A new method for motion capture of the scapula using an optoelectronic tracking device: a feasibility study.

PubMed

Šenk, Miroslav; Chèze, Laurence

2010-06-01

Optoelectronic tracking systems are rarely used in 3D studies examining shoulder movements including the scapula. Among the reasons is the important slippage of skin markers with respect to scapula. Methods using electromagnetic tracking devices are validated and frequently applied. Thus, the aim of this study was to develop a new method for in vivo optoelectronic scapular capture dealing with the accepted accuracy issues of validated methods. Eleven arm positions in three anatomical planes were examined using five subjects in static mode. The method was based on local optimisation, and recalculation procedures were made using a set of five scapular surface markers. The scapular rotations derived from the recalculation-based method yielded RMS errors comparable with the frequently used electromagnetic scapular methods (RMS up to 12.6° for 150° arm elevation). The results indicate that the present method can be used under careful considerations for 3D kinematical studies examining different shoulder movements.

Ray tracing evaluation of a technique for correcting the refraction errors in satellite tracking data

NASA Technical Reports Server (NTRS)

Gardner, C. S.; Rowlett, J. R.; Hendrickson, B. E.

1978-01-01

Errors may be introduced in satellite laser ranging data by atmospheric refractivity. Ray tracing data have indicated that horizontal refractivity gradients may introduce nearly 3-cm rms error when satellites are near 10-degree elevation. A correction formula to compensate for the horizontal gradients has been developed. Its accuracy is evaluated by comparing it to refractivity profiles. It is found that if both spherical and gradient correction formulas are employed in conjunction with meteorological measurements, a range resolution of one cm or less is feasible for satellite elevation angles above 10 degrees.

Time-domain prefilter design for enhanced tracking and vibration suppression in machine motion control

NASA Astrophysics Data System (ADS)

Cole, Matthew O. T.; Shinonawanik, Praween; Wongratanaphisan, Theeraphong

2018-05-01

Structural flexibility can impact negatively on machine motion control systems by causing unmeasured positioning errors and vibration at locations where accurate motion is important for task execution. To compensate for these effects, command signal prefiltering may be applied. In this paper, a new FIR prefilter design method is described that combines finite-time vibration cancellation with dynamic compensation properties. The time-domain formulation exploits the relation between tracking error and the moment values of the prefilter impulse response function. Optimal design solutions for filters having minimum H2 norm are derived and evaluated. The control approach does not require additional actuation or sensing and can be effective even without complete and accurate models of the machine dynamics. Results from implementation and testing on an experimental high-speed manipulator having a Delta robot architecture with directionally compliant end-effector are presented. The results show the importance of prefilter moment values for tracking performance and confirm that the proposed method can achieve significant reductions in both peak and RMS tracking error, as well as settling time, for complex motion patterns.

Determination of GPS orbits to submeter accuracy

NASA Technical Reports Server (NTRS)

Bertiger, W. I.; Lichten, S. M.; Katsigris, E. C.

1988-01-01

Orbits for satellites of the Global Positioning System (GPS) were determined with submeter accuracy. Tests used to assess orbital accuracy include orbit comparisons from independent data sets, orbit prediction, ground baseline determination, and formal errors. One satellite tracked 8 hours each day shows rms error below 1 m even when predicted more than 3 days outside of a 1-week data arc. Differential tracking of the GPS satellites in high Earth orbit provides a powerful relative positioning capability, even when a relatively small continental U.S. fiducial tracking network is used with less than one-third of the full GPS constellation. To demonstrate this capability, baselines of up to 2000 km in North America were also determined with the GPS orbits. The 2000 km baselines show rms daily repeatability of 0.3 to 2 parts in 10 to the 8th power and agree with very long base interferometry (VLBI) solutions at the level of 1.5 parts in 10 to the 8th power. This GPS demonstration provides an opportunity to test different techniques for high-accuracy orbit determination for high Earth orbiters. The best GPS orbit strategies included data arcs of at least 1 week, process noise models for tropospheric fluctuations, estimation of GPS solar pressure coefficients, and combine processing of GPS carrier phase and pseudorange data. For data arc of 2 weeks, constrained process noise models for GPS dynamic parameters significantly improved the situation.

Autonomous Navigation Improvements for High-Earth Orbiters Using GPS

NASA Technical Reports Server (NTRS)

Long, Anne; Kelbel, David; Lee, Taesul; Garrison, James; Carpenter, J. Russell; Bauer, F. (Technical Monitor)

2000-01-01

The Goddard Space Flight Center is currently developing autonomous navigation systems for satellites in high-Earth orbits where acquisition of the GPS signals is severely limited This paper discusses autonomous navigation improvements for high-Earth orbiters and assesses projected navigation performance for these satellites using Global Positioning System (GPS) Standard Positioning Service (SPS) measurements. Navigation performance is evaluated as a function of signal acquisition threshold, measurement errors, and dynamic modeling errors using realistic GPS signal strength and user antenna models. These analyses indicate that an autonomous navigation position accuracy of better than 30 meters root-mean-square (RMS) can be achieved for high-Earth orbiting satellites using a GPS receiver with a very stable oscillator. This accuracy improves to better than 15 meters RMS if the GPS receiver's signal acquisition threshold can be reduced by 5 dB-Hertz to track weaker signals.

Subjective rating scales as a workload

NASA Technical Reports Server (NTRS)

Bird, K. L.

1981-01-01

A multidimensional bipolar-adjective rating scale is employed as a subjective measure of operator workload in the performance of a one-axis tracking task. The rating scale addressed several dimensions of workload, including cognitive, physical, and perceptual task loading as well as fatigue and stress effects. Eight subjects performed a one-axis tracking task (with six levels of difficulty) and rated these tasks on several workload dimensions. Performance measures were tracking error RMS (root-mean square) and the standard deviation of control stick output. Significant relationships were observed between these performance measures and skill required, task complexity, attention level, task difficulty, task demands, and stress level.

Evaluation of dynamic electromagnetic tracking deviation

NASA Astrophysics Data System (ADS)

Hummel, Johann; Figl, Michael; Bax, Michael; Shahidi, Ramin; Bergmann, Helmar; Birkfellner, Wolfgang

2009-02-01

Electromagnetic tracking systems (EMTS's) are widely used in clinical applications. Many reports have evaluated their static behavior and errors caused by metallic objects were examined. Although there exist some publications concerning the dynamic behavior of EMTS's the measurement protocols are either difficult to reproduce with respect of the movement path or only accomplished at high technical effort. Because dynamic behavior is of major interest with respect to clinical applications we established a simple but effective modal measurement easy to repeat at other laboratories. We built a simple pendulum where the sensor of our EMTS (Aurora, NDI, CA) could be mounted. The pendulum was mounted on a special bearing to guarantee that the pendulum path is planar. This assumption was tested before starting the measurements. All relevant parameters defining the pendulum motion such as rotation center and length are determined by static measurement at satisfactory accuracy. Then position and orientation data were gathered over a time period of 8 seconds and timestamps were recorded. Data analysis provided a positioning error and an overall error combining both position and orientation. All errors were calculated by means of the well know equations concerning pendulum movement. Additionally, latency - the elapsed time from input motion until the immediate consequences of that input are available - was calculated using well-known equations for mechanical pendulums for different velocities. We repeated the measurements with different metal objects (rods made of stainless steel type 303 and 416) between field generator and pendulum. We found a root mean square error (eRMS) of 1.02mm with respect to the distance of the sensor position to the fit plane (maximum error emax = 2.31mm, minimum error emin = -2.36mm). The eRMS for positional error amounted to 1.32mm while the overall error was 3.24 mm. The latency at a pendulum angle of 0° (vertical) was 7.8ms.

Statistics of the radiated field of a space-to-earth microwave power transfer system

NASA Technical Reports Server (NTRS)

Stevens, G. H.; Leininger, G.

1976-01-01

Statistics such as average power density pattern, variance of the power density pattern and variance of the beam pointing error are related to hardware parameters such as transmitter rms phase error and rms amplitude error. Also a limitation on spectral width of the phase reference for phase control was established. A 1 km diameter transmitter appears feasible provided the total rms insertion phase errors of the phase control modules does not exceed 10 deg, amplitude errors do not exceed 10% rms, and the phase reference spectral width does not exceed approximately 3 kHz. With these conditions the expected radiation pattern is virtually the same as the error free pattern, and the rms beam pointing error would be insignificant (approximately 10 meters).

Assessment of input-output properties and control of neuroprosthetic hand grasp.

PubMed

Hines, A E; Owens, N E; Crago, P E

1992-06-01

Three tests have been developed to evaluate rapidly and quantitatively the input-output properties and patient control of neuroprosthetic hand grasp. Each test utilizes a visual pursuit tracking task during which the subject controls the grasp force and grasp opening (position) of the hand. The first test characterizes the static input-output properties of the hand grasp, where the input is a slowly changing patient generated command signal and the outputs are grasp force and grasp opening. Nonlinearities and inappropriate slopes have been documented in these relationships, and in some instances the need for system returning has been indicated. For each subject larger grasp forces were produced when grasping larger objects, and for some subjects the shapes of the relationships also varied with object size. The second test quantifies the ability of the subject to control the hand grasp outputs while tracking steps and ramps. Neuroprosthesis users had rms errors two to three times larger when tracking steps versus ramps, and had rms errors four to five times larger than normals when tracking ramps. The third test provides an estimate of the frequency response of the hand grasp system dynamics, from input and output data collected during a random tracking task. Transfer functions were estimated by spectral analysis after removal of the static input-output nonlinearities measured in the first test. The dynamics had low-pass filter characteristics with 3 dB cutoff frequencies from 1.0 to 1.4 Hz. The tests developed in this study provide a rapid evaluation of both the system and the user. They provide information to 1) help interpret subject performance of functional tasks, 2) evaluate the efficacy of system features such as closed-loop control, and 3) screen the neuroprosthesis to indicate the need for retuning.

Robust intravascular optical coherence elastography driven by acoustic radiation pressure

NASA Astrophysics Data System (ADS)

van Soest, Gijs; Bouchard, Richard R.; Mastik, Frits; de Jong, Nico; van der Steen, Anton F. W.

2007-07-01

High strain spots in the vessel wall indicate the presence of vulnerable plaques. The majority of acute cardiovascular events are preceded by rupture of such a plaque in a coronary artery. Intracoronary optical coherence tomography (OCT) can be extended, in principle, to an elastography technique, mapping the strain in the vascular wall. However, the susceptibility of OCT to frame-to-frame decorrelation, caused by tissue and catheter motion, inhibits reliable tissue displacement tracking and has to date obstructed the development of OCT-based intravascular elastography. We introduce a new technique for intravascular optical coherence elastography, which is robust against motion artifacts. Using acoustic radiation force, we apply a pressure to deform the tissue synchronously with the line scan rate of the OCT instrument. Radial tissue displacement can be tracked based on the correlation between adjacent lines, instead of subsequent frames in conventional elastography. The viability of the method is demonstrated with a simulation study. The root mean square (rms) error of the displacement estimate is 0.55 μm, and the rms error of the strain is 0.6%. It is shown that high-strain spots in the vessel wall, such as observed at the sites of vulnerable atherosclerotic lesions, can be detected with the technique. Experiments to realize this new elastographic method are presented. Simultaneous optical and ultrasonic pulse-echo tracking demonstrate that the material can be put in a high-frequency oscillatory motion with an amplitude of several micrometers, more than sufficient for accurate tracking with OCT. The resulting data are used to optimize the acoustic pushing sequence and geometry.

Pursuit gain and saccadic intrusions in first-degree relatives of probands with schizophrenia.

PubMed

Clementz, B A; Sweeney, J A; Hirt, M; Haas, G

1990-11-01

Oculomotor functioning of 26 probands with schizophrenia, 12 spectrum and 46 nonspectrum first-degree relatives, and 38 nonpsychiatric control subjects was evaluated. Spectrum relatives had more anticipatory saccades (ASs) and lower pursuit gain than nonspectrum relatives, who had more ASs and lower pursuit gain than control subjects. Probands also had lower pursuit gain than nonspectrum relatives and control subjects but did not differ from other groups on AS frequency. Control subjects had more globally accurate pursuit tracking (root mean square [RMS] error deviation) than both relative groups, whereas probands had the poorest RMS scores. Square wave jerk frequency did not differentiate the groups. Attention enhancement affected the frequency of ASs but did not affect either the other intrusive saccadic event or RMS scores. These results offer evidence that eye-movement dysfunction may serve as a biological marker for schizophrenia.

The GEM-T2 gravitational model

NASA Technical Reports Server (NTRS)

Marsh, J. G.; Lerch, F. J.; Putney, B. H.; Felsentreger, T. L.; Sanchez, B. V.; Klosko, S. M.; Patel, G. B.; Robbins, J. W.; Williamson, R. G.; Engelis, T. E.

1989-01-01

The GEM-T2 is the latest in a series of Goddard Earth Models of the terrestrial field. It was designed to bring modeling capabilities one step closer towards ultimately determining the TOPEX/Poseidon satellite's radial position to an accuracy of 10-cm RMS (root mean square). It also improves models of the long wavelength geoid to support many oceanographic and geophysical applications. The GEM-T2 extends the spherical harmonic field to include more than 600 coefficients above degree 36 (which was the limit for its predecessor, GEM-T1). Like GEM-T1, it was produced entirely from satellite tracking data, but it now uses nearly twice as many satellites (31 vs. 17), contains four times the number of observations (2.4 million), has twice the number of data arcs (1132), and utilizes precise laser tracking from 11 satellites. The estimation technique for the solution has been augmented to include an optimum data weighting procedure with automatic error calibration for the gravitational parameters. Results for the GEM-T2 error calibration indicate significant improvement over previous satellite-only models. The error of commission in determining the geoid has been reduced from 155 cm in GEM-T1 to 105 cm for GEM-T2 for the 36 x 36 portion of the field, and 141 cm for the entire model. The orbital accuracies achieved using GEM-T2 are likewise improved. Also, the projected radial error on the TOPEX satellite orbit indicates 9.4 cm RMS for GEM-T2, compared to 24.1 cm for GEM-T1.

Correction of Single Frequency Altimeter Measurements for Ionosphere Delay

NASA Technical Reports Server (NTRS)

Schreiner, William S.; Markin, Robert E.; Born, George H.

1997-01-01

This study is a preliminary analysis of the accuracy of various ionosphere models to correct single frequency altimeter height measurements for Ionospheric path delay. In particular, research focused on adjusting empirical and parameterized ionosphere models in the parameterized real-time ionospheric specification model (PRISM) 1.2 using total electron content (TEC) data from the global positioning system (GPS). The types of GPS data used to adjust PRISM included GPS line-of-sight (LOS) TEC data mapped to the vertical, and a grid of GPS derived TEC data in a sun-fixed longitude frame. The adjusted PRISM TEC values, as well as predictions by IRI-90, a climatotogical model, were compared to TOPEX/Poseidon (T/P) TEC measurements from the dual-frequency altimeter for a number of T/P tracks. When adjusted with GPS LOS data, the PRISM empirical model predicted TEC over 24 1 h data sets for a given local time to with in a global error of 8.60 TECU rms during a midnight centered ionosphere and 9.74 TECU rms during a noon centered ionosphere. Using GPS derived sun-fixed TEC data, the PRISM parameterized model predicted TEC within an error of 8.47 TECU rms centered at midnight and 12.83 TECU rms centered at noon. From these best results, it is clear that the proposed requirement of 3-4 TECU global rms for TOPEX/Poseidon Follow-On will be very difficult to meet, even with a substantial increase in the number of GPS ground stations, with any realizable combination of the aforementioned models or data assimilation schemes.

Derivation of formulas for root-mean-square errors in location, orientation, and shape in triangulation solution of an elongated object in space

NASA Technical Reports Server (NTRS)

Long, S. A. T.

1974-01-01

Formulas are derived for the root-mean-square (rms) displacement, slope, and curvature errors in an azimuth-elevation image trace of an elongated object in space, as functions of the number and spacing of the input data points and the rms elevation error in the individual input data points from a single observation station. Also, formulas are derived for the total rms displacement, slope, and curvature error vectors in the triangulation solution of an elongated object in space due to the rms displacement, slope, and curvature errors, respectively, in the azimuth-elevation image traces from different observation stations. The total rms displacement, slope, and curvature error vectors provide useful measure numbers for determining the relative merits of two or more different triangulation procedures applicable to elongated objects in space.

Design of a lightweight, tethered, torque-controlled knee exoskeleton.

PubMed

Witte, Kirby Ann; Fatschel, Andreas M; Collins, Steven H

2017-07-01

Lower-limb exoskeletons show promise for improving gait rehabilitation for those with chronic gait abnormalities due to injury, stroke or other illness. We designed and built a tethered knee exoskeleton with a strong lightweight frame and comfortable, four-point contact with the leg. The device is structurally compliant in select directions, instrumented to measure joint angle and applied torque, and is lightweight (0.76 kg). The exoskeleton is actuated by two off-board motors. Closed loop torque control is achieved using classical proportional feedback control with damping injection in conjunction with iterative learning. We tested torque measurement accuracy and found root mean squared (RMS) error of 0.8 Nm with a max load of 62.2 Nm. Bandwidth was measured to be phase limited at 45 Hz when tested on a rigid test stand and 23 Hz when tested on a person's leg. During bandwidth tests peak extension torques were measured up to 50 Nm. Torque tracking was tested during walking on a treadmill at 1.25 m/s with peak flexion torques of 30 Nm. RMS torque tracking error averaged over a hundred steps was 0.91 Nm. We intend to use this knee exoskeleton to investigate robotic assistance strategies to improve gait rehabilitation and enhance human athletic ability.

Sensor Spatial Distortion, Visual Latency, and Update Rate Effects on 3D Tracking in Virtual Environments

NASA Technical Reports Server (NTRS)

Ellis, S. R.; Adelstein, B. D.; Baumeler, S.; Jense, G. J.; Jacoby, R. H.; Trejo, Leonard (Technical Monitor)

1998-01-01

Several common defects that we have sought to minimize in immersing virtual environments are: static sensor spatial distortion, visual latency, and low update rates. Human performance within our environments during large amplitude 3D tracking was assessed by objective and subjective methods in the presence and absence of these defects. Results show that 1) removal of our relatively small spatial sensor distortion had minor effects on the tracking activity, 2) an Adapted Cooper-Harper controllability scale proved the most sensitive subjective indicator of the degradation of dynamic fidelity caused by increasing latency and decreasing frame rates, and 3) performance, as measured by normalized RMS tracking error or subjective impressions, was more markedly influenced by changing visual latency than by update rate.

Performance improvement of a binary quantized all-digital phase-locked loop with a new aided-acquisition technique

NASA Astrophysics Data System (ADS)

Sandoz, J.-P.; Steenaart, W.

1984-12-01

The nonuniform sampling digital phase-locked loop (DPLL) with sequential loop filter, in which the correction sizes are controlled by the accumulated differences of two additional phase comparators, is graphically analyzed. In the absence of noise and frequency drift, the analysis gives some physical insight into the acquisition and tracking behavior. Taking noise into account, a mathematical model is derived and a random walk technique is applied to evaluate the rms phase error and the mean acquisition time. Experimental results confirm the appropriate simplifying hypotheses used in the numerical analysis. Two related performance measures defined in terms of the rms phase error and the acquisition time for a given SNR are used. These measures provide a common basis for comparing different digital loops and, to a limited extent, also with a first-order linear loop. Finally, the behavior of a modified DPLL under frequency deviation in the presence of Gaussian noise is tested experimentally and by computer simulation.

Bias estimation for moving optical sensor measurements with targets of opportunity

NASA Astrophysics Data System (ADS)

Belfadel, Djedjiga; Osborne, Richard W.; Bar-Shalom, Yaakov

2014-06-01

Integration of space based sensors into a Ballistic Missile Defense System (BMDS) allows for detection and tracking of threats over a larger area than ground based sensors [1]. This paper examines the effect of sensor bias error on the tracking quality of a Space Tracking and Surveillance System (STSS) for the highly non-linear problem of tracking a ballistic missile. The STSS constellation consists of two or more satellites (on known trajectories) for tracking ballistic targets. Each satellite is equipped with an IR sensor that provides azimuth and elevation to the target. The tracking problem is made more difficult due to a constant or slowly varying bias error present in each sensor's line of sight measurements. It is important to correct for these bias errors so that the multiple sensor measurements and/or tracks can be referenced as accurately as possible to a common tracking coordinate system. The measurements provided by these sensors are assumed time-coincident (synchronous) and perfectly associated. The line of sight (LOS) measurements from the sensors can be fused into measurements which are the Cartesian target position, i.e., linear in the target state. We evaluate the Cramér-Rao Lower Bound (CRLB) on the covariance of the bias estimates, which serves as a quantification of the available information about the biases. Statistical tests on the results of simulations show that this method is statistically efficient, even for small sample sizes (as few as two sensors and six points on the (unknown) trajectory of a single target of opportunity). We also show that the RMS position error is significantly improved with bias estimation compared with the target position estimation using the original biased measurements.

An investigation of motion base cueing and G-seat cueing on pilot performance in a simulator

NASA Technical Reports Server (NTRS)

Mckissick, B. T.; Ashworth, B. R.; Parrish, R. V.

1983-01-01

The effect of G-seat cueing (GSC) and motion-base cueing (MBC) on performance of a pursuit-tracking task is studied using the visual motion simulator (VMS) at Langley Research Center. The G-seat, the six-degree-of-freedom synergistic platform motion system, the visual display, the cockpit hardware, and the F-16 aircraft mathematical model are characterized. Each of 8 active F-15 pilots performed the 2-min-43-sec task 10 times for each experimental mode: no cue, GSC, MBC, and GSC + MBC; the results were analyzed statistically in terms of the RMS values of vertical and lateral tracking error. It is shown that lateral error is significantly reduced by either GSC or MBC, and that the combination of cues produces a further, significant decrease. Vertical error is significantly decreased by GSC with or without MBC, whereas MBC effects vary for different pilots. The pattern of these findings is roughly duplicated in measurements of stick force applied for roll and pitch correction.

Muscle Synergies May Improve Optimization Prediction of Knee Contact Forces During Walking

PubMed Central

Walter, Jonathan P.; Kinney, Allison L.; Banks, Scott A.; D'Lima, Darryl D.; Besier, Thor F.; Lloyd, David G.; Fregly, Benjamin J.

2014-01-01

The ability to predict patient-specific joint contact and muscle forces accurately could improve the treatment of walking-related disorders. Muscle synergy analysis, which decomposes a large number of muscle electromyographic (EMG) signals into a small number of synergy control signals, could reduce the dimensionality and thus redundancy of the muscle and contact force prediction process. This study investigated whether use of subject-specific synergy controls can improve optimization prediction of knee contact forces during walking. To generate the predictions, we performed mixed dynamic muscle force optimizations (i.e., inverse skeletal dynamics with forward muscle activation and contraction dynamics) using data collected from a subject implanted with a force-measuring knee replacement. Twelve optimization problems (three cases with four subcases each) that minimized the sum of squares of muscle excitations were formulated to investigate how synergy controls affect knee contact force predictions. The three cases were: (1) Calibrate+Match where muscle model parameter values were calibrated and experimental knee contact forces were simultaneously matched, (2) Precalibrate+Predict where experimental knee contact forces were predicted using precalibrated muscle model parameters values from the first case, and (3) Calibrate+Predict where muscle model parameter values were calibrated and experimental knee contact forces were simultaneously predicted, all while matching inverse dynamic loads at the hip, knee, and ankle. The four subcases used either 44 independent controls or five synergy controls with and without EMG shape tracking. For the Calibrate+Match case, all four subcases closely reproduced the measured medial and lateral knee contact forces (R2 ≥ 0.94, root-mean-square (RMS) error < 66 N), indicating sufficient model fidelity for contact force prediction. For the Precalibrate+Predict and Calibrate+Predict cases, synergy controls yielded better contact force predictions (0.61 < R2 < 0.90, 83 N < RMS error < 161 N) than did independent controls (-0.15 < R2 < 0.79, 124 N < RMS error < 343 N) for corresponding subcases. For independent controls, contact force predictions improved when precalibrated model parameter values or EMG shape tracking was used. For synergy controls, contact force predictions were relatively insensitive to how model parameter values were calibrated, while EMG shape tracking made lateral (but not medial) contact force predictions worse. For the subject and optimization cost function analyzed in this study, use of subject-specific synergy controls improved the accuracy of knee contact force predictions, especially for lateral contact force when EMG shape tracking was omitted, and reduced prediction sensitivity to uncertainties in muscle model parameter values. PMID:24402438

Muscle synergies may improve optimization prediction of knee contact forces during walking.

PubMed

Walter, Jonathan P; Kinney, Allison L; Banks, Scott A; D'Lima, Darryl D; Besier, Thor F; Lloyd, David G; Fregly, Benjamin J

2014-02-01

The ability to predict patient-specific joint contact and muscle forces accurately could improve the treatment of walking-related disorders. Muscle synergy analysis, which decomposes a large number of muscle electromyographic (EMG) signals into a small number of synergy control signals, could reduce the dimensionality and thus redundancy of the muscle and contact force prediction process. This study investigated whether use of subject-specific synergy controls can improve optimization prediction of knee contact forces during walking. To generate the predictions, we performed mixed dynamic muscle force optimizations (i.e., inverse skeletal dynamics with forward muscle activation and contraction dynamics) using data collected from a subject implanted with a force-measuring knee replacement. Twelve optimization problems (three cases with four subcases each) that minimized the sum of squares of muscle excitations were formulated to investigate how synergy controls affect knee contact force predictions. The three cases were: (1) Calibrate+Match where muscle model parameter values were calibrated and experimental knee contact forces were simultaneously matched, (2) Precalibrate+Predict where experimental knee contact forces were predicted using precalibrated muscle model parameters values from the first case, and (3) Calibrate+Predict where muscle model parameter values were calibrated and experimental knee contact forces were simultaneously predicted, all while matching inverse dynamic loads at the hip, knee, and ankle. The four subcases used either 44 independent controls or five synergy controls with and without EMG shape tracking. For the Calibrate+Match case, all four subcases closely reproduced the measured medial and lateral knee contact forces (R2 ≥ 0.94, root-mean-square (RMS) error < 66 N), indicating sufficient model fidelity for contact force prediction. For the Precalibrate+Predict and Calibrate+Predict cases, synergy controls yielded better contact force predictions (0.61 < R2 < 0.90, 83 N < RMS error < 161 N) than did independent controls (-0.15 < R2 < 0.79, 124 N < RMS error < 343 N) for corresponding subcases. For independent controls, contact force predictions improved when precalibrated model parameter values or EMG shape tracking was used. For synergy controls, contact force predictions were relatively insensitive to how model parameter values were calibrated, while EMG shape tracking made lateral (but not medial) contact force predictions worse. For the subject and optimization cost function analyzed in this study, use of subject-specific synergy controls improved the accuracy of knee contact force predictions, especially for lateral contact force when EMG shape tracking was omitted, and reduced prediction sensitivity to uncertainties in muscle model parameter values.

Real-time soft tissue motion estimation for lung tumors during radiotherapy delivery.

PubMed

Rottmann, Joerg; Keall, Paul; Berbeco, Ross

2013-09-01

To provide real-time lung tumor motion estimation during radiotherapy treatment delivery without the need for implanted fiducial markers or additional imaging dose to the patient. 2D radiographs from the therapy beam's-eye-view (BEV) perspective are captured at a frame rate of 12.8 Hz with a frame grabber allowing direct RAM access to the image buffer. An in-house developed real-time soft tissue localization algorithm is utilized to calculate soft tissue displacement from these images in real-time. The system is tested with a Varian TX linear accelerator and an AS-1000 amorphous silicon electronic portal imaging device operating at a resolution of 512 × 384 pixels. The accuracy of the motion estimation is verified with a dynamic motion phantom. Clinical accuracy was tested on lung SBRT images acquired at 2 fps. Real-time lung tumor motion estimation from BEV images without fiducial markers is successfully demonstrated. For the phantom study, a mean tracking error <1.0 mm [root mean square (rms) error of 0.3 mm] was observed. The tracking rms accuracy on BEV images from a lung SBRT patient (≈20 mm tumor motion range) is 1.0 mm. The authors demonstrate for the first time real-time markerless lung tumor motion estimation from BEV images alone. The described system can operate at a frame rate of 12.8 Hz and does not require prior knowledge to establish traceable landmarks for tracking on the fly. The authors show that the geometric accuracy is similar to (or better than) previously published markerless algorithms not operating in real-time.

Dual-joint modeling for estimation of total knee replacement contact forces during locomotion.

PubMed

Hast, Michael W; Piazza, Stephen J

2013-02-01

Model-based estimation of in vivo contact forces arising between components of a total knee replacement is challenging because such forces depend upon accurate modeling of muscles, tendons, ligaments, contact, and multibody dynamics. Here we describe an approach to solving this problem with results that are tested by comparison to knee loads measured in vivo for a single subject and made available through the Grand Challenge Competition to Predict in vivo Tibiofemoral Loads. The approach makes use of a "dual-joint" paradigm in which the knee joint is alternately represented by (1) a ball-joint knee for inverse dynamic computation of required muscle controls and (2) a 12 degree-of-freedom (DOF) knee with elastic foundation contact at the tibiofemoral and patellofemoral articulations for forward dynamic integration. Measured external forces and kinematics were applied as a feedback controller and static optimization attempted to track measured knee flexion angles and electromyographic (EMG) activity. The resulting simulations showed excellent tracking of knee flexion (average RMS error of 2.53 deg) and EMG (muscle activations within ±10% envelopes of normalized measured EMG signals). Simulated tibiofemoral contact forces agreed qualitatively with measured contact forces, but their RMS errors were approximately 25% of the peak measured values. These results demonstrate the potential of a dual-joint modeling approach to predict joint contact forces from kinesiological data measured in the motion laboratory. It is anticipated that errors in the estimation of contact force will be reduced as more accurate subject-specific models of muscles and other soft tissues are developed.

Microwave Photonic Architecture for Direction Finding of LPI Emitters: Post-Processing for Angle of Arrival Estimation

DTIC Science & Technology

2016-09-01

mean- square (RMS) error of 0.29° at ə° resolution. For a P4 coded signal, the RMS error in estimating the AOA is 0.32° at 1° resolution. 14...FMCW signal, it was demonstrated that the system is capable of estimating the AOA with a root-mean- square (RMS) error of 0.29° at ə° resolution. For a...Modulator PCB printed circuit board PD photodetector RF radio frequency RMS root-mean- square xvi THIS PAGE INTENTIONALLY LEFT BLANK xvii

Accuracy and Precision of a Surgical Navigation System: Effect of Camera and Patient Tracker Position and Number of Active Markers.

PubMed

Gundle, Kenneth R; White, Jedediah K; Conrad, Ernest U; Ching, Randal P

2017-01-01

Surgical navigation systems are increasingly used to aid resection and reconstruction of osseous malignancies. In the process of implementing image-based surgical navigation systems, there are numerous opportunities for error that may impact surgical outcome. This study aimed to examine modifiable sources of error in an idealized scenario, when using a bidirectional infrared surgical navigation system. Accuracy and precision were assessed using a computerized-numerical-controlled (CNC) machined grid with known distances between indentations while varying: 1) the distance from the grid to the navigation camera (range 150 to 247cm), 2) the distance from the grid to the patient tracker device (range 20 to 40cm), and 3) whether the minimum or maximum number of bidirectional infrared markers were actively functioning. For each scenario, distances between grid points were measured at 10-mm increments between 10 and 120mm, with twelve measurements made at each distance. The accuracy outcome was the root mean square (RMS) error between the navigation system distance and the actual grid distance. To assess precision, four indentations were recorded six times for each scenario while also varying the angle of the navigation system pointer. The outcome for precision testing was the standard deviation of the distance between each measured point to the mean three-dimensional coordinate of the six points for each cluster. Univariate and multiple linear regression revealed that as the distance from the navigation camera to the grid increased, the RMS error increased (p<0.001). The RMS error also increased when not all infrared markers were actively tracking (p=0.03), and as the measured distance increased (p<0.001). In a multivariate model, these factors accounted for 58% of the overall variance in the RMS error. Standard deviations in repeated measures also increased when not all infrared markers were active (p<0.001), and as the distance between navigation camera and physical space increased (p=0.005). Location of the patient tracker did not affect accuracy (0.36) or precision (p=0.97). In our model laboratory test environment, the infrared bidirectional navigation system was more accurate and precise when the distance from the navigation camera to the physical (working) space was minimized and all bidirectional markers were active. These findings may require alterations in operating room setup and software changes to improve the performance of this system.

Real-time soft tissue motion estimation for lung tumors during radiotherapy delivery

PubMed Central

Rottmann, Joerg; Keall, Paul; Berbeco, Ross

2013-01-01

Purpose: To provide real-time lung tumor motion estimation during radiotherapy treatment delivery without the need for implanted fiducial markers or additional imaging dose to the patient. Methods: 2D radiographs from the therapy beam's-eye-view (BEV) perspective are captured at a frame rate of 12.8 Hz with a frame grabber allowing direct RAM access to the image buffer. An in-house developed real-time soft tissue localization algorithm is utilized to calculate soft tissue displacement from these images in real-time. The system is tested with a Varian TX linear accelerator and an AS-1000 amorphous silicon electronic portal imaging device operating at a resolution of 512 × 384 pixels. The accuracy of the motion estimation is verified with a dynamic motion phantom. Clinical accuracy was tested on lung SBRT images acquired at 2 fps. Results: Real-time lung tumor motion estimation from BEV images without fiducial markers is successfully demonstrated. For the phantom study, a mean tracking error <1.0 mm [root mean square (rms) error of 0.3 mm] was observed. The tracking rms accuracy on BEV images from a lung SBRT patient (≈20 mm tumor motion range) is 1.0 mm. Conclusions: The authors demonstrate for the first time real-time markerless lung tumor motion estimation from BEV images alone. The described system can operate at a frame rate of 12.8 Hz and does not require prior knowledge to establish traceable landmarks for tracking on the fly. The authors show that the geometric accuracy is similar to (or better than) previously published markerless algorithms not operating in real-time. PMID:24007146

A comparison of gantry-mounted x-ray-based real-time target tracking methods.

PubMed

Montanaro, Tim; Nguyen, Doan Trang; Keall, Paul J; Booth, Jeremy; Caillet, Vincent; Eade, Thomas; Haddad, Carol; Shieh, Chun-Chien

2018-03-01

Most modern radiotherapy machines are built with a 2D kV imaging system. Combining this imaging system with a 2D-3D inference method would allow for a ready-made option for real-time 3D tumor tracking. This work investigates and compares the accuracy of four existing 2D-3D inference methods using both motion traces inferred from external surrogates and measured internally from implanted beacons. Tumor motion data from 160 fractions (46 thoracic/abdominal patients) of Synchrony traces (inferred traces), and 28 fractions (7 lung patients) of Calypso traces (internal traces) from the LIGHT SABR trial (NCT02514512) were used in this study. The motion traces were used as the ground truth. The ground truth trajectories were used in silico to generate 2D positions projected on the kV detector. These 2D traces were then passed to the 2D-3D inference methods: interdimensional correlation, Gaussian probability density function (PDF), arbitrary-shape PDF, and the Kalman filter. The inferred 3D positions were compared with the ground truth to determine tracking errors. The relationships between tracking error and motion magnitude, interdimensional correlation, and breathing periodicity index (BPI) were also investigated. Larger tracking errors were observed from the Calypso traces, with RMS and 95th percentile 3D errors of 0.84-1.25 mm and 1.72-2.64 mm, compared to 0.45-0.68 mm and 0.74-1.13 mm from the Synchrony traces. The Gaussian PDF method was found to be the most accurate, followed by the Kalman filter, the interdimensional correlation method, and the arbitrary-shape PDF method. Tracking error was found to strongly and positively correlate with motion magnitude for both the Synchrony and Calypso traces and for all four methods. Interdimensional correlation and BPI were found to negatively correlate with tracking error only for the Synchrony traces. The Synchrony traces exhibited higher interdimensional correlation than the Calypso traces especially in the anterior-posterior direction. Inferred traces often exhibit higher interdimensional correlation, which are not true representation of thoracic/abdominal motion and may underestimate kV-based tracking errors. The use of internal traces acquired from systems such as Calypso is advised for future kV-based tracking studies. The Gaussian PDF method is the most accurate 2D-3D inference method for tracking thoracic/abdominal targets. Motion magnitude has significant impact on 2D-3D inference error, and should be considered when estimating kV-based tracking error. © 2018 American Association of Physicists in Medicine.

A novel multi-planar radiography method for three dimensional pose reconstruction of the patellofemoral and tibiofemoral joints after arthroplasty.

PubMed

Amiri, Shahram; Wilson, David R; Masri, Bassam A; Sharma, Gulshan; Anglin, Carolyn

2011-06-03

Determining the 3D pose of the patella after total knee arthroplasty is challenging. The commonly used single-plane fluoroscopy is prone to large errors in the clinically relevant mediolateral direction. A conventional fixed bi-planar setup is limited in the minimum angular distance between the imaging planes necessary for visualizing the patellar component, and requires a highly flexible setup to adjust for the subject-specific geometries. As an alternative solution, this study investigated the use of a novel multi-planar imaging setup that consists of a C-arm tracked by an external optoelectric tracking system, to acquire calibrated radiographs from multiple orientations. To determine the accuracies, a knee prosthesis was implanted on artificial bones and imaged in simulated 'Supine' and 'Weightbearing' configurations. The results were compared with measures from a coordinate measuring machine as the ground-truth reference. The weightbearing configuration was the preferred imaging direction with RMS errors of 0.48 mm and 1.32 ° for mediolateral shift and tilt of the patella, respectively, the two most clinically relevant measures. The 'imaging accuracies' of the system, defined as the accuracies in 3D reconstruction of a cylindrical ball bearing phantom (so as to avoid the influence of the shape and orientation of the imaging object), showed an order of magnitude (11.5 times) reduction in the out-of-plane RMS errors in comparison to single-plane fluoroscopy. With this new method, complete 3D pose of the patellofemoral and tibiofemoral joints during quasi-static activities can be determined with a many-fold (up to 8 times) (3.4mm) improvement in the out-of-plane accuracies compared to a conventional single-plane fluoroscopy setup. Copyright © 2011 Elsevier Ltd. All rights reserved.

Expected orbit determination performance for the TOPEX/Poseidon mission

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

Nerem, R.S.; Putney, B.H.; Marshall, J.A.

1993-03-01

The TOPEX/Poseidon (T/P) mission, launched during the summer of 1992, has the requirement that the radial component of its orbit must be computed to an accuracy of 13 cm root-mean-square (rms) or better, allowing measurements of the sea surface height to be computed to similar accuracy when the satellite height is differenced with the altimeter measurements. This will be done by combining precise satellite tracking measurements with precise models of the forces acting on the satellite. The Space Geodesy Branch at Goddard Space Flight Center (GSFC), as part of the T/P precision orbit determination (POD) Team, has the responsibility withinmore » NASA for the T/P precise orbit computations. The prelaunch activities of the T/P POD Team have been mainly directed towards developing improved models of the static and time-varying gravitational forces acting on T/P and precise models for the non-conservative forces perturbing the orbit of T/P such as atmospheric drag, solar and Earth radiation pressure, and thermal imbalances. The radial orbit error budget for T/P allows 10 cm rms error due to gravity field mismodeling, 3 cm due to solid Earth and ocean tides, 6 cm due to radiative forces, and 3 cm due to atmospheric drag. A prelaunch assessment of the current modeling accuracies for these forces indicates that the radial orbit error requirements can be achieved with the current models, and can probably be surpassed once T/P tracking data are used to fine tune the models. Provided that the performance of the T/P spacecraft is nominal, the precise orbits computed by the T/P POD Team should be accurate to 13 cm or better radially.« less

Evaluating the design of an earth radiation budget instrument with system simulations. Part 2: Minimization of instantaneous sampling errors for CERES-I

NASA Technical Reports Server (NTRS)

Stowe, Larry; Hucek, Richard; Ardanuy, Philip; Joyce, Robert

1994-01-01

Much of the new record of broadband earth radiation budget satellite measurements to be obtained during the late 1990s and early twenty-first century will come from the dual-radiometer Clouds and Earth's Radiant Energy System Instrument (CERES-I) flown aboard sun-synchronous polar orbiters. Simulation studies conducted in this work for an early afternoon satellite orbit indicate that spatial root-mean-square (rms) sampling errors of instantaneous CERES-I shortwave flux estimates will range from about 8.5 to 14.0 W/m on a 2.5 deg latitude and longitude grid resolution. Rms errors in longwave flux estimates are only about 20% as large and range from 1.5 to 3.5 W/sq m. These results are based on an optimal cross-track scanner design that includes 50% footprint overlap to eliminate gaps in the top-of-the-atmosphere coverage, and a 'smallest' footprint size to increase the ratio in the number of observations lying within to the number of observations lying on grid area boundaries. Total instantaneous measurement error also depends on the variability of anisotropic reflectance and emission patterns and on retrieval methods used to generate target area fluxes. Three retrieval procedures from both CERES-I scanners (cross-track and rotating azimuth plane) are used. (1) The baseline Earth Radiaton Budget Experiment (ERBE) procedure, which assumes that errors due to the use of mean angular dependence models (ADMs) in the radiance-to-flux inversion process nearly cancel when averaged over grid areas. (2) To estimate N, instantaneous ADMs are estimated from the multiangular, collocated observations of the two scanners. These observed models replace the mean models in computation of satellite flux estimates. (3) The scene flux approach, conducts separate target-area retrievals for each ERBE scene category and combines their results using area weighting by scene type. The ERBE retrieval performs best when the simulated radiance field departs from the ERBE mean models by less than 10%. For larger perturbations, both the scene flux and collocation methods produce less error than the ERBE retrieval. The scene flux technique is preferable, however, because it involves fewer restrictive assumptions.

TU-F-17A-05: Calculating Tumor Trajectory and Dose-Of-The-Day for Highly Mobile Tumors Using Cone-Beam CT Projections

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

Jones, B; Miften, M

2014-06-15

Purpose: Cone-beam CT (CBCT) projection images provide anatomical data in real-time over several respiratory cycles, forming a comprehensive picture of tumor movement. We developed a method using these projections to determine the trajectory and dose of highly mobile tumors during each fraction of treatment. Methods: CBCT images of a respiration phantom were acquired, where the trajectory mimicked a lung tumor with high amplitude (2.4 cm) and hysteresis. A template-matching algorithm was used to identify the location of a steel BB in each projection. A Gaussian probability density function for tumor position was calculated which best fit the observed trajectory ofmore » the BB in the imager geometry. Two methods to improve the accuracy of tumor track reconstruction were investigated: first, using respiratory phase information to refine the trajectory estimation, and second, using the Monte Carlo method to sample the estimated Gaussian tumor position distribution. 15 clinically-drawn abdominal/lung CTV volumes were used to evaluate the accuracy of the proposed methods by comparing the known and calculated BB trajectories. Results: With all methods, the mean position of the BB was determined with accuracy better than 0.1 mm, and root-mean-square (RMS) trajectory errors were lower than 5% of marker amplitude. Use of respiratory phase information decreased RMS errors by 30%, and decreased the fraction of large errors (>3 mm) by half. Mean dose to the clinical volumes was calculated with an average error of 0.1% and average absolute error of 0.3%. Dosimetric parameters D90/D95 were determined within 0.5% of maximum dose. Monte-Carlo sampling increased RMS trajectory and dosimetric errors slightly, but prevented over-estimation of dose in trajectories with high noise. Conclusions: Tumor trajectory and dose-of-the-day were accurately calculated using CBCT projections. This technique provides a widely-available method to evaluate highly-mobile tumors, and could facilitate better strategies to mitigate or compensate for motion during SBRT.« less

Accuracy and Precision of a Surgical Navigation System: Effect of Camera and Patient Tracker Position and Number of Active Markers

PubMed Central

Gundle, Kenneth R.; White, Jedediah K.; Conrad, Ernest U.; Ching, Randal P.

2017-01-01

Introduction: Surgical navigation systems are increasingly used to aid resection and reconstruction of osseous malignancies. In the process of implementing image-based surgical navigation systems, there are numerous opportunities for error that may impact surgical outcome. This study aimed to examine modifiable sources of error in an idealized scenario, when using a bidirectional infrared surgical navigation system. Materials and Methods: Accuracy and precision were assessed using a computerized-numerical-controlled (CNC) machined grid with known distances between indentations while varying: 1) the distance from the grid to the navigation camera (range 150 to 247cm), 2) the distance from the grid to the patient tracker device (range 20 to 40cm), and 3) whether the minimum or maximum number of bidirectional infrared markers were actively functioning. For each scenario, distances between grid points were measured at 10-mm increments between 10 and 120mm, with twelve measurements made at each distance. The accuracy outcome was the root mean square (RMS) error between the navigation system distance and the actual grid distance. To assess precision, four indentations were recorded six times for each scenario while also varying the angle of the navigation system pointer. The outcome for precision testing was the standard deviation of the distance between each measured point to the mean three-dimensional coordinate of the six points for each cluster. Results: Univariate and multiple linear regression revealed that as the distance from the navigation camera to the grid increased, the RMS error increased (p<0.001). The RMS error also increased when not all infrared markers were actively tracking (p=0.03), and as the measured distance increased (p<0.001). In a multivariate model, these factors accounted for 58% of the overall variance in the RMS error. Standard deviations in repeated measures also increased when not all infrared markers were active (p<0.001), and as the distance between navigation camera and physical space increased (p=0.005). Location of the patient tracker did not affect accuracy (0.36) or precision (p=0.97) Conclusion: In our model laboratory test environment, the infrared bidirectional navigation system was more accurate and precise when the distance from the navigation camera to the physical (working) space was minimized and all bidirectional markers were active. These findings may require alterations in operating room setup and software changes to improve the performance of this system. PMID:28694888

Synthetic temperature profiles derived from Geosat altimetry: Comparison with air-dropped expendable bathythermograph profiles

NASA Astrophysics Data System (ADS)

Carnes, Michael R.; Mitchell, Jim L.; de Witt, P. Webb

1990-10-01

Synthetic temperature profiles are computed from altimeter-derived sea surface heights in the Gulf Stream region. The required relationships between surface height (dynamic height at the surface relative to 1000 dbar) and subsurface temperature are provided from regression relationships between dynamic height and amplitudes of empirical orthogonal functions (EOFs) of the vertical structure of temperature derived by de Witt (1987). Relationships were derived for each month of the year from historical temperature and salinity profiles from the region surrounding the Gulf Stream northeast of Cape Hatteras. Sea surface heights are derived using two different geoid estimates, the feature-modeled geoid and the air-dropped expendable bathythermograph (AXBT) geoid, both described by Carnes et al. (1990). The accuracy of the synthetic profiles is assessed by comparison to 21 AXBT profile sections which were taken during three surveys along 12 Geosat ERM ground tracks nearly contemporaneously with Geosat overflights. The primary error statistic considered is the root-mean-square (rms) difference between AXBT and synthetic isotherm depths. The two sources of error are the EOF relationship and the altimeter-derived surface heights. EOF-related and surface height-related errors in synthetic temperature isotherm depth are of comparable magnitude; each translates into about a 60-m rms isotherm depth error, or a combined 80 m to 90 m error for isotherms in the permanent thermocline. EOF-related errors are responsible for the absence of the near-surface warm core of the Gulf Stream and for the reduced volume of Eighteen Degree Water in the upper few hundred meters of (apparently older) cold-core rings in the synthetic profiles. The overall rms difference between surface heights derived from the altimeter and those computed from AXBT profiles is 0.15 dyn m when the feature-modeled geoid is used and 0.19 dyn m when the AXBT geoid is used; the portion attributable to altimeter-derived surface height errors alone is 0.03 dyn m less for each. In most cases, the deeper structure of the Gulf Stream and eddies is reproduced well by vertical sections of synthetic temperature, with largest errors typically in regions of high horizontal gradient such as across rings and the Gulf Stream front.

Interferometric phase measurement techniques for coherent beam combining

NASA Astrophysics Data System (ADS)

Antier, Marie; Bourderionnet, Jérôme; Larat, Christian; Lallier, Eric; Primot, Jérôme; Brignon, Arnaud

2015-03-01

Coherent beam combining of fiber amplifiers provides an attractive mean of reaching high power laser. In an interferometric phase measurement the beams issued for each fiber combined are imaged onto a sensor and interfere with a reference plane wave. This registration of interference patterns on a camera allows the measurement of the exact phase error of each fiber beam in a single shot. Therefore, this method is a promising candidate toward very large number of combined fibers. Based on this technique, several architectures can be proposed to coherently combine a high number of fibers. The first one based on digital holography transfers directly the image of the camera to spatial light modulator (SLM). The generated hologram is used to compensate the phase errors induced by the amplifiers. This architecture has therefore a collective phase measurement and correction. Unlike previous digital holography technique, the probe beams measuring the phase errors between the fibers are co-propagating with the phase-locked signal beams. This architecture is compatible with the use of multi-stage isolated amplifying fibers. In that case, only 20 pixels per fiber on the SLM are needed to obtain a residual phase shift error below λ/10rms. The second proposed architecture calculates the correction applied to each fiber channel by tracking the relative position of the interference finges. In this case, a phase modulator is placed on each channel. In that configuration, only 8 pixels per fiber on the camera is required for a stable close loop operation with a residual phase error of λ/20rms, which demonstrates the scalability of this concept.

Particle drag history in a subcritical post-shock flow - data analysis method and uncertainty

NASA Astrophysics Data System (ADS)

Ding, Liuyang; Bordoloi, Ankur; Adrian, Ronald; Prestridge, Kathy; Arizona State University Team; Los Alamos National Laboratory Team

2017-11-01

A novel data analysis method for measuring particle drag in an 8-pulse particle tracking velocimetry-accelerometry (PTVA) experiment is described. We represented the particle drag history, CD(t) , using polynomials up to the third order. An analytical model for continuous particle position history was derived by integrating an equation relating CD(t) with particle velocity and acceleration. The coefficients of CD(t) were then calculated by fitting the position history model to eight measured particle locations in the sense of least squares. A preliminary test with experimental data showed that the new method yielded physically more reasonable particle velocity and acceleration history compared to conventionally adopted polynomial fitting. To fully assess and optimize the performance of the new method, we performed a PTVA simulation by assuming a ground truth of particle motion based on an ensemble of experimental data. The results indicated a significant reduction in the RMS error of CD. We also found that for particle locating noise between 0.1 and 3 pixels, a range encountered in our experiment, the lowest RMS error was achieved by using the quadratic CD(t) model. Furthermore, we will also discuss the optimization of the pulse timing configuration.

Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

PubMed

Felt, Wyatt; Chin, Khai Yi; Remy, C David

2017-09-01

This article experimentally investigates the potential of using flexible, inductance-based contraction sensors in the closed-loop motion control of soft robots. Accurate motion control remains a highly challenging task for soft robotic systems. Precise models of the actuation dynamics and environmental interactions are often unavailable. This renders open-loop control impossible, while closed-loop control suffers from a lack of suitable feedback. Conventional motion sensors, such as linear or rotary encoders, are difficult to adapt to robots that lack discrete mechanical joints. The rigid nature of these sensors runs contrary to the aspirational benefits of soft systems. As truly soft sensor solutions are still in their infancy, motion control of soft robots has so far relied on laboratory-based sensing systems such as motion capture, electromagnetic (EM) tracking, or Fiber Bragg Gratings. In this article, we used embedded flexible sensors known as Smart Braids to sense the contraction of McKibben muscles through changes in inductance. We evaluated closed-loop control on two systems: a revolute joint and a planar, one degree of freedom continuum manipulator. In the revolute joint, our proposed controller compensated for elasticity in the actuator connections. The Smart Braid feedback allowed motion control with a steady-state root-mean-square (RMS) error of [1.5]°. In the continuum manipulator, Smart Braid feedback enabled tracking of the desired tip angle with a steady-state RMS error of [1.25]°. This work demonstrates that Smart Braid sensors can provide accurate position feedback in closed-loop motion control suitable for field applications of soft robotic systems.

Accuracy assessment of high-rate GPS measurements for seismology

NASA Astrophysics Data System (ADS)

Elosegui, P.; Davis, J. L.; Ekström, G.

2007-12-01

Analysis of GPS measurements with a controlled laboratory system, built to simulate the ground motions caused by tectonic earthquakes and other transient geophysical signals such as glacial earthquakes, enables us to assess the technique of high-rate GPS. The root-mean-square (rms) position error of this system when undergoing realistic simulated seismic motions is 0.05~mm, with maximum position errors of 0.1~mm, thus providing "ground truth" GPS displacements. We have acquired an extensive set of high-rate GPS measurements while inducing seismic motions on a GPS antenna mounted on this system with a temporal spectrum similar to real seismic events. We found that, for a particular 15-min-long test event, the rms error of the 1-Hz GPS position estimates was 2.5~mm, with maximum position errors of 10~mm, and the error spectrum of the GPS estimates was approximately flicker noise. These results may however represent a best-case scenario since they were obtained over a short (~10~m) baseline, thereby greatly mitigating baseline-dependent errors, and when the number and distribution of satellites on the sky was good. For example, we have determined that the rms error can increase by a factor of 2--3 as the GPS constellation changes throughout the day, with an average value of 3.5~mm for eight identical, hourly-spaced, consecutive test events. The rms error also increases with increasing baseline, as one would expect, with an average rms error for a ~1400~km baseline of 9~mm. We will present an assessment of the accuracy of high-rate GPS based on these measurements, discuss the implications of this study for seismology, and describe new applications in glaciology.

SEC proton prediction model: verification and analysis.

PubMed

Balch, C C

1999-06-01

This paper describes a model that has been used at the NOAA Space Environment Center since the early 1970s as a guide for the prediction of solar energetic particle events. The algorithms for proton event probability, peak flux, and rise time are described. The predictions are compared with observations. The current model shows some ability to distinguish between proton event associated flares and flares that are not associated with proton events. The comparisons of predicted and observed peak flux show considerable scatter, with an rms error of almost an order of magnitude. Rise time comparisons also show scatter, with an rms error of approximately 28 h. The model algorithms are analyzed using historical data and improvements are suggested. Implementation of the algorithm modifications reduces the rms error in the log10 of the flux prediction by 21%, and the rise time rms error by 31%. Improvements are also realized in the probability prediction by deriving the conditional climatology for proton event occurrence given flare characteristics.

Dwell time method based on Richardson-Lucy algorithm

NASA Astrophysics Data System (ADS)

Jiang, Bo; Ma, Zhen

2017-10-01

When the noise in the surface error data given by the interferometer has no effect on the iterative convergence of the RL algorithm, the RL algorithm for deconvolution in image restoration can be applied to the CCOS model to solve the dwell time. By extending the initial error function on the edge and denoising the noise in the surface error data given by the interferometer , it makes the result more available . The simulation results show the final residual error 10.7912nm nm in PV and 0.4305 nm in RMS, when the initial surface error is 107.2414 nm in PV and 15.1331 nm in RMS. The convergence rates of the PV and RMS values can reach up to 89.9% and 96.0%, respectively . The algorithms can satisfy the requirement of fabrication very well.

Tracking through laser-induced clutter for air-to-ground directed energy system

NASA Astrophysics Data System (ADS)

Belen'kii, Mikhail; Brinkley, Timothy; Hughes, Kevin; Tannenbaum, Allen

2003-09-01

The agility and speed with which directed energy can be retargeted and delivered to the target makes a laser weapon highly desirable in tactical battlefield environments. A directed energy system can effectively damage and possibly destroy relatively soft targets on the ground. In order to accurately point a high-energy beam at the target, the directed energy system must be able to acquire and track targets of interest in highly cluttered environments, under different weather, smoke, and camouflage conditions and in the presence of turbulence and thermal blooming. To meet these requirements, we proposed a concept of a multi spectral tracker, which integrates three sensors: SAR radar, a passive MWIR optical tracker, and a range-gated laser illuminated tracker. In this paper we evaluated the feasibility of the integrated optical tracker and arrived to the following conclusions: a) the contrast enhancement by mapping the original pixel distribution to the desired one enhances the target identification capability, b) a reduction of the divergence of the illuminating beam reduces rms pointing error of a laser tracker, c) a clutter removal algorithm based on active contours is capable of capturing targets in highly cluttered environments, d) the daytime rms pointing error caused by anisoplanatism of the track point to the aim point is comparable to the diffraction-limited beam spot size, f) the peak intensity shift from the optical axis caused by thermal blooming at 5 km range for the air-to-ground engagement scenario is on the order of 8 μrad, and it is 10 μrad at 10 km range, and e) the thermal blooming reduces the peak average power in a 2 cm bucket at 5 km range by a factor of 8, and it reduces the peak average power in the bucket at 10 km range by a factor of 22.

The mean sea surface height and geoid along the Geosat subtrack from Bermuda to Cape Cod

NASA Astrophysics Data System (ADS)

Kelly, Kathryn A.; Joyce, Terrence M.; Schubert, David M.; Caruso, Michael J.

1991-07-01

Measurements of near-surface velocity and concurrent sea level along an ascending Geosat subtrack were used to estimate the mean sea surface height and the Earth's gravitational geoid. Velocity measurements were made on three traverses of a Geosat subtrack within 10 days, using an acoustic Doppler current profiler (ADCP). A small bias in the ADCP velocity was removed by considering a mass balance for two pairs of triangles for which expendable bathythermograph measurements were also made. Because of the large curvature of the Gulf Stream, the gradient wind balance was used to estimate the cross-track component of geostrophic velocity from the ADCP vectors; this component was then integrated to obtain the sea surface height profile. The mean sea surface height was estimated as the difference between the instantaneous sea surface height from ADCP and the Geosat residual sea level, with mesoscale errors reduced by low-pass filtering. The error estimates were divided into a bias, tilt, and mesoscale residual; the bias was ignored because profiles were only determined within a constant of integration. The calculated mean sea surface height estimate agreed with an independent estimate of the mean sea surface height from Geosat, obtained by modeling the Gulf Stream as a Gaussian jet, within the expected errors in the estimates: the tilt error was 0.10 m, and the mesoscale error was 0.044 m. To minimize mesoscale errors in the estimate, the alongtrack geoid estimate was computed as the difference between the mean sea level from the Geosat Exact Repeat Mission and an estimate of the mean sea surface height, rather than as the difference between instantaneous profiles of sea level and sea surface height. In the critical region near the Gulf Stream the estimated error reduction using this method was about 0.07 m. Differences between the geoid estimate and a gravimetric geoid were not within the expected errors: the rms mesoscale difference was 0.24 m rms.

Improvement of single detector proton radiography by incorporating intensity of time-resolved dose rate functions

NASA Astrophysics Data System (ADS)

Zhang, Rongxiao; Jee, Kyung-Wook; Cascio, Ethan; Sharp, Gregory C.; Flanz, Jacob B.; Lu, Hsiao-Ming

2018-01-01

Proton radiography, which images patients with the same type of particles as those with which they are to be treated, is a promising approach to image guidance and water equivalent path length (WEPL) verification in proton radiation therapy. We have shown recently that proton radiographs could be obtained by measuring time-resolved dose rate functions (DRFs) using an x-ray amorphous silicon flat panel. The WEPL values were derived solely from the root-mean-square (RMS) of DRFs, while the intensity information in the DRFs was filtered out. In this work, we explored the use of such intensity information for potential improvement in WEPL accuracy and imaging quality. Three WEPL derivation methods based on, respectively, the RMS only, the intensity only, and the intensity-weighted RMS were tested and compared in terms of the quality of obtained radiograph images and the accuracy of WEPL values. A Gammex CT calibration phantom containing inserts made of various tissue substitute materials with independently measured relative stopping powers (RSP) was used to assess the imaging performances. Improved image quality with enhanced interfaces was achieved while preserving the accuracy by using intensity information in the calibration. Other objects, including an anthropomorphic head phantom, a proton therapy range compensator, a frozen lamb’s head and an ‘image quality phantom’ were also imaged. Both the RMS only and the intensity-weighted RMS methods derived RSPs within  ±  1% for most of the Gammex phantom inserts, with a mean absolute percentage error of 0.66% for all inserts. In the case of the insert with a titanium rod, the method based on RMS completely failed, whereas that based on the intensity-weighted RMS was qualitatively valid. The use of intensity greatly enhanced the interfaces between different materials in the obtained WEPL images, suggesting the potential for image guidance in areas such as patient positioning and tumor tracking by proton radiography.

Visual servoing for a US-guided therapeutic HIFU system by coagulated lesion tracking: a phantom study.

PubMed

Seo, Joonho; Koizumi, Norihiro; Funamoto, Takakazu; Sugita, Naohiko; Yoshinaka, Kiyoshi; Nomiya, Akira; Homma, Yukio; Matsumoto, Yoichiro; Mitsuishi, Mamoru

2011-06-01

Applying ultrasound (US)-guided high-intensity focused ultrasound (HIFU) therapy for kidney tumours is currently very difficult, due to the unclearly observed tumour area and renal motion induced by human respiration. In this research, we propose new methods by which to track the indistinct tumour area and to compensate the respiratory tumour motion for US-guided HIFU treatment. For tracking indistinct tumour areas, we detect the US speckle change created by HIFU irradiation. In other words, HIFU thermal ablation can coagulate tissue in the tumour area and an intraoperatively created coagulated lesion (CL) is used as a spatial landmark for US visual tracking. Specifically, the condensation algorithm was applied to robust and real-time CL speckle pattern tracking in the sequence of US images. Moreover, biplanar US imaging was used to locate the three-dimensional position of the CL, and a three-actuator system drives the end-effector to compensate for the motion. Finally, we tested the proposed method by using a newly devised phantom model that enables both visual tracking and a thermal response by HIFU irradiation. In the experiment, after generation of the CL in the phantom kidney, the end-effector successfully synchronized with the phantom motion, which was modelled by the captured motion data for the human kidney. The accuracy of the motion compensation was evaluated by the error between the end-effector and the respiratory motion, the RMS error of which was approximately 2 mm. This research shows that a HIFU-induced CL provides a very good landmark for target motion tracking. By using the CL tracking method, target motion compensation can be realized in the US-guided robotic HIFU system. Copyright © 2011 John Wiley & Sons, Ltd.

Freeform solar concentrator with a highly asymmetric acceptance cone

NASA Astrophysics Data System (ADS)

Wheelwright, Brian; Angel, J. Roger P.; Coughenour, Blake; Hammer, Kimberly

2014-10-01

A solar concentrator with a highly asymmetric acceptance cone is investigated. Concentrating photovoltaic systems require dual-axis sun tracking to maintain nominal concentration throughout the day. In addition to collecting direct rays from the solar disk, which subtends ~0.53 degrees, concentrating optics must allow for in-field tracking errors due to mechanical misalignment of the module, wind loading, and control loop biases. The angular range over which the concentrator maintains <90% of on-axis throughput is defined as the optical acceptance angle. Concentrators with substantial rotational symmetry likewise exhibit rotationally symmetric acceptance angles. In the field, this is sometimes a poor match with azimuth-elevation trackers, which have inherently asymmetric tracking performance. Pedestal-mounted trackers with low torsional stiffness about the vertical axis have better elevation tracking than azimuthal tracking. Conversely, trackers which rotate on large-footprint circular tracks are often limited by elevation tracking performance. We show that a line-focus concentrator, composed of a parabolic trough primary reflector and freeform refractive secondary, can be tailored to have a highly asymmetric acceptance angle. The design is suitable for a tracker with excellent tracking accuracy in the elevation direction, and poor accuracy in the azimuthal direction. In the 1000X design given, when trough optical errors (2mrad rms slope deviation) are accounted for, the azimuthal acceptance angle is +/- 1.65°, while the elevation acceptance angle is only +/-0.29°. This acceptance angle does not include the angular width of the sun, which consumes nearly all of the elevation tolerance at this concentration level. By decreasing the average concentration, the elevation acceptance angle can be increased. This is well-suited for a pedestal alt-azimuth tracker with a low cost slew bearing (without anti-backlash features).

Statistical analysis of the surface figure of the James Webb Space Telescope

NASA Astrophysics Data System (ADS)

Lightsey, Paul A.; Chaney, David; Gallagher, Benjamin B.; Brown, Bob J.; Smith, Koby; Schwenker, John

2012-09-01

The performance of an optical system is best characterized by either the point spread function (PSF) or the optical transfer function (OTF). However, for system budgeting purposes, it is convenient to use a single scalar metric, or a combination of a few scalar metrics to track performance. For the James Webb Space Telescope, the Observatory level requirements were expressed in metrics of Strehl Ratio, and Encircled Energy. These in turn were converted to the metrics of total rms WFE and rms WFE within spatial frequency domains. The 18 individual mirror segments for the primary mirror segment assemblies (PMSA), the secondary mirror (SM), tertiary mirror (TM), and Fine Steering Mirror have all been fabricated. They are polished beryllium mirrors with a protected gold reflective coating. The statistical analysis of the resulting Surface Figure Error of these mirrors has been analyzed. The average spatial frequency distribution and the mirror-to-mirror consistency of the spatial frequency distribution are reported. The results provide insight to system budgeting processes for similar optical systems.

Motion prediction in MRI-guided radiotherapy based on interleaved orthogonal cine-MRI

NASA Astrophysics Data System (ADS)

Seregni, M.; Paganelli, C.; Lee, D.; Greer, P. B.; Baroni, G.; Keall, P. J.; Riboldi, M.

2016-01-01

In-room cine-MRI guidance can provide non-invasive target localization during radiotherapy treatment. However, in order to cope with finite imaging frequency and system latencies between target localization and dose delivery, tumour motion prediction is required. This work proposes a framework for motion prediction dedicated to cine-MRI guidance, aiming at quantifying the geometric uncertainties introduced by this process for both tumour tracking and beam gating. The tumour position, identified through scale invariant features detected in cine-MRI slices, is estimated at high-frequency (25 Hz) using three independent predictors, one for each anatomical coordinate. Linear extrapolation, auto-regressive and support vector machine algorithms are compared against systems that use no prediction or surrogate-based motion estimation. Geometric uncertainties are reported as a function of image acquisition period and system latency. Average results show that the tracking error RMS can be decreased down to a [0.2; 1.2] mm range, for acquisition periods between 250 and 750 ms and system latencies between 50 and 300 ms. Except for the linear extrapolator, tracking and gating prediction errors were, on average, lower than those measured for surrogate-based motion estimation. This finding suggests that cine-MRI guidance, combined with appropriate prediction algorithms, could relevantly decrease geometric uncertainties in motion compensated treatments.

Comparisons of the NASA ER-2 meteorological measurement system with radar tracking and radiosonde data

NASA Technical Reports Server (NTRS)

Gaines, Steven E.; Bowen, Stuart W.; Hipskind, R. S.; Bui, T. P.; Chan, K. R.

1992-01-01

Measurements of aircraft longitude, latitude, and velocity, and measurements of atmospheric pressure, temperature, and horizontal wind from the meteorological measurement system (MMS) on board the NASA ER-2 aircraft were compared with independent measurements of these quantities from radiosondes and radar tracking of both the ER-2 and radiosonde balloons. In general, the comparisons were good and within the expected measurement accuracy and natural variability of the meteorological parameters. Radar tracking of the ER-2 resolved the velocity and position drift of the inertial navigation system (INS). The rms errors in the horizontal velocity components of the ER-2, due to INS errors, were found to be 0.5 m/s. The magnitude of the drift in longitude and latitude depends on the sign and magnitude of the corresponding component velocity drift and can be a few hundredths of a degree. The radar altitudes of the ER-2 and radiosondes were used as the basis for comparing measurements of atmospheric pressure, temperature, and horizontal wind from these two platforms. The uncertainty in the MMS horizontal wind measurement is estimated to be +/- 2.5 m/s. The accuracy of the MMS pressure and temperature measurements were inferred to be +/- 0.3 hPa and +/- 0.3 K.

Motion control of the rabbit ankle joint with a flat interface nerve electrode.

PubMed

Park, Hyun-Joo; Durand, Dominique M

2015-12-01

A flat interface nerve electrode (FINE) has been shown to improve fascicular and subfascicular selectivity. A recently developed novel control algorithm for FINE was applied to motion control of the rabbit ankle. A 14-contact FINE was placed on the rabbit sciatic nerve (n = 8), and ankle joint motion was controlled for sinusoidal trajectories and filtered random trajectories. To this end, a real-time controller was implemented with a multiple-channel current stimulus isolator. The performance test results showed good tracking performance of rabbit ankle joint motion for filtered random trajectories and sinusoidal trajectories (0.5 Hz and 1.0 Hz) with <10% average root-mean-square (RMS) tracking error, whereas the average range of ankle joint motion was between -20.0 ± 9.3° and 18.1 ± 8.8°. The proposed control algorithm enables the use of a multiple-contact nerve electrode for motion trajectory tracking control of musculoskeletal systems. © 2015 Wiley Periodicals, Inc.

A minimalist approach to bias estimation for passive sensor measurements with targets of opportunity

NASA Astrophysics Data System (ADS)

Belfadel, Djedjiga; Osborne, Richard W.; Bar-Shalom, Yaakov

2013-09-01

In order to carry out data fusion, registration error correction is crucial in multisensor systems. This requires estimation of the sensor measurement biases. It is important to correct for these bias errors so that the multiple sensor measurements and/or tracks can be referenced as accurately as possible to a common tracking coordinate system. This paper provides a solution for bias estimation for the minimum number of passive sensors (two), when only targets of opportunity are available. The sensor measurements are assumed time-coincident (synchronous) and perfectly associated. Since these sensors provide only line of sight (LOS) measurements, the formation of a single composite Cartesian measurement obtained from fusing the LOS measurements from different sensors is needed to avoid the need for nonlinear filtering. We evaluate the Cramer-Rao Lower Bound (CRLB) on the covariance of the bias estimate, i.e., the quantification of the available information about the biases. Statistical tests on the results of simulations show that this method is statistically efficient, even for small sample sizes (as few as two sensors and six points on the trajectory of a single target of opportunity). We also show that the RMS position error is significantly improved with bias estimation compared with the target position estimation using the original biased measurements.

Metric analysis of minitrack optical and interferometer data

NASA Technical Reports Server (NTRS)

Brown, D. C.; Morduch, G. E.; Willman, J. B.

1971-01-01

The network analysis program (NAP-2), which has the capability of simultaneously solving for orbits and tracking station error model terms, was, after several modifications, used in the calibration of minitrack stations using minitrack satellite measurements (self-calibration). Several support programs were written to aid in this task. A simultaneous four-arc solution was obtained. A comparison with optically determined arcs for the same time spans showed rms position differences of 67m, 86m, 124m and 168m for the 4 arcs considered. An apparatus incorporating a diffraction grating was designed and successfully used to measure the drift rate of the Fort Myers MOTS camera drive.

An all digital phase locked loop for synchronization of a sinusoidal signal embedded in white Gaussian noise

NASA Technical Reports Server (NTRS)

Reddy, C. P.; Gupta, S. C.

1973-01-01

An all digital phase locked loop which tracks the phase of the incoming sinusoidal signal once per carrier cycle is proposed. The different elements and their functions and the phase lock operation are explained in detail. The nonlinear difference equations which govern the operation of the digital loop when the incoming signal is embedded in white Gaussian noise are derived, and a suitable model is specified. The performance of the digital loop is considered for the synchronization of a sinusoidal signal. For this, the noise term is suitably modelled which allows specification of the output probabilities for the two level quantizer in the loop at any given phase error. The loop filter considered increases the probability of proper phase correction. The phase error states in modulo two-pi forms a finite state Markov chain which enables the calculation of steady state probabilities, RMS phase error, transient response and mean time for cycle skipping.

Novel MRI-derived quantitative biomarker for cardiac function applied to classifying ischemic cardiomyopathy within a Bayesian rule learning framework

NASA Astrophysics Data System (ADS)

Menon, Prahlad G.; Morris, Lailonny; Staines, Mara; Lima, Joao; Lee, Daniel C.; Gopalakrishnan, Vanathi

2014-03-01

Characterization of regional left ventricular (LV) function may have application in prognosticating timely response and informing choice therapy in patients with ischemic cardiomyopathy. The purpose of this study is to characterize LV function through a systematic analysis of 4D (3D + time) endocardial motion over the cardiac cycle in an effort to define objective, clinically useful metrics of pathological remodeling and declining cardiac performance, using standard cardiac MRI data for two distinct patient cohorts accessed from CardiacAtlas.org: a) MESA - a cohort of asymptomatic patients; and b) DETERMINE - a cohort of symptomatic patients with a history of ischemic heart disease (IHD) or myocardial infarction. The LV endocardium was segmented and a signed phase-to-phase Hausdorff distance (HD) was computed at 3D uniformly spaced points tracked on segmented endocardial surface contours, over the cardiac cycle. An LV-averaged index of phase-to-phase endocardial displacement (P2PD) time-histories was computed at each tracked point, using the HD computed between consecutive cardiac phases. Average and standard deviation in P2PD over the cardiac cycle was used to prepare characteristic curves for the asymptomatic and IHD cohort. A novel biomarker of RMS error between mean patient-specific characteristic P2PD over the cardiac cycle for each individual patient and the cumulative P2PD characteristic of a cohort of asymptomatic patients was established as the RMS-P2PD marker. The novel RMS-P2PD marker was tested as a cardiac function based feature for automatic patient classification using a Bayesian Rule Learning (BRL) framework. The RMS-P2PD biomarker indices were significantly different for the symptomatic patient and asymptomatic control cohorts (p<0.001). BRL accurately classified 83.8% of patients correctly from the patient and control populations, with leave-one-out cross validation, using standard indices of LV ejection fraction (LV-EF) and LV end-systolic volume index (LV-ESVI). This improved to 91.9% with inclusion of the RMS-P2PD biomarker and was congruent with improvements in both sensitivity for classifying patients and specificity for identifying asymptomatic controls from 82.6% up to 95.7%. RMS-P2PD, when contrasted against a collective normal reference, is a promising biomarker to investigate further in its utility for identifying quantitative signs of pathological endocardial function which may boost standard image makers as precursors of declining cardiac performance.

An efficient computational method for characterizing the effects of random surface errors on the average power pattern of reflectors

NASA Technical Reports Server (NTRS)

Rahmat-Samii, Y.

1983-01-01

Based on the works of Ruze (1966) and Vu (1969), a novel mathematical model has been developed to determine efficiently the average power pattern degradations caused by random surface errors. In this model, both nonuniform root mean square (rms) surface errors and nonuniform illumination functions are employed. In addition, the model incorporates the dependence on F/D in the construction of the solution. The mathematical foundation of the model rests on the assumption that in each prescribed annular region of the antenna, the geometrical rms surface value is known. It is shown that closed-form expressions can then be derived, which result in a very efficient computational method for the average power pattern. Detailed parametric studies are performed with these expressions to determine the effects of different random errors and illumination tapers on parameters such as gain loss and sidelobe levels. The results clearly demonstrate that as sidelobe levels decrease, their dependence on the surface rms/wavelength becomes much stronger and, for a specified tolerance level, a considerably smaller rms/wavelength is required to maintain the low sidelobes within the required bounds.

Kite: status of the external metrology testbed for SIM

NASA Astrophysics Data System (ADS)

Dekens, Frank G.; Alvarez-Salazar, Oscar S.; Azizi, Alireza; Moser, Steven J.; Nemati, Bijan; Negron, John; Neville, Timothy; Ryan, Daniel

2004-10-01

Kite is a system level testbed for the External Metrology System of the Space Interferometry Mission (SIM). The External Metrology System is used to track the fiducials that are located at the centers of the interferometer's siderostats. The relative changes in their positions needs to be tracked to an accuracy of tens of picometers in order to correct for thermal deformations and attitude changes of the spacecraft. Because of the need for such high precision measurements, the Kite testbed was build to test both the metrology gauges and our ability to optically model the system at these levels. The Kite testbed is a redundant metrology truss, in which 6 lengths are measured, but only 5 are needed to define the system. The RMS error between the redundant measurements needs to be less than 140pm for the SIM Wide-Angle observing scenario and less than 8 pm for the Narrow-Angle observing scenario. With our current testbed layout, we have achieved an RMS of 85 pm in the Wide-Angle case, meeting the goal. For the Narrow-Angle case, we have reached 5.8 pm, but only for on-axis observations. We describe the testbed improvements that have been made since our initial results, and outline the future Kite changes that will add further effects that SIM faces in order to make the testbed more representative of SIM.

Sampling Errors of SSM/I and TRMM Rainfall Averages: Comparison with Error Estimates from Surface Data and a Sample Model

NASA Technical Reports Server (NTRS)

Bell, Thomas L.; Kundu, Prasun K.; Kummerow, Christian D.; Einaudi, Franco (Technical Monitor)

2000-01-01

Quantitative use of satellite-derived maps of monthly rainfall requires some measure of the accuracy of the satellite estimates. The rainfall estimate for a given map grid box is subject to both remote-sensing error and, in the case of low-orbiting satellites, sampling error due to the limited number of observations of the grid box provided by the satellite. A simple model of rain behavior predicts that Root-mean-square (RMS) random error in grid-box averages should depend in a simple way on the local average rain rate, and the predicted behavior has been seen in simulations using surface rain-gauge and radar data. This relationship was examined using satellite SSM/I data obtained over the western equatorial Pacific during TOGA COARE. RMS error inferred directly from SSM/I rainfall estimates was found to be larger than predicted from surface data, and to depend less on local rain rate than was predicted. Preliminary examination of TRMM microwave estimates shows better agreement with surface data. A simple method of estimating rms error in satellite rainfall estimates is suggested, based on quantities that can be directly computed from the satellite data.

Accuracy of short‐term sea ice drift forecasts using a coupled ice‐ocean model

PubMed Central

Zhang, Jinlun

2015-01-01

Abstract Arctic sea ice drift forecasts of 6 h–9 days for the summer of 2014 are generated using the Marginal Ice Zone Modeling and Assimilation System (MIZMAS); the model is driven by 6 h atmospheric forecasts from the Climate Forecast System (CFSv2). Forecast ice drift speed is compared to drifting buoys and other observational platforms. Forecast positions are compared with actual positions 24 h–8 days since forecast. Forecast results are further compared to those from the forecasts generated using an ice velocity climatology driven by multiyear integrations of the same model. The results are presented in the context of scheduling the acquisition of high‐resolution images that need to follow buoys or scientific research platforms. RMS errors for ice speed are on the order of 5 km/d for 24–48 h since forecast using the sea ice model compared with 9 km/d using climatology. Predicted buoy position RMS errors are 6.3 km for 24 h and 14 km for 72 h since forecast. Model biases in ice speed and direction can be reduced by adjusting the air drag coefficient and water turning angle, but the adjustments do not affect verification statistics. This suggests that improved atmospheric forecast forcing may further reduce the forecast errors. The model remains skillful for 8 days. Using the forecast model increases the probability of tracking a target drifting in sea ice with a 10 km × 10 km image from 60 to 95% for a 24 h forecast and from 27 to 73% for a 48 h forecast. PMID:27818852

Predictive Simulations of Neuromuscular Coordination and Joint-Contact Loading in Human Gait.

PubMed

Lin, Yi-Chung; Walter, Jonathan P; Pandy, Marcus G

2018-04-18

We implemented direct collocation on a full-body neuromusculoskeletal model to calculate muscle forces, ground reaction forces and knee contact loading simultaneously for one cycle of human gait. A data-tracking collocation problem was solved for walking at the normal speed to establish the practicality of incorporating a 3D model of articular contact and a model of foot-ground interaction explicitly in a dynamic optimization simulation. The data-tracking solution then was used as an initial guess to solve predictive collocation problems, where novel patterns of movement were generated for walking at slow and fast speeds, independent of experimental data. The data-tracking solutions accurately reproduced joint motion, ground forces and knee contact loads measured for two total knee arthroplasty patients walking at their preferred speeds. RMS errors in joint kinematics were < 2.0° for rotations and < 0.3 cm for translations while errors in the model-computed ground-reaction and knee-contact forces were < 0.07 BW and < 0.4 BW, respectively. The predictive solutions were also consistent with joint kinematics, ground forces, knee contact loads and muscle activation patterns measured for slow and fast walking. The results demonstrate the feasibility of performing computationally-efficient, predictive, dynamic optimization simulations of movement using full-body, muscle-actuated models with realistic representations of joint function.

Floating-point system quantization errors in digital control systems

NASA Technical Reports Server (NTRS)

Phillips, C. L.

1973-01-01

The results are reported of research into the effects on system operation of signal quantization in a digital control system. The investigation considered digital controllers (filters) operating in floating-point arithmetic in either open-loop or closed-loop systems. An error analysis technique is developed, and is implemented by a digital computer program that is based on a digital simulation of the system. As an output the program gives the programing form required for minimum system quantization errors (either maximum of rms errors), and the maximum and rms errors that appear in the system output for a given bit configuration. The program can be integrated into existing digital simulations of a system.

Multi-GNSS orbit determination using satellite laser ranging

NASA Astrophysics Data System (ADS)

Bury, Grzegorz; Sośnica, Krzysztof; Zajdel, Radosław

2018-04-01

Galileo, BeiDou, QZSS, and NavIC are emerging global navigation satellite systems (GNSSs) and regional navigation satellite systems all of which are equipped with laser retroreflector arrays for range measurements. This paper summarizes the GNSS-intensive tracking campaigns conducted by the International Laser Ranging Service and provides results from multi-GNSS orbit determination using solely SLR observations. We consider the whole constellation of GLONASS, all active Galileo, four BeiDou satellites: 1 MEO, 3 IGSO, and one QZSS. We analyze the influence of the number of SLR observations on the quality of the 3-day multi-GNSS orbit solution. About 60 SLR observations are needed for obtaining MEO orbits of sufficient quality with the root mean square (RMS) of 3 cm for the radial component when compared to microwave-based orbits. From the analysis of a minimum number of tracking stations, when considering the 3-day arcs, 5 SLR stations do not provide a sufficient geometry of observations. The solution obtained using ten stations is characterized with RMS of 4, 9, and 18 cm in the radial, along-track, and cross-track direction, respectively, for MEO satellites. We also investigate the impact of the length of orbital arc on the quality of SLR-derived orbits. Hence, 5- and 7-day arcs constitute the best solution, whereas 3-day arcs are of inferior quality due to an insufficient number of SLR observations and 9-day arcs deteriorate the along-track component. The median RMS from the comparison between 7-day orbital arcs determined using SLR data with microwave-based orbits assumes values in the range of 3-4, 11-16, and 15-27 cm in radial, along-track, and cross-track, respectively, for MEO satellites. BeiDou IGSO and QZSS are characterized by RMS values higher by a factor of 8 and 24, respectively, than MEO orbits.

Three-dimensional relationship between high-order root-mean-square wavefront error, pupil diameter, and aging

PubMed Central

Applegate, Raymond A.; Donnelly, William J.; Marsack, Jason D.; Koenig, Darren E.; Pesudovs, Konrad

2007-01-01

We report root-mean-square (RMS) wavefront error (WFE) for individual aberrations and cumulative high-order (HO) RMS WFE for the normal human eye as a function of age by decade and pupil diameter in 1 mm steps from 3 to 7 mm and determine the relationship among HO RMS WFE, mean age for each decade of life, and luminance for physiologic pupil diameters. Subjects included 146 healthy individuals from 20 to 80 years of age. Ocular aberration was measured on the preferred eye of each subject (for a total of 146 eyes through dilated pupils; computed for 3, 4, 5, 6, and 7 mm pupils; and described with a tenth-radial-order normalized Zernike expansion. We found that HO RMS WFE increases faster with increasing pupil diameter for any given age and pupil diameter than it does with increasing age alone. A planar function accounts for 99% of the variance in the 3-D space defined by mean log HO RMS WFE, mean age for each decade of life, and pupil diameter. When physiologic pupil diameters are used to estimate HO RMS WFE as a function of luminance and age, at low luminance (9 cd/m2) HO RMS WFE decreases with increasing age. This normative data set details (1) the 3-D relationship between HO RMS WFE and age for fixed pupil diameters and (2) the 3-D relationship among HO RMS WFE, age, and luminance for physiologic pupil diameters. PMID:17301847

Semi-empirical model for retrieval of soil moisture using RISAT-1 C-Band SAR data over a sub-tropical semi-arid area of Rewari district, Haryana (India)

NASA Astrophysics Data System (ADS)

Rawat, Kishan Singh; Sehgal, Vinay Kumar; Pradhan, Sanatan; Ray, Shibendu S.

2018-03-01

We have estimated soil moisture (SM) by using circular horizontal polarization backscattering coefficient (σ o_{RH}), differences of circular vertical and horizontal σ o (σ o_{RV} {-} σ o_{RH}) from FRS-1 data of Radar Imaging Satellite (RISAT-1) and surface roughness in terms of RMS height ({RMS}_{height}). We examined the performance of FRS-1 in retrieving SM under wheat crop at tillering stage. Results revealed that it is possible to develop a good semi-empirical model (SEM) to estimate SM of the upper soil layer using RISAT-1 SAR data rather than using existing empirical model based on only single parameter, i.e., σ o. Near surface SM measurements were related to σ o_{RH}, σ o_{RV} {-} σ o_{RH} derived using 5.35 GHz (C-band) image of RISAT-1 and {RMS}_{height}. The roughness component derived in terms of {RMS}_{height} showed a good positive correlation with σ o_{RV} {-} σ o_{RH} (R2 = 0.65). By considering all the major influencing factors (σ o_{RH}, σ o_{RV} {-} σ o_{RH}, and {RMS}_{height}), an SEM was developed where SM (volumetric) predicted values depend on σ o_{RH}, σ o_{RV} {-} σ o_{RH}, and {RMS}_{height}. This SEM showed R2 of 0.87 and adjusted R2 of 0.85, multiple R=0.94 and with standard error of 0.05 at 95% confidence level. Validation of the SM derived from semi-empirical model with observed measurement ({SM}_{Observed}) showed root mean square error (RMSE) = 0.06, relative-RMSE (R-RMSE) = 0.18, mean absolute error (MAE) = 0.04, normalized RMSE (NRMSE) = 0.17, Nash-Sutcliffe efficiency (NSE) = 0.91 ({≈ } 1), index of agreement (d) = 1, coefficient of determination (R2) = 0.87, mean bias error (MBE) = 0.04, standard error of estimate (SEE) = 0.10, volume error (VE) = 0.15, variance of the distribution of differences ({S}d2) = 0.004. The developed SEM showed better performance in estimating SM than Topp empirical model which is based only on σ o. By using the developed SEM, top soil SM can be estimated with low mean absolute percent error (MAPE) = 1.39 and can be used for operational applications.

Robustness of external/internal correlation models for real-time tumor tracking to breathing motion variations

NASA Astrophysics Data System (ADS)

Seregni, M.; Cerveri, P.; Riboldi, M.; Pella, A.; Baroni, G.

2012-11-01

In radiotherapy, organ motion mitigation by means of dynamic tumor tracking requires continuous information about the internal tumor position, which can be estimated relying on external/internal correlation models as a function of external surface surrogates. In this work, we propose a validation of a time-independent artificial neural networks-based tumor tracking method in the presence of changes in the breathing pattern, evaluating the performance on two datasets. First, simulated breathing motion traces were specifically generated to include gradually increasing respiratory irregularities. Then, seven publically available human liver motion traces were analyzed for the assessment of tracking accuracy, whose sensitivity with respect to the structural parameters of the model was also investigated. Results on simulated data showed that the proposed method was not affected by hysteretic target trajectories and it was able to cope with different respiratory irregularities, such as baseline drift and internal/external phase shift. The analysis of the liver motion traces reported an average RMS error equal to 1.10 mm, with five out of seven cases below 1 mm. In conclusion, this validation study proved that the proposed method is able to deal with respiratory irregularities both in controlled and real conditions.

Precise orbit determination of the Fengyun-3C satellite using onboard GPS and BDS observations

NASA Astrophysics Data System (ADS)

Li, Min; Li, Wenwen; Shi, Chuang; Jiang, Kecai; Guo, Xiang; Dai, Xiaolei; Meng, Xiangguang; Yang, Zhongdong; Yang, Guanglin; Liao, Mi

2017-11-01

The GNSS Occultation Sounder instrument onboard the Chinese meteorological satellite Fengyun-3C (FY-3C) tracks both GPS and BDS signals for orbit determination. One month's worth of the onboard dual-frequency GPS and BDS data during March 2015 from the FY-3C satellite is analyzed in this study. The onboard BDS and GPS measurement quality is evaluated in terms of data quantity as well as code multipath error. Severe multipath errors for BDS code ranges are observed especially for high elevations for BDS medium earth orbit satellites (MEOs). The code multipath errors are estimated as piecewise linear model in 2{°}× 2{°} grid and applied in precise orbit determination (POD) calculations. POD of FY-3C is firstly performed with GPS data, which shows orbit consistency of approximate 2.7 cm in 3D RMS (root mean square) by overlap comparisons; the estimated orbits are then used as reference orbits for evaluating the orbit precision of GPS and BDS combined POD as well as BDS-based POD. It is indicated that inclusion of BDS geosynchronous orbit satellites (GEOs) could degrade POD precision seriously. The precisions of orbit estimates by combined POD and BDS-based POD are 3.4 and 30.1 cm in 3D RMS when GEOs are involved, respectively. However, if BDS GEOs are excluded, the combined POD can reach similar precision with respect to GPS POD, showing orbit differences about 0.8 cm, while the orbit precision of BDS-based POD can be improved to 8.4 cm. These results indicate that the POD performance with onboard BDS data alone can reach precision better than 10 cm with only five BDS inclined geosynchronous satellite orbit satellites and three MEOs. As the GNOS receiver can only track six BDS satellites for orbit positioning at its maximum channel, it can be expected that the performance of POD with onboard BDS data can be further improved if more observations are generated without such restrictions.

Precision CW laser automatic tracking system investigated

NASA Technical Reports Server (NTRS)

Lang, K. T.; Lucy, R. F.; Mcgann, E. J.; Peters, C. J.

1966-01-01

Precision laser tracker capable of tracking a low acceleration target to an accuracy of about 20 microradians rms is being constructed and tested. This laser tracking has the advantage of discriminating against other optical sources and the capability of simultaneously measuring range.

Toward an affordable and user-friendly visual motion capture system.

PubMed

Bonnet, V; Sylla, N; Cherubini, A; Gonzáles, A; Azevedo Coste, C; Fraisse, P; Venture, G

2014-01-01

The present study aims at designing and evaluating a low-cost, simple and portable system for arm joint angle estimation during grasping-like motions. The system is based on a single RGB-D camera and three customized markers. The automatically detected and tracked marker positions were used as inputs to an offline inverse kinematic process based on bio-mechanical constraints to reduce noise effect and handle marker occlusion. The method was validated on 4 subjects with different motions. The joint angles were estimated both with the proposed low-cost system and, a stereophotogrammetric system. Comparative analysis shows good accuracy with high correlation coefficient (r= 0.92) and low average RMS error (3.8 deg).

Landsat-4 (TDRSS-user) orbit determination using batch least-squares and sequential methods

NASA Technical Reports Server (NTRS)

Oza, D. H.; Jones, T. L.; Hakimi, M.; Samii, M. V.; Doll, C. E.; Mistretta, G. D.; Hart, R. C.

1992-01-01

TDRSS user orbit determination is analyzed using a batch least-squares method and a sequential estimation method. It was found that in the batch least-squares method analysis, the orbit determination consistency for Landsat-4, which was heavily tracked by TDRSS during January 1991, was about 4 meters in the rms overlap comparisons and about 6 meters in the maximum position differences in overlap comparisons. The consistency was about 10 to 30 meters in the 3 sigma state error covariance function in the sequential method analysis. As a measure of consistency, the first residual of each pass was within the 3 sigma bound in the residual space.

A state-based probabilistic model for tumor respiratory motion prediction

NASA Astrophysics Data System (ADS)

Kalet, Alan; Sandison, George; Wu, Huanmei; Schmitz, Ruth

2010-12-01

This work proposes a new probabilistic mathematical model for predicting tumor motion and position based on a finite state representation using the natural breathing states of exhale, inhale and end of exhale. Tumor motion was broken down into linear breathing states and sequences of states. Breathing state sequences and the observables representing those sequences were analyzed using a hidden Markov model (HMM) to predict the future sequences and new observables. Velocities and other parameters were clustered using a k-means clustering algorithm to associate each state with a set of observables such that a prediction of state also enables a prediction of tumor velocity. A time average model with predictions based on average past state lengths was also computed. State sequences which are known a priori to fit the data were fed into the HMM algorithm to set a theoretical limit of the predictive power of the model. The effectiveness of the presented probabilistic model has been evaluated for gated radiation therapy based on previously tracked tumor motion in four lung cancer patients. Positional prediction accuracy is compared with actual position in terms of the overall RMS errors. Various system delays, ranging from 33 to 1000 ms, were tested. Previous studies have shown duty cycles for latencies of 33 and 200 ms at around 90% and 80%, respectively, for linear, no prediction, Kalman filter and ANN methods as averaged over multiple patients. At 1000 ms, the previously reported duty cycles range from approximately 62% (ANN) down to 34% (no prediction). Average duty cycle for the HMM method was found to be 100% and 91 ± 3% for 33 and 200 ms latency and around 40% for 1000 ms latency in three out of four breathing motion traces. RMS errors were found to be lower than linear and no prediction methods at latencies of 1000 ms. The results show that for system latencies longer than 400 ms, the time average HMM prediction outperforms linear, no prediction, and the more general HMM-type predictive models. RMS errors for the time average model approach the theoretical limit of the HMM, and predicted state sequences are well correlated with sequences known to fit the data.

Reducing representativeness and sampling errors in radio occultation-radiosonde comparisons

NASA Astrophysics Data System (ADS)

Gilpin, Shay; Rieckh, Therese; Anthes, Richard

2018-05-01

Radio occultation (RO) and radiosonde (RS) comparisons provide a means of analyzing errors associated with both observational systems. Since RO and RS observations are not taken at the exact same time or location, temporal and spatial sampling errors resulting from atmospheric variability can be significant and inhibit error analysis of the observational systems. In addition, the vertical resolutions of RO and RS profiles vary and vertical representativeness errors may also affect the comparison. In RO-RS comparisons, RO observations are co-located with RS profiles within a fixed time window and distance, i.e. within 3-6 h and circles of radii ranging between 100 and 500 km. In this study, we first show that vertical filtering of RO and RS profiles to a common vertical resolution reduces representativeness errors. We then test two methods of reducing horizontal sampling errors during RO-RS comparisons: restricting co-location pairs to within ellipses oriented along the direction of wind flow rather than circles and applying a spatial-temporal sampling correction based on model data. Using data from 2011 to 2014, we compare RO and RS differences at four GCOS Reference Upper-Air Network (GRUAN) RS stations in different climatic locations, in which co-location pairs were constrained to a large circle ( ˜ 666 km radius), small circle ( ˜ 300 km radius), and ellipse parallel to the wind direction ( ˜ 666 km semi-major axis, ˜ 133 km semi-minor axis). We also apply a spatial-temporal sampling correction using European Centre for Medium-Range Weather Forecasts Interim Reanalysis (ERA-Interim) gridded data. Restricting co-locations to within the ellipse reduces root mean square (RMS) refractivity, temperature, and water vapor pressure differences relative to RMS differences within the large circle and produces differences that are comparable to or less than the RMS differences within circles of similar area. Applying the sampling correction shows the most significant reduction in RMS differences, such that RMS differences are nearly identical to the sampling correction regardless of the geometric constraints. We conclude that implementing the spatial-temporal sampling correction using a reliable model will most effectively reduce sampling errors during RO-RS comparisons; however, if a reliable model is not available, restricting spatial comparisons to within an ellipse parallel to the wind flow will reduce sampling errors caused by horizontal atmospheric variability.

Global and regional kinematics with GPS

NASA Technical Reports Server (NTRS)

King, Robert W.

1994-01-01

The inherent precision of the doubly differenced phase measurement and the low cost of instrumentation made GPS the space geodetic technique of choice for regional surveys as soon as the constellation reached acceptable geometry in the area of interest: 1985 in western North America, the early 1990's in most of the world. Instrument and site-related errors for horizontal positioning are usually less than 3 mm, so that the dominant source of error is uncertainty in the reference frame defined by the satellites orbits and the tracking stations used to determine them. Prior to about 1992, when the tracking network for most experiments was globally sparse, the number of fiducial sites or the level at which they could be tied to an SLR or VLBI reference frame usually, set the accuracy limit. Recently, with a global network of over 30 stations, the limit is set more often by deficiencies in models for non-gravitational forces acting on the satellites. For regional networks in the northern hemisphere, reference frame errors are currently about 3 parts per billion (ppb) in horizontal position, allowing centimeter-level accuracies over intercontinental distances and less than 1 mm for a 100 km baseline. The accuracy of GPS measurements for monitoring height variations is generally 2-3 times worse than for horizontal motions. As for VLBI, the primary source of error is unmodeled fluctuations in atmospheric water vapor, but both reference frame uncertainties and some instrument errors are more serious for vertical than horizontal measurements. Under good conditions, daily repeatabilities at the level of 10 mm rms were achieved. This paper will summarize the current accuracy of GPS measurements and their implication for the use of SLR to study regional kinematics.

Improved accuracies for satellite tracking

NASA Technical Reports Server (NTRS)

Kammeyer, P. C.; Fiala, A. D.; Seidelmann, P. K.

1991-01-01

A charge coupled device (CCD) camera on an optical telescope which follows the stars can be used to provide high accuracy comparisons between the line of sight to a satellite, over a large range of satellite altitudes, and lines of sight to nearby stars. The CCD camera can be rotated so the motion of the satellite is down columns of the CCD chip, and charge can be moved from row to row of the chip at a rate which matches the motion of the optical image of the satellite across the chip. Measurement of satellite and star images, together with accurate timing of charge motion, provides accurate comparisons of lines of sight. Given lines of sight to stars near the satellite, the satellite line of sight may be determined. Initial experiments with this technique, using an 18 cm telescope, have produced TDRS-4 observations which have an rms error of 0.5 arc second, 100 m at synchronous altitude. Use of a mosaic of CCD chips, each having its own rate of charge motion, in the focal place of a telescope would allow point images of a geosynchronous satellite and of stars to be formed simultaneously in the same telescope. The line of sight of such a satellite could be measured relative to nearby star lines of sight with an accuracy of approximately 0.03 arc second. Development of a star catalog with 0.04 arc second rms accuracy and perhaps ten stars per square degree would allow determination of satellite lines of sight with 0.05 arc second rms absolute accuracy, corresponding to 10 m at synchronous altitude. Multiple station time transfers through a communications satellite can provide accurate distances from the satellite to the ground stations. Such observations can, if calibrated for delays, determine satellite orbits to an accuracy approaching 10 m rms.

Experiences in multiyear combined state-parameter estimation with an ecosystem model of the North Atlantic and Arctic Oceans using the Ensemble Kalman Filter

NASA Astrophysics Data System (ADS)

Simon, Ehouarn; Samuelsen, Annette; Bertino, Laurent; Mouysset, Sandrine

2015-12-01

A sequence of one-year combined state-parameter estimation experiments has been conducted in a North Atlantic and Arctic Ocean configuration of the coupled physical-biogeochemical model HYCOM-NORWECOM over the period 2007-2010. The aim is to evaluate the ability of an ensemble-based data assimilation method to calibrate ecosystem model parameters in a pre-operational setting, namely the production of the MyOcean pilot reanalysis of the Arctic biology. For that purpose, four biological parameters (two phyto- and two zooplankton mortality rates) are estimated by assimilating weekly data such as, satellite-derived Sea Surface Temperature, along-track Sea Level Anomalies, ice concentrations and chlorophyll-a concentrations with an Ensemble Kalman Filter. The set of optimized parameters locally exhibits seasonal variations suggesting that time-dependent parameters should be used in ocean ecosystem models. A clustering analysis of the optimized parameters is performed in order to identify consistent ecosystem regions. In the north part of the domain, where the ecosystem model is the most reliable, most of them can be associated with Longhurst provinces and new provinces emerge in the Arctic Ocean. However, the clusters do not coincide anymore with the Longhurst provinces in the Tropics due to large model errors. Regarding the ecosystem state variables, the assimilation of satellite-derived chlorophyll concentration leads to significant reduction of the RMS errors in the observed variables during the first year, i.e. 2008, compared to a free run simulation. However, local filter divergences of the parameter component occur in 2009 and result in an increase in the RMS error at the time of the spring bloom.

Optical control of the Advanced Technology Solar Telescope.

PubMed

Upton, Robert

2006-08-10

The Advanced Technology Solar Telescope (ATST) is an off-axis Gregorian astronomical telescope design. The ATST is expected to be subject to thermal and gravitational effects that result in misalignments of its mirrors and warping of its primary mirror. These effects require active, closed-loop correction to maintain its as-designed diffraction-limited optical performance. The simulation and modeling of the ATST with a closed-loop correction strategy are presented. The correction strategy is derived from the linear mathematical properties of two Jacobian, or influence, matrices that map the ATST rigid-body (RB) misalignments and primary mirror figure errors to wavefront sensor (WFS) measurements. The two Jacobian matrices also quantify the sensitivities of the ATST to RB and primary mirror figure perturbations. The modeled active correction strategy results in a decrease of the rms wavefront error averaged over the field of view (FOV) from 500 to 19 nm, subject to 10 nm rms WFS noise. This result is obtained utilizing nine WFSs distributed in the FOV with a 300 nm rms astigmatism figure error on the primary mirror. Correction of the ATST RB perturbations is demonstrated for an optimum subset of three WFSs with corrections improving the ATST rms wavefront error from 340 to 17.8 nm. In addition to the active correction of the ATST, an analytically robust sensitivity analysis that can be generally extended to a wider class of optical systems is presented.

Estimation of wave phase speed and nearshore bathymetry from video imagery

USGS Publications Warehouse

Stockdon, H.F.; Holman, R.A.

2000-01-01

A new remote sensing technique based on video image processing has been developed for the estimation of nearshore bathymetry. The shoreward propagation of waves is measured using pixel intensity time series collected at a cross-shore array of locations using remotely operated video cameras. The incident band is identified, and the cross-spectral matrix is calculated for this band. The cross-shore component of wavenumber is found as the gradient in phase of the first complex empirical orthogonal function of this matrix. Water depth is then inferred from linear wave theory's dispersion relationship. Full bathymetry maps may be measured by collecting data in a large array composed of both cross-shore and longshore lines. Data are collected hourly throughout the day, and a stable, daily estimate of bathymetry is calculated from the median of the hourly estimates. The technique was tested using 30 days of hourly data collected at the SandyDuck experiment in Duck, North Carolina, in October 1997. Errors calculated as the difference between estimated depth and ground truth data show a mean bias of -35 cm (rms error = 91 cm). Expressed as a fraction of the true water depth, the mean percent error was 13% (rms error = 34%). Excluding the region of known wave nonlinearities over the bar crest, the accuracy of the technique improved, and the mean (rms) error was -20 cm (75 cm). Additionally, under low-amplitude swells (wave height H ???1 m), the performance of the technique across the entire profile improved to 6% (29%) of the true water depth with a mean (rms) error of -12 cm (71 cm). Copyright 2000 by the American Geophysical Union.

Minimizing distortion and internal forces in truss structures by simulated annealing

NASA Technical Reports Server (NTRS)

Kincaid, Rex K.

1989-01-01

Inaccuracies in the length of members and the diameters of joints of large truss reflector backup structures may produce unacceptable levels of surface distortion and member forces. However, if the member lengths and joint diameters can be measured accurately it is possible to configure the members and joints so that root-mean-square (rms) surface error and/or rms member forces is minimized. Following Greene and Haftka (1989) it is assumed that the force vector f is linearly proportional to the member length errors e(sub M) of dimension NMEMB (the number of members) and joint errors e(sub J) of dimension NJOINT (the number of joints), and that the best-fit displacement vector d is a linear function of f. Let NNODES denote the number of positions on the surface of the truss where error influences are measured. The solution of the problem is discussed. To classify, this problem was compared to a similar combinatorial optimization problem. In particular, when only the member length errors are considered, minimizing d(sup 2)(sub rms) is equivalent to the quadratic assignment problem. The quadratic assignment problem is a well known NP-complete problem in operations research literature. Hence minimizing d(sup 2)(sub rms) is is also an NP-complete problem. The focus of the research is the development of a simulated annealing algorithm to reduce d(sup 2)(sub rms). The plausibility of this technique is its recent success on a variety of NP-complete combinatorial optimization problems including the quadratic assignment problem. A physical analogy for simulated annealing is the way liquids freeze and crystallize. All computational experiments were done on a MicroVAX. The two interchange heuristic is very fast but produces widely varying results. The two and three interchange heuristic provides less variability in the final objective function values but runs much more slowly. Simulated annealing produced the best objective function values for every starting configuration and was faster than the two and three interchange heuristic.

A density functional for core-valence correlation energy

NASA Astrophysics Data System (ADS)

Ranasinghe, Duminda S.; Frisch, Michael J.; Petersson, George A.

2015-12-01

A density functional, ɛCV-DFT(ρc, ρv), describing the core-valence correlation energy has been constructed as a linear combination of ɛLY Pcorr(ρc), ɛV WN5corr(ρc, ρv), ɛPBEcorr(ρc, ρv), ɛSlaterex(ρc, ρv), ɛHCTHex(ρc, ρv), ɛHFex(ρc, ρv), and F CV -DFT (" separators=" N i , Z i ) , a function of the nuclear charges. This functional, with 6 adjustable parameters, reproduces (±0.27 kcal/mol rms error) a benchmark set of 194 chemical energy changes including 9 electron affinities, 18 ionization potentials, and 167 total atomization energies covering the first- and second-rows of the periodic table. This is almost twice the rms error (±0.16 kcal/mol) obtained with CCSD(T)/MTsmall calculations, but less than half the rms error (±0.65 kcal/mol) obtained with MP2/GTlargeXP calculations, and somewhat smaller than the rms error (±0.39 kcal/mol) obtained with CCSD/MTsmall calculations. The largest positive and negative errors from ɛCV-DFT(ρc, ρv) were 0.88 and -0.75 kcal/mol with the set of 194 core-valence energy changes ranging from +3.76 kcal/mol for the total atomization energy of propyne to -9.05 kcal/mol for the double ionization of Mg. Evaluation of the ɛCV-DFT(ρc, ρv) functional requires less time than a single SCF iteration, and the accuracy is adequate for any model chemistry based on the CCSD(T) level of theory.

A comparative study of measurements from radiosondes, rocketsondes, and satellites

NASA Technical Reports Server (NTRS)

Nestler, M. S.

1983-01-01

Direct comparisons of operational products derived from measurements of radiance by satellites to measurements from conventional in situ sensors are important for the evaluation of satellite systems. However, errors in the in situ measurements themselves complicate such comparisons. Atmospheric temporal and spatial variability are also influential. These issues are investigated by means of a special field program composed of flights of dual radiosondes and multiple radiosondes launched near the time of NOAA-6 overpasses. Satellite derived mean layer temperatures, geopotential heights, and winds are compared with the same quantities determined from the in situ sensors. Of particular interest is the impact of in situ errors on these comparisons. It is shown that the radiosonde provides a precise pressure height relationship and therefore precise data for synoptic type use. Radar tracking of the radiosondes reveals, however, an imprecise pressure measurement which causes large differences between the actual altitude of the radiosonde and the altitude at which it is calculated to be. Radiosondes should be radar tracked and pressures calculated if the data are to be used for purposes other than synoptic use. Evaluation of rocketsonde data reveals a temperature precision of 1 to 2 K below about 55 km. Above 55 km, the precision decreases rapidly; rms differences of up to 11 K are obtained.

Comparisons of pilot performance in simulated and actual flight. [effects of ingested barbiturates

NASA Technical Reports Server (NTRS)

Billings, C. E.; Gerke, R. J.; Wick, R. L., Jr.

1975-01-01

Five highly experienced professional pilots performed instrument landing system approaches under simulated instrument flight conditions in a Cessna 172 airplane and in a Link-Singer GAT-1 simulator while under the influence of orally administered secobarbital (0, 100, and 200 mg). Tracking performance in two axes and airspeed control were evaluated continuously during each approach. Error and RMS variability were about half as large in the simulator as in the airplane. The observed data were more strongly associated with the drug level in the simulator than in the airplane. Further, the drug-related effects were more consistent in the simulator. Improvement in performance suggestive of learning effects were seen in the simulator, but not in actual flight.

Simultaneous estimation of cross-validation errors in least squares collocation applied for statistical testing and evaluation of the noise variance components

NASA Astrophysics Data System (ADS)

Behnabian, Behzad; Mashhadi Hossainali, Masoud; Malekzadeh, Ahad

2018-02-01

The cross-validation technique is a popular method to assess and improve the quality of prediction by least squares collocation (LSC). We present a formula for direct estimation of the vector of cross-validation errors (CVEs) in LSC which is much faster than element-wise CVE computation. We show that a quadratic form of CVEs follows Chi-squared distribution. Furthermore, a posteriori noise variance factor is derived by the quadratic form of CVEs. In order to detect blunders in the observations, estimated standardized CVE is proposed as the test statistic which can be applied when noise variances are known or unknown. We use LSC together with the methods proposed in this research for interpolation of crustal subsidence in the northern coast of the Gulf of Mexico. The results show that after detection and removing outliers, the root mean square (RMS) of CVEs and estimated noise standard deviation are reduced about 51 and 59%, respectively. In addition, RMS of LSC prediction error at data points and RMS of estimated noise of observations are decreased by 39 and 67%, respectively. However, RMS of LSC prediction error on a regular grid of interpolation points covering the area is only reduced about 4% which is a consequence of sparse distribution of data points for this case study. The influence of gross errors on LSC prediction results is also investigated by lower cutoff CVEs. It is indicated that after elimination of outliers, RMS of this type of errors is also reduced by 19.5% for a 5 km radius of vicinity. We propose a method using standardized CVEs for classification of dataset into three groups with presumed different noise variances. The noise variance components for each of the groups are estimated using restricted maximum-likelihood method via Fisher scoring technique. Finally, LSC assessment measures were computed for the estimated heterogeneous noise variance model and compared with those of the homogeneous model. The advantage of the proposed method is the reduction in estimated noise levels for those groups with the fewer number of noisy data points.

Evaluation of dual energy quantitative CT for determining the spatial distributions of red marrow and bone for dosimetry in internal emitter radiation therapy

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

Goodsitt, Mitchell M., E-mail: goodsitt@umich.edu; Shenoy, Apeksha; Howard, David

2014-05-15

Purpose: To evaluate a three-equation three-unknown dual-energy quantitative CT (DEQCT) technique for determining region specific variations in bone spongiosa composition for improved red marrow dose estimation in radionuclide therapy. Methods: The DEQCT method was applied to 80/140 kVp images of patient-simulating lumbar sectional body phantoms of three sizes (small, medium, and large). External calibration rods of bone, red marrow, and fat-simulating materials were placed beneath the body phantoms. Similar internal calibration inserts were placed at vertebral locations within the body phantoms. Six test inserts of known volume fractions of bone, fat, and red marrow were also scanned. External-to-internal calibration correctionmore » factors were derived. The effects of body phantom size, radiation dose, spongiosa region segmentation granularity [single (∼17 × 17 mm) region of interest (ROI), 2 × 2, and 3 × 3 segmentation of that single ROI], and calibration method on the accuracy of the calculated volume fractions of red marrow (cellularity) and trabecular bone were evaluated. Results: For standard low dose DEQCT x-ray technique factors and the internal calibration method, the RMS errors of the estimated volume fractions of red marrow of the test inserts were 1.2–1.3 times greater in the medium body than in the small body phantom and 1.3–1.5 times greater in the large body than in the small body phantom. RMS errors of the calculated volume fractions of red marrow within 2 × 2 segmented subregions of the ROIs were 1.6–1.9 times greater than for no segmentation, and RMS errors for 3 × 3 segmented subregions were 2.3–2.7 times greater than those for no segmentation. Increasing the dose by a factor of 2 reduced the RMS errors of all constituent volume fractions by an average factor of 1.40 ± 0.29 for all segmentation schemes and body phantom sizes; increasing the dose by a factor of 4 reduced those RMS errors by an average factor of 1.71 ± 0.25. Results for external calibrations exhibited much larger RMS errors than size matched internal calibration. Use of an average body size external-to-internal calibration correction factor reduced the errors to closer to those for internal calibration. RMS errors of less than 30% or about 0.01 for the bone and 0.1 for the red marrow volume fractions would likely be satisfactory for human studies. Such accuracies were achieved for 3 × 3 segmentation of 5 mm slice images for: (a) internal calibration with 4 times dose for all size body phantoms, (b) internal calibration with 2 times dose for the small and medium size body phantoms, and (c) corrected external calibration with 4 times dose and all size body phantoms. Conclusions: Phantom studies are promising and demonstrate the potential to use dual energy quantitative CT to estimate the spatial distributions of red marrow and bone within the vertebral spongiosa.« less

Evaluation of dual energy quantitative CT for determining the spatial distributions of red marrow and bone for dosimetry in internal emitter radiation therapy

PubMed Central

Goodsitt, Mitchell M.; Shenoy, Apeksha; Shen, Jincheng; Howard, David; Schipper, Matthew J.; Wilderman, Scott; Christodoulou, Emmanuel; Chun, Se Young; Dewaraja, Yuni K.

2014-01-01

Purpose: To evaluate a three-equation three-unknown dual-energy quantitative CT (DEQCT) technique for determining region specific variations in bone spongiosa composition for improved red marrow dose estimation in radionuclide therapy. Methods: The DEQCT method was applied to 80/140 kVp images of patient-simulating lumbar sectional body phantoms of three sizes (small, medium, and large). External calibration rods of bone, red marrow, and fat-simulating materials were placed beneath the body phantoms. Similar internal calibration inserts were placed at vertebral locations within the body phantoms. Six test inserts of known volume fractions of bone, fat, and red marrow were also scanned. External-to-internal calibration correction factors were derived. The effects of body phantom size, radiation dose, spongiosa region segmentation granularity [single (∼17 × 17 mm) region of interest (ROI), 2 × 2, and 3 × 3 segmentation of that single ROI], and calibration method on the accuracy of the calculated volume fractions of red marrow (cellularity) and trabecular bone were evaluated. Results: For standard low dose DEQCT x-ray technique factors and the internal calibration method, the RMS errors of the estimated volume fractions of red marrow of the test inserts were 1.2–1.3 times greater in the medium body than in the small body phantom and 1.3–1.5 times greater in the large body than in the small body phantom. RMS errors of the calculated volume fractions of red marrow within 2 × 2 segmented subregions of the ROIs were 1.6–1.9 times greater than for no segmentation, and RMS errors for 3 × 3 segmented subregions were 2.3–2.7 times greater than those for no segmentation. Increasing the dose by a factor of 2 reduced the RMS errors of all constituent volume fractions by an average factor of 1.40 ± 0.29 for all segmentation schemes and body phantom sizes; increasing the dose by a factor of 4 reduced those RMS errors by an average factor of 1.71 ± 0.25. Results for external calibrations exhibited much larger RMS errors than size matched internal calibration. Use of an average body size external-to-internal calibration correction factor reduced the errors to closer to those for internal calibration. RMS errors of less than 30% or about 0.01 for the bone and 0.1 for the red marrow volume fractions would likely be satisfactory for human studies. Such accuracies were achieved for 3 × 3 segmentation of 5 mm slice images for: (a) internal calibration with 4 times dose for all size body phantoms, (b) internal calibration with 2 times dose for the small and medium size body phantoms, and (c) corrected external calibration with 4 times dose and all size body phantoms. Conclusions: Phantom studies are promising and demonstrate the potential to use dual energy quantitative CT to estimate the spatial distributions of red marrow and bone within the vertebral spongiosa. PMID:24784380

Application of an image-guided navigation system in breast cancer localization

NASA Astrophysics Data System (ADS)

Alderliesten, Tanja; Loo, Claudette; Schlief, Angelique T. E. F.; Paape, Anita; van der Meer, Michiel; Gilhuijs, Kenneth G. A.

2009-02-01

Image-guided navigation on the basis of pre-therapy images in a deformable organ, such as the breast, requires a survey of the factors that cause uncertainties. A deformable breast-tissue-mimicking phantom with simulated tumors was employed to investigate the accuracy of lesion localization with a needle instrument coupled to an optical measurement system. The RMS deviation was 1.1 mm with errors <= 2.0 mm in 96% of the procedures. Ultrasonography data acquired during needle localization of breast tumors were analyzed in 20 patients (23 tumors; 12 benign, 11 malignant) to investigate the deformation due to presence of instruments. The overall RMS tumor shift was 2.3 mm after release of pressure on the needle. To establish an optimal strategy to correct for breast motion due to breathing experiments with a volunteer were performed. Tracking a single centre marker was found to be most effective to improve registration accuracy. Average deviations of 8.2 mm were reduced to 1.1 mm. The combined impact of these different uncertainties resulted in distributions defined by: μ = 2.5 mm, σ = 1.4 mm (benign and malignant), μ = 3.1 mm, σ = 1.8 mm (benign), μ = 1.7 mm, σ = 0.9 mm (malignant).

A New Approach for Inspection of Selected Geometric Parameters of a Railway Track Using Image-Based Point Clouds

PubMed Central

Sawicki, Piotr

2018-01-01

The paper presents the results of testing a proposed image-based point clouds measuring method for geometric parameters determination of a railway track. The study was performed based on a configuration of digital images and reference control network. A DSLR (digital Single-Lens-Reflex) Nikon D5100 camera was used to acquire six digital images of the tested section of railway tracks. The dense point clouds and the 3D mesh model were generated with the use of two software systems, RealityCapture and PhotoScan, which have implemented different matching and 3D object reconstruction techniques: Multi-View Stereo and Semi-Global Matching, respectively. The study found that both applications could generate appropriate 3D models. Final meshes of 3D models were filtered with the MeshLab software. The CloudCompare application was used to determine the track gauge and cant for defined cross-sections, and the results obtained from point clouds by dense image matching techniques were compared with results of direct geodetic measurements. The obtained RMS difference in the horizontal (gauge) and vertical (cant) plane was RMS∆ < 0.45 mm. The achieved accuracy meets the accuracy condition of measurements and inspection of the rail tracks (error m < 1 mm), specified in the Polish branch railway instruction Id-14 (D-75) and the European technical norm EN 13848-4:2011. PMID:29509679

A New Approach for Inspection of Selected Geometric Parameters of a Railway Track Using Image-Based Point Clouds.

PubMed

Gabara, Grzegorz; Sawicki, Piotr

2018-03-06

The paper presents the results of testing a proposed image-based point clouds measuring method for geometric parameters determination of a railway track. The study was performed based on a configuration of digital images and reference control network. A DSLR (digital Single-Lens-Reflex) Nikon D5100 camera was used to acquire six digital images of the tested section of railway tracks. The dense point clouds and the 3D mesh model were generated with the use of two software systems, RealityCapture and PhotoScan, which have implemented different matching and 3D object reconstruction techniques: Multi-View Stereo and Semi-Global Matching, respectively. The study found that both applications could generate appropriate 3D models. Final meshes of 3D models were filtered with the MeshLab software. The CloudCompare application was used to determine the track gauge and cant for defined cross-sections, and the results obtained from point clouds by dense image matching techniques were compared with results of direct geodetic measurements. The obtained RMS difference in the horizontal (gauge) and vertical (cant) plane was RMS∆ < 0.45 mm. The achieved accuracy meets the accuracy condition of measurements and inspection of the rail tracks (error m < 1 mm), specified in the Polish branch railway instruction Id-14 (D-75) and the European technical norm EN 13848-4:2011.

Tracking performance with two breathing oxygen concentrations after high altitude rapid decompression

NASA Technical Reports Server (NTRS)

Nesthus, Thomas E.; Schiflett, Samuel G.; Oakley, Carolyn J.

1992-01-01

Current military aircraft Liquid Oxygen (LOX) systems supply 99.5 pct. gaseous Aviator's Breathing Oxygen (ABO) to aircrew. Newer Molecular Sieve Oxygen Generation Systems (MSOGS) supply breathing gas concentration of 93 to 95 pct. O2. The margin is compared of hypoxia protection afforded by ABO and MSOGS breathing gas after a 5 psi differential rapid decompression (RD) in a hypobaric research chamber. The barometric pressures equivalent to the altitudes of 46000, 52000, 56000, and 60000 ft were achieved from respective base altitudes in 1 to 1.5 s decompressions. During each exposure, subjects remained at the simulated peak altitude breathing either 100 or 94 pct. O2 with positive pressure for 60 s, followed by a rapid descent to 40000 ft. Subjects used the Tactical Life Support System (TLSS) for high altitude protection. Subcritical tracking task performance on the Performance Evaluation Device (PED) provided psychomotor test measures. Overall tracking task performance results showed no differences between the MSOGS breathing O2 concentration of 94 pct. and ABO. Significance RMS error differences were found between the ground level and base altitude trials compared to peak altitude trials. The high positive breathing pressures occurring at the peak altitudes explained the differences.

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

Stathakis, S; Defoor, D; Linden, P

Purpose: To study the frequency of Multi-Leaf Collimator (MLC) leaf failures, investigate methods to predict them and reduce linac downtime. Methods: A Varian HD120 MLC was used in our study. The hyperterminal MLC errors logged from 06/2012 to 12/2014 were collected. Along with the hyperterminal errors, the MLC motor changes and all other MLC interventions by the linear accelerator engineer were recorded. The MLC dynalog files were also recorded on a daily basis for each treatment and during linac QA. The dynalog files were analyzed to calculate root mean square errors (RMS) and cumulative MLC travel distance per motor. Anmore » in-house MatLab code was used to analyze all dynalog files, record RMS errors and calculate the distance each MLC traveled per day. Results: A total of 269 interventions were recorded over a period of 18 months. Of these, 146 included MLC motor leaf change, 39 T-nut replacements, and 84 MLC cleaning sessions. Leaves close to the middle of each side required the most maintenance. In the A bank, leaves A27 to A40 recorded 73% of all interventions, while the same leaves in the B bank counted for 52% of the interventions. On average, leaves in the middle of the bank had their motors changed approximately every 1500m of travel. Finally, it was found that the number of RMS errors increased prior to an MLC motor change. Conclusion: An MLC dynalog file analysis software was developed that can be used to log daily MLC usage. Our eighteen-month data analysis showed that there is a correlation between the distance an MLC travels, the RMS and the life of the MLC motor. We plan to use this tool to predict MLC motor failures and with proper and timely intervention, reduce the downtime of the linac during clinical hours.« less

Velocity- and pointing-error measurements of a 300 000-r/min self-bearing permanent-magnet motor for optical applications

NASA Astrophysics Data System (ADS)

Breitkopf, Sven; Lilienfein, Nikolai; Achtnich, Timon; Zwyssig, Christof; Tünnermann, Andreas; Pupeza, Ioachim; Limpert, Jens

2018-06-01

Compact, ultra-high-speed self-bearing permanent-magnet motors enable a wide scope of applications including an increasing number of optical ones. For implementation in an optical setup, the rotors have to satisfy high demands regarding their velocity and pointing errors. Only a restricted number of measurements of these parameters exist and only at relatively low velocities. This manuscript presents the measurement of the velocity and pointing errors at rotation frequencies up to 5 kHz. The acquired data allow us to identify the rotor drive as the main source of velocity variations with fast fluctuations of up to 3.4 ns (RMS) and slow drifts of 23 ns (RMS) over ˜120 revolutions at 5 kHz in vacuum. At the same rotation frequency, the pointing fluctuated by 12 μrad (RMS) and 33 μrad (peak-to-peak) over ˜10 000 round trips. To our best knowledge, this states the first measurement of velocity and pointing errors at multi-kHz rotation frequencies and will allow potential adopters to evaluate the feasibility of such rotor drives for their application.

Quantification of uncertainty in the prediction of railway induced ground vibration due to the use of statistical track unevenness data

NASA Astrophysics Data System (ADS)

Lombaert, G.; Galvín, P.; François, S.; Degrande, G.

2014-09-01

Environmental vibrations due to railway traffic are predominantly due to dynamic axle loads caused by wheel and track unevenness and impact excitation by rail joints and wheel flats. Because of its irregular character, track unevenness is commonly processed statistically and represented by its power spectral density function or its root mean square (RMS) value in one-third octave bands. This statistical description does not uniquely define the track unevenness at a given site, however, and different track unevenness profiles matching the statistical description will lead to different predictions of dynamic axle loads and resulting ground vibration. This paper presents a methodology that allows quantifying the corresponding variability in ground vibration predictions. The procedure is derived assuming the geometry of the track and soil to be homogeneous along the track. The procedure is verified by means of Monte Carlo simulations and its usefulness for assessing the mismatch between predicted and measured ground vibrations is demonstrated in a case study. The results show that the response in time domain and its narrow band spectrum exhibit significant variability which is reduced when the running RMS value or the one-third octave band spectrum of the response is considered.

Concurrent prediction of muscle and tibiofemoral contact forces during treadmill gait.

PubMed

Guess, Trent M; Stylianou, Antonis P; Kia, Mohammad

2014-02-01

Detailed knowledge of knee kinematics and dynamic loading is essential for improving the design and outcomes of surgical procedures, tissue engineering applications, prosthetics design, and rehabilitation. This study used publicly available data provided by the "Grand Challenge Competition to Predict in-vivo Knee Loads" for the 2013 American Society of Mechanical Engineers Summer Bioengineering Conference (Fregly et al., 2012, "Grand Challenge Competition to Predict in vivo Knee Loads," J. Orthop. Res., 30, pp. 503-513) to develop a full body, musculoskeletal model with subject specific right leg geometries that can concurrently predict muscle forces, ligament forces, and knee and ground contact forces. The model includes representation of foot/floor interactions and predicted tibiofemoral joint loads were compared to measured tibial loads for two different cycles of treadmill gait. The model used anthropometric data (height and weight) to scale the joint center locations and mass properties of a generic model and then used subject bone geometries to more accurately position the hip and ankle. The musculoskeletal model included 44 muscles on the right leg, and subject specific geometries were used to create a 12 degrees-of-freedom anatomical right knee that included both patellofemoral and tibiofemoral articulations. Tibiofemoral motion was constrained by deformable contacts defined between the tibial insert and femoral component geometries and by ligaments. Patellofemoral motion was constrained by contact between the patellar button and femoral component geometries and the patellar tendon. Shoe geometries were added to the feet, and shoe motion was constrained by contact between three shoe segments per foot and the treadmill surface. Six-axis springs constrained motion between the feet and shoe segments. Experimental motion capture data provided input to an inverse kinematics stage, and the final forward dynamics simulations tracked joint angle errors for the left leg and upper body and tracked muscle length errors for the right leg. The one cycle RMS errors between the predicted and measured tibia contact were 178 N and 168 N for the medial and lateral sides for the first gait cycle and 209 N and 228 N for the medial and lateral sides for the faster second gait cycle. One cycle RMS errors between predicted and measured ground reaction forces were 12 N, 13 N, and 65 N in the anterior-posterior, medial-lateral, and vertical directions for the first gait cycle and 43 N, 15 N, and 96 N in the anterior-posterior, medial-lateral, and vertical directions for the second gait cycle.

Transmitted wavefront error of a volume phase holographic grating at cryogenic temperature.

PubMed

Lee, David; Taylor, Gordon D; Baillie, Thomas E C; Montgomery, David

2012-06-01

This paper describes the results of transmitted wavefront error (WFE) measurements on a volume phase holographic (VPH) grating operating at a temperature of 120 K. The VPH grating was mounted in a cryogenically compatible optical mount and tested in situ in a cryostat. The nominal root mean square (RMS) wavefront error at room temperature was 19 nm measured over a 50 mm diameter test aperture. The WFE remained at 18 nm RMS when the grating was cooled. This important result demonstrates that excellent WFE performance can be obtained with cooled VPH gratings, as required for use in future cryogenic infrared astronomical spectrometers planned for the European Extremely Large Telescope.

Synthesis and analysis of precise spaceborne laser ranging systems, volume 1. [link analysis

NASA Technical Reports Server (NTRS)

Paddon, E. A.

1977-01-01

Measurement accuracy goals of 2 cm rms range estimation error and 0.003 cm/sec rms range rate estimation error, with no more than 1 cm (range) static bias error are requirements for laser measurement systems to be used in planned space-based earth physics investigations. Constraints and parameters were defined for links between a high altitude, transmit/receive satellite (HATRS), and one of three targets: a low altitude target satellite, passive (LATS), and active low altitude target, and a ground-based target, as well as with operations with a primary transmit/receive terminal intended to be carried as a shuttle payload, in conjunction with the Spacelab program.

Application of artificial neural networks in hydrological modeling: A case study of runoff simulation of a Himalayan glacier basin

NASA Technical Reports Server (NTRS)

Buch, A. M.; Narain, A.; Pandey, P. C.

1994-01-01

The simulation of runoff from a Himalayan Glacier basin using an Artificial Neural Network (ANN) is presented. The performance of the ANN model is found to be superior to the Energy Balance Model and the Multiple Regression model. The RMS Error is used as the figure of merit for judging the performance of the three models, and the RMS Error for the ANN model is the latest of the three models. The ANN is faster in learning and exhibits excellent system generalization characteristics.

Physiological and performance effects of pyridostigmine bromide in healthy volunteers: a dose-response study.

PubMed

Cook, Mary R; Graham, Charles; Sastre, Antonio; Gerkovich, Mary M

2002-07-01

Questions have been raised about the role pyridostigmine bromide (PB) plays in the etiology of Gulf War veterans' illnesses. There is a need to understand better the physiological and behavioral effects of this drug, particularly at the 30-mg/8-h regimen recommended by the US Military. OBJECTIVE. To perform a double-blind, cross-over, dose-response study of PB in 67 healthy, young volunteers (31 women, 36 men). Volunteers were initially trained on a standardized test battery. Supervised administration of placebo (PL) and PB (every 8 h/5 days) occurred in each of two dosing weeks, separated by a non-dosing week. One group received 30 mg PB and PL, and the other 60 mg PB and PL. In each dosing week, the battery was performed after the first pill and again when steady-state plasma PB levels were achieved. PB was associated with an overall improvement in reaction time on tests of memory and attention, and with a reduction in RMS error on a tracking task. PB slowed heart rate and decreased the high frequency component of heart rate variability (HF HRV). Dose-response effects were found only for HF HRV, and RMS error. The extent of cholinesterase inhibition was directly related to the magnitude of the HF HRV decrease, and was predicted by the weight-normalized PB dose. Cholinesterase inhibition was not related to the extent or severity of reported drug side effects. PB does not appear to have detrimental physiological or performance consequences at the recommended 30-mg dose, or at twice that dose, when evaluated under non-stressful laboratory conditions.

Echidna Mark II: one giant leap for 'tilting spine' fibre positioning technology

NASA Astrophysics Data System (ADS)

Gilbert, James; Dalton, Gavin

2016-07-01

The Australian Astronomical Observatory's 'tilting spine' fibre positioning technology has been redeveloped to provide superior performance in a smaller package. The new design offers demonstrated closed-loop positioning errors of <2.8 μm RMS in only five moves ( 10 s excluding metrology overheads) and an improved capacity for open-loop tracking during observations. Tilt-induced throughput losses have been halved by lengthening spines while maintaining excellent accuracy. New low-voltage multilayer piezo actuator technology has reduced a spine's peak drive amplitude from 150V to <10V, simplifying the control electronics design, reducing the system's overall size, and improving modularity. Every spine is now a truly independent unit with a dedicated drive circuit and no restrictions on the timing or direction of fibre motion.

Strategy of restraining ripple error on surface for optical fabrication.

PubMed

Wang, Tan; Cheng, Haobo; Feng, Yunpeng; Tam, Honyuen

2014-09-10

The influence from the ripple error to the high imaging quality is effectively reduced by restraining the ripple height. A method based on the process parameters and the surface error distribution is designed to suppress the ripple height in this paper. The generating mechanism of the ripple error is analyzed by polishing theory with uniform removal character. The relation between the processing parameters (removal functions, pitch of path, and dwell time) and the ripple error is discussed through simulations. With these, the strategy for diminishing the error is presented. A final process is designed and demonstrated on K9 work-pieces using the optimizing strategy with magnetorheological jet polishing. The form error on the surface is decreased from 0.216λ PV (λ=632.8  nm) and 0.039λ RMS to 0.03λ PV and 0.004λ RMS. And the ripple error is restrained well at the same time, because the ripple height is less than 6 nm on the final surface. Results indicate that these strategies are suitable for high-precision optical manufacturing.

Experimental Analysis of Dampened Breathing Mode Oscillation on Hall Thruster Performance

DTIC Science & Technology

2013-03-01

38 4.5 Analysis of Discharge RMS Effect on Breathing Mode Amplitude...20 xii EXPERIMENTAL ANALYSIS OF DAMPENED BREATHING MODE OSCILLATION ON HALL EFFECT THRUSTER...the large error in the data presented above prevents many conclusions from being drawn. 4.5 Analysis of Discharge RMS Effect on Breathing Mode

Evaluation of Relative Navigation Algorithms for Formation-Flying Satellites

NASA Technical Reports Server (NTRS)

Kelbel, David; Lee, Taesul; Long, Anne; Carpenter, J. Russell; Gramling, Cheryl

2001-01-01

Goddard Space Flight Center is currently developing advanced spacecraft systems to provide autonomous navigation and control of formation flyers. This paper discusses autonomous relative navigation performance for formations in eccentric, medium, and high-altitude Earth orbits using Global Positioning System (GPS) Standard Positioning Service (SPS) and intersatellite range measurements. The performance of several candidate relative navigation approaches is evaluated. These analyses indicate that the relative navigation accuracy is primarily a function of the frequency of acquisition and tracking of the GPS signals. A relative navigation position accuracy of 0.5 meters root-mean-square (RMS) can be achieved for formations in medium-attitude eccentric orbits that can continuously track at least one GPS signal. A relative navigation position accuracy of better than 75 meters RMS can be achieved for formations in high-altitude eccentric orbits that have sparse tracking of the GPS signals. The addition of round-trip intersatellite range measurements can significantly improve relative navigation accuracy for formations with sparse tracking of the GPS signals.

Design of a tracked ultrasound calibration phantom made of LEGO bricks

NASA Astrophysics Data System (ADS)

Walsh, Ryan; Soehl, Marie; Rankin, Adam; Lasso, Andras; Fichtinger, Gabor

2014-03-01

PURPOSE: Spatial calibration of tracked ultrasound systems is commonly performed using precisely fabricated phantoms. Machining or 3D printing has relatively high cost and not easily available. Moreover, the possibilities for modifying the phantoms are very limited. Our goal was to find a method to construct a calibration phantom from affordable, widely available components, which can be built in short time, can be easily modified, and provides comparable accuracy to the existing solutions. METHODS: We designed an N-wire calibration phantom made of LEGO® bricks. To affirm the phantom's reproducibility and build time, ten builds were done by first-time users. The phantoms were used for a tracked ultrasound calibration by an experienced user. The success of each user's build was determined by the lowest root mean square (RMS) wire reprojection error of three calibrations. The accuracy and variance of calibrations were evaluated for the calibrations produced for various tracked ultrasound probes. The proposed model was compared to two of the currently available phantom models for both electromagnetic and optical tracking. RESULTS: The phantom was successfully built by all ten first-time users in an average time of 18.8 minutes. It cost approximately $10 CAD for the required LEGO® bricks and averaged a 0.69mm of error in the calibration reproducibility for ultrasound calibrations. It is one third the cost of similar 3D printed phantoms and takes much less time to build. The proposed phantom's image reprojections were 0.13mm more erroneous than those of the highest performing current phantom model The average standard deviation of multiple 3D image reprojections differed by 0.05mm between the phantoms CONCLUSION: It was found that the phantom could be built in less time, was one third the cost, compared to similar 3D printed models. The proposed phantom was found to be capable of producing equivalent calibrations to 3D printed phantoms.

Application of adaptive Kalman filter in vehicle laser Doppler velocimetry

NASA Astrophysics Data System (ADS)

Fan, Zhe; Sun, Qiao; Du, Lei; Bai, Jie; Liu, Jingyun

2018-03-01

Due to the variation of road conditions and motor characteristics of vehicle, great root-mean-square (rms) error and outliers would be caused. Application of Kalman filter in laser Doppler velocimetry(LDV) is important to improve the velocity measurement accuracy. In this paper, the state-space model is built by using current statistical model. A strategy containing two steps is adopted to make the filter adaptive and robust. First, the acceleration variance is adaptively adjusted by using the difference of predictive observation and measured observation. Second, the outliers would be identified and the measured noise variance would be adjusted according to the orthogonal property of innovation to reduce the impaction of outliers. The laboratory rotating table experiments show that adaptive Kalman filter greatly reduces the rms error from 0.59 cm/s to 0.22 cm/s and has eliminated all the outliers. Road experiments compared with a microwave radar show that the rms error of LDV is 0.0218 m/s, and it proves that the adaptive Kalman filtering is suitable for vehicle speed signal processing.

Towards the 1-cm SARAL orbit

NASA Astrophysics Data System (ADS)

Zelensky, Nikita P.; Lemoine, Frank G.; Chinn, Douglas S.; Beckley, Brian D.; Bordyugov, Oleg; Yang, Xu; Wimert, Jesse; Pavlis, Despina

2016-12-01

We have investigated the quality of precise orbits for the SARAL altimeter satellite using Satellite Laser Ranging (SLR) and Doppler Orbitography and Radiopositioning Integrated by Satellite (DORIS) data from March 14, 2013 to August 10, 2014. We have identified a 4.31 ± 0.14 cm error in the Z (cross-track) direction that defines the center-of-mass of the SARAL satellite in the spacecraft coordinate system, and we have tuned the SLR and DORIS tracking point offsets. After these changes, we reduce the average RMS of the SLR residuals for seven-day arcs from 1.85 to 1.38 cm. We tuned the non-conservative force model for SARAL, reducing the amplitude of the daily adjusted empirical accelerations by eight percent. We find that the best dynamic orbits show altimeter crossover residuals of 5.524 cm over cycles 7-15. Our analysis offers a unique illustration that high-elevation SLR residuals will not necessarily provide an accurate estimate of radial error at the 1-cm level, and that other supporting orbit tests are necessary for a better estimate. Through the application of improved models for handling time-variable gravity, the use of reduced-dynamic orbits, and through an arc-by-arc estimation of the C22 and S22 coefficients, we find from analysis of independent SLR residuals and other tests that we achieve 1.1-1.2 cm radial orbit accuracies for SARAL. The limiting errors stem from the inadequacy of the DPOD2008 and SLRF2008 station complements, and inadequacies in radiation force modeling, especially with respect to spacecraft self-shadowing and modeling of thermal variations due to eclipses.

Development of hybrid fluid jet/float polishing process

NASA Astrophysics Data System (ADS)

Beaucamp, Anthony T. H.; Namba, Yoshiharu; Freeman, Richard R.

2013-09-01

On one hand, the "float polishing" process consists of a tin lap having many concentric grooves, cut from a flat by single point diamond turning. This lap is rotated above a hydrostatic bearing spindle of high rigidity, damping and rotational accuracy. The optical surface thus floats above a thin layer of abrasive particles. But whilst surface texture can be smoothed to ~0.1nm rms (as measured by atomic force microscopy), this process can only be used on flat surfaces. On the other hand, the CNC "fluid jet polishing" process consists of pumping a mixture of water and abrasive particles to a converging nozzle, thus generating a polishing spot that can be moved along a tool path with tight track spacing. But whilst tool path feed can be moderated to ultra-precisely correct form error on freeform optical surfaces, surface finish improvement is generally limited to ~1.5nm rms (with fine abrasives). This paper reports on the development of a novel finishing method, that combines the advantages of "fluid jet polishing" (i.e. freeform corrective capability) with "float polishing" (i.e. super-smooth surface finish of 0.1nm rms or less). To come up with this new "hybrid" method, computational fluid dynamic modeling of both processes in COMSOL is being used to characterize abrasion conditions and adapt the process parameters of experimental fluid jet polishing equipment, including: (1) geometrical shape of nozzle, (2) position relative to the surface, (3) control of inlet pressure. This new process is aimed at finishing of next generation X-Ray / Gamma Ray focusing optics.

Dynamic Balanced Reach: A Temporal and Spectral Analysis Across Increasing Performance Demands

PubMed Central

Barton, Joseph E.; Graci, Valentina; Hafer-Macko, Charlene; Sorkin, John D.; F. Macko, Richard

2016-01-01

Standing balanced reach is a fundamental task involved in many activities of daily living that has not been well analyzed quantitatively to assess and characterize the multisegmental nature of the body's movements. We developed a dynamic balanced reach test (BRT) to analyze performance in this activity; in which a standing subject is required to maintain balance while reaching and pointing to a target disk moving across a large projection screen according to a sum-of-sines function. This tracking and balance task is made progressively more difficult by increasing the disk's overall excursion amplitude. Using kinematic and ground reaction force data from 32 young healthy subjects, we investigated how the motions of the tracking finger and whole-body center of mass (CoM) varied in response to the motion of the disk across five overall disk excursion amplitudes. Group representative performance statistics for the cohort revealed a monotonically increasing root mean squared (RMS) tracking error (RMSE) and RMS deviation (RMSD) between whole-body CoM (projected onto the ground plane) and the center of the base of support (BoS) with increasing amplitude (p < 0.03). Tracking and CoM response delays remained constant, however, at 0.5 s and 1.0 s, respectively. We also performed detailed spectral analyses of group-representative response data for each of the five overall excursion amplitudes. We derived empirical and analytical transfer functions between the motion of the disk and that of the tracking finger and CoM, computed tracking and CoM responses to a step input, and RMSE and RMSD as functions of disk frequency. We found that for frequencies less than 1.0 Hz, RMSE generally decreased, while RMSE normalized to disk motion amplitude generally increased. RMSD, on the other hand, decreased monotonically. These findings quantitatively characterize the amplitude- and frequency-dependent nature of young healthy tracking and balance in this task. The BRT is not subject to floor or ceiling effects, overcoming an important deficiency associated with most research and clinical instruments used to assess balance. This makes a comprehensive quantification of young healthy balance performance possible. The results of such analyses could be used in work space design and in fall-prevention instructional materials, for both the home and work place. Young healthy performance represents “exemplar” performance and can also be used as a reference against which to compare the performance of aging and other clinical populations at risk for falling. PMID:27551977

Use of Linear Perspective Scene Cues in a Simulated Height Regulation Task

NASA Technical Reports Server (NTRS)

Levison, W. H.; Warren, R.

1984-01-01

As part of a long-term effort to quantify the effects of visual scene cuing and non-visual motion cuing in flight simulators, an experimental study of the pilot's use of linear perspective cues in a simulated height-regulation task was conducted. Six test subjects performed a fixed-base tracking task with a visual display consisting of a simulated horizon and a perspective view of a straight, infinitely-long roadway of constant width. Experimental parameters were (1) the central angle formed by the roadway perspective and (2) the display gain. The subject controlled only the pitch/height axis; airspeed, bank angle, and lateral track were fixed in the simulation. The average RMS height error score for the least effective display configuration was about 25% greater than the score for the most effective configuration. Overall, larger and more highly significant effects were observed for the pitch and control scores. Model analysis was performed with the optimal control pilot model to characterize the pilot's use of visual scene cues, with the goal of obtaining a consistent set of independent model parameters to account for display effects.

Achievable flatness in a large microwave power transmitting antenna

NASA Technical Reports Server (NTRS)

Ried, R. C.

1980-01-01

A dual reference SPS system with pseudoisotropic graphite composite as a representative dimensionally stable composite was studied. The loads, accelerations, thermal environments, temperatures and distortions were calculated for a variety of operational SPS conditions along with statistical considerations of material properties, manufacturing tolerances, measurement accuracy and the resulting loss of sight (LOS) and local slope distributions. A LOS error and a subarray rms slope error of two arc minutes can be achieved with a passive system. Results show that existing materials measurement, manufacturing, assembly and alignment techniques can be used to build the microwave power transmission system antenna structure. Manufacturing tolerance can be critical to rms slope error. The slope error budget can be met with a passive system. Structural joints without free play are essential in the assembly of the large truss structure. Variations in material properties, particularly for coefficient of thermal expansion from part to part, is more significant than actual value.

Design, manufacturing and testing of a four-mirror telescope with a wide field of view

NASA Astrophysics Data System (ADS)

Gloesener, P.; Wolfs, F.; Lemagne, F.; Cola, M.; Flebus, C.; Blanchard, G.; Kirschner, V.

2017-11-01

Regarding Earth observation missions, it has become unnecessary to point out the importance of making available wide field of view optical instruments for the purpose of spectral imaging. Taking advantage of the pushbroom instrument concept with its linear field across the on-ground track, it is in particular relevant to consider front-end optical configurations that involve an all-reflective system presenting inherent and dedicated advantages such as achromaticity, unobscuration and compactness, while ensuring the required image quality over the whole field. The attractiveness of the concept must be balanced with respect to the state-of-the-art mirror manufacturing technologies as the need for fast, broadband and wide field systems increases the constraints put on the feasibility of each individual component. As part of an ESTEC contract, AMOS designed, manufactured and tested a breadboard of a four-mirror wide field telescope for typical Earth observation superspectral missions. The initial purpose of the development was to assess the feasibility of a telecentric spaceborne three-mirror system covering an unobscured rectangular field of view of 26 degrees across track (ACT) by 6 degrees along track (ALT) with a f-number of 3.5 and a focal length of 500 mm and presenting an overall image quality better than 100 nm RMS wavefront error within the whole field.

RM2: rms error comparisons

NASA Technical Reports Server (NTRS)

Rice, R. F.

1976-01-01

The root-mean-square error performance measure is used to compare the relative performance of several widely known source coding algorithms with the RM2 image data compression system. The results demonstrate that RM2 has a uniformly significant performance advantage.

Research on error control and compensation in magnetorheological finishing.

PubMed

Dai, Yifan; Hu, Hao; Peng, Xiaoqiang; Wang, Jianmin; Shi, Feng

2011-07-01

Although magnetorheological finishing (MRF) is a deterministic finishing technology, the machining results always fall short of simulation precision in the actual process, and it cannot meet the precision requirements just through a single treatment but after several iterations. We investigate the reasons for this problem through simulations and experiments. Through controlling and compensating the chief errors in the manufacturing procedure, such as removal function calculation error, positioning error of the removal function, and dynamic performance limitation of the CNC machine, the residual error convergence ratio (ratio of figure error before and after processing) in a single process is obviously increased, and higher figure precision is achieved. Finally, an improved technical process is presented based on these researches, and the verification experiment is accomplished on the experimental device we developed. The part is a circular plane mirror of fused silica material, and the surface figure error is improved from the initial λ/5 [peak-to-valley (PV) λ=632.8 nm], λ/30 [root-mean-square (rms)] to the final λ/40 (PV), λ/330 (rms) just through one iteration in 4.4 min. Results show that a higher convergence ratio and processing precision can be obtained by adopting error control and compensation techniques in MRF.

The inference of atmospheric ozone using satellite horizon measurements in the 1042 per cm band.

NASA Technical Reports Server (NTRS)

Russell, J. M., III; Drayson, S. R.

1972-01-01

Description of a method for inferring atmospheric ozone information using infrared horizon radiance measurements in the 1042 per cm band. An analysis based on this method proves the feasibility of the horizon experiment for determining ozone information and shows that the ozone partial pressure can be determined in the altitude range from 50 down to 25 km. A comprehensive error study is conducted which considers effects of individual errors as well as the effect of all error sources acting simultaneously. The results show that in the absence of a temperature profile bias error, it should be possible to determine the ozone partial pressure to within an rms value of 15 to 20%. It may be possible to reduce this rms error to 5% by smoothing the solution profile. These results would be seriously degraded by an atmospheric temperature bias error of only 3 K; thus, great care should be taken to minimize this source of error in an experiment. It is probable, in view of recent technological developments, that these errors will be much smaller in future flight experiments and the altitude range will widen to include from about 60 km down to the tropopause region.

The Application of Root Mean Square Electrocardiography (RMS ECG) for the Detection of Acquired and Congenital Long QT Syndrome

PubMed Central

Lux, Robert L.; Sower, Christopher Todd; Allen, Nancy; Etheridge, Susan P.; Tristani-Firouzi, Martin; Saarel, Elizabeth V.

2014-01-01

Background Precise measurement of the QT interval is often hampered by difficulty determining the end of the low amplitude T wave. Root mean square electrocardiography (RMS ECG) provides a novel alternative measure of ventricular repolarization. Experimental data have shown that the interval between the RMS ECG QRS and T wave peaks (RTPK) closely reflects the mean ventricular action potential duration while the RMS T wave width (TW) tracks the dispersion of repolarization timing. Here, we tested the precision of RMS ECG to assess ventricular repolarization in humans in the setting of drug-induced and congenital Long QT Syndrome (LQTS). Methods RMS ECG signals were derived from high-resolution 24 hour Holter monitor recordings from 68 subjects after receiving placebo and moxifloxacin and from standard 12 lead ECGs obtained in 97 subjects with LQTS and 97 age- and sex-matched controls. RTPK, QTRMS and RMS TW intervals were automatically measured using custom software and compared to traditional QT measures using lead II. Results All measures of repolarization were prolonged during moxifloxacin administration and in LQTS subjects, but the variance of RMS intervals was significantly smaller than traditional lead II measurements. TW was prolonged during moxifloxacin and in subjects with LQT-2, but not LQT-1 or LQT-3. Conclusion These data validate the application of RMS ECG for the detection of drug-induced and congenital LQTS. RMS ECG measurements are more precise than the current standard of care lead II measurements. PMID:24454918

The application of root mean square electrocardiography (RMS ECG) for the detection of acquired and congenital long QT syndrome.

PubMed

Lux, Robert L; Sower, Christopher Todd; Allen, Nancy; Etheridge, Susan P; Tristani-Firouzi, Martin; Saarel, Elizabeth V

2014-01-01

Precise measurement of the QT interval is often hampered by difficulty determining the end of the low amplitude T wave. Root mean square electrocardiography (RMS ECG) provides a novel alternative measure of ventricular repolarization. Experimental data have shown that the interval between the RMS ECG QRS and T wave peaks (RTPK) closely reflects the mean ventricular action potential duration while the RMS T wave width (TW) tracks the dispersion of repolarization timing. Here, we tested the precision of RMS ECG to assess ventricular repolarization in humans in the setting of drug-induced and congenital Long QT Syndrome (LQTS). RMS ECG signals were derived from high-resolution 24 hour Holter monitor recordings from 68 subjects after receiving placebo and moxifloxacin and from standard 12 lead ECGs obtained in 97 subjects with LQTS and 97 age- and sex-matched controls. RTPK, QTRMS and RMS TW intervals were automatically measured using custom software and compared to traditional QT measures using lead II. All measures of repolarization were prolonged during moxifloxacin administration and in LQTS subjects, but the variance of RMS intervals was significantly smaller than traditional lead II measurements. TW was prolonged during moxifloxacin and in subjects with LQT-2, but not LQT-1 or LQT-3. These data validate the application of RMS ECG for the detection of drug-induced and congenital LQTS. RMS ECG measurements are more precise than the current standard of care lead II measurements.

Optimization of 100-meter Green Bank Telescope

NASA Technical Reports Server (NTRS)

Strain, Douglas

1994-01-01

Candidate designs for NRAO's 100-m clear-aperture radio telescope were evaluated and optimized by JPL using JPL-developed structural optimization and analysis software. The weight of a non-optimum design was reduced from 9.4 million pounds to 9.2 million pounds. The half-pathlength error due to gravity deformations was reduced from 0.041-inch rms to 0.034-inch rms.

ESTCP Live Site Demonstrations, Massachusetts Military Reservation, Camp Edwards, MA

DTIC Science & Technology

2012-09-06

Blank 372,252.872 4,618,629.872 N/A N/A N/A T-005 Medium ISO 372,255.575 4,618,626.492 0.30 Horizontal Across Track a Positions T-001 and T-004 were...Med. ISO 1.69 1.77 1.73 0.031 0.94 1.01 0.98 0.02 0.92 0.96 0.94 0.01 S ho tp ut 15 5m m P 81 m m M M ed . I S O M ag ne tic P ol ar iz ab ili tie...Depth Error (cm) Min Max Mean RMS Shotput 0.30 1.40 1.00 0.5 155mmP -2.70 -0.90 -1.80 0.5 81mmM -3.50 -2.00 -3.00 0.4 Med. ISO 0.80 2.10 1.50 0.4

Prediction of protein tertiary structure from sequences using a very large back-propagation neural network

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

Liu, X.; Wilcox, G.L.

1993-12-31

We have implemented large scale back-propagation neural networks on a 544 node Connection Machine, CM-5, using the C language in MIMD mode. The program running on 512 processors performs backpropagation learning at 0.53 Gflops, which provides 76 million connection updates per second. We have applied the network to the prediction of protein tertiary structure from sequence information alone. A neural network with one hidden layer and 40 million connections is trained to learn the relationship between sequence and tertiary structure. The trained network yields predicted structures of some proteins on which it has not been trained given only their sequences.more » Presentation of the Fourier transform of the sequences accentuates periodicity in the sequence and yields good generalization with greatly increased training efficiency. Training simulations with a large, heterologous set of protein structures (111 proteins from CM-5 time) to solutions with under 2% RMS residual error within the training set (random responses give an RMS error of about 20%). Presentation of 15 sequences of related proteins in a testing set of 24 proteins yields predicted structures with less than 8% RMS residual error, indicating good apparent generalization.« less

Examining Older Adults’ Perceptions of Usability and Acceptability of Remote Monitoring Systems to Manage Chronic Heart Failure

PubMed Central

Evangelista, Lorraine S.; Moser, Debra K.; Lee, Jung-Ah; Moore, Alison A.; Ghasemzadeh, Hassan; Sarrafzadeh, Majid; Mangione, Carol M.

2015-01-01

Objective: This study was conducted to evaluate the feasibility, usability, and acceptability of using remote monitoring systems (RMS) in monitoring health status (e.g., vital signs, symptom distress) in older adults (≥55) with chronic heart failure (HF). Method: Twenty-one patients (52.4% women, mean age 73.1 ± 9.3) were trained to measure and transmit health data with an RMS. Data transmissions were tracked for 12 weeks. Results: All participants initiated use of RMS within 1 week; 71%, 14%, and 14% of patients transmitted daily health data 100%, ≥75%, and <75% of the time, respectively, for 12 weeks. Overall usability and acceptability of the RMS were 4.08 ± 0.634 and 4.10 ± 0.563, respectively (when scored on a range of 1-5, where 1 = strongly disagree and 5 = strongly agree). Discussion: Findings show that an RMS-based intervention can be successfully implemented in a group of older patients with chronic HF. PMID:28138479

Metrology for Industry for use in the Manufacture of Grazing Incidence Beam Line Mirrors

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

Metz, James P.; Parks, Robert E.

2014-12-01

The goal of this SBIR was to determine the slope sensitivity of Specular Reflection Deflectometry (SRD) and whether shearing methods had the sensitivity to be able to separate errors in the test equipment from slope error in the unit under test (UUT), or mirror. After many variations of test parameters it does not appear that SRD yields results much better than 1 μ radian RMS independent of how much averaging is done. Of course, a single number slope sensitivity over the full range of spatial scales is not a very insightful number in the same sense as a single numbermore » phase or height RMS value in interferometry does not tell the full story. However, the 1 μ radian RMS number is meaningful when contrasted with a sensitivity goal of better than 0.1 μ radian RMS. Shearing is a time proven method of separating the errors in a measurement from the actual shape of a UUT. It is accomplished by taking multiple measurements while moving the UUT relative to the test instrument. This process makes it possible to separate the two errors sources but only to a sensitivity of about 1 μ radian RMS. Another aspect of our conclusions is that this limit probably holds largely independent of the spatial scale of the test equipment. In the proposal for this work it was suggested that a test screen the full size of the UUT could be used to determine the slopes on scales of maybe 0.01 to full scale of the UUT while smaller screens and shorter focal length lenses could be used to measure shorter, or smaller, patches of slope. What we failed to take into consideration was that as the scale of the test equipment got smaller so too did the optical lever arm on which the slope was calculated. Although we did not do a test with a shorter focal length lens over a smaller sample area it is hard to argue with the logic that the slope sensitivity will be about the same independent of the spatial scale of the measurement assuming the test equipment is similarly scaled. On a more positive note, SRD does appear to be a highly flexible, easy to implement, rather inexpensive test for free form optics that require a dynamic range that exceeds that of interferometry. These optics are quite often specified to have more relaxed slope errors, on the order of 1 μ radian RMS or greater. It would be shortsighted to not recognize the value of this test method in the bigger picture.« less

Comparison of a single-view and a double-view aerosol optical depth retrieval algorithm

NASA Astrophysics Data System (ADS)

Henderson, Bradley G.; Chylek, Petr

2003-11-01

We compare the results of a single-view and a double-view aerosol optical depth (AOD) retrieval algorithm applied to image pairs acquired over NASA Stennis Space Center, Mississippi. The image data were acquired by the Department of Energy's (DOE) Multispectral Thermal Imager (MTI), a pushbroom satellite imager with 15 bands from the visible to the thermal infrared. MTI has the ability to acquire imagery in pairs in which the first image is a near-nadir view and the second image is off-nadir with a zenith angle of approximately 60°. A total of 15 image pairs were used in the analysis. For a given image pair, AOD retrieval is performed twice---once using a single-view algorithm applied to the near-nadir image, then again using a double-view algorithm. Errors for both retrievals are computed by comparing the results to AERONET AOD measurements obtained at the same time and place. The single-view algorithm showed an RMS error about the mean of 0.076 in AOD units, whereas the double-view algorithm showed a modest improvement with an RMS error of 0.06. The single-view errors show a positive bias which is presumed to be a result of the empirical relationship used to determine ground reflectance in the visible. A plot of AOD error of the double-view algorithm versus time shows a noticeable trend which is interpreted to be a calibration drift. When this trend is removed, the RMS error of the double-view algorithm drops to 0.030. The single-view algorithm qualitatively appears to perform better during the spring and summer whereas the double-view algorithm seems to be less sensitive to season.

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

Zhang, R; Jee, K; Sharp, G

Purpose: Proton radiography, which images the patients with the same type of particles that they are to be treated with, is a promising approach for image guidance and range uncertainties reduction. This study aimed to realize quality proton radiography by measuring dose rate functions (DRF) in time domain using a single flat panel and retrieve water equivalent path length (WEPL) from them. Methods: An amorphous silicon flat panel (PaxScan™ 4030CB, Varian Medical Systems, Inc., Palo Alto, CA) was placed behind phantoms to measure DRFs from a proton beam modulated by the modulator wheel. To retrieve WEPL and RSP, calibration modelsmore » based on the intensity of DRFs only, root mean square (RMS) of DRFs only and the intensity weighted RMS were tested. The quality of obtained WEPL images (in terms of spatial resolution and level of details) and the accuracy of WEPL were compared. Results: RSPs for most of the Gammex phantom inserts were retrieved within ± 1% errors by calibration models based on the RMS and intensity weighted RMS. The mean percentage error for all inserts was reduced from 1.08% to 0.75% by matching intensity in the calibration model. In specific cases such as the insert with a titanium rod, the calibration model based on RMS only fails while the that based on intensity weighted RMS is still valid. The quality of retrieved WEPL images were significantly improved for calibration models including intensity matching. Conclusion: For the first time, a flat panel, which is readily available in the beamline for image guidance, was tested to acquire quality proton radiography with WEPL accurately retrieved from it. This technique is promising to be applied for image-guided proton therapy as well as patient specific RSP determination to reduce uncertainties of beam ranges.« less

Orbit Determination for the Lunar Reconnaissance Orbiter Using an Extended Kalman Filter

NASA Technical Reports Server (NTRS)

Slojkowski, Steven; Lowe, Jonathan; Woodburn, James

2015-01-01

Since launch, the FDF has performed daily OD for LRO using the Goddard Trajectory Determination System (GTDS). GTDS is a batch least-squares (BLS) estimator. The tracking data arc for OD is 36 hours. Current operational OD uses 200 x 200 lunar gravity, solid lunar tides, solar radiation pressure (SRP) using a spherical spacecraft area model, and point mass gravity for the Earth, Sun, and Jupiter. LRO tracking data consists of range and range-rate measurements from: Universal Space Network (USN) stations in Sweden, Germany, Australia, and Hawaii. A NASA antenna at White Sands, New Mexico (WS1S). NASA Deep Space Network (DSN) stations. DSN data was sparse and not included in this study. Tracking is predominantly (50) from WS1S. The OD accuracy requirements are: Definitive ephemeris accuracy of 500 meters total position root-mean-squared (RMS) and18 meters radial RMS. Predicted orbit accuracy less than 800 meters root sum squared (RSS) over an 84-hour prediction span.

Novel branching particle method for tracking

NASA Astrophysics Data System (ADS)

Ballantyne, David J.; Chan, Hubert Y.; Kouritzin, Michael A.

2000-07-01

Particle approximations are used to track a maneuvering signal given only a noisy, corrupted sequence of observations, as are encountered in target tracking and surveillance. The signal exhibits nonlinearities that preclude the optimal use of a Kalman filter. It obeys a stochastic differential equation (SDE) in a seven-dimensional state space, one dimension of which is a discrete maneuver type. The maneuver type switches as a Markov chain and each maneuver identifies a unique SDE for the propagation of the remaining six state parameters. Observations are constructed at discrete time intervals by projecting a polygon corresponding to the target state onto two dimensions and incorporating the noise. A new branching particle filter is introduced and compared with two existing particle filters. The filters simulate a large number of independent particles, each of which moves with the stochastic law of the target. Particles are weighted, redistributed, or branched, depending on the method of filtering, based on their accordance with the current observation from the sequence. Each filter provides an approximated probability distribution of the target state given all back observations. All three particle filters converge to the exact conditional distribution as the number of particles goes to infinity, but differ in how well they perform with a finite number of particles. Using the exactly known ground truth, the root-mean-squared (RMS) errors in target position of the estimated distributions from the three filters are compared. The relative tracking power of the filters is quantified for this target at varying sizes, particle counts, and levels of observation noise.

Estimation of the sea surface's two-scale backscatter parameters

NASA Technical Reports Server (NTRS)

Wentz, F. J.

1978-01-01

The relationship between the sea-surface normalized radar cross section and the friction velocity vector is determined using a parametric two-scale scattering model. The model parameters are found from a nonlinear maximum likelihood estimation. The estimation is based on aircraft scatterometer measurements and the sea-surface anemometer measurements collected during the JONSWAP '75 experiment. The estimates of the ten model parameters converge to realistic values that are in good agreement with the available oceanographic data. The rms discrepancy between the model and the cross section measurements is 0.7 db, which is the rms sum of a 0.3 db average measurement error and a 0.6 db modeling error.

Suppression of biodynamic interference in head-tracked teleoperation

NASA Technical Reports Server (NTRS)

Lifshitz, S.; Merhav, S. J.; Grunwald, A. J.; Tucker, G. E.; Tischler, M. B.

1991-01-01

The utility of helmet-tracked sights to provide pointing commands for teleoperation of cameras, lasers, or antennas in aircraft is degraded by the presence of uncommanded, involuntary heat motion, referred to as biodynamic interference. This interference limits the achievable precision required in pointing tasks. The noise contributions due to biodynamic interference consists of an additive component which is correlated with aircraft vibration and an uncorrelated, nonadditive component, referred to as remnant. An experimental simulation study is described which investigated the improvements achievable in pointing and tracking precision using dynamic display shifting in the helmet-mounted display. The experiment was conducted in a six degree of freedom motion base simulator with an emulated helmet-mounted display. Highly experienced pilot subjects performed precision head-pointing tasks while manually flying a visual flight-path tracking task. Four schemes using adaptive and low-pass filtering of the head motion were evaluated to determine their effects on task performance and pilot workload in the presence of whole-body vibration characteristic of helicopter flight. The results indicate that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly-positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination was considered to exhibit the best overall display dynamics by each of the subjects.

Hand-eye calibration for rigid laparoscopes using an invariant point.

PubMed

Thompson, Stephen; Stoyanov, Danail; Schneider, Crispin; Gurusamy, Kurinchi; Ourselin, Sébastien; Davidson, Brian; Hawkes, David; Clarkson, Matthew J

2016-06-01

Laparoscopic liver resection has significant advantages over open surgery due to less patient trauma and faster recovery times, yet it can be difficult due to the restricted field of view and lack of haptic feedback. Image guidance provides a potential solution but one current challenge is in accurate "hand-eye" calibration, which determines the position and orientation of the laparoscope camera relative to the tracking markers. In this paper, we propose a simple and clinically feasible calibration method based on a single invariant point. The method requires no additional hardware, can be constructed by theatre staff during surgical setup, requires minimal image processing and can be visualised in real time. Real-time visualisation allows the surgical team to assess the calibration accuracy before use in surgery. In addition, in the laboratory, we have developed a laparoscope with an electromagnetic tracking sensor attached to the camera end and an optical tracking marker attached to the distal end. This enables a comparison of tracking performance. We have evaluated our method in the laboratory and compared it to two widely used methods, "Tsai's method" and "direct" calibration. The new method is of comparable accuracy to existing methods, and we show RMS projected error due to calibration of 1.95 mm for optical tracking and 0.85 mm for EM tracking, versus 4.13 and 1.00 mm respectively, using existing methods. The new method has also been shown to be workable under sterile conditions in the operating room. We have proposed a new method of hand-eye calibration, based on a single invariant point. Initial experience has shown that the method provides visual feedback, satisfactory accuracy and can be performed during surgery. We also show that an EM sensor placed near the camera would provide significantly improved image overlay accuracy.

Laboratory test results of the high speed optical tracking system for the Spaceborne Geodynamic Ranging System

NASA Technical Reports Server (NTRS)

Zagwodzki, Thomas W.; White, David L.

1987-01-01

The high speed, high resolution optical tracking system for the Spaceborne Geodynamic Ranging System employs a two-axis gimbaled pointing device that can operate from a Space Shuttle platform and can track multiple retroreflector ground targets with arcsec accuracy. Laboratory tests of the stepping characteristics of the pointing system for various step sizes and directions has shown arcsec repeatability with little wasted motion, overshoot, or ringing. The worst rms tracking jitter was 1 and 2 arcsec in the roll and pitch axes, respectively, at the maximum tracking rate of 2 deg/sec.

Moments and Root-Mean-Square Error of the Bayesian MMSE Estimator of Classification Error in the Gaussian Model.

PubMed

Zollanvari, Amin; Dougherty, Edward R

2014-06-01

The most important aspect of any classifier is its error rate, because this quantifies its predictive capacity. Thus, the accuracy of error estimation is critical. Error estimation is problematic in small-sample classifier design because the error must be estimated using the same data from which the classifier has been designed. Use of prior knowledge, in the form of a prior distribution on an uncertainty class of feature-label distributions to which the true, but unknown, feature-distribution belongs, can facilitate accurate error estimation (in the mean-square sense) in circumstances where accurate completely model-free error estimation is impossible. This paper provides analytic asymptotically exact finite-sample approximations for various performance metrics of the resulting Bayesian Minimum Mean-Square-Error (MMSE) error estimator in the case of linear discriminant analysis (LDA) in the multivariate Gaussian model. These performance metrics include the first, second, and cross moments of the Bayesian MMSE error estimator with the true error of LDA, and therefore, the Root-Mean-Square (RMS) error of the estimator. We lay down the theoretical groundwork for Kolmogorov double-asymptotics in a Bayesian setting, which enables us to derive asymptotic expressions of the desired performance metrics. From these we produce analytic finite-sample approximations and demonstrate their accuracy via numerical examples. Various examples illustrate the behavior of these approximations and their use in determining the necessary sample size to achieve a desired RMS. The Supplementary Material contains derivations for some equations and added figures.

Partial removal of correlated noise in thermal imagery

NASA Astrophysics Data System (ADS)

Borel, Christoph C.; Cooke, Bradly J.; Laubscher, Bryan E.

1996-05-01

Correlated noise occurs in many imaging systems such as scanners and push-broom imagers. The sources of correlated noise can be from the detectors, pre-amplifiers and sampling circuits. Correlated noise appears as streaking along the scan direction of a scanner or in the along track direction of a push-broom imager. We have developed algorithms to simulate correlated noise and pre-filter to reduce the amount of streaking while not destroying the scene content. The pre-filter in the Fourier domain consists of the product of two filters. One filter models the correlated noise spectrum, the other is a windowing function, e.g. Gaussian or Hanning window with variable width to block high frequency noise away from the origin of the Fourier Transform of the image data. We have optimized the filter parameters for various scenes and find improvements of the RMS error of the original minus the pre-filtered noisy image.

Ultra-Precision Measurement and Control of Angle Motion in Piezo-Based Platforms Using Strain Gauge Sensors and a Robust Composite Controller

PubMed Central

Liu, Lei; Bai, Yu-Guang; Zhang, Da-Li; Wu, Zhi-Gang

2013-01-01

The measurement and control strategy of a piezo-based platform by using strain gauge sensors (SGS) and a robust composite controller is investigated in this paper. First, the experimental setup is constructed by using a piezo-based platform, SGS sensors, an AD5435 platform and two voltage amplifiers. Then, the measurement strategy to measure the tip/tilt angles accurately in the order of sub-μrad is presented. A comprehensive composite control strategy design to enhance the tracking accuracy with a novel driving principle is also proposed. Finally, an experiment is presented to validate the measurement and control strategy. The experimental results demonstrate that the proposed measurement and control strategy provides accurate angle motion with a root mean square (RMS) error of 0.21 μrad, which is approximately equal to the noise level. PMID:23860316

SU-G-BRA-12: Development of An Intra-Fractional Motion Tracking and Dose Reconstruction System for Adaptive Stereotactic Body Radiation Therapy in High-Risk Prostate Cancer

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

Rezaeian, N Hassan; Chi, Y; Tian, Z

Purpose: A clinical trial on stereotactic body radiation therapy (SBRT) for high-risk prostate cancer is undergoing at our institution. In addition to escalating dose to the prostate, we have increased dose to intra-prostatic lesions. Intra-fractional prostate motion deteriorates well planned radiation dose, especially for the small intra-prostatic lesions. To solve this problem, we have developed a motion tracking and 4D dose-reconstruction system to facilitate adaptive re-planning. Methods: Patients in the clinical trial were treated with VMAT using four arcs and 10 FFF beam. KV triggered x-ray projections were taken every 3 sec during delivery to acquire 2D projections of 3Dmore » anatomy at the direction orthogonal to the therapeutic beam. Each patient had three implanted prostate markers. Our developed system first determined 2D projection locations of these markers and then 3D prostate translation and rotation via 2D/3D registration of the markers. Using delivery log files, our GPU-based Monte Carlo tool (goMC) reconstructed dose corresponding to each triggered image. The calculated 4D dose distributions were further aggregated to yield the delivered dose. Results: We first tested each module in our system. MC dose engine were commissioned to our treatment planning system with dose difference of <0.5%. For motion tracking, 1789 kV projections from 7 patients were acquired. The 2D marker location error was <1 mm. For 3D motion tracking, root mean square (RMS) errors along LR, AP, and CC directions were 0.26mm, 0.36mm, and 0.01mm respectively in simulation studies and 1.99mm, 1.37mm, and 0.22mm in phantom studies. We also tested the entire system workflow. Our system was able to reconstruct delivered dose. Conclusion: We have developed a functional intra-fractional motion tracking and 4D dose re-construction system to support our clinical trial on adaptive high-risk prostate cancer SBRT. Comprehensive evaluations have shown the capability and accuracy of our system.« less

Comparison of laser ray-tracing and skiascopic ocular wavefront-sensing devices

PubMed Central

Bartsch, D-UG; Bessho, K; Gomez, L; Freeman, WR

2009-01-01

Purpose To compare two wavefront-sensing devices based on different principles. Methods Thirty-eight healthy eyes of 19 patients were measured five times in the reproducibility study. Twenty eyes of 10 patients were measured in the comparison study. The Tracey Visual Function Analyzer (VFA), based on the ray-tracing principle and the Nidek optical pathway difference (OPD)-Scan, based on the dynamic skiascopy principle were compared. Standard deviation (SD) of root mean square (RMS) errors was compared to verify the reproducibility. We evaluated RMS errors, Zernike terms and conventional refractive indexes (Sph, Cyl, Ax, and spherical equivalent). Results In RMS errors reading, both devices showed similar ratios of SD to the mean measurement value (VFA: 57.5±11.7%, OPD-Scan: 53.9±10.9%). Comparison on the same eye showed that almost all terms were significantly greater using the VFA than using the OPD-Scan. However, certain high spatial frequency aberrations (tetrafoil, pentafoil, and hexafoil) were consistently measured near zero with the OPD-Scan. Conclusion Both devices showed similar level of reproducibility; however, there was considerable difference in the wavefront reading between machines when measuring the same eye. Differences in the number of sample points, centration, and measurement algorithms between the two instruments may explain our results. PMID:17571088

Performance of a Ka-band transponder breadboard for deep-space applications

NASA Technical Reports Server (NTRS)

Mysoor, N. R.; Lane, J. P.; Kayalar, S.; Kermode, A. W.

1995-01-01

This article summarizes the design concepts applied in the development of and advanced Ka-band (34.4 GHz/32 GHz) transponder breadboard for the next generation of space communications systems applications. The selected architecture upgrades the X-band (7.2 GHz/8.4 GHz) deep-space transponder (DST) to provide Da-band up/Ka- and X-band down capability. The Ka-band transponder breadboard incorporates several state-of-the-art components, including sampling mixers, a Ka-band dielectric resonator oscillator, and microwave monolithic integrated circuits (MMICs). The MMICs that were tested in the breadboard include upconverters, downconverters, automatic gain control circuits, mixers, phase modulators, and amplifiers. The measured receiver dynamic range, tracking range, acquisition rate, static phase error, and phase jitter characteristics of the Ka-band breadboard interfaced to the advanced engineering model X-band DST are in good agreement with the expected performance. The results show a receiver tracking threshold of -149 dBm with a dynamic range of 80 dB and a downlink phase jitter of 7 deg rms. The analytical results of phase noise and Allan standard deviation are in good agreement with the experimental results.

Temperature dependence of Henry's law constants and KOA for simple and heteroatom-substituted PAHs by COSMO-RS

NASA Astrophysics Data System (ADS)

Parnis, J. Mark; Mackay, Donald; Harner, Tom

2015-06-01

Henry's Law constants (H) and octanol-air partition coefficients (KOA) for polycyclic aromatic hydrocarbons (PAHs) and selected nitrogen-, oxygen- and sulfur-containing derivatives have been computed using the COSMO-RS method between -5 and 40 °C in 5 °C intervals. The accuracy of the estimation was assessed by comparison of COSMOtherm values with published experimental temperature-dependence data for these and similar PAHs. COSMOtherm log H estimates with temperature-variation for parent PAHs are shown to have a root-mean-square (RMS) error of 0.38 (PAH), based on available validation data. Estimates of O-, N- and S-substituted derivative log H values are found to have RMS errors of 0.30 at 25 °C. Log KOA estimates with temperature variation from COSMOtherm are shown to be strongly correlated with experimental values for a small set of unsubstituted PAHs, but with a systematic underestimation and associated RMS error of 1.11. Similar RMS error of 1.64 was found for COSMO-RS estimates of a group of critically-evaluated log KOA values at room temperature. Validation demonstrates that COSMOtherm estimates of H and KOA are of sufficient accuracy to be used for property screening and preliminary environmental risk assessment, and perform very well for modeling the influence of temperature on partitioning behavior in the temperature range -5 to 40 °C. Temperature-dependent shifts of up to 2 log units in log H and one log unit for log KOA are predicted for PAH species over the range -5 and 40 °C. Within the family of PAH molecules, COSMO-RS is sufficiently accurate to make it useful as a source of estimates for modeling purposes, following corrections for systematic underestimation of KOA. Average changes in the values for log H and log KOA upon substitution are given for various PAH substituent categories, with the most significant shifts being associated with the ionizing nitro functionality and keto groups.

Analytic Method for Computing Instrument Pointing Jitter

NASA Technical Reports Server (NTRS)

Bayard, David

2003-01-01

A new method of calculating the root-mean-square (rms) pointing jitter of a scientific instrument (e.g., a camera, radar antenna, or telescope) is introduced based on a state-space concept. In comparison with the prior method of calculating the rms pointing jitter, the present method involves significantly less computation. The rms pointing jitter of an instrument (the square root of the jitter variance shown in the figure) is an important physical quantity which impacts the design of the instrument, its actuators, controls, sensory components, and sensor- output-sampling circuitry. Using the Sirlin, San Martin, and Lucke definition of pointing jitter, the prior method of computing the rms pointing jitter involves a frequency-domain integral of a rational polynomial multiplied by a transcendental weighting function, necessitating the use of numerical-integration techniques. In practice, numerical integration complicates the problem of calculating the rms pointing error. In contrast, the state-space method provides exact analytic expressions that can be evaluated without numerical integration.

A cryogenic 'set-and-forget' deformable mirror

NASA Astrophysics Data System (ADS)

Trines, Robin; Janssen, Huub; Paalvast, Sander; Teuwen, Maurice; Brandl, Bernhard; Rodenhuis, Michiel

2016-07-01

This paper discusses the development, realization and initial characterization of a demonstrator for a cryogenic 'set and forget' deformable mirror. Many optical and cryogenic infrared instruments on modern very and extremely large telescopes aim at diffraction-limited performance and require total wave front errors in the order of 50 nanometers or less. At the same time, their complex optical functionality requires either a large number of spherical mirrors or several complex free-form mirrors. Due to manufacturing and alignment tolerances, each mirror contributes static aberrations to the wave front. Many of these aberrations are not known in the design phase and can only be measured once the system has been assembled. A 'set-and-forget' deformable mirror can be used to compensate for these aberrations, making it especially interesting for systems with complex free-form mirrors or cryogenic systems where access to iterative realignment is very difficult or time consuming. The mirror with an optical diameter of 200 mm is designed to correct wave front aberrations of up to 2 μm root-mean square (rms). The shape of the wave front is approximated by the first 15 Zernike modes. Finite element analysis of the mirror shows a theoretically possible reduction of the wave front error from 2 μm to 53 nm rms. To produce the desired shapes, the mirror surface is controlled by 19 identical actuator modules at the back of the mirror. The actuator modules use commercially available Piezo-Knob actuators with a high technology readiness level (TRL). These provide nanometer resolution at cryogenic temperatures combined with high positional stability, and allow for the system to be powered off once the desired shape is obtained. The stiff design provides a high resonance frequency (>200 Hz) to suppress external disturbances. A full-size demonstrator of the deformable mirror containing 6 actuators and 13 dummy actuators is realized and characterized. Measurement results show that the actuators can provide sufficient stroke to correct the 2 μm rms WFE. The resolution of the actuator influence functions is found to be 0.24 nm rms or better depending on the position of the actuator within the grid. Superposition of the actuator influence functions shows that a 2 μm rms WFE can be accurately corrected with a 38 nm fitting error. Due to the manufacturing method of the demonstrator an artificially large print-through error of 182 nm is observed. The main cause of this print-through error has been identified and will be reduced in future design iterations. After these design changes the system is expected to have a total residual error of less than 70 nm and offer diffraction limited performance (λ14) for wavelengths of 1 μm and above.

Sound localization skills in children who use bilateral cochlear implants and in children with normal acoustic hearing

PubMed Central

Grieco-Calub, Tina M.; Litovsky, Ruth Y.

2010-01-01

Objectives To measure sound source localization in children who have sequential bilateral cochlear implants (BICIs); to determine if localization accuracy correlates with performance on a right-left discrimination task (i.e., spatial acuity); to determine if there is a measurable bilateral benefit on a sound source identification task (i.e., localization accuracy) by comparing performance under bilateral and unilateral listening conditions; to determine if sound source localization continues to improve with longer durations of bilateral experience. Design Two groups of children participated in this study: a group of 21 children who received BICIs in sequential procedures (5–14 years old) and a group of 7 typically-developing children with normal acoustic hearing (5 years old). Testing was conducted in a large sound-treated booth with loudspeakers positioned on a horizontal arc with a radius of 1.2 m. Children participated in two experiments that assessed spatial hearing skills. Spatial hearing acuity was assessed with a discrimination task in which listeners determined if a sound source was presented on the right or left side of center; the smallest angle at which performance on this task was reliably above chance is the minimum audible angle. Sound localization accuracy was assessed with a sound source identification task in which children identified the perceived position of the sound source from a multi-loudspeaker array (7 or 15); errors are quantified using the root-mean-square (RMS) error. Results Sound localization accuracy was highly variable among the children with BICIs, with RMS errors ranging from 19°–56°. Performance of the NH group, with RMS errors ranging from 9°–29° was significantly better. Within the BICI group, in 11/21 children RMS errors were smaller in the bilateral vs. unilateral listening condition, indicating bilateral benefit. There was a significant correlation between spatial acuity and sound localization accuracy (R2=0.68, p<0.01), suggesting that children who achieve small RMS errors tend to have the smallest MAAs. Although there was large intersubject variability, testing of 11 children in the BICI group at two sequential visits revealed a subset of children who show improvement in spatial hearing skills over time. Conclusions A subset of children who use sequential BICIs can acquire sound localization abilities, even after long intervals between activation of hearing in the first- and second-implanted ears. This suggests that children with activation of the second implant later in life may be capable of developing spatial hearing abilities. The large variability in performance among the children with BICIs suggests that maturation of sound localization abilities in children with BICIs may be dependent on various individual subject factors such as age of implantation and chronological age. PMID:20592615

Thermodynamics of Anharmonic Systems: Uncoupled Mode Approximations for Molecules

DOE PAGES

Li, Yi-Pei; Bell, Alexis T.; Head-Gordon, Martin

2016-05-26

The partition functions, heat capacities, entropies, and enthalpies of selected molecules were calculated using uncoupled mode (UM) approximations, where the full-dimensional potential energy surface for internal motions was modeled as a sum of independent one-dimensional potentials for each mode. The computational cost of such approaches scales the same with molecular size as standard harmonic oscillator vibrational analysis using harmonic frequencies (HO hf). To compute thermodynamic properties, a computational protocol for obtaining the energy levels of each mode was established. The accuracy of the UM approximation depends strongly on how the one-dimensional potentials of each modes are defined. If the potentialsmore » are determined by the energy as a function of displacement along each normal mode (UM-N), the accuracies of the calculated thermodynamic properties are not significantly improved versus the HO hf model. Significant improvements can be achieved by constructing potentials for internal rotations and vibrations using the energy surfaces along the torsional coordinates and the remaining vibrational normal modes, respectively (UM-VT). For hydrogen peroxide and its isotopologs at 300 K, UM-VT captures more than 70% of the partition functions on average. By con trast, the HO hf model and UM-N can capture no more than 50%. For a selected test set of C2 to C8 linear and branched alkanes and species with different moieties, the enthalpies calculated using the HO hf model, UM-N, and UM-VT are all quite accurate comparing with reference values though the RMS errors of the HO model and UM-N are slightly higher than UM-VT. However, the accuracies in entropy calculations differ significantly between these three models. For the same test set, the RMS error of the standard entropies calculated by UM-VT is 2.18 cal mol -1 K -1 at 1000 K. By contrast, the RMS error obtained using the HO model and UM-N are 6.42 and 5.73 cal mol -1 K -1, respectively. For a test set composed of nine alkanes ranging from C5 to C8, the heat capacities calculated with the UM-VT model agree with the experimental values to within a RMS error of 0.78 cal mol -1 K -1 , which is less than one-third of the RMS error of the HO hf (2.69 cal mol -1 K -1) and UM-N (2.41 cal mol -1 K -1) models.« less

Gravity and Macro-Model Tuning for the Geosat Follow-on Spacecraft

NASA Technical Reports Server (NTRS)

Lemoine, Frank G.; Rowlands, David D.; Marr, Gregory C.; Zelensky, Nikita P.; Luthcke, Scott B.; Cox, Christopher M.

1999-01-01

The US Navy's GEOSAT Follow-On (GFO) spacecraft was launched on February 10, 1998 and the primary objective of the mission was to map the oceans using a radar altimeter. The spacecraft tracking complement consisted of GPS receivers, a laser retroreflector and Doppler beacons. Since the GPS receivers have not yet returned reliable data, the only means of providing high-quality precise orbits has been though satellite laser ranging (SLR). The spacecraft has been tracked by the international satellite laser ranging network since April 22, 1998, and an average of 7.4 passes per day have been obtained from US and participating foreign stations. Since the predicted radial orbit error due to the gravity field is two to three cm, the largest contributor to the high SLR residuals (7-10 cm RMS for five day arcs) is the mismodelling of the non-conservative forces, not withstanding the development of a three-dimensional eight-panel model and an analytical attitude model for the GFO spacecraft. The SLR residuals show a clear correlation with beta-prime (solar elevation) angle, peaking in mid-August 1998 when the beta-prime angle reached -80 to -90 degrees. In this paper we discuss the tuning of the non-conservative force model, for GFO and report the subsequent addition of the GFO tracking data to the Earth gravity model solutions.

Determination of stratospheric temperature and height gradients from nimbus 3 radiation data

NASA Technical Reports Server (NTRS)

Nicholas, G. W.; Hovland, D. N.; Belmont, A. D.

1971-01-01

To improve the specification of stratospheric horizontal temperature and geopotential height fields from satellite radiation data, needed for high flying aircraft, a technique was derived to estimate data between satellite tracks using interpolated IRIS 15-micron data from Nimbus III. The interpolation is based on the observed gradients of the MRIR 15-micron radiances between subsatellite tracks. The technique was verified with radiosonde data taken within 6 hours of the satellite data. The sample varied from 1126 pairs at low levels to 383 pairs at 10 mb using northern hemisphere data for June 15 to July 20, 1969. The data were separated into five latitude bands. The Rms temperature differences were generally from 2 to 5 C for all levels above 300 mb. From 500 to 300 mb RMS differences vary from 4 to 9C except at high latitudes which show values near 3C. The RMS differences between radiosonde heights and those calculated hydrostatically from the surface were from 30 to 280 meters increasing from the surface to 10 mb. Integration starting at 100 mb reduced the RMS difference in the stratosphere to 20 to 120 meters from 70 to 10 mb. From a comparison with actual operational maps at 50 and 10 mb, it appears the techniques developed produce analyses in general agreement with those from radiosonde data. In addition, they are able to indicate details over areas of sparse data not shown by conventional techniques.

Gravity model improvement using the DORIS tracking system on the SPOT 2 satellite

NASA Technical Reports Server (NTRS)

Nerem, R. S.; Lerch, F. J.; Williamson, R. G.; Klosko, S. M.; Robbins, J. W.; Patel, G. B.

1994-01-01

A high-precision radiometric satellite tracking system, Doppler Orbitography and Radio-positioning Integrated by Satellite system (DORIS), has recently been developed by the French space agency, Centre National d'Etudes Spatiales (CNES). DORIS was designed to provide tracking support for missions such as the joint United States/French TOPEX/Poseidon. As part of the flight testing process, a DORIS package was flown on the French SPOT 2 satellite. A substantial quantity of geodetic quality tracking data was obtained on SPOT 2 from an extensive international DORIS tracking network. These data were analyzed to assess their accuracy and to evaluate the gravitational modeling enhancements provided by these data in combination with the Goddard Earth Model-T3 (GEM-T3) gravitational model. These observations have noise levels of 0.4 to 0.5 mm/s, with few residual systematic effects. Although the SPOT 2 satellite experiences high atmospheric drag forces, the precision and global coverage of the DORIS tracking data have enabled more extensive orbit parameterization to mitigate these effects. As a result, the SPOT 2 orbital errors have been reduced to an estimated radial accuracy in the 10-20 cm RMS range. The addition of these data, which encompass many regions heretofore lacking in precision satellite tracking, has significantly improved GEM-T3 and allowed greatly improved orbit accuracies for Sun-synchronous satellites like SPOT 2 (such as ERS 1 and EOS). Comparison of the ensuing gravity model with other contemporary fields (GRIM-4C2, TEG2B, and OSU91A) provides a means to assess the current state of knowledge of the Earth's gravity field. Thus, the DORIS experiment on SPOT 2 has provided a strong basis for evaluating this new orbit tracking technology and has demonstrated the important contribution of the DORIS network to the success of the TOPEX/Poseidon mission.

Estimation of the uncertainty of a climate model using an ensemble simulation

NASA Astrophysics Data System (ADS)

Barth, A.; Mathiot, P.; Goosse, H.

2012-04-01

The atmospheric forcings play an important role in the study of the ocean and sea-ice dynamics of the Southern Ocean. Error in the atmospheric forcings will inevitably result in uncertain model results. The sensitivity of the model results to errors in the atmospheric forcings are studied with ensemble simulations using multivariate perturbations of the atmospheric forcing fields. The numerical ocean model used is the NEMO-LIM in a global configuration with an horizontal resolution of 2°. NCEP reanalyses are used to provide air temperature and wind data to force the ocean model over the last 50 years. A climatological mean is used to prescribe relative humidity, cloud cover and precipitation. In a first step, the model results is compared with OSTIA SST and OSI SAF sea ice concentration of the southern hemisphere. The seasonal behavior of the RMS difference and bias in SST and ice concentration is highlighted as well as the regions with relatively high RMS errors and biases such as the Antarctic Circumpolar Current and near the ice-edge. Ensemble simulations are performed to statistically characterize the model error due to uncertainties in the atmospheric forcings. Such information is a crucial element for future data assimilation experiments. Ensemble simulations are performed with perturbed air temperature and wind forcings. A Fourier decomposition of the NCEP wind vectors and air temperature for 2007 is used to generate ensemble perturbations. The perturbations are scaled such that the resulting ensemble spread matches approximately the RMS differences between the satellite SST and sea ice concentration. The ensemble spread and covariance are analyzed for the minimum and maximum sea ice extent. It is shown that errors in the atmospheric forcings can extend to several hundred meters in depth near the Antarctic Circumpolar Current.

An Evaluation of Recent Gravity Models wrt. Altimeter Satellite Missions

NASA Technical Reports Server (NTRS)

Lemoine, Frank G.; Zelensky, N. P.; Luthcke, S. B.; Beckley, B. D.; Chinn, D. S.; Rowlands, D. D.

2003-01-01

With the launch of CHAMP and GRACE, we have entered a new phase in the history of satellite geodesy. For the first time, geopotential models are now available based almost exclusively on satellite-satellite tracking either with GPS in the case of the CHAMP-based geopotential models, or co-orbital intersatellite ultra-precise ranging in the case of GRACE. Different groups have analyzed these data, and produced a series of geopotential models (e.g., EIGENlS, EIGEN2, GGM0lS, GGMOlC) that incorporate the new data. We will compare the performance of these "newer" geopotential models with the standard models now used for computations, (e.g., JGM-3, BGM-96, PGS7727, and GRIMS-C1) for TOPEX, JASON, Geosat-Follow-On (GFO), and Envisat using standard metrics such as SLR RMS of fit, altimeter crossovers, and orbit overlaps. Where covariances are available we can evaluate the predicted geographically correlated orbit error. These predicted results can be compared with the Earth-fixed differences between dynamic and reduced-dynamic orbits to test the predictive accuracy of the covariances, as well as to calibrate the error of the solutions.

A Fully Sensorized Cooperative Robotic System for Surgical Interventions

PubMed Central

Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

2012-01-01

In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

Long, elliptically bent, active X-ray mirrors with slope errors <200 nrad.

PubMed

Nistea, Ioana T; Alcock, Simon G; Kristiansen, Paw; Young, Adam

2017-05-01

Actively bent X-ray mirrors are important components of many synchrotron and X-ray free-electron laser beamlines. A high-quality optical surface and good bending performance are essential to ensure that the X-ray beam is accurately focused. Two elliptically bent X-ray mirror systems from FMB Oxford were characterized in the optical metrology laboratory at Diamond Light Source. A comparison of Diamond-NOM slope profilometry and finite-element analysis is presented to investigate how the 900 mm-long mirrors sag under gravity, and how this deformation can be adequately compensated using a single, spring-loaded compensator. It is shown that two independent mechanical actuators can accurately bend the trapezoidal substrates to a range of elliptical profiles. State-of-the-art residual slope errors of <200 nrad r.m.s. are achieved over the entire elliptical bending range. High levels of bending repeatability (ΔR/R = 0.085% and 0.156% r.m.s. for the two bending directions) and stability over 24 h (ΔR/R = 0.07% r.m.s.) provide reliable beamline performance.

A 10-Year Comparison of Water Levels Measured with a Geodetic GPS Receiver Versus a Conventional Tide Gauge

NASA Technical Reports Server (NTRS)

Larson, Kristine M.; Ray, Richard D.; Williams, Simon D. P.

2017-01-01

A standard geodetic GPS receiver and a conventional Aquatrak tide gauge, collocated at Friday Harbor, Washington, are used to assess the quality of 10 years of water levels estimated from GPS sea surface reflections.The GPS results are improved by accounting for (tidal) motion of the reflecting sea surface and for signal propagation delay by the troposphere. The RMS error of individual GPS water level estimates is about 12 cm. Lower water levels are measured slightly more accurately than higher water levels. Forming daily mean sea levels reduces the RMS difference with the tide gauge data to approximately 2 cm. For monthly means, the RMS difference is 1.3 cm. The GPS elevations, of course, can be automatically placed into a well-defined terrestrial reference frame. Ocean tide coefficients, determined from both the GPS and tide gauge data, are in good agreement, with absolute differences below 1 cm for all constituents save K1 and S1. The latter constituent is especially anomalous, probably owing to daily temperature-induced errors in the Aquatrak tide gauge

Adaptive-Repetitive Visual-Servo Control of Low-Flying Aerial Robots via Uncalibrated High-Flying Cameras

NASA Astrophysics Data System (ADS)

Guo, Dejun; Bourne, Joseph R.; Wang, Hesheng; Yim, Woosoon; Leang, Kam K.

2017-08-01

This paper presents the design and implementation of an adaptive-repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. Applications of this control strategy include the use of high-flying unmanned aerial vehicles (UAVs) with computer vision for monitoring, controlling, and coordinating the movements of lower altitude agents in areas, for example, where GPS signals may be unreliable or nonexistent. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame. Due to the circular motion of the HFV, the resulting motion trajectory of the LFV in the image frame can be periodic in time, thus an adaptive-repetitive control system is exploited for regulation and/or trajectory tracking. The adaptive control law is able to handle uncertainties in the camera's intrinsic and extrinsic parameters. The design and stability analysis of the closed-loop control system is presented, where Lyapunov stability is shown. Simulation and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter, demonstrating the capabilities of the visual-servo control system for localization (i.e.,, motion capturing) and trajectory tracking control. In fact, results show that the LFV can be commanded to hover in place as well as track a user-defined flower-shaped closed trajectory, while the HFV and camera system circulates above with constant angular velocity. On average, the proposed adaptive-repetitive visual-servo control system reduces the average RMS tracking error by over 77% in the image plane and over 71% in the world frame compared to using just the adaptive visual-servo control law.

High-Accuracy Surface Figure Measurement of Silicon Mirrors at 80 K

NASA Technical Reports Server (NTRS)

Blake, Peter; Mink, Ronald G.; Chambers, John; Davila, Pamela; Robinson, F. David

2004-01-01

This report describes the equipment, experimental methods, and first results at a new facility for interferometric measurement of cryogenically-cooled spherical mirrors at the Goddard Space Flight Center Optics Branch. The procedure, using standard phase-shifting interferometry, has an standard combined uncertainty of 3.6 nm rms in its representation of the two-dimensional surface figure error at 80, and an uncertainty of plus or minus 1 nm in the rms statistic itself. The first mirror tested was a concave spherical silicon foam-core mirror, with a clear aperture of 120 mm. The optic surface was measured at room temperature using standard absolute techniques; and then the change in surface figure error from room temperature to 80 K was measured. The mirror was cooled within a cryostat. and its surface figure error measured through a fused-silica window. The facility and techniques will be used to measure the surface figure error at 20K of prototype lightweight silicon carbide and Cesic mirrors developed by Galileo Avionica (Italy) for the European Space Agency (ESA).

3D quantitative analysis of early decomposition changes of the human face.

PubMed

Caplova, Zuzana; Gibelli, Daniele Maria; Poppa, Pasquale; Cummaudo, Marco; Obertova, Zuzana; Sforza, Chiarella; Cattaneo, Cristina

2018-03-01

Decomposition of the human body and human face is influenced, among other things, by environmental conditions. The early decomposition changes that modify the appearance of the face may hamper the recognition and identification of the deceased. Quantitative assessment of those changes may provide important information for forensic identification. This report presents a pilot 3D quantitative approach of tracking early decomposition changes of a single cadaver in controlled environmental conditions by summarizing the change with weekly morphological descriptions. The root mean square (RMS) value was used to evaluate the changes of the face after death. The results showed a high correlation (r = 0.863) between the measured RMS and the time since death. RMS values of each scan are presented, as well as the average weekly RMS values. The quantification of decomposition changes could improve the accuracy of antemortem facial approximation and potentially could allow the direct comparisons of antemortem and postmortem 3D scans.

Impact of ITRS 2014 realizations on altimeter satellite precise orbit determination

NASA Astrophysics Data System (ADS)

Zelensky, Nikita P.; Lemoine, Frank G.; Beckley, Brian D.; Chinn, Douglas S.; Pavlis, Despina E.

2018-01-01

This paper evaluates orbit accuracy and systematic error for altimeter satellite precise orbit determination on TOPEX, Jason-1, Jason-2 and Jason-3 by comparing the use of four SLR/DORIS station complements from the International Terrestrial Reference System (ITRS) 2014 realizations with those based on ITRF2008. The new Terrestrial Reference Frame 2014 (TRF2014) station complements include ITRS realizations from the Institut National de l'Information Géographique et Forestière (IGN) ITRF2014, the Jet Propulsion Laboratory (JPL) JTRF2014, the Deutsche Geodätisches Forschungsinstitut (DGFI) DTRF2014, and the DORIS extension to ITRF2014 for Precise Orbit Determination, DPOD2014. The largest source of error stems from ITRF2008 station position extrapolation past the 2009 solution end time. The TRF2014 SLR/DORIS complement impact on the ITRF2008 orbit is only 1-2 mm RMS radial difference between 1992-2009, and increases after 2009, up to 5 mm RMS radial difference in 2016. Residual analysis shows that station position extrapolation error past the solution span becomes evident even after two years, and will contribute to about 3-4 mm radial orbit error after seven years. Crossover data show the DTRF2014 orbits are the most accurate for the TOPEX and Jason-2 test periods, and the JTRF2014 orbits for the Jason-1 period. However for the 2016 Jason-3 test period only the DPOD2014-based orbits show a strong and statistically significant margin of improvement. The positive results with DTRF2014 suggest the new approach to correct station positions or normal equations for non-tidal loading before combination is beneficial. We did not find any compelling POD advantage in using non-linear over linear station velocity models in our SLR & DORIS orbit tests on the Jason satellites. The JTRF2014 proof-of-concept ITRS realization demonstrates the need for improved SLR+DORIS orbit centering when compared to the Ries (2013) CM annual model. Orbit centering error is seen as an annual radial signal of 0.4 mm amplitude with the CM model. The unmodeled CM signals show roughly a 1.8 mm peak-to-peak annual variation in the orbit radial component. We find the TRF network stability pertinent to POD can be defined only by examination of the orbit-specific tracking network time series. Drift stability between the ITRF2008 and the other TRF2014-based orbits is very high, the relative mean radial drift error over water is no larger than 0.04 mm/year over 1993-2015. Analyses also show TRF induced orbit error meets current altimeter rate accuracy goals for global and regional sea level estimation.

A Well-Calibrated Ocean Algorithm for Special Sensor Microwave/Imager

NASA Technical Reports Server (NTRS)

Wentz, Frank J.

1997-01-01

I describe an algorithm for retrieving geophysical parameters over the ocean from special sensor microwave/imager (SSM/I) observations. This algorithm is based on a model for the brightness temperature T(sub B) of the ocean and intervening atmosphere. The retrieved parameters are the near-surface wind speed W, the columnar water vapor V, the columnar cloud liquid water L, and the line-of-sight wind W(sub LS). I restrict my analysis to ocean scenes free of rain, and when the algorithm detects rain, the retrievals are discarded. The model and algorithm are precisely calibrated using a very large in situ database containing 37,650 SSM/I overpasses of buoys and 35,108 overpasses of radiosonde sites. A detailed error analysis indicates that the T(sub B) model rms accuracy is between 0.5 and 1 K and that the rms retrieval accuracies for wind, vapor, and cloud are 0.9 m/s, 1.2 mm, and 0.025 mm, respectively. The error in specifying the cloud temperature will introduce an additional 10% error in the cloud water retrieval. The spatial resolution for these accuracies is 50 km. The systematic errors in the retrievals are smaller than the rms errors, being about 0.3 m/s, 0.6 mm, and 0.005 mm for W, V, and L, respectively. The one exception is the systematic error in wind speed of -1.0 m/s that occurs for observations within +/-20 deg of upwind. The inclusion of the line-of-sight wind W(sub LS) in the retrieval significantly reduces the error in wind speed due to wind direction variations. The wind error for upwind observations is reduced from -3.0 to -1.0 m/s. Finally, I find a small signal in the 19-GHz, horizontal polarization (h(sub pol) T(sub B) residual DeltaT(sub BH) that is related to the effective air pressure of the water vapor profile. This information may be of some use in specifying the vertical distribution of water vapor.

Assessment of EGM2008 in Europe using accurate astrogeodetic vertical deflections and omission error estimates from SRTM/DTM2006.0 residual terrain model data

NASA Astrophysics Data System (ADS)

Hirt, C.; Marti, U.; Bürki, B.; Featherstone, W. E.

2010-10-01

We assess the new EGM2008 Earth gravitational model using a set of 1056 astrogeodetic vertical deflections over parts of continental Europe. Our astrogeodetic vertical deflection data set originates from zenith camera observations performed during 1983-2008. This set, which is completely independent from EGM2008, covers, e.g., Switzerland, Germany, Portugal and Greece, and samples a variety of topography - level terrain, medium elevated and rugged Alpine areas. We describe how EGM2008 is used to compute vertical deflections according to Helmert's (surface) definition. Particular attention is paid to estimating the EGM2008 signal omission error from residual terrain model (RTM) data. The RTM data is obtained from the Shuttle Radar Topography Mission (SRTM) elevation model and the DTM2006.0 high degree spherical harmonic reference surface. The comparisons between the astrogeodetic and EGM2008 vertical deflections show an agreement of about 3 arc seconds (root mean square, RMS). Adding omission error estimates from RTM to EGM2008 significantly reduces the discrepancies from the complete European set of astrogeodetic deflections to 1 arc second (RMS). Depending on the region, the RMS errors vary between 0.4 and 1.5 arc seconds. These values not only reflect EGM2008 commission errors, but also short-scale mass-density anomalies not modelled from the RTM data. Given (1) formally stated EGM2008 commission error estimates of about 0.6-0.8 arc seconds for vertical deflections, and (2) that short-scale mass-density anomalies may affect vertical deflections by about 1 arc second, the agreement between EGM2008 and our astrogeodetic deflection data set is very good. Further focus is placed on the investigation of the high-degree spectral bands of EGM2008. As a general conclusion, EGM2008 - enhanced by RTM data - is capable of predicting Helmert vertical deflections at the 1 arc second accuracy level over Europe.

Towards understanding knee joint laxity: errors in non-invasive assessment of joint rotation can be corrected.

PubMed

Moewis, P; Boeth, H; Heller, M O; Yntema, C; Jung, T; Doyscher, R; Ehrig, R M; Zhong, Y; Taylor, W R

2014-07-01

The in vivo quantification of rotational laxity of the knee joint is of importance for monitoring changes in joint stability or the outcome of therapies. While invasive assessments have been used to study rotational laxity, non-invasive methods are attractive particularly for assessing young cohorts. This study aimed to determine the conditions under which tibio-femoral rotational laxity can be assessed reliably and accurately in a non-invasive manner. The reliability and error of non-invasive examinations of rotational joint laxity were determined by comparing the artefact associated with surface mounted markers against simultaneous measurements using fluoroscopy in five knees including healthy and ACL deficient joints. The knees were examined at 0°, 30°, 60° and 90° flexion using a device that allows manual axial rotation of the joint. With a mean RMS error of 9.6°, the largest inaccuracy using non-invasive assessment was present at 0° knee flexion, whereas at 90° knee flexion, a smaller RMS error of 5.7° was found. A Bland and Altman assessment indicated that a proportional bias exists between the non-invasive and fluoroscopic approaches, with limits of agreement that exceeded 20°. Correction using average linear regression functions resulted in a reduction of the RMS error to below 1° and limits of agreement to less than ±1° across all knees and flexion angles. Given the excellent reliability and the fact that a correction of the surface mounted marker based rotation values can be achieved, non-invasive evaluation of tibio-femoral rotation could offer opportunities for simplified devices for use in clinical settings in cases where invasive assessments are not justified. Although surface mounted marker based measurements tend to overestimate joint rotation, and therefore joint laxity, our results indicate that it is possible to correct for this error. Copyright © 2014 IPEM. Published by Elsevier Ltd. All rights reserved.

Ultra-Light Precision Membrane Optics

NASA Technical Reports Server (NTRS)

Moore, Jim; Gunter, Kent; Patrick, Brian; Marty, Dave; Bates, Kevin; Gatlin, Romona; Clayton, Bill; Rood, Bob; Brantley, Whitt (Technical Monitor)

2001-01-01

SRS Technologies and NASA Marshall Space Flight Center have conducted a research effort to explore the possibility of developing ultra-lightweight membrane optics for future imaging applications. High precision optical flats and spherical mirrors were produced under this research effort. The thin film mirrors were manufactured using surface replication casting of CPI(Trademark), a polyimide material developed specifically for UV hardness and thermal stability. In the course of this program, numerous polyimide films were cast with surface finishes better than 1.5 nanometers rms and thickness variation of less than 63 nanometers. Precision membrane optical flats were manufactured demonstrating better than 1/13 wave figure error when measured at 633 nanometers. The aerial density of these films is 0.037 kilograms per square meter. Several 0.5-meter spherical mirrors were also manufactured. These mirrors had excellent surface finish (1.5 nanometers rms) and figure error on the order of tens of microns. This places their figure error within the demonstrated correctability of advanced wavefront correction technologies such as real time holography.

Inversion of surface parameters using fast learning neural networks

NASA Technical Reports Server (NTRS)

Dawson, M. S.; Olvera, J.; Fung, A. K.; Manry, M. T.

1992-01-01

A neural network approach to the inversion of surface scattering parameters is presented. Simulated data sets based on a surface scattering model are used so that the data may be viewed as taken from a completely known randomly rough surface. The fast learning (FL) neural network and a multilayer perceptron (MLP) trained with backpropagation learning (BP network) are tested on the simulated backscattering data. The RMS error of training the FL network is found to be less than one half the error of the BP network while requiring one to two orders of magnitude less CPU time. When applied to inversion of parameters from a statistically rough surface, the FL method is successful at recovering the surface permittivity, the surface correlation length, and the RMS surface height in less time and with less error than the BP network. Further applications of the FL neural network to the inversion of parameters from backscatter measurements of an inhomogeneous layer above a half space are shown.

Deriving concentrations of oxygen and carbon in human tissues using single- and dual-energy CT for ion therapy applications

NASA Astrophysics Data System (ADS)

Landry, Guillaume; Parodi, Katia; Wildberger, Joachim E.; Verhaegen, Frank

2013-08-01

Dedicated methods of in-vivo verification of ion treatment based on the detection of secondary emitted radiation, such as positron-emission-tomography and prompt gamma detection require high accuracy in the assignment of the elemental composition. This especially concerns the content in carbon and oxygen, which are the most abundant elements of human tissue. The standard single-energy computed tomography (SECT) approach to carbon and oxygen concentration determination has been shown to introduce significant discrepancies in the carbon and oxygen content of tissues. We propose a dual-energy CT (DECT)-based approach for carbon and oxygen content assignment and investigate the accuracy gains of the method. SECT and DECT Hounsfield units (HU) were calculated using the stoichiometric calibration procedure for a comprehensive set of human tissues. Fit parameters for the stoichiometric calibration were obtained from phantom scans. Gaussian distributions with standard deviations equal to those derived from phantom scans were subsequently generated for each tissue for several values of the computed tomography dose index (CTDIvol). The assignment of %weight carbon and oxygen (%wC,%wO) was performed based on SECT and DECT. The SECT scheme employed a HU versus %wC,O approach while for DECT we explored a Zeff versus %wC,O approach and a (Zeff, ρe) space approach. The accuracy of each scheme was estimated by calculating the root mean square (RMS) error on %wC,O derived from the input Gaussian distribution of HU for each tissue and also for the noiseless case as a limiting case. The (Zeff, ρe) space approach was also compared to SECT by comparing RMS error for hydrogen and nitrogen (%wH,%wN). Systematic shifts were applied to the tissue HU distributions to assess the robustness of the method against systematic uncertainties in the stoichiometric calibration procedure. In the absence of noise the (Zeff, ρe) space approach showed more accurate %wC,O assignment (largest error of 2%) than the Zeff versus %wC,O and HU versus %wC,O approaches (largest errors of 15% and 30%, respectively). When noise was present, the accuracy of the (Zeff, ρe) space (DECT approach) was decreased but the RMS error over all tissues was lower than the HU versus %wC,O (SECT approach) (5.8%wC versus 7.5%wC at CTDIvol = 20 mGy). The DECT approach showed decreasing RMS error with decreasing image noise (or increasing CTDIvol). At CTDIvol = 80 mGy the RMS error over all tissues was 3.7% for DECT and 6.2% for SECT approaches. However, systematic shifts greater than ±5HU undermined the accuracy gains afforded by DECT at any dose level. DECT provides more accurate %wC,O assignment than SECT when imaging noise and systematic uncertainties in HU values are not considered. The presence of imaging noise degrades the DECT accuracy on %wC,O assignment but it remains superior to SECT. However, DECT was found to be sensitive to systematic shifts of human tissue HU.

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

Chi, Y; Rezaeian, N Hassan; Hannan, R

Purpose: Intra-fractional prostate motion leads uncertainty on delivered dose in radiotherapy and may cause significant dose deviation from the planned dose distribution. This is especially a concern in scenarios with a high dose per fraction and hence a long delivery time, e.g. stereotactic body radiotherapy. Knowledge about intra-fractional prostate motion is valuable to address this problem, e.g. by reconstructing delivered dose and performing adaptation. This study proposes a new approach to determine intra-fractional prostate motion in VMAT via 2D/3D maker registration. Methods: At our institution, each patient has three markers implanted in the prostate. During treatment delivery, kV triggered imagesmore » were taken every three seconds to acquire 2D projection of 3D anatomy at the direction orthogonal to the therapeutic beam. Projected marker locations were identified on each projection image using template matching with geometric constraints. 3D prostate translation and rotation for each triggered image were obtained by solving an optimization problem, such that the calculated marker locations match the measured ones. Inter-image motion smoothness was employed as a constraint. We tested this method in simulation studies with five realistic prostate motion trajectories acquired via Calypso and in real phantom experiments. Results: For the simulation case, the motion range for these patients was 0.5∼6.0 mm. Root mean square (RMS) error of calculated motion along left-right (LR), anterior-posterior (AP) and cranial-caudal (CC) directions were 0.26mm, 0.36mm, and 0.016mm, respectively. The motion range in the phantom study along LR, AP, and CC directions were 15mm, 20mm and 10mm. The mean RMS errors along these directions were 1.99mm, 1.37mm and 0.22mm. Conclusion: A new prostate motion tracking algorithm based on kV triggered images has been developed and validated. Clinically acceptable accuracy has been achieved.« less

Assessment of NOAA NUCAPS upper air temperature profiles using COSMIC GPS radio occultation and ARM radiosondes

NASA Astrophysics Data System (ADS)

Feltz, M. L.; Borg, L.; Knuteson, R. O.; Tobin, D.; Revercomb, H.; Gambacorta, A.

2017-09-01

The U.S. National Oceanic and Atmospheric Administration (NOAA) recently began operational processing to derive vertical temperature profiles from two new sensors, Cross-Track Infrared Sounder and Advanced Technology Microwave Sounder, which were developed for the next generation of U.S. weather satellites. The NOAA-Unique Combined Atmospheric Processing System (NUCAPS) has been developed by NOAA to routinely process data from future Joint Polar Satellite System operational satellites and the preparatory Suomi-NPP satellite. This paper assesses the NUCAPS vertical temperature profile product from the upper troposphere into the middle stratosphere using radiosonde and GPS radio occultation (RO) data. Radiosonde data from the Department of Energy Atmospheric Radiation Measurement (ARM) program are=] compared to both the NUCAPS and GPS RO temperature products to evaluate bias and RMS errors. At all three fixed ARM sites for time periods investigated the NUCAPS temperature in the 100-40 hPa range is found to have an average bias to the radiosondes of less than 0.45 K and an RMS error of less than 1 K when temperature averaging kernels are applied. At a 95% confidence level, the radiosondes and RO were found to agree within 0.4 K at the North Slope of Alaska site and within 0.83 K at Southern Great Plains and Tropical Western Pacific. The GPS RO-derived dry temperatures, obtained from the University Corporation for Atmospheric Research Constellation Observing System for Meteorology, Ionosphere, and Climate (COSMIC) mission, are used as a common reference for the intercomparison of NUCAPS temperature products to similar products produced by NASA from Atmospheric Infrared Sounder (AIRS) and by European Organisation for the Exploitation of Meteorological Satellites from MetOp-B Infrared Atmospheric Sounding Interferometer (IASI). For seasonal and zonal scales, the NUCAPS agreement with AIRS and IASI is less than 0.5 K after application of averaging kernels.

The Magellan Telescopes

NASA Astrophysics Data System (ADS)

Shectman, Stephen A.; Johns, Matthew

2003-02-01

Commissioning of the two 6.5-meter Magellan telescopes is nearing completion at the Las Campanas Observatory in Chile. The Magellan 1 primary mirror was successfully aluminized at Las Campanas in August 2000. Science operations at Magellan 1 began in February 2001. The second Nasmyth focus on Magellan 1 went into operation in September 2001. Science operations on Magellan 2 are scheduled to begin shortly. The ability to deliver high-quality images is maintained at all times by the simultaneous operation of the primary mirror support system, the primary mirror thermal control system, and a real-time active optics system, based on a Shack-Hartmann image analyzer. Residual aberrations in the delivered image (including focus) are typically 0.10-0.15" fwhm, and real images as good as 0.25" fwhm have been obtained at optical wavelengths. The mount points reliably to 2" rms over the entire sky, using a pointing model which is stable from year to year. The tracking error under typical wind conditions is better than 0.03" rms, although some degradation is observed under high wind conditions when the dome is pointed in an unfavorable direction. Instruments used at Magellan 1 during the first year of operation include two spectrographs previously used at other telescopes (B&C, LDSS-2), a mid-infrared imager (MIRAC) and an optical imager (MAGIC, the first Magellan-specific facility instrument). Two facility spectrographs are scheduled to be installed shortly: IMACS, a wide-field spectrograph, and MIKE, a double echelle spectrograph.

Eye-Hand Synergy and Intermittent Behaviors during Target-Directed Tracking with Visual and Non-visual Information

PubMed Central

Huang, Chien-Ting; Hwang, Ing-Shiou

2012-01-01

Visual feedback and non-visual information play different roles in tracking of an external target. This study explored the respective roles of the visual and non-visual information in eleven healthy volunteers who coupled the manual cursor to a rhythmically moving target of 0.5 Hz under three sensorimotor conditions: eye-alone tracking (EA), eye-hand tracking with visual feedback of manual outputs (EH tracking), and the same tracking without such feedback (EHM tracking). Tracking error, kinematic variables, and movement intermittency (saccade and speed pulse) were contrasted among tracking conditions. The results showed that EHM tracking exhibited larger pursuit gain, less tracking error, and less movement intermittency for the ocular plant than EA tracking. With the vision of manual cursor, EH tracking achieved superior tracking congruency of the ocular and manual effectors with smaller movement intermittency than EHM tracking, except that the rate precision of manual action was similar for both types of tracking. The present study demonstrated that visibility of manual consequences altered mutual relationships between movement intermittency and tracking error. The speed pulse metrics of manual output were linked to ocular tracking error, and saccade events were time-locked to the positional error of manual tracking during EH tracking. In conclusion, peripheral non-visual information is critical to smooth pursuit characteristics and rate control of rhythmic manual tracking. Visual information adds to eye-hand synchrony, underlying improved amplitude control and elaborate error interpretation during oculo-manual tracking. PMID:23236498

SU-F-T-233: Evaluation of Treatment Delivery Parameters Using High Resolution ELEKTA Log Files

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

Kabat, C; Defoor, D; Alexandrian, A

2016-06-15

Purpose: As modern linacs have become more technologically advanced with the implementation of IGRT and IMRT with HDMLCs, a requirement for more elaborate tracking techniques to monitor components’ integrity is paramount. ElektaLog files are generated every 40 milliseconds, which can be analyzed to track subtle changes and provide another aspect of quality assurance. This allows for constant monitoring of fraction consistency in addition to machine reliability. With this in mind, it was the aim of the study to evaluate if ElektaLog files can be utilized for linac consistency QA. Methods: ElektaLogs were reviewed for 16 IMRT patient plans with >16more » fractions. Logs were analyzed by creating fluence maps from recorded values of MLC locations, jaw locations, and dose per unit time. Fluence maps were then utilized to calculate a 2D gamma index with a 2%–2mm criteria for each fraction. ElektaLogs were also used to analyze positional errors for MLC leaves and jaws, which were used to compute an overall error for the MLC banks, Y-jaws, and X-jaws by taking the root-meansquare value of the individual recorded errors during treatment. Additionally, beam on time was calculated using the number of ElektaLog file entries within the file. Results: The average 2D gamma for all 16 patient plans was found to be 98.0±2.0%. Recorded gamma index values showed an acceptable correlation between fractions. Average RMS values for MLC leaves and the jaws resulted in a leaf variation of roughly 0.3±0.08 mm and jaw variation of about 0.15±0.04 mm, both of which fall within clinical tolerances. Conclusion: The use of ElektaLog files for day-to-day evaluation of linac integrity and patient QA can be utilized to allow for reliable analysis of system accuracy and performance.« less

Improved navigation by combining VOR/DME information with air or inertial data

NASA Technical Reports Server (NTRS)

Bobick, J. C.; Bryson, A. E., Jr.

1972-01-01

The improvement was determined in navigational accuracy obtainable by combining VOR/DME information (from one or two stations) with air data (airspeed and heading) or with data from an inertial navigation system (INS) by means of a maximum-likelihood filter. It was found that the addition of air data to the information from one VOR/DME station reduces the RMS position error by a factor of about 2, whereas the addition of inertial data from a low-quality INS reduces the RMS position error by a factor of about 3. The use of information from two VOR/DME stations with air or inertial data yields large factors of improvement in RMS position accuracy over the use of a single VOR/DME station, roughly 15 to 20 for the air-data case and 25 to 35 for the inertial-data case. As far as position accuracy is concerned, at most one VOR station need be used. When continuously updating an INS with VOR/DME information, the use of a high-quality INS (0.01 deg/hr gyro drift) instead of a low-quality INS (1.0 deg/hr gyro drift) does not substantially improve position accuracy.

Self-Calibrating Surface Measuring Machine

NASA Astrophysics Data System (ADS)

Greenleaf, Allen H.

1983-04-01

A new kind of surface-measuring machine has been developed under government contract at Itek Optical Systems, a Division of Itek Corporation, to assist in the fabrication of large, highly aspheric optical elements. The machine uses four steerable distance-measuring interferometers at the corners of a tetrahedron to measure the positions of a retroreflective target placed at various locations against the surface being measured. Using four interferometers gives redundant information so that, from a set of measurement data, the dimensions of the machine as well as the coordinates of the measurement points can be determined. The machine is, therefore, self-calibrating and does not require a structure made to high accuracy. A wood-structured prototype of this machine was made whose key components are a simple form of air bearing steering mirror, a wide-angle cat's eye retroreflector used as the movable target, and tracking sensors and servos to provide automatic tracking of the cat's eye by the four laser beams. The data are taken and analyzed by computer. The output is given in terms of error relative to an equation of the desired surface. In tests of this machine, measurements of a 0.7 m diameter mirror blank have been made with an accuracy on the order of 0.2µm rms.

Estimation of the ocean geoid near the Blake Escarpment using GEOS-3 satellite altimetry

NASA Technical Reports Server (NTRS)

Brammer, R. F.

1979-01-01

The accuracy with which the local ocean geoid structure could be determined using satellite altimetry data was investigated. The undulation and along-track component of the vertical deflection for selected passes of GEOS-3 near the Blake Escarpment were estimated and compared with independent analogous estimates based on U. S. Navy surface gravimetric survey data. The results of these comparisons show agreement in the geoid undulation values generally to within one or two meters. The nature of the discrepancy in the undulation values was primarily that of a bias error believed to be due essentially to radial orbit uncertainties. The agreement between the vertical deflection estimates was not significantly affected by orbit uncertainties over the track lengths considered in this study (100 - 1500 km), and the comparisons show typical rms differences of between one and two arc secs. In addition, the capability of the altimeter to resolve short wavelength features of the geoid was determined. This analysis involved spectrum and cross spectrum analysis of sets of closely spaced parallel subtracks to determine statistically significant short wavelength geoid resolution capability. The results of this analysis show that resolution can be achieved down to wavelengths as short as 30 km - 80 km depending on regional geoid variations.

Improved simulation of aerosol, cloud, and density measurements by shuttle lidar

NASA Technical Reports Server (NTRS)

Russell, P. B.; Morley, B. M.; Livingston, J. M.; Grams, G. W.; Patterson, E. W.

1981-01-01

Data retrievals are simulated for a Nd:YAG lidar suitable for early flight on the space shuttle. Maximum assumed vertical and horizontal resolutions are 0.1 and 100 km, respectively, in the boundary layer, increasing to 2 and 2000 km in the mesosphere. Aerosol and cloud retrievals are simulated using 1.06 and 0.53 microns wavelengths independently. Error sources include signal measurement, conventional density information, atmospheric transmission, and lidar calibration. By day, tenuous clouds and Saharan and boundary layer aerosols are retrieved at both wavelengths. By night, these constituents are retrieved, plus upper tropospheric, stratospheric, and mesospheric aerosols and noctilucent clouds. Density, temperature, and improved aerosol and cloud retrievals are simulated by combining signals at 0.35, 1.06, and 0.53 microns. Particlate contamination limits the technique to the cloud free upper troposphere and above. Error bars automatically show effect of this contamination, as well as errors in absolute density nonmalization, reference temperature or pressure, and the sources listed above. For nonvolcanic conditions, relative density profiles have rms errors of 0.54 to 2% in the upper troposphere and stratosphere. Temperature profiles have rms errors of 1.2 to 2.5 K and can define the tropopause to 0.5 km and higher wave structures to 1 or 2 km.

Extending the Solvation-Layer Interface Condition Continum Electrostatic Model to a Linearized Poisson-Boltzmann Solvent.

PubMed

Molavi Tabrizi, Amirhossein; Goossens, Spencer; Mehdizadeh Rahimi, Ali; Cooper, Christopher D; Knepley, Matthew G; Bardhan, Jaydeep P

2017-06-13

We extend the linearized Poisson-Boltzmann (LPB) continuum electrostatic model for molecular solvation to address charge-hydration asymmetry. Our new solvation-layer interface condition (SLIC)/LPB corrects for first-shell response by perturbing the traditional continuum-theory interface conditions at the protein-solvent and the Stern-layer interfaces. We also present a GPU-accelerated treecode implementation capable of simulating large proteins, and our results demonstrate that the new model exhibits significant accuracy improvements over traditional LPB models, while reducing the number of fitting parameters from dozens (atomic radii) to just five parameters, which have physical meanings related to first-shell water behavior at an uncharged interface. In particular, atom radii in the SLIC model are not optimized but uniformly scaled from their Lennard-Jones radii. Compared to explicit-solvent free-energy calculations of individual atoms in small molecules, SLIC/LPB is significantly more accurate than standard parametrizations (RMS error 0.55 kcal/mol for SLIC, compared to RMS error of 3.05 kcal/mol for standard LPB). On parametrizing the electrostatic model with a simple nonpolar component for total molecular solvation free energies, our model predicts octanol/water transfer free energies with an RMS error 1.07 kcal/mol. A more detailed assessment illustrates that standard continuum electrostatic models reproduce total charging free energies via a compensation of significant errors in atomic self-energies; this finding offers a window into improving the accuracy of Generalized-Born theories and other coarse-grained models. Most remarkably, the SLIC model also reproduces positive charging free energies for atoms in hydrophobic groups, whereas standard PB models are unable to generate positive charging free energies regardless of the parametrized radii. The GPU-accelerated solver is freely available online, as is a MATLAB implementation.

Automated brainstem co-registration (ABC) for MRI.

PubMed

Napadow, Vitaly; Dhond, Rupali; Kennedy, David; Hui, Kathleen K S; Makris, Nikos

2006-09-01

Group data analysis in brainstem neuroimaging is predicated on accurate co-registration of anatomy. As the brainstem is comprised of many functionally heterogeneous nuclei densely situated adjacent to one another, relatively small errors in co-registration can manifest in increased variance or decreased sensitivity (or significance) in detecting activations. We have devised a 2-stage automated, reference mask guided registration technique (Automated Brainstem Co-registration, or ABC) for improved brainstem co-registration. Our approach utilized a brainstem mask dataset to weight an automated co-registration cost function. Our method was validated through measurement of RMS error at 12 manually defined landmarks. These landmarks were also used as guides for a secondary manual co-registration option, intended for outlier individuals that may not adequately co-register with our automated method. Our methodology was tested on 10 healthy human subjects and compared to traditional co-registration techniques (Talairach transform and automated affine transform to the MNI-152 template). We found that ABC had a significantly lower mean RMS error (1.22 +/- 0.39 mm) than Talairach transform (2.88 +/- 1.22 mm, mu +/- sigma) and the global affine (3.26 +/- 0.81 mm) method. Improved accuracy was also found for our manual-landmark-guided option (1.51 +/- 0.43 mm). Visualizing individual brainstem borders demonstrated more consistent and uniform overlap for ABC compared to traditional global co-registration techniques. Improved robustness (lower susceptibility to outliers) was demonstrated with ABC through lower inter-subject RMS error variance compared with traditional co-registration methods. The use of easily available and validated tools (AFNI and FSL) for this method should ease adoption by other investigators interested in brainstem data group analysis.

High-accuracy process based on the corrective calibration of removal function in the magnetorheological finishing

NASA Astrophysics Data System (ADS)

Zhong, Xianyun; Fan, Bin; Wu, Fan

2017-08-01

The corrective calibration of the removal function plays an important role in the magnetorheological finishing (MRF) high-accuracy process. This paper mainly investigates the asymmetrical characteristic of the MRF removal function shape and further analyzes its influence on the surface residual error by means of an iteration algorithm and simulations. By comparing the ripple errors and convergence ratios based on the ideal MRF tool function and the deflected tool function, the mathematical models for calibrating the deviation of horizontal and flowing directions are presented. Meanwhile, revised mathematical models for the coordinate transformation of an MRF machine is also established. Furthermore, a Ø140-mm fused silica plane and a Ø196 mm, f/1∶1, fused silica concave sphere samples are taken as the experiments. After two runs, the plane mirror final surface error reaches PV 17.7 nm, RMS 1.75 nm, and the polishing time is 16 min in total; after three runs, the sphere mirror final surfer error reaches RMS 2.7 nm and the polishing time is 70 min in total. The convergence ratios are 96.2% and 93.5%, respectively. The spherical simulation error and the polishing result are almost consistent, which fully validate the efficiency and feasibility of the calibration method of MRF removal function error using for the high-accuracy subaperture optical manufacturing.

The GEOS Ozone Data Assimilation System: Specification of Error Statistics

NASA Technical Reports Server (NTRS)

Stajner, Ivanka; Riishojgaard, Lars Peter; Rood, Richard B.

2000-01-01

A global three-dimensional ozone data assimilation system has been developed at the Data Assimilation Office of the NASA/Goddard Space Flight Center. The Total Ozone Mapping Spectrometer (TOMS) total ozone and the Solar Backscatter Ultraviolet (SBUV) or (SBUV/2) partial ozone profile observations are assimilated. The assimilation, into an off-line ozone transport model, is done using the global Physical-space Statistical Analysis Scheme (PSAS). This system became operational in December 1999. A detailed description of the statistical analysis scheme, and in particular, the forecast and observation error covariance models is given. A new global anisotropic horizontal forecast error correlation model accounts for a varying distribution of observations with latitude. Correlations are largest in the zonal direction in the tropics where data is sparse. Forecast error variance model is proportional to the ozone field. The forecast error covariance parameters were determined by maximum likelihood estimation. The error covariance models are validated using x squared statistics. The analyzed ozone fields in the winter 1992 are validated against independent observations from ozone sondes and HALOE. There is better than 10% agreement between mean Halogen Occultation Experiment (HALOE) and analysis fields between 70 and 0.2 hPa. The global root-mean-square (RMS) difference between TOMS observed and forecast values is less than 4%. The global RMS difference between SBUV observed and analyzed ozone between 50 and 3 hPa is less than 15%.

Error Tracking System

EPA Pesticide Factsheets

Error Tracking System is a database used to store & track error notifications sent by users of EPA's web site. ETS is managed by OIC/OEI. OECA's ECHO & OEI Envirofacts use it. Error notifications from EPA's home Page under Contact Us also uses it.

Far field and wavefront characterization of a high-power semiconductor laser for free space optical communications

NASA Technical Reports Server (NTRS)

Cornwell, Donald M., Jr.; Saif, Babak N.

1991-01-01

The spatial pointing angle and far field beamwidth of a high-power semiconductor laser are characterized as a function of CW power and also as a function of temperature. The time-averaged spatial pointing angle and spatial lobe width were measured under intensity-modulated conditions. The measured pointing deviations are determined to be well within the pointing requirements of the NASA Laser Communications Transceiver (LCT) program. A computer-controlled Mach-Zehnder phase-shifter interferometer is used to characterize the wavefront quality of the laser. The rms phase error over the entire pupil was measured as a function of CW output power. Time-averaged measurements of the wavefront quality are also made under intensity-modulated conditions. The measured rms phase errors are determined to be well within the wavefront quality requirements of the LCT program.

Robust Flight Path Determination for Mars Precision Landing Using Genetic Algorithms

NASA Technical Reports Server (NTRS)

Bayard, David S.; Kohen, Hamid

1997-01-01

This paper documents the application of genetic algorithms (GAs) to the problem of robust flight path determination for Mars precision landing. The robust flight path problem is defined here as the determination of the flight path which delivers a low-lift open-loop controlled vehicle to its desired final landing location while minimizing the effect of perturbations due to uncertainty in the atmospheric model and entry conditions. The genetic algorithm was capable of finding solutions which reduced the landing error from 111 km RMS radial (open-loop optimal) to 43 km RMS radial (optimized with respect to perturbations) using 200 hours of computation on an Ultra-SPARC workstation. Further reduction in the landing error is possible by going to closed-loop control which can utilize the GA optimized paths as nominal trajectories for linearization.

Observations of TOPEX/Poseidon Orbit Errors Due to Gravitational and Tidal Modeling Errors Using the Global Positioning System

NASA Technical Reports Server (NTRS)

Haines, B.; Christensen, E.; Guinn, J.; Norman, R.; Marshall, J.

1995-01-01

Satellite altimetry must measure variations in ocean topography with cm-level accuracy. The TOPEX/Poseidon mission is designed to do this by measuring the radial component of the orbit with an accuracy of 13 cm or better RMS. Recent advances, however, have improved this accuracy by about an order of magnitude.

In-situ Calibration Methods for Phased Array High Frequency Radars

NASA Astrophysics Data System (ADS)

Flament, P. J.; Flament, M.; Chavanne, C.; Flores-vidal, X.; Rodriguez, I.; Marié, L.; Hilmer, T.

2016-12-01

HF radars measure currents through the Doppler-shift of electromagnetic waves Bragg-scattered by surface gravity waves. While modern clocks and digital synthesizers yield range errors negligible compared to the bandwidth-limited range resolution, azimuth calibration issues arise for beam-forming phased arrays. Sources of errors in the phases of the received waves can be internal to the radar system (phase errors of filters, cable lengths, antenna tuning) and geophysical (standing waves, propagation and refraction anomalies). They result in azimuthal biases (which can be range-dependent) and beam-forming side-lobes (which induce Doppler ambiguities). We analyze the experimental calibrations of 17 deployments of WERA HF radars, performed between 2003 and 2012 in Hawaii, the Adriatic, France, Mexico and the Philippines. Several strategies were attempted: (i) passive reception of continuous multi-frequency transmitters on GPS-tracked boats, cars, and drones; (ii) bi-static calibrations of radars in mutual view; (iii) active echoes from vessels of opportunity of unknown positions or tracked through AIS; (iv) interference of unknown remote transmitters with the chirped local oscillator. We found that: (a) for antennas deployed on the sea shore, a single-azimuth calibration is sufficient to correct phases within a typical beam-forming azimuth range; (b) after applying this azimuth-independent correction, residual pointing errors are 1-2 deg. rms; (c) for antennas deployed on irregular cliffs or hills, back from shore, systematic biases appear for some azimuths at large incidence angles, suggesting that some of the ground-wave electromagnetic energy propagates in a terrain-following mode between the sea shore and the antennas; (d) for some sites, fluctuations of 10-25 deg. in radio phase at 20-40 deg. azimuthal period, not significantly correlated among antennas, are omnipresent in calibrations along a constant-range circle, suggesting standing waves or multiple paths in the presence of reflecting structures (buildings, fences), or possibly fractal nature of the wavefronts; (e) amplitudes lack stability in time and azimuth to be usable as a-priori calibrations, confirming the accepted method of re-normalizing amplitudes by the signal of nearby cells prior to beam-forming.

Quantitative evaluation of performance of three-dimensional printed lenses

NASA Astrophysics Data System (ADS)

Gawedzinski, John; Pawlowski, Michal E.; Tkaczyk, Tomasz S.

2017-08-01

We present an analysis of the shape, surface quality, and imaging capabilities of custom three-dimensional (3-D) printed lenses. 3-D printing technology enables lens prototypes to be fabricated without restrictions on surface geometry. Thus, spherical, aspherical, and rotationally nonsymmetric lenses can be manufactured in an integrated production process. This technique serves as a noteworthy alternative to multistage, labor-intensive, abrasive processes, such as grinding, polishing, and diamond turning. Here, we evaluate the quality of lenses fabricated by Luxexcel using patented Printoptical©; technology that is based on an inkjet printing technique by comparing them to lenses made with traditional glass processing technologies (grinding, polishing, etc.). The surface geometry and roughness of the lenses were evaluated using white-light and Fizeau interferometers. We have compared peak-to-valley wavefront deviation, root mean square (RMS) wavefront error, radii of curvature, and the arithmetic roughness average (Ra) profile of plastic and glass lenses. In addition, the imaging performance of selected pairs of lenses was tested using 1951 USAF resolution target. The results indicate performance of 3-D printed optics that could be manufactured with surface roughness comparable to that of injection molded lenses (Ra<20 nm). The RMS wavefront error of 3-D printed prototypes was at a minimum 18.8 times larger than equivalent glass prototypes for a lens with a 12.7 mm clear aperture, but, when measured within 63% of its clear aperture, the 3-D printed components' RMS wavefront error was comparable to glass lenses.

Improving Barotropic Tides by Two-way Nesting High and Low Resolution Domains

NASA Astrophysics Data System (ADS)

Jeon, C. H.; Buijsman, M. C.; Wallcraft, A. J.; Shriver, J. F.; Hogan, P. J.; Arbic, B. K.; Richman, J. G.

2017-12-01

In a realistically forced global ocean model, relatively large sea-surface-height root-mean-square (RMS) errors are observed in the North Atlantic near the Hudson Strait. These may be associated with large tidal resonances interacting with coastal bathymetry that are not correctly represented with a low resolution grid. This issue can be overcome by using high resolution grids, but at a high computational cost. In this paper we apply two-way nesting as an alternative solution. This approach applies high resolution to the area with large RMS errors and a lower resolution to the rest. It is expected to improve the tidal solution as well as reduce the computational cost. To minimize modification of the original source codes of the ocean circulation model (HYCOM), we apply the coupler OASIS3-MCT. This coupler is used to exchange barotropic pressures and velocity fields through its APIs (Application Programming Interface) between the parent and the child components. The developed two-way nesting framework has been validated with an idealized test case where the parent and the child domains have identical grid resolutions. The result of the idealized case shows very small RMS errors between the child and parent solutions. We plan to show results for a case with realistic tidal forcing in which the resolution of the child grid is three times that of the parent grid. The numerical results of this realistic case are compared to TPXO data.

Experimental demonstration of laser tomographic adaptive optics on a 30-meter telescope at 800 nm

NASA Astrophysics Data System (ADS)

Ammons, S., Mark; Johnson, Luke; Kupke, Renate; Gavel, Donald T.; Max, Claire E.

2010-07-01

A critical goal in the next decade is to develop techniques that will extend Adaptive Optics correction to visible wavelengths on Extremely Large Telescopes (ELTs). We demonstrate in the laboratory the highly accurate atmospheric tomography necessary to defeat the cone effect on ELTs, an essential milestone on the path to this capability. We simulate a high-order Laser Tomographic AO System for a 30-meter telescope with the LTAO/MOAO testbed at UCSC. Eight Sodium Laser Guide Stars (LGSs) are sensed by 99x99 Shack-Hartmann wavefront sensors over 75". The AO system is diffraction-limited at a science wavelength of 800 nm (S ~ 6-9%) over a field of regard of 20" diameter. Openloop WFS systematic error is observed to be proportional to the total input atmospheric disturbance and is nearly the dominant error budget term (81 nm RMS), exceeded only by tomographic wavefront estimation error (92 nm RMS). The total residual wavefront error for this experiment is comparable to that expected for wide-field tomographic adaptive optics systems of similar wavefront sensor order and LGS constellation geometry planned for Extremely Large Telescopes.

Measurement of intervertebral cervical motion by means of dynamic x-ray image processing and data interpolation.

PubMed

Bifulco, Paolo; Cesarelli, Mario; Romano, Maria; Fratini, Antonio; Sansone, Mario

2013-01-01

Accurate measurement of intervertebral kinematics of the cervical spine can support the diagnosis of widespread diseases related to neck pain, such as chronic whiplash dysfunction, arthritis, and segmental degeneration. The natural inaccessibility of the spine, its complex anatomy, and the small range of motion only permit concise measurement in vivo. Low dose X-ray fluoroscopy allows time-continuous screening of cervical spine during patient's spontaneous motion. To obtain accurate motion measurements, each vertebra was tracked by means of image processing along a sequence of radiographic images. To obtain a time-continuous representation of motion and to reduce noise in the experimental data, smoothing spline interpolation was used. Estimation of intervertebral motion for cervical segments was obtained by processing patient's fluoroscopic sequence; intervertebral angle and displacement and the instantaneous centre of rotation were computed. The RMS value of fitting errors resulted in about 0.2 degree for rotation and 0.2 mm for displacements.

A new telescope control system for the Telescopio Nazionale Galileo: I - derotators

NASA Astrophysics Data System (ADS)

Ghedina, Adriano; Gonzalez, Manuel; Perez Ventura, Hector; Carmona, Candido; Riverol, Luis

2014-07-01

Telescopio Nazionale Galileo (TNG) is a 4m class active optics telescope at the observatory of Roque de Los Muchachos. In the framework of keeping optimum performances during observation and continuous reliability the telescope control system (TCS) of the TNG is going through a deep upgrade after nearly 20 years of service. The original glass encoders and bulb lamp heads are substituted with modern steel scale drums and scanning units. The obsolete electronic racks and computers for the control loops are replaced with modern and compact commercial drivers with a net improvement in the tracking error RMS. In order to minimize the impact on the number of nights lost during the mechanical and electronic changes in the TCS the new TCS is developed and tested in parallel to the existing one and three steps will be taken to achieve the full upgrade. We describe here the first step affecting the mechanical derotators at the Nasmyth foci.

Results from the NEXT Protogypes

DOE PAGES

Oliveira, C A.B.

2013-10-04

NEXT-100 is an electroluminescent high pressure Time Projection Chamber currently under construction. It will search for the neutrino-less double beta decay in 136Xe at the Canfranc Underground Laboratory. NEXT-100 aims to achieve nearly intrinsic energy resolution and to highly suppress background events by taking advantage of the unique properties of xenon in the gaseous phase as the detection medium. In order to prove the principle of operation and to study which are the best operational conditions, two prototypes were constructed: NEXT-DEMO and NEXT-DBDM. In this study we present the latest results from both prototypes. We report the improvement in termsmore » of light collection (~ 3x) achieved by coating the walls of NEXT-DEMO with tetraphenyl butadiene (TPB), the outstanding energy resolution of 1% (Full Width Half Maximum) from NEXT-DBDM as well as the tracking capabilities of this prototype (2.1 mm RMS error for point-like depositions) achieved by using a square array of 8 x 8 SiPMs.« less

Evaluation of airborne topographic lidar for quantifying beach changes

USGS Publications Warehouse

2003-01-01

A scanning airborne topographic lidar was evaluated for its ability to quantify beach topography and changes during the Sandy Duck experiment in 1997 along the North Carolina coast. Elevation estimates, acquired with NASA's Airborne Topographic Mapper (ATM), were compared to elevations measured with three types of ground-based mea- surements-1) differential GPS equipped all-terrain vehicle (ATV) that surveyed a 3-km reach of beach from the shoreline to the dune, 2) GPS antenna mounted on a stadia rod used to intensely survey a different 100 m reach of beach, and 3) a second GPS-equipped ATV that surveyed a 70-km-long transect along the coast. Over 40,000 individual intercomparisons between ATM and ground surveys were calculated. RMS vertical differences associated with the ATM when compared to ground measurements ranged from 13 to 19 cm. Considering all of the intercomparisons together, RMS ≃15 cm. This RMS error represents a total error for individual elevation estimates including uncertainties associated with random and mean errors. The latter was the largest source of error and was attributed to drift in differential GPS. The ≃15cm vertical accuracy of the ATM is adequate to resolve beach-change signals typical of the impact of storms. For example, ATM surveys of Assateague Island (spanning the border of MD and VA) prior to and immediately following a severe northeaster showed vertical beach changes in places greater than 2 m, much greater than expected errors associated with the ATM. A major asset of airborne lidar is the high spatial data density. Measurements of elevation are acquired every few m2 over regional scales of hundreds of kilometers. Hence, many scales of beach morphology and change can be resolved, from beach cusps tens of meters in wavelength to entire coastal cells com- prising tens to hundreds of kilometers of coast. Topographic lidars similar to the ATM are becoming increasingly available from commercial vendors and should, in the future, be widely used in beach su

Point Charges Optimally Placed to Represent the Multipole Expansion of Charge Distributions

PubMed Central

Onufriev, Alexey V.

2013-01-01

We propose an approach for approximating electrostatic charge distributions with a small number of point charges to optimally represent the original charge distribution. By construction, the proposed optimal point charge approximation (OPCA) retains many of the useful properties of point multipole expansion, including the same far-field asymptotic behavior of the approximate potential. A general framework for numerically computing OPCA, for any given number of approximating charges, is described. We then derive a 2-charge practical point charge approximation, PPCA, which approximates the 2-charge OPCA via closed form analytical expressions, and test the PPCA on a set of charge distributions relevant to biomolecular modeling. We measure the accuracy of the new approximations as the RMS error in the electrostatic potential relative to that produced by the original charge distribution, at a distance the extent of the charge distribution–the mid-field. The error for the 2-charge PPCA is found to be on average 23% smaller than that of optimally placed point dipole approximation, and comparable to that of the point quadrupole approximation. The standard deviation in RMS error for the 2-charge PPCA is 53% lower than that of the optimal point dipole approximation, and comparable to that of the point quadrupole approximation. We also calculate the 3-charge OPCA for representing the gas phase quantum mechanical charge distribution of a water molecule. The electrostatic potential calculated by the 3-charge OPCA for water, in the mid-field (2.8 Å from the oxygen atom), is on average 33.3% more accurate than the potential due to the point multipole expansion up to the octupole order. Compared to a 3 point charge approximation in which the charges are placed on the atom centers, the 3-charge OPCA is seven times more accurate, by RMS error. The maximum error at the oxygen-Na distance (2.23 Å ) is half that of the point multipole expansion up to the octupole order. PMID:23861790

Evaluation of airborne topographic lidar for quantifying beach changes

USGS Publications Warehouse

Sallenger, A.H.; Krabill, W.B.; Swift, R.N.; Brock, J.; List, J.; Hansen, M.; Holman, R.A.; Manizade, S.; Sontag, J.; Meredith, A.; Morgan, K.; Yunkel, J.K.; Frederick, E.B.; Stockdon, H.

2003-01-01

A scanning airborne topographic lidar was evaluated for its ability to quantify beach topography and changes during the Sandy Duck experiment in 1997 along the North Carolina coast. Elevation estimates, acquired with NASA's Airborne Topographic Mapper (ATM), were compared to elevations measured with three types of ground-based measurements - 1) differential GPS equipped all-terrain vehicle (ATV) that surveyed a 3-km reach of beach from the shoreline to the dune, 2) GPS antenna mounted on a stadia rod used to intensely survey a different 100 m reach of beach, and 3) a second GPS-equipped ATV that surveyed a 70-km-long transect along the coast. Over 40,000 individual intercomparisons between ATM and ground surveys were calculated. RMS vertical differences associated with the ATM when compared to ground measurements ranged from 13 to 19 cm. Considering all of the intercomparisons together, RMS ??? 15 cm. This RMS error represents a total error for individual elevation estimates including uncertainties associated with random and mean errors. The latter was the largest source of error and was attributed to drift in differential GPS. The ??? 15 cm vertical accuracy of the ATM is adequate to resolve beach-change signals typical of the impact of storms. For example, ATM surveys of Assateague Island (spanning the border of MD and VA) prior to and immediately following a severe northeaster showed vertical beach changes in places greater than 2 m, much greater than expected errors associated with the ATM. A major asset of airborne lidar is the high spatial data density. Measurements of elevation are acquired every few m2 over regional scales of hundreds of kilometers. Hence, many scales of beach morphology and change can be resolved, from beach cusps tens of meters in wavelength to entire coastal cells comprising tens to hundreds of kilometers of coast. Topographic lidars similar to the ATM are becoming increasingly available from commercial vendors and should, in the future, be widely used in beach surveying.

Application of a passivity based control methodology for flexible joint robots to a simplified Space Shuttle RMS

NASA Technical Reports Server (NTRS)

Sicard, Pierre; Wen, John T.

1992-01-01

A passivity approach for the control design of flexible joint robots is applied to the rate control of a three-link arm modeled after the shoulder yaw joint of the Space Shuttle Remote Manipulator System (RMS). The system model includes friction and elastic joint couplings modeled as nonlinear springs. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. A regulator approach with link state feedback is employed to define the desired motor state. Passivity theory is used to design a motor state-based controller to stabilize the error system formed by the feedforward. Simulation results show that greatly improved performance was obtained by using the proposed controller over the existing RMS controller.

WE-G-213CD-03: A Dual Complementary Verification Method for Dynamic Tumor Tracking on Vero SBRT.

PubMed

Poels, K; Depuydt, T; Verellen, D; De Ridder, M

2012-06-01

to use complementary cine EPID and gimbals log file analysis for in-vivo tracking accuracy monitoring. A clinical prototype of dynamic tracking (DT) was installed on the Vero SBRT system. This prototype version allowed tumor tracking by gimballed linac rotations using an internal-external correspondence model. The DT prototype software allowed the detailed logging of all applied gimbals rotations during tracking. The integration of an EPID on the vero system allowed the acquisition of cine EPID images during DT. We quantified the tracking error on cine EPID (E-EPID) by subtracting the target center (fiducial marker detection) and the field centroid. Dynamic gimbals log file information was combined with orthogonal x-ray verification images to calculate the in-vivo tracking error (E-kVLog). The correlation between E-kVLog and E-EPID was calculated for validation of the gimbals log file. Further, we investigated the sensitivity of the log file tracking error by introducing predefined systematic tracking errors. As an application we calculate gimbals log file tracking error for dynamic hidden target tests to investigate gravity effects and decoupled gimbals rotation from gantry rotation. Finally, calculating complementary cine EPID and log file tracking errors evaluated the clinical accuracy of dynamic tracking. A strong correlation was found between log file and cine EPID tracking error distribution during concurrent measurements (R=0.98). We found sensitivity in the gimbals log files to detect a systematic tracking error up to 0.5 mm. Dynamic hidden target tests showed no gravity influence on tracking performance and high degree of decoupled gimbals and gantry rotation during dynamic arc dynamic tracking. A submillimetric agreement between clinical complementary tracking error measurements was found. Redundancy of the internal gimbals log file with x-ray verification images with complementary independent cine EPID images was implemented to monitor the accuracy of gimballed tumor tracking on Vero SBRT. Research was financially supported by the Flemish government (FWO), Hercules Foundation and BrainLAB AG. © 2012 American Association of Physicists in Medicine.

A practical method of estimating standard error of age in the fission track dating method

USGS Publications Warehouse

Johnson, N.M.; McGee, V.E.; Naeser, C.W.

1979-01-01

A first-order approximation formula for the propagation of error in the fission track age equation is given by PA = C[P2s+P2i+P2??-2rPsPi] 1 2, where PA, Ps, Pi and P?? are the percentage error of age, of spontaneous track density, of induced track density, and of neutron dose, respectively, and C is a constant. The correlation, r, between spontaneous are induced track densities is a crucial element in the error analysis, acting generally to improve the standard error of age. In addition, the correlation parameter r is instrumental is specifying the level of neutron dose, a controlled variable, which will minimize the standard error of age. The results from the approximation equation agree closely with the results from an independent statistical model for the propagation of errors in the fission-track dating method. ?? 1979.

Quantization-Based Adaptive Actor-Critic Tracking Control With Tracking Error Constraints.

PubMed

Fan, Quan-Yong; Yang, Guang-Hong; Ye, Dan

2018-04-01

In this paper, the problem of adaptive actor-critic (AC) tracking control is investigated for a class of continuous-time nonlinear systems with unknown nonlinearities and quantized inputs. Different from the existing results based on reinforcement learning, the tracking error constraints are considered and new critic functions are constructed to improve the performance further. To ensure that the tracking errors keep within the predefined time-varying boundaries, a tracking error transformation technique is used to constitute an augmented error system. Specific critic functions, rather than the long-term cost function, are introduced to supervise the tracking performance and tune the weights of the AC neural networks (NNs). A novel adaptive controller with a special structure is designed to reduce the effect of the NN reconstruction errors, input quantization, and disturbances. Based on the Lyapunov stability theory, the boundedness of the closed-loop signals and the desired tracking performance can be guaranteed. Finally, simulations on two connected inverted pendulums are given to illustrate the effectiveness of the proposed method.

Tropospheric Correction for InSAR Using Interpolated ECMWF Data and GPS Zenith Total Delay

NASA Technical Reports Server (NTRS)

Webb, Frank H.; Fishbein, Evan F.; Moore, Angelyn W.; Owen, Susan E.; Fielding, Eric J.; Granger, Stephanie L.; Bjorndahl, Fredrik; Lofgren Johan

2011-01-01

To mitigate atmospheric errors caused by the troposphere, which is a limiting error source for spaceborne interferometric synthetic aperture radar (InSAR) imaging, a tropospheric correction method has been developed using data from the European Centre for Medium- Range Weather Forecasts (ECMWF) and the Global Positioning System (GPS). The ECMWF data was interpolated using a Stretched Boundary Layer Model (SBLM), and ground-based GPS estimates of the tropospheric delay from the Southern California Integrated GPS Network were interpolated using modified Gaussian and inverse distance weighted interpolations. The resulting Zenith Total Delay (ZTD) correction maps have been evaluated, both separately and using a combination of the two data sets, for three short-interval InSAR pairs from Envisat during 2006 on an area stretching from northeast from the Los Angeles basin towards Death Valley. Results show that the root mean square (rms) in the InSAR images was greatly reduced, meaning a significant reduction in the atmospheric noise of up to 32 percent. However, for some of the images, the rms increased and large errors remained after applying the tropospheric correction. The residuals showed a constant gradient over the area, suggesting that a remaining orbit error from Envisat was present. The orbit reprocessing in ROI_pac and the plane fitting both require that the only remaining error in the InSAR image be the orbit error. If this is not fulfilled, the correction can be made anyway, but it will be done using all remaining errors assuming them to be orbit errors. By correcting for tropospheric noise, the biggest error source is removed, and the orbit error becomes apparent and can be corrected for

Prediction of STN-DBS Electrode Implantation Track in Parkinson's Disease by Using Local Field Potentials

PubMed Central

Telkes, Ilknur; Jimenez-Shahed, Joohi; Viswanathan, Ashwin; Abosch, Aviva; Ince, Nuri F.

2016-01-01

Optimal electrophysiological placement of the DBS electrode may lead to better long term clinical outcomes. Inter-subject anatomical variability and limitations in stereotaxic neuroimaging increase the complexity of physiological mapping performed in the operating room. Microelectrode single unit neuronal recording remains the most common intraoperative mapping technique, but requires significant expertise and is fraught by potential technical difficulties including robust measurement of the signal. In contrast, local field potentials (LFPs), owing to their oscillatory and robust nature and being more correlated with the disease symptoms, can overcome these technical issues. Therefore, we hypothesized that multiple spectral features extracted from microelectrode-recorded LFPs could be used to automate the identification of the optimal track and the STN localization. In this regard, we recorded LFPs from microelectrodes in three tracks from 22 patients during DBS electrode implantation surgery at different depths and aimed to predict the track selected by the neurosurgeon based on the interpretation of single unit recordings. A least mean square (LMS) algorithm was used to de-correlate LFPs in each track, in order to remove common activity between channels and increase their spatial specificity. Subband power in the beta band (11–32 Hz) and high frequency range (200–450 Hz) were extracted from the de-correlated LFP data and used as features. A linear discriminant analysis (LDA) method was applied both for the localization of the dorsal border of STN and the prediction of the optimal track. By fusing the information from these low and high frequency bands, the dorsal border of STN was localized with a root mean square (RMS) error of 1.22 mm. The prediction accuracy for the optimal track was 80%. Individual beta band (11–32 Hz) and the range of high frequency oscillations (200–450 Hz) provided prediction accuracies of 72 and 68% respectively. The best prediction result obtained with monopolar LFP data was 68%. These results establish the initial evidence that LFPs can be strategically fused with computational intelligence in the operating room for STN localization and the selection of the track for chronic DBS electrode implantation. PMID:27242404

Error rate information in attention allocation pilot models

NASA Technical Reports Server (NTRS)

Faulkner, W. H.; Onstott, E. D.

1977-01-01

The Northrop urgency decision pilot model was used in a command tracking task to compare the optimized performance of multiaxis attention allocation pilot models whose urgency functions were (1) based on tracking error alone, and (2) based on both tracking error and error rate. A matrix of system dynamics and command inputs was employed, to create both symmetric and asymmetric two axis compensatory tracking tasks. All tasks were single loop on each axis. Analysis showed that a model that allocates control attention through nonlinear urgency functions using only error information could not achieve performance of the full model whose attention shifting algorithm included both error and error rate terms. Subsequent to this analysis, tracking performance predictions for the full model were verified by piloted flight simulation. Complete model and simulation data are presented.

Mass change from GRACE: a simulated comparison of Level-1B analysis techniques

NASA Astrophysics Data System (ADS)

Andrews, Stuart B.; Moore, Philip; King, Matt. A.

2015-01-01

Spherical harmonic and mascon parameters have both been successfully applied in the recovery of time-varying gravity fields from Gravity Recovery and Climate Experiment (GRACE). However, direct comparison of any mass flux is difficult with solutions generated by different groups using different codes and algorithms. It is therefore opportune to compare these methodologies, within a common software base, to understand potential limitations associated with each technique. Here we use simulations to recover a known monthly surface mass distribution from GRACE KBRR data. The ability of spherical harmonic and mascon parameters to resolve basin-level mass change is quantified with an assessment of how the noise and errors, inherent in GRACE solutions, are handled. Recovery of a noise and error free GLDAS anomaly revealed no quantifiable difference between spherical harmonic and mascon parameters. Expansion of the GLDAS anomaly to degree and order 120 shows that both spherical harmonic and mascon parameters are affected by comparable omission errors. However, the inclusion of realistic KBRR noise and errors in the simulations reveals the advantage of the mascon parameters over spherical harmonics at reducing noise and errors in the higher degree and order harmonics with an rms (cm of EWH) to the GLDAS anomaly of 10.0 for the spherical harmonic solution and 8.8 (8.6) for the 4°(2°) mascon solutions. The introduction of a constraint matrix in the mascon solution based on parameters that share geophysical similarities is shown to further reduce the signal lost at all degrees. The recovery of a simulated Antarctic mass loss signal shows that the mascon methodology is superior to spherical harmonics for this region with an rms (cm of EWH) of 8.7 for the 2° mascon solution compared to 10.0 for the spherical harmonic solution. Investigating the noise and errors for a month when the satellites were in resonance revealed both the spherical harmonic and mascon methodologies are able to recover the GLDAS and Antarctic mass loss signal with either a comparable (spherical harmonic) or improved (mascon) rms compared to non-resonance periods.

Kalman filtered MR temperature imaging for laser induced thermal therapies.

PubMed

Fuentes, D; Yung, J; Hazle, J D; Weinberg, J S; Stafford, R J

2012-04-01

The feasibility of using a stochastic form of Pennes bioheat model within a 3-D finite element based Kalman filter (KF) algorithm is critically evaluated for the ability to provide temperature field estimates in the event of magnetic resonance temperature imaging (MRTI) data loss during laser induced thermal therapy (LITT). The ability to recover missing MRTI data was analyzed by systematically removing spatiotemporal information from a clinical MR-guided LITT procedure in human brain and comparing predictions in these regions to the original measurements. Performance was quantitatively evaluated in terms of a dimensionless L(2) (RMS) norm of the temperature error weighted by acquisition uncertainty. During periods of no data corruption, observed error histories demonstrate that the Kalman algorithm does not alter the high quality temperature measurement provided by MR thermal imaging. The KF-MRTI implementation considered is seen to predict the bioheat transfer with RMS error < 4 for a short period of time, ∆t < 10 s, until the data corruption subsides. In its present form, the KF-MRTI method currently fails to compensate for consecutive for consecutive time periods of data loss ∆t > 10 sec.

Ion beam figuring of Φ520mm convex hyperbolic secondary mirror

NASA Astrophysics Data System (ADS)

Meng, Xiaohui; Wang, Yonggang; Li, Ang; Li, Wenqing

2016-10-01

The convex hyperbolic secondary mirror is a Φ520-mm Zerodur lightweight hyperbolic convex mirror. Typically conventional methods like CCOS, stressed-lap polishing are used to manufacture this secondary mirror. Nevertheless, the required surface accuracy cannot be achieved through the use of conventional polishing methods because of the unpredictable behavior of the polishing tools, which leads to an unstable removal rate. Ion beam figuring is an optical fabrication method that provides highly controlled error of previously polished surfaces using a directed, inert and neutralized ion beam to physically sputter material from the optic surface. Several iterations with different ion beam size are selected and optimized to fit different stages of surface figure error and spatial frequency components. Before ion beam figuring, surface figure error of the secondary mirror is 2.5λ p-v, 0.23λ rms, and is improved to 0.12λ p-v, 0.014λ rms in several process iterations. The demonstration clearly shows that ion beam figuring can not only be used to the final correction of aspheric, but also be suitable for polishing the coarse surface of large, complex mirror.

Testing of a technique for remotely measuring water salinity in an estuarine environment

NASA Technical Reports Server (NTRS)

Thomann, G. C.

1975-01-01

An aircraft experiment was flown on November 7, 1973 to test a technique for remote water salinity measurement. Apparent temperatures at 21 cm and 8-14 micron wavelengths were recorded on eight runs over a line along which the salinity varied from 5 to 30%. Boat measurements were used for calibration and accuracy calculations. Overall RMS accuracy over the complete range of salinities was 3.6%. Overall RMS accuracy for salinities greater than 10%, where the technique is more sensitive, was 2.6%. Much of this error is believed to be due to inability to exactly locate boat and aircraft positions. The standard deviation over the eight runs for salinities or = 10% is 1.4%; this error contains a component due to mislocation of the aircraft also. It is believed that operational use of the technique is possible with accuracies of 1-2%.

Constitutive Modeling of Porcine Liver in Indentation Using 3D Ultrasound Imaging

PubMed Central

Jordan, P.; Socrate, S.; Zickler, T.E.; Howe, R.D.

2009-01-01

In this work we present an inverse finite-element modeling framework for constitutive modeling and parameter estimation of soft tissues using full-field volumetric deformation data obtained from 3D ultrasound. The finite-element model is coupled to full-field visual measurements by regularization springs attached at nodal locations. The free ends of the springs are displaced according to the locally estimated tissue motion and the normalized potential energy stored in all springs serves as a measure of model-experiment agreement for material parameter optimization. We demonstrate good accuracy of estimated parameters and consistent convergence properties on synthetically generated data. We present constitutive model selection and parameter estimation for perfused porcine liver in indentation and demonstrate that a quasilinear viscoelastic model with shear modulus relaxation offers good model-experiment agreement in terms of indenter displacement (0.19 mm RMS error) and tissue displacement field (0.97 mm RMS error). PMID:19627823

Testing an H-mode Pedestal Model Using DIII-D Data

NASA Astrophysics Data System (ADS)

Kritz, A. H.; Onjun, T.; Bateman, G.; Guzdar, P. N.; Mahajan, S. M.; Osborne, T.

2004-11-01

Tests against experimental data are carried out for a model of the pedestal at the edge of H-mode plasmas based on double-Beltrami solutions of the two-fluid Hall-MHD equations for the interaction of the magnetic and velocity fields.(S.M. Mahajan and Z. Yoshida, PRL 81 (1998) 4863, Phys. Plasmas 7 (2000) 635.) The width and height of the pedestal predicted by the model are tested against experimental data from the DIII-D tokamak. The model for the pedestal width, which has a particularly simple form, namely, inversely proportional to the square root of the density, does not appear to capture the parameter dependence of the experimental data. When the model for the pedestal temperature is rescaled to optimize agreement with data, the RMS error is found to be comparable with the RMS error found using other pedestal models.(T. Onjun, G. Bateman, A.H. Kritz, G. Hammett, Phys. Plasmas 9 (2002) 5018.)

Supplemental optical specifications for imaging systems: parameters of phase gradient

NASA Astrophysics Data System (ADS)

Xuan, Bin; Li, Jun-Feng; Wang, Peng; Chen, Xiao-Ping; Song, Shu-Mei; Xie, Jing-Jiang

2009-12-01

Specifications of phase error, peak to valley (PV), and root mean square (rms) are not able to represent the properties of a wavefront reasonably because of their irresponsibility for spatial frequencies. Power spectral density is a parameter that is especially effective to indicate the frequency regime. However, it seems not convenient for opticians to implement. Parameters of phase gradient, PV gradient, and rms gradient are most correlated with a point-spread function of an imaging system, and they can provide clear instruction of manufacture. The algorithms of gradient parameters have been modified in order to represent the image quality better. In order to demonstrate the analyses, an experimental spherical mirror has been worked out. It is clear that imaging performances can be maintained while manufacture difficulties are decreased when a reasonable trade-off between specifications of phase error and phase gradient is made.

Research on the compensation of laser launch optics to improve the performance of the LGS spot.

PubMed

Liu, Jie; Wang, Jianli; Wang, Yuning; Tian, Donghe; Zheng, Quan; Lin, Xudong; Wang, Liang; Yang, Qingyun

2018-02-01

To improve the beam quality of the uplink laser, a 37 channel piezo-ceramic deformable mirror was inserted into the laser launch optics to compensate the static aberrations. An interferometer was used as the calibration light source as well as the wavefront sensor to perform closed-loop correction for the moment. About 0.38λ root mean square (rms) aberrations, including the deformable mirror's initial figure error, were compensated, and the residual error was less than 0.07λ rms. Field observations with a 2 m optical telescope demonstrated that the peak intensity value of the laser guide star (LGS) spot increased from 5650 to 7658, and the full width at half-maximum (FWHM) size reduced from 4.07 arcseconds to 3.52 arcseconds. With the compensation, an improved guide star spot can be obtained, which is crucial for the adaptive optics systems of ground-based large telescopes.

Nondestructive measurement of the refractive index distribution of a glass molded lens by two-wavelength wavefronts.

PubMed

Sugimoto, Tomohiro

2016-10-01

This paper presents a nondestructive and non-exact-index-matching method for measuring the refractive index distribution of a glass molded lens with high refractivity. The method measures two-wavelength wavefronts of a test lens immersed in a liquid with a refractive index dispersion different from that of the test lens and calculates the refractive index distribution by eliminating the refractive index distribution error caused by the shape error of the test lens. The estimated uncertainties of the refractive index distributions of test lenses with n_d≈1.77 and n_d≈1.85 were 1.9×10^-5  RMS and 2.4×10^-5  RMS, respectively. I validated the proposed method by evaluating the agreement between the estimated uncertainties and experimental values.

Ionospheric error contribution to GNSS single-frequency navigation at the 2014 solar maximum

NASA Astrophysics Data System (ADS)

Orus Perez, Raul

2017-04-01

For single-frequency users of the global satellite navigation system (GNSS), one of the main error contributors is the ionospheric delay, which impacts the received signals. As is well-known, GPS and Galileo transmit global models to correct the ionospheric delay, while the international GNSS service (IGS) computes precise post-process global ionospheric maps (GIM) that are considered reference ionospheres. Moreover, accurate ionospheric maps have been recently introduced, which allow for the fast convergence of the real-time precise point position (PPP) globally. Therefore, testing of the ionospheric models is a key issue for code-based single-frequency users, which constitute the main user segment. Therefore, the testing proposed in this paper is straightforward and uses the PPP modeling applied to single- and dual-frequency code observations worldwide for 2014. The usage of PPP modeling allows us to quantify—for dual-frequency users—the degradation of the navigation solutions caused by noise and multipath with respect to the different ionospheric modeling solutions, and allows us, in turn, to obtain an independent assessment of the ionospheric models. Compared to the dual-frequency solutions, the GPS and Galileo ionospheric models present worse global performance, with horizontal root mean square (RMS) differences of 1.04 and 0.49 m and vertical RMS differences of 0.83 and 0.40 m, respectively. While very precise global ionospheric models can improve the dual-frequency solution globally, resulting in a horizontal RMS difference of 0.60 m and a vertical RMS difference of 0.74 m, they exhibit a strong dependence on the geographical location and ionospheric activity.

RMS: a platform for managing cross-disciplinary and multi-institutional research project collaboration.

PubMed

Luo, Jake; Apperson-Hansen, Carolyn; Pelfrey, Clara M; Zhang, Guo-Qiang

2014-11-30

Cross-institutional cross-disciplinary collaboration has become a trend as researchers move toward building more productive and innovative teams for scientific research. Research collaboration is significantly changing the organizational structure and strategies used in the clinical and translational science domain. However, due to the obstacles of diverse administrative structures, differences in area of expertise, and communication barriers, establishing and managing a cross-institutional research project is still a challenging task. We address these challenges by creating an integrated informatics platform to reduce the barriers to biomedical research collaboration. The Request Management System (RMS) is an informatics infrastructure designed to transform a patchwork of expertise and resources into an integrated support network. The RMS facilitates investigators' initiation of new collaborative projects and supports the management of the collaboration process. In RMS, experts and their knowledge areas are categorized and managed structurally to provide consistent service. A role-based collaborative workflow is tightly integrated with domain experts and services to streamline and monitor the life-cycle of a research project. The RMS has so far tracked over 1,500 investigators with over 4,800 tasks. The research network based on the data collected in RMS illustrated that the investigators' collaborative projects increased close to 3 times from 2009 to 2012. Our experience with RMS indicates that the platform reduces barriers for cross-institutional collaboration of biomedical research projects. Building a new generation of infrastructure to enhance cross-disciplinary and multi-institutional collaboration has become an important yet challenging task. In this paper, we share the experience of developing and utilizing a collaborative project management system. The results of this study demonstrate that a web-based integrated informatics platform can facilitate and increase research interactions among investigators.

A novel sandwich-type traveling wave piezoelectric tracked mobile system.

PubMed

Wang, Liang; Shu, Chengyou; Zhang, Quan; Jin, Jiamei

2017-03-01

In this paper, a novel sandwich-type traveling wave piezoelectric tracked mobile system was proposed, designed, fabricated and experimentally investigated. The proposed system exhibits the advantages of simple structure, high mechanical integration, lack of electromagnetic interference, and lack of lubrication requirement, and hence shows potential application to robotic rovers for planetary exploration. The tracked mobile system is comprised of a sandwich actuating mechanism and a metal track. The actuating mechanism includes a sandwich piezoelectric transducer and two annular parts symmetrically placed at either end of the transducer, while the metal track is tensioned along the outer surfaces of the annular parts. Traveling waves with the same rotational direction are generated in the two annular parts, producing the microscopic elliptical motions of the surface particles on the annular parts. In this situation, if the pre-load is applied properly, the metal track can be driven by friction force to achieve bidirectional movement. At first, the finite element method was adopted to conduct the modal analysis and harmonic response analysis of the actuating mechanism, and the vibration characteristics were measured to confirm the operating principle. Then the optimal driving frequency of the system prototype, namely 35.1kHz, was measured by frequency sensitivity experiments. At last, the mechanical motion characteristics of the prototype were investigated experimentally. The results show that the average motion speeds of the prototype in dual directions were as 72mm/s and 61.5mm/s under the excitation voltage of 500V RMS , respectively. The optimal loading weights of the prototype in bi-directions were 0.32kg and 0.24kg with a maximum speed of 59.5mm/s and 61.67mm/s at the driving voltage of 300V RMS , respectively. Copyright © 2016 Elsevier B.V. All rights reserved.

Precision orbit determination performance for CryoSat-2

NASA Astrophysics Data System (ADS)

Schrama, Ernst

2018-01-01

In this paper we discuss our efforts to perform precision orbit determination (POD) of CryoSat-2 which depends on Doppler and satellite laser ranging tracking data. A dynamic orbit model is set-up and the residuals between the model and the tracking data is evaluated. The average r.m.s. of the 10 s averaged Doppler tracking pass residuals is approximately 0.39 mm/s; and the average of the laser tracking pass residuals becomes 1.42 cm. There are a number of other tests to verify the quality of the orbit solution, we compare our computed orbits against three independent external trajectories provided by the CNES. The CNES products are part of the CryoSat-2 products distributed by ESA. The radial differences of our solution relative to the CNES precision orbits shows an average r.m.s. of 1.25 cm between Jun-2010 and Apr-2017. The SIRAL altimeter crossover difference statistics demonstrate that the quality of our orbit solution is comparable to that of the POE solution computed by the CNES. In this paper we will discuss three important changes in our POD activities that have brought the orbit performance to this level. The improvements concern the way we implement temporal gravity accelerations observed by GRACE; the implementation of ITRF2014 coordinates and velocities for the DORIS beacons and the SLR tracking sites. We also discuss an adjustment of the SLR retroreflector position within the satellite reference frame. An unexpected result is that we find a systematic difference between the median of the 10 s Doppler tracking residuals which displays a statistically significant pattern in the South Atlantic Anomaly (SSA) area where the median of the velocity residuals varies in the range of -0.15 to +0.15 mm/s.

Integration of the Shuttle RMS/CBM Positioning Virtual Environment Simulation

NASA Technical Reports Server (NTRS)

Dumas, Joseph D.

1996-01-01

Constructing the International Space Station, or other structures, in space presents a number of problems. In particular, payload restrictions for the Space Shuttle and other launch mechanisms prohibit assembly of large space-based structures on Earth. Instead, a number of smaller modules must be boosted into orbit separately and then assembled to form the final structure. The assembly process is difficult, as docking interfaces such as Common Berthing Mechanisms (CBMS) must be precisely positioned relative to each other to be within the "capture envelope" (approximately +/- 1 inch and +/- 0.3 degrees from the nominal position) and attach properly. In the case of the Space Station, the docking mechanisms are to be positioned robotically by an astronaut using the 55-foot-long Remote Manipulator System (RMS) robot arm. Unfortunately, direct visual or video observation of the placement process is difficult or impossible in many scenarios. One method that has been tested for aligning the CBMs uses a boresighted camera mounted on one CBM to view a standard target on the opposing CBM. While this method might be sufficient to achieve proper positioning with considerable effort, it does not provide a high level of confidence that the mechanisms have been placed within capture range of each other. It also does nothing to address the risk of inadvertent contact between the CBMS, which could result in RMS control software errors. In general, constraining the operator to a single viewpoint with few, if any, depth cues makes the task much more difficult than it would be if the target could be viewed in three-dimensional space from various viewpoints. The actual work area could be viewed by an astronaut during EVA; however, it would be extremely impractical to have an astronaut control the RMS while spacewalking. On the other hand, a view of the RMS and CBMs to be positioned in a virtual environment aboard the Space Shuttle orbiter or Space Station could provide similar benefits more safely and conveniently with little additional cost. In order to render and view the RMS and CBMs in a virtual world, the position and orientation of the end effector in three-dimensional space must be known with a high degree of accuracy. A precision video alignment sensor has been developed which can determine the position and orientation of the controlled element relative to the target CBM within approximately one-sixteenth inch and 0.07 angular degrees. Such a sensor could replace or augment the boresighted camera mentioned above. The computer system used to render the virtual world and the position tracking systems which might be used to monitor the user's movements (in order to adjust the viewpoint in virtual space) are small enough to carry to orbit. Thus, such a system would be feasible for use in constructing structures in space.

Characteristics of the BDS Carrier Phase Multipath and Its Mitigation Methods in Relative Positioning

PubMed Central

Dai, Wujiao; Shi, Qiang; Cai, Changsheng

2017-01-01

The carrier phase multipath effect is one of the most significant error sources in the precise positioning of BeiDou Navigation Satellite System (BDS). We analyzed the characteristics of BDS multipath, and found the multipath errors of geostationary earth orbit (GEO) satellite signals are systematic, whereas those of inclined geosynchronous orbit (IGSO) or medium earth orbit (MEO) satellites are both systematic and random. The modified multipath mitigation methods, including sidereal filtering algorithm and multipath hemispherical map (MHM) model, were used to improve BDS dynamic deformation monitoring. The results indicate that the sidereal filtering methods can reduce the root mean square (RMS) of positioning errors in the east, north and vertical coordinate directions by 15%, 37%, 25% and 18%, 51%, 27% in the coordinate and observation domains, respectively. By contrast, the MHM method can reduce the RMS by 22%, 52% and 27% on average. In addition, the BDS multipath errors in static baseline solutions are a few centimeters in multipath-rich environments, which is different from that of Global Positioning System (GPS) multipath. Therefore, we add a parameter representing the GEO multipath error in observation equation to the adjustment model to improve the precision of BDS static baseline solutions. And the results show that the modified model can achieve an average precision improvement of 82%, 54% and 68% in the east, north and up coordinate directions, respectively. PMID:28387744

Characteristics of the BDS Carrier Phase Multipath and Its Mitigation Methods in Relative Positioning.

PubMed

Dai, Wujiao; Shi, Qiang; Cai, Changsheng

2017-04-07

The carrier phase multipath effect is one of the most significant error sources in the precise positioning of BeiDou Navigation Satellite System (BDS). We analyzed the characteristics of BDS multipath, and found the multipath errors of geostationary earth orbit (GEO) satellite signals are systematic, whereas those of inclined geosynchronous orbit (IGSO) or medium earth orbit (MEO) satellites are both systematic and random. The modified multipath mitigation methods, including sidereal filtering algorithm and multipath hemispherical map (MHM) model, were used to improve BDS dynamic deformation monitoring. The results indicate that the sidereal filtering methods can reduce the root mean square (RMS) of positioning errors in the east, north and vertical coordinate directions by 15%, 37%, 25% and 18%, 51%, 27% in the coordinate and observation domains, respectively. By contrast, the MHM method can reduce the RMS by 22%, 52% and 27% on average. In addition, the BDS multipath errors in static baseline solutions are a few centimeters in multipath-rich environments, which is different from that of Global Positioning System (GPS) multipath. Therefore, we add a parameter representing the GEO multipath error in observation equation to the adjustment model to improve the precision of BDS static baseline solutions. And the results show that the modified model can achieve an average precision improvement of 82%, 54% and 68% in the east, north and up coordinate directions, respectively.

Fresh Fuel Measurements With the Differential Die-Away Self-Interrogation Instrument

NASA Astrophysics Data System (ADS)

Trahan, Alexis C.; Belian, Anthony P.; Swinhoe, Martyn T.; Menlove, Howard O.; Flaska, Marek; Pozzi, Sara A.

2017-07-01

The purpose of the Next Generation Safeguards Initiative (NGSI)-Spent Fuel (SF) Project is to strengthen the technical toolkit of safeguards inspectors and/or other interested parties. The NGSI-SF team is working to achieve the following technical goals more easily and efficiently than in the past using nondestructive assay measurements of spent fuel assemblies: 1) verify the initial enrichment, burnup, and cooling time of facility declaration; 2) detect the diversion or replacement of pins; 3) estimate the plutonium mass; 4) estimate decay heat; and 5) determine the reactivity of spent fuel assemblies. The differential die-away self-interrogation (DDSI) instrument is one instrument that was assessed for years regarding its feasibility for robust, timely verification of spent fuel assemblies. The instrument was recently built and was tested using fresh fuel assemblies in a variety of configurations, including varying enrichment, neutron absorber content, and symmetry. The early die-away method, a multiplication determination method developed in simulation space, was successfully tested on the fresh fuel assembly data and determined multiplication with a root-mean-square (RMS) error of 2.9%. The experimental results were compared with MCNP simulations of the instrument as well. Low multiplication assemblies had agreement with an average RMS error of 0.2% in the singles count rate (i.e., total neutrons detected per second) and 3.4% in the doubles count rates (i.e., neutrons detected in coincidence per second). High-multiplication assemblies had agreement with an average RMS error of 4.1% in the singles and 13.3% in the doubles count rates.

Fresh Fuel Measurements With the Differential Die-Away Self-Interrogation Instrument

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

Trahan, Alexis C.; Belian, Anthony P.; Swinhoe, Martyn T.

The purpose of the Next Generation Safeguards Initiative (NGSI)-Spent Fuel (SF) Project is to strengthen the technical toolkit of safeguards inspectors and/or other interested parties. Thus the NGSI-SF team is working to achieve the following technical goals more easily and efficiently than in the past using nondestructive assay measurements of spent fuel assemblies: 1) verify the initial enrichment, burnup, and cooling time of facility declaration; 2) detect the diversion or replacement of pins; 3) estimate the plutonium mass; 4) estimate decay heat; and 5) determine the reactivity of spent fuel assemblies. The differential die-away self-interrogation (DDSI) instrument is one instrumentmore » that was assessed for years regarding its feasibility for robust, timely verification of spent fuel assemblies. The instrument was recently built and was tested using fresh fuel assemblies in a variety of configurations, including varying enrichment, neutron absorber content, and symmetry. The early die-away method, a multiplication determination method developed in simulation space, was successfully tested on the fresh fuel assembly data and determined multiplication with a root-mean-square (RMS) error of 2.9%. The experimental results were compared with MCNP simulations of the instrument as well. Low multiplication assemblies had agreement with an average RMS error of 0.2% in the singles count rate (i.e., total neutrons detected per second) and 3.4% in the doubles count rates (i.e., neutrons detected in coincidence per second). High-multiplication assemblies had agreement with an average RMS error of 4.1% in the singles and 13.3% in the doubles count rates.« less

Fresh Fuel Measurements With the Differential Die-Away Self-Interrogation Instrument

DOE PAGES

Trahan, Alexis C.; Belian, Anthony P.; Swinhoe, Martyn T.; ...

2017-01-05

The purpose of the Next Generation Safeguards Initiative (NGSI)-Spent Fuel (SF) Project is to strengthen the technical toolkit of safeguards inspectors and/or other interested parties. Thus the NGSI-SF team is working to achieve the following technical goals more easily and efficiently than in the past using nondestructive assay measurements of spent fuel assemblies: 1) verify the initial enrichment, burnup, and cooling time of facility declaration; 2) detect the diversion or replacement of pins; 3) estimate the plutonium mass; 4) estimate decay heat; and 5) determine the reactivity of spent fuel assemblies. The differential die-away self-interrogation (DDSI) instrument is one instrumentmore » that was assessed for years regarding its feasibility for robust, timely verification of spent fuel assemblies. The instrument was recently built and was tested using fresh fuel assemblies in a variety of configurations, including varying enrichment, neutron absorber content, and symmetry. The early die-away method, a multiplication determination method developed in simulation space, was successfully tested on the fresh fuel assembly data and determined multiplication with a root-mean-square (RMS) error of 2.9%. The experimental results were compared with MCNP simulations of the instrument as well. Low multiplication assemblies had agreement with an average RMS error of 0.2% in the singles count rate (i.e., total neutrons detected per second) and 3.4% in the doubles count rates (i.e., neutrons detected in coincidence per second). High-multiplication assemblies had agreement with an average RMS error of 4.1% in the singles and 13.3% in the doubles count rates.« less

Tests of a Semi-Analytical Case 1 and Gelbstoff Case 2 SeaWiFS Algorithm with a Global Data Set

NASA Technical Reports Server (NTRS)

Carder, Kendall L.; Hawes, Steve K.; Lee, Zhongping

1997-01-01

A semi-analytical algorithm was tested with a total of 733 points of either unpackaged or packaged-pigment data, with corresponding algorithm parameters for each data type. The 'unpackaged' type consisted of data sets that were generally consistent with the Case 1 CZCS algorithm and other well calibrated data sets. The 'packaged' type consisted of data sets apparently containing somewhat more packaged pigments, requiring modification of the absorption parameters of the model consistent with the CalCOFI study area. This resulted in two equally divided data sets. A more thorough scrutiny of these and other data sets using a semianalytical model requires improved knowledge of the phytoplankton and gelbstoff of the specific environment studied. Since the semi-analytical algorithm is dependent upon 4 spectral channels including the 412 nm channel, while most other algorithms are not, a means of testing data sets for consistency was sought. A numerical filter was developed to classify data sets into the above classes. The filter uses reflectance ratios, which can be determined from space. The sensitivity of such numerical filters to measurement resulting from atmospheric correction and sensor noise errors requires further study. The semi-analytical algorithm performed superbly on each of the data sets after classification, resulting in RMS1 errors of 0.107 and 0.121, respectively, for the unpackaged and packaged data-set classes, with little bias and slopes near 1.0. In combination, the RMS1 performance was 0.114. While these numbers appear rather sterling, one must bear in mind what mis-classification does to the results. Using an average or compromise parameterization on the modified global data set yielded an RMS1 error of 0.171, while using the unpackaged parameterization on the global evaluation data set yielded an RMS1 error of 0.284. So, without classification, the algorithm performs better globally using the average parameters than it does using the unpackaged parameters. Finally, the effects of even more extreme pigment packaging must be examined in order to improve algorithm performance at high latitudes. Note, however, that the North Sea and Mississippi River plume studies contributed data to the packaged and unpackaged classess, respectively, with little effect on algorithm performance. This suggests that gelbstoff-rich Case 2 waters do not seriously degrade performance of the semi-analytical algorithm.

In vitro validation and reliability study of electromagnetic skin sensors for evaluation of end range of motion positions of the hip.

PubMed

Audenaert, E A; Vigneron, L; Van Hoof, T; D'Herde, K; van Maele, G; Oosterlinck, D; Pattyn, C

2011-12-01

There is growing evidence that femoroacetabular impingement (FAI) is a probable risk factor for the development of early osteoarthritis in the nondysplastic hip. As FAI arises with end range of motion activities, measurement errors related to skin movement might be higher than anticipated when using previously reported methods for kinematic evaluation of the hip. We performed an in vitro validation and reliability study of a noninvasive method to define pelvic and femur positions in end range of motion activities of the hip using an electromagnetic tracking device. Motion data, collected from sensors attached to the bone and skin of 11 cadaver hips, were simultaneously obtained and compared in a global reference frame. Motion data were then transposed in the hip joint local coordinate systems. Observer-related variability in locating the anatomical landmarks required to define the local coordinate system and variability of determining the hip joint center was evaluated. Angular root mean square (RMS) differences between the bony and skin sensors averaged 3.2° (SD 3.5°) and 1.8° (SD 2.3°) in the global reference frame for the femur and pelvic sensors, respectively. Angular RMS differences between the bony and skin sensors in the hip joint local coordinate systems ranged at end range of motion and dependent on the motion under investigation from 1.91 to 5.81°. The presented protocol for evaluation of hip motion seems to be suited for the 3-D description of motion relevant to the experimental and clinical evaluation of femoroacetabular impingement.

Wave-particle interaction in the Faraday waves.

PubMed

Francois, N; Xia, H; Punzmann, H; Shats, M

2015-10-01

Wave motion in disordered Faraday waves is analysed in terms of oscillons or quasi-particles. The motion of these oscillons is measured using particle tracking tools and it is compared with the motion of fluid particles on the water surface. Both the real floating particles and the oscillons, representing the collective fluid motion, show Brownian-type dispersion exhibiting ballistic and diffusive mean squared displacement at short and long times, respectively. While the floating particles motion has been previously explained in the context of two-dimensional turbulence driven by Faraday waves, no theoretical description exists for the random walk type motion of oscillons. It is found that the r.m.s velocity ⟨μ̃(osc)⟩(rms) of oscillons is directly related to the turbulent r.m.s. velocity ⟨μ̃⟩(rms) of the fluid particles in a broad range of vertical accelerations. The measured ⟨μ̃(osc)⟩(rms) accurately explains the broadening of the frequency spectra of the surface elevation observed in disordered Faraday waves. These results suggest that 2D turbulence is the driving force behind both the randomization of the oscillons motion and the resulting broadening of the wave frequency spectra. The coupling between wave motion and hydrodynamic turbulence demonstrated here offers new perspectives for predicting complex fluid transport from the knowledge of wave field spectra and vice versa.

Dynamic dual-energy chest radiography: a potential tool for lung tissue motion monitoring and kinetic study

PubMed Central

Xu, Tong; Ducote, Justin L.; Wong, Jerry T.; Molloi, Sabee

2011-01-01

Dual-energy chest radiography has the potential to provide better diagnosis of lung disease by removing the bone signal from the image. Dynamic dual-energy radiography is now possible with the introduction of digital flat panel detectors. The purpose of this study is to evaluate the feasibility of using dynamic dual-energy chest radiography for functional lung imaging and tumor motion assessment. The dual energy system used in this study can acquire up to 15 frame of dual-energy images per second. A swine animal model was mechanically ventilated and imaged using the dual-energy system. Sequences of soft-tissue images were obtained using dual-energy subtraction. Time subtracted soft-tissue images were shown to be able to provide information on regional ventilation. Motion tracking of a lung anatomic feature (a branch of pulmonary artery) was performed based on an image cross-correlation algorithm. The tracking precision was found to be better than 1 mm. An adaptive correlation model was established between the above tracked motion and an external surrogate signal (temperature within the tracheal tube). This model is used to predict lung feature motion using the continuous surrogate signal and low frame rate dual-energy images (0.1 to 3.0 frames /sec). The average RMS error of the prediction was (1.1 ± 0.3) mm. The dynamic dual-energy was shown to be potentially useful for lung functional imaging such as regional ventilation and kinetic studies. It can also be used for lung tumor motion assessment and prediction during radiation therapy. PMID:21285477

Dynamic dual-energy chest radiography: a potential tool for lung tissue motion monitoring and kinetic study.

PubMed

Xu, Tong; Ducote, Justin L; Wong, Jerry T; Molloi, Sabee

2011-02-21

Dual-energy chest radiography has the potential to provide better diagnosis of lung disease by removing the bone signal from the image. Dynamic dual-energy radiography is now possible with the introduction of digital flat-panel detectors. The purpose of this study is to evaluate the feasibility of using dynamic dual-energy chest radiography for functional lung imaging and tumor motion assessment. The dual-energy system used in this study can acquire up to 15 frames of dual-energy images per second. A swine animal model was mechanically ventilated and imaged using the dual-energy system. Sequences of soft-tissue images were obtained using dual-energy subtraction. Time subtracted soft-tissue images were shown to be able to provide information on regional ventilation. Motion tracking of a lung anatomic feature (a branch of pulmonary artery) was performed based on an image cross-correlation algorithm. The tracking precision was found to be better than 1 mm. An adaptive correlation model was established between the above tracked motion and an external surrogate signal (temperature within the tracheal tube). This model is used to predict lung feature motion using the continuous surrogate signal and low frame rate dual-energy images (0.1-3.0 frames per second). The average RMS error of the prediction was (1.1 ± 0.3) mm. The dynamic dual energy was shown to be potentially useful for lung functional imaging such as regional ventilation and kinetic studies. It can also be used for lung tumor motion assessment and prediction during radiation therapy.

Extending interferometric synthetic aperture radar measurements from one to two dimensions

NASA Astrophysics Data System (ADS)

Bechor, Noah

Interferometric synthetic aperture radar (InSAR), a very effective technique for measuring crustal deformation, provides measurements in only one dimension, along the radar line of sight. Imaging radar measurements from satellite-based systems are sensitive to both vertical and across-track displacements, but insensitive to along-track displacement. Multiple observations can resolve the first two components, but the along-track component remains elusive. The best existing method to obtain the along-track displacement involves pixel-level azimuth cross-correlation. The measurements are quite coarse (typically 15 cm precision), and they require large computation times. In contrast, across-track and vertical InSAR measurements can reach centimeter-level precision and are readily derived. We present a new method to extract along-track displacements from InSAR data. The new method, multiple aperture InSAR (MAI), is based on split-beam processing of InSAR data to create forward- and backward-looking interferograms. The phase difference between the two modified interferograms provides the along-track displacement component. Thus, from each conventional InSAR pair we extract two components of the displacement vector: one along the line of sight, the other in the along-track direction. Multiple MAI observations, either at two look angles or from the ascending and descending radar passes, then yield the three-dimensional displacement field. We analyze precision of our method by comparing our solution to GPS and offset-derived along-track displacements from interferograms of the M7.1 1999, Hector Mine earthquake. The RMS error between GPS displacements and our results ranges from 5 to 8.8cm. Our method is consistent with along-track displacements derived by pixel-offsets, themselves limited to 12-15cm precision. The theoretical MAI precision depends on SNR and coherence. For SNR=100 the expected precision is 3, 11cm for coherence of 0.8, 0.4, respectively. Finally, we evaluate how the new measurements improve the determination of the earthquake coseismic slip distribution by comparison of models derived from multiple data types. We find that MAI data help constrain the southern portion of the lip distribution, by adding information where GPS data are sparse and the deformation is below the azimuth pixel-offsets detection threshold.

Magsat - A new satellite to survey the earth's magnetic field

NASA Technical Reports Server (NTRS)

Mobley, F. F.; Eckard, L. D.; Fountain, G. H.; Ousley, G. W.

1980-01-01

The Magsat satellite was launched on Oct. 30, 1979 into a sun-synchronous dawn-dusk orbit, of 97 deg inclination, 350 km perigee, and 550 km apogee. It contains a precision vector magnetometer and a cesium-vapor scalar magnetometer at the end of a 6-m long graphite epoxy scissors boom. The magnetometers are accurate to 2 nanotesla. A pair of star cameras are used to define the body orientation to 10 arc sec rms. An 'attitude transfer system' measures the orientation of the magnetometer sensors relative to the star cameras to approximately 5 arc sec rms. The satellite position is determined to 70 meters rms by Doppler tracking. The overall objective is to determine each component of the earth's vector magnetic field to an accuracy of 6 nanotesla rms. The Magsat satellite gathers a complete picture of the earth's magnetic field every 12 hours. The vector components are sampled 16 times per second with a resolution of 0.5 nanotesla. The data will be used by the U.S. Geological Survey to prepare 1980 world magnetic field charts and to detect large-scale magnetic anomalies in the earth's crust for use in planning resource exploration strategy.

Image to physical space registration of supine breast MRI for image guided breast surgery

NASA Astrophysics Data System (ADS)

Conley, Rebekah H.; Meszoely, Ingrid M.; Pheiffer, Thomas S.; Weis, Jared A.; Yankeelov, Thomas E.; Miga, Michael I.

2014-03-01

Breast conservation therapy (BCT) is a desirable option for many women diagnosed with early stage breast cancer and involves a lumpectomy followed by radiotherapy. However, approximately 50% of eligible women will elect for mastectomy over BCT despite equal survival benefit (provided margins of excised tissue are cancer free) due to uncertainty in outcome with regards to complete excision of cancerous cells, risk of local recurrence, and cosmesis. Determining surgical margins intraoperatively is difficult and achieving negative margins is not as robust as it needs to be, resulting in high re-operation rates and often mastectomy. Magnetic resonance images (MRI) can provide detailed information about tumor margin extents, however diagnostic images are acquired in a fundamentally different patient presentation than that used in surgery. Therefore, the high quality diagnostic MRIs taken in the prone position with pendant breast are not optimal for use in surgical planning/guidance due to the drastic shape change between preoperative images and the common supine surgical position. This work proposes to investigate the value of supine MRI in an effort to localize tumors intraoperatively using image-guidance. Mock intraoperative setups (realistic patient positioning in non-sterile environment) and preoperative imaging data were collected from a patient scheduled for a lumpectomy. The mock intraoperative data included a tracked laser range scan of the patient's breast surface, tracked center points of MR visible fiducials on the patient's breast, and tracked B-mode ultrasound and strain images. The preoperative data included a supine MRI with visible fiducial markers. Fiducial markers localized in the MRI were rigidly registered to their mock intraoperative counterparts using an optically tracked stylus. The root mean square (RMS) fiducial registration error using the tracked markers was 3.4mm. Following registration, the average closest point distance between the MR generated surface nodes and the LRS point cloud was 1.76±0.502 mm.

Jason-2 systematic error analysis in the GPS derived orbits

NASA Astrophysics Data System (ADS)

Melachroinos, S.; Lemoine, F. G.; Zelensky, N. P.; Rowlands, D. D.; Luthcke, S. B.; Chinn, D. S.

2011-12-01

Several results related to global or regional sea level changes still too often rely on the assumption that orbit errors coming from station coordinates adoption can be neglected in the total error budget (Ceri et al. 2010). In particular Instantaneous crust-fixed coordinates are obtained by adding to the linear ITRF model the geophysical high-frequency variations. In principle, geocenter motion should also be included in this computation, in order to reference these coordinates to the center of mass of the whole Earth. This correction is currently not applied when computing GDR orbits. Cerri et al. (2010) performed an analysis of systematic errors common to all coordinates along the North/South direction, as this type of bias, also known as Z-shift, has a clear impact on MSL estimates due to the unequal distribution of continental surface in the northern and southern hemispheres. The goal of this paper is to specifically study the main source of errors which comes from the current imprecision in the Z-axis realization of the frame. We focus here on the time variability of this Z-shift, which we can decompose in a drift and a periodic component due to the presumably omitted geocenter motion. A series of Jason-2 GPS-only orbits have been computed at NASA GSFC, using both IGS05 and IGS08. These orbits have been shown to agree radially at less than 1 cm RMS vs our SLR/DORIS std0905 and std1007 reduced-dynamic orbits and in comparison with orbits produced by other analysis centers (Melachroinos et al. 2011). Our GPS-only JASON-2 orbit accuracy is assessed using a number of tests including analysis of independent SLR and altimeter crossover residuals, orbit overlap differences, and direct comparison to orbits generated at GSFC using SLR and DORIS tracking, and to orbits generated externally at other centers. Tests based on SLR-crossover residuals provide the best performance indicator for independent validation of the NASA/GSFC GPS-only reduced dynamic orbits. Reduced dynamic versus dynamic orbit differences are used to characterize the remaining force model error and TRF instability. At first, we quantify the effect of a North/South displacement of the tracking reference points for each of the three techniques. We then compare these results to the study of Morel and Willis (2005) and Ceri et al. (2010). We extend the analysis to the most recent Jason-2 cycles. We evaluate the GPS vs SLR & DORIS orbits produced using the GEODYN.

Acceleration profile of an acrobatic act during training and shows using wearable technology.

PubMed

Barker, Leland; Burnstein, Bryan; Mercer, John

2018-05-24

The purpose of this study was to describe the mechanical characteristics of a trampoline circus act and its individual tracks performed in training and shows using a tri-axial accelerometer. A track is an artist's specific role within a choreographed act. Seven male acrobats performed their trampoline act during training and shows while wearing a triaxial accelerometer and reported ratings of perceived exertion (RPE) after each trial. Average acceleration (AVG), root mean square (RMS), root mean to the fourth (RM4), time spent in specific acceleration ranges and RPE were measured/recorded from training and show acts. Paired t-tests compared dependent variables between training and show. Acceleration AVG, RMS and RM4 were significantly higher (p < 0.05) in training than show. RPE was significantly higher (p < 0.05) in show than training. No significant differences existed in time spent in any of the acceleration ranges between training and show. GPS devices have been used to manage workloads in field sports but are inoperable in theatres. But, inertial measurements may be an effective alternative to describe mechanical demands in theatre or arena environments. Wearable technology may be useful to coaches to improve understanding of track demands to manage artist workloads.

Q-adjusting technique applied to vertical deflections estimation in a single-axis rotation INS/GPS integrated system

NASA Astrophysics Data System (ADS)

Zhu, Jing; Wang, Xingshu; Wang, Jun; Dai, Dongkai; Xiong, Hao

2016-10-01

Former studies have proved that the attitude error in a single-axis rotation INS/GPS integrated system tracks the high frequency component of the deflections of the vertical (DOV) with a fixed delay and tracking error. This paper analyses the influence of the nominal process noise covariance matrix Q on the tracking error as well as the response delay, and proposed a Q-adjusting technique to obtain the attitude error which can track the DOV better. Simulation results show that different settings of Q lead to different response delay and tracking error; there exists optimal Q which leads to a minimum tracking error and a comparatively short response delay; for systems with different accuracy, different Q-adjusting strategy should be adopted. In this way, the DOV estimation accuracy of using the attitude error as the observation can be improved. According to the simulation results, the DOV estimation accuracy after using the Q-adjusting technique is improved by approximate 23% and 33% respectively compared to that of the Earth Model EGM2008 and the direct attitude difference method.

Hand Pose Estimation by Fusion of Inertial and Magnetic Sensing Aided by a Permanent Magnet.

PubMed

Kortier, Henk G; Antonsson, Jacob; Schepers, H Martin; Gustafsson, Fredrik; Veltink, Peter H

2015-09-01

Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but does not provide any information about relative positions. In addition, strapdown integration inherently results in drift of the estimated position over time. We propose a novel method in which a permanent magnet combined with 3-D magnetometers and 3-D inertial sensors are used to estimate the global trunk orientation and relative pose of the hand with respect to the trunk. An Extended Kalman Filter is presented to fuse estimates obtained from inertial sensors with magnetic updates such that the position and orientation between the human hand and trunk as well as the global trunk orientation can be estimated robustly. This has been demonstrated in multiple experiments in which various hand tasks were performed. The most complex task in which simultaneous movements of both trunk and hand were performed resulted in an average rms position difference with an optical reference system of 19.7±2.2 mm whereas the relative trunk-hand and global trunk orientation error was 2.3±0.9 and 8.6±8.7 deg respectively.

Investigation of Control Inceptor Dynamics and Effect on Human Subject Performance

NASA Technical Reports Server (NTRS)

Stanco, Anthony A.; Cardullo, Frank M.; Houck, Jacob A.; Grube, Richard C.; Kelly, Lon C.

2013-01-01

The control inceptor used in a vehicle simulation is an important part of adequately representing the dynamics of the vehicle. The inceptor characteristics are typically based on a second order spring mass damper system with damping, force gradient, breakout force, and natural frequency parameters. Changing these parameters can have a great effect on pilot control of the vehicle. A quasi transfer of training experiment was performed employing a high fidelity and a low fidelity control inceptor. A disturbance compensatory task was employed which involved a simple horizon line disturbed in roll by a sum of sinusoids presented in an out-the-window display. Vehicle dynamics were modeled as 1/s and 1/s2. The task was to maintain level flight. Twenty subjects were divided between the high and the low fidelity training groups. Each group was trained to a performance asymptote, and then transferred to the high fidelity simulation. RMS tracking error, a PSD analysis, and a workload analysis were performed to quantify the transfer of training effect. Quantitative results of the experiments show that there is no significant difference between the high and low fidelity training groups for 1/s plant dynamics. For 1/s2 plant dynamics there is a greater difference in tracking performance and PSD; and the subjects are less correlated with the input disturbance function

Neuromuscular control of the point to point and oscillatory movements of a sagittal arm with the actor-critic reinforcement learning method.

PubMed

Golkhou, Vahid; Parnianpour, Mohamad; Lucas, Caro

2005-04-01

In this study, we have used a single link system with a pair of muscles that are excited with alpha and gamma signals to achieve both point to point and oscillatory movements with variable amplitude and frequency.The system is highly nonlinear in all its physical and physiological attributes. The major physiological characteristics of this system are simultaneous activation of a pair of nonlinear muscle-like-actuators for control purposes, existence of nonlinear spindle-like sensors and Golgi tendon organ-like sensor, actions of gravity and external loading. Transmission delays are included in the afferent and efferent neural paths to account for a more accurate representation of the reflex loops.A reinforcement learning method with an actor-critic (AC) architecture instead of middle and low level of central nervous system (CNS), is used to track a desired trajectory. The actor in this structure is a two layer feedforward neural network and the critic is a model of the cerebellum. The critic is trained by state-action-reward-state-action (SARSA) method. The critic will train the actor by supervisory learning based on the prior experiences. Simulation studies of oscillatory movements based on the proposed algorithm demonstrate excellent tracking capability and after 280 epochs the RMS error for position and velocity profiles were 0.02, 0.04 rad and rad/s, respectively.

Accuracy assessment of fluoroscopy-transesophageal echocardiography registration

NASA Astrophysics Data System (ADS)

Lang, Pencilla; Seslija, Petar; Bainbridge, Daniel; Guiraudon, Gerard M.; Jones, Doug L.; Chu, Michael W.; Holdsworth, David W.; Peters, Terry M.

2011-03-01

This study assesses the accuracy of a new transesophageal (TEE) ultrasound (US) fluoroscopy registration technique designed to guide percutaneous aortic valve replacement. In this minimally invasive procedure, a valve is inserted into the aortic annulus via a catheter. Navigation and positioning of the valve is guided primarily by intra-operative fluoroscopy. Poor anatomical visualization of the aortic root region can result in incorrect positioning, leading to heart valve embolization, obstruction of the coronary ostia and acute kidney injury. The use of TEE US images to augment intra-operative fluoroscopy provides significant improvements to image-guidance. Registration is achieved using an image-based TEE probe tracking technique and US calibration. TEE probe tracking is accomplished using a single-perspective pose estimation algorithm. Pose estimation from a single image allows registration to be achieved using only images collected in standard OR workflow. Accuracy of this registration technique is assessed using three models: a point target phantom, a cadaveric porcine heart with implanted fiducials, and in-vivo porcine images. Results demonstrate that registration can be achieved with an RMS error of less than 1.5mm, which is within the clinical accuracy requirements of 5mm. US-fluoroscopy registration based on single-perspective pose estimation demonstrates promise as a method for providing guidance to percutaneous aortic valve replacement procedures. Future work will focus on real-time implementation and a visualization system that can be used in the operating room.

Prediction of pilot reserve attention capacity during air-to-air target tracking

NASA Technical Reports Server (NTRS)

Onstott, E. D.; Faulkner, W. H.

1977-01-01

Reserve attention capacity of a pilot was calculated using a pilot model that allocates exclusive model attention according to the ranking of task urgency functions whose variables are tracking error and error rate. The modeled task consisted of tracking a maneuvering target aircraft both vertically and horizontally, and when possible, performing a diverting side task which was simulated by the precise positioning of an electrical stylus and modeled as a task of constant urgency in the attention allocation algorithm. The urgency of the single loop vertical task is simply the magnitude of the vertical tracking error, while the multiloop horizontal task requires a nonlinear urgency measure of error and error rate terms. Comparison of model results with flight simulation data verified the computed model statistics of tracking error of both axes, lateral and longitudinal stick amplitude and rate, and side task episodes. Full data for the simulation tracking statistics as well as the explicit equations and structure of the urgency function multiaxis pilot model are presented.

Research of the aberrations of human eyes with accommodation based on eye model

NASA Astrophysics Data System (ADS)

Quan, Wei; Wang, Feng-lin; Wang, Zhao-qi

2011-06-01

The variation of the wavefront aberration with accommodation was investigated based on the eye model of Gullstrand-Le Grand. The anterior lens radius was optimized at different accommodation to focus the image at the retina, and the RMS and PV wave-front error of human eye were compared at different accommodation. The PV value of wavefront aberration from 0.718 waves increases gradually to 0.904 waves and RMS value from 0.21 waves to 0.26 waves when accommodative stimuli varies from 0 to - 5 diopters. The change of PV value is 0.186 waves which is less than the Rayleigh diffraction limit λ/4, and the change of RMS is 0.05 which under Marechal diffraction limit λ/14. Therefore, the change of the wavefront aberration caused accommodation can be ignored when wavefront aberrations in the human eye are corrected with surgery or wearing glasses.

In vivo validation of patellofemoral kinematics during overground gait and stair ascent.

PubMed

Pitcairn, Samuel; Lesniak, Bryson; Anderst, William

2018-06-18

The patellofemoral (PF) joint is a common site for non-specific anterior knee pain. The pathophysiology of patellofemoral pain may be related to abnormal motion of the patella relative to the femur, leading to increased stress at the patellofemoral joint. Patellofemoral motion cannot be accurately measured using conventional motion capture. The aim of this study was to determine the accuracy of a biplane radiography system for measuring in vivo PF motion during walking and stair ascent. Four subjects had three 1.0 mm diameter tantalum beads implanted into the patella. Participants performed three trials each of over ground walking and stair ascent while biplane radiographs were collected at 100 Hz. Patella motion was tracked using radiostereophotogrammetric analysis (RSA) as a "gold standard", and compared to a volumetric CT model-based tracking algorithm that matched digitally reconstructed radiographs to the original biplane radiographs. The average RMS difference between the RSA and model-based tracking was 0.41 mm and 1.97° when there was no obstruction from the contralateral leg. These differences increased by 34% and 40%, respectively, when the patella was at least partially obstructed by the contralateral leg. The average RMS difference in patellofemoral joint space between tracking methods was 0.9 mm or less. Previous validations of biplane radiographic systems have estimated tracking accuracy by moving cadaveric knees through simulated motions. These validations were unable to replicate in vivo kinematics, including patella motion due to muscle activation, and failed to assess the imaging and tracking challenges related to contralateral limb obstruction. By replicating the muscle contraction, movement velocity, joint range of motion, and obstruction of the patella by the contralateral limb, the present study provides a realistic estimate of patellofemoral tracking accuracy for future in vivo studies. Copyright © 2018 Elsevier B.V. All rights reserved.

Astronaut James van Hoften on RMS tracking Syncom IV-3 after deployment

NASA Image and Video Library

1985-09-01

51I-41-086 (1 September 1985) --- Astronaut James D. van Hoften, mission specialist, flexes his muscles in celebration of a triumphant extravehicular task. Clouds over the ocean form the backdrop for this 70mm scene, toward the end of a two-day effort to capture, repair and release the previously errant Syncom IV-3 communications satellite. Van Hoften, anchored to a special foot restraint device on the end of Discovery's Remote Manipulator System (RMS), had just performed the final "shove" that started the relative separation of the Shuttle and the Syncom, which is not far out of frame. He had been joined by astronaut William F. Fisher for the busy two days of EVA.

Efficient Solar Scene Wavefront Estimation with Reduced Systematic and RMS Errors: Summary

NASA Astrophysics Data System (ADS)

Anugu, N.; Garcia, P.

2016-04-01

Wave front sensing for solar telescopes is commonly implemented with the Shack-Hartmann sensors. Correlation algorithms are usually used to estimate the extended scene Shack-Hartmann sub-aperture image shifts or slopes. The image shift is computed by correlating a reference sub-aperture image with the target distorted sub-aperture image. The pixel position where the maximum correlation is located gives the image shift in integer pixel coordinates. Sub-pixel precision image shifts are computed by applying a peak-finding algorithm to the correlation peak Poyneer (2003); Löfdahl (2010). However, the peak-finding algorithm results are usually biased towards the integer pixels, these errors are called as systematic bias errors Sjödahl (1994). These errors are caused due to the low pixel sampling of the images. The amplitude of these errors depends on the type of correlation algorithm and the type of peak-finding algorithm being used. To study the systematic errors in detail, solar sub-aperture synthetic images are constructed by using a Swedish Solar Telescope solar granulation image1. The performance of cross-correlation algorithm in combination with different peak-finding algorithms is investigated. The studied peak-finding algorithms are: parabola Poyneer (2003); quadratic polynomial Löfdahl (2010); threshold center of gravity Bailey (2003); Gaussian Nobach & Honkanen (2005) and Pyramid Bailey (2003). The systematic error study reveals that that the pyramid fit is the most robust to pixel locking effects. The RMS error analysis study reveals that the threshold centre of gravity behaves better in low SNR, although the systematic errors in the measurement are large. It is found that no algorithm is best for both the systematic and the RMS error reduction. To overcome the above problem, a new solution is proposed. In this solution, the image sampling is increased prior to the actual correlation matching. The method is realized in two steps to improve its computational efficiency. In the first step, the cross-correlation is implemented at the original image spatial resolution grid (1 pixel). In the second step, the cross-correlation is performed using a sub-pixel level grid by limiting the field of search to 4 × 4 pixels centered at the first step delivered initial position. The generation of these sub-pixel grid based region of interest images is achieved with the bi-cubic interpolation. The correlation matching with sub-pixel grid technique was previously reported in electronic speckle photography Sjö'dahl (1994). This technique is applied here for the solar wavefront sensing. A large dynamic range and a better accuracy in the measurements are achieved with the combination of the original pixel grid based correlation matching in a large field of view and a sub-pixel interpolated image grid based correlation matching within a small field of view. The results revealed that the proposed method outperforms all the different peak-finding algorithms studied in the first approach. It reduces both the systematic error and the RMS error by a factor of 5 (i.e., 75% systematic error reduction), when 5 times improved image sampling was used. This measurement is achieved at the expense of twice the computational cost. With the 5 times improved image sampling, the wave front accuracy is increased by a factor of 5. The proposed solution is strongly recommended for wave front sensing in the solar telescopes, particularly, for measuring large dynamic image shifts involved open loop adaptive optics. Also, by choosing an appropriate increment of image sampling in trade-off between the computational speed limitation and the aimed sub-pixel image shift accuracy, it can be employed in closed loop adaptive optics. The study is extended to three other class of sub-aperture images (a point source; a laser guide star; a Galactic Center extended scene). The results are planned to submit for the Optical Express journal.

GOCE SSTI GNSS Receiver Re-Entry Phase Analysis

NASA Astrophysics Data System (ADS)

Zin, A.; Zago, S.; Scaciga, L.; Marradi, L.; Floberghagen, R.; Fehringer, M.; Bigazzi, A.; Piccolo, A.; Luini, L.

2015-03-01

Gravity field and Ocean Circulation Explorer (GOCE) was an ESA Earth Explorer mission dedicated to the measure of the Earth Gravity field. The Spacecraft has been launched in 2009 and the re-entry in atmosphere happened at the end of 2013 [1]. The mean orbit altitude was set to 260 km to maximize the ultra-sensitive accelerometers on board. GOCE was equipped with two main payloads: the Electrostatic Gravity Gradiometer (EGG), a set of six 3-axis accelerometers able to measure the gravity field with unrivalled precision and then to produce the most accurate shape of the ‘geoid’ and two GPS receivers (nominal and redundant), used as a Satellite-to-Satellite Tracking Instrument (SSTI) to geolocate the gradiometer measurements and to measure the long wavelength components of the gravity field with an accuracy never reached before. Previous analyses have shown that the Precise Orbit Determination (POD) of the GOCE satellite, derived by processing the dual-frequency SSTI data (carrier phases and pseudoranges) are at the “state-of-art” of the GPS based POD: kinematic Orbits Average of daily 3D-RMS is 2,06 cm [2]. In most cases the overall accuracy is better than 2 cm 3D RMS. Moreover, the “almost continuous” [2] 1 Hz data availability from the SSTI receiver is unique and allows for a time series of kinematic positions with only 0.5% of missing epochs [2]. In October 2013 GOCE mission was concluded and in November the GOCE spacecraft re-entered in the atmosphere. During the re-entry phase the two SSTI receivers have been switched on simultaneously in order to maximize the data availability. In summer 2013, the SSTI firmware was tailored in order to sustain additional dynamic error (tracking loops robustness), expected during the re-entry phase. The SW was uploaded on SSTI-B (and purposely not on SSTI-A). Therefore this was an unique opportunity to compare a “standard” receiver behaviour (SSTI-A) with an improved one (SSTI-B) in the challenging reentry phase. This paper focuses on the analysis of the data from summer 2013 up to the re-entry phase in November 2013.

Linear Space-Variant Image Restoration of Photon-Limited Images

DTIC Science & Technology

1978-03-01

levels of performance of the wavefront seisor. The parameter ^ represents the residual rms wavefront error ^measurement noise plus ♦ttting error...known to be optimum only when the signal and noise are uncorrelated stationary random processes «nd when the noise statistics are gaussian. In the...regime of photon-Iimited imaging, the noise is non-gaussian and signaI-dependent, and it is therefore reasonable to assume that tome form of linear

Reducing Risk for the Next Generation Nuclear Plant

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

John M. Beck II; Harold J. Heydt; Emmanuel O. Opare

2010-07-01

The Next Generation Nuclear Plant (NGNP) Project, managed by the Idaho National Laboratory (INL), is directed by the Energy Policy Act of 2005, to research, develop, design, construct, and operate a prototype forth generation nuclear reactor to meet the needs of the 21st Century. As with all large projects developing and deploying new technologies, the NGNP has numerous risks that need to be identified, tracked, mitigated, and reduced in order for successful project completion. A Risk Management Plan (RMP) was created to outline the process the INL is using to manage the risks and reduction strategies for the NGNP Project.more » Integral to the RMP is the development and use of a Risk Management System (RMS). The RMS is a tool that supports management and monitoring of the project risks. The RMS does not only contain a risk register, but other functionality that allows decision makers, engineering staff, and technology researchers to review and monitor the risks as the project matures.« less

STS-52 CANEX-2 Canadian Target Assembly (CTA) held by RMS over OV-102's PLB

NASA Image and Video Library

1992-11-01

STS052-71-057 (22 Oct-1 Nov 1992) --- This 70mm frame, photographed with a handheld Hasselblad camera aimed through Columbia's aft flight deck windows, captures the operation of the Space Vision System (SVS) experiment above the cargo bay. Target dots have been placed on the Canadian Target Assembly (CTA), a small satellite, in the grasp of the Canadian-built remote manipulator system (RMS) arm. SVS utilized a Shuttle TV camera to monitor the dots strategically arranged on the satellite, to be tracked. As the satellite moved via the arm, the SVS computer measured the changing position of the dots and provided real-time television display of the location and orientation of the CTA. This type of displayed information is expected to help an operator guide the RMS or the Mobile Servicing System (MSS) of the future when berthing or deploying satellites. Also visible in the frame is the U.S. Microgravity Payload (USMP-01).

Geographically correlated orbit error

NASA Technical Reports Server (NTRS)

Rosborough, G. W.

1989-01-01

The dominant error source in estimating the orbital position of a satellite from ground based tracking data is the modeling of the Earth's gravity field. The resulting orbit error due to gravity field model errors are predominantly long wavelength in nature. This results in an orbit error signature that is strongly correlated over distances on the size of ocean basins. Anderle and Hoskin (1977) have shown that the orbit error along a given ground track also is correlated to some degree with the orbit error along adjacent ground tracks. This cross track correlation is verified here and is found to be significant out to nearly 1000 kilometers in the case of TOPEX/POSEIDON when using the GEM-T1 gravity model. Finally, it was determined that even the orbit error at points where ascending and descending ground traces cross is somewhat correlated. The implication of these various correlations is that the orbit error due to gravity error is geographically correlated. Such correlations have direct implications when using altimetry to recover oceanographic signals.

Kalman Filtered MR Temperature Imaging for Laser Induced Thermal Therapies

PubMed Central

Fuentes, D.; Yung, J.; Hazle, J. D.; Weinberg, J. S.; Stafford, R. J.

2013-01-01

The feasibility of using a stochastic form of Pennes bioheat model within a 3D finite element based Kalman filter (KF) algorithm is critically evaluated for the ability to provide temperature field estimates in the event of magnetic resonance temperature imaging (MRTI) data loss during laser induced thermal therapy (LITT). The ability to recover missing MRTI data was analyzed by systematically removing spatiotemporal information from a clinical MR-guided LITT procedure in human brain and comparing predictions in these regions to the original measurements. Performance was quantitatively evaluated in terms of a dimensionless L2 (RMS) norm of the temperature error weighted by acquisition uncertainty. During periods of no data corruption, observed error histories demonstrate that the Kalman algorithm does not alter the high quality temperature measurement provided by MR thermal imaging. The KF-MRTI implementation considered is seen to predict the bioheat transfer with RMS error < 4 for a short period of time, Δt < 10sec, until the data corruption subsides. In its present form, the KF-MRTI method currently fails to compensate for consecutive for consecutive time periods of data loss Δt > 10sec. PMID:22203706

Neuro-Analogical Gate Tuning of Trajectory Data Fusion for a Mecanum-Wheeled Special Needs Chair

PubMed Central

ElSaharty, M. A.; zakzouk, Ezz Eldin

2017-01-01

Trajectory tracking of mobile wheeled chairs using internal shaft encoder and inertia measurement unit(IMU), exhibits several complications and accumulated errors in the tracking process due to wheel slippage, offset drift and integration approximations. These errors can be realized when comparing localization results from such sensors with a camera tracking system. In long trajectory tracking, such errors can accumulate and result in significant deviations which make data from these sensors unreliable for tracking. Meanwhile the utilization of an external camera tracking system is not always a feasible solution depending on the implementation environment. This paper presents a novel sensor fusion method that combines the measurements of internal sensors to accurately predict the location of the wheeled chair in an environment. The method introduces a new analogical OR gate structured with tuned parameters using multi-layer feedforward neural network denoted as “Neuro-Analogical Gate” (NAG). The resulting system minimize any deviation error caused by the sensors, thus accurately tracking the wheeled chair location without the requirement of an external camera tracking system. The fusion methodology has been tested with a prototype Mecanum wheel-based chair, and significant improvement over tracking response, error and performance has been observed. PMID:28045973

Two-UAV Intersection Localization System Based on the Airborne Optoelectronic Platform

PubMed Central

Bai, Guanbing; Liu, Jinghong; Song, Yueming; Zuo, Yujia

2017-01-01

To address the limitation of the existing UAV (unmanned aerial vehicles) photoelectric localization method used for moving objects, this paper proposes an improved two-UAV intersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference. This paper introduces the makeup and operating principle of intersection localization system, creates auxiliary coordinate systems, transforms the LOS (line of sight, from the UAV to the target) vectors into homogeneous coordinates, and establishes a two-UAV intersection localization model. In this paper, the influence of the positional relationship between UAVs and the target on localization accuracy has been studied in detail to obtain an ideal measuring position and the optimal localization position where the optimal intersection angle is 72.6318°. The result shows that, given the optimal position, the localization root mean square error (RMS) will be 25.0235 m when the target is 5 km away from UAV baselines. Finally, the influence of modified adaptive Kalman filtering on localization results is analyzed, and an appropriate filtering model is established to reduce the localization RMS error to 15.7983 m. Finally, An outfield experiment was carried out and obtained the optimal results: σB=1.63×10−4 (°), σL=1.35×10−4 (°), σH=15.8 (m), σsum=27.6 (m), where σB represents the longitude error, σL represents the latitude error, σH represents the altitude error, and σsum represents the error radius. PMID:28067814

Two-UAV Intersection Localization System Based on the Airborne Optoelectronic Platform.

PubMed

Bai, Guanbing; Liu, Jinghong; Song, Yueming; Zuo, Yujia

2017-01-06

To address the limitation of the existing UAV (unmanned aerial vehicles) photoelectric localization method used for moving objects, this paper proposes an improved two-UAV intersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference. This paper introduces the makeup and operating principle of intersection localization system, creates auxiliary coordinate systems, transforms the LOS (line of sight, from the UAV to the target) vectors into homogeneous coordinates, and establishes a two-UAV intersection localization model. In this paper, the influence of the positional relationship between UAVs and the target on localization accuracy has been studied in detail to obtain an ideal measuring position and the optimal localization position where the optimal intersection angle is 72.6318°. The result shows that, given the optimal position, the localization root mean square error (RMS) will be 25.0235 m when the target is 5 km away from UAV baselines. Finally, the influence of modified adaptive Kalman filtering on localization results is analyzed, and an appropriate filtering model is established to reduce the localization RMS error to 15.7983 m. Finally, An outfield experiment was carried out and obtained the optimal results: σ B = 1.63 × 10 - 4 ( ° ) , σ L = 1.35 × 10 - 4 ( ° ) , σ H = 15.8 ( m ) , σ s u m = 27.6 ( m ) , where σ B represents the longitude error, σ L represents the latitude error, σ H represents the altitude error, and σ s u m represents the error radius.

An error covariance model for sea surface topography and velocity derived from TOPEX/POSEIDON altimetry

NASA Technical Reports Server (NTRS)

Tsaoussi, Lucia S.; Koblinsky, Chester J.

1994-01-01

In order to facilitate the use of satellite-derived sea surface topography and velocity oceanographic models, methodology is presented for deriving the total error covariance and its geographic distribution from TOPEX/POSEIDON measurements. The model is formulated using a parametric model fit to the altimeter range observations. The topography and velocity modeled with spherical harmonic expansions whose coefficients are found through optimal adjustment to the altimeter range residuals using Bayesian statistics. All other parameters, including the orbit, geoid, surface models, and range corrections are provided as unadjusted parameters. The maximum likelihood estimates and errors are derived from the probability density function of the altimeter range residuals conditioned with a priori information. Estimates of model errors for the unadjusted parameters are obtained from the TOPEX/POSEIDON postlaunch verification results and the error covariances for the orbit and the geoid, except for the ocean tides. The error in the ocean tides is modeled, first, as the difference between two global tide models and, second, as the correction to the present tide model, the correction derived from the TOPEX/POSEIDON data. A formal error covariance propagation scheme is used to derive the total error. Our global total error estimate for the TOPEX/POSEIDON topography relative to the geoid for one 10-day period is found tio be 11 cm RMS. When the error in the geoid is removed, thereby providing an estimate of the time dependent error, the uncertainty in the topography is 3.5 cm root mean square (RMS). This level of accuracy is consistent with direct comparisons of TOPEX/POSEIDON altimeter heights with tide gauge measurements at 28 stations. In addition, the error correlation length scales are derived globally in both east-west and north-south directions, which should prove useful for data assimilation. The largest error correlation length scales are found in the tropics. Errors in the velocity field are smallest in midlatitude regions. For both variables the largest errors caused by uncertainty in the geoid. More accurate representations of the geoid await a dedicated geopotential satellite mission. Substantial improvements in the accuracy of ocean tide models are expected in the very near future from research with TOPEX/POSEIDON data.

Deterministic ion beam material adding technology for high-precision optical surfaces.

PubMed

Liao, Wenlin; Dai, Yifan; Xie, Xuhui; Zhou, Lin

2013-02-20

Although ion beam figuring (IBF) provides a highly deterministic method for the precision figuring of optical components, several problems still need to be addressed, such as the limited correcting capability for mid-to-high spatial frequency surface errors and low machining efficiency for pit defects on surfaces. We propose a figuring method named deterministic ion beam material adding (IBA) technology to solve those problems in IBF. The current deterministic optical figuring mechanism, which is dedicated to removing local protuberances on optical surfaces, is enriched and developed by the IBA technology. Compared with IBF, this method can realize the uniform convergence of surface errors, where the particle transferring effect generated in the IBA process can effectively correct the mid-to-high spatial frequency errors. In addition, IBA can rapidly correct the pit defects on the surface and greatly improve the machining efficiency of the figuring process. The verification experiments are accomplished on our experimental installation to validate the feasibility of the IBA method. First, a fused silica sample with a rectangular pit defect is figured by using IBA. Through two iterations within only 47.5 min, this highly steep pit is effectively corrected, and the surface error is improved from the original 24.69 nm root mean square (RMS) to the final 3.68 nm RMS. Then another experiment is carried out to demonstrate the correcting capability of IBA for mid-to-high spatial frequency surface errors, and the final results indicate that the surface accuracy and surface quality can be simultaneously improved.

JPL's GNSS Real-Time Earthquake and Tsunami (GREAT) Alert System

NASA Astrophysics Data System (ADS)

Bar-Sever, Yoaz; Miller, Mark; Vallisneri, Michele; Khachikyan, Robert; Meyer, Robert

2017-04-01

We describe recent developments to the GREAT Alert natural hazard monitoring service from JPL's Global Differential GPS (GDGPS) System. GREAT Alert provides real-time, 1 Hz positioning solutions for hundreds of GNSS tracking sites, from both global and regional networks, aiming to monitor ground motion in the immediate aftermath of earthquakes. We take advantage of the centralized data processing, which is collocated with the GNSS orbit determination operations of the GDGPS System, to combine orbit determination with large-scale point-positioning in a grand estimation scheme, and as a result realize significant improvement to the positioning accuracy compared to conventional stand-alone point positioning techniques. For example, the measured median site (over all sites) real-time horizontal positioning accuracy is 2 cm 1DRMS, and the median real-time vertical accuracy is 4 cm RMS. The GREAT Alert positioning service is integrated with automated global earthquake notices from the United States Geodetic Survey (USGS) to support near-real-time calculations of co-seismic displacements with attendant formal errors based both short-term and long-term error analysis for each individual site. We will show the millimeter-level resolution of co-seismic displacement can be achieved by this system. The co-seismic displacements, in turn, are fed into a JPL geodynamics and ocean models, that estimate the Earthquake magnitude and predict the potential tsunami scale.

[Measurement of Speed and Direction of Ocean Surface Winds Using Quik Scat Scatterometer

NASA Technical Reports Server (NTRS)

Stiles, Bryan; Pollard, Brian

2000-01-01

The SeaWinds on QuikSCAT scatterometer was developed by NASA JPL to measure the speed and direction of ocean surface winds. Simulations performed to estimate the performance of the instrument prior to its launch have indicated that the mid-swath accuracy is worse than that of the rest of the swath. This behavior is a general characteristic of scanning pencil beam scatterometers. For SeaWinds, the accuracy of the rest of the swath, and the size of the swath are such that the instrument meets its science requirements despite mid-swath shortcomings. However, by understanding the problem at mid-swath, we can improve the performance there as well. We discuss the underlying causes of the problem in detail and propose a new wind retrieval algorithm which improves mid-swath performance. The directional discrimination ability of the instrument varies with cross track distance wind speed, and direction. By estimating the range of likely wind directions for each measurement cell, one can optimally apply information from neighboring cells where necessary in order to reduce random wind direction errors without significantly degrading the resolution of the resultant wind field. In this manner we are able to achieve mid-swath RMS wind direction errors as low as 15 degrees for low winds and 10 degrees for moderate to high winds, while at the same time preserving high resolution structures such as cyclones and fronts.

Postinjection single photon transmission tomography with ordered-subset algorithms for whole-body PET imaging

NASA Astrophysics Data System (ADS)

Bai, Chuanyong; Kinahan, P. E.; Brasse, D.; Comtat, C.; Townsend, D. W.

2002-02-01

We have evaluated the penalized ordered-subset transmission reconstruction (OSTR) algorithm for postinjection single photon transmission scanning. The OSTR algorithm of Erdogan and Fessler (1999) uses a more accurate model for transmission tomography than ordered-subsets expectation-maximization (OSEM) when OSEM is applied to the logarithm of the transmission data. The OSTR algorithm is directly applicable to postinjection transmission scanning with a single photon source, as emission contamination from the patient mimics the effect, in the original derivation of OSTR, of random coincidence contamination in a positron source transmission scan. Multiple noise realizations of simulated postinjection transmission data were reconstructed using OSTR, filtered backprojection (FBP), and OSEM algorithms. Due to the nonspecific task performance, or multiple uses, of the transmission image, multiple figures of merit were evaluated, including image noise, contrast, uniformity, and root mean square (rms) error. We show that: 1) the use of a three-dimensional (3-D) regularizing image roughness penalty with OSTR improves the tradeoffs in noise, contrast, and rms error relative to the use of a two-dimensional penalty; 2) OSTR with a 3-D penalty has improved tradeoffs in noise, contrast, and rms error relative to FBP or OSEM; and 3) the use of image standard deviation from a single realization to estimate the true noise can be misleading in the case of OSEM. We conclude that using OSTR with a 3-D penalty potentially allows for shorter postinjection transmission scans in single photon transmission tomography in positron emission tomography (PET) relative to FBP or OSEM reconstructed images with the same noise properties. This combination of singles+OSTR is particularly suitable for whole-body PET oncology imaging.

Cloud Liquid Water Path Comparisons from Passive Microwave and Solar Reflectance Satellite Measurements: Assessment of Sub-Field-of-View Cloud Effects in Microwave Retrievals

NASA Technical Reports Server (NTRS)

Greenwald, Thomas J.; Christopher, Sundar A.; Chou, Joyce

1997-01-01

Satellite observations of the cloud liquid water path (LWP) are compared from special sensor microwave imager (SSM/I) measurements and GOES 8 imager solar reflectance (SR) measurements to ascertain the impact of sub-field-of-view (FOV) cloud effects on SSM/I 37 GHz retrievals. The SR retrievals also incorporate estimates of the cloud droplet effective radius derived from the GOES 8 3.9-micron channel. The comparisons consist of simultaneous collocated and full-resolution measurements and are limited to nonprecipitating marine stratocumulus in the eastern Pacific for two days in October 1995. The retrievals from these independent methods are consistent for overcast SSM/I FOVS, with RMS differences as low as 0.030 kg/sq m, although biases exist for clouds with more open spatial structure, where the RMS differences increase to 0.039 kg/sq m. For broken cloudiness within the SSM/I FOV the average beam-filling error (BFE) in the microwave retrievals is found to be about 22% (average cloud amount of 73%). This systematic error is comparable with the average random errors in the microwave retrievals. However, even larger BFEs can be expected for individual FOVs and for regions with less cloudiness. By scaling the microwave retrievals by the cloud amount within the FOV, the systematic BFE can be significantly reduced but with increased RMS differences of O.046-0.058 kg/sq m when compared to the SR retrievals. The beam-filling effects reported here are significant and are expected to impact directly upon studies that use instantaneous SSM/I measurements of cloud LWP, such as cloud classification studies and validation studies involving surface-based or in situ data.

Shocked plagioclase signatures in Thermal Emission Spectrometer data of Mars

USGS Publications Warehouse

Johnson, J. R.; Staid, M.I.; Titus, T.N.; Becker, K.

2006-01-01

The extensive impact cratering record on Mars combined with evidence from SNC meteorites suggests that a significant fraction of the surface is composed of materials subjected to variable shock pressures. Pressure-induced structural changes in minerals during high-pressure shock events alter their thermal infrared spectral emission features, particularly for feldspars, in a predictable fashion. To understand the degree to which the distribution and magnitude of shock effects influence martian surface mineralogy, we used standard spectral mineral libraries supplemented by laboratory spectra of experimentally shocked bytownite feldspar [Johnson, J.R., Ho??rz, F., Christensen, P., Lucey, P.G., 2002b. J. Geophys. Res. 107 (E10), doi:10.1029/2001JE001517] to deconvolve Thermal Emission Spectrometer (TES) data from six relatively large (>50 km) impact craters on Mars. We used both TES orbital data and TES mosaics (emission phase function sequences) to study local and regional areas near the craters, and compared the differences between models using single TES detector data and 3 ?? 2 detector-averaged data. Inclusion of shocked feldspar spectra in the deconvolution models consistently improved the rms errors compared to models in which the spectra were not used, and resulted in modeled shocked feldspar abundances of >15% in some regions. However, the magnitudes of model rms error improvements were within the noise equivalent rms errors for the TES instrument [Hamilton V., personal communication]. This suggests that while shocked feldspars may be a component of the regions studied, their presence cannot be conclusively demonstrated in the TES data analyzed here. If the distributions of shocked feldspars suggested by the models are real, the lack of spatial correlation to crater materials may reflect extensive aeolian mixing of martian regolith materials composed of variably shocked impact ejecta from both local and distant sources. ?? 2005 Elsevier Inc. All rights reserved.

Astrometric Calibration and Performance of the Dark Energy Camera

DOE PAGES

Bernstein, G. M.; Armstrong, R.; Plazas, A. A.; ...

2017-05-30

We characterize the ability of the Dark Energy Camera (DECam) to perform relative astrometry across its 500 Mpix, 3more » $deg^2$ science field of view, and across 4 years of operation. This is done using internal comparisons of $~ 4 x 10^7$ measurements of high-S/N stellar images obtained in repeat visits to fields of moderate stellar density, with the telescope dithered to move the sources around the array. An empirical astrometric model includes terms for: optical distortions; stray electric fields in the CCD detectors; chromatic terms in the instrumental and atmospheric optics; shifts in CCD relative positions of up to $$\\approx 10 \\mu m$$ when the DECam temperature cycles; and low-order distortions to each exposure from changes in atmospheric refraction and telescope alignment. Errors in this astrometric model are dominated by stochastic variations with typical amplitudes of 10-30 mas (in a 30 s exposure) and $$5^{\\prime}-10^{\\prime}$$ arcmin coherence length, plausibly attributed to Kolmogorov-spectrum atmospheric turbulence. The size of these atmospheric distortions is not closely related to the seeing. Given an astrometric reference catalog at density $$\\approx 0.7$$ $$arcmin^{-2}$$, e.g. from Gaia, the typical atmospheric distortions can be interpolated to $$\\approx$$ 7 mas RMS accuracy (for 30 s exposures) with $$1^{\\prime}$$ arcmin coherence length for residual errors. Remaining detectable error contributors are 2-4 mas RMS from unmodelled stray electric fields in the devices, and another 2-4 mas RMS from focal plane shifts between camera thermal cycles. Thus the astrometric solution for a single DECam exposure is accurate to 3-6 mas ( $$\\approx$$ 0.02 pixels, or $$\\approx$$ 300 nm) on the focal plane, plus the stochastic atmospheric distortion.« less

Temporal length-scale cascade and expansion rate on planar liquid jet instability

NASA Astrophysics Data System (ADS)

Sirignano, William; Zandian, Arash; Hussain, Fazle

2016-11-01

Using the local radius of curvature of the surface and the local transverse dimension of the two-phase (i.e., spray) domain as length scales, we obtained two PDFs over a wide range of length-scales at different times and for different Reynolds and Weber (We) numbers. The PDFs were developed via post-processing of DNS Navier-Stokes results for a 3D planar liquid sheet segment with level-set and Volume-of-Fluid surface tracking, giving better statistical data for the length scales compared to the former methods. The radius PDF shows that, with increasing We , the average radius of curvature decreases, number of small droplets increases, and cascade occurs at a faster rate. In time, the mean of the radius PDF decreases while the rms increases. The other PDF represents the spray expansion in a more realistic and meaningful form, showing that the spray angle is larger at higher We and density-ratios. Both the mean and the rms of the spray-size PDF increase with time. The PDFs also track the transitions between symmetric and anti-symmetric modes.

GRGM900C: A degree 900 lunar gravity model from GRAIL primary and extended mission data

PubMed Central

Lemoine, Frank G; Goossens, Sander; Sabaka, Terence J; Nicholas, Joseph B; Mazarico, Erwan; Rowlands, David D; Loomis, Bryant D; Chinn, Douglas S; Neumann, Gregory A; Smith, David E; Zuber, Maria T

2014-01-01

We have derived a gravity field solution in spherical harmonics to degree and order 900, GRGM900C, from the tracking data of the Gravity Recovery and Interior Laboratory (GRAIL) Primary (1 March to 29 May 2012) and Extended Missions (30 August to 14 December 2012). A power law constraint of 3.6 ×10−4/ℓ2 was applied only for degree ℓ greater than 600. The model produces global correlations of gravity, and gravity predicted from lunar topography of ≥ 0.98 through degree 638. The model's degree strength varies from a minimum of 575–675 over the central nearside and farside to 900 over the polar regions. The model fits the Extended Mission Ka-Band Range Rate data through 17 November 2012 at 0.13 μm/s RMS, whereas the last month of Ka-Band Range-Rate data obtained from altitudes of 2–10 km fit at 0.98 μm/s RMS, indicating that there is still signal inherent in the tracking data beyond degree 900. PMID:26074638

GRGM900C: A degree 900 lunar gravity model from GRAIL primary and extended mission data.

PubMed

Lemoine, Frank G; Goossens, Sander; Sabaka, Terence J; Nicholas, Joseph B; Mazarico, Erwan; Rowlands, David D; Loomis, Bryant D; Chinn, Douglas S; Neumann, Gregory A; Smith, David E; Zuber, Maria T

2014-05-28

We have derived a gravity field solution in spherical harmonics to degree and order 900, GRGM900C, from the tracking data of the Gravity Recovery and Interior Laboratory (GRAIL) Primary (1 March to 29 May 2012) and Extended Missions (30 August to 14 December 2012). A power law constraint of 3.6 ×10 -4 / ℓ 2 was applied only for degree ℓ greater than 600. The model produces global correlations of gravity, and gravity predicted from lunar topography of ≥ 0.98 through degree 638. The model's degree strength varies from a minimum of 575-675 over the central nearside and farside to 900 over the polar regions. The model fits the Extended Mission Ka-Band Range Rate data through 17 November 2012 at 0.13 μm/s RMS, whereas the last month of Ka-Band Range-Rate data obtained from altitudes of 2-10 km fit at 0.98 μm/s RMS, indicating that there is still signal inherent in the tracking data beyond degree 900.

GRGM900C: A Degree 900 Lunar Gravity Model from GRAIL Primary and Extended Mission Data

NASA Technical Reports Server (NTRS)

Lemoine, Frank G.; Goossens, Sander; Sabaka, Terence J.; Nicholas, Joseph B.; Mazarico, Erwan; Rowlands, David D.; Bryant, D. Loomis; Chinn, Douglas S.; Neumann, Gregory A.; Smith, David E.;

INFLIGHT (MISSION CONTROL CENTER) - STS-2 - JSC

NASA Image and Video Library

1981-11-13

S81-39494 (12 Nov. 1981) --- An overall view of activity in the mission operations control room (MOCR) in Houston?s Mission Control Center (MCC) as viewed from the second front row of consoles during the STS-2 mission. The remote manipulator system (RMS) console is in the immediate foreground. Note TV transmission on the Eidophor screen at front of MOCR and shuttle orbiter marker on tracking map at left indicating the vehicle?s location over the Hawaiian Islands. The downlink was through the Hawaii tracking station. Photo credit: NASA

TH-AB-202-04: Auto-Adaptive Margin Generation for MLC-Tracked Radiotherapy

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

Glitzner, M; Lagendijk, J; Raaymakers, B

Purpose: To develop an auto-adaptive margin generator for MLC tracking. The generator is able to estimate errors arising in image guided radiotherapy, particularly on an MR-Linac, which depend on the latencies of machine and image processing, as well as on patient motion characteristics. From the estimated error distribution, a segment margin is generated, able to compensate errors up to a user-defined confidence. Method: In every tracking control cycle (TCC, 40ms), the desired aperture D(t) is compared to the actual aperture A(t), a delayed and imperfect representation of D(t). Thus an error e(t)=A(T)-D(T) is measured every TCC. Applying kernel-density-estimation (KDE), themore » cumulative distribution (CDF) of e(t) is estimated. With CDF-confidence limits, upper and lower error limits are extracted for motion axes along and perpendicular leaf-travel direction and applied as margins. To test the dosimetric impact, two representative motion traces were extracted from fast liver-MRI (10Hz). The traces were applied onto a 4D-motion platform and continuously tracked by an Elekta Agility 160 MLC using an artificially imposed tracking delay. Gafchromic film was used to detect dose exposition for static, tracked, and error-compensated tracking cases. The margin generator was parameterized to cover 90% of all tracking errors. Dosimetric impact was rated by calculating the ratio between underexposed points (>5% underdosage) to the total number of points inside FWHM of static exposure. Results: Without imposing adaptive margins, tracking experiments showed a ratio of underexposed points of 17.5% and 14.3% for two motion cases with imaging delays of 200ms and 300ms, respectively. Activating the margin generated yielded total suppression (<1%) of underdosed points. Conclusion: We showed that auto-adaptive error compensation using machine error statistics is possible for MLC tracking. The error compensation margins are calculated on-line, without the need of assuming motion or machine models. Further strategies to reduce consequential overdosages are currently under investigation. This work was funded by the SoRTS consortium, which includes the industry partners Elekta, Philips and Technolution.« less

Global Coordination and Standardisation in Marine Biodiversity through the World Register of Marine Species (WoRMS) and Related Databases

PubMed Central

Bouchet, Philippe; Boxshall, Geoff; Fauchald, Kristian; Gordon, Dennis; Hoeksema, Bert W.; Poore, Gary C. B.; van Soest, Rob W. M.; Stöhr, Sabine; Walter, T. Chad; Vanhoorne, Bart; Decock, Wim

2013-01-01

The World Register of Marine Species is an over 90% complete open-access inventory of all marine species names. Here we illustrate the scale of the problems with species names, synonyms, and their classification, and describe how WoRMS publishes online quality assured information on marine species. Within WoRMS, over 100 global, 12 regional and 4 thematic species databases are integrated with a common taxonomy. Over 240 editors from 133 institutions and 31 countries manage the content. To avoid duplication of effort, content is exchanged with 10 external databases. At present WoRMS contains 460,000 taxonomic names (from Kingdom to subspecies), 368,000 species level combinations of which 215,000 are currently accepted marine species names, and 26,000 related but non-marine species. Associated information includes 150,000 literature sources, 20,000 images, and locations of 44,000 specimens. Usage has grown linearly since its launch in 2007, with about 600,000 unique visitors to the website in 2011, and at least 90 organisations from 12 countries using WoRMS for their data management. By providing easy access to expert-validated content, WoRMS improves quality control in the use of species names, with consequent benefits to taxonomy, ecology, conservation and marine biodiversity research and management. The service manages information on species names that would otherwise be overly costly for individuals, and thus minimises errors in the application of nomenclature standards. WoRMS' content is expanding to include host-parasite relationships, additional literature sources, locations of specimens, images, distribution range, ecological, and biological data. Species are being categorised as introduced (alien, invasive), of conservation importance, and on other attributes. These developments have a multiplier effect on its potential as a resource for biodiversity research and management. As a consequence of WoRMS, we are witnessing improved communication within the scientific community, and anticipate increased taxonomic efficiency and quality control in marine biodiversity research and management. PMID:23505408

Global coordination and standardisation in marine biodiversity through the World Register of Marine Species (WoRMS) and related databases.

PubMed

Costello, Mark J; Bouchet, Philippe; Boxshall, Geoff; Fauchald, Kristian; Gordon, Dennis; Hoeksema, Bert W; Poore, Gary C B; van Soest, Rob W M; Stöhr, Sabine; Walter, T Chad; Vanhoorne, Bart; Decock, Wim; Appeltans, Ward

2013-01-01

The World Register of Marine Species is an over 90% complete open-access inventory of all marine species names. Here we illustrate the scale of the problems with species names, synonyms, and their classification, and describe how WoRMS publishes online quality assured information on marine species. Within WoRMS, over 100 global, 12 regional and 4 thematic species databases are integrated with a common taxonomy. Over 240 editors from 133 institutions and 31 countries manage the content. To avoid duplication of effort, content is exchanged with 10 external databases. At present WoRMS contains 460,000 taxonomic names (from Kingdom to subspecies), 368,000 species level combinations of which 215,000 are currently accepted marine species names, and 26,000 related but non-marine species. Associated information includes 150,000 literature sources, 20,000 images, and locations of 44,000 specimens. Usage has grown linearly since its launch in 2007, with about 600,000 unique visitors to the website in 2011, and at least 90 organisations from 12 countries using WoRMS for their data management. By providing easy access to expert-validated content, WoRMS improves quality control in the use of species names, with consequent benefits to taxonomy, ecology, conservation and marine biodiversity research and management. The service manages information on species names that would otherwise be overly costly for individuals, and thus minimises errors in the application of nomenclature standards. WoRMS' content is expanding to include host-parasite relationships, additional literature sources, locations of specimens, images, distribution range, ecological, and biological data. Species are being categorised as introduced (alien, invasive), of conservation importance, and on other attributes. These developments have a multiplier effect on its potential as a resource for biodiversity research and management. As a consequence of WoRMS, we are witnessing improved communication within the scientific community, and anticipate increased taxonomic efficiency and quality control in marine biodiversity research and management.

Precision of pQCT-measured total, trabecular and cortical bone area, content, density and estimated bone strength in children

PubMed Central

Duff, W.R.D.; Björkman, K.M.; Kawalilak, C.E.; Kehrig, A.M.; Wiebe, S.; Kontulainen, S.

2017-01-01

Objectives: To define pQCT precision errors, least-significant-changes, and identify associated factors for bone outcomes at the radius and tibia in children. Methods: We obtained duplicate radius and tibia pQCT scans from 35 children (8-14yrs). We report root-mean-squared coefficient of variation (CV%RMS) and 95% limits-of-agreement to characterize repeatability across scan quality and least-significant-changes for bone outcomes at distal (total and trabecular area, content and density; and compressive bone strength) and shaft sites (total area and content; cortical area content, density and thickness; and torsional bone strength). We used Spearman’s rho to identify associations between CV% and time between measurements, child’s age or anthropometrics. Results: After excluding unanalyzable scans (6-10% of scans per bone site), CV%RMS ranged from 4% (total density) to 19% (trabecular content) at the distal radius, 4% (cortical content) to 8% (cortical thickness) at the radius shaft, 2% (total density) to 14% (trabecular content) at the distal tibia and from 2% (cortical content) to 6% (bone strength) at the tibia shaft. Precision errors were within 95% limits-of-agreement across scan quality. Age was associated (rho -0.4 to -0.5, p <0.05) with CV% at the tibia. Conclusion: Bone density outcomes and cortical bone properties appeared most precise (CV%RMS <5%) in children. PMID:28574412

a New Method for Calculating the Fractal Dimension of Surface Topography

NASA Astrophysics Data System (ADS)

Zuo, Xue; Zhu, Hua; Zhou, Yuankai; Li, Yan

2015-06-01

A new method termed as three-dimensional root-mean-square (3D-RMS) method, is proposed to calculate the fractal dimension (FD) of machined surfaces. The measure of this method is the root-mean-square value of surface data, and the scale is the side length of square in the projection plane. In order to evaluate the calculation accuracy of the proposed method, the isotropic surfaces with deterministic FD are generated based on the fractional Brownian function and Weierstrass-Mandelbrot (WM) fractal function, and two kinds of anisotropic surfaces are generated by stretching or rotating a WM fractal curve. Their FDs are estimated by the proposed method, as well as differential boxing-counting (DBC) method, triangular prism surface area (TPSA) method and variation method (VM). The results show that the 3D-RMS method performs better than the other methods with a lower relative error for both isotropic and anisotropic surfaces, especially for the surfaces with dimensions higher than 2.5, since the relative error between the estimated value and its theoretical value decreases with theoretical FD. Finally, the electrodeposited surface, end-turning surface and grinding surface are chosen as examples to illustrate the application of 3D-RMS method on the real machined surfaces. This method gives a new way to accurately calculate the FD from the surface topographic data.

Comparison of 3D Joint Angles Measured With the Kinect 2.0 Skeletal Tracker Versus a Marker-Based Motion Capture System.

PubMed

Guess, Trent M; Razu, Swithin; Jahandar, Amirhossein; Skubic, Marjorie; Huo, Zhiyu

2017-04-01

The Microsoft Kinect is becoming a widely used tool for inexpensive, portable measurement of human motion, with the potential to support clinical assessments of performance and function. In this study, the relative osteokinematic Cardan joint angles of the hip and knee were calculated using the Kinect 2.0 skeletal tracker. The pelvis segments of the default skeletal model were reoriented and 3-dimensional joint angles were compared with a marker-based system during a drop vertical jump and a hip abduction motion. Good agreement between the Kinect and marker-based system were found for knee (correlation coefficient = 0.96, cycle RMS error = 11°, peak flexion difference = 3°) and hip (correlation coefficient = 0.97, cycle RMS = 12°, peak flexion difference = 12°) flexion during the landing phase of the drop vertical jump and for hip abduction/adduction (correlation coefficient = 0.99, cycle RMS error = 7°, peak flexion difference = 8°) during isolated hip motion. Nonsagittal hip and knee angles did not correlate well for the drop vertical jump. When limited to activities in the optimal capture volume and with simple modifications to the skeletal model, the Kinect 2.0 skeletal tracker can provide limited 3-dimensional kinematic information of the lower limbs that may be useful for functional movement assessment.

Noncoherent pseudonoise code tracking performance of spread spectrum receivers

NASA Technical Reports Server (NTRS)

Simon, M. K.

1977-01-01

The optimum design and performance of two noncoherent PN tracking loop configurations, namely, the delay-locked loop and tau-dither loop, are described. In particular, the bandlimiting effects of the bandpass arm filters are considered by demonstrating that for a fixed data rate and data signal-to-noise ratio, there exists an optimum filter bandwidth in the sense of minimizing the loop's tracking jitter. Both the linear and nonlinear loop analyses are presented, and the region of validity of the former relative to the latter is indicated. In addition, numerical results are given for several filter types. For example, assuming ideal bandpass arm filters, it is shown that the tau-dither loop requires approximately 1 dB more signal-to-noise ratio than the delay-locked loop for equal rms tracking jitters.

A 20fs synchronization system for lasers and cavities in accelerators and FELs

NASA Astrophysics Data System (ADS)

Wilcox, R. B.; Byrd, J. M.; Doolittle, L. R.; Huang, G.; Staples, J. W.

2010-02-01

A fiber-optic RF distribution system has been developed for synchronizing lasers and RF plants in short pulse FELs. Typical requirements are 50-100fs rms over time periods from 1ms to several hours. Our system amplitude modulates a CW laser signal, senses fiber length using an interferometer, and feed-forward corrects the RF phase digitally at the receiver. We demonstrate less than 15fs rms error over 12 hours, between two independent channels with a fiber path length difference of 200m and transmitting S-band RF. The system is constructed using standard telecommunications components, and uses regular telecom fiber.

A new enhanced index tracking model in portfolio optimization with sum weighted approach

NASA Astrophysics Data System (ADS)

Siew, Lam Weng; Jaaman, Saiful Hafizah; Hoe, Lam Weng

2017-04-01

Index tracking is a portfolio management which aims to construct the optimal portfolio to achieve similar return with the benchmark index return at minimum tracking error without purchasing all the stocks that make up the index. Enhanced index tracking is an improved portfolio management which aims to generate higher portfolio return than the benchmark index return besides minimizing the tracking error. The objective of this paper is to propose a new enhanced index tracking model with sum weighted approach to improve the existing index tracking model for tracking the benchmark Technology Index in Malaysia. The optimal portfolio composition and performance of both models are determined and compared in terms of portfolio mean return, tracking error and information ratio. The results of this study show that the optimal portfolio of the proposed model is able to generate higher mean return than the benchmark index at minimum tracking error. Besides that, the proposed model is able to outperform the existing model in tracking the benchmark index. The significance of this study is to propose a new enhanced index tracking model with sum weighted apporach which contributes 67% improvement on the portfolio mean return as compared to the existing model.

Diffraction analysis and evaluation of several focus- and track-error detection schemes for magneto-optical disk systems

NASA Technical Reports Server (NTRS)

Bernacki, Bruce E.; Mansuripur, M.

1992-01-01

A commonly used tracking method on pre-grooved magneto-optical (MO) media is the push-pull technique, and the astigmatic method is a popular focus-error detection approach. These two methods are analyzed using DIFFRACT, a general-purpose scalar diffraction modeling program, to observe the effects on the error signals due to focusing lens misalignment, Seidel aberrations, and optical crosstalk (feedthrough) between the focusing and tracking servos. Using the results of the astigmatic/push-pull system as a basis for comparison, a novel focus/track-error detection technique that utilizes a ring toric lens is evaluated as well as the obscuration method (focus error detection only).

The Constitutive Modeling of Thin Films with Randon Material Wrinkles

NASA Technical Reports Server (NTRS)

Murphey, Thomas W.; Mikulas, Martin M.

2001-01-01

Material wrinkles drastically alter the structural constitutive properties of thin films. Normally linear elastic materials, when wrinkled, become highly nonlinear and initially inelastic. Stiffness' reduced by 99% and negative Poisson's ratios are typically observed. This paper presents an effective continuum constitutive model for the elastic effects of material wrinkles in thin films. The model considers general two-dimensional stress and strain states (simultaneous bi-axial and shear stress/strain) and neglects out of plane bending. The constitutive model is derived from a traditional mechanics analysis of an idealized physical model of random material wrinkles. Model parameters are the directly measurable wrinkle characteristics of amplitude and wavelength. For these reasons, the equations are mechanistic and deterministic. The model is compared with bi-axial tensile test data for wrinkled Kaptong(Registered Trademark) HN and is shown to deterministically predict strain as a function of stress with an average RMS error of 22%. On average, fitting the model to test data yields an RMS error of 1.2%

Effects of Vibrotactile Feedback on Human Learning of Arm Motions

PubMed Central

Bark, Karlin; Hyman, Emily; Tan, Frank; Cha, Elizabeth; Jax, Steven A.; Buxbaum, Laurel J.; Kuchenbecker, Katherine J.

2015-01-01

Tactile cues generated from lightweight, wearable actuators can help users learn new motions by providing immediate feedback on when and how to correct their movements. We present a vibrotactile motion guidance system that measures arm motions and provides vibration feedback when the user deviates from a desired trajectory. A study was conducted to test the effects of vibrotactile guidance on a subject’s ability to learn arm motions. Twenty-six subjects learned motions of varying difficulty with both visual (V), and visual and vibrotactile (VVT) feedback over the course of four days of training. After four days of rest, subjects returned to perform the motions from memory with no feedback. We found that augmenting visual feedback with vibrotactile feedback helped subjects reduce the root mean square (rms) angle error of their limb significantly while they were learning the motions, particularly for 1DOF motions. Analysis of the retention data showed no significant difference in rms angle errors between feedback conditions. PMID:25486644

Temporally-stable active precision mount for large optics.

PubMed

Reinlein, Claudia; Damm, Christoph; Lange, Nicolas; Kamm, Andreas; Mohaupt, Matthias; Brady, Aoife; Goy, Matthias; Leonhard, Nina; Eberhardt, Ramona; Zeitner, Uwe; Tünnermann, Andreas

2016-06-13

We present a temporally-stable active mount to compensate for manufacturing-induced deformations of reflective optical components. In this paper, we introduce the design of the active mount, and its evaluation results for two sample mirrors: a quarter mirror of 115 × 105 × 9 mm³, and a full mirror of 228 × 210 × 9 mm³. The quarter mirror with 20 actuators shows a best wavefront error rms of 10 nm. Its installation position depending deformations are addressed by long-time measurements over 14 weeks indicating no significance of the orientation. Size-induced differences of the mount are studied by a full mirror with 80 manual actuators arranged in the same actuator pattern as the quarter mirror. This sample shows a wavefront error rms of (27±2) nm over a measurement period of 46 days. We conclude that the developed mount is suitable to compensate for manufacturing-induced deformations of large reflective optics, and likely to be included in the overall systems alignment procedure.

Life Prediction Model for Grid-Connected Li-ion Battery Energy Storage System

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

Smith, Kandler A; Saxon, Aron R; Keyser, Matthew A

Lithium-ion (Li-ion) batteries are being deployed on the electrical grid for a variety of purposes, such as to smooth fluctuations in solar renewable power generation. The lifetime of these batteries will vary depending on their thermal environment and how they are charged and discharged. To optimal utilization of a battery over its lifetime requires characterization of its performance degradation under different storage and cycling conditions. Aging tests were conducted on commercial graphite/nickel-manganese-cobalt (NMC) Li-ion cells. A general lifetime prognostic model framework is applied to model changes in capacity and resistance as the battery degrades. Across 9 aging test conditions frommore » 0oC to 55oC, the model predicts capacity fade with 1.4% RMS error and resistance growth with 15% RMS error. The model, recast in state variable form with 8 states representing separate fade mechanisms, is used to extrapolate lifetime for example applications of the energy storage system integrated with renewable photovoltaic (PV) power generation.« less

An occultation satellite system for determining pressure levels in the atmosphere

NASA Technical Reports Server (NTRS)

Morrison, A. R.; Vngar, S. G.; Lusignan, B. B.

1974-01-01

A two-satellite microwave occultation system is described that will fix, as an absolute function of altitude, the pressure-temperature profile generated by a passive infrared sounder. The 300 mb pressure level is determined to within 24 m rms, assuming the temperture errors produced by the infrared sensor are not greater than 2 K rms. Error caused by water vapor in the radio path is corrected by climatological adjustments. A ground test of the proposed system is described. A microwave signal propagating between two mountain tops was found to be subject to periods of intense fading. Computer analysis of the raypath between the transmitting and receiving stations indicates that multipath and defocusing were responsible for this fading. It is unlikely that an operational pressure-reference-level system will be subject to the deep fades observed in the ground test, because the phenomena are associated with lower altitudes than the closest approach altitude of an occultation-system raypath.

Assimilation of glider and mooring data into a coastal ocean model

NASA Astrophysics Data System (ADS)

Jones, Emlyn M.; Oke, Peter R.; Rizwi, Farhan; Murray, Lawrence M.

We have applied an ensemble optimal interpolation (EnOI) data assimilation system to a high resolution coastal ocean model of south-east Tasmania, Australia. The region is characterised by a complex coastline with water masses influenced by riverine input and the interaction between two offshore current systems. Using a large static ensemble to estimate the systems background error covariance, data from a coastal observing network of fixed moorings and a Slocum glider are assimilated into the model at daily intervals. We demonstrate that the EnOI algorithm can successfully correct a biased high resolution coastal model. In areas with dense observations, the assimilation scheme reduces the RMS difference between the model and independent GHRSST observations by 90%, while the domain-wide RMS difference is reduced by a more modest 40%. Our findings show that errors introduced by surface forcing and boundary conditions can be identified and reduced by a relatively sparse observing array using an inexpensive ensemble-based data assimilation system.

Accuracy Assessment of the Precise Point Positioning for Different Troposphere Models

NASA Astrophysics Data System (ADS)

Oguz Selbesoglu, Mahmut; Gurturk, Mert; Soycan, Metin

2016-04-01

This study investigates the accuracy and repeatability of PPP technique at different latitudes by using different troposphere delay models. Nine IGS stations were selected between 00-800 latitudes at northern hemisphere and southern hemisphere. Coordinates were obtained for 7 days at 1 hour intervals in summer and winter. At first, the coordinates were estimated by using Niell troposphere delay model with and without including north and east gradients in order to investigate the contribution of troposphere delay gradients to the positioning . Secondly, Saastamoinen model was used to eliminate troposphere path delays by using standart atmosphere parameters were extrapolated for all station levels. Finally, coordinates were estimated by using RTCA-MOPS empirical troposphere delay model. Results demonstrate that Niell troposphere delay model with horizontal gradients has better mean values of rms errors 0.09 % and 65 % than the Niell troposphere model without horizontal gradients and RTCA-MOPS model, respectively. Saastamoinen model mean values of rms errors were obtained approximately 4 times bigger than the Niell troposphere delay model with horizontal gradients.

Quantifying uncertainty in coral Sr/Ca-based SST estimates from Orbicella faveolata: A basis for multi-colony SST reconstructions

NASA Astrophysics Data System (ADS)

Richey, J. N.; Flannery, J. A.; Toth, L. T.; Kuffner, I. B.; Poore, R. Z.

2017-12-01

The Sr/Ca in massive corals can be used as a proxy for sea surface temperature (SST) in shallow tropical to sub-tropical regions; however, the relationship between Sr/Ca and SST varies throughout the ocean, between different species of coral, and often between different colonies of the same species. We aimed to quantify the uncertainty associated with the Sr/Ca-SST proxy due to sample handling (e.g., micro-drilling or analytical error), vital effects (e.g., among-colony differences in coral growth), and local-scale variability in microhabitat. We examine the intra- and inter-colony reproducibility of Sr/Ca records extracted from five modern Orbicella faveolata colonies growing in the Dry Tortugas, Florida, USA. The average intra-colony absolute difference (AD) in Sr/Ca of the five colonies during an overlapping interval (1997-2008) was 0.055 ± 0.044 mmol mol-1 (0.96 ºC) and the average inter-colony Sr/Ca AD was 0.039 ± 0.01 mmol mol-1 (0.51 ºC). All available Sr/Ca-SST data pairs from 1997-2008 were combined and regressed against the HadISST1 gridded SST data set (24 ºN and 82 ºW) to produce a calibration equation that could be applied to O. faveolata specimens from throughout the Gulf of Mexico/Caribbean/Atlantic region after accounting for the potential uncertainties in Sr/Ca-derived SSTs. We quantified a combined error term for O. faveolata using the root-sum-square (RMS) of the analytical, intra-, and inter-colony uncertainties and suggest that an overall uncertainty of 0.046 mmol mol-1 (0.81 ºC, 1σ), should be used to interpret Sr/Ca records from O. faveolata specimens of unknown age or origin to reconstruct SST. We also explored how uncertainty is affected by the number of corals used in a reconstruction by iteratively calculating the RMS error for composite coral time-series using two, three, four, and five overlapping coral colonies. Our results indicate that maximum RMS error at the 95% confidence interval on mean annual SST estimates is 1.4 ºC when a composite record is made from only two overlapping coral Sr/Ca records. The uncertainty decreases as additional coral Sr/Ca data are added, with a maximum RMS error of 0.5 ºC on mean annual SST for a five-colony composite. To reduce uncertainty to under 1 ºC, it is best to use Sr/Ca from three or more coral colonies from the same geographic location and time period.

Handheld Automated Microsurgical Instrumentation for Intraocular Laser Surgery

PubMed Central

Yang, Sungwook; Lobes, Louis A.; Martel, Joseph N.; Riviere, Cameron N.

2016-01-01

Background and Objective Laser photocoagulation is a mainstay or adjuvant treatment for a variety of common retinal diseases. Automated laser photocoagulation during intraocular surgery has not yet been established. The authors introduce an automated laser photocoagulation system for intraocular surgery, based on a novel handheld instrument. The goals of the system are to enhance accuracy and efficiency and improve safety. Materials and Methods Triple-ring patterns are introduced as a typical arrangement for the treatment of proliferative retinopathy and registered to a preoperative fundus image. In total, 32 target locations are specified along the circumferences of three rings having diameters of 1, 2, and 3 mm, with a burn spacing of 600 μm. Given the initial system calibration, the retinal surface is reconstructed using stereo vision, and the targets specified on the preoperative image are registered with the control system. During automated operation, the laser probe attached to the manipulator of the active handheld instrument is deflected as needed via visual servoing in order to correct the error between the aiming beam and a specified target, regardless of any erroneous handle motion by the surgeon. A constant distance of the laser probe from the retinal surface is maintained in order to yield consistent size of burns and ensure safety during operation. Real-time tracking of anatomical features enables compensation for any movement of the eye. A graphical overlay system within operating microscope provides the surgeon with guidance cues for automated operation. Two retinal surgeons performed automated and manual trials in an artificial model of the eye, with each trial repeated three times. For the automated trials, various targeting thresholds (50–200 μm) were used to automatically trigger laser firing. In manual operation, fixed repetition rates were used, with frequencies of 1.0–2.5 Hz. The power of the 532 nm laser was set at 3.0 W with a duration of 20 ms. After completion of each trial, the speed of operation and placement error of burns were measured. The performance of the automated laser photocoagulation was compared with manual operation, using interpolated data for equivalent firing rates from 1.0 to 1.75 Hz. Results In automated trials, average error increased from 45 ± 27 to 60 ± 37 μm as the targeting threshold varied from 50 to 200 μm, while average firing rate significantly increased from 0.69 to 1.71 Hz. The average error in the manual trials increased from 102 ± 67 to 174 ± 98 μm as firing rate increased from 1.0 to 2.5 Hz. Compared to the manual trials, the average error in the automated trials was reduced by 53.0–56.4%, resulting in statistically significant differences (P ≤ 10−20) for all equivalent frequencies (1.0–1.75 Hz). The depth of the laser tip in the automated trials was consistently maintained within 18 ± 2 μm root-mean-square (RMS) of its initial position, whereas it significantly varied in the manual trials, yielding an error of 296 ± 30 μm RMS. At high firing rates in manual trials, such as at 2.5 Hz, laser photocoagulation is marginally attained, yielding failed burns of 30% over the entire pattern, whereas no failed burns are found in automated trials. Relatively regular burn sizes are attained in the automated trials by the depth servoing of the laser tip, while burn sizes in the manual trials vary considerably. Automated avoidance of blood vessels was also successfully demonstrated, utilizing the retina-tracking feature to identify avoidance zones. Conclusion Automated intraocular laser surgery can improve the accuracy of photocoagulation while ensuring safety during operation. This paper provides an initial demonstration of the technique under reasonably realistic laboratory conditions; development of a clinically applicable system requires further work. PMID:26287813

An Error-Entropy Minimization Algorithm for Tracking Control of Nonlinear Stochastic Systems with Non-Gaussian Variables

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

Liu, Yunlong; Wang, Aiping; Guo, Lei

This paper presents an error-entropy minimization tracking control algorithm for a class of dynamic stochastic system. The system is represented by a set of time-varying discrete nonlinear equations with non-Gaussian stochastic input, where the statistical properties of stochastic input are unknown. By using Parzen windowing with Gaussian kernel to estimate the probability densities of errors, recursive algorithms are then proposed to design the controller such that the tracking error can be minimized. The performance of the error-entropy minimization criterion is compared with the mean-square-error minimization in the simulation results.

Image stretching on a curved surface to improve satellite gridding

NASA Technical Reports Server (NTRS)

Ormsby, J. P.

1975-01-01

A method for substantially reducing gridding errors due to satellite roll, pitch and yaw is given. A gimbal-mounted curved screen, scaled to 1:7,500,000, is used to stretch the satellite image whereby visible landmarks coincide with a projected map outline. The resulting rms position errors averaged 10.7 km as compared with 25.6 and 34.9 km for two samples of satellite imagery upon which image stretching was not performed.

Application of manual control theory to the study of biological stress

NASA Technical Reports Server (NTRS)

Replogle, C. R.; Holden, F. M.; Iay, C. N.

1972-01-01

A study was run using both a stable, third-order task and an adaptive first-order unstable task singly and in combination to test the effects of 2 min hypoxia (22000 ft) on human operator. The results indicate that the RMS error in the stable task does not change as a function of hypoxic stress whereas the error in an unstable task changes significantly. Models involving human operator parameter changes and noise injection are discussed.

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

The impact of satellite temperature soundings on the forecasts of a small national meteorological service

NASA Technical Reports Server (NTRS)

Wolfson, N.; Thomasell, A.; Alperson, Z.; Brodrick, H.; Chang, J. T.; Gruber, A.; Ohring, G.

1984-01-01

The impact of introducing satellite temperature sounding data on a numerical weather prediction model of a national weather service is evaluated. A dry five level, primitive equation model which covers most of the Northern Hemisphere, is used for these experiments. Series of parallel forecast runs out to 48 hours are made with three different sets of initial conditions: (1) NOSAT runs, only conventional surface and upper air observations are used; (2) SAT runs, satellite soundings are added to the conventional data over oceanic regions and North Africa; and (3) ALLSAT runs, the conventional upper air observations are replaced by satellite soundings over the entire model domain. The impact on the forecasts is evaluated by three verification methods: the RMS errors in sea level pressure forecasts, systematic errors in sea level pressure forecasts, and errors in subjective forecasts of significant weather elements for a selected portion of the model domain. For the relatively short range of the present forecasts, the major beneficial impacts on the sea level pressure forecasts are found precisely in those areas where the satellite sounding are inserted and where conventional upper air observations are sparse. The RMS and systematic errors are reduced in these regions. The subjective forecasts of significant weather elements are improved with the use of the satellite data. It is found that the ALLSAT forecasts are of a quality comparable to the SAR forecasts.

Analytical and Photogrammetric Characterization of a Planar Tetrahedral Truss

NASA Technical Reports Server (NTRS)

Wu, K. Chauncey; Adams, Richard R.; Rhodes, Marvin D.

1990-01-01

Future space science missions are likely to require near-optical quality reflectors which are supported by a stiff truss structure. This support truss should conform closely with its intended shape to minimize its contribution to the overall surface error of the reflector. The current investigation was conducted to evaluate the planar surface accuracy of a regular tetrahedral truss structure by comparing the results of predicted and measured node locations. The truss is a 2-ring hexagonal structure composed of 102 equal-length truss members. Each truss member is nominally 2 meters in length between node centers and is comprised of a graphite/epoxy tube with aluminum nodes and joints. The axial stiffness and the length variation of the truss components were determined experimentally and incorporated into a static finite element analysis of the truss. From this analysis, the root mean square (RMS) surface error of the truss was predicted to be 0.11 mm (0004 in). Photogrammetry tests were performed on the assembled truss to measure the normal displacements of the upper surface nodes and to determine if the truss would maintain its intended shape when subjected to repeated assembly. Considering the variation in the truss component lengths, the measures rms error of 0.14 mm (0.006 in) in the assembled truss is relatively small. The test results also indicate that a repeatable truss surface is achievable. Several potential sources of error were identified and discussed.

Improved astigmatic focus error detection method

NASA Technical Reports Server (NTRS)

Bernacki, Bruce E.

1992-01-01

All easy-to-implement focus- and track-error detection methods presently used in magneto-optical (MO) disk drives using pre-grooved media suffer from a side effect known as feedthrough. Feedthrough is the unwanted focus error signal (FES) produced when the optical head is seeking a new track, and light refracted from the pre-grooved disk produces an erroneous FES. Some focus and track-error detection methods are more resistant to feedthrough, but tend to be complicated and/or difficult to keep in alignment as a result of environmental insults. The astigmatic focus/push-pull tracking method is an elegant, easy-to-align focus- and track-error detection method. Unfortunately, it is also highly susceptible to feedthrough when astigmatism is present, with the worst effects caused by astigmatism oriented such that the tangential and sagittal foci are at 45 deg to the track direction. This disclosure outlines a method to nearly completely eliminate the worst-case form of feedthrough due to astigmatism oriented 45 deg to the track direction. Feedthrough due to other primary aberrations is not improved, but performance is identical to the unimproved astigmatic method.

Comparison of direct and heterodyne detection optical intersatellite communication links

NASA Technical Reports Server (NTRS)

Chen, C. C.; Gardner, C. S.

1987-01-01

The performance of direct and heterodyne detection optical intersatellite communication links are evaluated and compared. It is shown that the performance of optical links is very sensitive to the pointing and tracking errors at the transmitter and receiver. In the presence of random pointing and tracking errors, optimal antenna gains exist that will minimize the required transmitter power. In addition to limiting the antenna gains, random pointing and tracking errors also impose a power penalty in the link budget. This power penalty is between 1.6 to 3 dB for a direct detection QPPM link, and 3 to 5 dB for a heterodyne QFSK system. For the heterodyne systems, the carrier phase noise presents another major factor of performance degradation that must be considered. In contrast, the loss due to synchronization error is small. The link budgets for direct and heterodyne detection systems are evaluated. It is shown that, for systems with large pointing and tracking errors, the link budget is dominated by the spatial tracking error, and the direct detection system shows a superior performance because it is less sensitive to the spatial tracking error. On the other hand, for systems with small pointing and tracking jitters, the antenna gains are in general limited by the launch cost, and suboptimal antenna gains are often used in practice. In which case, the heterodyne system has a slightly higher power margin because of higher receiver sensitivity.

Seismic Yield Estimates of UTTR Surface Explosions

NASA Astrophysics Data System (ADS)

Hayward, C.; Park, J.; Stump, B. W.

2016-12-01

Since 2007 the Utah Test and Training Range (UTTR) has used explosive demolition as a method to destroy excess solid rocket motors ranging in size from 19 tons to less than 2 tons. From 2007 to 2014, 20 high quality seismic stations within 180 km recorded most of the more than 200 demolitions. This provides an interesting dataset to examine seismic source scaling for surface explosions. Based upon observer records, shots were of 4 sizes, corresponding to the size of the rocket motors. Instrument corrections for the stations were quality controlled by examining the P-wave amplitudes of all magnitude 6.5-8 earthquakes from 30 to 90 degrees away. For each station recording, the instrument corrected RMS seismic amplitude in the first 10 seconds after the P-onset was calculated. Waveforms at any given station for all the observed explosions are nearly identical. The observed RMS amplitudes were fit to a model including a term for combined distance and station correction, a term for observed RMS amplitude, and an error term for the actual demolition size. The observed seismic yield relationship is RMS=k*Weight2/3 . Estimated yields for the largest shots vary by about 50% from the stated weights, with a nearly normal distribution.

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.

Sliding mode output feedback control based on tracking error observer with disturbance estimator.

PubMed

Xiao, Lingfei; Zhu, Yue

2014-07-01

For a class of systems who suffers from disturbances, an original output feedback sliding mode control method is presented based on a novel tracking error observer with disturbance estimator. The mathematical models of the systems are not required to be with high accuracy, and the disturbances can be vanishing or nonvanishing, while the bounds of disturbances are unknown. By constructing a differential sliding surface and employing reaching law approach, a sliding mode controller is obtained. On the basis of an extended disturbance estimator, a creative tracking error observer is produced. By using the observation of tracking error and the estimation of disturbance, the sliding mode controller is implementable. It is proved that the disturbance estimation error and tracking observation error are bounded, the sliding surface is reachable and the closed-loop system is robustly stable. The simulations on a servomotor positioning system and a five-degree-of-freedom active magnetic bearings system verify the effect of the proposed method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Investigating error structure of shuttle radar topography mission elevation data product

NASA Astrophysics Data System (ADS)

Becek, Kazimierz

2008-08-01

An attempt was made to experimentally assess the instrumental component of error of the C-band SRTM (SRTM). This was achieved by comparing elevation data of 302 runways from airports all over the world with the shuttle radar topography mission data product (SRTM). It was found that the rms of the instrumental error is about +/-1.55 m. Modeling of the remaining SRTM error sources, including terrain relief and pixel size, shows that downsampling from 30 m to 90 m (1 to 3 arc-sec pixels) worsened SRTM vertical accuracy threefold. It is suspected that the proximity of large metallic objects is a source of large SRTM errors. The achieved error estimates allow a pixel-based accuracy assessment of the SRTM elevation data product to be constructed. Vegetation-induced errors were not considered in this work.

Intraoperative visualization and assessment of electromagnetic tracking error

NASA Astrophysics Data System (ADS)

Harish, Vinyas; Ungi, Tamas; Lasso, Andras; MacDonald, Andrew; Nanji, Sulaiman; Fichtinger, Gabor

2015-03-01

Electromagnetic tracking allows for increased flexibility in designing image-guided interventions, however it is well understood that electromagnetic tracking is prone to error. Visualization and assessment of the tracking error should take place in the operating room with minimal interference with the clinical procedure. The goal was to achieve this ideal in an open-source software implementation in a plug and play manner, without requiring programming from the user. We use optical tracking as a ground truth. An electromagnetic sensor and optical markers are mounted onto a stylus device, pivot calibrated for both trackers. Electromagnetic tracking error is defined as difference of tool tip position between electromagnetic and optical readings. Multiple measurements are interpolated into the thin-plate B-spline transform visualized in real time using 3D Slicer. All tracked devices are used in a plug and play manner through the open-source SlicerIGT and PLUS extensions of the 3D Slicer platform. Tracking error was measured multiple times to assess reproducibility of the method, both with and without placing ferromagnetic objects in the workspace. Results from exhaustive grid sampling and freehand sampling were similar, indicating that a quick freehand sampling is sufficient to detect unexpected or excessive field distortion in the operating room. The software is available as a plug-in for the 3D Slicer platforms. Results demonstrate potential for visualizing electromagnetic tracking error in real time for intraoperative environments in feasibility clinical trials in image-guided interventions.

Torque and mechanomyogram relationships during electrically-evoked isometric quadriceps contractions in persons with spinal cord injury.

PubMed

Ibitoye, Morufu Olusola; Hamzaid, Nur Azah; Hasnan, Nazirah; Abdul Wahab, Ahmad Khairi; Islam, Md Anamul; Kean, Victor S P; Davis, Glen M

2016-08-01

The interaction between muscle contractions and joint loading produces torques necessary for movements during activities of daily living. However, during neuromuscular electrical stimulation (NMES)-evoked contractions in persons with spinal cord injury (SCI), a simple and reliable proxy of torque at the muscle level has been minimally investigated. Thus, the purpose of this study was to investigate the relationships between muscle mechanomyographic (MMG) characteristics and NMES-evoked isometric quadriceps torques in persons with motor complete SCI. Six SCI participants with lesion levels below C4 [(mean (SD) age, 39.2 (7.9) year; stature, 1.71 (0.05) m; and body mass, 69.3 (12.9) kg)] performed randomly ordered NMES-evoked isometric leg muscle contractions at 30°, 60° and 90° knee flexion angles on an isokinetic dynamometer. MMG signals were detected by an accelerometer-based vibromyographic sensor placed over the belly of rectus femoris muscle. The relationship between MMG root mean square (MMG-RMS) and NMES-evoked torque revealed a very high association (R(2)=0.91 at 30°; R(2)=0.98 at 60°; and R(2)=0.97 at 90° knee angles; P<0.001). MMG peak-to-peak (MMG-PTP) and stimulation intensity were less well related (R(2)=0.63 at 30°; R(2)=0.67 at 60°; and R(2)=0.45 at 90° knee angles), although were still significantly associated (P≤0.006). Test-retest interclass correlation coefficients (ICC) for the dependent variables ranged from 0.82 to 0.97 for NMES-evoked torque, between 0.65 and 0.79 for MMG-RMS, and from 0.67 to 0.73 for MMG-PTP. Their standard error of measurements (SEM) ranged between 10.1% and 31.6% (of mean values) for torque, MMG-RMS and MMG-PTP. The MMG peak frequency (MMG-PF) of 30Hz approximated the stimulation frequency, indicating NMES-evoked motor unit firing rate. The results demonstrated knee angle differences in the MMG-RMS versus NMES-isometric torque relationship, but a similar torque related pattern for MMG-PF. These findings suggested that MMG was well associated with torque production, reliably tracking the motor unit recruitment pattern during NMES-evoked muscle contractions. The strong positive relationship between MMG signal and NMES-evoked torque production suggested that the MMG might be deployed as a direct proxy for muscle torque or fatigue measurement during leg exercise and functional movements in the SCI population. Copyright © 2016 IPEM. Published by Elsevier Ltd. All rights reserved.

Thermal optimum design for tracking primary mirror of Space Telescope

NASA Astrophysics Data System (ADS)

Pan, Hai-jun; Ruan, Ping; Li, Fu; Wang, Hong-Wei

2011-08-01

In the conventional method, the structural parameters of primary mirror are usually optimized just by the requirement of mechanical performance. Because the influences of structural parameters on thermal stability are not taken fully into account in this simple method, the lightweight optimum design of primary mirror usually brings the bad thermal stability, especially in the complex environment. In order to obtain better thermal stability, a new method about structure-thermal optimum design of tracking primary mirror is discussed. During the optimum process, both the lightweight ratio and thermal stability will be taken into account. The structure-thermal optimum is introduced into the analysis process and commenced after lightweight design as the secondary optimum. Using the engineering analysis of software ANSYS, a parameter finite element analysis (FEA) model of mirror is built. On the premise of appropriate lightweight ratio, the RMS of structure-thermal deformation of mirror surface and lightweight ratio are assigned to be state variables, and the maximal RMS of temperature gradient load to be object variable. The results show that certain structural parameters of tracking primary mirror have different influences on mechanical performance and thermal stability, even they are opposite. By structure-thermal optimizing, the optimized mirror model discussed in this paper has better thermal stability than the old one under the same thermal loads, which can drastically reduce difficulty in thermal control.

Correlation between external and internal respiratory motion: a validation study.

PubMed

Ernst, Floris; Bruder, Ralf; Schlaefer, Alexander; Schweikard, Achim

2012-05-01

In motion-compensated image-guided radiotherapy, accurate tracking of the target region is required. This tracking process includes building a correlation model between external surrogate motion and the motion of the target region. A novel correlation method is presented and compared with the commonly used polynomial model. The CyberKnife system (Accuray, Inc., Sunnyvale/CA) uses a polynomial correlation model to relate externally measured surrogate data (optical fibres on the patient's chest emitting red light) to infrequently acquired internal measurements (X-ray data). A new correlation algorithm based on ɛ -Support Vector Regression (SVR) was developed. Validation and comparison testing were done with human volunteers using live 3D ultrasound and externally measured infrared light-emitting diodes (IR LEDs). Seven data sets (5:03-6:27 min long) were recorded from six volunteers. Polynomial correlation algorithms were compared to the SVR-based algorithm demonstrating an average increase in root mean square (RMS) accuracy of 21.3% (0.4 mm). For three signals, the increase was more than 29% and for one signal as much as 45.6% (corresponding to more than 1.5 mm RMS). Further analysis showed the improvement to be statistically significant. The new SVR-based correlation method outperforms traditional polynomial correlation methods for motion tracking. This method is suitable for clinical implementation and may improve the overall accuracy of targeted radiotherapy.

Towards 3D ultrasound image based soft tissue tracking: a transrectal ultrasound prostate image alignment system.

PubMed

Baumann, Michael; Mozer, Pierre; Daanen, Vincent; Troccaz, Jocelyne

2007-01-01

The emergence of real-time 3D ultrasound (US) makes it possible to consider image-based tracking of subcutaneous soft tissue targets for computer guided diagnosis and therapy. We propose a 3D transrectal US based tracking system for precise prostate biopsy sample localisation. The aim is to improve sample distribution, to enable targeting of unsampled regions for repeated biopsies, and to make post-interventional quality controls possible. Since the patient is not immobilized, since the prostate is mobile and due to the fact that probe movements are only constrained by the rectum during biopsy acquisition, the tracking system must be able to estimate rigid transformations that are beyond the capture range of common image similarity measures. We propose a fast and robust multi-resolution attribute-vector registration approach that combines global and local optimization methods to solve this problem. Global optimization is performed on a probe movement model that reduces the dimensionality of the search space and thus renders optimization efficient. The method was tested on 237 prostate volumes acquired from 14 different patients for 3D to 3D and 3D to orthogonal 2D slices registration. The 3D-3D version of the algorithm converged correctly in 96.7% of all cases in 6.5s with an accuracy of 1.41mm (r.m.s.) and 3.84mm (max). The 3D to slices method yielded a success rate of 88.9% in 2.3s with an accuracy of 1.37mm (r.m.s.) and 4.3mm (max).

Attitude guidance and tracking for spacecraft with two reaction wheels

NASA Astrophysics Data System (ADS)

Biggs, James D.; Bai, Yuliang; Henninger, Helen

2018-04-01

This paper addresses the guidance and tracking problem for a rigid-spacecraft using two reaction wheels (RWs). The guidance problem is formulated as an optimal control problem on the special orthogonal group SO(3). The optimal motion is solved analytically as a function of time and is used to reduce the original guidance problem to one of computing the minimum of a nonlinear function. A tracking control using two RWs is developed that extends previous singular quaternion stabilisation controls to tracking controls on the rotation group. The controller is proved to locally asymptotically track the generated reference motions using Lyapunov's direct method. Simulations of a 3U CubeSat demonstrate that this tracking control is robust to initial rotation errors and angular velocity errors in the controlled axis. For initial angular velocity errors in the uncontrolled axis and under significant disturbances the control fails to track. However, the singular tracking control is combined with a nano-magnetic torquer which simply damps the angular velocity in the uncontrolled axis and is shown to provide a practical control method for tracking in the presence of disturbances and initial condition errors.

Path-following in model predictive rollover prevention using front steering and braking

NASA Astrophysics Data System (ADS)

Ghazali, Mohammad; Durali, Mohammad; Salarieh, Hassan

2017-01-01

In this paper vehicle path-following in the presence of rollover risk is investigated. Vehicles with high centre of mass are prone to roll instability. Untripped rollover risk is increased in high centre of gravity vehicles and high-friction road condition. Researches introduce strategies to handle the short-duration rollover condition. In these researches, however, trajectory tracking is affected and not thoroughly investigated. This paper puts stress on tracking error from rollover prevention. A lower level model predictive front steering controller is adopted to deal with rollover and tracking error as a priority sequence. A brake control is included in lower level controller which directly obeys an upper level controller (ULC) command. The ULC manages vehicle speed regarding primarily tracking error. Simulation results show that the proposed control framework maintains roll stability while tracking error is confined to predefined error limit.

Finite-time sliding surface constrained control for a robot manipulator with an unknown deadzone and disturbance.

PubMed

Ik Han, Seong; Lee, Jangmyung

2016-11-01

This paper presents finite-time sliding mode control (FSMC) with predefined constraints for the tracking error and sliding surface in order to obtain robust positioning of a robot manipulator with input nonlinearity due to an unknown deadzone and external disturbance. An assumed model feedforward FSMC was designed to avoid tedious identification procedures for the manipulator parameters and to obtain a fast response time. Two constraint switching control functions based on the tracking error and finite-time sliding surface were added to the FSMC to guarantee the predefined tracking performance despite the presence of an unknown deadzone and disturbance. The tracking error due to the deadzone and disturbance can be suppressed within the predefined error boundary simply by tuning the gain value of the constraint switching function and without the addition of an extra compensator. Therefore, the designed constraint controller has a simpler structure than conventional transformed error constraint methods and the sliding surface constraint scheme can also indirectly guarantee the tracking error constraint while being more stable than the tracking error constraint control. A simulation and experiment were performed on an articulated robot manipulator to validate the proposed control schemes. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Application of Ensemble Kalman Filter in Power System State Tracking and Sensitivity

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

Li, Yulan; Huang, Zhenyu; Zhou, Ning

2012-05-01

Ensemble Kalman Filter (EnKF) is proposed to track dynamic states of generators. The algorithm of EnKF and its application to generator state tracking are presented in detail. The accuracy and sensitivity of the method are analyzed with respect to initial state errors, measurement noise, unknown fault locations, time steps and parameter errors. It is demonstrated through simulation studies that even with some errors in the parameters, the developed EnKF can effectively track generator dynamic states using disturbance data.

Solar Tracking Error Analysis of Fresnel Reflector

PubMed Central

Zheng, Jiantao; Yan, Junjie; Pei, Jie; Liu, Guanjie

2014-01-01

Depending on the rotational structure of Fresnel reflector, the rotation angle of the mirror was deduced under the eccentric condition. By analyzing the influence of the sun tracking rotation angle error caused by main factors, the change rule and extent of the influence were revealed. It is concluded that the tracking errors caused by the difference between the rotation axis and true north meridian, at noon, were maximum under certain conditions and reduced at morning and afternoon gradually. The tracking error caused by other deviations such as rotating eccentric, latitude, and solar altitude was positive at morning, negative at afternoon, and zero at a certain moment of noon. PMID:24895664

Real-time auto-adaptive margin generation for MLC-tracked radiotherapy

NASA Astrophysics Data System (ADS)

Glitzner, M.; Fast, M. F.; de Senneville, B. Denis; Nill, S.; Oelfke, U.; Lagendijk, J. J. W.; Raaymakers, B. W.; Crijns, S. P. M.

2017-01-01

In radiotherapy, abdominal and thoracic sites are candidates for performing motion tracking. With real-time control it is possible to adjust the multileaf collimator (MLC) position to the target position. However, positions are not perfectly matched and position errors arise from system delays and complicated response of the electromechanic MLC system. Although, it is possible to compensate parts of these errors by using predictors, residual errors remain and need to be compensated to retain target coverage. This work presents a method to statistically describe tracking errors and to automatically derive a patient-specific, per-segment margin to compensate the arising underdosage on-line, i.e. during plan delivery. The statistics of the geometric error between intended and actual machine position are derived using kernel density estimators. Subsequently a margin is calculated on-line according to a selected coverage parameter, which determines the amount of accepted underdosage. The margin is then applied onto the actual segment to accommodate the positioning errors in the enlarged segment. The proof-of-concept was tested in an on-line tracking experiment and showed the ability to recover underdosages for two test cases, increasing {{V}90 %} in the underdosed area about 47 % and 41 % , respectively. The used dose model was able to predict the loss of dose due to tracking errors and could be used to infer the necessary margins. The implementation had a running time of 23 ms which is compatible with real-time requirements of MLC tracking systems. The auto-adaptivity to machine and patient characteristics makes the technique a generic yet intuitive candidate to avoid underdosages due to MLC tracking errors.

Measurement of electromagnetic tracking error in a navigated breast surgery setup

NASA Astrophysics Data System (ADS)

Harish, Vinyas; Baksh, Aidan; Ungi, Tamas; Lasso, Andras; Baum, Zachary; Gauvin, Gabrielle; Engel, Jay; Rudan, John; Fichtinger, Gabor

2016-03-01

PURPOSE: The measurement of tracking error is crucial to ensure the safety and feasibility of electromagnetically tracked, image-guided procedures. Measurement should occur in a clinical environment because electromagnetic field distortion depends on positioning relative to the field generator and metal objects. However, we could not find an accessible and open-source system for calibration, error measurement, and visualization. We developed such a system and tested it in a navigated breast surgery setup. METHODS: A pointer tool was designed for concurrent electromagnetic and optical tracking. Software modules were developed for automatic calibration of the measurement system, real-time error visualization, and analysis. The system was taken to an operating room to test for field distortion in a navigated breast surgery setup. Positional and rotational electromagnetic tracking errors were then calculated using optical tracking as a ground truth. RESULTS: Our system is quick to set up and can be rapidly deployed. The process from calibration to visualization also only takes a few minutes. Field distortion was measured in the presence of various surgical equipment. Positional and rotational error in a clean field was approximately 0.90 mm and 0.31°. The presence of a surgical table, an electrosurgical cautery, and anesthesia machine increased the error by up to a few tenths of a millimeter and tenth of a degree. CONCLUSION: In a navigated breast surgery setup, measurement and visualization of tracking error defines a safe working area in the presence of surgical equipment. Our system is available as an extension for the open-source 3D Slicer platform.

40 CFR 73.37 - Account error.

Code of Federal Regulations, 2010 CFR

2010-07-01

... ALLOWANCE SYSTEM Allowance Tracking System § 73.37 Account error. The Administrator may, at his or her sole discretion and on his or her own motion, correct any error in any Allowance Tracking System account. Within...

40 CFR 60.4156 - Account error.

Code of Federal Regulations, 2011 CFR

2011-07-01

... Generating Units Hg Allowance Tracking System § 60.4156 Account error. The Administrator may, at his or her sole discretion and on his or her own motion, correct any error in any Hg Allowance Tracking System...

40 CFR 73.37 - Account error.

Code of Federal Regulations, 2011 CFR

2011-07-01

... ALLOWANCE SYSTEM Allowance Tracking System § 73.37 Account error. The Administrator may, at his or her sole discretion and on his or her own motion, correct any error in any Allowance Tracking System account. Within...

Systematic Errors in an Air Track Experiment.

ERIC Educational Resources Information Center

Ramirez, Santos A.; Ham, Joe S.

1990-01-01

Errors found in a common physics experiment to measure acceleration resulting from gravity using a linear air track are investigated. Glider position at release and initial velocity are shown to be sources of systematic error. (CW)

Empirical ocean color algorithms and bio-optical properties of the western coastal waters of Svalbard, Arctic

NASA Astrophysics Data System (ADS)

Son, Young-Sun; Kim, Hyun-cheol

2018-05-01

Chlorophyll (Chl) concentration is one of the key indicators identifying changes in the Arctic marine ecosystem. However, current Chl algorithms are not accurate in the Arctic Ocean due to different bio-optical properties from those in the lower latitude oceans. In this study, we evaluated the current Chl algorithms and analyzed the cause of the error in the western coastal waters of Svalbard, which are known to be sensitive to climate change. The NASA standard algorithms showed to overestimate the Chl concentration in the region. This was due to the high non-algal particles (NAP) absorption and colored dissolved organic matter (CDOM) variability at the blue wavelength. In addition, at lower Chl concentrations (0.1-0.3 mg m-3), chlorophyll-specific absorption coefficients were ∼2.3 times higher than those of other Arctic oceans. This was another reason for the overestimation of Chl concentration. OC4 algorithm-based regionally tuned-Svalbard Chl (SC4) algorithm for retrieving more accurate Chl estimates reduced the mean absolute percentage difference (APD) error from 215% to 49%, the mean relative percentage difference (RPD) error from 212% to 16%, and the normalized root mean square (RMS) error from 211% to 68%. This region has abundant suspended matter due to the melting of tidal glaciers. We evaluated the performance of total suspended matter (TSM) algorithms. Previous published TSM algorithms generally overestimated the TSM concentration in this region. The Svalbard TSM-single band algorithm for low TSM range (ST-SB-L) decreased the APD and RPD errors by 52% and 14%, respectively, but the RMS error still remained high (105%).

Calibration of Contactless Pulse Oximetry

PubMed Central

Bartula, Marek; Bresch, Erik; Rocque, Mukul; Meftah, Mohammed; Kirenko, Ihor

2017-01-01

BACKGROUND: Contactless, camera-based photoplethysmography (PPG) interrogates shallower skin layers than conventional contact probes, either transmissive or reflective. This raises questions on the calibratability of camera-based pulse oximetry. METHODS: We made video recordings of the foreheads of 41 healthy adults at 660 and 840 nm, and remote PPG signals were extracted. Subjects were in normoxic, hypoxic, and low temperature conditions. Ratio-of-ratios were compared to reference Spo2 from 4 contact probes. RESULTS: A calibration curve based on artifact-free data was determined for a population of 26 individuals. For an Spo2 range of approximately 83% to 100% and discarding short-term errors, a root mean square error of 1.15% was found with an upper 99% one-sided confidence limit of 1.65%. Under normoxic conditions, a decrease in ambient temperature from 23 to 7°C resulted in a calibration error of 0.1% (±1.3%, 99% confidence interval) based on measurements for 3 subjects. PPG signal strengths varied strongly among individuals from about 0.9 × 10−3 to 4.6 × 10−3 for the infrared wavelength. CONCLUSIONS: For healthy adults, the results present strong evidence that camera-based contactless pulse oximetry is fundamentally feasible because long-term (eg, 10 minutes) error stemming from variation among individuals expressed as A*rms is significantly lower (<1.65%) than that required by the International Organization for Standardization standard (<4%) with the notion that short-term errors should be added. A first illustration of such errors has been provided with A**rms = 2.54% for 40 individuals, including 6 with dark skin. Low signal strength and subject motion present critical challenges that will have to be addressed to make camera-based pulse oximetry practically feasible. PMID:27258081

An externally and internally deformable, programmable lung motion phantom

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

Cheung, Yam; Sawant, Amit, E-mail: amit.sawant@utsouthwestern.edu

Purpose: Most clinically deployed strategies for respiratory motion management in lung radiotherapy (e.g., gating and tracking) use external markers that serve as surrogates for tumor motion. However, typical lung phantoms used to validate these strategies are based on a rigid exterior and a rigid or a deformable-interior. Such designs do not adequately represent respiration because the thoracic anatomy deforms internally as well as externally. In order to create a closer approximation of respiratory motion, the authors describe the construction and experimental testing of an externally as well as internally deformable, programmable lung phantom. Methods: The outer shell of a commerciallymore » available lung phantom (RS-1500, RSD, Inc.) was used. The shell consists of a chest cavity with a flexible anterior surface, and embedded vertebrae, rib-cage and sternum. A custom-made insert was designed using a piece of natural latex foam block. A motion platform was programmed with sinusoidal and ten patient-recorded lung tumor trajectories. The platform was used to drive a rigid foam “diaphragm” that compressed/decompressed the phantom interior. Experimental characterization comprised of determining the reproducibility and the external–internal correlation of external and internal marker trajectories extracted from kV x-ray fluoroscopy. Experiments were conducted to illustrate three example applications of the phantom—(i) validating the geometric accuracy of the VisionRT surface photogrammetry system; (ii) validating an image registration tool, NiftyReg; and (iii) quantifying the geometric error due to irregular motion in four-dimensional computed tomography (4DCT). Results: The phantom correctly reproduced sinusoidal and patient-derived motion, as well as realistic respiratory motion-related effects such as hysteresis. The reproducibility of marker trajectories over multiple runs for sinusoidal as well as patient traces, as characterized by fluoroscopy, was within 0.25 mm RMS error. The motion trajectories of internal and external radio-opaque markers as measured by fluoroscopy were found to be highly correlated (R > 0.95). Using the phantom, it was demonstrated that the motion trajectories of regions-of-interest on the surface as measured by VisionRT are highly consistent with corresponding fluoroscopically acquired surface marker trajectories, with RMS errors within 0.26 mm. Furthermore, it was shown that the trajectories of external and internal marker trajectories derived from NiftyReg deformation vector fields were within 1 mm root mean square errors comparing to trajectories obtained by segmenting markers from individual fluoro frames. Finally, it was shown that while 4DCT can be used to localize internal markers for sinusoidal motion with reasonable accuracy, the localization error increases significantly (by a factor of ∼2) in the presence of cycle-to-cycle variations that are observed in patient-derived respiratory motion. Conclusions: The authors have developed a realistic externally and internally deformable, programmable lung phantom that will serve as a valuable tool for clinical and investigational motion management studies in thoracic and abdominal radiation therapies.« less

Cost-effective surgical registration using consumer depth cameras

NASA Astrophysics Data System (ADS)

Potter, Michael; Yaniv, Ziv

2016-03-01

The high costs associated with technological innovation have been previously identified as both a major contributor to the rise of health care expenses, and as a limitation for widespread adoption of new technologies. In this work we evaluate the use of two consumer grade depth cameras, the Microsoft Kinect v1 and 3DSystems Sense, as a means for acquiring point clouds for registration. These devices have the potential to replace professional grade laser range scanning devices in medical interventions that do not require sub-millimetric registration accuracy, and may do so at a significantly reduced cost. To facilitate the use of these devices we have developed a near real-time (1-4 sec/frame) rigid registration framework combining several alignment heuristics with the Iterative Closest Point (ICP) algorithm. Using nearest neighbor registration error as our evaluation criterion we found the optimal scanning distances for the Sense and Kinect to be 50-60cm and 70-80cm respectively. When imaging a skull phantom at these distances, RMS error values of 1.35mm and 1.14mm were obtained. The registration framework was then evaluated using cranial MR scans of two subjects. For the first subject, the RMS error using the Sense was 1.28 +/- 0.01 mm. Using the Kinect this error was 1.24 +/- 0.03 mm. For the second subject, whose MR scan was significantly corrupted by metal implants, the errors increased to 1.44 +/- 0.03 mm and 1.74 +/- 0.06 mm but the system nonetheless performed within acceptable bounds.

The Systematics of Strong Lens Modeling Quantified: The Effects of Constraint Selection and Redshift Information on Magnification, Mass, and Multiple Image Predictability

NASA Astrophysics Data System (ADS)

Johnson, Traci L.; Sharon, Keren

2016-11-01

Until now, systematic errors in strong gravitational lens modeling have been acknowledged but have never been fully quantified. Here, we launch an investigation into the systematics induced by constraint selection. We model the simulated cluster Ares 362 times using random selections of image systems with and without spectroscopic redshifts and quantify the systematics using several diagnostics: image predictability, accuracy of model-predicted redshifts, enclosed mass, and magnification. We find that for models with >15 image systems, the image plane rms does not decrease significantly when more systems are added; however, the rms values quoted in the literature may be misleading as to the ability of a model to predict new multiple images. The mass is well constrained near the Einstein radius in all cases, and systematic error drops to <2% for models using >10 image systems. Magnification errors are smallest along the straight portions of the critical curve, and the value of the magnification is systematically lower near curved portions. For >15 systems, the systematic error on magnification is ∼2%. We report no trend in magnification error with the fraction of spectroscopic image systems when selecting constraints at random; however, when using the same selection of constraints, increasing this fraction up to ∼0.5 will increase model accuracy. The results suggest that the selection of constraints, rather than quantity alone, determines the accuracy of the magnification. We note that spectroscopic follow-up of at least a few image systems is crucial because models without any spectroscopic redshifts are inaccurate across all of our diagnostics.

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

Yan, H; Chen, Z; Nath, R

Purpose: kV fluoroscopic imaging combined with MV treatment beam imaging has been investigated for intrafractional motion monitoring and correction. It is, however, subject to additional kV imaging dose to normal tissue. To balance tracking accuracy and imaging dose, we previously proposed an adaptive imaging strategy to dynamically decide future imaging type and moments based on motion tracking uncertainty. kV imaging may be used continuously for maximal accuracy or only when the position uncertainty (probability of out of threshold) is high if a preset imaging dose limit is considered. In this work, we propose more accurate methods to estimate tracking uncertaintymore » through analyzing acquired data in real-time. Methods: We simulated motion tracking process based on a previously developed imaging framework (MV + initial seconds of kV imaging) using real-time breathing data from 42 patients. Motion tracking errors for each time point were collected together with the time point’s corresponding features, such as tumor motion speed and 2D tracking error of previous time points, etc. We tested three methods for error uncertainty estimation based on the features: conditional probability distribution, logistic regression modeling, and support vector machine (SVM) classification to detect errors exceeding a threshold. Results: For conditional probability distribution, polynomial regressions on three features (previous tracking error, prediction quality, and cosine of the angle between the trajectory and the treatment beam) showed strong correlation with the variation (uncertainty) of the mean 3D tracking error and its standard deviation: R-square = 0.94 and 0.90, respectively. The logistic regression and SVM classification successfully identified about 95% of tracking errors exceeding 2.5mm threshold. Conclusion: The proposed methods can reliably estimate the motion tracking uncertainty in real-time, which can be used to guide adaptive additional imaging to confirm the tumor is within the margin or initialize motion compensation if it is out of the margin.« less

Enabling freehand lateral scanning of optical coherence tomography needle probes with a magnetic tracking system

PubMed Central

Yeo, Boon Y.; McLaughlin, Robert A.; Kirk, Rodney W.; Sampson, David D.

2012-01-01

We present a high-resolution three-dimensional position tracking method that allows an optical coherence tomography (OCT) needle probe to be scanned laterally by hand, providing the high degree of flexibility and freedom required in clinical usage. The method is based on a magnetic tracking system, which is augmented by cross-correlation-based resampling and a two-stage moving window average algorithm to improve upon the tracker's limited intrinsic spatial resolution, achieving 18 µm RMS position accuracy. A proof-of-principle system was developed, with successful image reconstruction demonstrated on phantoms and on ex vivo human breast tissue validated against histology. This freehand scanning method could contribute toward clinical implementation of OCT needle imaging. PMID:22808429

Non-null full field X-ray mirror metrology using SCOTS: a reflection deflectometry approach

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

Su P.; Kaznatcheev K.; Wang, Y.

In a previous paper, the University of Arizona (UA) has developed a measurement technique called: Software Configurable Optical Test System (SCOTS) based on the principle of reflection deflectometry. In this paper, we present results of this very efficient optical metrology method applied to the metrology of X-ray mirrors. We used this technique to measure surface slope errors with precision and accuracy better than 100 nrad (rms) and {approx}200 nrad (rms), respectively, with a lateral resolution of few mm or less. We present results of the calibration of the metrology systems, discuss their accuracy and address the precision in measuring amore » spherical mirror.« less

Application of identification techniques to remote manipulator system flight data

NASA Technical Reports Server (NTRS)

Shepard, G. D.; Lepanto, J. A.; Metzinger, R. W.; Fogel, E.

1983-01-01

This paper addresses the application of identification techniques to flight data from the Space Shuttle Remote Manipulator System (RMS). A description of the remote manipulator, including structural and control system characteristics, sensors, and actuators is given. A brief overview of system identification procedures is presented, and the practical aspects of implementing system identification algorithms are discussed. In particular, the problems posed by desampling rate, numerical error, and system nonlinearities are considered. Simulation predictions of damping, frequency, and system order are compared with values identified from flight data to support an evaluation of RMS structural and control system models. Finally, conclusions are drawn regarding the application of identification techniques to flight data obtained from a flexible space structure.

Optimal Predictive Control for Path Following of a Full Drive-by-Wire Vehicle at Varying Speeds

NASA Astrophysics Data System (ADS)

SONG, Pan; GAO, Bolin; XIE, Shugang; FANG, Rui

2017-05-01

The current research of the global chassis control problem for the full drive-by-wire vehicle focuses on the control allocation (CA) of the four-wheel-distributed traction/braking/steering systems. However, the path following performance and the handling stability of the vehicle can be enhanced a step further by automatically adjusting the vehicle speed to the optimal value. The optimal solution for the combined longitudinal and lateral motion control (MC) problem is given. First, a new variable step-size spatial transformation method is proposed and utilized in the prediction model to derive the dynamics of the vehicle with respect to the road, such that the tracking errors can be explicitly obtained over the prediction horizon at varying speeds. Second, a nonlinear model predictive control (NMPC) algorithm is introduced to handle the nonlinear coupling between any two directions of the vehicular planar motion and computes the sequence of the optimal motion states for following the desired path. Third, a hierarchical control structure is proposed to separate the motion controller into a NMPC based path planner and a terminal sliding mode control (TSMC) based path follower. As revealed through off-line simulations, the hierarchical methodology brings nearly 1700% improvement in computational efficiency without loss of control performance. Finally, the control algorithm is verified through a hardware in-the-loop simulation system. Double-lane-change (DLC) test results show that by using the optimal predictive controller, the root-mean-square (RMS) values of the lateral deviations and the orientation errors can be reduced by 41% and 30%, respectively, comparing to those by the optimal preview acceleration (OPA) driver model with the non-preview speed-tracking method. Additionally, the average vehicle speed is increased by 0.26 km/h with the peak sideslip angle suppressed to 1.9°. This research proposes a novel motion controller, which provides the full drive-by-wire vehicle with better lane-keeping and collision-avoidance capabilities during autonomous driving.

Calibration of a fluxgate magnetometer array and its application in magnetic object localization

NASA Astrophysics Data System (ADS)

Pang, Hongfeng; Luo, Shitu; Zhang, Qi; Li, Ji; Chen, Dixiang; Pan, Mengchun; Luo, Feilu

2013-07-01

The magnetometer array is effective for magnetic object detection and localization. Calibration is important to improve the accuracy of the magnetometer array. A magnetic sensor array built with four three-axis DM-050 fluxgate magnetometers is designed, which is connected by a cross aluminum frame. In order to improve the accuracy of the magnetometer array, a calibration process is presented. The calibration process includes magnetometer calibration, coordinate transformation and misalignment calibration. The calibration system consists of a magnetic sensor array, a GSM-19T proton magnetometer, a two-dimensional nonmagnetic rotation platform, a 12 V-dc portable power device and two portable computers. After magnetometer calibration, the RMS error has been decreased from an original value of 125.559 nT to a final value of 1.711 nT (a factor of 74). After alignment, the RMS error of misalignment has been decreased from 1322.3 to 6.0 nT (a factor of 220). Then, the calibrated array deployed on the nonmagnetic rotation platform is used for ferromagnetic object localization. Experimental results show that the estimated errors of X, Y and Z axes are -0.049 m, 0.008 m and 0.025 m, respectively. Thus, the magnetometer array is effective for magnetic object detection and localization in three dimensions.

Further investigations on fixed abrasive diamond pellets used for diminishing mid-spatial frequency errors of optical mirrors.

PubMed

Dong, Zhichao; Cheng, Haobo; Tam, Hon-Yuen

2014-01-20

As further application investigations on fixed abrasive diamond pellets (FADPs), this work exhibits their potential capability for diminishing mid-spatial frequency errors (MSFEs, i.e., periodic small structure) of optical surfaces. Benefitting from its high surficial rigidness, the FADPs tool has a natural smoothing effect to periodic small errors. Compared with the previous design, this proposed new tool employs more compliance to aspherical surfaces due to the pellets being mutually separated and bonded on a steel plate with elastic back of silica rubber adhesive. Moreover, a unicursal Peano-like path is presented for improving MSFEs, which can enhance the multidirectionality and uniformity of the tool's motion. Experiments were conducted to validate the effectiveness of FADPs for diminishing MSFEs. In the lapping of a Φ=420 mm Zerodur paraboloid workpiece, the grinding ripples were quickly diminished (210 min) by both visual inspection and profile metrology, as well as the power spectrum density (PSD) analysis, RMS was reduced from 4.35 to 0.55 μm. In the smoothing of a Φ=101 mm fused silica workpiece, MSFEs were obviously improved from the inspection of surface form maps, interferometric fringe patterns, and PSD analysis. The mid-spatial frequency RMS was diminished from 0.017λ to 0.014λ (λ=632.8 nm).

A note on sea level variability at Clipperton Island from GEOSAT and in-situ observations

NASA Astrophysics Data System (ADS)

Maul, George A.; Hansen, Donald V.; Bravo, Nicolas J.

During the 1986-1989 Exact Repeat Mission (ERM) of GEOSAT, in-situ observations of sea level at Clipperton Island (10°N/109°W) and satellite-tracked free-drifting drogued buoys in the eastern tropical Pacific Ocean are concurrently available. A map of the standard deviations of GEOSAT sea surface heights (2.9 years) shows a variance maximum along ˜12°N from Central America, past Clipperton to ˜160°W. Sea floor pressure gauge observations from a shallow (10m depth) site on Clipperton Island and an ERM crossover point in deep water nearby show a correlation of r = 0.76 with a residual of ±6.7 cm RMS. Approximately 17% of the difference (GEOSAT minus sea level) is characterized by a 4 cm amplitude 0° phase annual harmonic, which is probably caused by unaccounted-for tropospheric water vapor affecting the altimeter and/or ERM orbit error removal. Wintertime anticyclonic mesoscale eddies advecting past Clipperton Island each year have GEOSAT sea surface height and in-situ sea level signals of more than 30 cm, some of which are documented by the satellite-tracked drifters. Meridional profiles of the annual harmonic of zonal geostrophic current from GEOSAT and from the drifters both show synchronous maxima in the North Equatorial Countercurrent and the North Equatorial Current. Other Clipperton sea level maxima seen during late spring of each year may involve anticyclonic vortices formed along Central America the previous winter.

Noncontact on-machine measurement system based on capacitive displacement sensors for single-point diamond turning

NASA Astrophysics Data System (ADS)

Li, Xingchang; Zhang, Zhiyu; Hu, Haifei; Li, Yingjie; Xiong, Ling; Zhang, Xuejun; Yan, Jiwang

2018-04-01

On-machine measurements can improve the form accuracy of optical surfaces in single-point diamond turning applications; however, commercially available linear variable differential transformer sensors are inaccurate and can potentially scratch the surface. We present an on-machine measurement system based on capacitive displacement sensors for high-precision optical surfaces. In the proposed system, a position-trigger method of measurement was developed to ensure strict correspondence between the measurement points and the measurement data with no intervening time-delay. In addition, a double-sensor measurement was proposed to reduce the electric signal noise during spindle rotation. Using the proposed system, the repeatability of 80-nm peak-to-valley (PV) and 8-nm root-mean-square (RMS) was achieved through analyzing four successive measurement results. The accuracy of 109-nm PV and 14-nm RMS was obtained by comparing with the interferometer measurement result. An aluminum spherical mirror with a diameter of 300 mm was fabricated, and the resulting measured form error after one compensation cut was decreased to 254 nm in PV and 52 nm in RMS. These results confirm that the measurements of the surface form errors were successfully used to modify the cutting tool path during the compensation cut, thereby ensuring that the diamond turning process was more deterministic. In addition, the results show that the noise level was significantly reduced with the reference sensor even under a high rotational speed.

A simple model for studying rotation errors of gimbal mount axes in laser tracking system based on spherical mirror as a reflection unit

NASA Astrophysics Data System (ADS)

Song, Huixu; Shi, Zhaoyao; Chen, Hongfang; Sun, Yanqiang

2018-01-01

This paper presents a novel experimental approach and a simple model for verifying that spherical mirror of laser tracking system could lessen the effect of rotation errors of gimbal mount axes based on relative motion thinking. Enough material and evidence are provided to support that this simple model could replace complex optical system in laser tracking system. This experimental approach and model interchange the kinematic relationship between spherical mirror and gimbal mount axes in laser tracking system. Being fixed stably, gimbal mount axes' rotation error motions are replaced by spatial micro-displacements of spherical mirror. These motions are simulated by driving spherical mirror along the optical axis and vertical direction with the use of precision positioning platform. The effect on the laser ranging measurement accuracy of displacement caused by the rotation errors of gimbal mount axes could be recorded according to the outcome of laser interferometer. The experimental results show that laser ranging measurement error caused by the rotation errors is less than 0.1 μm if radial error motion and axial error motion are under 10 μm. The method based on relative motion thinking not only simplifies the experimental procedure but also achieves that spherical mirror owns the ability to reduce the effect of rotation errors of gimbal mount axes in laser tracking system.

An Enhanced Non-Coherent Pre-Filter Design for Tracking Error Estimation in GNSS Receivers.

PubMed

Luo, Zhibin; Ding, Jicheng; Zhao, Lin; Wu, Mouyan

2017-11-18

Tracking error estimation is of great importance in global navigation satellite system (GNSS) receivers. Any inaccurate estimation for tracking error will decrease the signal tracking ability of signal tracking loops and the accuracies of position fixing, velocity determination, and timing. Tracking error estimation can be done by traditional discriminator, or Kalman filter-based pre-filter. The pre-filter can be divided into two categories: coherent and non-coherent. This paper focuses on the performance improvements of non-coherent pre-filter. Firstly, the signal characteristics of coherent and non-coherent integration-which are the basis of tracking error estimation-are analyzed in detail. After that, the probability distribution of estimation noise of four-quadrant arctangent (ATAN2) discriminator is derived according to the mathematical model of coherent integration. Secondly, the statistical property of observation noise of non-coherent pre-filter is studied through Monte Carlo simulation to set the observation noise variance matrix correctly. Thirdly, a simple fault detection and exclusion (FDE) structure is introduced to the non-coherent pre-filter design, and thus its effective working range for carrier phase error estimation extends from (-0.25 cycle, 0.25 cycle) to (-0.5 cycle, 0.5 cycle). Finally, the estimation accuracies of discriminator, coherent pre-filter, and the enhanced non-coherent pre-filter are evaluated comprehensively through the carefully designed experiment scenario. The pre-filter outperforms traditional discriminator in estimation accuracy. In a highly dynamic scenario, the enhanced non-coherent pre-filter provides accuracy improvements of 41.6%, 46.4%, and 50.36% for carrier phase error, carrier frequency error, and code phase error estimation, respectively, when compared with coherent pre-filter. The enhanced non-coherent pre-filter outperforms the coherent pre-filter in code phase error estimation when carrier-to-noise density ratio is less than 28.8 dB-Hz, in carrier frequency error estimation when carrier-to-noise density ratio is less than 20 dB-Hz, and in carrier phase error estimation when carrier-to-noise density belongs to (15, 23) dB-Hz ∪ (26, 50) dB-Hz.

An Enhanced Non-Coherent Pre-Filter Design for Tracking Error Estimation in GNSS Receivers

PubMed Central

Luo, Zhibin; Ding, Jicheng; Zhao, Lin; Wu, Mouyan

2017-01-01

Tracking error estimation is of great importance in global navigation satellite system (GNSS) receivers. Any inaccurate estimation for tracking error will decrease the signal tracking ability of signal tracking loops and the accuracies of position fixing, velocity determination, and timing. Tracking error estimation can be done by traditional discriminator, or Kalman filter-based pre-filter. The pre-filter can be divided into two categories: coherent and non-coherent. This paper focuses on the performance improvements of non-coherent pre-filter. Firstly, the signal characteristics of coherent and non-coherent integration—which are the basis of tracking error estimation—are analyzed in detail. After that, the probability distribution of estimation noise of four-quadrant arctangent (ATAN2) discriminator is derived according to the mathematical model of coherent integration. Secondly, the statistical property of observation noise of non-coherent pre-filter is studied through Monte Carlo simulation to set the observation noise variance matrix correctly. Thirdly, a simple fault detection and exclusion (FDE) structure is introduced to the non-coherent pre-filter design, and thus its effective working range for carrier phase error estimation extends from (−0.25 cycle, 0.25 cycle) to (−0.5 cycle, 0.5 cycle). Finally, the estimation accuracies of discriminator, coherent pre-filter, and the enhanced non-coherent pre-filter are evaluated comprehensively through the carefully designed experiment scenario. The pre-filter outperforms traditional discriminator in estimation accuracy. In a highly dynamic scenario, the enhanced non-coherent pre-filter provides accuracy improvements of 41.6%, 46.4%, and 50.36% for carrier phase error, carrier frequency error, and code phase error estimation, respectively, when compared with coherent pre-filter. The enhanced non-coherent pre-filter outperforms the coherent pre-filter in code phase error estimation when carrier-to-noise density ratio is less than 28.8 dB-Hz, in carrier frequency error estimation when carrier-to-noise density ratio is less than 20 dB-Hz, and in carrier phase error estimation when carrier-to-noise density belongs to (15, 23) dB-Hz ∪ (26, 50) dB-Hz. PMID:29156581

MUSIC: MUlti-Scale Initial Conditions

NASA Astrophysics Data System (ADS)

Hahn, Oliver; Abel, Tom

2013-11-01

MUSIC generates multi-scale initial conditions with multiple levels of refinements for cosmological ‘zoom-in’ simulations. The code uses an adaptive convolution of Gaussian white noise with a real-space transfer function kernel together with an adaptive multi-grid Poisson solver to generate displacements and velocities following first- (1LPT) or second-order Lagrangian perturbation theory (2LPT). MUSIC achieves rms relative errors of the order of 10-4 for displacements and velocities in the refinement region and thus improves in terms of errors by about two orders of magnitude over previous approaches. In addition, errors are localized at coarse-fine boundaries and do not suffer from Fourier space-induced interference ringing.

GOCE Precise Science Orbits for the Entire Mission and their Use for Gravity Field Recovery

NASA Astrophysics Data System (ADS)

Jäggi, Adrian; Bock, Heike; Meyer, Ulrich; Weigelt, Matthias

The Gravity field and steady-state Ocean Circulation Explorer (GOCE), ESA's first Earth Explorer Core Mission, was launched on March 17, 2009 into a sun-synchronous dusk-dawn orbit and re-entered into the Earth's atmosphere on November 11, 2013. It was equipped with a three-axis gravity gradiometer for high-resolution recovery of the Earth's gravity field, as well as with a 12-channel, dual-frequency Global Positioning System (GPS) receiver for precise orbit determination (POD), instrument time-tagging, and the determination of the long wavelength part of the Earth’s gravity field. A precise science orbit (PSO) product was provided during the entire mission by the GOCE High-level Processing Facility (HPF) from the GPS high-low Satellite-to-Satellite Tracking (hl-SST) data. We present the reduced-dynamic and kinematic PSO results for the entire mission period. Orbit comparisons and validations with independent Satellite Laser Ranging (SLR) measurements demonstrate the high quality of both orbit products being close to 2 cm 1-D RMS, but also reveal a correlation between solar activity, GPS data availability, and the quality of the orbits. We use the 1-sec kinematic positions of the GOCE PSO product for gravity field determination and present GPS-only solutions covering the entire mission period. The generated gravity field solutions reveal severe systematic errors centered along the geomagnetic equator, which may be traced back to the GPS carrier phase observations used for the kinematic orbit determination. The nature of the systematic errors is further investigated and reprocessed orbits free of systematic errors along the geomagnetic equator are derived. Eventually, the potential of recovering time variable signals from GOCE kinematic positions is assessed.

Multi-sensor calibration of low-cost magnetic, angular rate and gravity systems.

PubMed

Lüken, Markus; Misgeld, Berno J E; Rüschen, Daniel; Leonhardt, Steffen

2015-10-13

We present a new calibration procedure for low-cost nine degrees-of-freedom (9DOF) magnetic, angular rate and gravity (MARG) sensor systems, which relies on a calibration cube, a reference table and a body sensor network (BSN). The 9DOF MARG sensor is part of our recently-developed "Integrated Posture and Activity Network by Medit Aachen" (IPANEMA) BSN. The advantage of this new approach is the use of the calibration cube, which allows for easy integration of two sensor nodes of the IPANEMA BSN. One 9DOF MARG sensor node is thereby used for calibration; the second 9DOF MARG sensor node is used for reference measurements. A novel algorithm uses these measurements to further improve the performance of the calibration procedure by processing arbitrarily-executed motions. In addition, the calibration routine can be used in an alignment procedure to minimize errors in the orientation between the 9DOF MARG sensor system and a motion capture inertial reference system. A two-stage experimental study is conducted to underline the performance of our calibration procedure. In both stages of the proposed calibration procedure, the BSN data, as well as reference tracking data are recorded. In the first stage, the mean values of all sensor outputs are determined as the absolute measurement offset to minimize integration errors in the derived movement model of the corresponding body segment. The second stage deals with the dynamic characteristics of the measurement system where the dynamic deviation of the sensor output compared to a reference system is Sensors 2015, 15 25920 corrected. In practical validation experiments, this procedure showed promising results with a maximum RMS error of 3.89°.

Multi-Sensor Calibration of Low-Cost Magnetic, Angular Rate and Gravity Systems

PubMed Central

Lüken, Markus; Misgeld, Berno J.E.; Rüschen, Daniel; Leonhardt, Steffen

2015-01-01

We present a new calibration procedure for low-cost nine degrees-of-freedom (9DOF) magnetic, angular rate and gravity (MARG) sensor systems, which relies on a calibration cube, a reference table and a body sensor network (BSN). The 9DOF MARG sensor is part of our recently-developed “Integrated Posture and Activity Network by Medit Aachen” (IPANEMA) BSN. The advantage of this new approach is the use of the calibration cube, which allows for easy integration of two sensor nodes of the IPANEMA BSN. One 9DOF MARG sensor node is thereby used for calibration; the second 9DOF MARG sensor node is used for reference measurements. A novel algorithm uses these measurements to further improve the performance of the calibration procedure by processing arbitrarily-executed motions. In addition, the calibration routine can be used in an alignment procedure to minimize errors in the orientation between the 9DOF MARG sensor system and a motion capture inertial reference system. A two-stage experimental study is conducted to underline the performance of our calibration procedure. In both stages of the proposed calibration procedure, the BSN data, as well as reference tracking data are recorded. In the first stage, the mean values of all sensor outputs are determined as the absolute measurement offset to minimize integration errors in the derived movement model of the corresponding body segment. The second stage deals with the dynamic characteristics of the measurement system where the dynamic deviation of the sensor output compared to a reference system is corrected. In practical validation experiments, this procedure showed promising results with a maximum RMS error of 3.89°. PMID:26473873

Verification of an ensemble prediction system for storm surge forecast in the Adriatic Sea

NASA Astrophysics Data System (ADS)

Mel, Riccardo; Lionello, Piero

2014-12-01

In the Adriatic Sea, storm surges present a significant threat to Venice and to the flat coastal areas of the northern coast of the basin. Sea level forecast is of paramount importance for the management of daily activities and for operating the movable barriers that are presently being built for the protection of the city. In this paper, an EPS (ensemble prediction system) for operational forecasting of storm surge in the northern Adriatic Sea is presented and applied to a 3-month-long period (October-December 2010). The sea level EPS is based on the HYPSE (hydrostatic Padua Sea elevation) model, which is a standard single-layer nonlinear shallow water model, whose forcings (mean sea level pressure and surface wind fields) are provided by the ensemble members of the ECMWF (European Center for Medium-Range Weather Forecasts) EPS. Results are verified against observations at five tide gauges located along the Croatian and Italian coasts of the Adriatic Sea. Forecast uncertainty increases with the predicted value of the storm surge and with the forecast lead time. The EMF (ensemble mean forecast) provided by the EPS has a rms (root mean square) error lower than the DF (deterministic forecast), especially for short (up to 3 days) lead times. Uncertainty for short lead times of the forecast and for small storm surges is mainly caused by uncertainty of the initial condition of the hydrodynamical model. Uncertainty for large lead times and large storm surges is mainly caused by uncertainty in the meteorological forcings. The EPS spread increases with the rms error of the forecast. For large lead times the EPS spread and the forecast error substantially coincide. However, the EPS spread in this study, which does not account for uncertainty in the initial condition, underestimates the error during the early part of the forecast and for small storm surge values. On the contrary, it overestimates the rms error for large surge values. The PF (probability forecast) of the EPS has a clear skill in predicting the actual probability distribution of sea level, and it outperforms simple "dressed" PF methods. A probability estimate based on the single DF is shown to be inadequate. However, a PF obtained with a prescribed Gaussian distribution and centered on the DF value performs very similarly to the EPS-based PF.

Charge division in a small proportional chamber constructed with aluminized mylar tubes

NASA Astrophysics Data System (ADS)

Biino, C.; Mussa, R.; Palestini, S.; Pastrone, N.; Pesando, L.

1988-09-01

A tracking detector composed of aluminized mylar drift tubes is under development for the Fermilab experiment 760. A prototype chamber has been constructed. Results on the longitudinal coordinate determined by charge division are given. Spatial resolution values below 2 mm (rms) were found, corresponding to <1% of the chamber length. Results on chamber ageing are also discussed.

Lateral charge transport from heavy-ion tracks in integrated circuit chips

NASA Technical Reports Server (NTRS)

Zoutendyk, J. A.; Schwartz, H. R.; Nevill, L. R.

1988-01-01

A 256K DRAM has been used to study the lateral transport of charge (electron-hole pairs) induced by direct ionization from heavy-ion tracks in an IC. The qualitative charge transport has been simulated using a two-dimensional numerical code in cylindrical coordinates. The experimental bit-map data clearly show the manifestation of lateral charge transport in the creation of adjacent multiple-bit errors from a single heavy-ion track. The heavy-ion data further demonstrate the occurrence of multiple-bit errors from single ion tracks with sufficient stopping power. The qualitative numerical simulation results suggest that electric-field-funnel-aided (drift) collection accounts for single error generated by an ion passing through a charge-collecting junction, while multiple errors from a single ion track are due to lateral diffusion of ion-generated charge.

Fringe projection profilometry with portable consumer devices

NASA Astrophysics Data System (ADS)

Liu, Danji; Pan, Zhipeng; Wu, Yuxiang; Yue, Huimin

2018-01-01

A fringe projection profilometry (FPP) using portable consumer devices is attractive because it can realize optical three dimensional (3D) measurement for ordinary consumers in their daily lives. We demonstrate a FPP using a camera in a smart mobile phone and a digital consumer mini projector. In our experiment of testing the smart phone (iphone7) camera performance, the rare-facing camera in the iphone7 causes the FPP to have a fringe contrast ratio of 0.546, nonlinear carrier phase aberration value of 0.6 rad, and nonlinear phase error of 0.08 rad and RMS random phase error of 0.033 rad. In contrast, the FPP using the industrial camera has a fringe contrast ratio of 0.715, nonlinear carrier phase aberration value of 0.5 rad, nonlinear phase error of 0.05 rad and RMS random phase error of 0.011 rad. Good performance is achieved by using the FPP composed of an iphone7 and a mini projector. 3D information of a facemask with a size for an adult is also measured by using the FPP that uses portable consumer devices. After the system calibration, the 3D absolute information of the facemask is obtained. The measured results are in good agreement with the ones that are carried out in a traditional way. Our results show that it is possible to use portable consumer devices to construct a good FPP, which is useful for ordinary people to get 3D information in their daily lives.

Scaling depth-induced wave-breaking in two-dimensional spectral wave models

NASA Astrophysics Data System (ADS)

Salmon, J. E.; Holthuijsen, L. H.; Zijlema, M.; van Vledder, G. Ph.; Pietrzak, J. D.

2015-03-01

Wave breaking in shallow water is still poorly understood and needs to be better parameterized in 2D spectral wave models. Significant wave heights over horizontal bathymetries are typically under-predicted in locally generated wave conditions and over-predicted in non-locally generated conditions. A joint scaling dependent on both local bottom slope and normalized wave number is presented and is shown to resolve these issues. Compared to the 12 wave breaking parameterizations considered in this study, this joint scaling demonstrates significant improvements, up to ∼50% error reduction, over 1D horizontal bathymetries for both locally and non-locally generated waves. In order to account for the inherent differences between uni-directional (1D) and directionally spread (2D) wave conditions, an extension of the wave breaking dissipation models is presented. By including the effects of wave directionality, rms-errors for the significant wave height are reduced for the best performing parameterizations in conditions with strong directional spreading. With this extension, our joint scaling improves modeling skill for significant wave heights over a verification data set of 11 different 1D laboratory bathymetries, 3 shallow lakes and 4 coastal sites. The corresponding averaged normalized rms-error for significant wave height in the 2D cases varied between 8% and 27%. In comparison, using the default setting with a constant scaling, as used in most presently operating 2D spectral wave models, gave equivalent errors between 15% and 38%.

Stability Measurements for Alignment of the NIF Neutron Imaging System Pinhole Array

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

Fittinghoff, D N; Bower, D E; Drury, O B

2011-03-29

The alignment system for the National Ignition Facility's neutron imaging system has been commissioned and measurements of the relative stability of the 90-315 DIM, the front and the back of the neutron imaging pinhole array and an exploding pusher target have been made using the 90-135 and the 90-258 opposite port alignment systems. Additionally, a laser beam shot from the neutron-imaging Annex and reflected from a mirror at the back of the pinhole array was used to monitor the pointing of the pinhole. Over a twelve hour period, the relative stability of these parts was found to be within {approx}more » {+-}18 {micro}m rms even when using manual methods for tracking the position of the objects. For highly visible features, use of basic particle tracking techniques found that the front of the pinhole array was stable relative to the 90-135 opposite port alignment camera to within {+-}3.4 {micro}m rms. Reregistration, however, of the opposite port alignment systems themselves using the target alignment sensor was found to change the expected position of target chamber center by up to 194 {micro}m.« less

The coronagraphic Modal Wavefront Sensor: a hybrid focal-plane sensor for the high-contrast imaging of circumstellar environments

NASA Astrophysics Data System (ADS)

Wilby, M. J.; Keller, C. U.; Snik, F.; Korkiakoski, V.; Pietrow, A. G. M.

2017-01-01

The raw coronagraphic performance of current high-contrast imaging instruments is limited by the presence of a quasi-static speckle (QSS) background, resulting from instrumental Non-Common Path Errors (NCPEs). Rapid development of efficient speckle subtraction techniques in data reduction has enabled final contrasts of up to 10-6 to be obtained, however it remains preferable to eliminate the underlying NCPEs at the source. In this work we introduce the coronagraphic Modal Wavefront Sensor (cMWS), a new wavefront sensor suitable for real-time NCPE correction. This combines the Apodizing Phase Plate (APP) coronagraph with a holographic modal wavefront sensor to provide simultaneous coronagraphic imaging and focal-plane wavefront sensing with the science point-spread function. We first characterise the baseline performance of the cMWS via idealised closed-loop simulations, showing that the sensor is able to successfully recover diffraction-limited coronagraph performance over an effective dynamic range of ±2.5 radians root-mean-square (rms) wavefront error within 2-10 iterations, with performance independent of the specific choice of mode basis. We then present the results of initial on-sky testing at the William Herschel Telescope, which demonstrate that the sensor is capable of NCPE sensing under realistic seeing conditions via the recovery of known static aberrations to an accuracy of 10 nm (0.1 radians) rms error in the presence of a dominant atmospheric speckle foreground. We also find that the sensor is capable of real-time measurement of broadband atmospheric wavefront variance (50% bandwidth, 158 nm rms wavefront error) at a cadence of 50 Hz over an uncorrected telescope sub-aperture. When combined with a suitable closed-loop adaptive optics system, the cMWS holds the potential to deliver an improvement of up to two orders of magnitude over the uncorrected QSS floor. Such a sensor would be eminently suitable for the direct imaging and spectroscopy of exoplanets with both existing and future instruments, including EPICS and METIS for the E-ELT.

Dosimetric impact of dual-energy CT tissue segmentation for low-energy prostate brachytherapy: a Monte Carlo study

NASA Astrophysics Data System (ADS)

Remy, Charlotte; Lalonde, Arthur; Béliveau-Nadeau, Dominic; Carrier, Jean-François; Bouchard, Hugo

2018-01-01

The purpose of this study is to evaluate the impact of a novel tissue characterization method using dual-energy over single-energy computed tomography (DECT and SECT) on Monte Carlo (MC) dose calculations for low-dose rate (LDR) prostate brachytherapy performed in a patient like geometry. A virtual patient geometry is created using contours from a real patient pelvis CT scan, where known elemental compositions and varying densities are overwritten in each voxel. A second phantom is made with additional calcifications. Both phantoms are the ground truth with which all results are compared. Simulated CT images are generated from them using attenuation coefficients taken from the XCOM database with a 100 kVp spectrum for SECT and 80 and 140Sn kVp for DECT. Tissue segmentation for Monte Carlo dose calculation is made using a stoichiometric calibration method for the simulated SECT images. For the DECT images, Bayesian eigentissue decomposition is used. A LDR prostate brachytherapy plan is defined with 125I sources and then calculated using the EGSnrc user-code Brachydose for each case. Dose distributions and dose-volume histograms (DVH) are compared to ground truth to assess the accuracy of tissue segmentation. For noiseless images, DECT-based tissue segmentation outperforms the SECT procedure with a root mean square error (RMS) on relative errors on dose distributions respectively of 2.39% versus 7.77%, and provides DVHs closest to the reference DVHs for all tissues. For a medium level of CT noise, Bayesian eigentissue decomposition still performs better on the overall dose calculation as the RMS error is found to be of 7.83% compared to 9.15% for SECT. Both methods give a similar DVH for the prostate while the DECT segmentation remains more accurate for organs at risk and in presence of calcifications, with less than 5% of RMS errors within the calcifications versus up to 154% for SECT. In a patient-like geometry, DECT-based tissue segmentation provides dose distributions with the highest accuracy and the least bias compared to SECT. When imaging noise is considered, benefits of DECT are noticeable if important calcifications are found within the prostate.

Activity Tracking for Pilot Error Detection from Flight Data

NASA Technical Reports Server (NTRS)

Callantine, Todd J.; Ashford, Rose (Technical Monitor)

2002-01-01

This report presents an application of activity tracking for pilot error detection from flight data, and describes issues surrounding such an application. It first describes the Crew Activity Tracking System (CATS), in-flight data collected from the NASA Langley Boeing 757 Airborne Research Integrated Experiment System aircraft, and a model of B757 flight crew activities. It then presents an example of CATS detecting actual in-flight crew errors.

Modeling and Development of INS-Aided PLLs in a GNSS/INS Deeply-Coupled Hardware Prototype for Dynamic Applications

PubMed Central

Zhang, Tisheng; Niu, Xiaoji; Ban, Yalong; Zhang, Hongping; Shi, Chuang; Liu, Jingnan

2015-01-01

A GNSS/INS deeply-coupled system can improve the satellite signals tracking performance by INS aiding tracking loops under dynamics. However, there was no literature available on the complete modeling of the INS branch in the INS-aided tracking loop, which caused the lack of a theoretical tool to guide the selections of inertial sensors, parameter optimization and quantitative analysis of INS-aided PLLs. This paper makes an effort on the INS branch in modeling and parameter optimization of phase-locked loops (PLLs) based on the scalar-based GNSS/INS deeply-coupled system. It establishes the transfer function between all known error sources and the PLL tracking error, which can be used to quantitatively evaluate the candidate inertial measurement unit (IMU) affecting the carrier phase tracking error. Based on that, a steady-state error model is proposed to design INS-aided PLLs and to analyze their tracking performance. Based on the modeling and error analysis, an integrated deeply-coupled hardware prototype is developed, with the optimization of the aiding information. Finally, the performance of the INS-aided PLLs designed based on the proposed steady-state error model is evaluated through the simulation and road tests of the hardware prototype. PMID:25569751

Performance Improvement of Receivers Based on Ultra-Tight Integration in GNSS-Challenged Environments

PubMed Central

Qin, Feng; Zhan, Xingqun; Du, Gang

2013-01-01

Ultra-tight integration was first proposed by Abbott in 2003 with the purpose of integrating a global navigation satellite system (GNSS) and an inertial navigation system (INS). This technology can improve the tracking performances of a receiver by reconfiguring the tracking loops in GNSS-challenged environments. In this paper, the models of all error sources known to date in the phase lock loops (PLLs) of a standard receiver and an ultra-tightly integrated GNSS/INS receiver are built, respectively. Based on these models, the tracking performances of the two receivers are compared to verify the improvement due to the ultra-tight integration. Meanwhile, the PLL error distributions of the two receivers are also depicted to analyze the error changes of the tracking loops. These results show that the tracking error is significantly reduced in the ultra-tightly integrated GNSS/INS receiver since the receiver's dynamics are estimated and compensated by an INS. Moreover, the mathematical relationship between the tracking performances of the ultra-tightly integrated GNSS/INS receiver and the quality of the selected inertial measurement unit (IMU) is derived from the error models and proved by the error comparisons of four ultra-tightly integrated GNSS/INS receivers aided by different grade IMUs.

Analytic aerotriangulation utilizing Skylab earth terrain camera (S-190B) photography. [from Charlotte, North Carolina to Rappahannock River in Virginia

NASA Technical Reports Server (NTRS)

Keller, M. (Principal Investigator)

1975-01-01

The author has identified the following significant results. Inherent errors in using nonmetric Skylab photography and office-identified photo control made it necessary to perform numerous block adjustment solutions involving different combinations of control and weights. The final block adjustment was executed holding to 14 of the office-identified photo control points. Solution accuracy was evaluated by comparing the analytically computed ground positions of the withheld photo control points with their known ground positions and also by determining the standard errors of these points from variance values. A horizontal position RMS error of 15 meters was attained. The maximum observed error in position at a control point was 25 meters.

Absolute vs. relative error characterization of electromagnetic tracking accuracy

NASA Astrophysics Data System (ADS)

Matinfar, Mohammad; Narayanasamy, Ganesh; Gutierrez, Luis; Chan, Raymond; Jain, Ameet

2010-02-01

Electromagnetic (EM) tracking systems are often used for real time navigation of medical tools in an Image Guided Therapy (IGT) system. They are specifically advantageous when the medical device requires tracking within the body of a patient where line of sight constraints prevent the use of conventional optical tracking. EM tracking systems are however very sensitive to electromagnetic field distortions. These distortions, arising from changes in the electromagnetic environment due to the presence of conductive ferromagnetic surgical tools or other medical equipment, limit the accuracy of EM tracking, in some cases potentially rendering tracking data unusable. We present a mapping method for the operating region over which EM tracking sensors are used, allowing for characterization of measurement errors, in turn providing physicians with visual feedback about measurement confidence or reliability of localization estimates. In this instance, we employ a calibration phantom to assess distortion within the operating field of the EM tracker and to display in real time the distribution of measurement errors, as well as the location and extent of the field associated with minimal spatial distortion. The accuracy is assessed relative to successive measurements. Error is computed for a reference point and consecutive measurement errors are displayed relative to the reference in order to characterize the accuracy in near-real-time. In an initial set-up phase, the phantom geometry is calibrated by registering the data from a multitude of EM sensors in a non-ferromagnetic ("clean") EM environment. The registration results in the locations of sensors with respect to each other and defines the geometry of the sensors in the phantom. In a measurement phase, the position and orientation data from all sensors are compared with the known geometry of the sensor spacing, and localization errors (displacement and orientation) are computed. Based on error thresholds provided by the operator, the spatial distribution of localization errors are clustered and dynamically displayed as separate confidence zones within the operating region of the EM tracker space.

Toward isolating the role of dopamine in the acquisition of incentive salience attribution.

PubMed

Chow, Jonathan J; Nickell, Justin R; Darna, Mahesh; Beckmann, Joshua S

2016-10-01

Stimulus-reward learning has been heavily linked to the reward-prediction error learning hypothesis and dopaminergic function. However, some evidence suggests dopaminergic function may not strictly underlie reward-prediction error learning, but may be specific to incentive salience attribution. Utilizing a Pavlovian conditioned approach procedure consisting of two stimuli that were equally reward-predictive (both undergoing reward-prediction error learning) but functionally distinct in regard to incentive salience (levers that elicited sign-tracking and tones that elicited goal-tracking), we tested the differential role of D1 and D2 dopamine receptors and nucleus accumbens dopamine in the acquisition of sign- and goal-tracking behavior and their associated conditioned reinforcing value within individuals. Overall, the results revealed that both D1 and D2 inhibition disrupted performance of sign- and goal-tracking. However, D1 inhibition specifically prevented the acquisition of sign-tracking to a lever, instead promoting goal-tracking and decreasing its conditioned reinforcing value, while neither D1 nor D2 signaling was required for goal-tracking in response to a tone. Likewise, nucleus accumbens dopaminergic lesions disrupted acquisition of sign-tracking to a lever, while leaving goal-tracking in response to a tone unaffected. Collectively, these results are the first evidence of an intraindividual dissociation of dopaminergic function in incentive salience attribution from reward-prediction error learning, indicating that incentive salience, reward-prediction error, and their associated dopaminergic signaling exist within individuals and are stimulus-specific. Thus, individual differences in incentive salience attribution may be reflective of a differential balance in dopaminergic function that may bias toward the attribution of incentive salience, relative to reward-prediction error learning only. Copyright © 2016 Elsevier Ltd. All rights reserved.

Estimating uncertainty in subsurface glider position using transmissions from fixed acoustic tomography sources.

PubMed

Van Uffelen, Lora J; Nosal, Eva-Marie; Howe, Bruce M; Carter, Glenn S; Worcester, Peter F; Dzieciuch, Matthew A; Heaney, Kevin D; Campbell, Richard L; Cross, Patrick S

2013-10-01

Four acoustic Seagliders were deployed in the Philippine Sea November 2010 to April 2011 in the vicinity of an acoustic tomography array. The gliders recorded over 2000 broadband transmissions at ranges up to 700 km from moored acoustic sources as they transited between mooring sites. The precision of glider positioning at the time of acoustic reception is important to resolve the fundamental ambiguity between position and sound speed. The Seagliders utilized GPS at the surface and a kinematic model below for positioning. The gliders were typically underwater for about 6.4 h, diving to depths of 1000 m and traveling on average 3.6 km during a dive. Measured acoustic arrival peaks were unambiguously associated with predicted ray arrivals. Statistics of travel-time offsets between received arrivals and acoustic predictions were used to estimate range uncertainty. Range (travel time) uncertainty between the source and the glider position from the kinematic model is estimated to be 639 m (426 ms) rms. Least-squares solutions for glider position estimated from acoustically derived ranges from 5 sources differed by 914 m rms from modeled positions, with estimated uncertainty of 106 m rms in horizontal position. Error analysis included 70 ms rms of uncertainty due to oceanic sound-speed variability.

Artifact-resistant superimposition of digital dental models and cone-beam computed tomography images.

PubMed

Lin, Hsiu-Hsia; Chiang, Wen-Chung; Lo, Lun-Jou; Sheng-Pin Hsu, Sam; Wang, Chien-Hsuan; Wan, Shu-Yen

2013-11-01

Combining the maxillofacial cone-beam computed tomography (CBCT) model with its corresponding digital dental model enables an integrated 3-dimensional (3D) representation of skeletal structures, teeth, and occlusions. Undesired artifacts, however, introduce difficulties in the superimposition of both models. We have proposed an artifact-resistant surface-based registration method that is robust and clinically applicable and that does not require markers. A CBCT bone model and a laser-scanned dental model obtained from the same patient were used in developing the method and examining the accuracy of the superimposition. Our method included 4 phases. The first phase was to segment the maxilla from the mandible in the CBCT model. The second phase was to conduct an initial registration to bring the digital dental model and the maxilla and mandible sufficiently close to each other. Third, we manually selected at least 3 corresponding regions on both models by smearing patches on the 3D surfaces. The last phase was to superimpose the digital dental model into the maxillofacial model. Each superimposition process was performed twice by 2 operators with the same object to investigate the intra- and interoperator differences. All collected objects were divided into 3 groups with various degrees of artifacts: artifact-free, critical artifacts, and severe artifacts. The mean errors and root-mean-square (RMS) errors were used to evaluate the accuracy of the superimposition results. Repeated measures analysis of variance and the Wilcoxon rank sum test were used to calculate the intraoperator reproducibility and interoperator reliability. Twenty-four maxilla and mandible objects for evaluation were obtained from 14 patients. The experimental results showed that the mean errors between the 2 original models in the residing fused model ranged from 0.10 to 0.43 mm and that the RMS errors ranged from 0.13 to 0.53 mm. These data were consistent with previously used methods and were clinically acceptable. All measurements of the proposed study exhibited desirable intraoperator reproducibility and interoperator reliability. Regarding the intra- and interoperator mean errors and RMS errors in the nonartifact or critical artifact group, no significant difference between the repeated trials or between operators (P < .05) was observed. The results of the present study have shown that the proposed regional surface-based registration can robustly and accurately superimpose a digital dental model into its corresponding CBCT model. Copyright © 2013 American Association of Oral and Maxillofacial Surgeons. Published by Elsevier Inc. All rights reserved.

Evaluation of the NCEP CFSv2 45-day Forecasts for Predictability of Intraseasonal Tropical Storm Activities

NASA Astrophysics Data System (ADS)

Schemm, J. E.; Long, L.; Baxter, S.

2013-12-01

Evaluation of the NCEP CFSv2 45-day Forecasts for Predictability of Intraseasonal Tropical Storm Activities Jae-Kyung E. Schemm, Lindsey Long and Stephen Baxter Climate Prediction Center, NCEP/NWS/NOAA Predictability of intraseasonal tropical storm (TS) activities is assessed using the 1999-2010 CFSv2 hindcast suite. Weekly TS activities in the CFSv2 45-day forecasts were determined using the TS detection and tracking method devised by Carmago and Zebiak (2002). The forecast periods are divided into weekly intervals for Week 1 through Week 6, and also the 30-day mean. The TS activities in those intervals are compared to the observed activities based on the NHC HURDAT and JTWC Best Track datasets. The CFSv2 45-day hindcast suite is made of forecast runs initialized at 00, 06, 12 and 18Z every day during the 1999 - 2010 period. For predictability evaluation, forecast TS activities are analyzed based on 20-member ensemble forecasts comprised of 45-day runs made during the most recent 5 days prior to the verification period. The forecast TS activities are evaluated in terms of the number of storms, genesis locations and storm tracks during the weekly periods. The CFSv2 forecasts are shown to have a fair level of skill in predicting the number of storms over the Atlantic Basin with the temporal correlation scores ranging from 0.73 for Week 1 forecasts to 0.63 for Week 6, and the average RMS errors ranging from 0.86 to 1.07 during the 1999-2010 hurricane season. Also, the forecast track density distribution and false alarm statistics are compiled using the hindcast analyses. In real-time applications of the intraseasonal TS activity forecasts, the climatological TS forecast statistics will be used to make the model bias corrections in terms of the storm counts, track distribution and removal of false alarms. An operational implementation of the weekly TS activity prediction is planned for early 2014 to provide an objective input for the CPC's Global Tropical Hazards Outlooks.

Lunar Radio_phase Ranging in Chinese Lunar Lander Mission for Astrometry

NASA Astrophysics Data System (ADS)

Ping, Jinsong; Meng, Qiao; Li, Wenxiao; Wang, Mingyuan; Wang, Zhen; Zhang, Tianyi; Han, Songtao

2015-08-01

The radio tracking data in lunar and planetary missions can be directly applied for scientific investigation. The variations of phase and of amplitude of the radio carrier wave signal linked between the spacecraft and the ground tracking antenna are used to deduce the planetary atmospheric and ionospheric structure, planetary gravity field, mass, ring, ephemeris, and even to test the general relativity. In the Chinese lunar missions, we developed the lunar and planetary radio science receiver to measure the distance variation between the tracking station-lander by means of open loop radio phase tracking. Using this method in Chang’E-3 landing mission, a lunar radio_phase ranging (LRR) technique was realized at Chinese deep space tracking stations and astronomical VLBI stations with H-maser clocks installed. Radio transponder and transmitter had been installed on the Chang’E-3/4. Transponder will receive the uplink S/X band radio wave transmitted from the two newly constructed Chinese deep space stations, where the high quality hydrogen maser atomic clocks have been used as local time and frequency standard. The clocks between VLBI stations and deep space stations can be synchronized to UTC standard within 20 nanoseconds using satellite common view methods. In the near future there will be a plan to improve this accuracy to 5 nanoseconds or better, as the level of other deep space network around world. In the preliminary LRR experiments of Chang'E-3, the obtained 1sps phase ranging observables have a resolution of 0.2 millimeter or better, with a fitting RMS about 2~3 millimeter, after the atmospheric and ionospheric errors removed. This method can be a new astrometric technique to measure the Earth tide and rotation, lunar orbit, tides and liberation, by means of solo observation or of working together with Lunar Laser Ranging. After differencing the ranging, we even obtained 1sps doppler series of 2-way observables with resolution of 0.07mm/second, which can be used to check the uplimit for low frequency (0.001~1 Hz) gravitational wave detection between the Earth and the Moon.

Simultaneous localization and calibration for electromagnetic tracking systems.

PubMed

Sadjadi, Hossein; Hashtrudi-Zaad, Keyvan; Fichtinger, Gabor

2016-06-01

In clinical environments, field distortion can cause significant electromagnetic tracking errors. Therefore, dynamic calibration of electromagnetic tracking systems is essential to compensate for measurement errors. It is proposed to integrate the motion model of the tracked instrument with redundant EM sensor observations and to apply a simultaneous localization and mapping algorithm in order to accurately estimate the pose of the instrument and create a map of the field distortion in real-time. Experiments were conducted in the presence of ferromagnetic and electrically-conductive field distorting objects and results compared with those of a conventional sensor fusion approach. The proposed method reduced the tracking error from 3.94±1.61 mm to 1.82±0.62 mm in the presence of steel, and from 0.31±0.22 mm to 0.11±0.14 mm in the presence of aluminum. With reduced tracking error and independence from external tracking devices or pre-operative calibrations, the approach is promising for reliable EM navigation in various clinical procedures. Copyright © 2015 John Wiley & Sons, Ltd. Copyright © 2015 John Wiley & Sons, Ltd.

Airborne gravity measurement over sea-ice: The western Weddel Sea

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

Brozena, J.; Peters, M.; LaBrecque, J.

1990-10-01

An airborne gravity study of the western Weddel Sea, east of the Antarctic Peninsula, has shown that floating pack-ice provides a useful radar altimetric reference surface for altitude and vertical acceleration corrections surface for alititude and vertical acceleration corrections to airborne gravimetry. Airborne gravimetry provides an important alternative to satellite altimetry for the sea-ice covered regions of the world since satellite alimeters are not designed or intended to provide accurate geoidal heights in areas where significant sea-ice is present within the radar footprint. Errors in radar corrected airborne gravimetry are primarily sensitive to the variations in the second derivative ofmore » the sea-ice reference surface in the frequency pass-band of interest. With the exception of imbedded icebergs the second derivative of the pack-ice surface closely approximates that of the mean sea-level surface at wavelengths > 10-20 km. With the airborne method the percentage of ice coverage, the mixture of first and multi-year ice and the existence of leads and pressure ridges prove to be unimportant in determining gravity anomalies at scales of geophysical and geodetic interest, provided that the ice is floating and not grounded. In the Weddell study an analysis of 85 crosstrack miss-ties distributed over 25 data tracks yields an rms error of 2.2 mGals. Significant structural anomalies including the continental shelf and offsets and lineations interpreted as fracture zones recording the early spreading directions within the Weddell Sea are observed in the gravity map.« less

HF Surface Wave Radar for Oceanography -- A Review of Activities in Germany

DTIC Science & Technology

2005-04-14

Environmental and Remote Sensing Center (NERSC). The model and data assimilation technique is described by Breivik and Sætra [2]. Figure 10 shows a...forecasts with the measurements taken at that time, the rms error increases to 20 cm/s. Breivik and Sætra, 2001, present scatter plots and correlations

Life Prediction Model for Grid-Connected Li-ion Battery Energy Storage System: Preprint

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

Smith, Kandler A; Saxon, Aron R; Keyser, Matthew A

Life Prediction Model for Grid-Connected Li-ion Battery Energy Storage System: Preprint Lithium-ion (Li-ion) batteries are being deployed on the electrical grid for a variety of purposes, such as to smooth fluctuations in solar renewable power generation. The lifetime of these batteries will vary depending on their thermal environment and how they are charged and discharged. To optimal utilization of a battery over its lifetime requires characterization of its performance degradation under different storage and cycling conditions. Aging tests were conducted on commercial graphite/nickel-manganese-cobalt (NMC) Li-ion cells. A general lifetime prognostic model framework is applied to model changes in capacity andmore » resistance as the battery degrades. Across 9 aging test conditions from 0oC to 55oC, the model predicts capacity fade with 1.4 percent RMS error and resistance growth with 15 percent RMS error. The model, recast in state variable form with 8 states representing separate fade mechanisms, is used to extrapolate lifetime for example applications of the energy storage system integrated with renewable photovoltaic (PV) power generation.« less

Classification of journal surfaces using surface topography parameters and software methods to compensate for stylus geometry

NASA Technical Reports Server (NTRS)

Li, C. J.; Devries, W. R.; Ludema, K. C.

1983-01-01

Measurements made with a stylus surface tracer which provides a digitized representation of a surface profile are discussed. Parameters are defined to characterize the height (e.g., RMS roughness, skewness, and kurtosis) and length (e.g., autocorrelation) of the surface topography. These are applied to the characterization of crank shaft journals which were manufactured by different grinding and lopping procedures known to give significant differences in crank shaft bearing life. It was found that three parameters (RMS roughness, skewness, and kurtosis) are necessary to adequately distinguish the character of these surfaces. Every surface specimen has a set of values for these three parameters. They can be regarded as a set coordinate in a space constituted by three characteristics axes. The various journal surfaces can be classified along with the determination of a proper wavelength cutoff (0.25 mm) by using a method of separated subspace. The finite radius of the stylus used for profile tracing gives an inherent measurement error as it passes over the fine structure of the surface. A mathematical model is derived to compensate for this error.

Building proteins from C alpha coordinates using the dihedral probability grid Monte Carlo method.

PubMed Central

Mathiowetz, A. M.; Goddard, W. A.

1995-01-01

Dihedral probability grid Monte Carlo (DPG-MC) is a general-purpose method of conformational sampling that can be applied to many problems in peptide and protein modeling. Here we present the DPG-MC method and apply it to predicting complete protein structures from C alpha coordinates. This is useful in such endeavors as homology modeling, protein structure prediction from lattice simulations, or fitting protein structures to X-ray crystallographic data. It also serves as an example of how DPG-MC can be applied to systems with geometric constraints. The conformational propensities for individual residues are used to guide conformational searches as the protein is built from the amino-terminus to the carboxyl-terminus. Results for a number of proteins show that both the backbone and side chain can be accurately modeled using DPG-MC. Backbone atoms are generally predicted with RMS errors of about 0.5 A (compared to X-ray crystal structure coordinates) and all atoms are predicted to an RMS error of 1.7 A or better. PMID:7549885

Characterising a holographic modal phase mask for the detection of ocular aberrations

NASA Astrophysics Data System (ADS)

Corbett, A. D.; Leyva, D. Gil; Diaz-Santana, L.; Wilkinson, T. D.; Zhong, J. J.

2005-12-01

The accurate measurement of the double-pass ocular wave front has been shown to have a broad range of applications from LASIK surgery to adaptively corrected retinal imaging. The ocular wave front can be accurately described by a small number of Zernike circle polynomials. The modal wave front sensor was first proposed by Neil et al. and allows the coefficients of the individual Zernike modes to be measured directly. Typically the aberrations measured with the modal sensor are smaller than those seen in the ocular wave front. In this work, we investigated a technique for adapting a modal phase mask for the sensing of the ocular wave front. This involved extending the dynamic range of the sensor by increasing the pinhole size to 2.4mm and optimising the mask bias to 0.75λ. This was found to decrease the RMS error by up to a factor of three for eye-like aberrations with amplitudes up to 0.2μm. For aberrations taken from a sample of real-eye measurements a 20% decrease in the RMS error was observed.

Development of one-shot aspheric measurement system with a Shack-Hartmann sensor.

PubMed

Furukawa, Yasunori; Takaie, Yuichi; Maeda, Yoshiki; Ohsaki, Yumiko; Takeuchi, Seiji; Hasegawa, Masanobu

2016-10-10

We present a measurement system for a rotationally symmetric aspheric surface that is designed for accurate and high-volume measurements. The system uses the Shack-Hartmann sensor and is capable of measuring aspheres with a maximum diameter of 90 mm in one shot. In our system, a reference surface, made with the same aspheric parameter as the test surface, is prepared. The test surface is recovered as the deviation from the reference surface using a figure-error reconstruction algorithm with a ray coordinate and angle variant table. In addition, we developed a method to calibrate the rotationally symmetric system error. These techniques produce stable measurements and high accuracy. For high-throughput measurements, a single measurement scheme and auto alignment are implemented; they produce a 4.5 min measurement time, including calibration and alignment. In this paper, we introduce the principle and calibration method of our system. We also demonstrate that our system achieved an accuracy better than 5.8 nm RMS and a repeatability of 0.75 nm RMS by comparing our system's aspheric measurement results with those of a probe measurement machine.

Application of an optimization algorithm to satellite ocean color imagery: A case study in Southwest Florida coastal waters

NASA Astrophysics Data System (ADS)

Hu, Chuanmin; Lee, Zhongping; Muller-Karger, Frank E.; Carder, Kendall L.

2003-05-01

A spectra-matching optimization algorithm, designed for hyperspectral sensors, has been implemented to process SeaWiFS-derived multi-spectral water-leaving radiance data. The algorithm has been tested over Southwest Florida coastal waters. The total spectral absorption and backscattering coefficients can be well partitioned with the inversion algorithm, resulting in RMS errors generally less than 5% in the modeled spectra. For extremely turbid waters that come from either river runoff or sediment resuspension, the RMS error is in the range of 5-15%. The bio-optical parameters derived in this optically complex environment agree well with those obtained in situ. Further, the ability to separate backscattering (a proxy for turbidity) from the satellite signal makes it possible to trace water movement patterns, as indicated by the total absorption imagery. The derived patterns agree with those from concurrent surface drifters. For waters where CDOM overwhelmingly dominates the optical signal, however, the procedure tends to regard CDOM as the sole source of absorption, implying the need for better atmospheric correction and for adjustment of some model coefficients for this particular region.

JPEG and wavelet compression of ophthalmic images

NASA Astrophysics Data System (ADS)

Eikelboom, Robert H.; Yogesan, Kanagasingam; Constable, Ian J.; Barry, Christopher J.

1999-05-01

This study was designed to determine the degree and methods of digital image compression to produce ophthalmic imags of sufficient quality for transmission and diagnosis. The photographs of 15 subjects, which inclined eyes with normal, subtle and distinct pathologies, were digitized to produce 1.54MB images and compressed to five different methods: (i) objectively by calculating the RMS error between the uncompressed and compressed images, (ii) semi-subjectively by assessing the visibility of blood vessels, and (iii) subjectively by asking a number of experienced observers to assess the images for quality and clinical interpretation. Results showed that as a function of compressed image size, wavelet compressed images produced less RMS error than JPEG compressed images. Blood vessel branching could be observed to a greater extent after Wavelet compression compared to JPEG compression produced better images then a JPEG compression for a given image size. Overall, it was shown that images had to be compressed to below 2.5 percent for JPEG and 1.7 percent for Wavelet compression before fine detail was lost, or when image quality was too poor to make a reliable diagnosis.

Application of the multireference equation of motion coupled cluster method, including spin-orbit coupling, to the atomic spectra of Cr, Mn, Fe and Co

NASA Astrophysics Data System (ADS)

Liu, Zhebing; Huntington, Lee M. J.; Nooijen, Marcel

2015-10-01

The recently introduced multireference equation of motion (MR-EOM) approach is combined with a simple treatment of spin-orbit coupling, as implemented in the ORCA program. The resulting multireference equation of motion spin-orbit coupling (MR-EOM-SOC) approach is applied to the first-row transition metal atoms Cr, Mn, Fe and Co, for which experimental data are readily available. Using the MR-EOM-SOC approach, the splittings in each L-S multiplet can be accurately assessed (root mean square (RMS) errors of about 70 cm-1). The RMS errors for J-specific excitation energies range from 414 to 783 cm-1 and are comparable to previously reported J-averaged MR-EOM results using the ACESII program. The MR-EOM approach is highly efficient. A typical MR-EOM calculation of a full spin-orbit spectrum takes about 2 CPU hours on a single processor of a 12-core node, consisting of Intel XEON 2.93 GHz CPUs with 12.3 MB of shared cache memory.

Research on Measurement Accuracy of Laser Tracking System Based on Spherical Mirror with Rotation Errors of Gimbal Mount Axes

NASA Astrophysics Data System (ADS)

Shi, Zhaoyao; Song, Huixu; Chen, Hongfang; Sun, Yanqiang

2018-02-01

This paper presents a novel experimental approach for confirming that spherical mirror of a laser tracking system can reduce the influences of rotation errors of gimbal mount axes on the measurement accuracy. By simplifying the optical system model of laser tracking system based on spherical mirror, we can easily extract the laser ranging measurement error caused by rotation errors of gimbal mount axes with the positions of spherical mirror, biconvex lens, cat's eye reflector, and measuring beam. The motions of polarization beam splitter and biconvex lens along the optical axis and vertical direction of optical axis are driven by error motions of gimbal mount axes. In order to simplify the experimental process, the motion of biconvex lens is substituted by the motion of spherical mirror according to the principle of relative motion. The laser ranging measurement error caused by the rotation errors of gimbal mount axes could be recorded in the readings of laser interferometer. The experimental results showed that the laser ranging measurement error caused by rotation errors was less than 0.1 μm if radial error motion and axial error motion were within ±10 μm. The experimental method simplified the experimental procedure and the spherical mirror could reduce the influences of rotation errors of gimbal mount axes on the measurement accuracy of the laser tracking system.

SU-E-T-261: Plan Quality Assurance of VMAT Using Fluence Images Reconstituted From Log-Files

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

Katsuta, Y; Shimizu, E; Matsunaga, K

2014-06-01

Purpose: A successful VMAT plan delivery includes precise modulations of dose rate, gantry rotational and multi-leaf collimator (MLC) shapes. One of the main problem in the plan quality assurance is dosimetric errors associated with leaf-positional errors are difficult to analyze because they vary with MU delivered and leaf number. In this study, we calculated integrated fluence error image (IFEI) from log-files and evaluated plan quality in the area of all and individual MLC leaves scanned. Methods: The log-file reported the expected and actual position for inner 20 MLC leaves and the dose fraction every 0.25 seconds during prostate VMAT onmore » Elekta Synergy. These data were imported to in-house software that developed to calculate expected and actual fluence images from the difference of opposing leaf trajectories and dose fraction at each time. The IFEI was obtained by adding all of the absolute value of the difference between expected and actual fluence images corresponding. Results: In the area all MLC leaves scanned in the IFEI, the average and root mean square (rms) were 2.5 and 3.6 MU, the area of errors below 10, 5 and 3 MU were 98.5, 86.7 and 68.1 %, the 95 % of area was covered with less than error of 7.1 MU. In the area individual MLC leaves scanned in the IFEI, the average and rms value were 2.1 – 3.0 and 3.1 – 4.0 MU, the area of errors below 10, 5 and 3 MU were 97.6 – 99.5, 81.7 – 89.5 and 51.2 – 72.8 %, the 95 % of area was covered with less than error of 6.6 – 8.2 MU. Conclusion: The analysis of the IFEI reconstituted from log-file was provided detailed information about the delivery in the area of all and individual MLC leaves scanned.« less

High Precision Metrology on the Ultra-Lightweight W 50.8 cm f/1.25 Parabolic SHARPI Primary Mirror using a CGH Null Lens

NASA Technical Reports Server (NTRS)

Antonille, Scott

2004-01-01

For potential use on the SHARPI mission, Eastman Kodak has delivered a 50.8cm CA f/1.25 ultra-lightweight UV parabolic mirror with a surface figure error requirement of 6nm RMS. We address the challenges involved in verifying and mapping the surface error of this large lightweight mirror to +/-3nm using a diffractive CGH null lens. Of main concern is removal of large systematic errors resulting from surface deflections of the mirror due to gravity as well as smaller contributions from system misalignment and reference optic errors. We present our efforts to characterize these errors and remove their wavefront error contribution in post-processing as well as minimizing the uncertainty these calculations introduce. Data from Kodak and preliminary measurements from NASA Goddard will be included.

Synchronization Design and Error Analysis of Near-Infrared Cameras in Surgical Navigation.

PubMed

Cai, Ken; Yang, Rongqian; Chen, Huazhou; Huang, Yizhou; Wen, Xiaoyan; Huang, Wenhua; Ou, Shanxing

2016-01-01

The accuracy of optical tracking systems is important to scientists. With the improvements reported in this regard, such systems have been applied to an increasing number of operations. To enhance the accuracy of these systems further and to reduce the effect of synchronization and visual field errors, this study introduces a field-programmable gate array (FPGA)-based synchronization control method, a method for measuring synchronous errors, and an error distribution map in field of view. Synchronization control maximizes the parallel processing capability of FPGA, and synchronous error measurement can effectively detect the errors caused by synchronization in an optical tracking system. The distribution of positioning errors can be detected in field of view through the aforementioned error distribution map. Therefore, doctors can perform surgeries in areas with few positioning errors, and the accuracy of optical tracking systems is considerably improved. The system is analyzed and validated in this study through experiments that involve the proposed methods, which can eliminate positioning errors attributed to asynchronous cameras and different fields of view.

Joint kinematics estimation using a multi-body kinematics optimisation and an extended Kalman filter, and embedding a soft tissue artefact model.

PubMed

Bonnet, Vincent; Richard, Vincent; Camomilla, Valentina; Venture, Gentiane; Cappozzo, Aurelio; Dumas, Raphaël

2017-09-06

To reduce the impact of the soft tissue artefact (STA) on the estimate of skeletal movement using stereophotogrammetric and skin-marker data, multi-body kinematics optimisation (MKO) and extended Kalman filters (EKF) have been proposed. This paper assessed the feasibility and efficiency of these methods when they embed a mathematical model of the STA and simultaneously estimate the ankle, knee and hip joint kinematics and the model parameters. A STA model was used that provides an estimate of the STA affecting the marker-cluster located on a body segment as a function of the kinematics of the adjacent joints. The MKO and the EKF were implemented with and without the STA model. To assess these methods, intra-cortical pin and skin markers located on the thigh, shank, and foot of three subjects and tracked during the stance phase of running were used. Embedding the STA model in MKO and EKF reduced the average RMS of marker tracking from 12.6 to 1.6mm and from 4.3 to 1.9mm, respectively, showing that a STA model trial-specific calibration is feasible. Nevertheless, with the STA model embedded in MKO, the RMS difference between the estimated and the reference joint kinematics determined from the pin markers slightly increased (from 2.0 to 2.1deg) On the contrary, when the STA model was embedded in the EKF, this RMS difference was slightly reduced (from 2.0 to 1.7deg) thus showing a better potentiality of this method to attenuate STA effects and improve the accuracy of joint kinematics estimate. Copyright © 2017 Elsevier Ltd. All rights reserved.

TU-AB-BRC-03: Accurate Tissue Characterization for Monte Carlo Dose Calculation Using Dual-and Multi-Energy CT Data

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

Lalonde, A; Bouchard, H

Purpose: To develop a general method for human tissue characterization with dual-and multi-energy CT and evaluate its performance in determining elemental compositions and the associated proton stopping power relative to water (SPR) and photon mass absorption coefficients (EAC). Methods: Principal component analysis is used to extract an optimal basis of virtual materials from a reference dataset of tissues. These principal components (PC) are used to perform two-material decomposition using simulated DECT data. The elemental mass fraction and the electron density in each tissue is retrieved by measuring the fraction of each PC. A stoichiometric calibration method is adapted to themore » technique to make it suitable for clinical use. The present approach is compared with two others: parametrization and three-material decomposition using the water-lipid-protein (WLP) triplet. Results: Monte Carlo simulations using TOPAS for four reference tissues shows that characterizing them with only two PC is enough to get a submillimetric precision on proton range prediction. Based on the simulated DECT data of 43 references tissues, the proposed method is in agreement with theoretical values of protons SPR and low-kV EAC with a RMS error of 0.11% and 0.35%, respectively. In comparison, parametrization and WLP respectively yield RMS errors of 0.13% and 0.29% on SPR, and 2.72% and 2.19% on EAC. Furthermore, the proposed approach shows potential applications for spectral CT. Using five PC and five energy bins reduces the SPR RMS error to 0.03%. Conclusion: The proposed method shows good performance in determining elemental compositions from DECT data and physical quantities relevant to radiotherapy dose calculation and generally shows better accuracy and unbiased results compared to reference methods. The proposed method is particularly suitable for Monte Carlo calculations and shows promise in using more than two energies to characterize human tissue with CT.« less

Effects of horizontal refractivity gradients on the accuracy of laser ranging to satellites

NASA Technical Reports Server (NTRS)

Gardner, C. S.

1976-01-01

Numerous formulas have been developed to partially correct laser ranging data for the effects of atmospheric refraction. All the formulas assume the atmospheric refractivity profile is spherically symmetric. The effects of horizontal refractivity gradients are investigated by ray tracing through spherically symmetric and three-dimensional refractivity profiles. The profiles are constructed from radiosonde data. The results indicate that the horizontal gradients introduce an rms error of approximately 3 cm when the satellite is near 10 deg elevation. The error decreases to a few millimeters near zenith.

Demonstration of Inexact Computing Implemented in the JPEG Compression Algorithm using Probabilistic Boolean Logic applied to CMOS Components

DTIC Science & Technology

2015-12-24

Ripple-Carry RCA Ripple-Carry Adder RF Radio Frequency RMS Root-Mean-Square SEU Single Event Upset SIPI Signal and Image Processing Institute SNR...correctness, where 0.5 < p < 1, and a probability (1−p) of error. Errors could be caused by noise, radio frequency (RF) interference, crosstalk...utilized in the Apollo Guidance Computer is the three input NOR Gate. . . At the time that the decision was made to use in- 11 tegrated circuits, the

Demonstration of Inexact Computing Implemented in the JPEG Compression Algorithm Using Probabilistic Boolean Logic Applied to CMOS Components

DTIC Science & Technology

2015-12-24

Ripple-Carry RCA Ripple-Carry Adder RF Radio Frequency RMS Root-Mean-Square SEU Single Event Upset SIPI Signal and Image Processing Institute SNR...correctness, where 0.5 < p < 1, and a probability (1−p) of error. Errors could be caused by noise, radio frequency (RF) interference, crosstalk...utilized in the Apollo Guidance Computer is the three input NOR Gate. . . At the time that the decision was made to use in- 11 tegrated circuits, the

Delta modulation

NASA Technical Reports Server (NTRS)

Schilling, D. L.

1971-01-01

The conclusions of the design research of the song adaptive delta modulator are presented for source encoding voice signals. The variation of output SNR vs input signal power/when 8, 9, and 10 bit internal arithmetic is employed. Voice intelligibility tapes to test the 10-bit system are used. An analysis of a delta modulator is also presented designed to minimize the in-band rms error. This is accomplished by frequency shaping the error signal in the modulator prior to hard limiting. The result is a significant increase in the output SNR measured after low pass filtering.

Every photon counts: improving low, mid, and high-spatial frequency errors on astronomical optics and materials with MRF

NASA Astrophysics Data System (ADS)

Maloney, Chris; Lormeau, Jean Pierre; Dumas, Paul

2016-07-01

Many astronomical sensing applications operate in low-light conditions; for these applications every photon counts. Controlling mid-spatial frequencies and surface roughness on astronomical optics are critical for mitigating scattering effects such as flare and energy loss. By improving these two frequency regimes higher contrast images can be collected with improved efficiency. Classically, Magnetorheological Finishing (MRF) has offered an optical fabrication technique to correct low order errors as well has quilting/print-through errors left over in light-weighted optics from conventional polishing techniques. MRF is a deterministic, sub-aperture polishing process that has been used to improve figure on an ever expanding assortment of optical geometries, such as planos, spheres, on and off axis aspheres, primary mirrors and freeform optics. Precision optics are routinely manufactured by this technology with sizes ranging from 5-2,000mm in diameter. MRF can be used for form corrections; turning a sphere into an asphere or free form, but more commonly for figure corrections achieving figure errors as low as 1nm RMS while using careful metrology setups. Recent advancements in MRF technology have improved the polishing performance expected for astronomical optics in low, mid and high spatial frequency regimes. Deterministic figure correction with MRF is compatible with most materials, including some recent examples on Silicon Carbide and RSA905 Aluminum. MRF also has the ability to produce `perfectly-bad' compensating surfaces, which may be used to compensate for measured or modeled optical deformation from sources such as gravity or mounting. In addition, recent advances in MRF technology allow for corrections of mid-spatial wavelengths as small as 1mm simultaneously with form error correction. Efficient midspatial frequency corrections make use of optimized process conditions including raster polishing in combination with a small tool size. Furthermore, a novel MRF fluid, called C30, has been developed to finish surfaces to ultra-low roughness (ULR) and has been used as the low removal rate fluid required for fine figure correction of mid-spatial frequency errors. This novel MRF fluid is able to achieve <4Å RMS on Nickel-plated Aluminum and even <1.5Å RMS roughness on Silicon, Fused Silica and other materials. C30 fluid is best utilized within a fine figure correction process to target mid-spatial frequency errors as well as smooth surface roughness 'for free' all in one step. In this paper we will discuss recent advancements in MRF technology and the ability to meet requirements for precision optics in low, mid and high spatial frequency regimes and how improved MRF performance addresses the need for achieving tight specifications required for astronomical optics.

Improved Soundings and Error Estimates using AIRS/AMSU Data

NASA Technical Reports Server (NTRS)

Susskind, Joel

2006-01-01

AIRS was launched on EOS Aqua on May 4, 2002, together with AMSU A and HSB, to form a next generation polar orbiting infrared and microwave atmospheric sounding system. The primary products of AIRS/AMSU are twice daily global fields of atmospheric temperature-humidity profiles, ozone profiles, sea/land surface skin temperature, and cloud related parameters including OLR. The sounding goals of AIRS are to produce 1 km tropospheric layer mean temperatures with an rms error of 1 K, and layer precipitable water with an rms error of 20 percent, in cases with up to 80 percent effective cloud cover. The basic theory used to analyze AIRS/AMSU/HSB data in the presence of clouds, called the at-launch algorithm, and a post-launch algorithm which differed only in the minor details from the at-launch algorithm, have been described previously. The post-launch algorithm, referred to as AIRS Version 4.0, has been used by the Goddard DAAC to analyze and distribute AIRS retrieval products. In this paper we show progress made toward the AIRS Version 5.0 algorithm which will be used by the Goddard DAAC starting late in 2006. A new methodology has been developed to provide accurate case by case error estimates for retrieved geophysical parameters and for the channel by channel cloud cleared radiances used to derive the geophysical parameters from the AIRS/AMSU observations. These error estimates are in turn used for quality control of the derived geophysical parameters and clear column radiances. Improvements made to the retrieval algorithm since Version 4.0 are described as well as results comparing Version 5.0 retrieval accuracy and spatial coverage with those obtained using Version 4.0.

PREDICTING CME EJECTA AND SHEATH FRONT ARRIVAL AT L1 WITH A DATA-CONSTRAINED PHYSICAL MODEL

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

Hess, Phillip; Zhang, Jie, E-mail: phess4@gmu.edu

2015-10-20

We present a method for predicting the arrival of a coronal mass ejection (CME) flux rope in situ, as well as the sheath of solar wind plasma accumulated ahead of the driver. For faster CMEs, the front of this sheath will be a shock. The method is based upon geometrical separate measurement of the CME ejecta and sheath. These measurements are used to constrain a drag-based model, improved by including both a height dependence and accurate de-projected velocities. We also constrain the geometry of the model to determine the error introduced as a function of the deviation of the CMEmore » nose from the Sun–Earth line. The CME standoff-distance in the heliosphere fit is also calculated, fit, and combined with the ejecta model to determine sheath arrival. Combining these factors allows us to create predictions for both fronts at the L1 point and compare them against observations. We demonstrate an ability to predict the sheath arrival with an average error of under 3.5 hr, with an rms error of about 1.58 hr. For the ejecta the error is less than 1.5 hr, with an rms error within 0.76 hr. We also discuss the physical implications of our model for CME expansion and density evolution. We show the power of our method with ideal data and demonstrate the practical implications of having a permanent L5 observer with space weather forecasting capabilities, while also discussing the limitations of the method that will have to be addressed in order to create a real-time forecasting tool.« less

THE SYSTEMATICS OF STRONG LENS MODELING QUANTIFIED: THE EFFECTS OF CONSTRAINT SELECTION AND REDSHIFT INFORMATION ON MAGNIFICATION, MASS, AND MULTIPLE IMAGE PREDICTABILITY

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

Johnson, Traci L.; Sharon, Keren, E-mail: tljohn@umich.edu

Until now, systematic errors in strong gravitational lens modeling have been acknowledged but have never been fully quantified. Here, we launch an investigation into the systematics induced by constraint selection. We model the simulated cluster Ares 362 times using random selections of image systems with and without spectroscopic redshifts and quantify the systematics using several diagnostics: image predictability, accuracy of model-predicted redshifts, enclosed mass, and magnification. We find that for models with >15 image systems, the image plane rms does not decrease significantly when more systems are added; however, the rms values quoted in the literature may be misleading asmore » to the ability of a model to predict new multiple images. The mass is well constrained near the Einstein radius in all cases, and systematic error drops to <2% for models using >10 image systems. Magnification errors are smallest along the straight portions of the critical curve, and the value of the magnification is systematically lower near curved portions. For >15 systems, the systematic error on magnification is ∼2%. We report no trend in magnification error with the fraction of spectroscopic image systems when selecting constraints at random; however, when using the same selection of constraints, increasing this fraction up to ∼0.5 will increase model accuracy. The results suggest that the selection of constraints, rather than quantity alone, determines the accuracy of the magnification. We note that spectroscopic follow-up of at least a few image systems is crucial because models without any spectroscopic redshifts are inaccurate across all of our diagnostics.« less

A similarity retrieval approach for weighted track and ambient field of tropical cyclones

NASA Astrophysics Data System (ADS)

Li, Ying; Xu, Luan; Hu, Bo; Li, Yuejun

2018-03-01

Retrieving historical tropical cyclones (TC) which have similar position and hazard intensity to the objective TC is an important means in TC track forecast and TC disaster assessment. A new similarity retrieval scheme is put forward based on historical TC track data and ambient field data, including ERA-Interim reanalysis and GFS and EC-fine forecast. It takes account of both TC track similarity and ambient field similarity, and optimal weight combination is explored subsequently. Result shows that both the distance and direction errors of TC track forecast at 24-hour timescale follow an approximately U-shape distribution. They tend to be large when the weight assigned to track similarity is close to 0 or 1.0, while relatively small when track similarity weight is from 0.2˜0.7 for distance error and 0.3˜0.6 for direction error.

SU-G-JeP1-12: Head-To-Head Performance Characterization of Two Multileaf Collimator Tracking Algorithms for Radiotherapy

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

Caillet, V; Colvill, E; Royal North Shore Hospital, St Leonards, Sydney

2016-06-15

Purpose: Multi-leaf collimator (MLC) tracking is being clinically pioneered to continuously compensate for thoracic and abdominal motion during radiotherapy. The purpose of this work is to characterize the performance of two MLC tracking algorithms for cancer radiotherapy, based on a direct optimization and a piecewise leaf fitting approach respectively. Methods: To test the algorithms, both physical and in silico experiments were performed. Previously published high and low modulation VMAT plans for lung and prostate cancer cases were used along with eight patient-measured organ-specific trajectories. For both MLC tracking algorithm, the plans were run with their corresponding patient trajectories. The physicalmore » experiments were performed on a Trilogy Varian linac and a programmable phantom (HexaMotion platform). For each MLC tracking algorithm, plan and patient trajectory, the tracking accuracy was quantified as the difference in aperture area between ideal and fitted MLC. To compare algorithms, the average cumulative tracking error area for each experiment was calculated. The two-sample Kolmogorov-Smirnov (KS) test was used to evaluate the cumulative tracking errors between algorithms. Results: Comparison of tracking errors for the physical and in silico experiments showed minor differences between the two algorithms. The KS D-statistics for the physical experiments were below 0.05 denoting no significant differences between the two distributions pattern and the average error area (direct optimization/piecewise leaf-fitting) were comparable (66.64 cm2/65.65 cm2). For the in silico experiments, the KS D-statistics were below 0.05 and the average errors area were also equivalent (49.38 cm2/48.98 cm2). Conclusion: The comparison between the two leaf fittings algorithms demonstrated no significant differences in tracking errors, neither in a clinically realistic environment nor in silico. The similarities in the two independent algorithms give confidence in the use of either algorithm for clinical implementation.« less

High quality optically polished aluminum mirror and process for producing

NASA Technical Reports Server (NTRS)

Lyons, III, James J. (Inventor); Zaniewski, John J. (Inventor)

2005-01-01

A new technical advancement in the field of precision aluminum optics permits high quality optical polishing of aluminum monolith, which, in the field of optics, offers numerous benefits because of its machinability, lightweight, and low cost. This invention combines diamond turning and conventional polishing along with india ink, a newly adopted material, for the polishing to accomplish a significant improvement in surface precision of aluminum monolith for optical purposes. This invention guarantees the precise optical polishing of typical bare aluminum monolith to surface roughness of less than about 30 angstroms rms and preferably about 5 angstroms rms while maintaining a surface figure accuracy in terms of surface figure error of not more than one-fifteenth of wave peak-to-valley.

High quality optically polished aluminum mirror and process for producing

NASA Technical Reports Server (NTRS)

Lyons, III, James J. (Inventor); Zaniewski, John J. (Inventor)

2002-01-01

A new technical advancement in the field of precision aluminum optics permits high quality optical polishing of aluminum monolith, which, in the field of optics, offers numerous benefits because of its machinability, lightweight, and low cost. This invention combines diamond turning and conventional polishing along with india ink, a newly adopted material, for the polishing to accomplish a significant improvement in surface precision of aluminum monolith for optical purposes. This invention guarantees the precise optical polishing of typical bare aluminum monolith to surface roughness of less than about 30 angstroms rms and preferably about 5 angstroms rms while maintaining a surface figure accuracy in terms of surface figure error of not more than one-fifteenth of wave peak-to-valley.

CFRP composite mirrors for space telescopes and their micro-dimensional stability

NASA Astrophysics Data System (ADS)

Utsunomiya, Shin; Kamiya, Tomohiro; Shimizu, Ryuzo

2010-07-01

Ultra-lightweight and high-accuracy CFRP (carbon fiber reinforced plastics) mirrors for space telescopes were fabricated to demonstrate their feasibility for light wavelength applications. The CTE (coefficient of thermal expansion) of the all- CFRP sandwich panels was tailored to be smaller than 1×10-7/K. The surface accuracy of mirrors of 150 mm in diameter was 1.8 um RMS as fabricated and the surface smoothness was improved to 20 nm RMS by using a replica technique. Moisture expansion was considered the largest in un-predictable surface preciseness errors. The moisture expansion affected not only homologous shape change but also out-of-plane distortion especially in unsymmetrical compositions. Dimensional stability due to the moisture expansion was compared with a structural mathematical model.

Periscopic Spine Surgery

DTIC Science & Technology

2006-01-01

Technologies, Bellaire, TX, USA) with embedded sensor coils. An NDI Optotrak infrared optical tracking device was used also to collect measurements...simultaneously with the AURORA device. Optotrak records measurement with 3-DOF and has an RMS position accuracy of 0.1mm. Since the accuracy of...path at fixed intervals and poll the AURORA and Optotrak devices for position measurements successively. A total of 100 measurement cycles from each

Periscopic Spine Surgery

DTIC Science & Technology

2005-03-01

Guided Technologies, Boulder, CO; motion path built from three orthogonal sinusoidal paths is Optotrak , Northern Digital, Waterloo, ON) optical tracking...Hopkins University using an Optotrak to evaluate the simulated motions. The Optotrak (Northern Digital, Inc.) is an optical high- precision 3-D motion...verify the accuracy of the RMS, tests were carried out using the Optotrak , which was placed about 2 m from the simulator. For each test, two sets of data

Optimization of the microcable and detector parameters towards low noise in the STS readout system

NASA Astrophysics Data System (ADS)

Kasinski, Krzysztof; Kleczek, Rafal; Schmidt, Christian J.

2015-09-01

Successful operation of the Silicon Tracking System requires charge measurement of each hit with equivalent noise charge lower than 1000 e- rms. Detector channels will not be identical, they will be constructed accordingly to the estimated occupancy, therefore for the readout electronics, detector system will exhibit various parameters. This paper presents the simulation-based study on the required microcable (trace width, dielectric material), detector (aluminum strip resistance) and external passives' (decoupling capacitors) parameters in the Silicon Tracking System. Studies will be performed using a front-end electronics (charge sensitive amplifier with shaper) designed for the power budget of 10 mA/channel.

Comparison of Aerosol Optical Depth from Four Solar Radiometers During the Fall 1997 ARM Intensive Observation Period

NASA Technical Reports Server (NTRS)

Schmid, B.; Michalsky, J.; Halthore, R.; Beauharnois, M.; Harrison, L.; Livingston, J.; Russell, P.; Holben, B.; Eck, T.; Smirnov, A.

2000-01-01

In the Fall of 1997 the Atmospheric Radiation Measurement (ARM) program conducted an Intensive Observation Period (IOP) to study aerosols. Five sun-tracking radiometers were present to measure the total column aerosol optical depth. This comparison performed on the Southern Great Plains (SGP) demonstrates the capabilities and limitations of modern tracking sunphotometers at a location typical of where aerosol measurements are required. The key result was agreement in aerosol optical depth measured by 4 of the 5 instruments within 0.015 (rms). The key to this level of agreement was meticulous care in the calibrations of the instruments.

TH-AB-202-02: Real-Time Verification and Error Detection for MLC Tracking Deliveries Using An Electronic Portal Imaging Device

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

J Zwan, B; Central Coast Cancer Centre, Gosford, NSW; Colvill, E

2016-06-15

Purpose: The added complexity of the real-time adaptive multi-leaf collimator (MLC) tracking increases the likelihood of undetected MLC delivery errors. In this work we develop and test a system for real-time delivery verification and error detection for MLC tracking radiotherapy using an electronic portal imaging device (EPID). Methods: The delivery verification system relies on acquisition and real-time analysis of transit EPID image frames acquired at 8.41 fps. In-house software was developed to extract the MLC positions from each image frame. Three comparison metrics were used to verify the MLC positions in real-time: (1) field size, (2) field location and, (3)more » field shape. The delivery verification system was tested for 8 VMAT MLC tracking deliveries (4 prostate and 4 lung) where real patient target motion was reproduced using a Hexamotion motion stage and a Calypso system. Sensitivity and detection delay was quantified for various types of MLC and system errors. Results: For both the prostate and lung test deliveries the MLC-defined field size was measured with an accuracy of 1.25 cm{sup 2} (1 SD). The field location was measured with an accuracy of 0.6 mm and 0.8 mm (1 SD) for lung and prostate respectively. Field location errors (i.e. tracking in wrong direction) with a magnitude of 3 mm were detected within 0.4 s of occurrence in the X direction and 0.8 s in the Y direction. Systematic MLC gap errors were detected as small as 3 mm. The method was not found to be sensitive to random MLC errors and individual MLC calibration errors up to 5 mm. Conclusion: EPID imaging may be used for independent real-time verification of MLC trajectories during MLC tracking deliveries. Thresholds have been determined for error detection and the system has been shown to be sensitive to a range of delivery errors.« less

Auto-tracking system for human lumbar motion analysis.

PubMed

Sui, Fuge; Zhang, Da; Lam, Shing Chun Benny; Zhao, Lifeng; Wang, Dongjun; Bi, Zhenggang; Hu, Yong

2011-01-01

Previous lumbar motion analyses suggest the usefulness of quantitatively characterizing spine motion. However, the application of such measurements is still limited by the lack of user-friendly automatic spine motion analysis systems. This paper describes an automatic analysis system to measure lumbar spine disorders that consists of a spine motion guidance device, an X-ray imaging modality to acquire digitized video fluoroscopy (DVF) sequences and an automated tracking module with a graphical user interface (GUI). DVF sequences of the lumbar spine are recorded during flexion-extension under a guidance device. The automatic tracking software utilizing a particle filter locates the vertebra-of-interest in every frame of the sequence, and the tracking result is displayed on the GUI. Kinematic parameters are also extracted from the tracking results for motion analysis. We observed that, in a bone model test, the maximum fiducial error was 3.7%, and the maximum repeatability error in translation and rotation was 1.2% and 2.6%, respectively. In our simulated DVF sequence study, the automatic tracking was not successful when the noise intensity was greater than 0.50. In a noisy situation, the maximal difference was 1.3 mm in translation and 1° in the rotation angle. The errors were calculated in translation (fiducial error: 2.4%, repeatability error: 0.5%) and in the rotation angle (fiducial error: 1.0%, repeatability error: 0.7%). However, the automatic tracking software could successfully track simulated sequences contaminated by noise at a density ≤ 0.5 with very high accuracy, providing good reliability and robustness. A clinical trial with 10 healthy subjects and 2 lumbar spondylolisthesis patients were enrolled in this study. The measurement with auto-tacking of DVF provided some information not seen in the conventional X-ray. The results proposed the potential use of the proposed system for clinical applications.

Short-term Variability of Extinction by Broadband Stellar Photometry

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

Musat, I.C.; Ellingson, R.G.

2005-03-18

Aerosol optical depth variation over short-term time intervals is determined from broadband observations of stars with a whole sky imager. The main difficulty in such measurements consists of accurately separating the star flux value from the non-stellar diffuse skylight. Using correction method to overcome this difficulty, the monochromatic extinction at the ground due to aerosols is extracted from heterochromatic measurements. A form of closure is achieved by comparison with simultaneous or temporally close measurements with other instruments, and the total error of the method, as a combination of random error of measurements and systematic error of calibration and model, ismore » assessed as being between 2.6 and 3% rms.« less

Attitude error response of structures to actuator/sensor noise

NASA Technical Reports Server (NTRS)

Balakrishnan, A. V.

1991-01-01

Explicit closed-form formulas are presented for the RMS attitude-error response to sensor and actuator noise for co-located actuators/sensors as a function of both control-gain parameters and structure parameters. The main point of departure is the use of continuum models. In particular the anisotropic Timoshenko model is used for lattice trusses typified by the NASA EPS Structure Model and the Evolutionary Model. One conclusion is that the maximum attainable improvement in the attitude error varying either structure parameters or control gains is 3 dB for the axial and torsion modes, the bending being essentially insensitive. The results are similar whether the Bernoulli model or the anisotropic Timoshenko model is used.

Geometric calibration of a coordinate measuring machine using a laser tracking system

NASA Astrophysics Data System (ADS)

Umetsu, Kenta; Furutnani, Ryosyu; Osawa, Sonko; Takatsuji, Toshiyuki; Kurosawa, Tomizo

2005-12-01

This paper proposes a calibration method for a coordinate measuring machine (CMM) using a laser tracking system. The laser tracking system can measure three-dimensional coordinates based on the principle of trilateration with high accuracy and is easy to set up. The accuracy of length measurement of a single laser tracking interferometer (laser tracker) is about 0.3 µm over a length of 600 mm. In this study, we first measured 3D coordinates using the laser tracking system. Secondly, 21 geometric errors, namely, parametric errors of the CMM, were estimated by the comparison of the coordinates obtained by the laser tracking system and those obtained by the CMM. As a result, the estimated parametric errors agreed with those estimated by a ball plate measurement, which demonstrates the validity of the proposed calibration system.

Precise orbit determination and rapid orbit recovery supported by time synchronization

NASA Astrophysics Data System (ADS)

Guo, Rui; Zhou, JianHua; Hu, XiaoGong; Liu, Li; Tang, Bo; Li, XiaoJie; Wu, Shan

2015-06-01

In order to maintain optimal signal coverage, GNSS satellites have to experience orbital maneuvers. For China's COMPASS system, precise orbit determination (POD) as well as rapid orbit recovery after maneuvers contribute to the overall Positioning, Navigation and Timing (PNT) service performance in terms of accuracy and availability. However, strong statistical correlations between clock offsets and the radial component of a satellite's positions require long data arcs for POD to converge. We propose here a new strategy which relies on time synchronization between ground tracking stations and in-orbit satellites. By fixing satellite clock offsets measured by the satellite station two-way synchronization (SSTS) systems and receiver clock offsets, POD and orbital recovery performance can be improved significantly. Using the Satellite Laser Ranging (SLR) as orbital accuracy evaluation, we find the 4-hr recovered orbit achieves about 0.71 m residual root mean square (RMS) error of fit SLR data, the recovery time is improved from 24-hr to 4-hr compared with the conventional POD without time synchronization support. In addition, SLR evaluation shows that for 1-hr prediction, about 1.47 m accuracy is achieved with the new proposed POD strategy.

Investigation of TM Band-to-band Registration Using the JSC Registration Processor

NASA Technical Reports Server (NTRS)

Yao, S. S.; Amis, M. L.

1984-01-01

The JSC registration processor performs scene-to-scene (or band-to-band) correlation based on edge images. The edge images are derived from a percentage of the edge pixels calculated from the raw scene data, excluding clouds and other extraneous data in the scene. Correlations are performed on patches (blocks) of the edge images, and the correlation peak location in each patch is estimated iteratively to fractional pixel location accuracy. Peak offset locations from all patches over the scene are then considered together, and a variety of tests are made to weed out outliers and other inconsistencies before a distortion model is assumed. Thus, the correlation peak offset locations in each patch indicate quantitatively how well the two TM bands register to each other over that patch of scene data. The average of these offsets indicate the overall accuracies of the band-to-band registration. The registration processor was also used to register one acquisition to another acquisition of multitemporal TM data acquired over the same ground track. Band 4 images from both acquisitions were correlated and an rms error of a fraction of a pixel was routinely obtained.

Feedback attitude sliding mode regulation control of spacecraft using arm motion

NASA Astrophysics Data System (ADS)

Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

2013-09-01

The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

Bi-Objective Optimal Control Modification Adaptive Control for Systems with Input Uncertainty

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.

2012-01-01

This paper presents a new model-reference adaptive control method based on a bi-objective optimal control formulation for systems with input uncertainty. A parallel predictor model is constructed to relate the predictor error to the estimation error of the control effectiveness matrix. In this work, we develop an optimal control modification adaptive control approach that seeks to minimize a bi-objective linear quadratic cost function of both the tracking error norm and predictor error norm simultaneously. The resulting adaptive laws for the parametric uncertainty and control effectiveness uncertainty are dependent on both the tracking error and predictor error, while the adaptive laws for the feedback gain and command feedforward gain are only dependent on the tracking error. The optimal control modification term provides robustness to the adaptive laws naturally from the optimal control framework. Simulations demonstrate the effectiveness of the proposed adaptive control approach.

Comparison of Asymmetric and Ice-cream Cone Models for Halo Coronal Mass Ejections

NASA Astrophysics Data System (ADS)

Na, H.; Moon, Y.

2011-12-01

Halo coronal mass ejections (HCMEs) are major cause of the geomagnetic storms. To minimize the projection effect by coronagraph observation, several cone models have been suggested: an ice-cream cone model, an asymmetric cone model etc. These models allow us to determine the three dimensional parameters of HCMEs such as radial speed, angular width, and the angle between sky plane and central axis of the cone. In this study, we compare these parameters obtained from different models using 48 well-observed HCMEs from 2001 to 2002. And we obtain the root mean square error (RMS error) between measured projection speeds and calculated projection speeds for both cone models. As a result, we find that the radial speeds obtained from the models are well correlated with each other (R = 0.86), and the correlation coefficient of angular width is 0.6. The correlation coefficient of the angle between sky plane and central axis of the cone is 0.31, which is much smaller than expected. The reason may be due to the fact that the source locations of the asymmetric cone model are distributed near the center, while those of the ice-cream cone model are located in a wide range. The average RMS error of the asymmetric cone model (85.6km/s) is slightly smaller than that of the ice-cream cone model (87.8km/s).

An improved empirical model for diversity gain on Earth-space propagation paths

NASA Technical Reports Server (NTRS)

Hodge, D. B.

1981-01-01

An empirical model was generated to estimate diversity gain on Earth-space propagation paths as a function of Earth terminal separation distance, link frequency, elevation angle, and angle between the baseline and the path azimuth. The resulting model reproduces the entire experimental data set with an RMS error of 0.73 dB.

A path reconstruction method integrating dead-reckoning and position fixes applied to humpback whales.

PubMed

Wensveen, Paul J; Thomas, Len; Miller, Patrick J O

2015-01-01

Detailed information about animal location and movement is often crucial in studies of natural behaviour and how animals respond to anthropogenic activities. Dead-reckoning can be used to infer such detailed information, but without additional positional data this method results in uncertainty that grows with time. Combining dead-reckoning with new Fastloc-GPS technology should provide good opportunities for reconstructing georeferenced fine-scale tracks, and should be particularly useful for marine animals that spend most of their time under water. We developed a computationally efficient, Bayesian state-space modelling technique to estimate humpback whale locations through time, integrating dead-reckoning using on-animal sensors with measurements of whale locations using on-animal Fastloc-GPS and visual observations. Positional observation models were based upon error measurements made during calibrations. High-resolution 3-dimensional movement tracks were produced for 13 whales using a simple process model in which errors caused by water current movements, non-location sensor errors, and other dead-reckoning errors were accumulated into a combined error term. Positional uncertainty quantified by the track reconstruction model was much greater for tracks with visual positions and few or no GPS positions, indicating a strong benefit to using Fastloc-GPS for track reconstruction. Compared to tracks derived only from position fixes, the inclusion of dead-reckoning data greatly improved the level of detail in the reconstructed tracks of humpback whales. Using cross-validation, a clear improvement in the predictability of out-of-set Fastloc-GPS data was observed compared to more conventional track reconstruction methods. Fastloc-GPS observation errors during calibrations were found to vary by number of GPS satellites received and by orthogonal dimension analysed; visual observation errors varied most by distance to the whale. By systematically accounting for the observation errors in the position fixes, our model provides a quantitative estimate of location uncertainty that can be appropriately incorporated into analyses of animal movement. This generic method has potential application for a wide range of marine animal species and data recording systems.

TOPEX/POSEIDON orbit maintenance maneuver design

NASA Technical Reports Server (NTRS)

Bhat, R. S.; Frauenholz, R. B.; Cannell, Patrick E.

1990-01-01

The Ocean Topography Experiment (TOPEX/POSEIDON) mission orbit requirements are outlined, as well as its control and maneuver spacing requirements including longitude and time targeting. A ground-track prediction model dealing with geopotential, luni-solar gravity, and atmospheric-drag perturbations is considered. Targeting with all modeled perturbations is discussed, and such ground-track prediction errors as initial semimajor axis, orbit-determination, maneuver-execution, and atmospheric-density modeling errors are assessed. A longitude targeting strategy for two extreme situations is investigated employing all modeled perturbations and prediction errors. It is concluded that atmospheric-drag modeling errors are the prevailing ground-track prediction error source early in the mission during high solar flux, and that low solar-flux levels expected late in the experiment stipulate smaller maneuver magnitudes.

Reducing errors in the GRACE gravity solutions using regularization

NASA Astrophysics Data System (ADS)

Save, Himanshu; Bettadpur, Srinivas; Tapley, Byron D.

2012-09-01

The nature of the gravity field inverse problem amplifies the noise in the GRACE data, which creeps into the mid and high degree and order harmonic coefficients of the Earth's monthly gravity fields provided by GRACE. Due to the use of imperfect background models and data noise, these errors are manifested as north-south striping in the monthly global maps of equivalent water heights. In order to reduce these errors, this study investigates the use of the L-curve method with Tikhonov regularization. L-curve is a popular aid for determining a suitable value of the regularization parameter when solving linear discrete ill-posed problems using Tikhonov regularization. However, the computational effort required to determine the L-curve is prohibitively high for a large-scale problem like GRACE. This study implements a parameter-choice method, using Lanczos bidiagonalization which is a computationally inexpensive approximation to L-curve. Lanczos bidiagonalization is implemented with orthogonal transformation in a parallel computing environment and projects a large estimation problem on a problem of the size of about 2 orders of magnitude smaller for computing the regularization parameter. Errors in the GRACE solution time series have certain characteristics that vary depending on the ground track coverage of the solutions. These errors increase with increasing degree and order. In addition, certain resonant and near-resonant harmonic coefficients have higher errors as compared with the other coefficients. Using the knowledge of these characteristics, this study designs a regularization matrix that provides a constraint on the geopotential coefficients as a function of its degree and order. This regularization matrix is then used to compute the appropriate regularization parameter for each monthly solution. A 7-year time-series of the candidate regularized solutions (Mar 2003-Feb 2010) show markedly reduced error stripes compared with the unconstrained GRACE release 4 solutions (RL04) from the Center for Space Research (CSR). Post-fit residual analysis shows that the regularized solutions fit the data to within the noise level of GRACE. A time series of filtered hydrological model is used to confirm that signal attenuation for basins in the Total Runoff Integrating Pathways (TRIP) database over 320 km radii is less than 1 cm equivalent water height RMS, which is within the noise level of GRACE.

Ionospheric refraction effects on TOPEX orbit determination accuracy using the Tracking and Data Relay Satellite System (TDRSS)

NASA Technical Reports Server (NTRS)

Radomski, M. S.; Doll, C. E.

1991-01-01

This investigation concerns the effects on Ocean Topography Experiment (TOPEX) spacecraft operational orbit determination of ionospheric refraction error affecting tracking measurements from the Tracking and Data Relay Satellite System (TDRSS). Although tracking error from this source is mitigated by the high frequencies (K-band) used for the space-to-ground links and by the high altitudes for the space-to-space links, these effects are of concern for the relatively high-altitude (1334 kilometers) TOPEX mission. This concern is due to the accuracy required for operational orbit-determination by the Goddard Space Flight Center (GSFC) and to the expectation that solar activity will still be relatively high at TOPEX launch in mid-1992. The ionospheric refraction error on S-band space-to-space links was calculated by a prototype observation-correction algorithm using the Bent model of ionosphere electron densities implemented in the context of the Goddard Trajectory Determination System (GTDS). Orbit determination error was evaluated by comparing parallel TOPEX orbit solutions, applying and omitting the correction, using the same simulated TDRSS tracking observations. The tracking scenarios simulated those planned for the observation phase of the TOPEX mission, with a preponderance of one-way return-link Doppler measurements. The results of the analysis showed most TOPEX operational accuracy requirements to be little affected by space-to-space ionospheric error. The determination of along-track velocity changes after ground-track adjustment maneuvers, however, is significantly affected when compared with the stringent 0.1-millimeter-per-second accuracy requirements, assuming uncoupled premaneuver and postmaneuver orbit determination. Space-to-space ionospheric refraction on the 24-hour postmaneuver arc alone causes 0.2 millimeter-per-second errors in along-track delta-v determination using uncoupled solutions. Coupling the premaneuver and postmaneuver solutions, however, appears likely to reduce this figure substantially. Plans and recommendations for response to these findings are presented.

Error Analyses of the North Alabama Lightning Mapping Array (LMA)

NASA Technical Reports Server (NTRS)

Koshak, W. J.; Solokiewicz, R. J.; Blakeslee, R. J.; Goodman, S. J.; Christian, H. J.; Hall, J. M.; Bailey, J. C.; Krider, E. P.; Bateman, M. G.; Boccippio, D. J.

2003-01-01

Two approaches are used to characterize how accurately the North Alabama Lightning Mapping Array (LMA) is able to locate lightning VHF sources in space and in time. The first method uses a Monte Carlo computer simulation to estimate source retrieval errors. The simulation applies a VHF source retrieval algorithm that was recently developed at the NASA-MSFC and that is similar, but not identical to, the standard New Mexico Tech retrieval algorithm. The second method uses a purely theoretical technique (i.e., chi-squared Curvature Matrix theory) to estimate retrieval errors. Both methods assume that the LMA system has an overall rms timing error of 50ns, but all other possible errors (e.g., multiple sources per retrieval attempt) are neglected. The detailed spatial distributions of retrieval errors are provided. Given that the two methods are completely independent of one another, it is shown that they provide remarkably similar results, except that the chi-squared theory produces larger altitude error estimates than the (more realistic) Monte Carlo simulation.

Global optimization method based on ray tracing to achieve optimum figure error compensation

NASA Astrophysics Data System (ADS)

Liu, Xiaolin; Guo, Xuejia; Tang, Tianjin

2017-02-01

Figure error would degrade the performance of optical system. When predicting the performance and performing system assembly, compensation by clocking of optical components around the optical axis is a conventional but user-dependent method. Commercial optical software cannot optimize this clocking. Meanwhile existing automatic figure-error balancing methods can introduce approximate calculation error and the build process of optimization model is complex and time-consuming. To overcome these limitations, an accurate and automatic global optimization method of figure error balancing is proposed. This method is based on precise ray tracing to calculate the wavefront error, not approximate calculation, under a given elements' rotation angles combination. The composite wavefront error root-mean-square (RMS) acts as the cost function. Simulated annealing algorithm is used to seek the optimal combination of rotation angles of each optical element. This method can be applied to all rotational symmetric optics. Optimization results show that this method is 49% better than previous approximate analytical method.

Altimeter error sources at the 10-cm performance level

NASA Technical Reports Server (NTRS)

Martin, C. F.

1977-01-01

Error sources affecting the calibration and operational use of a 10 cm altimeter are examined to determine the magnitudes of current errors and the investigations necessary to reduce them to acceptable bounds. Errors considered include those affecting operational data pre-processing, and those affecting altitude bias determination, with error budgets developed for both. The most significant error sources affecting pre-processing are bias calibration, propagation corrections for the ionosphere, and measurement noise. No ionospheric models are currently validated at the required 10-25% accuracy level. The optimum smoothing to reduce the effects of measurement noise is investigated and found to be on the order of one second, based on the TASC model of geoid undulations. The 10 cm calibrations are found to be feasible only through the use of altimeter passes that are very high elevation for a tracking station which tracks very close to the time of altimeter track, such as a high elevation pass across the island of Bermuda. By far the largest error source, based on the current state-of-the-art, is the location of the island tracking station relative to mean sea level in the surrounding ocean areas.

Mathematical analysis study for radar data processing and enchancement. Part 2: Modeling of propagation path errors

NASA Technical Reports Server (NTRS)

James, R.; Brownlow, J. D.

1985-01-01

A study is performed under NASA contract to evaluate data from an AN/FPS-16 radar installed for support of flight programs at Dryden Flight Research Facility of NASA Ames Research Center. The purpose of this study is to provide information necessary for improving post-flight data reduction and knowledge of accuracy of derived radar quantities. Tracking data from six flights are analyzed. Noise and bias errors in raw tracking data are determined for each of the flights. A discussion of an altitude bias error during all of the tracking missions is included. This bias error is defined by utilizing pressure altitude measurements made during survey flights. Four separate filtering methods, representative of the most widely used optimal estimation techniques for enhancement of radar tracking data, are analyzed for suitability in processing both real-time and post-mission data. Additional information regarding the radar and its measurements, including typical noise and bias errors in the range and angle measurements, is also presented. This report is in two parts. This is part 2, a discussion of the modeling of propagation path errors.

SU-E-J-112: The Impact of Cine EPID Image Acquisition Frame Rate On Markerless Soft-Tissue Tracking

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

Yip, S; Rottmann, J; Berbeco, R

2014-06-01

Purpose: Although reduction of the cine EPID acquisition frame rate through multiple frame averaging may reduce hardware memory burden and decrease image noise, it can hinder the continuity of soft-tissue motion leading to poor auto-tracking results. The impact of motion blurring and image noise on the tracking performance was investigated. Methods: Phantom and patient images were acquired at a frame rate of 12.87Hz on an AS1000 portal imager. Low frame rate images were obtained by continuous frame averaging. A previously validated tracking algorithm was employed for auto-tracking. The difference between the programmed and auto-tracked positions of a Las Vegas phantommore » moving in the superior-inferior direction defined the tracking error (δ). Motion blurring was assessed by measuring the area change of the circle with the greatest depth. Additionally, lung tumors on 1747 frames acquired at eleven field angles from four radiotherapy patients are manually and automatically tracked with varying frame averaging. δ was defined by the position difference of the two tracking methods. Image noise was defined as the standard deviation of the background intensity. Motion blurring and image noise were correlated with δ using Pearson correlation coefficient (R). Results: For both phantom and patient studies, the auto-tracking errors increased at frame rates lower than 4.29Hz. Above 4.29Hz, changes in errors were negligible with δ<1.60mm. Motion blurring and image noise were observed to increase and decrease with frame averaging, respectively. Motion blurring and tracking errors were significantly correlated for the phantom (R=0.94) and patient studies (R=0.72). Moderate to poor correlation was found between image noise and tracking error with R -0.58 and -0.19 for both studies, respectively. Conclusion: An image acquisition frame rate of at least 4.29Hz is recommended for cine EPID tracking. Motion blurring in images with frame rates below 4.39Hz can substantially reduce the accuracy of auto-tracking. This work is supported in part by the Varian Medical Systems, Inc.« less

A Track Initiation Method for the Underwater Target Tracking Environment

NASA Astrophysics Data System (ADS)

Li, Dong-dong; Lin, Yang; Zhang, Yao

2018-04-01

A novel efficient track initiation method is proposed for the harsh underwater target tracking environment (heavy clutter and large measurement errors): track splitting, evaluating, pruning and merging method (TSEPM). Track initiation demands that the method should determine the existence and initial state of a target quickly and correctly. Heavy clutter and large measurement errors certainly pose additional difficulties and challenges, which deteriorate and complicate the track initiation in the harsh underwater target tracking environment. There are three primary shortcomings for the current track initiation methods to initialize a target: (a) they cannot eliminate the turbulences of clutter effectively; (b) there may be a high false alarm probability and low detection probability of a track; (c) they cannot estimate the initial state for a new confirmed track correctly. Based on the multiple hypotheses tracking principle and modified logic-based track initiation method, in order to increase the detection probability of a track, track splitting creates a large number of tracks which include the true track originated from the target. And in order to decrease the false alarm probability, based on the evaluation mechanism, track pruning and track merging are proposed to reduce the false tracks. TSEPM method can deal with the track initiation problems derived from heavy clutter and large measurement errors, determine the target's existence and estimate its initial state with the least squares method. What's more, our method is fully automatic and does not require any kind manual input for initializing and tuning any parameter. Simulation results indicate that our new method improves significantly the performance of the track initiation in the harsh underwater target tracking environment.

Geometric error characterization and error budgets. [thematic mapper

NASA Technical Reports Server (NTRS)

Beyer, E.

1982-01-01

Procedures used in characterizing geometric error sources for a spaceborne imaging system are described using the LANDSAT D thematic mapper ground segment processing as the prototype. Software was tested through simulation and is undergoing tests with the operational hardware as part of the prelaunch system evaluation. Geometric accuracy specifications, geometric correction, and control point processing are discussed. Cross track and along track errors are tabulated for the thematic mapper, the spacecraft, and ground processing to show the temporal registration error budget in pixel (42.5 microrad) 90%.

Experimental investigation of control/display augmentation effects in a compensatory tracking task

NASA Technical Reports Server (NTRS)

Garg, Sanjay; Schmidt, David K.

1988-01-01

The effects of control/display augmentation on human performance and workload have been investigated for closed-loop, continuous-tracking tasks by a real-time, man-in-the-loop simulation study. The experimental results obtained indicate that only limited improvement in actual tracking performance is obtainable through display augmentation alone; with a very high level of display augmentation, tracking error will actually deteriorate. Tracking performance improves when status information is furnished for reasonable levels of display quickening; again, very high quickening levels lead to tracking error deterioration due to the incompatibility between the status information and the quickened signal.

Resolving Mixed Algal Species in Hyperspectral Images

PubMed Central

Mehrubeoglu, Mehrube; Teng, Ming Y.; Zimba, Paul V.

2014-01-01

We investigated a lab-based hyperspectral imaging system's response from pure (single) and mixed (two) algal cultures containing known algae types and volumetric combinations to characterize the system's performance. The spectral response to volumetric changes in single and combinations of algal mixtures with known ratios were tested. Constrained linear spectral unmixing was applied to extract the algal content of the mixtures based on abundances that produced the lowest root mean square error. Percent prediction error was computed as the difference between actual percent volumetric content and abundances at minimum RMS error. Best prediction errors were computed as 0.4%, 0.4% and 6.3% for the mixed spectra from three independent experiments. The worst prediction errors were found as 5.6%, 5.4% and 13.4% for the same order of experiments. Additionally, Beer-Lambert's law was utilized to relate transmittance to different volumes of pure algal suspensions demonstrating linear logarithmic trends for optical property measurements. PMID:24451451

Pilot performance: assessing how scan patterns & navigational assessments vary by flight expertise.

PubMed

Yang, Ji Hyun; Kennedy, Quinn; Sullivan, Joseph; Fricker, Ronald D

2013-02-01

Helicopter overland navigation is a cognitively complex task that requires continuous monitoring of system and environmental parameters and many hours of training to master. This study investigated the effect of expertise on pilots' gaze measurements, navigation accuracy, and subjective assessment of their navigation accuracy in overland navigation on easy and difficult routes. A simulated overland task was completed by 12 military officers who ranged in flight experience as measured by total flight hours (TFH). They first studied a map of a route that included both easy and difficult route sections, and then had to 'fly' this simulated route in a fixed-base helicopter simulator. They also completed pre-task estimations and post-task assessments of the navigational difficulty of the transit to each waypoint in the route. Their scan pattern was tracked via eye tracking systems, which captured both the subject's out-the-window (OTW) and topographical map scan data. TFH was not associated with navigation accuracy or root mean square (RMS) error for any route section. For the easy routes, experts spent less time scanning out the window (p = 0.61) and had shorter OTW dwell (p = -0.66). For the difficult routes, experts appeared to slow down their scan by spending as much time scanning out the window as the novices while also having fewer Map fixations (p = -0.65) and shorter OTW dwell (p = -0.69). However, TFH was not significantly correlated with more accurate estimates of route difficulty. This study found that TFH did not predict navigation accuracy or subjective assessment, but was correlated with some gaze parameters.

Ensuring the reliability of stable isotope ratio data--beyond the principle of identical treatment.

PubMed

Carter, J F; Fry, B

2013-03-01

The need for inter-laboratory comparability is crucial to facilitate the globalisation of scientific networks and the development of international databases to support scientific and criminal investigations. This article considers what lessons can be learned from a series of inter-laboratory comparison exercises organised by the Forensic Isotope Ratio Mass Spectrometry (FIRMS) network in terms of reference materials (RMs), the management of data quality, and technical limitations. The results showed that within-laboratory precision (repeatability) was generally good but between-laboratory accuracy (reproducibility) called for improvements. This review considers how stable isotope laboratories can establish a system of quality control (QC) and quality assurance (QA), emphasising issues of repeatability and reproducibility. For results to be comparable between laboratories, measurements must be traceable to the international δ-scales and, because isotope ratio measurements are reported relative to standards, a key aspect is the correct selection, calibration, and use of international and in-house RMs. The authors identify four principles which promote good laboratory practice. The principle of identical treatment by which samples and RMs are processed in an identical manner and which incorporates three further principles; the principle of identical correction (by which necessary corrections are identified and evenly applied), the principle of identical scaling (by which data are shifted and stretched to the international δ-scales), and the principle of error detection by which QC and QA results are monitored and acted upon. To achieve both good repeatability and good reproducibility it is essential to obtain RMs with internationally agreed δ-values. These RMs will act as the basis for QC and can be used to calibrate further in-house QC RMs tailored to the activities of specific laboratories. In-house QA standards must also be developed to ensure that QC-based calibrations and corrections lead to accurate results for samples. The δ-values assigned to RMs must be recorded and reported with all data. Reference materials must be used to determine what corrections are necessary for measured data. Each analytical sequence of samples must include both QC and QA materials which are subject to identical treatment during measurement and data processing. Results for these materials must be plotted, monitored, and acted upon. Periodically international RMs should be analysed as an in-house proficiency test to demonstrate results are accurate.

Experimental Investigation of Lagrangian Statistics of Motion of Diesel Oil Droplets and Fluid Particles in Isotropic Turbulence

NASA Astrophysics Data System (ADS)

Gopalan, Balaji; Malkiel, Edwin; Katz, Joseph

2007-11-01

Lagrangian motion in isotropic turbulence of slightly buoyant diesel oil droplets (specific gravity 0.85 and size 0.6-1.1 mm) and almost neutrally buoyant, 50 μm tracer particles are studied using high speed, in-line digital holographic cinematography. Droplets and particles are injected into a 50x50x70 mm^3 sample volume located at the center of a nearly isotropic turbulence facility, and data are obtained for Reλ of 190, 195 and 214. The turbulence is characterized by 2D PIV measurements at different planes. An automated tracking program has been used for measuring velocity time history of more than 22000 droplet tracks and 15000 particle tracks. Analysis compares probability density functions (PDF) of Lagrangian velocity and acceleration, spectra, as well as velocity and acceleration autocorrelation functions of droplets with those of particles. For most of the present conditions, rms values of horizontal droplet velocity exceed those of the fluid. The rms values of droplet vertical velocity are higher than those of the fluid only for the highest turbulence level. PDFs of droplet velocity have nearly Gaussian distributions, justifying use of Taylor's (1921) model to calculate diffusion parameters. The fluid particle diffusion coefficient exceeds that of the droplet primarily because the fluid diffusion timescale is higher than that of the droplet. For all droplet sizes and Reynolds numbers, the diffusion coefficient, calculated using Taylor's model, scaled by quiescent rise velocity and turbulence integral length scale, is a monotonically increasing function of the turbulence level normalized by droplet quiescent rise velocity.

Study on active lap tool influence function in grinding 1.8 m primary mirror.

PubMed

Haitao, Liu; Zhige, Zeng; Fan, Wu; Bin, Fan; Yongjian, Wan

2013-11-01

We present a theoretical modeling method to predict the ring tool influence function (TIF) based on the computer-controlled active lap process. The gap on the lap-grinding layer is considered, and its influence on the ring TIF is analyzed too. The relationship between the shape of the ring TIF and the lap-workpiece rotation speed ratio is discussed in this paper. The recipe for calculating dwell time for axisymmetric fabrication is discussed. The grinding process of a 1.8 m primary mirror is improved based on these results. The grinding process is accomplished after 30 circles of grinding, and the surface shape error is from PV 82 μm RMS 16.4 μm reduced to PV 13.5 μm RMS 2.5 μm.

Precise aircraft single-point positioning using GPS post-mission orbits and satellite clock corrections

NASA Astrophysics Data System (ADS)

Lachapelle, G.; Cannon, M. E.; Qiu, W.; Varner, C.

1996-09-01

Aircraft single point position accuracy is assessed through a comparison of the single point coordinates with corresponding DGPS-derived coordinates. The platform utilized for this evaluation is a Naval Air Warfare Center P-3 Orion aircraft. Data was collected over a period of about 40 hours, spread over six days, off Florida's East Coast in July 94, using DGPS reference stations in Jacksonville, FL, and Warminster, PA. The analysis of results shows that the consistency between aircraft single point and DGPS coordinates obtained in single point positioning mode and DGPS mode is about 1 m (rms) in latitude and longitude, and 2 m (rms) in height, with instantaneous errors of up to a few metres due to the effect of the ionosphere on the single point L1 solutions.

Impact of joint statistical dual-energy CT reconstruction of proton stopping power images: Comparison to image- and sinogram-domain material decomposition approaches.

PubMed

Zhang, Shuangyue; Han, Dong; Politte, David G; Williamson, Jeffrey F; O'Sullivan, Joseph A

2018-05-01

The purpose of this study was to assess the performance of a novel dual-energy CT (DECT) approach for proton stopping power ratio (SPR) mapping that integrates image reconstruction and material characterization using a joint statistical image reconstruction (JSIR) method based on a linear basis vector model (BVM). A systematic comparison between the JSIR-BVM method and previously described DECT image- and sinogram-domain decomposition approaches is also carried out on synthetic data. The JSIR-BVM method was implemented to estimate the electron densities and mean excitation energies (I-values) required by the Bethe equation for SPR mapping. In addition, image- and sinogram-domain DECT methods based on three available SPR models including BVM were implemented for comparison. The intrinsic SPR modeling accuracy of the three models was first validated. Synthetic DECT transmission sinograms of two 330 mm diameter phantoms each containing 17 soft and bony tissues (for a total of 34) of known composition were then generated with spectra of 90 and 140 kVp. The estimation accuracy of the reconstructed SPR images were evaluated for the seven investigated methods. The impact of phantom size and insert location on SPR estimation accuracy was also investigated. All three selected DECT-SPR models predict the SPR of all tissue types with less than 0.2% RMS errors under idealized conditions with no reconstruction uncertainties. When applied to synthetic sinograms, the JSIR-BVM method achieves the best performance with mean and RMS-average errors of less than 0.05% and 0.3%, respectively, for all noise levels, while the image- and sinogram-domain decomposition methods show increasing mean and RMS-average errors with increasing noise level. The JSIR-BVM method also reduces statistical SPR variation by sixfold compared to other methods. A 25% phantom diameter change causes up to 4% SPR differences for the image-domain decomposition approach, while the JSIR-BVM method and sinogram-domain decomposition methods are insensitive to size change. Among all the investigated methods, the JSIR-BVM method achieves the best performance for SPR estimation in our simulation phantom study. This novel method is robust with respect to sinogram noise and residual beam-hardening effects, yielding SPR estimation errors comparable to intrinsic BVM modeling error. In contrast, the achievable SPR estimation accuracy of the image- and sinogram-domain decomposition methods is dominated by the CT image intensity uncertainties introduced by the reconstruction and decomposition processes. © 2018 American Association of Physicists in Medicine.

Electromagnetic guided couch and multileaf collimator tracking on a TrueBeam accelerator

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

Hansen, Rune; Ravkilde, Thomas; Worm, Esben Schjødt

2016-05-15

Purpose: Couch and MLC tracking are two promising methods for real-time motion compensation during radiation therapy. So far, couch and MLC tracking experiments have mainly been performed by different research groups, and no direct comparison of couch and MLC tracking of volumetric modulated arc therapy (VMAT) plans has been published. The Varian TrueBeam 2.0 accelerator includes a prototype tracking system with selectable couch or MLC compensation. This study provides a direct comparison of the two tracking types with an otherwise identical setup. Methods: Several experiments were performed to characterize the geometric and dosimetric performance of electromagnetic guided couch and MLCmore » tracking on a TrueBeam accelerator equipped with a Millennium MLC. The tracking system latency was determined without motion prediction as the time lag between sinusoidal target motion and the compensating motion of the couch or MLC as recorded by continuous MV portal imaging. The geometric and dosimetric tracking accuracies were measured in tracking experiments with motion phantoms that reproduced four prostate and four lung tumor trajectories. The geometric tracking error in beam’s eye view was determined as the distance between an embedded gold marker and a circular MLC aperture in continuous MV images. The dosimetric tracking error was quantified as the measured 2%/2 mm gamma failure rate of a low and a high modulation VMAT plan delivered with the eight motion trajectories using a static dose distribution as reference. Results: The MLC tracking latency was approximately 146 ms for all sinusoidal period lengths while the couch tracking latency increased from 187 to 246 ms with decreasing period length due to limitations in the couch acceleration. The mean root-mean-square geometric error was 0.80 mm (couch tracking), 0.52 mm (MLC tracking), and 2.75 mm (no tracking) parallel to the MLC leaves and 0.66 mm (couch), 1.14 mm (MLC), and 2.41 mm (no tracking) perpendicular to the leaves. The motion-induced gamma failure rate was in mean 0.1% (couch tracking), 8.1% (MLC tracking), and 30.4% (no tracking) for prostate motion and 2.9% (couch), 2.4% (MLC), and 41.2% (no tracking) for lung tumor motion. The residual tracking errors were mainly caused by inadequate adaptation to fast lung tumor motion for couch tracking and to prostate motion perpendicular to the MLC leaves for MLC tracking. Conclusions: Couch and MLC tracking markedly improved the geometric and dosimetric accuracies of VMAT delivery. However, the two tracking types have different strengths and weaknesses. While couch tracking can correct perfectly for slowly moving targets such as the prostate, MLC tracking may have considerably larger dose errors for persistent target shift perpendicular to the MLC leaves. Advantages of MLC tracking include faster dynamics with better adaptation to fast moving targets, the avoidance of moving the patient, and the potential to track target rotations and deformations.« less

An Adaptive INS-Aided PLL Tracking Method for GNSS Receivers in Harsh Environments.

PubMed

Cong, Li; Li, Xin; Jin, Tian; Yue, Song; Xue, Rui

2016-01-23

As the weak link in global navigation satellite system (GNSS) signal processing, the phase-locked loop (PLL) is easily influenced with frequent cycle slips and loss of lock as a result of higher vehicle dynamics and lower signal-to-noise ratios. With inertial navigation system (INS) aid, PLLs' tracking performance can be improved. However, for harsh environments with high dynamics and signal attenuation, the traditional INS-aided PLL with fixed loop parameters has some limitations to improve the tracking adaptability. In this paper, an adaptive INS-aided PLL capable of adjusting its noise bandwidth and coherent integration time has been proposed. Through theoretical analysis, the relation between INS-aided PLL phase tracking error and carrier to noise density ratio (C/N₀), vehicle dynamics, aiding information update time, noise bandwidth, and coherent integration time has been built. The relation formulae are used to choose the optimal integration time and bandwidth for a given application under the minimum tracking error criterion. Software and hardware simulation results verify the correctness of the theoretical analysis, and demonstrate that the adaptive tracking method can effectively improve the PLL tracking ability and integrated GNSS/INS navigation performance. For harsh environments, the tracking sensitivity is increased by 3 to 5 dB, velocity errors are decreased by 36% to 50% and position errors are decreased by 6% to 24% when compared with other INS-aided PLL methods.

Reanalysis, compatibility and correlation in analysis of modified antenna structures

NASA Technical Reports Server (NTRS)

Levy, R.

1989-01-01

A simple computational procedure is synthesized to process changes in the microwave-antenna pathlength-error measure when there are changes in the antenna structure model. The procedure employs structural modification reanalysis methods combined with new extensions of correlation analysis to provide the revised rms pathlength error. Mainframe finite-element-method processing of the structure model is required only for the initial unmodified structure, and elementary postprocessor computations develop and deal with the effects of the changes. Several illustrative computational examples are included. The procedure adapts readily to processing spectra of changes for parameter studies or sensitivity analyses.

Manufacturing and certification of a diffraction corrector for controlling the surface shape of the six-meter main mirror of the Big Azimuthal Telescope of the Russian Academy of Sciences

NASA Astrophysics Data System (ADS)

Nasyrov, R. K.; Poleshchuk, A. G.

2017-09-01

This paper describes the development and manufacture of diffraction corrector and imitator for the interferometric control of the surface shape of the 6-m main mirror of the Big Azimuthal Telescope of the Russian Academy of Sciences. The effect of errors in manufacture and adjustment on the quality of the measurement wavefront is studied. The corrector is controlled with the use of an off-axis diffraction imitator operating in a reflection mode. The measured error is smaller than 0.0138λ (RMS).

Trajectory specification for high capacity air traffic control

NASA Technical Reports Server (NTRS)

Paielli, Russell A. (Inventor)

2010-01-01

Method and system for analyzing and processing information on one or more aircraft flight paths, using a four-dimensional coordinate system including three Cartesian or equivalent coordinates (x, y, z) and a fourth coordinate .delta. that corresponds to a distance estimated along a reference flight path to a nearest reference path location corresponding to a present location of the aircraft. Use of the coordinate .delta., rather than elapsed time t, avoids coupling of along-track error into aircraft altitude and reduces effects of errors on an aircraft landing site. Along-track, cross-track and/or altitude errors are estimated and compared with a permitted error bounding space surrounding the reference flight path.

Inflatable antenna for earth observing systems

NASA Astrophysics Data System (ADS)

Wang, Hong-Jian; Guan, Fu-ling; Xu, Yan; Yi, Min

2010-09-01

This paper describe mechanical design, dynamic analysis, and deployment demonstration of the antenna , and the photogrammetry detecting RMS of inflatable antenna surface, the possible errors results form the measurement are also analysed. Ticra's Grasp software are used to predict the inflatable antenna pattern based on the coordinates of the 460 points on the parabolic surface, the final results verified the whole design process.

Tuning of Kalman filter parameters via genetic algorithm for state-of-charge estimation in battery management system.

PubMed

Ting, T O; Man, Ka Lok; Lim, Eng Gee; Leach, Mark

2014-01-01

In this work, a state-space battery model is derived mathematically to estimate the state-of-charge (SoC) of a battery system. Subsequently, Kalman filter (KF) is applied to predict the dynamical behavior of the battery model. Results show an accurate prediction as the accumulated error, in terms of root-mean-square (RMS), is a very small value. From this work, it is found that different sets of Q and R values (KF's parameters) can be applied for better performance and hence lower RMS error. This is the motivation for the application of a metaheuristic algorithm. Hence, the result is further improved by applying a genetic algorithm (GA) to tune Q and R parameters of the KF. In an online application, a GA can be applied to obtain the optimal parameters of the KF before its application to a real plant (system). This simply means that the instantaneous response of the KF is not affected by the time consuming GA as this approach is applied only once to obtain the optimal parameters. The relevant workable MATLAB source codes are given in the appendix to ease future work and analysis in this area.

GNSS-R Altimetry Performance Analysis for the GEROS Experiment on Board the International Space Station.

PubMed

Camps, Adriano; Park, Hyuk; Sekulic, Ivan; Rius, Juan Manuel

2017-07-06

The GEROS-ISS (GNSS rEflectometry, Radio Occultation and Scatterometry onboard International Space Station) is an innovative experiment for climate research, proposed in 2011 within a call of the European Space Agency (ESA). This proposal was the only one selected for further studies by ESA out of ~25 ones that were submitted. In this work, the instrument performance for the near-nadir altimetry (GNSS-R) mode is assessed, including the effects of multi-path in the ISS structure, the electromagnetic-bias, and the orbital height decay. In the absence of ionospheric scintillations, the altimetry rms error is <50 cm for a swath <~250 km and for U 10 <10 m/s. If the transmitted power is 3 dB higher (likely to happen at beginning of life of the GNSS spacecrafts), mission requirements (rms error is <50 cm) are met for all ISS heights and for U 10 up to 15 m/s. However, around 1.5 GHz, the ionosphere can induce significant fading, from 2 to >20 dB at equatorial regions, mainly after sunset, which will seriously degrade the altimetry and the scatterometry performances of the instrument.

Optimizing Protein-Protein van der Waals Interactions for the AMBER ff9x/ff12 Force Field.

PubMed

Chapman, Dail E; Steck, Jonathan K; Nerenberg, Paul S

2014-01-14

The quality of molecular dynamics (MD) simulations relies heavily on the accuracy of the underlying force field. In recent years, considerable effort has been put into developing more accurate dihedral angle potentials for MD force fields, but relatively little work has focused on the nonbonded parameters, many of which are two decades old. In this work, we assess the accuracy of protein-protein van der Waals interactions in the AMBER ff9x/ff12 force field. Across a test set of 44 neat organic liquids containing the moieties present in proteins, we find root-mean-square (RMS) errors of 1.26 kcal/mol in enthalpy of vaporization and 0.36 g/cm(3) in liquid densities. We then optimize the van der Waals radii and well depths for all of the relevant atom types using these observables, which lowers the RMS errors in enthalpy of vaporization and liquid density of our validation set to 0.59 kcal/mol (53% reduction) and 0.019 g/cm(3) (46% reduction), respectively. Limitations in our parameter optimization were evident for certain atom types, however, and we discuss the implications of these observations for future force field development.

Tuning of Kalman Filter Parameters via Genetic Algorithm for State-of-Charge Estimation in Battery Management System

PubMed Central

Ting, T. O.; Lim, Eng Gee

2014-01-01

In this work, a state-space battery model is derived mathematically to estimate the state-of-charge (SoC) of a battery system. Subsequently, Kalman filter (KF) is applied to predict the dynamical behavior of the battery model. Results show an accurate prediction as the accumulated error, in terms of root-mean-square (RMS), is a very small value. From this work, it is found that different sets of Q and R values (KF's parameters) can be applied for better performance and hence lower RMS error. This is the motivation for the application of a metaheuristic algorithm. Hence, the result is further improved by applying a genetic algorithm (GA) to tune Q and R parameters of the KF. In an online application, a GA can be applied to obtain the optimal parameters of the KF before its application to a real plant (system). This simply means that the instantaneous response of the KF is not affected by the time consuming GA as this approach is applied only once to obtain the optimal parameters. The relevant workable MATLAB source codes are given in the appendix to ease future work and analysis in this area. PMID:25162041

Generating classes of 3D virtual mandibles for AR-based medical simulation.

PubMed

Hippalgaonkar, Neha R; Sider, Alexa D; Hamza-Lup, Felix G; Santhanam, Anand P; Jaganathan, Bala; Imielinska, Celina; Rolland, Jannick P

2008-01-01

Simulation and modeling represent promising tools for several application domains from engineering to forensic science and medicine. Advances in 3D imaging technology convey paradigms such as augmented reality (AR) and mixed reality inside promising simulation tools for the training industry. Motivated by the requirement for superimposing anatomically correct 3D models on a human patient simulator (HPS) and visualizing them in an AR environment, the purpose of this research effort was to develop and validate a method for scaling a source human mandible to a target human mandible within a 2 mm root mean square (RMS) error. Results show that, given a distance between 2 same landmarks on 2 different mandibles, a relative scaling factor may be computed. Using this scaling factor, results show that a 3D virtual mandible model can be made morphometrically equivalent to a real target-specific mandible within a 1.30 mm RMS error. The virtual mandible may be further used as a reference target for registering other anatomic models, such as the lungs, on the HPS. Such registration will be made possible by physical constraints among the mandible and the spinal column in the horizontal normal rest position.

Evaluation of aquifer heterogeneity effects on river flow loss using a transition probability framework

USGS Publications Warehouse

Engdahl, N.B.; Vogler, E.T.; Weissmann, G.S.

2010-01-01

River-aquifer exchange is considered within a transition probability framework along the Rio Grande in Albuquerque, New Mexico, to provide a stochastic estimate of aquifer heterogeneity and river loss. Six plausible hydrofacies configurations were determined using categorized drill core and wetland survey data processed through the TPROGS geostatistical package. A base case homogeneous model was also constructed for comparison. River loss was simulated for low, moderate, and high Rio Grande stages and several different riverside drain stage configurations. Heterogeneity effects were quantified by determining the mean and variance of the K field for each realization compared to the root-mean-square (RMS) error of the observed groundwater head data. Simulation results showed that the heterogeneous models produced smaller estimates of loss than the homogeneous approximation. Differences between heterogeneous and homogeneous model results indicate that the use of a homogeneous K in a regional-scale model may result in an overestimation of loss but comparable RMS error. We find that the simulated river loss is dependent on the aquifer structure and is most sensitive to the volumetric proportion of fines within the river channel. Copyright 2010 by the American Geophysical Union.

GNSS-R Altimetry Performance Analysis for the GEROS Experiment on Board the International Space Station

PubMed Central

Sekulic, Ivan

2017-01-01

The GEROS-ISS (GNSS rEflectometry, Radio Occultation and Scatterometry onboard International Space Station) is an innovative experiment for climate research, proposed in 2011 within a call of the European Space Agency (ESA). This proposal was the only one selected for further studies by ESA out of ~25 ones that were submitted. In this work, the instrument performance for the near-nadir altimetry (GNSS-R) mode is assessed, including the effects of multi-path in the ISS structure, the electromagnetic-bias, and the orbital height decay. In the absence of ionospheric scintillations, the altimetry rms error is <50 cm for a swath <~250 km and for U10 <10 m/s. If the transmitted power is 3 dB higher (likely to happen at beginning of life of the GNSS spacecrafts), mission requirements (rms error is <50 cm) are met for all ISS heights and for U10 up to 15 m/s. However, around 1.5 GHz, the ionosphere can induce significant fading, from 2 to >20 dB at equatorial regions, mainly after sunset, which will seriously degrade the altimetry and the scatterometry performances of the instrument. PMID:28684724

Design optimization of ultra-precise elliptical mirrors for hard x-ray nanofocusing at Nanoscopium

NASA Astrophysics Data System (ADS)

Kewish, Cameron M.; Polack, François; Signorato, Riccardo; Somogyi, Andrea

2013-09-01

The design and implementation of a pair of 100 mm-long grazing-incidence total-reflection mirrors for the hard X-ray beamline Nanoscopium at Synchrotron Soleil is presented. A vertically and horizontally nanofocusing mirror pair, oriented in Kirkpatrick-Baez geometry, has been designed and fabricated with the aim of creating a diffraction-limited high-intensity 5 - 20 keV beam with a focal spot size as small as 50 nm. We describe the design considerations, including wave-optical calculations of figures-of-merit that are relevant for spectromicroscopy, such as the focal spot size, depth of field and integrated intensity. The mechanical positioning tolerance in the pitch angle that is required to avoid introducing high-intensity features in the neighborhood of the focal spot is demonstrated with simulations to be of the order of microradians, becoming tighter for shorter focal lengths and therefore directly affecting all nanoprobe mirror systems. Metrology results for the completed mirrors are presented, showing that better than 1.5 °A-rms figure error has been achieved over the full mirror lengths with respect to the designed elliptical surfaces, with less than 60 nrad-rms slope errors.

40 CFR 97.256 - Account error.

Code of Federal Regulations, 2010 CFR

2010-07-01

... BUDGET TRADING PROGRAM AND CAIR NOX AND SO2 TRADING PROGRAMS CAIR SO2 Allowance Tracking System § 97.256... any error in any CAIR SO2 Allowance Tracking System account. Within 10 business days of making such...

An error analysis of the recovery capability of the relative sea-surface profile over the Puerto Rican trench from multi-station and ship tracking of GEOS-2

NASA Technical Reports Server (NTRS)

Stanley, H. R.; Martin, C. F.; Roy, N. A.; Vetter, J. R.

1971-01-01

Error analyses were performed to examine the height error in a relative sea-surface profile as determined by a combination of land-based multistation C-band radars and optical lasers and one ship-based radar tracking the GEOS 2 satellite. It was shown that two relative profiles can be obtained: one using available south-to-north passes of the satellite and one using available north-to-south type passes. An analysis of multi-station tracking capability determined that only Antigua and Grand Turk radars are required to provide satisfactory orbits for south-to-north type satellite passes, while a combination of Merritt Island, Bermuda, and Wallops radars provide secondary orbits for north-to-south passes. Analysis of ship tracking capabilities shows that high elevation single pass range-only solutions are necessary to give only moderate sensitivity to systematic error effects.

Sensitivity of thermal inertia calculations to variations in environmental factors. [in mapping of Earth's surface by remote sensing

NASA Technical Reports Server (NTRS)

Kahle, A. B.; Alley, R. E.; Schieldge, J. P.

1984-01-01

The sensitivity of thermal inertia (TI) calculations to errors in the measurement or parameterization of a number of environmental factors is considered here. The factors include effects of radiative transfer in the atmosphere, surface albedo and emissivity, variations in surface turbulent heat flux density, cloud cover, vegetative cover, and topography. The error analysis is based upon data from the Heat Capacity Mapping Mission (HCMM) satellite for July 1978 at three separate test sites in the deserts of the western United States. Results show that typical errors in atmospheric radiative transfer, cloud cover, and vegetative cover can individually cause root-mean-square (RMS) errors of about 10 percent (with atmospheric effects sometimes as large as 30-40 percent) in HCMM-derived thermal inertia images of 20,000-200,000 pixels.

Image defects from surface and alignment errors in grazing incidence telescopes

NASA Technical Reports Server (NTRS)

Saha, Timo T.

1989-01-01

The rigid body motions and low frequency surface errors of grazing incidence Wolter telescopes are studied. The analysis is based on surface error descriptors proposed by Paul Glenn. In his analysis, the alignment and surface errors are expressed in terms of Legendre-Fourier polynomials. Individual terms in the expression correspond to rigid body motions (decenter and tilt) and low spatial frequency surface errors of mirrors. With the help of the Legendre-Fourier polynomials and the geometry of grazing incidence telescopes, exact and approximated first order equations are derived in this paper for the components of the ray intercepts at the image plane. These equations are then used to calculate the sensitivities of Wolter type I and II telescopes for the rigid body motions and surface deformations. The rms spot diameters calculated from this theory and OSAC ray tracing code agree very well. This theory also provides a tool to predict how rigid body motions and surface errors of the mirrors compensate each other.

Performance of GPS-devices for environmental exposure assessment.

PubMed

Beekhuizen, Johan; Kromhout, Hans; Huss, Anke; Vermeulen, Roel

2013-01-01

Integration of individual time-location patterns with spatially resolved exposure maps enables a more accurate estimation of personal exposures to environmental pollutants than using estimates at fixed locations. Current global positioning system (GPS) devices can be used to track an individual's location. However, information on GPS-performance in environmental exposure assessment is largely missing. We therefore performed two studies. First, a commute-study, where the commute of 12 individuals was tracked twice, testing GPS-performance for five transport modes and two wearing modes. Second, an urban-tracking study, where one individual was tracked repeatedly through different areas, focused on the effect of building obstruction on GPS-performance. The median error from the true path for walking was 3.7 m, biking 2.9 m, train 4.8 m, bus 4.9 m, and car 3.3 m. Errors were larger in a high-rise commercial area (median error=7.1 m) compared with a low-rise residential area (median error=2.2 m). Thus, GPS-performance largely depends on the transport mode and urban built-up. Although ~85% of all errors were <10 m, almost 1% of the errors were >50 m. Modern GPS-devices are useful tools for environmental exposure assessment, but large GPS-errors might affect estimates of exposures with high spatial variability.

Direct model reference adaptive control of robotic arms

NASA Technical Reports Server (NTRS)

Kaufman, Howard; Swift, David C.; Cummings, Steven T.; Shankey, Jeffrey R.

1993-01-01

The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

Modified empirical Solar Radiation Pressure model for IRNSS constellation

NASA Astrophysics Data System (ADS)

Rajaiah, K.; Manamohan, K.; Nirmala, S.; Ratnakara, S. C.

2017-11-01

Navigation with Indian Constellation (NAVIC) also known as Indian Regional Navigation Satellite System (IRNSS) is India's regional navigation system designed to provide position accuracy better than 20 m over India and the region extending to 1500 km around India. The reduced dynamic precise orbit estimation is utilized to determine the orbit broadcast parameters for IRNSS constellation. The estimation is mainly affected by the parameterization of dynamic models especially Solar Radiation Pressure (SRP) model which is a non-gravitational force depending on shape and attitude dynamics of the spacecraft. An empirical nine parameter solar radiation pressure model is developed for IRNSS constellation, using two-way range measurements from IRNSS C-band ranging system. The paper addresses the development of modified SRP empirical model for IRNSS (IRNSS SRP Empirical Model, ISEM). The performance of the ISEM was assessed based on overlap consistency, long term prediction, Satellite Laser Ranging (SLR) residuals and compared with ECOM9, ECOM5 and new-ECOM9 models developed by Center for Orbit Determination in Europe (CODE). For IRNSS Geostationary Earth Orbit (GEO) and Inclined Geosynchronous Orbit (IGSO) satellites, ISEM has shown promising results with overlap RMS error better than 5.3 m and 3.5 m respectively. Long term orbit prediction using numerical integration has improved with error better than 80%, 26% and 7.8% in comparison to ECOM9, ECOM5 and new-ECOM9 respectively. Further, SLR based orbit determination with ISEM shows 70%, 47% and 39% improvement over 10 days orbit prediction in comparison to ECOM9, ECOM5 and new-ECOM9 respectively and also highlights the importance of wide baseline tracking network.

Displacement fields from point cloud data: Application of particle imaging velocimetry to landslide geodesy

USGS Publications Warehouse

Aryal, Arjun; Brooks, Benjamin A.; Reid, Mark E.; Bawden, Gerald W.; Pawlak, Geno

2012-01-01

Acquiring spatially continuous ground-surface displacement fields from Terrestrial Laser Scanners (TLS) will allow better understanding of the physical processes governing landslide motion at detailed spatial and temporal scales. Problems arise, however, when estimating continuous displacement fields from TLS point-clouds because reflecting points from sequential scans of moving ground are not defined uniquely, thus repeat TLS surveys typically do not track individual reflectors. Here, we implemented the cross-correlation-based Particle Image Velocimetry (PIV) method to derive a surface deformation field using TLS point-cloud data. We estimated associated errors using the shape of the cross-correlation function and tested the method's performance with synthetic displacements applied to a TLS point cloud. We applied the method to the toe of the episodically active Cleveland Corral Landslide in northern California using TLS data acquired in June 2005–January 2007 and January–May 2010. Estimated displacements ranged from decimeters to several meters and they agreed well with independent measurements at better than 9% root mean squared (RMS) error. For each of the time periods, the method provided a smooth, nearly continuous displacement field that coincides with independently mapped boundaries of the slide and permits further kinematic and mechanical inference. For the 2010 data set, for instance, the PIV-derived displacement field identified a diffuse zone of displacement that preceded by over a month the development of a new lateral shear zone. Additionally, the upslope and downslope displacement gradients delineated by the dense PIV field elucidated the non-rigid behavior of the slide.

Improving the quality of marine geophysical track line data: Along-track analysis

NASA Astrophysics Data System (ADS)

Chandler, Michael T.; Wessel, Paul

2008-02-01

We have examined 4918 track line geophysics cruises archived at the U.S. National Geophysical Data Center (NGDC) using comprehensive error checking methods. Each cruise was checked for observation outliers, excessive gradients, metadata consistency, and general agreement with satellite altimetry-derived gravity and predicted bathymetry grids. Thresholds for error checking were determined empirically through inspection of histograms for all geophysical values, gradients, and differences with gridded data sampled along ship tracks. Robust regression was used to detect systematic scale and offset errors found by comparing ship bathymetry and free-air anomalies to the corresponding values from global grids. We found many recurring error types in the NGDC archive, including poor navigation, inappropriately scaled or offset data, excessive gradients, and extended offsets in depth and gravity when compared to global grids. While ˜5-10% of bathymetry and free-air gravity records fail our conservative tests, residual magnetic errors may exceed twice this proportion. These errors hinder the effective use of the data and may lead to mistakes in interpretation. To enable the removal of gross errors without over-writing original cruise data, we developed an errata system that concisely reports all errors encountered in a cruise. With such errata files, scientists may share cruise corrections, thereby preventing redundant processing. We have implemented these quality control methods in the modified MGD77 supplement to the Generic Mapping Tools software suite.

Three dimensional tracking with misalignment between display and control axes

NASA Technical Reports Server (NTRS)

Ellis, Stephen R.; Tyler, Mitchell; Kim, Won S.; Stark, Lawrence

1992-01-01

Human operators confronted with misaligned display and control frames of reference performed three dimensional, pursuit tracking in virtual environment and virtual space simulations. Analysis of the components of the tracking errors in the perspective displays presenting virtual space showed that components of the error due to visual motor misalignment may be linearly separated from those associated with the mismatch between display and control coordinate systems. Tracking performance improved with several hours practice despite previous reports that such improvement did not take place.

Analog track angle error displays improve simulated GPS approach performance

DOT National Transportation Integrated Search

1996-01-01

Pilots flying non-precision instrument approaches traditionally rely on a course deviation indicator (CDI) analog display of cross track error (XTE) information. THe new generation of GPS based area navigation (RNAV) receivers can also compute accura...

Particle Tracking on the BNL Relativistic Heavy Ion Collider

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

Dell, G. F.

1986-08-07

Tracking studies including the effects of random multipole errors as well as the effects of random and systematic multipole errors have been made for RHIC. Initial results for operating at an off diagonal working point are discussed.

The extended tracking network and indications of baseline precision and accuracy in the North Andes

NASA Technical Reports Server (NTRS)

Freymueller, Jeffrey T.; Kellogg, James N.

1990-01-01

The CASA Uno Global Positioning System (GPS) experiment (January-February 1988) included an extended tracking network which covered three continents in addition to the network of scientific interest in Central and South America. The repeatability of long baselines (400-1000 km) in South America is improved by up to a factor of two in the horizontal vector baseline components by using tracking stations in the Pacific and Europe to supplement stations in North America. In every case but one, the differences between the mean solutions obtained using different tracking networks was equal to or smaller than day-to-day rms repeatabilities for the same baselines. The mean solutions obtained by using tracking stations in North America and the Pacific agreed at the 2-3 millimeter level with those using tracking stations in North America and Europe. The agreement of the extended tracking network solutions suggests that a broad distribution of tracking stations provides better geometric constraints on the satellite orbits and that solutions are not sensitive to changes in tracking network configuration when an extended network is use. A comparison of the results from the North Andes and a baseline in North America suggests that the use of a geometrically strong extended tracking network is most important when the network of interest is far from North America.

Finger muscle attachments for an OpenSim upper-extremity model.

PubMed

Lee, Jong Hwa; Asakawa, Deanna S; Dennerlein, Jack T; Jindrich, Devin L

2015-01-01

We determined muscle attachment points for the index, middle, ring and little fingers in an OpenSim upper-extremity model. Attachment points were selected to match both experimentally measured locations and mechanical function (moment arms). Although experimental measurements of finger muscle attachments have been made, models differ from specimens in many respects such as bone segment ratio, joint kinematics and coordinate system. Likewise, moment arms are not available for all intrinsic finger muscles. Therefore, it was necessary to scale and translate muscle attachments from one experimental or model environment to another while preserving mechanical function. We used a two-step process. First, we estimated muscle function by calculating moment arms for all intrinsic and extrinsic muscles using the partial velocity method. Second, optimization using Simulated Annealing and Hooke-Jeeves algorithms found muscle-tendon paths that minimized root mean square (RMS) differences between experimental and modeled moment arms. The partial velocity method resulted in variance accounted for (VAF) between measured and calculated moment arms of 75.5% on average (range from 48.5% to 99.5%) for intrinsic and extrinsic index finger muscles where measured data were available. RMS error between experimental and optimized values was within one standard deviation (S.D) of measured moment arm (mean RMS error = 1.5 mm < measured S.D = 2.5 mm). Validation of both steps of the technique allowed for estimation of muscle attachment points for muscles whose moment arms have not been measured. Differences between modeled and experimentally measured muscle attachments, averaged over all finger joints, were less than 4.9 mm (within 7.1% of the average length of the muscle-tendon paths). The resulting non-proprietary musculoskeletal model of the human fingers could be useful for many applications, including better understanding of complex multi-touch and gestural movements.

Finger Muscle Attachments for an OpenSim Upper-Extremity Model

PubMed Central

Lee, Jong Hwa; Asakawa, Deanna S.; Dennerlein, Jack T.; Jindrich, Devin L.

2015-01-01

We determined muscle attachment points for the index, middle, ring and little fingers in an OpenSim upper-extremity model. Attachment points were selected to match both experimentally measured locations and mechanical function (moment arms). Although experimental measurements of finger muscle attachments have been made, models differ from specimens in many respects such as bone segment ratio, joint kinematics and coordinate system. Likewise, moment arms are not available for all intrinsic finger muscles. Therefore, it was necessary to scale and translate muscle attachments from one experimental or model environment to another while preserving mechanical function. We used a two-step process. First, we estimated muscle function by calculating moment arms for all intrinsic and extrinsic muscles using the partial velocity method. Second, optimization using Simulated Annealing and Hooke-Jeeves algorithms found muscle-tendon paths that minimized root mean square (RMS) differences between experimental and modeled moment arms. The partial velocity method resulted in variance accounted for (VAF) between measured and calculated moment arms of 75.5% on average (range from 48.5% to 99.5%) for intrinsic and extrinsic index finger muscles where measured data were available. RMS error between experimental and optimized values was within one standard deviation (S.D) of measured moment arm (mean RMS error = 1.5 mm < measured S.D = 2.5 mm). Validation of both steps of the technique allowed for estimation of muscle attachment points for muscles whose moment arms have not been measured. Differences between modeled and experimentally measured muscle attachments, averaged over all finger joints, were less than 4.9 mm (within 7.1% of the average length of the muscle-tendon paths). The resulting non-proprietary musculoskeletal model of the human fingers could be useful for many applications, including better understanding of complex multi-touch and gestural movements. PMID:25853869

Effects of motion base and g-seat cueing of simulator pilot performance

NASA Technical Reports Server (NTRS)

Ashworth, B. R.; Mckissick, B. T.; Parrish, R. V.

1984-01-01

In order to measure and analyze the effects of a motion plus g-seat cueing system, a manned-flight-simulation experiment was conducted utilizing a pursuit tracking task and an F-16 simulation model in the NASA Langley visual/motion simulator. This experiment provided the information necessary to determine whether motion and g-seat cues have an additive effect on the performance of this task. With respect to the lateral tracking error and roll-control stick force, the answer is affirmative. It is shown that presenting the two cues simultaneously caused significant reductions in lateral tracking error and that using the g-seat and motion base separately provided essentially equal reductions in the pilot's lateral tracking error.

Quantitative evaluation for accumulative calibration error and video-CT registration errors in electromagnetic-tracked endoscopy.

PubMed

Liu, Sheena Xin; Gutiérrez, Luis F; Stanton, Doug

2011-05-01

Electromagnetic (EM)-guided endoscopy has demonstrated its value in minimally invasive interventions. Accuracy evaluation of the system is of paramount importance to clinical applications. Previously, a number of researchers have reported the results of calibrating the EM-guided endoscope; however, the accumulated errors of an integrated system, which ultimately reflect intra-operative performance, have not been characterized. To fill this vacancy, we propose a novel system to perform this evaluation and use a 3D metric to reflect the intra-operative procedural accuracy. This paper first presents a portable design and a method for calibration of an electromagnetic (EM)-tracked endoscopy system. An evaluation scheme is then described that uses the calibration results and EM-CT registration to enable real-time data fusion between CT and endoscopic video images. We present quantitative evaluation results for estimating the accuracy of this system using eight internal fiducials as the targets on an anatomical phantom: the error is obtained by comparing the positions of these targets in the CT space, EM space and endoscopy image space. To obtain 3D error estimation, the 3D locations of the targets in the endoscopy image space are reconstructed from stereo views of the EM-tracked monocular endoscope. Thus, the accumulated errors are evaluated in a controlled environment, where the ground truth information is present and systematic performance (including the calibration error) can be assessed. We obtain the mean in-plane error to be on the order of 2 pixels. To evaluate the data integration performance for virtual navigation, target video-CT registration error (TRE) is measured as the 3D Euclidean distance between the 3D-reconstructed targets of endoscopy video images and the targets identified in CT. The 3D error (TRE) encapsulates EM-CT registration error, EM-tracking error, fiducial localization error, and optical-EM calibration error. We present in this paper our calibration method and a virtual navigation evaluation system for quantifying the overall errors of the intra-operative data integration. We believe this phantom not only offers us good insights to understand the systematic errors encountered in all phases of an EM-tracked endoscopy procedure but also can provide quality control of laboratory experiments for endoscopic procedures before the experiments are transferred from the laboratory to human subjects.

Comparison between goal programming and cointegration approaches in enhanced index tracking

NASA Astrophysics Data System (ADS)

Lam, Weng Siew; Jamaan, Saiful Hafizah Hj.

2013-04-01

Index tracking is a popular form of passive fund management in stock market. Passive management is a buy-and-hold strategy that aims to achieve rate of return similar to the market return. Index tracking problem is a problem of reproducing the performance of a stock market index, without purchasing all of the stocks that make up the index. This can be done by establishing an optimal portfolio that minimizes risk or tracking error. An improved index tracking (enhanced index tracking) is a dual-objective optimization problem, a trade-off between maximizing the mean return and minimizing the tracking error. Enhanced index tracking aims to generate excess return over the return achieved by the index. The objective of this study is to compare the portfolio compositions and performances by using two different approaches in enhanced index tracking problem, which are goal programming and cointegration. The result of this study shows that the optimal portfolios for both approaches are able to outperform the Malaysia market index which is Kuala Lumpur Composite Index. Both approaches give different optimal portfolio compositions. Besides, the cointegration approach outperforms the goal programming approach because the cointegration approach gives higher mean return and lower risk or tracking error. Therefore, the cointegration approach is more appropriate for the investors in Malaysia.

Target motion tracking in MRI-guided transrectal robotic prostate biopsy.

PubMed

Tadayyon, Hadi; Lasso, Andras; Kaushal, Aradhana; Guion, Peter; Fichtinger, Gabor

2011-11-01

MRI-guided prostate needle biopsy requires compensation for organ motion between target planning and needle placement. Two questions are studied and answered in this paper: 1) is rigid registration sufficient in tracking the targets with an error smaller than the clinically significant size of prostate cancer and 2) what is the effect of the number of intraoperative slices on registration accuracy and speed? we propose multislice-to-volume registration algorithms for tracking the biopsy targets within the prostate. Three orthogonal plus additional transverse intraoperative slices are acquired in the approximate center of the prostate and registered with a high-resolution target planning volume. Both rigid and deformable scenarios were implemented. Both simulated and clinical MRI-guided robotic prostate biopsy data were used to assess tracking accuracy. average registration errors in clinical patient data were 2.6 mm for the rigid algorithm and 2.1 mm for the deformable algorithm. rigid tracking appears to be promising. Three tracking slices yield significantly high registration speed with an affordable error.

Pilot performance and workload using simulated GPS track angle error displays

DOT National Transportation Integrated Search

1995-01-01

The effect on simulated GPS instrument approach performance and workload resulting from the addition of Track Angle Error (TAE) information to cockpit RNAV receiver displays in explicit analog form was studied experimentally (S display formats, 6 pil...

Can eye-tracking technology improve situational awareness in paramedic clinical education?

PubMed

Williams, Brett; Quested, Andrew; Cooper, Simon

2013-01-01

Human factors play a significant part in clinical error. Situational awareness (SA) means being aware of one's surroundings, comprehending the present situation, and being able to predict outcomes. It is a key human skill that, when properly applied, is associated with reducing medical error: eye-tracking technology can be used to provide an objective and qualitative measure of the initial perception component of SA. Feedback from eye-tracking technology can be used to improve the understanding and teaching of SA in clinical contexts, and consequently, has potential for reducing clinician error and the concomitant adverse events.

Optimum data analysis procedures for Titan 4 and Space Shuttle payload acoustic measurements during lift-off

NASA Technical Reports Server (NTRS)

Piersol, Allan G.

1991-01-01

Analytical expressions have been derived to describe the mean square error in the estimation of the maximum rms value computed from a step-wise (or running) time average of a nonstationary random signal. These analytical expressions have been applied to the problem of selecting the optimum averaging times that will minimize the total mean square errors in estimates of the maximum sound pressure levels measured inside the Titan IV payload fairing (PLF) and the Space Shuttle payload bay (PLB) during lift-off. Based on evaluations of typical Titan IV and Space Shuttle launch data, it has been determined that the optimum averaging times for computing the maximum levels are (1) T (sub o) = 1.14 sec for the maximum overall level, and T(sub oi) = 4.88 f (sub i) (exp -0.2) sec for the maximum 1/3 octave band levels inside the Titan IV PLF, and (2) T (sub o) = 1.65 sec for the maximum overall level, and T (sub oi) = 7.10 f (sub i) (exp -0.2) sec for the maximum 1/3 octave band levels inside the Space Shuttle PLB, where f (sub i) is the 1/3 octave band center frequency. However, the results for both vehicles indicate that the total rms error in the maximum level estimates will be within 25 percent the minimum error for all averaging times within plus or minus 50 percent of the optimum averaging time, so a precise selection of the exact optimum averaging time is not critical. Based on these results, linear averaging times (T) are recommended for computing the maximum sound pressure level during lift-off.

An a priori solar radiation pressure model for the QZSS Michibiki satellite

NASA Astrophysics Data System (ADS)

Zhao, Qile; Chen, Guo; Guo, Jing; Liu, Jingnan; Liu, Xianglin

2018-02-01

It has been noted that the satellite laser ranging (SLR) residuals of the Quasi-Zenith Satellite System (QZSS) Michibiki satellite orbits show very marked dependence on the elevation angle of the Sun above the orbital plane (i.e., the β angle). It is well recognized that the systematic error is caused by mismodeling of the solar radiation pressure (SRP). Although the error can be reduced by the updated ECOM SRP model, the orbit error is still very large when the satellite switches to orbit-normal (ON) orientation. In this study, an a priori SRP model was established for the QZSS Michibiki satellite to enhance the ECOM model. This model is expressed in ECOM's D, Y, and B axes (DYB) using seven parameters for the yaw-steering (YS) mode, and additional three parameters are used to compensate the remaining modeling deficiencies, particularly the perturbations in the Y axis, based on a redefined DYB for the ON mode. With the proposed a priori model, QZSS Michibiki's precise orbits over 21 months were determined. SLR validation indicated that the systematic β -angle-dependent error was reduced when the satellite was in the YS mode, and better than an 8-cm root mean square (RMS) was achieved. More importantly, the orbit quality was also improved significantly when the satellite was in the ON mode. Relative to ECOM and adjustable box-wing model, the proposed SRP model showed the best performance in the ON mode, and the RMS of the SLR residuals was better than 15 cm, which was a two times improvement over the ECOM without a priori model used, but was still two times worse than the YS mode.

Topographic Map of Pathfinder Landing Site

NASA Technical Reports Server (NTRS)

1997-01-01

Topographic map of the landing site, to a distance of 60 meters from the lander in the LSC coordinate system. The lander is shown schematically in the center; 2.5 meter radius circle (black) centered on the camera was not mapped. Gentle relief [root mean square (rms) elevation variation 0.5 m; rms a directional slope 4O] and organization of topography into northwest and northeast-trending ridges about 20 meters apart are apparent. Roughly 30% of the illustrated area is hidden from the camera behind these ridges. Contours (0.2 m interval) and color coding of elevations were generated from a digital terrain model, which was interpolated by kriging from approximately 700 measured points. Angular and parallax point coordinates were measured manually on a large (5 m length) anaglyphic uncontrolled mosaic and used to calculate Cartesian (LSC) coordinates. Errors in azimuth on the order of 10 are therefore likely; elevation errors were minimized by referencing elevations to the local horizon. The uncertainty in range measurements increases quadratically with range. Given a measurement error of 1/2 pixel, the expected precision in range is 0.3 meter at 10 meter range, and 10 meters at 60 meter range. Repeated measurements were made, compared, and edited for consistency to improve the range precision. Systematic errors undoubtedly remain and will be corrected in future maps compiled digitally from geometrically controlled images. Cartographic processing by U.S. Geological Survey.

NOTE: original caption as published in Science Magazine

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech).

Estimating Distances from Parallaxes. II. Performance of Bayesian Distance Estimators on a Gaia-like Catalogue

NASA Astrophysics Data System (ADS)

Astraatmadja, Tri L.; Bailer-Jones, Coryn A. L.

2016-12-01

Estimating a distance by inverting a parallax is only valid in the absence of noise. As most stars in the Gaia catalog will have non-negligible fractional parallax errors, we must treat distance estimation as a constrained inference problem. Here we investigate the performance of various priors for estimating distances, using a simulated Gaia catalog of one billion stars. We use three minimalist, isotropic priors, as well an anisotropic prior derived from the observability of stars in a Milky Way model. The two priors that assume a uniform distribution of stars—either in distance or in space density—give poor results: The root mean square fractional distance error, {f}{rms}, grows far in excess of 100% once the fractional parallax error, {f}{true}, is larger than 0.1. A prior assuming an exponentially decreasing space density with increasing distance performs well once its single parameter—the scale length— has been set to an appropriate value: {f}{rms} is roughly equal to {f}{true} for {f}{true}\\lt 0.4, yet does not increase further as {f}{true} increases up to to 1.0. The Milky Way prior performs well except toward the Galactic center, due to a mismatch with the (simulated) data. Such mismatches will be inevitable (and remain unknown) in real applications, and can produce large errors. We therefore suggest adopting the simpler exponentially decreasing space density prior, which is also less time-consuming to compute. Including Gaia photometry improves the distance estimation significantly for both the Milky Way and exponentially decreasing space density prior, yet doing so requires additional assumptions about the physical nature of stars.

Linear quadratic Gaussian and feedforward controllers for the DSS-13 antenna

NASA Technical Reports Server (NTRS)

Gawronski, W. K.; Racho, C. S.; Mellstrom, J. A.

1994-01-01

The controller development and the tracking performance evaluation for the DSS-13 antenna are presented. A trajectory preprocessor, linear quadratic Gaussian (LQG) controller, feedforward controller, and their combination were designed, built, analyzed, and tested. The antenna exhibits nonlinear behavior when the input to the antenna and/or the derivative of this input exceeds the imposed limits; for slewing and acquisition commands, these limits are typically violated. A trajectory preprocessor was designed to ensure that the antenna behaves linearly, just to prevent nonlinear limit cycling. The estimator model for the LQG controller was identified from the data obtained from the field test. Based on an LQG balanced representation, a reduced-order LQG controller was obtained. The feedforward controller and the combination of the LQG and feedforward controller were also investigated. The performance of the controllers was evaluated with the tracking errors (due to following a trajectory) and the disturbance errors (due to the disturbances acting on the antenna). The LQG controller has good disturbance rejection properties and satisfactory tracking errors. The feedforward controller has small tracking errors but poor disturbance rejection properties. The combined LQG and feedforward controller exhibits small tracking errors as well as good disturbance rejection properties. However, the cost for this performance is the complexity of the controller.

Skin movement artefact assessment and compensation in the estimation of knee-joint kinematics.

PubMed

Lucchetti, L; Cappozzo, A; Cappello, A; Della Croce, U

1998-11-01

In three dimensional (3-D) human movement analysis using close-range photogrammetry, surface marker clusters deform and rigidly move relative to the underlying bone. This introduces an important artefact (skin movement artefact) which propagates to bone position and orientation and joint kinematics estimates. This occurs to the extent that those joint attitude components that undergo small variations result in totally unreliable values. This paper presents an experimental and analytical procedure, to be included in a subject-specific movement analysis protocol, which allows for the assessment of skin movement artefacts and, based on this knowledge, for their compensation. The effectiveness of this procedure was verified with reference to knee-joint kinematics and to the artefacts caused by the hip movements on markers located on the thigh surface. Quantitative validation was achieved through experimental paradigms whereby prior reliable information on the target joint kinematics was available. When position and orientation of bones were determined during the execution of a motor task, using a least-squares optimal estimator, but the rigid artefactual marker cluster movement was not dealt with, then knee joint translations and rotations were affected by root mean square errors (r.m.s.) up to 14 mm and 6 degrees, respectively. When the rigid artefactual movement was also compensated for, then r.m.s errors were reduced to less than 4 mm and 3 degrees, respectively. In addition, errors originally strongly correlated with hip rotations, after compensation, lost this correlation.

An investigative study of multispectral data compression for remotely-sensed images using vector quantization and difference-mapped shift-coding

NASA Technical Reports Server (NTRS)

Jaggi, S.

1993-01-01

A study is conducted to investigate the effects and advantages of data compression techniques on multispectral imagery data acquired by NASA's airborne scanners at the Stennis Space Center. The first technique used was vector quantization. The vector is defined in the multispectral imagery context as an array of pixels from the same location from each channel. The error obtained in substituting the reconstructed images for the original set is compared for different compression ratios. Also, the eigenvalues of the covariance matrix obtained from the reconstructed data set are compared with the eigenvalues of the original set. The effects of varying the size of the vector codebook on the quality of the compression and on subsequent classification are also presented. The output data from the Vector Quantization algorithm was further compressed by a lossless technique called Difference-mapped Shift-extended Huffman coding. The overall compression for 7 channels of data acquired by the Calibrated Airborne Multispectral Scanner (CAMS), with an RMS error of 15.8 pixels was 195:1 (0.41 bpp) and with an RMS error of 3.6 pixels was 18:1 (.447 bpp). The algorithms were implemented in software and interfaced with the help of dedicated image processing boards to an 80386 PC compatible computer. Modules were developed for the task of image compression and image analysis. Also, supporting software to perform image processing for visual display and interpretation of the compressed/classified images was developed.

Evaluation of the prototype dual-axis wall attitude measurement sensor

NASA Technical Reports Server (NTRS)

Wong, Douglas T.

1994-01-01

A prototype dual-axis electrolytic tilt sensor package for angular position measurements was built and evaluated in a laboratory environment. The objective was to investigate the use of this package for making wind tunnel wall attitude measurements for the National Transonic Facility (NTF) at NASA Langley Research Center (LaRC). The instrumentation may replace an existing, more costly, and less rugged servo accelerometer package (angle-of-attack package) currently in use. The dual-axis electrolytic tilt sensor package contains two commercial electrolytic tilt sensors thermally insulated with NTF foam, all housed within a stainless steel package. The package is actively heated and maintained at 160 F using foil heating elements. The laboratory evaluation consisted of a series of tests to characterize the linearity, repeatability, cross-axis interaction, lead wire effect, step response, thermal time constant, and rectification errors. Tests revealed that the total RMS errors for the x-axis sensor is 0.084 degree, and 0.182 degree for the y-axis sensor. The RMS errors are greater than the 0.01 degree specification required for NTF wall attitude measurements. It is therefore not a viable replacement for the angle-of-attack package in the NTF application. However, with some physical modifications, it can be used as an inexpensive 5-degree range dual-axis inclinometer with overall accuracy approaching 0.01 degree under less harsh environments. Also, the data obtained from the tests can be valuable for wind tunnel applications of most types of electrolytic tilt sensors.

Quantitative evaluation of performance of 3D printed lenses

PubMed Central

Gawedzinski, John; Pawlowski, Michal E.; Tkaczyk, Tomasz S.

2017-01-01

We present an analysis of the shape, surface quality, and imaging capabilities of custom 3D printed lenses. 3D printing technology enables lens prototypes to be fabricated without restrictions on surface geometry. Thus, spherical, aspherical and rotationally non-symmetric lenses can be manufactured in an integrated production process. This technique serves as a noteworthy alternative to multistage, labor-intensive, abrasive processes such as grinding, polishing and diamond turning. Here, we evaluate the quality of lenses fabricated by Luxexcel using patented Printoptical© technology that is based on an inkjet printing technique by comparing them to lenses made with traditional glass processing technologies (grinding, polishing etc.). The surface geometry and roughness of the lenses were evaluated using white-light and Fizeau interferometers. We have compared peak-to-valley wavefront deviation, root-mean-squared wavefront error, radii of curvature and the arithmetic average of the roughness profile (Ra) of plastic and glass lenses. Additionally, the imaging performance of selected pairs of lenses was tested using 1951 USAF resolution target. The results indicate performance of 3D printed optics that could be manufactured with surface roughness comparable to that of injection molded lenses (Ra < 20 nm). The RMS wavefront error of 3D printed prototypes was at a minimum 18.8 times larger than equivalent glass prototypes for a lens with a 12.7 mm clear aperture, but when measured within 63% of its clear aperture, 3D printed components’ RMS wavefront error was comparable to glass lenses. PMID:29238114

Nonconservative force model parameter estimation strategy for TOPEX/Poseidon precision orbit determination

NASA Technical Reports Server (NTRS)

Luthcke, S. B.; Marshall, J. A.

1992-01-01

The TOPEX/Poseidon spacecraft was launched on August 10, 1992 to study the Earth's oceans. To achieve maximum benefit from the altimetric data it is to collect, mission requirements dictate that TOPEX/Poseidon's orbit must be computed at an unprecedented level of accuracy. To reach our pre-launch radial orbit accuracy goals, the mismodeling of the radiative nonconservative forces of solar radiation, Earth albedo an infrared re-radiation, and spacecraft thermal imbalances cannot produce in combination more than a 6 cm rms error over a 10 day period. Similarly, the 10-day drag modeling error cannot exceed 3 cm rms. In order to satisfy these requirements, a 'box-wing' representation of the satellite has been developed in which, the satellite is modelled as the combination of flat plates arranged in the shape of a box and a connected solar array. The radiative/thermal nonconservative forces acting on each of the eight surfaces are computed independently, yielding vector accelerations which are summed to compute the total aggregate effect on the satellite center-of-mass. Select parameters associated with the flat plates are adjusted to obtain a better representation of the satellite acceleration history. This study analyzes the estimation of these parameters from simulated TOPEX/Poseidon laser data in the presence of both nonconservative and gravity model errors. A 'best choice' of estimated parameters is derived and the ability to meet mission requirements with the 'box-wing' model evaluated.

Study on the special vision sensor for detecting position error in robot precise TIG welding of some key part of rocket engine

NASA Astrophysics Data System (ADS)

Zhang, Wenzeng; Chen, Nian; Wang, Bin; Cao, Yipeng

2005-01-01

Rocket engine is a hard-core part of aerospace transportation and thrusting system, whose research and development is very important in national defense, aviation and aerospace. A novel vision sensor is developed, which can be used for error detecting in arc length control and seam tracking in precise pulse TIG welding of the extending part of the rocket engine jet tube. The vision sensor has many advantages, such as imaging with high quality, compactness and multiple functions. The optics design, mechanism design and circuit design of the vision sensor have been described in detail. Utilizing the mirror imaging of Tungsten electrode in the weld pool, a novel method is proposed to detect the arc length and seam tracking error of Tungsten electrode to the center line of joint seam from a single weld image. A calculating model of the method is proposed according to the relation of the Tungsten electrode, weld pool, the mirror of Tungsten electrode in weld pool and joint seam. The new methodologies are given to detect the arc length and seam tracking error. Through analyzing the results of the experiments, a system error modifying method based on a linear function is developed to improve the detecting precise of arc length and seam tracking error. Experimental results show that the final precision of the system reaches 0.1 mm in detecting the arc length and the seam tracking error of Tungsten electrode to the center line of joint seam.

Hand-writing motion tracking with vision-inertial sensor fusion: calibration and error correction.

PubMed

Zhou, Shengli; Fei, Fei; Zhang, Guanglie; Liu, Yunhui; Li, Wen J

2014-08-25

The purpose of this study was to improve the accuracy of real-time ego-motion tracking through inertial sensor and vision sensor fusion. Due to low sampling rates supported by web-based vision sensor and accumulation of errors in inertial sensors, ego-motion tracking with vision sensors is commonly afflicted by slow updating rates, while motion tracking with inertial sensor suffers from rapid deterioration in accuracy with time. This paper starts with a discussion of developed algorithms for calibrating two relative rotations of the system using only one reference image. Next, stochastic noises associated with the inertial sensor are identified using Allan Variance analysis, and modeled according to their characteristics. Finally, the proposed models are incorporated into an extended Kalman filter for inertial sensor and vision sensor fusion. Compared with results from conventional sensor fusion models, we have shown that ego-motion tracking can be greatly enhanced using the proposed error correction model.

Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification.

PubMed

Bagherpoor, H M; Salmasi, Farzad R

2015-07-01

In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Effect of visual distraction and auditory feedback on patient effort during robot-assisted movement training after stroke

PubMed Central

2011-01-01

Background Practicing arm and gait movements with robotic assistance after neurologic injury can help patients improve their movement ability, but patients sometimes reduce their effort during training in response to the assistance. Reduced effort has been hypothesized to diminish clinical outcomes of robotic training. To better understand patient slacking, we studied the role of visual distraction and auditory feedback in modulating patient effort during a common robot-assisted tracking task. Methods Fourteen participants with chronic left hemiparesis from stroke, five control participants with chronic right hemiparesis and fourteen non-impaired healthy control participants, tracked a visual target with their arms while receiving adaptive assistance from a robotic arm exoskeleton. We compared four practice conditions: the baseline tracking task alone; tracking while also performing a visual distracter task; tracking with the visual distracter and sound feedback; and tracking with sound feedback. For the distracter task, symbols were randomly displayed in the corners of the computer screen, and the participants were instructed to click a mouse button when a target symbol appeared. The sound feedback consisted of a repeating beep, with the frequency of repetition made to increase with increasing tracking error. Results Participants with stroke halved their effort and doubled their tracking error when performing the visual distracter task with their left hemiparetic arm. With sound feedback, however, these participants increased their effort and decreased their tracking error close to their baseline levels, while also performing the distracter task successfully. These effects were significantly smaller for the participants who used their non-paretic arm and for the participants without stroke. Conclusions Visual distraction decreased participants effort during a standard robot-assisted movement training task. This effect was greater for the hemiparetic arm, suggesting that the increased demands associated with controlling an affected arm make the motor system more prone to slack when distracted. Providing an alternate sensory channel for feedback, i.e., auditory feedback of tracking error, enabled the participants to simultaneously perform the tracking task and distracter task effectively. Thus, incorporating real-time auditory feedback of performance errors might improve clinical outcomes of robotic therapy systems. PMID:21513561

Assessment of the pseudo-tracking approach for the calculation of material acceleration and pressure fields from time-resolved PIV: part I. Error propagation

NASA Astrophysics Data System (ADS)

van Gent, P. L.; Schrijer, F. F. J.; van Oudheusden, B. W.

2018-04-01

Pseudo-tracking refers to the construction of imaginary particle paths from PIV velocity fields and the subsequent estimation of the particle (material) acceleration. In view of the variety of existing and possible alternative ways to perform the pseudo-tracking method, it is not straightforward to select a suitable combination of numerical procedures for its implementation. To address this situation, this paper extends the theoretical framework for the approach. The developed theory is verified by applying various implementations of pseudo-tracking to a simulated PIV experiment. The findings of the investigations allow us to formulate the following insights and practical recommendations: (1) the velocity errors along the imaginary particle track are primarily a function of velocity measurement errors and spatial velocity gradients; (2) the particle path may best be calculated with second-order accurate numerical procedures while ensuring that the CFL condition is met; (3) least-square fitting of a first-order polynomial is a suitable method to estimate the material acceleration from the track; and (4) a suitable track length may be selected on the basis of the variation in material acceleration with track length.

A method for optical ground station reduce alignment error in satellite-ground quantum experiments

NASA Astrophysics Data System (ADS)

He, Dong; Wang, Qiang; Zhou, Jian-Wei; Song, Zhi-Jun; Zhong, Dai-Jun; Jiang, Yu; Liu, Wan-Sheng; Huang, Yong-Mei

2018-03-01

A satellite dedicated for quantum science experiments, has been developed and successfully launched from Jiuquan, China, on August 16, 2016. Two new optical ground stations (OGSs) were built to cooperate with the satellite to complete satellite-ground quantum experiments. OGS corrected its pointing direction by satellite trajectory error to coarse tracking system and uplink beacon sight, therefore fine tracking CCD and uplink beacon optical axis alignment accuracy was to ensure that beacon could cover the quantum satellite in all time when it passed the OGSs. Unfortunately, when we tested specifications of the OGSs, due to the coarse tracking optical system was commercial telescopes, the change of position of the target in the coarse CCD was up to 600μrad along with the change of elevation angle. In this paper, a method of reduce alignment error between beacon beam and fine tracking CCD is proposed. Firstly, OGS fitted the curve of target positions in coarse CCD along with the change of elevation angle. Secondly, OGS fitted the curve of hexapod secondary mirror positions along with the change of elevation angle. Thirdly, when tracking satellite, the fine tracking error unloaded on the real-time zero point position of coarse CCD which computed by the firstly calibration data. Simultaneously the positions of the hexapod secondary mirror were adjusted by the secondly calibration data. Finally the experiment result is proposed. Results show that the alignment error is less than 50μrad.

Optical figuring specifications for thin shells to be used in adaptive telescope mirrors

NASA Astrophysics Data System (ADS)

Riccardi, A.

2006-06-01

The present work describes the guidelines to define the optical figuring specifications for optical manufacturing of thin shells in terms of figuring error power spectrum (and related rms vs scale distributon) to be used in adaptive optics correctors with force actuators like Deformable Secondary Mirrors (DSM). In particular the numerical example for a thin shell for a VLT DSM is considered.

Human Rhabdomyosarcoma Cell Lines for Rhabdomyosarcoma Research: Utility and Pitfalls

PubMed Central

Hinson, Ashley R. P.; Jones, Rosanne; Crose, Lisa E. S.; Belyea, Brian C.; Barr, Frederic G.; Linardic, Corinne M.

2013-01-01

Rhabdomyosarcoma (RMS) is the most common soft tissue sarcoma of childhood and adolescence. Despite intergroup clinical trials conducted in Europe and North America, outcomes for high risk patients with this disease have not significantly improved in the last several decades, and survival of metastatic or relapsed disease remains extremely poor. Accrual into new clinical trials is slow and difficult, so in vitro cell-line research and in vivo xenograft models present an attractive alternative for preclinical research for this cancer type. Currently, 30 commonly used human RMS cell lines exist, with differing origins, karyotypes, histologies, and methods of validation. Selecting an appropriate cell line for RMS research has important implications for outcomes. There are also potential pitfalls in using certain cell lines including contamination with murine stromal cells, cross-contamination between cell lines, discordance between the cell line and its associated original tumor, imposter cell lines, and nomenclature errors that result in the circulation of two or more presumed unique cell lines that are actually from the same origin. These pitfalls can be avoided by testing for species-specific isoenzymes, microarray analysis, assays for subtype-specific fusion products, and short tandem repeat analysis. PMID:23882450

Month-to-Month and Year-to-Year Reproducibility of High Frequency QRS ECG signals

NASA Technical Reports Server (NTRS)

Batdorf, Niles; Feiveson, Alan H.; Schlegel, Todd T.

2006-01-01

High frequency (HF) electrocardiography analyzing the entire QRS complex in the frequency range of 150 to 250 Hz may prove useful in the detection of coronary artery disease, yet the long-term stability of these waveforms has not been fully characterized. We therefore prospectively investigated the reproducibility of the root mean squared (RMS) voltage, kurtosis, and the presence versus absence of reduced amplitude zones (RAzs) in signal averaged 12-lead HF QRS recordings acquired in the supine position one month apart in 16 subjects and one year apart in 27 subjects. Reproducibility of RMS voltage and kurtosis was excellent over these time intervals in the limb leads, and acceptable in the precordial leads using both the V-lead and CR-lead derivations. The relative error of RMS voltage was 12% month-to-month and 16% year-to-year in the serial recordings when averaged over all 12 leads. RAzs were also reproducible at a rate of up to 87% and 8 1 %, respectively, for the month-to-month and year-to-year recordings. We conclude that 12-lead HF QRS electrocardiograms are sufficiently reproducible for clinical use.

Alignment of the Korsch type off-axis 3 mirror optical system using sensitivity table method

NASA Astrophysics Data System (ADS)

Lee, Kyoungmuk; Kim, Youngsoo; Hong, Jinsuk; Kim, Sug-Whan; Lee, Haeng-Bok; Choi, Se-Chol

2018-05-01

The optical system of the entire mechanical and optical components consist of all silicon carbide (SiC) is designed, manufactured and aligned. The Korsch type Cassegrain optical system has 3-mirrors, the primary mirror (M1), the secondary mirror (M2), the folding mirror (FM) and the tertiary mirror (M3). To assemble the M3 and the FM to the rear side of the M1 bench, the optical axis of the M3 is 65.56 mm off from the physical center. Due to the limitation of the mass budget, the M3 is truncated excluding its optical axis. The M2 was assigned to the coma compensator and the M3 the astigmatism respectively as per the result of the sensitivity analysis. Despite of the difficulty of placing these optical components in their initial position within the mechanical tolerance, the initial wave front error (WFE) performance is as large as 171.4 nm RMS. After the initial alignment, the sensitivity table method is used to reach the goal of WFE 63.3 nm RMS in all fields. We finished the alignment with the final WFE performance in all fields are as large as 55.18 nm RMS.

The Use of Analog Track Angle Error Display for Improving Simulated GPS Approach Performance

DOT National Transportation Integrated Search

1995-08-01

The effect of adding track angle error (TAE) information to general aviation aircraft cockpit displays used for GPS : nonprecision instrument approaches was studied experimentally. Six pilots flew 120 approaches in a Frasca 242 light : twin aircraft ...

Tests of the Tully-Fisher relation. 1: Scatter in infrared magnitude versus 21 cm width

NASA Technical Reports Server (NTRS)

Bernstein, Gary M.; Guhathakurta, Puragra; Raychaudhury, Somak; Giovanelli, Riccardo; Haynes, Martha P.; Herter, Terry; Vogt, Nicole P.

1994-01-01

We examine the precision of the Tully-Fisher relation (TFR) using a sample of galaxies in the Coma region of the sky, and find that it is good to 5% or better in measuring relative distances. Total magnitudes and disk axis ratios are derived from H and I band surface photometry, and Arecibo 21 cm profiles define the rotation speeds of the galaxies. Using 25 galaxies for which the disk inclination and 21 cm width are well defined, we find an rms deviation of 0.10 mag from a linear TFR with dI/d(log W(sub c)) = -5.6. Each galaxy is assumed to be at a distance proportional to its redshift, and an extinction correction of 1.4(1-b/a) mag is applied to the total I magnitude. The measured scatter is less than 0.15 mag using milder extinction laws from the literature. The I band TFR scatter is consistent with measurement error, and the 95% CL limits on the intrinsic scatter are 0-0.10 mag. The rms scatter using H band magnitudes is 0.20 mag (N = 17). The low width galaxies have scatter in H significantly in excess of known measurement error, but the higher width half of the galaxies have scatter consistent with measurement error. The H band TFR slope may be as steep as the I band slope. As the first applications of this tight correlation, we note the following: (1) the data for the particular spirals commonly used to define the TFR distance to the Coma cluster are inconsistent with being at a common distance and are in fact in free Hubble expansion, with an upper limit of 300 km/s on the rms peculiar line-of-sight velocity of these gas-rich spirals; and (2) the gravitational potential in the disks of these galaxies has typical ellipticity less than 5%. The published data for three nearby spiral galaxies with Cepheid distance determinations are inconsistent with our Coma TFR, suggesting that these local calibrators are either ill-measured or peculiar relative to the Coma Supercluster spirals, or that the TFR has a varying form in different locales.

Development of Dimensionless Surge Response Functions for Hazard Assessment at Panama City, Florida

NASA Astrophysics Data System (ADS)

Taylor, N. R.; Irish, J. L.; Hagen, S. C.; Kaihatu, J. M.; McLaughlin, P. W.

2013-12-01

Reliable and robust methods of extreme value analysis in hurricane surge forecasting are of high importance in the coastal engineering profession. The Joint Probability Method (JPM) has become the preferred statistical method over the Historical Surge Population (HSP) method, due to its ability to give more accurate surge predictions, as demonstrated by Irish et. al in 2011 (J. Geophys. Res.). One disadvantage to this method is its high computational cost; a single location can require hundreds of simulated storms, each needing one thousand computational hours or more to complete. One way of overcoming this issue is to use an interpolating function, called a surge response function, to reduce the required number of simulations to a manageable number. These sampling methods, which use physical scaling laws, have been shown to significantly reduce the number of simulated storms needed for application of the JPM method. In 2008, Irish et. al. (J. Phys. Oceanogr.) demonstrated that hurricane surge scales primarily as a function of storm size and intensity. Additionally, Song et. al. in 2012 (Nat. Hazards) has shown that surge response functions incorporating bathymetric variations yield highly accurate surge estimates along the Texas coastline. This study applies the Song. et. al. model to 73 stations along the open coast, and 273 stations within the bays, in Panama City, Florida. The model performs well for the open coast and bay areas; surge levels at most stations along the open coast were predicted with RMS errors below 0.40 meters, and R2 values at or above 0.80. The R2 values for surge response functions within bays were consistently at or above 0.75. Surge levels at most stations within the North Bay and East Bay were predicted with RMS errors below 0.40 meters; within the West Bay, surge was predicted with RMS errors below 0.52 meters. Accurately interpolating surge values along the Panama City coast and bays enables efficient use of the JPM model in order to develop reliable probabilistic surge estimates for use in planning and design for hurricane mitigation.

A test of star formation laws in disk galaxies. II. Dependence on dynamical properties

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

Suwannajak, Chutipong; Tan, Jonathan C.; Leroy, Adam K.

2014-05-20

We use the observed radial profiles of the mass surface densities of total, Σ {sub g}, and molecular, Σ{sub H2}, gas, rotation velocity, and star formation rate (SFR) surface density, Σ{sub sfr}, of the molecular-rich (Σ{sub H2} ≥ Σ{sub HI}/2) regions of 16 nearby disk galaxies to test several star formation (SF) laws: a 'Kennicutt-Schmidt (K-S)' law, Σ{sub sfr}=A{sub g}Σ{sub g,2}{sup 1.5}; a 'Constant Molecular' law, Σ{sub sfr} = A {sub H2}Σ{sub H2,2}; the turbulence-regulated laws of Krumholz and McKee (KM05) and Krumholz, McKee, and Tumlinson (KMT09); a 'Gas-Ω' law, Σ{sub sfr}=B{sub Ω}Σ{sub g}Ω; and a shear-driven 'giant molecular cloudmore » (GMC) Collision' law, Σ{sub sfr} = B {sub CC}Σ {sub g}Ω(1-0.7β), where β ≡ d ln v {sub circ}/d ln r. If allowed one free normalization parameter for each galaxy, these laws predict the SFR with rms errors of factors of 1.4-1.8. If a single normalization parameter is used by each law for the entire galaxy sample, then rms errors range from factors of 1.5-2.1. Although the Constant Molecular law gives the smallest rms errors, the improvement over the KMT, K-S, and GMC Collision laws is not especially significant, particularly given the different observational inputs that the laws utilize and the scope of included physics, which ranges from empirical relations to detailed treatment of interstellar medium processes. We next search for systematic variation of SF law parameters with local and global galactic dynamical properties of disk shear rate (related to β), rotation speed, and presence of a bar. We demonstrate with high significance that higher shear rates enhance SF efficiency per local orbital time. Such a trend is expected if GMC collisions play an important role in SF, while an opposite trend would be expected if the development of disk gravitational instabilities is the controlling physics.« less

A New Neural Network Approach Including First-Guess for Retrieval of Atmospheric Water Vapor, Cloud Liquid Water Path, Surface Temperature and Emissivities Over Land From Satellite Microwave Observations

NASA Technical Reports Server (NTRS)

Aires, F.; Prigent, C.; Rossow, W. B.; Rothstein, M.; Hansen, James E. (Technical Monitor)

2000-01-01

The analysis of microwave observations over land to determine atmospheric and surface parameters is still limited due to the complexity of the inverse problem. Neural network techniques have already proved successful as the basis of efficient retrieval methods for non-linear cases, however, first-guess estimates, which are used in variational methods to avoid problems of solution non-uniqueness or other forms of solution irregularity, have up to now not been used with neural network methods. In this study, a neural network approach is developed that uses a first-guess. Conceptual bridges are established between the neural network and variational methods. The new neural method retrieves the surface skin temperature, the integrated water vapor content, the cloud liquid water path and the microwave surface emissivities between 19 and 85 GHz over land from SSM/I observations. The retrieval, in parallel, of all these quantities improves the results for consistency reasons. A data base to train the neural network is calculated with a radiative transfer model and a a global collection of coincident surface and atmospheric parameters extracted from the National Center for Environmental Prediction reanalysis, from the International Satellite Cloud Climatology Project data and from microwave emissivity atlases previously calculated. The results of the neural network inversion are very encouraging. The r.m.s. error of the surface temperature retrieval over the globe is 1.3 K in clear sky conditions and 1.6 K in cloudy scenes. Water vapor is retrieved with a r.m.s. error of 3.8 kg/sq m in clear conditions and 4.9 kg/sq m in cloudy situations. The r.m.s. error in cloud liquid water path is 0.08 kg/sq m . The surface emissivities are retrieved with an accuracy of better than 0.008 in clear conditions and 0.010 in cloudy conditions. Microwave land surface temperature retrieval presents a very attractive complement to the infrared estimates in cloudy areas: time record of land surface temperature will be produced.

SU-C-207A-05: Feature Based Water Equivalent Path Length (WEPL) Determination for Proton Radiography by the Technique of Time Resolved Dose Measurement

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

Zhang, R; Jee, K; Sharp, G

Purpose: Studies show that WEPL can be determined from modulated dose rate functions (DRF). However, the previous calibration method based on statistics of the DRF is sensitive to energy mixing of protons due to scattering through different materials (termed as range mixing here), causing inaccuracies in the determination of WEPL. This study intends to explore time-domain features of the DRF to reduce the effect of range mixing in proton radiography (pRG) by this technique. Methods: An amorphous silicon flat panel (PaxScan™ 4030CB, Varian Medical Systems, Inc., Palo Alto, CA) was placed behind phantoms to measure DRFs from a proton beammore » modulated by a specially designed modulator wheel. The performance of two methods, the previously used method based on the root mean square (RMS) and the new approach based on time-domain features of the DRF, are compared for retrieving WEPL and RSP from pRG of a Gammex phantom. Results: Calibration by T{sub 80} (the time point for 80% of the major peak) was more robust to range mixing and produced WEPL with improved accuracy. The error of RSP was reduced from 8.2% to 1.7% for lung equivalent material, with the mean error for all other materials reduced from 1.2% to 0.7%. The mean error of the full width at half maximum (FWHM) of retrieved inserts was decreased from 25.85% to 5.89% for the RMS and T{sub 80} method respectively. Monte Carlo simulations in simplified cases also demonstrated that the T{sub 80} method is less sensitive to range mixing than the RMS method. Conclusion: WEPL images have been retrieved based on single flat panel measured DRFs, with inaccuracies reduced by exploiting time-domain features as the calibration parameter. The T{sub 80} method is validated to be less sensitive to range mixing and can thus retrieve the WEPL values in proximity of interfaces with improved numerical and spatial accuracy for proton radiography.« less

Tests of the Tully-Fisher relation. 1: Scatter in infrared magnitude versus 21 CM width

NASA Astrophysics Data System (ADS)

Bernstein, Gary M.; Guhathakurta, Puragra; Raychaudhury, Somak; Giovanelli, Riccardo; Haynes, Martha P.; Herter, Terry; Vogt, Nicole P.

1994-06-01

We examine the precision of the Tully-Fisher relation (TFR) using a sample of galaxies in the Coma region of the sky, and find that it is good to 5% or better in measuring relative distances. Total magnitudes and disk axis ratios are derived from H and I band surface photometry, and Arecibo 21 cm profiles define the rotation speeds of the galaxies. Using 25 galaxies for which the disk inclination and 21 cm width are well defined, we find an rms deviation of 0.10 mag from a linear TFR with dI/d(log Wc) = -5.6. Each galaxy is assumed to be at a distance proportional to its redshift, and an extinction correction of 1.4(1-b/a) mag is applied to the total I magnitude. The measured scatter is less than 0.15 mag using milder extinction laws from the literature. The I band TFR scatter is consistent with measurement error, and the 95% CL limits on the intrinsic scatter are 0-0.10 mag. The rms scatter using H band magnitudes is 0.20 mag (N = 17). The low width galaxies have scatter in H significantly in excess of known measurement error, but the higher width half of the galaxies have scatter consistent with measurement error. The H band TFR slope may be as steep as the I band slope. As the first applications of this tight correlation, we note the following: (1) the data for the particular spirals commonly used to define the TFR distance to the Coma cluster are inconsistent with being at a common distance and are in fact in free Hubble expansion, with an upper limit of 300 km/s on the rms peculiar line-of-sight velocity of these gas-rich spirals; and (2) the gravitational potential in the disks of these galaxies has typical ellipticity less than 5%. The published data for three nearby spiral galaxies with Cepheid distance determinations are inconsistent with our Coma TFR, suggesting that these local calibrators are either ill-measured or peculiar relative to the Coma Supercluster spirals, or that the TFR has a varying form in different locales.

Feasibility of estimating volumetric breast density from mammographic x-ray spectra using a cadmium telluride photon-counting detector.

PubMed

Ghammraoui, Bahaa; Badal, Andreu; Glick, Stephen J

2018-06-03

Mammographic density of glandular breast tissue has a masking effect that can reduce lesion detection accuracy and is also a strong risk factor for breast cancer. Therefore, accurate quantitative estimation of breast density is clinically important. In this study, we investigate experimentally the feasibility of quantifying volumetric breast density with spectral mammography using a CdTe-based photon-counting detector. To demonstrate proof-of-principle, this study was carried out using the single pixel Amptek XR-100T-CdTe detector. The total number of x rays recorded by the detector from a single pencil-beam projection through 50%/50% of adipose/glandular mass fraction-equivalent phantoms was measured. Material decomposition assuming two, four, and eight energy bins was then applied to characterize the inspected phantom into adipose and glandular using log-likelihood estimation, taking into account the polychromatic source, the detector response function, and the energy-dependent attenuation. Measurement tests were carried out for different doses, kVp settings, and different breast sizes. For dose of 1 mGy and above, the percent relative root mean square (RMS) errors of the estimated breast density was measured below 7% for all three phantom studies. It was also observed that some decrease in RMS errors was achieved using eight energy bins. For 3 and 4 cm thick phantoms, performance at 40 and 45 kVp showed similar performance. However, it was observed that 45 kVp showed better performance for a phantom thickness of 6 cm at low dose levels due to increased statistical variation at lower photon count levels with 40 kVp. The results of the current study suggest that photon-counting spectral mammography systems using CdTe detectors have the potential to be used for accurate quantification of volumetric breast density on a pixel-to-pixel basis, with an RMS error of less than 7%. Published 2018. This article is a U.S. Government work and is in the public domain in the USA.

Source process and tectonic implication of the January 20, 2007 Odaesan earthquake, South Korea

NASA Astrophysics Data System (ADS)

Abdel-Fattah, Ali K.; Kim, K. Y.; Fnais, M. S.; Al-Amri, A. M.

2014-04-01

The source process for the 20th of January 2007, Mw 4.5 Odaesan earthquake in South Korea is investigated in the low- and high-frequency bands, using velocity and acceleration waveform data recorded by the Korea Meteorological Administration Seismographic Network at distances less than 70 km from the epicenter. Synthetic Green functions are adopted for the low-frequency band of 0.1-0.3 Hz by using the wave-number integration technique and the one dimensional velocity model beneath the epicentral area. An iterative technique was performed by a grid search across the strike, dip, rake, and focal depth of rupture nucleation parameters to find the best-fit double-couple mechanism. To resolve the nodal plane ambiguity, the spatiotemporal slip distribution on the fault surface was recovered using a non-negative least-square algorithm for each set of the grid-searched parameters. The focal depth of 10 km was determined through the grid search for depths in the range of 6-14 km. The best-fit double-couple mechanism obtained from the finite-source model indicates a vertical strike-slip faulting mechanism. The NW faulting plane gives comparatively smaller root-mean-squares (RMS) error than its auxiliary plane. Slip pattern event provides simple source process due to the effect of Low-frequency that acted as a point source model. Three empirical Green functions are adopted to investigate the source process in the high-frequency band. A set of slip models was recovered on both nodal planes of the focal mechanism with various rupture velocities in the range of 2.0-4.0 km/s. Although there is a small difference between the RMS errors produced by the two orthogonal nodal planes, the SW dipping plane gives a smaller RMS error than its auxiliary plane. The slip distribution is relatively assessable by the oblique pattern recovered around the hypocenter in the high-frequency analysis; indicating a complex rupture scenario for such moderate-sized earthquake, similar to those reported for large earthquakes.

Large aluminium convex mirror for the cryo-optical test of the Planck primary reflector

NASA Astrophysics Data System (ADS)

Gloesener, P.; Flébus, C.; Cola, M.; Roose, S.; Stockman, Y.; de Chambure, D.

2017-11-01

In the frame of the PLANCK mission telescope development, it is requested to measure the reflector changes of the surface figure error (SFE) with respect to the best ellipsoid, between 293 K and 50 K, with 1 μm RMS accuracy. To achieve this, Infra Red interferometry has been selected and a dedicated thermo mechanical set-up has been constructed. In order to realise the test set-up for this reflector, a large aluminium convex mirror with radius of 19500 mm has been manufactured. The mirror has to operate in a cryogenic environment lower than 30 K, and has a contribution to the RMS WFE with less than 1 μm between room temperature and cryogenic temperature. This paper summarises the design, manufacturing and characterisation of this mirror, showing it has fulfilled its requirements.

Recent progress of the research work on frequency and time at the NIM. [China

NASA Technical Reports Server (NTRS)

Bingying, H.

1979-01-01

Chinese activities reported include (1) research and development on the primary cesium beam standard and the high precision crystal oscillator; (2) keeping the atomic time and calibrating frequency standards; (3) determining methods for transferring the standard frequency at the highest precision. The primary beam installation gives an accuracy of 1.2 x 10 to the minus 12 power (1 sigma). Improvements are being made to attain an uncertainity goal of the order of 10 to the minus 13 power. Two experiments conducted are described. One involved standard frequency transfer via TV color subcarrier; the other involved time synchronization via Symphonie satellite. The best results are the random fluctuation of direct measurement data is 1 sigma sub r (RMS) 10 ns, and the absolute error of clock synchronization is 1 sigma sub A (RMS) 30 ns.

Performance evaluation of coherent free space optical communications with a double-stage fast-steering-mirror adaptive optics system depending on the Greenwood frequency.

PubMed

Liu, Wei; Yao, Kainan; Huang, Danian; Lin, Xudong; Wang, Liang; Lv, Yaowen

2016-06-13

The Greenwood frequency (GF) is influential in performance improvement for the coherent free space optical communications (CFSOC) system with a closed-loop adaptive optics (AO) unit. We analyze the impact of tilt and high-order aberrations on the mixing efficiency (ME) and bit-error-rate (BER) under different GF. The root-mean-square value (RMS) of the ME related to the RMS of the tilt aberrations, and the GF is derived to estimate the volatility of the ME. Furthermore, a numerical simulation is applied to verify the theoretical analysis, and an experimental correction system is designed with a double-stage fast-steering-mirror and a 97-element continuous surface deformable mirror. The conclusions of this paper provide a reference for designing the AO system for the CFSOC system.

Measuring large aspherics using a commercially available 3D-coordinate measuring machine

NASA Astrophysics Data System (ADS)

Otto, Wolfgang; Matthes, Axel; Schiehle, Heinz

2000-07-01

A CNC-controlled precision measuring machine is a very powerful tool in the optical shop not only to determine the surface figure, but also to qualify the radius of curvature and conic constant of aspherics. We used a commercially available 3D-coordinate measuring machine (CMM, ZEISS UPMC 850 CARAT S-ACC) to measure the shape of the GEMINI 1-m convex secondary mirrors at different lapping and polishing stages. To determine the measuring accuracy we compared the mechanical measurements with the results achieved by means of an interferometrical test setup. The data obtained in an early stage of polishing were evaluated in Zernike polynomials which show a very good agreement. The deviation concerning long wave rotational symmetrical errors was 20 nm rms, whereas the accuracy measuring of mid spatial frequency deviations was limited to about 100 nm rms.

Real-time 3D internal marker tracking during arc radiotherapy by the use of combined MV kV imaging

NASA Astrophysics Data System (ADS)

Liu, W.; Wiersma, R. D.; Mao, W.; Luxton, G.; Xing, L.

2008-12-01

To minimize the adverse dosimetric effect caused by tumor motion, it is desirable to have real-time knowledge of the tumor position throughout the beam delivery process. A promising technique to realize the real-time image guided scheme in external beam radiation therapy is through the combined use of MV and onboard kV beam imaging. The success of this MV-kV triangulation approach for fixed-gantry radiation therapy has been demonstrated. With the increasing acceptance of modern arc radiotherapy in the clinics, a timely and clinically important question is whether the image guidance strategy can be extended to arc therapy to provide the urgently needed real-time tumor motion information. While conceptually feasible, there are a number of theoretical and practical issues specific to the arc delivery that need to be resolved before clinical implementation. The purpose of this work is to establish a robust procedure of system calibration for combined MV and kV imaging for internal marker tracking during arc delivery and to demonstrate the feasibility and accuracy of the technique. A commercially available LINAC equipped with an onboard kV imager and electronic portal imaging device (EPID) was used for the study. A custom built phantom with multiple ball bearings was used to calibrate the stereoscopic MV-kV imaging system to provide the transformation parameters from imaging pixels to 3D world coordinates. The accuracy of the fiducial tracking system was examined using a 4D motion phantom capable of moving in accordance with a pre-programmed trajectory. Overall, spatial accuracy of MV-kV fiducial tracking during the arc delivery process for normal adult breathing amplitude and period was found to be better than 1 mm. For fast motion, the results depended on the imaging frame rates. The RMS error ranged from ~0.5 mm for the normal adult breathing pattern to ~1.5 mm for more extreme cases with a low imaging frame rate of 3.4 Hz. In general, highly accurate real-time tracking of implanted markers using hybrid MV-kV imaging is achievable and the technique should be useful to improve the beam targeting accuracy of arc therapy.

Real-time 3D internal marker tracking during arc radiotherapy by the use of combined MV-kV imaging.

PubMed

Liu, W; Wiersma, R D; Mao, W; Luxton, G; Xing, L

2008-12-21

To minimize the adverse dosimetric effect caused by tumor motion, it is desirable to have real-time knowledge of the tumor position throughout the beam delivery process. A promising technique to realize the real-time image guided scheme in external beam radiation therapy is through the combined use of MV and onboard kV beam imaging. The success of this MV-kV triangulation approach for fixed-gantry radiation therapy has been demonstrated. With the increasing acceptance of modern arc radiotherapy in the clinics, a timely and clinically important question is whether the image guidance strategy can be extended to arc therapy to provide the urgently needed real-time tumor motion information. While conceptually feasible, there are a number of theoretical and practical issues specific to the arc delivery that need to be resolved before clinical implementation. The purpose of this work is to establish a robust procedure of system calibration for combined MV and kV imaging for internal marker tracking during arc delivery and to demonstrate the feasibility and accuracy of the technique. A commercially available LINAC equipped with an onboard kV imager and electronic portal imaging device (EPID) was used for the study. A custom built phantom with multiple ball bearings was used to calibrate the stereoscopic MV-kV imaging system to provide the transformation parameters from imaging pixels to 3D world coordinates. The accuracy of the fiducial tracking system was examined using a 4D motion phantom capable of moving in accordance with a pre-programmed trajectory. Overall, spatial accuracy of MV-kV fiducial tracking during the arc delivery process for normal adult breathing amplitude and period was found to be better than 1 mm. For fast motion, the results depended on the imaging frame rates. The RMS error ranged from approximately 0.5 mm for the normal adult breathing pattern to approximately 1.5 mm for more extreme cases with a low imaging frame rate of 3.4 Hz. In general, highly accurate real-time tracking of implanted markers using hybrid MV-kV imaging is achievable and the technique should be useful to improve the beam targeting accuracy of arc therapy.

Subnanosecond GPS-based clock synchronization and precision deep-space tracking

NASA Technical Reports Server (NTRS)

Dunn, C. E.; Lichten, S. M.; Jefferson, D. C.; Border, J. S.

1992-01-01

Interferometric spacecraft tracking is accomplished by the Deep Space Network (DSN) by comparing the arrival time of electromagnetic spacecraft signals at ground antennas separated by baselines on the order of 8000 km. Clock synchronization errors within and between DSN stations directly impact the attainable tracking accuracy, with a 0.3-nsec error in clock synchronization resulting in an 11-nrad angular position error. This level of synchronization is currently achieved by observing a quasar which is angularly close to the spacecraft just after the spacecraft observations. By determining the differential arrival times of the random quasar signal at the stations, clock offsets and propagation delays within the atmosphere and within the DSN stations are calibrated. Recent developments in time transfer techniques may allow medium accuracy (50-100 nrad) spacecraft tracking without near-simultaneous quasar-based calibrations. Solutions are presented for a worldwide network of Global Positioning System (GPS) receivers in which the formal errors for DSN clock offset parameters are less than 0.5 nsec. Comparisons of clock rate offsets derived from GPS measurements and from very long baseline interferometry (VLBI), as well as the examination of clock closure, suggest that these formal errors are a realistic measure of GPS-based clock offset precision and accuracy. Incorporating GPS-based clock synchronization measurements into a spacecraft differential ranging system would allow tracking without near-simultaneous quasar observations. The impact on individual spacecraft navigation-error sources due to elimination of quasar-based calibrations is presented. System implementation, including calibration of station electronic delays, is discussed.

Novel prescribed performance neural control of a flexible air-breathing hypersonic vehicle with unknown initial errors.

PubMed

Bu, Xiangwei; Wu, Xiaoyan; Zhu, Fujing; Huang, Jiaqi; Ma, Zhen; Zhang, Rui

2015-11-01

A novel prescribed performance neural controller with unknown initial errors is addressed for the longitudinal dynamic model of a flexible air-breathing hypersonic vehicle (FAHV) subject to parametric uncertainties. Different from traditional prescribed performance control (PPC) requiring that the initial errors have to be known accurately, this paper investigates the tracking control without accurate initial errors via exploiting a new performance function. A combined neural back-stepping and minimal learning parameter (MLP) technology is employed for exploring a prescribed performance controller that provides robust tracking of velocity and altitude reference trajectories. The highlight is that the transient performance of velocity and altitude tracking errors is satisfactory and the computational load of neural approximation is low. Finally, numerical simulation results from a nonlinear FAHV model demonstrate the efficacy of the proposed strategy. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Engineering evaluations and studies. Report for IUS studies

NASA Technical Reports Server (NTRS)

1981-01-01

The reviews, investigations, and analyses of the Inertial Upper Stage (IUS) Spacecraft Tracking and Data Network (STDN) transponder are reviewed. Carrier lock detector performance for Tracking and Data Relay Satellite System (TDRSS) dual-mode operation is discussed, as is the problem of predicting instantaneous frequency error in the carrier loop. Coastal loop performance analysis is critiqued and the static tracking phase error induced by thermal noise biases is discussed.

North Alabama Lightning Mapping Array (LMA): VHF Source Retrieval Algorithm and Error Analyses

NASA Technical Reports Server (NTRS)

Koshak, W. J.; Solakiewicz, R. J.; Blakeslee, R. J.; Goodman, S. J.; Christian, H. J.; Hall, J.; Bailey, J.; Krider, E. P.; Bateman, M. G.; Boccippio, D.

2003-01-01

Two approaches are used to characterize how accurately the North Alabama Lightning Mapping Array (LMA) is able to locate lightning VHF sources in space and in time. The first method uses a Monte Carlo computer simulation to estimate source retrieval errors. The simulation applies a VHF source retrieval algorithm that was recently developed at the NASA Marshall Space Flight Center (MSFC) and that is similar, but not identical to, the standard New Mexico Tech retrieval algorithm. The second method uses a purely theoretical technique (i.e., chi-squared Curvature Matrix Theory) to estimate retrieval errors. Both methods assume that the LMA system has an overall rms timing error of 50 ns, but all other possible errors (e.g., multiple sources per retrieval attempt) are neglected. The detailed spatial distributions of retrieval errors are provided. Given that the two methods are completely independent of one another, it is shown that they provide remarkably similar results. However, for many source locations, the Curvature Matrix Theory produces larger altitude error estimates than the (more realistic) Monte Carlo simulation.

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

Liu Ke; Li Yanqiu; Wang Hai

Characterization of measurement accuracy of the phase-shifting point diffraction interferometer (PS/PDI) is usually performed by two-pinhole null test. In this procedure, the geometrical coma and detector tilt astigmatism systematic errors are almost one or two magnitude higher than the desired accuracy of PS/PDI. These errors must be accurately removed from the null test result to achieve high accuracy. Published calibration methods, which can remove the geometrical coma error successfully, have some limitations in calibrating the astigmatism error. In this paper, we propose a method to simultaneously calibrate the geometrical coma and detector tilt astigmatism errors in PS/PDI null test. Basedmore » on the measurement results obtained from two pinhole pairs in orthogonal directions, the method utilizes the orthogonal and rotational symmetry properties of Zernike polynomials over unit circle to calculate the systematic errors introduced in null test of PS/PDI. The experiment using PS/PDI operated at visible light is performed to verify the method. The results show that the method is effective in isolating the systematic errors of PS/PDI and the measurement accuracy of the calibrated PS/PDI is 0.0088{lambda} rms ({lambda}= 632.8 nm).« less

Evaluation of the accuracy of the CyberKnife Synchrony™ Respiratory Tracking System using a plastic scintillator.

PubMed

Akino, Yuichi; Sumida, Iori; Shiomi, Hiroya; Higashinaka, Naokazu; Murashima, Yoshiichi; Hayashida, Miori; Mabuchi, Nobuhisa; Ogawa, Kazuhiko

2018-06-01

The Synchrony ™ Respiratory Tracking System of the CyberKnife ® Robotic Radiosurgery System (Accuray, Inc., Sunnyvale CA) enables real-time tracking of moving targets such as lung and liver tumors during radiotherapy. Although film measurements have been used for quality assurance of the tracking system, they cannot evaluate the temporal tracking accuracy. We have developed a verification system using a plastic scintillator that can evaluate the temporal accuracy of the CyberKnife Synchrony. A phantom consisting of a U-shaped plastic frame with three fiducial markers was used. The phantom was moved on a plastic scintillator plate. To identify the phantom position on the recording video in darkness, four pieces of fluorescent tape representing the corners of a 10 cm × 10 cm square around an 8 cm × 8 cm window were attached to the phantom. For a stable respiration model, the phantom was moved with the fourth power of a sinusoidal wave with breathing cycles of 4, 3, and 2 s and an amplitude of 1 cm. To simulate irregular breathing, the respiratory cycle was varied with Gaussian random numbers. A virtual target was generated at the center of the fluorescent markers using the MultiPlan ™ treatment planning system. Photon beams were irradiated using a fiducial tracking technique. In a dark room, the fluorescent light of the markers and the scintillation light of the beam position were recorded using a camera. For each video frame, a homography matrix was calculated from the four fluorescent marker positions, and the beam position derived from the scintillation light was corrected. To correct the displacement of the beam position due to oblique irradiation angles and other systematic measurement errors, offset values were derived from measurements with the phantom held stationary. The average SDs of beam position measured without phantom motion were 0.16 mm and 0.20 mm for lateral and longitudinal directions, respectively. For the stable respiration model, the tracking errors (mean ± SD) were 0.40 ± 0.64 mm, -0.07 ± 0.79 mm, and 0.45 ± 1.14 mm for breathing cycles of 4, 3, and 2 s, respectively. The tracking errors showed significant linear correlation with the phantom velocity. The correlation coefficients were 0.897, 0.913, and 0.957 for breathing cycles of 4, 3, and 2 s, respectively. The unstable respiration model also showed linear correlation between tracking errors and phantom velocity. The probability of tracking error incidents increased with decreasing length of the respiratory cycles. Although the tracking error incidents increased with larger variations in respiratory cycle, the effect on the cumulative probability was insignificant. For a respiratory cycle of 4 s, the maximum tracking error was 1.10 mm and 1.43 mm at the probability of 10% and 5%, respectively. Large tracking errors were observed when there was phase shift between the tumor and the LED marker. This technique allows evaluation of the motion tracking accuracy of the Synchrony ™ system over time by measurement of the photon beam. The velocity of the target and phase shift have significant effects on accuracy. This article is protected by copyright. All rights reserved. This article is protected by copyright. All rights reserved.

Random errors of oceanic monthly rainfall derived from SSM/I using probability distribution functions

NASA Technical Reports Server (NTRS)

Chang, Alfred T. C.; Chiu, Long S.; Wilheit, Thomas T.

1993-01-01

Global averages and random errors associated with the monthly oceanic rain rates derived from the Special Sensor Microwave/Imager (SSM/I) data using the technique developed by Wilheit et al. (1991) are computed. Accounting for the beam-filling bias, a global annual average rain rate of 1.26 m is computed. The error estimation scheme is based on the existence of independent (morning and afternoon) estimates of the monthly mean. Calculations show overall random errors of about 50-60 percent for each 5 deg x 5 deg box. The results are insensitive to different sampling strategy (odd and even days of the month). Comparison of the SSM/I estimates with raingage data collected at the Pacific atoll stations showed a low bias of about 8 percent, a correlation of 0.7, and an rms difference of 55 percent.

Super-global distortion correction for a rotational C-arm x-ray image intensifier.

PubMed

Liu, R R; Rudin, S; Bednarek, D R

1999-09-01

Image intensifier (II) distortion changes as a function of C-arm rotation angle because of changes in the orientation of the II with the earth's or other stray magnetic fields. For cone-beam computed tomography (CT), distortion correction for all angles is essential. The new super-global distortion correction consists of a model to continuously correct II distortion not only at each location in the image but for every rotational angle of the C arm. Calibration bead images were acquired with a standard C arm in 9 in. II mode. The super-global (SG) model is obtained from the single-plane global correction of the selected calibration images with given sampling angle interval. The fifth-order single-plane global corrections yielded a residual rms error of 0.20 pixels, while the SG model yielded a rms error of 0.21 pixels, a negligibly small difference. We evaluated the accuracy dependence of the SG model on various factors, such as the single-plane global fitting order, SG order, and angular sampling interval. We found that a good SG model can be obtained using a sixth-order SG polynomial fit based on the fifth-order single-plane global correction, and that a 10 degrees sampling interval was sufficient. Thus, the SG model saves processing resources and storage space. The residual errors from the mechanical errors of the x-ray system were also investigated, and found comparable with the SG residual error. Additionally, a single-plane global correction was done in the cylindrical coordinate system, and physical information about pincushion distortion and S distortion were observed and analyzed; however, this method is not recommended due to a lack of calculational efficiency. In conclusion, the SG model provides an accurate, fast, and simple correction for rotational C-arm images, which may be used for cone-beam CT.

Seamless geoids across coastal zones - a comparison of satellite-derived gravity to airborne gravity across the seven continents

NASA Astrophysics Data System (ADS)

Forsberg, R.; Olesen, A. V.; Barnes, D.; Ingalls, S. E.; Minter, C. F.; Presicci, M. R.

2017-12-01

An accurate coastal geoid model is important for determination of near-shore ocean dynamic topography and currents, as well as for land GPS surveys and global geopotential models. Since many coastal regions across the globe are regions of intense development and coastal protection projects, precise geoid models at cm-level accuracy are essential. The only way to secure cm-geoid accuracies across coastal regions is to acquire more marine gravity data; here airborne gravity is the obvious method of choice due to the uniform accuracy, and the ability to provide a seamless geoid accuracy across the coastline. Current practice for gravity and geoid models, such as EGM2008 and many national projects, is to complement land gravity data with satellite radar altimetry at sea, a procedure which can give large errors in regions close to the coast. To quantify the coastal errors in satellite gravity, we compare results of a large set of recent airborne gravity surveys, acquired across a range of coastal zones globally from polar to equatorial regions, and quantify the errors as a function of distance from the coast line for a number of different global altimetry gravity solutions. We find that accuracy in satellite altimetry solutions depend very much on the availability of gravity data along the coast-near land regions in the underlying reference fields (e.g., EGM2008), with satellite gravity accuracy in the near-shore zone ranging from anywhere between 5 to 20 mGal r.m.s., with occasional large outliers; we also show how these errors may typically propagate into coastal geoid errors of 5-10 cm r.m.s. or more. This highlight the need for airborne (land) gravity surveys to be extended at least 20-30 km offshore, especially for regions of insufficient marine gravity coverage; we give examples of a few such recent surveys and associated marine geoid impacts.

Refraction-compensated motion tracking of unrestrained small animals in positron emission tomography.

PubMed

Kyme, Andre; Meikle, Steven; Baldock, Clive; Fulton, Roger

2012-08-01

Motion-compensated radiotracer imaging of fully conscious rodents represents an important paradigm shift for preclinical investigations. In such studies, if motion tracking is performed through a transparent enclosure containing the awake animal, light refraction at the interface will introduce errors in stereo pose estimation. We have performed a thorough investigation of how this impacts the accuracy of pose estimates and the resulting motion correction, and developed an efficient method to predict and correct for refraction-based error. The refraction model underlying this study was validated using a state-of-the-art motion tracking system. Refraction-based error was shown to be dependent on tracking marker size, working distance, and interface thickness and tilt. Correcting for refraction error improved the spatial resolution and quantitative accuracy of motion-corrected positron emission tomography images. Since the methods are general, they may also be useful in other contexts where data are corrupted by refraction effects. Crown Copyright © 2012. Published by Elsevier B.V. All rights reserved.

Tracking Elevated Pollution Layers with a Newly Developed Hyperspectral Sun/Sky Spectrometer (4STAR): Results from the TCAP 2012 and 2013 Campaigns

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

Segal Rozenhaimer, Michal; Russell, P. B.; Schmid, Beat

2014-03-16

Total columnar amounts of water vapor, nitrogen dioxide (NO2) and ozone (O3) are derived from a newly developed, hyperspectral airborne sun-sky spectrometer (4STAR) for the first time during the two intensive phases of the Two Column Aerosol Project (TCAP) in summer 2012 and winter 2013 aboard the DOE G-1 aircraft. We compare results with coincident measurements. We find 0.045 g/cm2 (4.2%) negative bias and 0.28 g/cm2 (26.3%) root-mean-square (RMS) difference in water vapor layer comparison with in-situ hygrometer, and an overall RMS difference of 1.28 g/m3 (38%) water vapor amount in profile by profile comparisons, with differences distributed evenly aroundmore » zero in most cases. The RMS differences for O3 values average to 3%, with a 1% negative bias for 4STAR compared with the spaceborne Ozone Measuring Instrument (OMI) along the aircraft flight-track for 14 flights during both TCAP phases. Ground-based comparisons with the Pandora spectrometer system at the Goddard Space Flight Center (GSFC), Greenbelt, Maryland showed excellent agreement between the instruments for both O3 and NO2, further emphasizing 4STAR’s new capabilities. During the summer phase, we have succeeded in identifying variations in elevated pollution layers corresponding to urban pollution outflow and transported biomass burning. This was done using clustering analysis of the retrieved products (e.g. Ångstrom exponent, NO2 and columnar water vapor), and was confirmed by aerosol type identification by HSRL2 aboard the NASA B-200 aircraft. These newly demonstrated 4STAR capabilities are expected to be instrumental in improving our understanding of atmospheric composition variability and aerosol-trace-gas interactions; they open new horizons and opportunities in airborne sunphotometry.« less

Dosimetric Implications of Residual Tracking Errors During Robotic SBRT of Liver Metastases

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

Chan, Mark; Tuen Mun Hospital, Hong Kong; Grehn, Melanie

Purpose: Although the metric precision of robotic stereotactic body radiation therapy in the presence of breathing motion is widely known, we investigated the dosimetric implications of breathing phase–related residual tracking errors. Methods and Materials: In 24 patients (28 liver metastases) treated with the CyberKnife, we recorded the residual correlation, prediction, and rotational tracking errors from 90 fractions and binned them into 10 breathing phases. The average breathing phase errors were used to shift and rotate the clinical tumor volume (CTV) and planning target volume (PTV) for each phase to calculate a pseudo 4-dimensional error dose distribution for comparison with themore » original planned dose distribution. Results: The median systematic directional correlation, prediction, and absolute aggregate rotation errors were 0.3 mm (range, 0.1-1.3 mm), 0.01 mm (range, 0.00-0.05 mm), and 1.5° (range, 0.4°-2.7°), respectively. Dosimetrically, 44%, 81%, and 92% of all voxels differed by less than 1%, 3%, and 5% of the planned local dose, respectively. The median coverage reduction for the PTV was 1.1% (range in coverage difference, −7.8% to +0.8%), significantly depending on correlation (P=.026) and rotational (P=.005) error. With a 3-mm PTV margin, the median coverage change for the CTV was 0.0% (range, −1.0% to +5.4%), not significantly depending on any investigated parameter. In 42% of patients, the 3-mm margin did not fully compensate for the residual tracking errors, resulting in a CTV coverage reduction of 0.1% to 1.0%. Conclusions: For liver tumors treated with robotic stereotactic body radiation therapy, a safety margin of 3 mm is not always sufficient to cover all residual tracking errors. Dosimetrically, this translates into only small CTV coverage reductions.« less

Error analysis and algorithm implementation for an improved optical-electric tracking device based on MEMS

NASA Astrophysics Data System (ADS)

Sun, Hong; Wu, Qian-zhong

2013-09-01

In order to improve the precision of optical-electric tracking device, proposing a kind of improved optical-electric tracking device based on MEMS, in allusion to the tracking error of gyroscope senor and the random drift, According to the principles of time series analysis of random sequence, establish AR model of gyro random error based on Kalman filter algorithm, then the output signals of gyro are multiple filtered with Kalman filter. And use ARM as micro controller servo motor is controlled by fuzzy PID full closed loop control algorithm, and add advanced correction and feed-forward links to improve response lag of angle input, Free-forward can make output perfectly follow input. The function of lead compensation link is to shorten the response of input signals, so as to reduce errors. Use the wireless video monitor module and remote monitoring software (Visual Basic 6.0) to monitor servo motor state in real time, the video monitor module gathers video signals, and the wireless video module will sent these signals to upper computer, so that show the motor running state in the window of Visual Basic 6.0. At the same time, take a detailed analysis to the main error source. Through the quantitative analysis of the errors from bandwidth and gyro sensor, it makes the proportion of each error in the whole error more intuitive, consequently, decrease the error of the system. Through the simulation and experiment results shows the system has good following characteristic, and it is very valuable for engineering application.

Improving z-tracking accuracy in the two-photon single-particle tracking microscope.

PubMed

Liu, C; Liu, Y-L; Perillo, E P; Jiang, N; Dunn, A K; Yeh, H-C

2015-10-12

Here, we present a method that can improve the z-tracking accuracy of the recently invented TSUNAMI (Tracking of Single particles Using Nonlinear And Multiplexed Illumination) microscope. This method utilizes a maximum likelihood estimator (MLE) to determine the particle's 3D position that maximizes the likelihood of the observed time-correlated photon count distribution. Our Monte Carlo simulations show that the MLE-based tracking scheme can improve the z-tracking accuracy of TSUNAMI microscope by 1.7 fold. In addition, MLE is also found to reduce the temporal correlation of the z-tracking error. Taking advantage of the smaller and less temporally correlated z-tracking error, we have precisely recovered the hybridization-melting kinetics of a DNA model system from thousands of short single-particle trajectories in silico . Our method can be generally applied to other 3D single-particle tracking techniques.