-protein complexes and other complex biological systems. Because of the importance of protein conformational dynamics for protein function, it is essential that the analysis of molecular trajectories is carried out using a novel, more integrative and systematic approach. We are developing a much needed rigorous computer science based framework for the efficient analysis of the increasingly large data sets resulting from molecular simulations. Such a suite of capabilities will also provide the required tools for access and analysis of a distributed library of generated trajectories. Our research is focusing on the following areas: (1) the development of an efficient analysis framework for very large scale trajectories on massively parallel architectures, (2) the development of novel methodologies that allow automated detection of events in these very large data sets, and (3) the efficient comparative analysis of multiple trajectories. The goal of the presented work is the development of new algorithms that will allow biomolecular simulation studies to become an integral tool to address the challenges of post-genomic biological research. The strategy to deliver the required data intensive computing applications that can effectively deal with the volume of simulation data that will become available is based on taking advantage of the capabilities offered by the use of large globally addressable memory architectures. The first requirement is the design of a flexible underlying data structure for single large trajectories that will form an adaptable framework for a wide range of analysis capabilities. The typical approach to trajectory analysis is to sequentially process trajectories time frame by time frame. This is the implementation found in molecular simulation codes such as NWChem, and has been designed in this way to be able to run on workstation computers and other architectures with an aggregate amount of memory that would not allow entire trajectories to be held in core. The consequence of this approach is an I/O dominated solution that scales very poorly on parallel machines. We are currently using an approach of developing tools specifically intended for use on large scale machines with sufficient main memory that entire trajectories can be held in core. This greatly reduces the cost of I/O as trajectories are read only once during the analysis. In our current Data Intensive Analysis (DIANA) implementation, each processor determines and skips to the entry within the trajectory that typically will be available in multiple files and independently from all other processors read the appropriate frames.« less

Data Intensive Analysis of Biomolecular Simulations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Straatsma, TP

2008-03-01

The advances in biomolecular modeling and simulation made possible by the availability of increasingly powerful high performance computing resources is extending molecular simulations to biological more relevant system size and time scales. At the same time, advances in simulation methodologies are allowing more complex processes to be described more accurately. These developments make a systems approach to computational structural biology feasible, but this will require a focused emphasis on the comparative analysis of the increasing number of molecular simulations that are being carried out for biomolecular systems with more realistic models, multi-component environments, and for longer simulation times. Just asmore » in the case of the analysis of the large data sources created by the new high-throughput experimental technologies, biomolecular computer simulations contribute to the progress in biology through comparative analysis. The continuing increase in available protein structures allows the comparative analysis of the role of structure and conformational flexibility in protein function, and is the foundation of the discipline of structural bioinformatics. This creates the opportunity to derive general findings from the comparative analysis of molecular dynamics simulations of a wide range of proteins, protein-protein complexes and other complex biological systems. Because of the importance of protein conformational dynamics for protein function, it is essential that the analysis of molecular trajectories is carried out using a novel, more integrative and systematic approach. We are developing a much needed rigorous computer science based framework for the efficient analysis of the increasingly large data sets resulting from molecular simulations. Such a suite of capabilities will also provide the required tools for access and analysis of a distributed library of generated trajectories. Our research is focusing on the following areas: (1) the development of an efficient analysis framework for very large scale trajectories on massively parallel architectures, (2) the development of novel methodologies that allow automated detection of events in these very large data sets, and (3) the efficient comparative analysis of multiple trajectories. The goal of the presented work is the development of new algorithms that will allow biomolecular simulation studies to become an integral tool to address the challenges of post-genomic biological research. The strategy to deliver the required data intensive computing applications that can effectively deal with the volume of simulation data that will become available is based on taking advantage of the capabilities offered by the use of large globally addressable memory architectures. The first requirement is the design of a flexible underlying data structure for single large trajectories that will form an adaptable framework for a wide range of analysis capabilities. The typical approach to trajectory analysis is to sequentially process trajectories time frame by time frame. This is the implementation found in molecular simulation codes such as NWChem, and has been designed in this way to be able to run on workstation computers and other architectures with an aggregate amount of memory that would not allow entire trajectories to be held in core. The consequence of this approach is an I/O dominated solution that scales very poorly on parallel machines. We are currently using an approach of developing tools specifically intended for use on large scale machines with sufficient main memory that entire trajectories can be held in core. This greatly reduces the cost of I/O as trajectories are read only once during the analysis. In our current Data Intensive Analysis (DIANA) implementation, each processor determines and skips to the entry within the trajectory that typically will be available in multiple files and independently from all other processors read the appropriate frames.« less

Symplectic approach to calculation of magnetic field line trajectories in physical space with realistic magnetic geometry in divertor tokamaks

DOE Office of Scientific and Technical Information (OSTI.GOV)

Punjabi, Alkesh; Ali, Halima

A new approach to integration of magnetic field lines in divertor tokamaks is proposed. In this approach, an analytic equilibrium generating function (EGF) is constructed in natural canonical coordinates ({psi},{theta}) from experimental data from a Grad-Shafranov equilibrium solver for a tokamak. {psi} is the toroidal magnetic flux and {theta} is the poloidal angle. Natural canonical coordinates ({psi},{theta},{phi}) can be transformed to physical position (R,Z,{phi}) using a canonical transformation. (R,Z,{phi}) are cylindrical coordinates. Another canonical transformation is used to construct a symplectic map for integration of magnetic field lines. Trajectories of field lines calculated from this symplectic map in natural canonicalmore » coordinates can be transformed to trajectories in real physical space. Unlike in magnetic coordinates [O. Kerwin, A. Punjabi, and H. Ali, Phys. Plasmas 15, 072504 (2008)], the symplectic map in natural canonical coordinates can integrate trajectories across the separatrix surface, and at the same time, give trajectories in physical space. Unlike symplectic maps in physical coordinates (x,y) or (R,Z), the continuous analog of a symplectic map in natural canonical coordinates does not distort trajectories in toroidal planes intervening the discrete map. This approach is applied to the DIII-D tokamak [J. L. Luxon and L. E. Davis, Fusion Technol. 8, 441 (1985)]. The EGF for the DIII-D gives quite an accurate representation of equilibrium magnetic surfaces close to the separatrix surface. This new approach is applied to demonstrate the sensitivity of stochastic broadening using a set of perturbations that generically approximate the size of the field errors and statistical topological noise expected in a poloidally diverted tokamak. Plans for future application of this approach are discussed.« less

Simulation-Based Analysis of Reentry Dynamics for the Sharp Atmospheric Entry Vehicle

NASA Technical Reports Server (NTRS)

Tillier, Clemens Emmanuel

1998-01-01

This thesis describes the analysis of the reentry dynamics of a high-performance lifting atmospheric entry vehicle through numerical simulation tools. The vehicle, named SHARP, is currently being developed by the Thermal Protection Materials and Systems branch of NASA Ames Research Center, Moffett Field, California. The goal of this project is to provide insight into trajectory tradeoffs and vehicle dynamics using simulation tools that are powerful, flexible, user-friendly and inexpensive. Implemented Using MATLAB and SIMULINK, these tools are developed with an eye towards further use in the conceptual design of the SHARP vehicle's trajectory and flight control systems. A trajectory simulator is used to quantify the entry capabilities of the vehicle subject to various operational constraints. Using an aerodynamic database computed by NASA and a model of the earth, the simulator generates the vehicle trajectory in three-dimensional space based on aerodynamic angle inputs. Requirements for entry along the SHARP aerothermal performance constraint are evaluated for different control strategies. Effect of vehicle mass on entry parameters is investigated, and the cross range capability of the vehicle is evaluated. Trajectory results are presented and interpreted. A six degree of freedom simulator builds on the trajectory simulator and provides attitude simulation for future entry controls development. A Newtonian aerodynamic model including control surfaces and a mass model are developed. A visualization tool for interpreting simulation results is described. Control surfaces are roughly sized. A simple controller is developed to fly the vehicle along its aerothermal performance constraint using aerodynamic flaps for control. This end-to-end demonstration proves the suitability of the 6-DOF simulator for future flight control system development. Finally, issues surrounding real-time simulation with hardware in the loop are discussed.

Symplectic approach to calculation of magnetic field line trajectories in physical space with realistic magnetic geometry in divertor tokamaks

NASA Astrophysics Data System (ADS)

Punjabi, Alkesh; Ali, Halima

2008-12-01

A new approach to integration of magnetic field lines in divertor tokamaks is proposed. In this approach, an analytic equilibrium generating function (EGF) is constructed in natural canonical coordinates (ψ,θ) from experimental data from a Grad-Shafranov equilibrium solver for a tokamak. ψ is the toroidal magnetic flux and θ is the poloidal angle. Natural canonical coordinates (ψ,θ,φ) can be transformed to physical position (R,Z,φ) using a canonical transformation. (R,Z,φ) are cylindrical coordinates. Another canonical transformation is used to construct a symplectic map for integration of magnetic field lines. Trajectories of field lines calculated from this symplectic map in natural canonical coordinates can be transformed to trajectories in real physical space. Unlike in magnetic coordinates [O. Kerwin, A. Punjabi, and H. Ali, Phys. Plasmas 15, 072504 (2008)], the symplectic map in natural canonical coordinates can integrate trajectories across the separatrix surface, and at the same time, give trajectories in physical space. Unlike symplectic maps in physical coordinates (x,y) or (R,Z), the continuous analog of a symplectic map in natural canonical coordinates does not distort trajectories in toroidal planes intervening the discrete map. This approach is applied to the DIII-D tokamak [J. L. Luxon and L. E. Davis, Fusion Technol. 8, 441 (1985)]. The EGF for the DIII-D gives quite an accurate representation of equilibrium magnetic surfaces close to the separatrix surface. This new approach is applied to demonstrate the sensitivity of stochastic broadening using a set of perturbations that generically approximate the size of the field errors and statistical topological noise expected in a poloidally diverted tokamak. Plans for future application of this approach are discussed.

Ares I-X Range Safety Flight Envelope Analysis

NASA Technical Reports Server (NTRS)

Starr, Brett R.; Olds, Aaron D.; Craig, Anthony S.

2011-01-01

Ares I-X was the first test flight of NASA's Constellation Program's Ares I Crew Launch Vehicle designed to provide manned access to low Earth orbit. As a one-time test flight, the Air Force's 45th Space Wing required a series of Range Safety analysis data products to be developed for the specified launch date and mission trajectory prior to granting flight approval on the Eastern Range. The range safety data package is required to ensure that the public, launch area, and launch complex personnel and resources are provided with an acceptable level of safety and that all aspects of prelaunch and launch operations adhere to applicable public laws. The analysis data products, defined in the Air Force Space Command Manual 91-710, Volume 2, consisted of a nominal trajectory, three sigma trajectory envelopes, stage impact footprints, acoustic intensity contours, trajectory turn angles resulting from potential vehicle malfunctions (including flight software failures), characterization of potential debris, and debris impact footprints. These data products were developed under the auspices of the Constellation's Program Launch Constellation Range Safety Panel and its Range Safety Trajectory Working Group with the intent of beginning the framework for the operational vehicle data products and providing programmatic review and oversight. A multi-center NASA team in conjunction with the 45th Space Wing, collaborated within the Trajectory Working Group forum to define the data product development processes, performed the analyses necessary to generate the data products, and performed independent verification and validation of the data products. This paper outlines the Range Safety data requirements and provides an overview of the processes established to develop both the data products and the individual analyses used to develop the data products, and it summarizes the results of the analyses required for the Ares I-X launch.

Ares I-X Range Safety Analyses Overview

NASA Technical Reports Server (NTRS)

Starr, Brett R.; Gowan, John W., Jr.; Thompson, Brian G.; Tarpley, Ashley W.

2011-01-01

Ares I-X was the first test flight of NASA's Constellation Program's Ares I Crew Launch Vehicle designed to provide manned access to low Earth orbit. As a one-time test flight, the Air Force's 45th Space Wing required a series of Range Safety analysis data products to be developed for the specified launch date and mission trajectory prior to granting flight approval on the Eastern Range. The range safety data package is required to ensure that the public, launch area, and launch complex personnel and resources are provided with an acceptable level of safety and that all aspects of prelaunch and launch operations adhere to applicable public laws. The analysis data products, defined in the Air Force Space Command Manual 91-710, Volume 2, consisted of a nominal trajectory, three sigma trajectory envelopes, stage impact footprints, acoustic intensity contours, trajectory turn angles resulting from potential vehicle malfunctions (including flight software failures), characterization of potential debris, and debris impact footprints. These data products were developed under the auspices of the Constellation's Program Launch Constellation Range Safety Panel and its Range Safety Trajectory Working Group with the intent of beginning the framework for the operational vehicle data products and providing programmatic review and oversight. A multi-center NASA team in conjunction with the 45th Space Wing, collaborated within the Trajectory Working Group forum to define the data product development processes, performed the analyses necessary to generate the data products, and performed independent verification and validation of the data products. This paper outlines the Range Safety data requirements and provides an overview of the processes established to develop both the data products and the individual analyses used to develop the data products, and it summarizes the results of the analyses required for the Ares I-X launch.

Toward Realistic Dynamics of Rotating Orbital Debris, and Implications for Lightcurve Interpretation

NASA Technical Reports Server (NTRS)

Ojakangas, Gregory W.; Cowardin, H.; Hill, N.

2011-01-01

Optical observations of rotating space debris near GEO contain important information on size, shape, composition, and rotational states, but these aspects are difficult to extract due to data limitations and the high number of degrees of freedom in the modeling process. For tri-axial rigid debris objects created by satellite fragmentations, the most likely initial rotation state has a large component of initial angular velocity directed along the intermediate axis of inertia, leading to large angular reorientations of the body on the timescale of the rotation period. This lends some support to the simplest possible interpretation of light curves -- that they represent sets of random orientations of the objects of study. However, effects of internal friction and solar radiation are likely to cause significant modification of rotation states within a time as short as a few orbital periods. In order to examine the rotational dynamics of debris objects under the influences of these effects, a set of seven first-order coupled equations of motion were assembled in state form: three are Euler equations describing the rates of change of the components of angular velocity in the body frame, and four describe the rates of change of the components of the unit quaternion. Quaternions are a four-dimensional extension of complex numbers that form a seamless, singularity-free representation of body orientation on S3. The Euler equations contain explicit terms describing torque from solar radiation in terms of spherical harmonics, and terms representing effects of a prescribed rate of internal friction. Numerical integrations of these equations of motion are being performed, and results will be presented. Initial tests show that internal friction without solar radiation torque leads to rotation about the maximum principal axis of inertia, as required, and solar radiation torque is expected to lead to spin-up of objects. Because the axis of maximum rotational inertia tends to be roughly coincident with the normal to the largest projected cross-sectional area, internal friction is expected to lead to reduced variation of light curve amplitudes at a given phase angle, but a large dependence of the same on phase angle. At a given phase angle, databases are generated which contain reflected intensities for comprehensive sets of equally-likely orientations, represented as unit quaternions. When projected onto three dimensions (S2) and color-coded by intensity, the set is depicted as points within a solid, semi-transparent unit sphere, within which all possible reflected intensities for an object at a given phase angle may be inspected simultaneously. Rotational sequences are represented by trajectories through the sphere. Databases are generated for each of a set of phase angles separately, forming a comprehensive dataset of reflected intensities spanning all object orientations and solar phase angles. Symmetries in the problem suggest that preferred rotation states are likely, defined relative to the object-sun direction in inertial space and relative to the maximum principal axis of inertia in the body coordinate system. Such rotation states may greatly simplify the problem of light curve interpretation by reducing the number of degrees of freedom in the problem.

Evaluation of fiber’s misorientation effect on compliance and load carry capacity of shaped composite beams

NASA Astrophysics Data System (ADS)

Polilov, A. N.; Tatus’, N. A.

2018-04-01

The goal of this paper is analysis of design methods for composite beams and plates with curvilinear fiber trajectories. The novelty of this approach is determined by the fact that traditional composite materials are typically formed using prepregs with rectilinear fibers only. The results application area is associated with design process for shaped composite structure element by using of biomechanical principles. One of the related problems is the evaluation of fiber’s misorientation effect on stiffness and load carry capacity of shaped composite element with curvilinear fiber trajectories. Equistrong beam with constant cross-section area is considered as example, and it can be produced by unidirectional fiber bunch forming, impregnated with polymer matrix. Effective elastic modulus evaluation methods for structures with curvilinear fiber trajectories are validated. Misorientation angle range (up to 5o) when material with required accuracy can be considered as homogeneous, neglecting fiber misorientation, is determined. It is shown that for the beams with height-to-width ratio small enough it is possible to consider 2D misorientation only.

TRAGEN: Computer program to simulate an aircraft steered to follow a specified verticle profile. User's guide

NASA Technical Reports Server (NTRS)

1983-01-01

The longitudinal dynamics of a medium range twin-jet or tri-jet transport aircraft are simulated. For the climbing trajectory, the thrust is constrained to maximum value, and for descent, the thrust is set at idle. For cruise, the aircraft is held in the trim condition. For climb or descent, the aircraft is steered to follow either (a) a fixed profile which is input to the program or (b) a profile computed at the beginning of that segment of the run. For climb, the aircraft is steered to maintain the given airspeed as a function of altitude. For descent, the aircraft is steered to maintain the given altitude as a function of range-to-go. In both cases, the control variable is angle-of-attack. The given output trajectory is presented and compared with the input trajectory. Step climb is treated just as climb. For cruise, the Breguet equations are used to compute the fuel burned to achieve a given range and to connect given initial and final values of altitude and Mach number.

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NASA Astrophysics Data System (ADS)

Liu, Yuan; Zhu, Qing

2017-07-01

In order to achieve the simulation of elaborate stroke trajectories in Chinese calligraphy, this paper puts forward the innovative researching on writing momentum in the field of non-photorealistic rendering in the first time. Through the analysis of using pen in Chinese calligraphy, the writing momentum is divided into three parts: the center, the side and the back of writing brush by the judgment of the angle of brush holder. We design an algorithm for dynamic outputting writing rendering based on brush model. According to monitoring parameters such as the direction, position and normalized pressure of using pen, we calculate parameters like the footprint direction, the shape, size and nib bending after writing. The algorithm can also judge the dynamic writing trend of stroke trajectories, even automatic generate stroke trajectories by the algorithm forecasted. We achieve a more delicate rendering of Chinese calligraphy to enhance the user's operating results. And we finish the unique writing effect separated the Chinese calligraphy form other general writing results, which greatly enhances the Chinese calligraphy simulation. So that people who lack of writing skills can easily draw a beautiful charm font.

Trajectory optimization for lunar soft landing with complex constraints

NASA Astrophysics Data System (ADS)

Chu, Huiping; Ma, Lin; Wang, Kexin; Shao, Zhijiang; Song, Zhengyu

2017-11-01

A unified trajectory optimization framework with initialization strategies is proposed in this paper for lunar soft landing for various missions with specific requirements. Two main missions of interest are Apollo-like Landing from low lunar orbit and Vertical Takeoff Vertical Landing (a promising mobility method) on the lunar surface. The trajectory optimization is characterized by difficulties arising from discontinuous thrust, multi-phase connections, jump of attitude angle, and obstacles avoidance. Here R-function is applied to deal with the discontinuities of thrust, checkpoint constraints are introduced to connect multiple landing phases, attitude angular rate is designed to get rid of radical changes, and safeguards are imposed to avoid collision with obstacles. The resulting dynamic problems are generally with complex constraints. The unified framework based on Gauss Pseudospectral Method (GPM) and Nonlinear Programming (NLP) solver are designed to solve the problems efficiently. Advanced initialization strategies are developed to enhance both the convergence and computation efficiency. Numerical results demonstrate the adaptability of the framework for various landing missions, and the performance of successful solution of difficult dynamic problems.

Integrated radiotherapy imaging system (IRIS): design considerations of tumour tracking with linac gantry-mounted diagnostic x-ray systems with flat-panel detectors

NASA Astrophysics Data System (ADS)

Berbeco, Ross I.; Jiang, Steve B.; Sharp, Gregory C.; Chen, George T. Y.; Mostafavi, Hassan; Shirato, Hiroki

2004-01-01

The design of an integrated radiotherapy imaging system (IRIS), consisting of gantry mounted diagnostic (kV) x-ray tubes and fast read-out flat-panel amorphous-silicon detectors, has been studied. The system is meant to be capable of three main functions: radiographs for three-dimensional (3D) patient set-up, cone-beam CT and real-time tumour/marker tracking. The goal of the current study is to determine whether one source/panel pair is sufficient for real-time tumour/marker tracking and, if two are needed, the optimal position of each relative to other components and the isocentre. A single gantry-mounted source/imager pair is certainly capable of the first two of the three functions listed above and may also be useful for the third, if combined with prior knowledge of the target's trajectory. This would be necessary because only motion in two dimensions is visible with a single imager/source system. However, with previously collected information about the trajectory, the third coordinate may be derived from the other two with sufficient accuracy to facilitate tracking. This deduction of the third coordinate can only be made if the 3D tumour/marker trajectory is consistent from fraction to fraction. The feasibility of tumour tracking with one source/imager pair has been theoretically examined here using measured lung marker trajectory data for seven patients from multiple treatment fractions. The patients' selection criteria include minimum mean amplitudes of the tumour motions greater than 1 cm peak-to-peak. The marker trajectory for each patient was modelled using the first fraction data. Then for the rest of the data, marker positions were derived from the imager projections at various gantry angles and compared with the measured tumour positions. Our results show that, due to the three dimensionality and irregular trajectory characteristics of tumour motion, on a fraction-to-fraction basis, a 'monoscopic' system (single source/imager) is inadequate for consistent real-time tumour tracking, even with prior knowledge. We found that, among the seven patients studied with peak-to-peak marker motion greater than 1 cm, five cases have mean localization errors greater than 2 mm and two have mean errors greater than 3 mm. Because of this uncertainty associated with a monoscopic system, two source/imager pairs are necessary for robust 3D target localization. Dual orthogonal x-ray source/imager pairs mounted on the linac gantry are chosen for the IRIS. We further studied the placement of the x-ray sources/panel based on the geometric specifications of the Varian 21EX Clinac. The best configuration minimizes the localization error while maintaining a large field of view and avoiding collisions with the floor/ceiling or couch.

Nonlinear dynamic analysis and optimal trajectory planning of a high-speed macro-micro manipulator

NASA Astrophysics Data System (ADS)

Yang, Yi-ling; Wei, Yan-ding; Lou, Jun-qiang; Fu, Lei; Zhao, Xiao-wei

2017-09-01

This paper reports the nonlinear dynamic modeling and the optimal trajectory planning for a flexure-based macro-micro manipulator, which is dedicated to the large-scale and high-speed tasks. In particular, a macro- micro manipulator composed of a servo motor, a rigid arm and a compliant microgripper is focused. Moreover, both flexure hinges and flexible beams are considered. By combining the pseudorigid-body-model method, the assumed mode method and the Lagrange equation, the overall dynamic model is derived. Then, the rigid-flexible-coupling characteristics are analyzed by numerical simulations. After that, the microscopic scale vibration excited by the large-scale motion is reduced through the trajectory planning approach. Especially, a fitness function regards the comprehensive excitation torque of the compliant microgripper is proposed. The reference curve and the interpolation curve using the quintic polynomial trajectories are adopted. Afterwards, an improved genetic algorithm is used to identify the optimal trajectory by minimizing the fitness function. Finally, the numerical simulations and experiments validate the feasibility and the effectiveness of the established dynamic model and the trajectory planning approach. The amplitude of the residual vibration reduces approximately 54.9%, and the settling time decreases 57.1%. Therefore, the operation efficiency and manipulation stability are significantly improved.

Selection and trajectory design to mission secondary targets

NASA Astrophysics Data System (ADS)

Victorino Sarli, Bruno; Kawakatsu, Yasuhiro

2017-02-01

Recently, with new trajectory design techniques and use of low-thrust propulsion systems, missions have become more efficient and cheaper with respect to propellant. As a way to increase the mission's value and scientific return, secondary targets close to the main trajectory are often added with a small change in the transfer trajectory. As a result of their large number, importance and facility to perform a flyby, asteroids are commonly used as such targets. This work uses the Primer Vector theory to define the direction and magnitude of the thrust for a minimum fuel consumption problem. The design of a low-thrust trajectory with a midcourse asteroid flyby is not only challenging for the low-thrust problem solution, but also with respect to the selection of a target and its flyby point. Currently more than 700,000 minor bodies have been identified, which generates a very large number of possible flyby points. This work uses a combination of reachability, reference orbit, and linear theory to select appropriate candidates, drastically reducing the simulation time, to be later included in the main trajectory and optimized. Two test cases are presented using the aforementioned selection process and optimization to add and design a secondary flyby to a mission with the primary objective of 3200 Phaethon flyby and 25143 Itokawa rendezvous.

Asteroid Apophis: Evaluating the impact hazards of such bodies

NASA Astrophysics Data System (ADS)

Shuvalov, V. V.; Svettsov, V. V.; Artem'eva, N. A.; Trubetskaya, I. A.; Popova, O. P.; Glazachev, D. O.

2017-01-01

Soon after the discovery of asteroid 99942 Apophis, it was classified as a potentially hazardous object with a high probability of an impact on the Earth in 2029. Although subsequent observations have substantially reduced the probability of a collision, it has not been ruled out; moreover, similar-sized asteroids in orbits intersecting the Earth's orbit may well be discovered in the near future. We conduct a numerical simulation of an atmospheric passage and an impact on the Earth's surface of a stony cosmic body with a diameter of 300 m and kinetic energy of about 1000 Mt, which roughly corresponds to the parameters of the asteroid Apophis, at atmospheric entry angles of 90° (vertical stroke), 45°, and 30°. The simulation is performed by solving three-dimensional equations of hydrodynamics and radiative transfer equations in the approximations of radiative heat conduction and volume emission. The following hazards are considered: an air shock wave, ejecta from the crater, thermal radiation, and ionospheric disturbances. Our calculations of the overpressure and wind speed on the Earth's surface show that the zone of destruction of the weakest structures can be as large as 700-1000 km in diameter; a decrease in the flight path angle to the surface leads to a marked increase in the area affected by the shock wave. The ionospheric disturbances are global in nature and continue for hours: at distances of several thousand kilometers at altitudes of more than 100 km, air density disturbances are tens of percent and the vertical and horizontal velocity components reach hundreds of meters per second. The impact of radiation on objects on the Earth's surface is estimated by solving the equation of radiative transfer along rays passing through a luminous area. In clear weather, the size of the zone where thermal heating may ignite wood can be as large as 200 km, and the zone of individual fire outbreaks associated with the ignition of flammable materials can be twice as large. In the 100-km central area, which is characterized by very strong thermal damage, there is ignition of structures, roofs, clothes, etc. The human hazardous area increases with the decrease in the trajectory angle, and people may experience thermal effects at distances of up to 250-400 km from the crater.

Toward the azimuthal characteristics of ionospheric and seismic effects of "Chelyabinsk" meteorite fall according to the data from coherent radar, GPS, and seismic networks

NASA Astrophysics Data System (ADS)

Berngardt, O. I.; Perevalova, N. P.; Dobrynina, A. A.; Kutelev, K. A.; Shestakov, N. V.; Bakhtiarov, V. F.; Kusonsky, O. A.; Zagretdinov, R. V.; Zherebtsov, G. A.

2015-12-01

We present the results of a study of the azimuthal characteristics of ionospheric and seismic effects of the meteorite `Chelyabinsk,' based on the data from the network of GPS receivers, coherent decameter radar EKB, and network of seismic stations, located near the meteorite fall trajectory. It is shown that 6-14 min after the bolide explosion, GPS network observed the cone-shaped wavefront of traveling ionospheric disturbances (TIDs) that is interpreted as a ballistic acoustic wave. The typical TIDs propagation velocity were observed 661 ± 256 m/s, which corresponds to the expected acoustic wave speed for 240 km height. Fourteen minutes after the bolide explosion, at distances of 200 km, we observed the emergence and propagation of a TID with annular wavefront that is interpreted as gravitational mode of internal atmospheric waves. The propagation velocity of this TID was 337 ± 89 m/s which corresponds to the propagation velocity of these waves in similar situations. At EKB radar, we observed TIDs in the sector of azimuthal angles close to the perpendicular to the meteorite trajectory. The observed TID velocity (400 m/s) and azimuthal properties correlate well with the model of ballistic wave propagating at 120-140 km altitude. It is shown that the azimuthal distribution of the amplitude of vertical seismic oscillations with periods 3-60 s can be described qualitatively by the model of vertical strike-slip rupture, propagating at 1 km/s along the meteorite fall trajectory to distance of about 40 km. These parameters correspond to the direction and velocity of propagation of the ballistic wave peak by the ground. It is shown that the model of ballistic wave caused by supersonic motion and burning of the meteorite in the upper atmosphere can satisfactorily explain the various azimuthal ionospheric effects, observed by the coherent decameter radar EKB, GPS receivers network, and the azimuthal characteristics of seismic waves at large distances.

A UV multifunctional Raman lidar system for the observation and analysis of atmospheric temperature, humidity, aerosols and their conveying characteristics over Xi'an

NASA Astrophysics Data System (ADS)

Yufeng, Wang; Qiang, Fu; Meina, Zhao; Fei, Gao; Huige, Di; Yuehui, Song; Dengxin, Hua

2018-01-01

To monitor the variability and the correlation of multiple atmospheric parameters in the whole troposphere and the lower stratosphere, a ground-based ultraviolet multifunctional Raman lidar system was established to simultaneously measure the atmospheric parameters in Xi'an (34.233°N, 108.911°E). A set of dichroic mirrors (DMs) and narrow-band interference filters (IFs) with narrow angles of incidence were utilized to construct a high-efficiency 5-channel polychromator. A series of high-quality data obtained from October 2013 to December 2015 under different weather conditions were used to investigate the functionality of the Raman lidar system and to study the variability of multiple atmospheric parameters in the whole stratosphere. Their conveying characteristics are also investigated using back trajectories with a hybrid single-particle Lagrangian integrated trajectory model (HYSPLIT). The lidar system can be operated efficiently under weather conditions with a cloud backscattering ratio of less than 18 and an atmospheric visibility of 3 km. We observed an obvious temperature inversion phenomenon at the tropopause height of 17-18 km and occasional temperature inversion layers below the boundary layer. The rapidly changing atmospheric water vapor is mostly concentrated at the lower troposphere, below ∼4-5 km, accounting for ∼90% of the total water vapor content at 0.5-10 km. The back trajectory analysis shows that the air flow from the northwest and the west mainly contributes to the transport of aerosols and water vapor over Xi'an. The simultaneous continuous observational results demonstrate the variability and correlation among the multiple atmospheric parameters, and the accumulated water vapor density in the bottom layer causes an increase in the aerosol extinction coefficient and enhances the relative humidity in the early morning. The long-term observations provide a large amount of reliable atmospheric data below the lower stratosphere, and can be used to study their correlation and to improve local climate change research.

Preliminary design of the thermal protection system for solar probe

NASA Technical Reports Server (NTRS)

Dirling, R. B., Jr.; Loomis, W. C.; Heightland, C. N.

1982-01-01

A preliminary design of the thermal protection system for the NASA Solar Probe spacecraft is presented. As presently conceived, the spacecraft will be launched by the Space Shuttle on a Jovian swing-by trajectory and at perihelion approach to three solar radii of the surface of the Earth's sun. The system design satisfies maximum envelope, structural integrity, equipotential, and mass loss/contamination requirements by employing lightweight carbon-carbon emissive shields. The primary shield is a thin shell, 15.5-deg half-angle cone which absorbs direct solar flux at up to 10-deg off-nadir spacecraft pointing angles. Secondary shields of sandwich construction and low thickness-direction thermal conductivity are used to reduce the primary shield infrared radiation to the spacecraft payload.

Charts Depicting Kinematic and Heating Parameters for a Ballistic Reentry at Speeds of 26,000 to 45,000 Feet Per Second

NASA Technical Reports Server (NTRS)

Lovelace, Uriel M.

1961-01-01

Reentry trajectories, including computations of convective and radiative stagnation-point heat transfer, have been calculated by using equations for a point-mass reentry vehicle entering the atmosphere of a rotating, oblate earth. Velocity was varied from 26,000 to 45,000 feet per second; reentry angle, from the skip limit to -20 deg; ballistic drag parameter, from 50 to 200. Initial altitude was 400,000 feet. Explicit results are presented in charts which were computed for an initial latitude of 38 deg N and an azimuth of 90 deg from north. A method is presented whereby these results may be made valid for a range of initial latitude and azimuth angles.

A Numerical, Literal, and Converged Perturbation Algorithm

NASA Astrophysics Data System (ADS)

Wiesel, William E.

2017-09-01

The KAM theorem and von Ziepel's method are applied to a perturbed harmonic oscillator, and it is noted that the KAM methodology does not allow for necessary frequency or angle corrections, while von Ziepel does. The KAM methodology can be carried out with purely numerical methods, since its generating function does not contain momentum dependence. The KAM iteration is extended to allow for frequency and angle changes, and in the process apparently can be successfully applied to degenerate systems normally ruled out by the classical KAM theorem. Convergence is observed to be geometric, not exponential, but it does proceed smoothly to machine precision. The algorithm produces a converged perturbation solution by numerical methods, while still retaining literal variable dependence, at least in the vicinity of a given trajectory.

A study of the application of singular perturbation theory. [development of a real time algorithm for optimal three dimensional aircraft maneuvers

NASA Technical Reports Server (NTRS)

Mehra, R. K.; Washburn, R. B.; Sajan, S.; Carroll, J. V.

1979-01-01

A hierarchical real time algorithm for optimal three dimensional control of aircraft is described. Systematic methods are developed for real time computation of nonlinear feedback controls by means of singular perturbation theory. The results are applied to a six state, three control variable, point mass model of an F-4 aircraft. Nonlinear feedback laws are presented for computing the optimal control of throttle, bank angle, and angle of attack. Real Time capability is assessed on a TI 9900 microcomputer. The breakdown of the singular perturbation approximation near the terminal point is examined Continuation methods are examined to obtain exact optimal trajectories starting from the singular perturbation solutions.

Micromirror with large-tilting angle using Fe-based metallic glass.

PubMed

Lee, Jae-Wung; Lin, Yu-Ching; Kaushik, Neelam; Sharma, Parmanand; Makino, Akihiro; Inoue, Akihisa; Esashi, Masayoshi; Gessner, Thomas

2011-09-01

For enhancing the micromirror properties like tilting angle and stability during actuation, Fe-based metallic glass (MG) was applied for torsion bar material. A micromirror with mirror-plate diameter of 900 μm and torsion bar dimensions length 250 μm, width 30 μm and thickness 2.5 μm was chosen for the tilting angle tests, which were performed by permanent magnets and electromagnet setup. An extremely large tilting angle of over -270° was obtained from an activation test by permanent magnet that has approximately 0.2 T of magnetic strength. A large mechanical tilting angle of over -70° was obtained by applying approximately 1.1 mT to the mirror when 93 mAwas applied to solenoid setup. The large-tilting angle of the micromirror is due to the torsion bar, which was fabricated with Fe-based MG thin film that has large elastic strain limit, fracture toughness, and excellent magnetic property.

Large deviations in the presence of cooperativity and slow dynamics

NASA Astrophysics Data System (ADS)

Whitelam, Stephen

2018-06-01

We study simple models of intermittency, involving switching between two states, within the dynamical large-deviation formalism. Singularities appear in the formalism when switching is cooperative or when its basic time scale diverges. In the first case the unbiased trajectory distribution undergoes a symmetry breaking, leading to a change in shape of the large-deviation rate function for a particular dynamical observable. In the second case the symmetry of the unbiased trajectory distribution remains unbroken. Comparison of these models suggests that singularities of the dynamical large-deviation formalism can signal the dynamical equivalent of an equilibrium phase transition but do not necessarily do so.

Dynamics and Control of Three-Dimensional Perching Maneuver under Dynamic Stall Influence

NASA Astrophysics Data System (ADS)

Feroskhan, Mir Alikhan Bin Mohammad

Perching is a type of aggressive maneuver performed by the class 'Aves' species to attain precision point landing with a generally short landing distance. Perching capability is desirable on unmanned aerial vehicles (UAVs) due to its efficient deceleration process that potentially expands the functionality and flight envelope of the aircraft. This dissertation extends the previous works on perching, which is mostly limited to two-dimensional (2D) cases, to its state-of-the-art threedimensional (3D) variety. This dissertation presents the aerodynamic modeling and optimization framework adopted to generate unprecedented variants of the 3D perching maneuver that include the sideslip perching trajectory, which ameliorates the existing 2D perching concept by eliminating the undesirable undershoot and reliance on gravity. The sideslip perching technique methodically utilizes the lateral and longitudinal drag mechanisms through consecutive phases of yawing and pitching-up motion. Since perching maneuver involves high rates of change in the angles of attack and large turn rates, introduction of three internal variables thus becomes necessary for addressing the influence of dynamic stall delay on the UAV's transient post-stall behavior. These variables are then integrated into a static nonlinear aerodynamic model, developed using empirical and analytical methods, and into an optimization framework that generates a trajectory of sideslip perching maneuver, acquiring over 70% velocity reduction. An impact study of the dynamic stall influence on the optimal perching trajectories suggests that consideration of dynamic stall delay is essential due to the significant discrepancies in the corresponding control inputs required. A comparative study between 2D and 3D perching is also conducted to examine the different drag mechanisms employed by 2D and 3D perching respectively. 3D perching is presented as a more efficient deceleration technique with respect to spatial costs and initial altitude range. Contraction analysis is shown to be a useful technique in identifying the state variables that are required to be tracked for attaining stability of optimal perching trajectories. Based on the selected tracking variables, two sliding control strategies are proposed and comparatively examined to close the control loop and provide the required robustness and convergence to the optimal perching trajectory in the presence of perturbations and dynamic stall model inaccuracies. This dissertation concludes that the sliding controller with the adaptive gain feature is more effective and essential in providing better tracking performance through illustrations of the corresponding convergence area and at higher intensity of perturbations.

KmL3D: a non-parametric algorithm for clustering joint trajectories.

PubMed

Genolini, C; Pingault, J B; Driss, T; Côté, S; Tremblay, R E; Vitaro, F; Arnaud, C; Falissard, B

2013-01-01

In cohort studies, variables are measured repeatedly and can be considered as trajectories. A classic way to work with trajectories is to cluster them in order to detect the existence of homogeneous patterns of evolution. Since cohort studies usually measure a large number of variables, it might be interesting to study the joint evolution of several variables (also called joint-variable trajectories). To date, the only way to cluster joint-trajectories is to cluster each trajectory independently, then to cross the partitions obtained. This approach is unsatisfactory because it does not take into account a possible co-evolution of variable-trajectories. KmL3D is an R package that implements a version of k-means dedicated to clustering joint-trajectories. It provides facilities for the management of missing values, offers several quality criteria and its graphic interface helps the user to select the best partition. KmL3D can work with any number of joint-variable trajectories. In the restricted case of two joint trajectories, it proposes 3D tools to visualize the partitioning and then export 3D dynamic rotating-graphs to PDF format. Copyright © 2012 Elsevier Ireland Ltd. All rights reserved.

Forefoot angle at initial contact determines the amplitude of forefoot and rearfoot eversion during running.

PubMed

Monaghan, Gail M; Hsu, Wen-Hao; Lewis, Cara L; Saltzman, Elliot; Hamill, Joseph; Holt, Kenneth G

2014-09-01

Clinically, foot structures are assessed intrinsically - relation of forefoot to rearfoot and rearfoot to leg. We have argued that, from a biomechanical perspective, the interaction of the foot with the ground may influence forces and torques that are propagated through the lower extremity. We proposed that a more appropriate measure is an extrinsic one that may predict the angle the foot makes with ground at contact. The purposes of this study were to determine if the proposed measure predicts contact angles of the forefoot and rearfoot and assess if the magnitude of those angles influences amplitude and duration of foot eversion during running. With the individual in prone, extrinsic clinical forefoot and rearfoot angles were measured relative to the caudal edge of the examination table. Participants ran over ground while frontal plane forefoot and rearfoot contact angles, forefoot and rearfoot eversion amplitude and duration were measured. Participants were grouped twice, once based on forefoot contact inversion angle (moderatemedian) and once based on rearfoot contact inversion angle (moderatemedian). The forefoot and rearfoot extrinsic clinical angles predicted, respectively, the forefoot and rearfoot angles at ground contact. Large forefoot contact angles were associated with greater amplitudes (but not durations) of forefoot and rearfoot eversion during stance. Rearfoot contact angles, however, were associated with neither amplitudes nor durations of forefoot and rearfoot eversion. Possible mechanisms for the increased risk of running injuries associated with large forefoot angles are discussed. Copyright © 2014 Elsevier Ltd. All rights reserved.

Entry, Descent, and Landing Guidance and Control Approaches to Satisfy Mars Human Mission Landing Criteria

NASA Technical Reports Server (NTRS)

Dwyer Cianciolo, Alicia; Powell, Richard W.

2017-01-01

Precision landing on Mars is a challenge. All Mars lander missions prior to the 2012 Mars Science Laboratory (MSL) had landing location uncertainty ellipses on the order of hundreds of kilometers. Sending humans to the surface of Mars will likely require multiple landers delivered in close proximity, which will in turn require orders of magnitude improvement in landing accuracy. MSL was the first Mars mission to use an Apollo-derived bank angle guidance to reduce the size of the landing ellipse. It utilized commanded bank angle magnitude to control total range and bank angle reversals to control cross range. A shortcoming of this bank angle guidance is that the open loop phase of flight created by use of bank reversals increases targeting errors. This paper presents a comparison of entry, descent and landing performance for a vehicle with a low lift-to-drag ratio using both bank angle control and an alternative guidance called Direct Force Control (DFC). DFC eliminates the open loop flight errors by directly controlling two forces independently, lift and side force. This permits independent control of down range and cross range. Performance results, evaluated using the Program to Optimize Simulated Trajectories (POST2), including propellant use and landing accuracy, are presented.

Calculation of stochastic broadening due to low mn magnetic perturbation in the simple map in action-angle coordinates

NASA Astrophysics Data System (ADS)

Hinton, Courtney; Punjabi, Alkesh; Ali, Halima

2009-11-01

The simple map is the simplest map that has topology of divertor tokamaks [A. Punjabi, H. Ali, T. Evans, and A. Boozer, Phys. Let. A 364, 140--145 (2007)]. Recently, the action-angle coordinates for simple map are analytically calculated, and simple map is constructed in action-angle coordinates [O. Kerwin, A. Punjabi, and H. Ali, Phys. Plasmas 15, 072504 (2008)]. Action-angle coordinates for simple map cannot be inverted to real space coordinates (R,Z). Because there is logarithmic singularity on the ideal separatrix, trajectories cannot cross separatrix [op cit]. Simple map in action-angle coordinates is applied to calculate stochastic broadening due to the low mn magnetic perturbation with mode numbers m=1, and n=±1. The width of stochastic layer near the X-point scales as 0.63 power of the amplitude δ of low mn perturbation, toroidal flux loss scales as 1.16 power of δ, and poloidal flux loss scales as 1.26 power of δ. Scaling of width deviates from Boozer-Rechester scaling by 26% [A. Boozer, and A. Rechester, Phys. Fluids 21, 682 (1978)]. This work is supported by US Department of Energy grants DE-FG02-07ER54937, DE-FG02-01ER54624 and DE-FG02-04ER54793.