Numerical simulation of human orientation perception during lunar landing

NASA Astrophysics Data System (ADS)

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

2011-09-01

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

Estimating the position and orientation of a mobile robot with respect to a trajectory using omnidirectional imaging and global appearance.

PubMed

Payá, Luis; Reinoso, Oscar; Jiménez, Luis M; Juliá, Miguel

2017-01-01

Along the past years, mobile robots have proliferated both in domestic and in industrial environments to solve some tasks such as cleaning, assistance, or material transportation. One of their advantages is the ability to operate in wide areas without the necessity of introducing changes into the existing infrastructure. Thanks to the sensors they may be equipped with and their processing systems, mobile robots constitute a versatile alternative to solve a wide range of applications. When designing the control system of a mobile robot so that it carries out a task autonomously in an unknown environment, it is expected to take decisions about its localization in the environment and about the trajectory that it has to follow in order to arrive to the target points. More concisely, the robot has to find a relatively good solution to two crucial problems: building a model of the environment, and estimating the position of the robot within this model. In this work, we propose a framework to solve these problems using only visual information. The mobile robot is equipped with a catadioptric vision sensor that provides omnidirectional images from the environment. First, the robot goes along the trajectories to include in the model and uses the visual information captured to build this model. After that, the robot is able to estimate its position and orientation with respect to the trajectory. Among the possible approaches to solve these problems, global appearance techniques are used in this work. They have emerged recently as a robust and efficient alternative compared to landmark extraction techniques. A global description method based on Radon Transform is used to design mapping and localization algorithms and a set of images captured by a mobile robot in a real environment, under realistic operation conditions, is used to test the performance of these algorithms.

Strategies for the sustained human exploration of Mars

NASA Astrophysics Data System (ADS)

Landau, Damon Frederick

A variety of mission scenarios are compared in this thesis to assess the strengths and weaknesses of options for Mars exploration. The mission design space is modeled along two dimensions: trajectory architectures and propulsion system technologies. Direct, semi-direct, stop-over, semi-cycler, and cycler architectures are examined, and electric propulsion, nuclear thermal rockets, methane and oxygen production on Mars, Mars water excavation, aerocapture, and reusable propulsion systems are included in the technology assessment. The mission sensitivity to crew size, vehicle masses, and crew travel time is also examined. The primary figure of merit for a mission scenario is the injected mass to low-Earth orbit (IMLEO), though technology readiness levels (TRL) are also included. Several elements in the architecture dimension are explored in more detail. The Earth-Mars semi-cycler architecture is introduced and five families of Earth-Mars semi-cycler trajectories are presented along with optimized itineraries. Optimized cycler trajectories are also presented. In addition to Earth-Mars semi-cycler and cycler trajectories, conjunction-class, free-return, Mars-Earth semi-cycler, and low-thrust trajectories are calculated. Design parameters for optimal DeltaV trajectories are provided over a range of flight times (from 120 to 270 days) and launch years (between 2009 and 2022). Unlike impulsive transfers, the mass-optimal low-thrust trajectory depends strongly on the thrust and specific impulse of the propulsion system. A low-thrust version of the rocket equation is provided where the initial mass or thrust may be minimized by varying the initial acceleration and specific impulse. Planet-centered operations are also examined. A method to rotate a parking orbit about the line of apsides to achieve the proper orientation at departure is discussed, thus coupling the effects of parking-orbit orientation with the interplanetary trajectories. Also, a guidance algorithm for rendezvous during flybys in semi-cycler and cycler missions is presented with a control law for final approach. A forty-year plan to establish a permanent base on Mars is detailed and methods to expand the base are discussed. Once a large base is established, one-, two-, or three-vehicle systems may sustain the colonization of Mars.

Model-based Optimization and Feedback Control of the Current Density Profile Evolution in NSTX-U

NASA Astrophysics Data System (ADS)

Ilhan, Zeki Okan

Nuclear fusion research is a highly challenging, multidisciplinary field seeking contributions from both plasma physics and multiple engineering areas. As an application of plasma control engineering, this dissertation mainly explores methods to control the current density profile evolution within the National Spherical Torus eXperiment-Upgrade (NSTX-U), which is a substantial upgrade based on the NSTX device, which is located in Princeton Plasma Physics Laboratory (PPPL), Princeton, NJ. Active control of the toroidal current density profile is among those plasma control milestones that the NSTX-U program must achieve to realize its next-step operational goals, which are characterized by high-performance, long-pulse, MHD-stable plasma operation with neutral beam heating. Therefore, the aim of this work is to develop model-based, feedforward and feedback controllers that can enable time regulation of the current density profile in NSTX-U by actuating the total plasma current, electron density, and the powers of the individual neutral beam injectors. Motivated by the coupled, nonlinear, multivariable, distributed-parameter plasma dynamics, the first step towards control design is the development of a physics-based, control-oriented model for the current profile evolution in NSTX-U in response to non-inductive current drives and heating systems. Numerical simulations of the proposed control-oriented model show qualitative agreement with the high-fidelity physics code TRANSP. The next step is to utilize the proposed control-oriented model to design an open-loop actuator trajectory optimizer. Given a desired operating state, the optimizer produces the actuator trajectories that can steer the plasma to such state. The objective of the feedforward control design is to provide a more systematic approach to advanced scenario planning in NSTX-U since the development of such scenarios is conventionally carried out experimentally by modifying the tokamak's actuator trajectories and analyzing the resulting plasma evolution. Finally, the proposed control-oriented model is embedded in feedback control schemes based on optimal control and Model Predictive Control (MPC) approaches. Integrators are added to the standard Linear Quadratic Gaussian (LQG) and MPC formulations to provide robustness against various modeling uncertainties and external disturbances. The effectiveness of the proposed feedback controllers in regulating the current density profile in NSTX-U is demonstrated in closed-loop nonlinear simulations. Moreover, the optimal feedback control algorithm has been implemented successfully in closed-loop control simulations within TRANSP through the recently developed Expert routine. (Abstract shortened by ProQuest.).

Design of relative trajectories for in orbit proximity operations

NASA Astrophysics Data System (ADS)

Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

2018-04-01

This paper presents an innovative approach to design relative trajectories suitable for close-proximity operations in orbit, by assigning high-level constraints regarding their stability, shape and orientation. Specifically, this work is relevant to space mission scenarios, e.g. formation flying, on-orbit servicing, and active debris removal, which involve either the presence of two spacecraft carrying out coordinated maneuvers, or a servicing/recovery spacecraft (chaser) performing monitoring, rendezvous and docking with respect to another space object (target). In the above-mentioned scenarios, an important aspect is the capability of reducing collision risks and of providing robust and accurate relative navigation solutions. To this aim, the proposed approach exploits a relative motion model relevant to two-satellite formations, and developed in mean orbit parameters, which takes the perturbation effect due to secular Earth oblateness, as well as the motion of the target along a small-eccentricity orbit, into account. This model is used to design trajectories which ensure safe relative motion, to minimize collision risks and relax control requirements, providing at the same time favorable conditions, in terms of target-chaser relative observation geometry for pose determination and relative navigation with passive or active electro-optical sensors on board the chaser. Specifically, three design strategies are proposed in the context of a space target monitoring scenario, considering as design cases both operational spacecraft and debris, characterized by highly variable shape, size and absolute rotational dynamics. The effectiveness of the proposed design approach in providing favorable observation conditions for target-chaser relative pose estimation is demonstrated within a simulation environment which reproduces the designed target-chaser relative trajectory, the operation of an active LIDAR installed on board the chaser, and pose estimation algorithms.

Developmental Trajectories of Achievement Goal Orientations during the Middle School Transition: The Contribution of Emotional and Behavioral Dispositions

ERIC Educational Resources Information Center

Duchesne, Stéphane; Ratelle, Catherine F.; Feng, Bei

2014-01-01

This longitudinal study builds on research addressing changes in achievement goal orientations (AG) across the transition to middle school. We had two objectives. The first was to identify and describe different development trajectories of AG (mastery, performance-approach, and performance-avoidance) from the last year of elementary school (Grade…

Dawn Orbit Determination Team: Modeling and Fitting of Optical Data at Vesta

NASA Technical Reports Server (NTRS)

Kennedy, Brian; Abrahamson, Matt; Ardito, Alessandro; Haw, Robert; Mastrodemos, Nicholas; Nandi, Sumita; Park, Ryan; Rush, Brian; Vaughan, Andrew

2013-01-01

The Dawn spacecraft was launched on September 27th, 2007. Its mission is to consecutively rendezvous with and observe the two largest bodies in the main asteroid belt, Vesta and Ceres. It has already completed over a year's worth of direct observations of Vesta (spanning from early 2011 through late 2012) and is currently on a cruise trajectory to Ceres, where it will begin scientific observations in mid-2015. Achieving this data collection required careful planning and execution from all Dawn operations teams. Dawn's Orbit Determination (OD) team was tasked with reconstruction of the as-flown trajectory as well as determination of the Vesta rotational rate, pole orientation and ephemeris, among other Vesta parameters. Improved knowledge of the Vesta pole orientation, specifically, was needed to target the final maneuvers that inserted Dawn into the first science orbit at Vesta. To solve for these parameters, the OD team used radiometric data from the Deep Space Network (DSN) along with optical data reduced from Dawn's Framing Camera (FC) images. This paper will de-scribe the initial determination of the Vesta ephemeris and pole using a combination of radiometric and optical data, and also the progress the OD team has made since then to further refine the knowledge of Vesta's body frame orientation and rate with these data.

Methodology for the specification of communication activities within the framework of a multi-layered architecture: Toward the definition of a knowledge base

NASA Astrophysics Data System (ADS)

Amyay, Omar

A method defined in terms of synthesis and verification steps is presented. The specification of the services and protocols of communication within a multilayered architecture of the Open Systems Interconnection (OSI) type is an essential issue for the design of computer networks. The aim is to obtain an operational specification of the protocol service couple of a given layer. Planning synthesis and verification steps constitute a specification trajectory. The latter is based on the progressive integration of the 'initial data' constraints and verification of the specification originating from each synthesis step, through validity constraints that characterize an admissible solution. Two types of trajectories are proposed according to the style of the initial specification of the service protocol couple: operational type and service supplier viewpoint; knowledge property oriented type and service viewpoint. Synthesis and verification activities were developed and formalized in terms of labeled transition systems, temporal logic and epistemic logic. The originality of the second specification trajectory and the use of the epistemic logic are shown. An 'artificial intelligence' approach enables a conceptual model to be defined for a knowledge base system for implementing the method proposed. It is structured in three levels of representation of the knowledge relating to the domain, the reasoning characterizing synthesis and verification activities and the planning of the steps of a specification trajectory.

Sensitivity of planetary cruise navigation to earth orientation calibration errors

NASA Technical Reports Server (NTRS)

Estefan, J. A.; Folkner, W. M.

1995-01-01

A detailed analysis was conducted to determine the sensitivity of spacecraft navigation errors to the accuracy and timeliness of Earth orientation calibrations. Analyses based on simulated X-band (8.4-GHz) Doppler and ranging measurements acquired during the interplanetary cruise segment of the Mars Pathfinder heliocentric trajectory were completed for the nominal trajectory design and for an alternative trajectory with a longer transit time. Several error models were developed to characterize the effect of Earth orientation on navigational accuracy based on current and anticipated Deep Space Network calibration strategies. The navigational sensitivity of Mars Pathfinder to calibration errors in Earth orientation was computed for each candidate calibration strategy with the Earth orientation parameters included as estimated parameters in the navigation solution. In these cases, the calibration errors contributed 23 to 58% of the total navigation error budget, depending on the calibration strategy being assessed. Navigation sensitivity calculations were also performed for cases in which Earth orientation calibration errors were not adjusted in the navigation solution. In these cases, Earth orientation calibration errors contributed from 26 to as much as 227% of the total navigation error budget. The final analysis suggests that, not only is the method used to calibrate Earth orientation vitally important for precision navigation of Mars Pathfinder, but perhaps equally important is the method for inclusion of the calibration errors in the navigation solutions.

Multiple-degree-of-freedom vehicle

DOEpatents

Borenstein, Johann

1995-01-01

A multi-degree-of-freedom vehicle employs a compliant linkage to accommodate the need for a variation in the distance between drive wheels or drive systems which are independently steerable and drivable. The subject vehicle is provided with rotary encodes to provide signals representative of the orientation of the steering pivot associated with each such drive wheel or system, and a linear encoder which issues a signal representative of the fluctuations in the distance between the drive elements. The wheels of the vehicle are steered and driven in response to the linear encoder signal, there being provided a controller system for minimizing the fluctuations in the distance. The controller system is a software implementation of a plurality of controllers, operating at the chassis level and at the vehicle level. A trajectory interpolator receives x-displacement, y-displacement, and .theta.-displacement signals and produces to the vehicle level controller trajectory signals corresponding to interpolated control signals. The x-displacement, y-displacement, and .theta.-displacement signals are received from a human operator, via a manipulable joy stick.

Adding rotation to translation: percepts and illusions.

PubMed

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

2014-01-01

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

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

PubMed

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

2017-10-01

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

Stability effects of singularities in force-controlled robotic assist devices

NASA Astrophysics Data System (ADS)

Luecke, Greg R.

2002-02-01

Force feedback is being used as an interface between humans and material handling equipment to provide an intuitive method to control large and bulky payloads. Powered actuation in the lift assist device compensates for the inertial characteristics of the manipulator and the payload to provide effortless control and handling of manufacturing parts, components, and assemblies. The use of these Intelligent Assist Devices (IAD) is being explored to prevent worker injury, enhance material handling performance, and increase productivity in the workplace. The IAD also provides the capability to shape and control motion in the workspace during routine operations. Virtual barriers can be developed to protect fixed objects in the workspace, and regions can be programmed that attract the work piece to a certain position and orientation. However, the robot is still under complete control of the human operator, with the trajectory being determined and commanded using the judgment of the operator to complete a given task. In many cases, the IAD is built in a configuration that may have singular points inside the workspace. These singularities can cause problems when the unstructured trajectory commands from the human cause interaction between the IAD and the virtual walls and fixtures at positions close to these singularities. The research presented here explores the stability effects of the interactions between the powered manipulator and the virtual surfaces when controlled by the operator. Because of the flexible nature of the human decisions determining the real time work piece paths, manipulator singularities that occur in conjunction with the virtual surfaces raise stability issues in the performance around these singularities. We examine these stability issues in the context of a particular IAD configuration, and present analytic results for the performance and stability of these systems in response to the real-time trajectory modification of the human operator.

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

NASA Astrophysics Data System (ADS)

Yi, Seung-Jong

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

Spiral diffusion of rotating self-propellers with stochastic perturbation

NASA Astrophysics Data System (ADS)

Nourhani, Amir; Ebbens, Stephen J.; Gibbs, John G.; Lammert, Paul E.

2016-09-01

Translationally diffusive behavior arising from the combination of orientational diffusion and powered motion at microscopic scales is a known phenomenon, but the peculiarities of the evolution of expected position conditioned on initial position and orientation have been neglected. A theory is given of the spiral motion of the mean trajectory depending upon propulsion speed, angular velocity, orientational diffusion, and rate of random chirality reversal. We demonstrate the experimental accessibility of this effect using both tadpole-like and Janus sphere dimer rotating motors. Sensitivity of the mean trajectory to the kinematic parameters suggest that it may be a useful way to determine those parameters.

Urban Adolescents' Out-of-School Activity Profiles: Associations with Youth, Family, and School Transition Characteristics

ERIC Educational Resources Information Center

Pedersen, Sara

2005-01-01

This study applied individual growth trajectory analyses and person-oriented analysis to identify common profiles of out-of-school activity engagement trajectories among racially and ethnically diverse inner city teens (N = 1,430). On average, teens exhibited declining trajectories of participation in school-based and team sports activities and…

Romantic attraction and adolescent smoking trajectories.

PubMed

Pollard, Michael S; Tucker, Joan S; Green, Harold D; Kennedy, David P; Go, Myong-Hyun

2011-12-01

Research on sexual orientation and substance use has established that lesbian, gay, and bisexual (LGB) individuals are more likely to smoke than heterosexuals. This analysis furthers the examination of smoking behaviors across sexual orientation groups by describing how same- and opposite-sex romantic attraction, and changes in romantic attraction, are associated with distinct six-year developmental trajectories of smoking. The National Longitudinal Study of Adolescent Health dataset is used to test our hypotheses. Multinomial logistic regressions predicting smoking trajectory membership as a function of romantic attraction were separately estimated for men and women. Romantic attraction effects were found only for women. The change from self-reported heterosexual attraction to lesbian or bisexual attraction was more predictive of higher smoking trajectories than was a consistent lesbian or bisexual attraction, with potentially important differences between the smoking patterns of these two groups. Copyright © 2011 Elsevier Ltd. All rights reserved.

The mechanics of gravitaxis in Paramecium.

PubMed

Roberts, A M

2010-12-15

An analysis of swimming patterns in the ciliate Paramecium shows that the ability to swim preferentially upwards (negative gravitaxis) is primarily the result of upwardly curving trajectories. The trajectory characteristics are consistent with those produced by mechanical orientation. Cell profile measurements from microscope images suggest that the characteristic front-rear body asymmetry accounts for the observed orientation rates. Gravikinesis may result from interactions between the propelling cilia and the sedimentary flow around the cell, and it seems unlikely that an internal physiological gravity receptor exists in Paramecium.

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

PubMed

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

2013-01-04

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

Titan Explorer Entry, Descent and Landing Trajectory Design

NASA Technical Reports Server (NTRS)

Fisher, Jody L.; Lindberg, Robert E.; Lockwood, Mary Kae

2006-01-01

The Titan Explorer mission concept includes an orbiter, entry probe and inflatable airship designed to take remote and in-situ measurements of Titan's atmosphere. A modified entry, descent and landing trajectory at Titan that incorporates mid-air airship inflation (under a parachute) and separation is developed and examined for Titan Explorer. The feasibility of mid-air inflation and deployment of an airship under a parachute is determined by implementing and validating an airship buoyancy and inflation model in the trajectory simulation program, Program to Optimize Simulated Trajectories II (POST2). A nominal POST2 trajectory simulation case study is generated which examines different descent scenarios by varying airship inflation duration, orientation, and separation. The buoyancy model incorporation into POST2 is new to the software and may be used in future trajectory simulations. Each case from the nominal POST2 trajectory case study simulates a successful separation between the parachute and airship systems with sufficient velocity change as to alter their paths to avoid collision throughout their descent. The airship and heatshield also separate acceptably with a minimum distance of separation from the parachute system of 1.5 km. This analysis shows the feasibility of airship inflation on a parachute for different orientations, airship separation at various inflation times, and preparation for level-flight at Titan.

Evaluation of bending modulus of lipid bilayers using undulation and orientation analysis

NASA Astrophysics Data System (ADS)

Chaurasia, Adarsh K.; Rukangu, Andrew M.; Philen, Michael K.; Seidel, Gary D.; Freeman, Eric C.

2018-03-01

In the current paper, phospholipid bilayers are modeled using coarse-grained molecular dynamics simulations with the MARTINI force field. The extracted molecular trajectories are analyzed using Fourier analysis of the undulations and orientation vectors to establish the differences between the two approaches for evaluating the bending modulus. The current work evaluates and extends the implementation of the Fourier analysis for molecular trajectories using a weighted horizon-based averaging approach. The effect of numerical parameters in the analysis of these trajectories is explored by conducting parametric studies. Computational modeling results are validated against experimentally characterized bending modulus of lipid membranes using a shape fluctuation analysis. The computational framework is then used to estimate the bending moduli for different types of lipids (phosphocholine, phosphoethanolamine, and phosphoglycerol). This work provides greater insight into the numerical aspects of evaluating the bilayer bending modulus, provides validation for the orientation analysis technique, and explores differences in bending moduli based on differences in the lipid nanostructures.

Spatial orientation perception and reflexive eye movements--a perspective, an overview, and some clinical implications

NASA Technical Reports Server (NTRS)

Guedry, F. E.; Paloski, W. F. (Principal Investigator)

1996-01-01

When head motion includes a linear velocity component, eye velocity required to track an earth-fixed target depends upon: a) angular and linear head velocity, b) target distance, and c) direction of gaze relative to the motion trajectory. Recent research indicates that eye movements (LVOR), presumably otolith-mediated, partially compensate for linear velocity in small head excursions on small devices. Canal-mediated eye velocity (AVOR), otolith-mediated eye velocity (LVOR), and Ocular Torsion (OT) can be measured, one by one, on small devices. However, response dynamics that depend upon the ratio of linear to angular velocity in the motion trajectory and on subject orientation relative to the trajectory are present in a centrifuge paradigm. With this paradigm, two 3-min runs yields measures of: LVOR differentially modulated by different subject orientations in the two runs; OT dynamics in four conditions; two directions of "steady-state" OT, and two directions of AVOR. Efficient assessment of the dynamics (and of the underlying central integrative processes) may require a centrifuge radius of 1.0 meters or more. Clinical assessment of the spatial orientation system should include evaluation of central integrative processes that determine the dynamics of these responses.

Parent-child acculturation profiles as predictors of Chinese American adolescents' academic trajectories.

PubMed

Kim, Su Yeong; Wang, Yijie; Chen, Qi; Shen, Yishan; Hou, Yang

2015-06-01

Acculturation plays a critical role in the adjustment of Asian Americans, as a large proportion of them are immigrants in the US. However, little is known about how acculturation influences Asian American adolescents' academic trajectories over time. Using a longitudinal sample of 444 Chinese American families (54% female children), the current study explored the effect of mothers', fathers', and adolescents' individual acculturation profiles and parent-child acculturation dissonance on adolescents' academic trajectories from 8th to 12th grade. Academic performance was measured by grade point average (GPA), and by standardized test scores in English language arts (ELA) and Math every year. Latent growth modeling analyses showed that adolescents with a Chinese-oriented father showed faster decline in GPA, and Chinese-oriented adolescents had lower initial ELA scores. Adolescents whose parents had American-oriented acculturation profiles tended to have lower initial Math scores. These results suggest that Chinese and American profiles may be disadvantageous for certain aspects of academic performance, and bicultural adolescents and/or adolescents with bicultural parents are best positioned to achieve across multiple domains. In terms of the role of parent-child acculturation dissonance on academic trajectories, the current study highlighted the importance of distinguishing among different types of dissonance. Adolescents who were more Chinese-oriented than their parents tended to have the lowest initial ELA scores, and adolescents experiencing more normative acculturation dissonance (i.e., who were more American-oriented than their parents) had the highest initial ELA scores. No effects of parent-child acculturation dissonance were observed for GPAs or standardized Math scores. Altogether, the current findings add nuances to the current understanding of acculturation and adolescent adjustment.

Parent-Child Acculturation Profiles as Predictors of Chinese American Adolescents’ Academic Trajectories

PubMed Central

Kim, Su Yeong; Wang, Yijie; Chen, Qi; Shen, Yishan; Hou, Yang

2014-01-01

Acculturation plays a critical role in the adjustment of Asian Americans, as a large proportion of them are immigrants in the U.S. However, little is known about how acculturation influences Asian American adolescents’ academic trajectories over time. Using a longitudinal sample of 444 Chinese American families (54% female children), the current study explored the effect of mothers’, fathers’, and adolescents’ individual acculturation profiles and parent-child acculturation dissonance on adolescents’ academic trajectories from 8th to 12th grade. Academic performance was measured by Grade Point Average (GPA), and by standardized test scores in English Language Arts (ELA) and Math every year. Latent growth modeling analyses showed that adolescents with a Chinese-oriented father showed faster decline in GPA, and Chinese-oriented adolescents had lower initial ELA scores. Adolescents whose parents had American-oriented acculturation profiles tended to have lower initial Math scores. These results suggest that Chinese and American profiles may be disadvantageous for certain aspects of academic performance, and bicultural adolescents and/or adolescents with bicultural parents are best positioned to achieve across multiple domains. In terms of the role of parent-child acculturation dissonance on academic trajectories, the current study highlighted the importance of distinguishing among different types of dissonance. Adolescents who were more Chinese-oriented than their parents tended to have the lowest initial ELA scores, and adolescents experiencing more normative acculturation dissonance (i.e., who were more American-oriented than their parents) had the highest initial ELA scores. No effects of parent-child acculturation dissonance were observed for GPAs or standardized Math scores. Altogether, the current findings add nuances to the current understanding of acculturation and adolescent adjustment. PMID:24820295

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

Nakamura, K.; Jacob, K.

Flank eruptions of polygenetic volcanoes are regarded as surface expressions of radial dikes. Therefore, the approximate pattern of radial dikes is revealed by the distribution of sites of flank eruptions. Bending of radial dikes into a preferred orientation reveals the maximum horizontal compressive stress axis. The Aleutian and Alaskan volcanoes are studied using this concept and 28 orientations of the maximum horizontal compressive stress axis are obtained. Combined with the orientation of similar quality obtained from active faults in central Alaska the trajectories of the maximum horizontal stress for the entire area during recent 10,000 to 100,000 years or longermore » is depicted. Along the Aleutian-Alaska volcanic belt, the maximum horizontal compression parallels the direction of relative motion between the North American and Pacific plates. Seven roughly east-westerly orientations are obtained from west Alaskan and Bering Sea volcanoes. In central Alaska, the trajectories spread north-westward in a fan shape with axis of symmetry in a N25/sup 0/W direction passing through the easternmost part of the Aleutian trench. The trajectories continue westward onto the Bering Sea shelf with a generally westerly trend. The overall pattern of orientations of maximum horizontal compressive stresses seems to be explained by the convergent plate motions along. An exception is the high--angle relationship between the maximum horizontal stress orientation in the central Aleutians and the immediate back-arc region, which suggests that in the back-arc region the tectonic stress system has a different origin probably at considerable depth beneath the crust.« less

Motion streaks in fast motion rivalry cause orientation-selective suppression.

PubMed

Apthorp, Deborah; Wenderoth, Peter; Alais, David

2009-05-14

We studied binocular rivalry between orthogonally translating arrays of random Gaussian blobs and measured the strength of rivalry suppression for static oriented probes. Suppression depth was quantified by expressing monocular probe thresholds during dominance relative to thresholds during suppression. Rivalry between two fast motions or two slow motions was compared in order to test the suggestion that fast-moving objects leave oriented "motion streaks" due to temporal integration (W. S. Geisler, 1999). If fast motions do produce motion streaks, then fast motion rivalry might also entail rivalry between the orthogonal streak orientations. We tested this using a static oriented probe that was aligned either parallel to the motion trajectory (hence collinear with the "streaks") or was orthogonal to the trajectory, predicting that rivalry suppression would be greater for parallel probes, and only for rivalry between fast motions. Results confirmed that suppression depth did depend on probe orientation for fast motion but not for slow motion. Further experiments showed that threshold elevations for the oriented probe during suppression exhibited clear orientation tuning. However, orientation-tuned elevations were also present during dominance, suggesting within-channel masking as the basis of the extra-deep suppression. In sum, the presence of orientation-dependent suppression in fast motion rivalry is consistent with the "motion streaks" hypothesis.

Integrated Simulation Design Challenges to Support TPS Repair Operations

NASA Technical Reports Server (NTRS)

Quiocho, Leslie J.; Crues, Edwin Z.; Huynh, An; Nguyen, Hung T.; MacLean, John

2005-01-01

During the Orbiter Repair Maneuver (ORM) operations planned for Return to Flight (RTF), the Shuttle Remote Manipulator System (SRMS) must grapple the International Space Station (ISS), undock the Orbiter, maneuver it through a long duration trajectory, and orient it to an EVA crewman poised at the end of the Space Station Remote Manipulator System (SSRMS) to facilitate the repair of the Thermal Protection System (TPS). Once repair has been completed and confirmed, then the SRMS proceeds back through the trajectory to dock the Orbiter to the Orbiter Docking System. In order to support analysis of the complex dynamic interactions of the integrated system formed by the Orbiter, ISS, SRMS, and SSRMS during the ORM, simulation tools used for previous 'nominal' mission support required substantial enhancements. These upgrades were necessary to provide analysts with the capabilities needed to study integrated system performance. This paper discusses the simulation design challenges encountered while developing simulation capabilities to mirror the ORM operations. The paper also describes the incremental build approach that was utilized, starting with the subsystem simulation elements and integration into increasing more complex simulations until the resulting ORM worksite dynamics simulation had been assembled. Furthermore, the paper presents an overall integrated simulation V&V methodology based upon a subsystem level testing, integrated comparisons, and phased checkout.

Tidal reorientation and the fracturing of Jupiter's moon Europa

NASA Technical Reports Server (NTRS)

Mcewen, A. S.

1986-01-01

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

Differences in gaze anticipation for locomotion with and without vision

PubMed Central

Authié, Colas N.; Hilt, Pauline M.; N'Guyen, Steve; Berthoz, Alain; Bennequin, Daniel

2015-01-01

Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics. We asked 10 participants to walk along two predefined complex trajectories (limaçon and figure eight) without any cue on the trajectory to follow. Two visual conditions were used: (i) in light and (ii) in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements. We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude). The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory. These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition. PMID:26106313

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

Reister, D.B.; Pin, F.G.

This paper addresses the problem of time-optional motions for a mobile platform in a planar environment. The platform has two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories between these configurations assuming an unobstructed environment. Using Pontryagin's maximum principle (PMP), we formally demonstrate that all time optimal motions of the platform for this problem occur for bang-bang controls on the wheels (at each instant, the accelerationmore » on each wheel is either at its upper or lower limit). The PMP, however, only provides necessary conditions for time optimality. To find the time optimal robot trajectories, we first parameterize the bang-bang trajectories using the switch times on the wheels (the times at which the wheel accelerations change sign). With this parameterization, we can fully search the robot trajectory space and find the switch times that will produce particular paths to a desired final configuration of the platform. We show numerically that robot trajectories with three switch times (two on one wheel, one on the other) can reach any position, while trajectories with four switch times can reach any configuration. By numerical comparison with other trajectories involving similar or greater numbers of switch times, we then identify the sets of time-optimal trajectories. These are uniquely defined using ranges of the parameters, and consist of subsets of trajectories with three switch times for the problem when the final orientation of the robot is not specified, and four switch times when a full final configuration is specified. We conclude with a description of the use of the method for trajectory planning for one of our robots.« less

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

Reister, D.B.; Pin, F.G.

This paper addresses the problem of time-optional motions for a mobile platform in a planar environment. The platform has two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories between these configurations assuming an unobstructed environment. Using Pontryagin`s maximum principle (PMP), we formally demonstrate that all time optimal motions of the platform for this problem occur for bang-bang controls on the wheels (at each instant, the accelerationmore » on each wheel is either at its upper or lower limit). The PMP, however, only provides necessary conditions for time optimality. To find the time optimal robot trajectories, we first parameterize the bang-bang trajectories using the switch times on the wheels (the times at which the wheel accelerations change sign). With this parameterization, we can fully search the robot trajectory space and find the switch times that will produce particular paths to a desired final configuration of the platform. We show numerically that robot trajectories with three switch times (two on one wheel, one on the other) can reach any position, while trajectories with four switch times can reach any configuration. By numerical comparison with other trajectories involving similar or greater numbers of switch times, we then identify the sets of time-optimal trajectories. These are uniquely defined using ranges of the parameters, and consist of subsets of trajectories with three switch times for the problem when the final orientation of the robot is not specified, and four switch times when a full final configuration is specified. We conclude with a description of the use of the method for trajectory planning for one of our robots.« less

Helical paths, gravitaxis, and separation phenomena for mass-anisotropic self-propelling colloids: Experiment versus theory

NASA Astrophysics Data System (ADS)

Campbell, Andrew I.; Wittkowski, Raphael; ten Hagen, Borge; Löwen, Hartmut; Ebbens, Stephen J.

2017-08-01

The self-propulsion mechanism of active colloidal particles often generates not only translational but also rotational motion. For particles with an anisotropic mass density under gravity, the motion is usually influenced by a downwards oriented force and an aligning torque. Here we study the trajectories of self-propelled bottom-heavy Janus particles in three spatial dimensions both in experiments and by theory. For a sufficiently large mass anisotropy, the particles typically move along helical trajectories whose axis is oriented either parallel or antiparallel to the direction of gravity (i.e., they show gravitaxis). In contrast, if the mass anisotropy is small and rotational diffusion is dominant, gravitational alignment of the trajectories is not possible. Furthermore, the trajectories depend on the angular self-propulsion velocity of the particles. If this component of the active motion is strong and rotates the direction of translational self-propulsion of the particles, their trajectories have many loops, whereas elongated swimming paths occur if the angular self-propulsion is weak. We show that the observed gravitational alignment mechanism and the dependence of the trajectory shape on the angular self-propulsion can be used to separate active colloidal particles with respect to their mass anisotropy and angular self-propulsion, respectively.

Atlas/Centaur Pioneer G operations summary

NASA Technical Reports Server (NTRS)

1973-01-01

Specifications of the Pioneer G and Atlas/Centaur 30 Launch Vehicle are provided, along with information concerning mission objectives. The Atlas/Centaur engine group will generate a 431,383 lb. thrust for an injection velocity of approximately 32,400 miles per hour using liquid oxygen and RP-1 propellants. In addition to detailed diagrams of equipment aboard the Pioneer G, an account is given of intended investigations of the interplanetary medium beyond the orbit of Mars, the nature of the asteroid belt, and the environmental and atmospheric characteristics of Jupiter. Pertinent data regarding the option of a Saturn-oriented trajectory are also reviewed and evaluated.

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

PubMed

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

2018-02-01

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

Operator-assisted planning and execution of proximity operations subject to operational constraints

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1991-01-01

Future multi-vehicle operations will involve multiple scenarios that will require a planning tool for the rapid, interactive creation of fuel-efficient trajectories. The planning process must deal with higher-order, non-linear processes involving dynamics that are often counter-intuitive. The optimization of resulting trajectories can be difficult to envision. An interaction proximity operations planning system is being developed to provide the operator with easily interpreted visual feedback of trajectories and constraints. This system is hosted on an IRIS 4D graphics platform and utilizes the Clohessy-Wiltshire equations. An inverse dynamics algorithm is used to remove non-linearities while the trajectory maneuvers are decoupled and separated in a geometric spreadsheet. The operator has direct control of the position and time of trajectory waypoints to achieve the desired end conditions. Graphics provide the operator with visualization of satisfying operational constraints such as structural clearance, plume impingement, approach velocity limits, and arrival or departure corridors. Primer vector theory is combined with graphical presentation to improve operator understanding of suggested automated system solutions and to allow the operator to review, edit, or provide corrective action to the trajectory plan.

Characterization of Metering, Merging and Spacing Requirements for Future Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Johnson, Sally

2017-01-01

Trajectory-Based Operations (TBO) is one of the essential paradigm shifts in the NextGen transformation of the National Airspace System. Under TBO, aircraft are managed by 4-dimensional trajectories, and airborne and ground-based metering, merging, and spacing operations are key to managing those trajectories. This paper presents the results of a study of potential metering, merging, and spacing operations within a future TBO environment. A number of operational scenarios for tactical and strategic uses of metering, merging, and spacing are described, and interdependencies between concurrent tactical and strategic operations are identified.

Development of a high-precision selenodetic coordinate system for the physical surface of the Moon based on LED beacons on its surface

NASA Astrophysics Data System (ADS)

Shirenin, A. M.; Mazurova, E. M.; Bagrov, A. V.

2016-11-01

The paper presents a mathematical algorithm for processing an array of angular measurements of light beacons on images of the lunar surface onboard a polar artificial lunar satellite (PALS) during the Luna-Glob mission and coordinate-time referencing of the PALS for the development of reference selenocentric coordinate systems. The algorithm makes it possible to obtain angular positions of point light beacons located on the surface of the Moon in selenocentric celestial coordinates. The operation of measurement systems that determine the position and orientation of the PALS during its active existence have been numerically simulated. Recommendations have been made for the optimal use of different types of measurements, including ground radio trajectory measurements, navigational star sensors based on the onboard star catalog, gyroscopic orientation systems, and space videos of the lunar surface.

The traumatized body: Long-term PTSD and its implications for the orientation towards bodily signals.

PubMed

Tsur, Noga; Defrin, Ruth; Lahav, Yael; Solomon, Zahava

2018-03-01

Orientation to bodily signals is defined as the way somatic sensations are attended, perceived and interpreted. Research suggests that trauma exposure, particularly the pathological reaction to trauma (i.e., PTSD), is associated with catastrophic and frightful orientation to bodily signals. However, little is known regarding the long-term ramifications of trauma exposure and PTSD for orientation to bodily signals. Less is known regarding which PTSD symptom cluster manifests in the 'somatic route' through which orientation to bodily signals is altered. The current study examined the long-term implications of trauma and PTSD trajectories on orientation to bodily signals. Fifty-nine ex-prisoners of war (ex-POWs) and 44 controls were assessed for PTSD along three time-points (18, 30 and 35 years post-war). Orientation to bodily signals (pain catastrophizing and anxiety sensitivity-physical concerns) was assessed at T3. Participants with a chronic PTSD trajectory had higher pain catastrophizing compared to participants with no PTSD. PTSD symptom severity at T2 and T3 mediated the association between captivity and orientation. Among PTSD symptom clusters, hyperarousal at two time-points and intrusion at three time-point mediated the association between captivity and orientation. These findings allude to the cardinal role of long-term PTSD in the subjective experience of the body following trauma. Copyright © 2018 Elsevier B.V. All rights reserved.

Straight Ahead in Microgravity

NASA Technical Reports Server (NTRS)

Wood, S. J.; Vanya, R. D.; Clement, G.

2014-01-01

This joint ESA-NASA study will address adaptive changes in spatial orientation related to the subjective straight ahead, and the use of a vibrotactile sensory aid to reduce perceptual errors. The study will be conducted before and after long-duration expeditions to the International Space Station (ISS) to examine how spatial processing of target location is altered following exposure to microgravity. This project specifically addresses the sensorimotor research gap "What are the changes in sensorimotor function over the course of a mission?" Six ISS crewmembers will be requested to participate in three preflight sessions (between 120 and 60 days prior to launch) and then three postflight sessions on R+0/1 day, R+4 +/-2 days, and R+8 +/-2 days. The three specific aims include: (a) fixation of actual and imagined target locations at different distances; (b) directed eye and arm movements along different spatial reference frames; and (c) the vestibulo-ocular reflex during translation motion with fixation targets at different distances. These measures will be compared between upright and tilted conditions. Measures will then be compared with and without a vibrotactile sensory aid that indicates how far one has tilted relative to the straight-ahead direction. The flight study was been approved by the medical review boards and will be implemented in the upcoming Informed Crew Briefings to solicit flight subject participation. Preliminary data has been recorded on 6 subjects during parabolic flight to examine the spatial coding of eye movements during roll tilt relative to perceived orientations while free-floating during the microgravity phase of parabolic flight or during head tilt in normal gravity. Binocular videographic recordings obtained in darkness allowed us to quantify the mean deviations in gaze trajectories along both horizontal and vertical coordinates relative to the aircraft and head orientations. During some parabolas, a vibrotactile sensory aid provided feedback of body orientation relative to the plane coordinates. RESULTS Both variability and curvature of gaze trajectories increased during roll tilt compared to the upright position. The saccades were less accurate during parabolic flight compared to measurements obtained in normal gravity. Although subjects were instructed to look off in the distance while performing the eye movements, fixation distance varied with vertical gaze direction independent of whether the saccades were made along perceived aircraft or head orientations. The increased errors in gaze trajectories along both perceived orientations during microgravity can be attributed to the otolith's role in spatial coding of eye movements. A change in an individual's egocentric reference might have negative consequences on evaluating the direction of an approaching object or on the accuracy of reaching movements or locomotion. Consequently, investigating how microgravity affects the target location will have theoretical, operational and even clinical implications for future space exploration missions. The use of vibrotactile feedback as a sensorimotor countermeasure is applicable to balance therapy applications for vestibular loss patients and the elderly to mitigate risks due to loss of orientation.

Separating the Air Quality Impact of a Major Highway and Nearby Sources by Nonparametric Trajectory Analysis

EPA Science Inventory

Nonparametric Trajectory Analysis (NTA), a receptor-oriented model, was used to assess the impact of local sources of air pollution at monitoring sites located adjacent to highway I-15 in Las Vegas, NV. Measurements of black carbon, carbon monoxide, nitrogen oxides, and sulfur di...

Instruments and methods acoustic televiewer logging in glacier boreholes

USGS Publications Warehouse

Morin, R.H.; Descamps, G.E.; Cecil, L.D.

2000-01-01

The acoustic televiewer is a geophysical logging instrument that is deployed in a water-filled borehole and operated while trolling. It generates a digital, magnetically oriented image of the borehole wall that is developed from the amplitudes and transit times of acoustic waves emitted from the tool and reflected at the water-wall interface. The transit-time data are also converted to radial distances, from which cross-sectional views of the borehole shape can be constructed. Because the televiewer is equipped with both a three-component magnetometer and a two-component inclinometer, the borehole's trajectory in space is continuously recorded as well. This instrument is routinely used in mining and hydrogeologic applications, but in this investigation it was deployed in two boreholes drilled into Upper Fremont Glacier, Wyoming, U.S.A. The acoustic images recorded in this glacial setting are not as clear as those typically obtained in rocks, due to a lower reflection coefficient for water and ice than for water and rock. Results indicate that the depth and orientation of features intersecting the boreholes can be determined, but that interpreting their physical nature is problematic and requires corroborating information from inspection of cores. Nevertheless, these data can provide some insight into englacial structural characteristics. Additional information derived from the cross-sectional geometry of the borehole, as well as from its trajectory, may also be useful in studies concerned with stress patterns and deformation processes.

Mission Analysis, Operations, and Navigation Toolkit Environment (Monte) Version 040

NASA Technical Reports Server (NTRS)

Sunseri, Richard F.; Wu, Hsi-Cheng; Evans, Scott E.; Evans, James R.; Drain, Theodore R.; Guevara, Michelle M.

2012-01-01

Monte is a software set designed for use in mission design and spacecraft navigation operations. The system can process measurement data, design optimal trajectories and maneuvers, and do orbit determination, all in one application. For the first time, a single software set can be used for mission design and navigation operations. This eliminates problems due to different models and fidelities used in legacy mission design and navigation software. The unique features of Monte 040 include a blowdown thruster model for GRAIL (Gravity Recovery and Interior Laboratory) with associated pressure models, as well as an updated, optimalsearch capability (COSMIC) that facilitated mission design for ARTEMIS. Existing legacy software lacked the capabilities necessary for these two missions. There is also a mean orbital element propagator and an osculating to mean element converter that allows long-term orbital stability analysis for the first time in compiled code. The optimized trajectory search tool COSMIC allows users to place constraints and controls on their searches without any restrictions. Constraints may be user-defined and depend on trajectory information either forward or backwards in time. In addition, a long-term orbit stability analysis tool (morbiter) existed previously as a set of scripts on top of Monte. Monte is becoming the primary tool for navigation operations, a core competency at JPL. The mission design capabilities in Monte are becoming mature enough for use in project proposals as well as post-phase A mission design. Monte has three distinct advantages over existing software. First, it is being developed in a modern paradigm: object- oriented C++ and Python. Second, the software has been developed as a toolkit, which allows users to customize their own applications and allows the development team to implement requirements quickly, efficiently, and with minimal bugs. Finally, the software is managed in accordance with the CMMI (Capability Maturity Model Integration), where it has been ap praised at maturity level 3.

Trip-oriented travel time prediction (TOTTP) with historical vehicle trajectories

NASA Astrophysics Data System (ADS)

Xu, Tao; Li, Xiang; Claramunt, Christophe

2018-06-01

Accurate travel time prediction is undoubtedly of importance to both traffic managers and travelers. In highly-urbanized areas, trip-oriented travel time prediction (TOTTP) is valuable to travelers rather than traffic managers as the former usually expect to know the travel time of a trip which may cross over multiple road sections. There are two obstacles to the development of TOTTP, including traffic complexity and traffic data coverage.With large scale historical vehicle trajectory data and meteorology data, this research develops a BPNN-based approach through integrating multiple factors affecting trip travel time into a BPNN model to predict trip-oriented travel time for OD pairs in urban network. Results of experiments demonstrate that it helps discover the dominate trends of travel time changes daily and weekly, and the impact of weather conditions is non-trivial.

Oceanic Flights and Airspace: Improving Efficiency by Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Fernandes, Alicia Borgman; Rebollo, Juan; Koch, Michael

2016-01-01

Oceanic operations suffer from multiple inefficiencies, including pre-departure planning that does not adequately consider uncertainty in the proposed trajectory, restrictions on the routes that a flight operator can choose for an oceanic crossing, time-consuming processes and procedures for amending en route trajectories, and difficulties exchanging data between Flight Information Regions (FIRs). These inefficiencies cause aircraft to fly suboptimal trajectories, burning fuel and time that could be conserved. A concept to support integration of existing and emerging capabilities and concepts is needed to transition to an airspace system that employs Trajectory Based Operations (TBO) to improve efficiency and safety in oceanic operations. This paper describes such a concept and the results of preliminary activities to evaluate the concept, including a stakeholder feedback activity, user needs analysis, and high level benefits analysis.

Effect of Olfactory Stimulus on the Flight Course of a Honeybee, Apis mellifera, in a Wind Tunnel.

PubMed

Ikeno, Hidetoshi; Akamatsu, Tadaaki; Hasegawa, Yuji; Ai, Hiroyuki

2013-12-31

It is known that the honeybee, Apis mellifera, uses olfactory stimulus as important information for orienting to food sources. Several studies on olfactory-induced orientation flight have been conducted in wind tunnels and in the field. From these studies, optical sensing is used as the main information with the addition of olfactory signals and the navigational course followed by these sensory information. However, it is not clear how olfactory information is reflected in the navigation of flight. In this study, we analyzed the detailed properties of flight when oriented to an odor source in a wind tunnel. We recorded flying bees with a video camera to analyze the flight area, speed, angular velocity and trajectory. After bees were trained to be attracted to a feeder, the flight trajectories with or without the olfactory stimulus located upwind of the feeder were compared. The results showed that honeybees flew back and forth in the proximity of the odor source, and the search range corresponded approximately to the odor spread area. It was also shown that the angular velocity was different inside and outside the odor spread area, and trajectories tended to be bent or curved just outside the area.

Trajectories towards Failure: Considerations Regarding Post-16 Transitions within the UK Sport-Education Sector

ERIC Educational Resources Information Center

Aldous, David; Sparkes, Andrew C.; Brown, David H. K.

2016-01-01

This paper offers insights into the increasing dichotomy that exists between official forms of opportunity and access and the actual "lived experience" of young peoples' trajectories towards careers in the UK's market-orientated Sport-Fitness and Physical Education employment sectors. It does so by drawing on data generated by an…

Trajectories of Educational Expectations from Adolescence to Young Adulthood in Finland

ERIC Educational Resources Information Center

Tynkkynen, Lotta; Tolvanen, Asko; Salmela-Aro, Katariina

2012-01-01

The purpose of this person-oriented, 5-wave longitudinal study was to examine the trajectories of educational expectations from adolescence to young adulthood in the context of the expectancy-value theory (Eccles et al., 1983). Altogether, 853 (48% female; M age = 16 years) Finnish adolescents reported their educational expectation, 1st in the…

Initial Concept of Operations for Full Management by Trajectory

NASA Technical Reports Server (NTRS)

Fernandes, Alicia D.; Atkins, Steve; Leiden, Ken; Kaler, Curt; Evans, Mark; Bell, Alan; Kilbourne, Todd; Jackson, Michael

2017-01-01

This document describes Management by Trajectory (MBT), a concept for future air traffic management (ATM) in which flights are assigned four-dimensional trajectories (4DTs) through a negotiation process between the Federal Aviation Administration (FAA) and flight operators that respects the flight operator's goals while complying with National Airspace System (NAS) constraints.

An Efficient Universal Trajectory Language

NASA Technical Reports Server (NTRS)

Hagen, George E.; Guerreiro, Nelson M.; Maddalon, Jeffrey M.; Butler, Ricky W.

2017-01-01

The Efficient Universal Trajectory Language (EUTL) is a language for specifying and representing trajectories for Air Traffic Management (ATM) concepts such as Trajectory-Based Operations (TBO). In these concepts, the communication of a trajectory between an aircraft and ground automation is fundamental. Historically, this trajectory exchange has not been done, leading to trajectory definitions that have been centered around particular application domains and, therefore, are not well suited for TBO applications. The EUTL trajectory language has been defined in the Prototype Verification System (PVS) formal specification language, which provides an operational semantics for the EUTL language. The hope is that EUTL will provide a foundation for mathematically verified algorithms that manipulate trajectories. Additionally, the EUTL language provides well-defined methods to unambiguously determine position and velocity information between the reported trajectory points. In this paper, we present the EUTL trajectory language in mathematical detail.

Interactive orbital proximity operations planning system

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1989-01-01

An interactive, graphical proximity operations planning system was developed which allows on-site design of efficient, complex, multiburn maneuvers in the dynamic multispacecraft environment about the space station. Maneuvering takes place in, as well as out of, the orbital plane. The difficulty in planning such missions results from the unusual and counterintuitive character of relative orbital motion trajectories and complex operational constraints, which are both time varying and highly dependent on the mission scenario. This difficulty is greatly overcome by visualizing the relative trajectories and the relative constraints in an easily interpretable, graphical format, which provides the operator with immediate feedback on design actions. The display shows a perspective bird's-eye view of the space station and co-orbiting spacecraft on the background of the station's orbital plane. The operator has control over two modes of operation: (1) a viewing system mode, which enables him or her to explore the spatial situation about the space station and thus choose and frame in on areas of interest; and (2) a trajectory design mode, which allows the interactive editing of a series of way-points and maneuvering burns to obtain a trajectory which complies with all operational constraints. Through a graphical interactive process, the operator will continue to modify the trajectory design until all operational constraints are met. The effectiveness of this display format in complex trajectory design is presently being evaluated in an ongoing experimental program.

Trajectories of Attentional Development: An Exploration with the Master Activation Map Model

ERIC Educational Resources Information Center

Michael, George A.; Lete, Bernard; Ducrot, Stephanie

2013-01-01

The developmental trajectories of several attention components, such as orienting, inhibition, and the guidance of selection by relevance (i.e., advance knowledge relevant to the task) were investigated in 498 participants (ages 7, 8, 9, 10, 11, and 20). The paradigm was based on Michael et al.'s (2006) master activation map model and consisted of…

Distributed Traffic Complexity Management by Preserving Trajectory Flexibility

NASA Technical Reports Server (NTRS)

Idris, Husni; Vivona, Robert A.; Garcia-Chico, Jose-Luis; Wing, David J.

2007-01-01

In order to handle the expected increase in air traffic volume, the next generation air transportation system is moving towards a distributed control architecture, in which groundbased service providers such as controllers and traffic managers and air-based users such as pilots share responsibility for aircraft trajectory generation and management. This paper presents preliminary research investigating a distributed trajectory-oriented approach to manage traffic complexity, based on preserving trajectory flexibility. The underlying hypotheses are that preserving trajectory flexibility autonomously by aircraft naturally achieves the aggregate objective of avoiding excessive traffic complexity, and that trajectory flexibility is increased by collaboratively minimizing trajectory constraints without jeopardizing the intended air traffic management objectives. This paper presents an analytical framework in which flexibility is defined in terms of robustness and adaptability to disturbances and preliminary metrics are proposed that can be used to preserve trajectory flexibility. The hypothesized impacts are illustrated through analyzing a trajectory solution space in a simple scenario with only speed as a degree of freedom, and in constraint situations involving meeting multiple times of arrival and resolving conflicts.

High Altitude Venus Operations Concept Trajectory Design, Modeling and Simulation

NASA Technical Reports Server (NTRS)

Lugo, Rafael A.; Ozoroski, Thomas A.; Van Norman, John W.; Arney, Dale C.; Dec, John A.; Jones, Christopher A.; Zumwalt, Carlie H.

2015-01-01

A trajectory design and analysis that describes aerocapture, entry, descent, and inflation of manned and unmanned High Altitude Venus Operation Concept (HAVOC) lighter-than-air missions is presented. Mission motivation, concept of operations, and notional entry vehicle designs are presented. The initial trajectory design space is analyzed and discussed before investigating specific trajectories that are deemed representative of a feasible Venus mission. Under the project assumptions, while the high-mass crewed mission will require further research into aerodynamic decelerator technology, it was determined that the unmanned robotic mission is feasible using current technology.

Patterns and Trajectories in Williams Syndrome: The Case of Visual Orientation Discrimination

ERIC Educational Resources Information Center

Palomares, Melanie; Englund, Julia A.; Ahlers, Stephanie

2011-01-01

Williams Syndrome (WS) is a developmental disorder typified by deficits in visuospatial cognition. To understand the nature of this deficit, we characterized how people with WS perceive visual orientation, a fundamental ability related to object identification. We compared WS participants to typically developing children (3-6 years of age) and…

Influence of the interplanetary magnetic field orientation on polar cap ion trajectories - Energy gain and drift effects

NASA Technical Reports Server (NTRS)

Delcourt, D. C.; Horwitz, J. L.; Swinney, K. R.

1988-01-01

The influence of the interplanetary magnetic field (IMF) orientation on the transport of low-energy ions injected from the ionosphere is investigated using three-dimensional particle codes. It is shown that, unlike the auroral zone outflow, the ions originating from the polar cap region exhibit drastically different drift paths during southward and northward IMF. During southward IMF orientation, a 'two-cell' convection pattern prevails in the ionosphere, and three-dimensional simulations of ion trajectories indicate a preferential trapping of the light ions H(+) in the central plasma sheet, due to the wide azimuthal dispersion of the heavy ions, O(+). In contrast, for northward IMF orientation, the 'four-cell' potential distribution predicted in the ionosphere imposes a temporary ion drift toward higher L shells in the central polar cap. In this case, while the light ions can escape into the magnetotail, the heavy ions can remain trapped, featuring more intense acceleration (from a few electron volts up to the keV range) followed by precipitation at high invariant latitudes, as a consequence of their further travel into the tail.

Application of Modern Fortran to Spacecraft Trajectory Design and Optimization

NASA Technical Reports Server (NTRS)

Williams, Jacob; Falck, Robert D.; Beekman, Izaak B.

2018-01-01

In this paper, applications of the modern Fortran programming language to the field of spacecraft trajectory optimization and design are examined. Modern object-oriented Fortran has many advantages for scientific programming, although many legacy Fortran aerospace codes have not been upgraded to use the newer standards (or have been rewritten in other languages perceived to be more modern). NASA's Copernicus spacecraft trajectory optimization program, originally a combination of Fortran 77 and Fortran 95, has attempted to keep up with modern standards and makes significant use of the new language features. Various algorithms and methods are presented from trajectory tools such as Copernicus, as well as modern Fortran open source libraries and other projects.

Practical-oriented teaching of gifted youth in the field of natural sciences

NASA Astrophysics Data System (ADS)

Khalikova, F. D.; Gilmanshina, S. I.

2017-09-01

In the article it is presenteds the author’s concept of practice-oriented teaching of gifted adolescents to natural-science subjects on the example of chemistry. The main provisions of the concept are substantiated, on the basis of which individual educational trajectories have been developed. The essence of practice-oriented learning is revealed. Particular emphasis is placed on the formation of practical experience in applying theoretical knowledge to solve specific problems.

Direct dynamics trajectory study of the reaction of formaldehyde cation with D2: vibrational and zero-point energy effects on quasiclassical trajectories.

PubMed

Liu, Jianbo; Song, Kihyung; Hase, William L; Anderson, Scott L

2005-12-22

Quasiclassical, direct dynamics trajectories have been used to study the reaction of formaldehyde cation with molecular hydrogen, simulating the conditions in an experimental study of H2CO+ vibrational effects on this reaction. Effects of five different H2CO+ modes were probed, and we also examined different approaches to treating zero-point energy in quasiclassical trajectories. The calculated absolute cross-sections are in excellent agreement with experiments, and the results provide insight into the reaction mechanism, product scattering behavior, and energy disposal, and how they vary with impact parameter and reactant state. The reaction is sharply orientation-dependent, even at high collision energies, and both trajectories and experiment find that H2CO+ vibration inhibits reaction. On the other hand, the trajectories do not reproduce the anomalously strong effect of nu2(+) (the CO stretch). The origin of the discrepancy and approaches for minimizing such problems in quasiclassical trajectories are discussed.

Generation de chemins de couverture pour des operations automatisees de controle non destructif appliquees dans l'industrie aerospatiale

NASA Astrophysics Data System (ADS)

Olivieri, Pierre

Non destructive testing (NDT) plays an important role in the aerospace industry during the fabrication and maintenance of the structures built and is used, among other useful applications, to detect flaws such as cracks at an early stage. However, NDT techniques are still mainly done manually, especially on complex aeronautical structures, which then results in several drawbacks. In addition to be difficult and time-consuming, reliability and repeatability of inspection results are likely to be affected, since they rely on each operator's experience and dexterity. The present thesis is part of a larger project (MANU-418) of the Consortium for Research and Innovation in Aerospace in Quebec (CRIAQ). In this project, it has been proposed to develop a system using a 6-DOF manipulator arm to automate three particular NDT techniques often needed in the aerospace industry: eddy current testing (ECT), fluorescent penetrant inspection (FPI), and infrared thermography (IRT). The main objective of the MANU-418 project is to demonstrate the efficiency of the developed system and provide inspection results of surface and near surface flaws (cracks usually) at least as reliably and repeatably as inspection results from a human operator. One specific objective stemming from the main objective of the project is to develop a methodology and a software tool to generate covering paths adapted for the three aforementioned NDT techniques to inspect the complex surfaces of aerospace structures. The present thesis aims at reaching this specific objective. At first, geometrical and topological properties of the surfaces considered in this project are defined (flat surfaces, round and straight edges, cylindrical or near cylindrical surfaces, holes). It is also assumed that the 3D model of the surface to inspect is known in advance. Moreover, it has been decided within the framework of the MANU-418 project to give priority to the automation of ECT compared with the other techniques (FPI and IRT). As a result, the methodology developed to generate inspection paths is more closely focused on path constraints relative to the manual operations of ECT using a differential eddy current probe (named here EC probe), but it is developed to be flexible enough to be used with the other techniques as well. Common inspection paths for ECT are usually defined by a sweeping motion using a zigzag pattern with the EC probe in mild contact with the inspected surface. Moreover, the main axis of the probe must keep a normal orientation with the surface, and the alignment of its two coils must always be oriented along the direction of its motion. A first methodology is then proposed to generate covering paths on the whole surface of interest while meeting all EC probe motion constraints. First, the surface is meshed with triangular facets, and then it is subdivided into several patches such that their geometry and topology are simpler than the whole surface. Paths are then generated on each patch by intersecting their facets with offset section planes defined along a sweeping direction. Furthermore, another methodology is developed to generate paths around an indication (namely a small area where the presence of a flaw is suspected) whose position and orientation are assumed to be known a priori.. Then, a software tool with a graphical user interface has been developed in the MATLAB environment to generate inspection paths based on these methodologies. A set of path parameters can be changed by the user to get desired paths (distance between passes, sweep direction, etc.). Once paths are computed, an ordered list of coordinates (positions and orientations) of the tool is exported in an EXCEL spreadsheet so that it could be used with a real robot. In this research, these data are then used to perform simulations of trajectories (path described as a function of the time) with a MotoMan robot (model SV3XL) using the MotoSim software. After validation of these trajectories in this software (absence of collisions, positions are all reachable, etc.), they are finally converted into instructions for the real MotoMan robot to proceed with experimental tests. These first simulations and experimentations on a MotoMan robot of the generated paths have given results close to the expected inspection trajectories used manually in the NDT techniques considered, especially for the ECT technique. Nevertheless, it is strongly recommended to validate this path generation method with more experimental tests. For instance, a "test" tool could be manufactured to measure errors of position and orientation of this tool with respect to expected trajectories on a typical complex aeronautical structure. (Abstract shortened by UMI.).

Challenges in Achieving Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Cate, Karen Tung

2012-01-01

In the past few years much of the global ATM research community has proposed advanced systems based on Trajectory-Based Operations (TBO). The concept of TBO uses four-dimensional aircraft trajectories as the base information for managing safety and capacity. Both the US and European advanced ATM programs call for the sharing of trajectory data across different decision support tools for successful operations. However, the actual integration of TBO systems presents many challenges. Trajectory predictors are built to meet the specific needs of a particular system and are not always compatible with others. Two case studies are presented which examine the challenges of introducing a new concept into two legacy systems in regards to their trajectory prediction software. The first case describes the issues with integrating a new decision support tool with a legacy operational system which overlap in domain space. These tools perform similar functions but are driven by different requirements. The difference in the resulting trajectories can lead to conflicting advisories. The second case looks at integrating this same new tool with a legacy system originally developed as an integrated system, but diverged many years ago. Both cases illustrate how the lack of common architecture concepts for the trajectory predictors added cost and complexity to the integration efforts.

Marbles for the Imagination

NASA Technical Reports Server (NTRS)

Shue, Jack

2004-01-01

The end-to-end test would verify the complex sequence of events from lander separation to landing. Due to the large distances involved and the significant delay time in sending a command and receiving verification, the lander needed to operate autonomously after it separated from the orbiter. It had to sense conditions, make decisions, and act accordingly. We were flying into a relatively unknown set of conditions-a Martian atmosphere of unknown pressure, density, and consistency to land on a surface of unknown altitude, and one which had an unknown bearing strength. In order to touch down safely on Mars the lander had to orient itself for descent and entry, modulate itself to maintain proper lift, pop a parachute, jettison its aeroshell, deploy landing legs and radar, ignite a terminal descent engine, and fly a given trajectory to the surface. Once on the surface, it would determine its orientation, raise the high-gain antenna, perform a sweep to locate Earth, and begin transmitting information. It was this complicated, autonomous sequence that the end-to-end test was to simulate.

A Boilerplate Capsule Test Technique for the Orion Parachute Test Program

NASA Technical Reports Server (NTRS)

Moore, James W.; Fraire, Usbaldo, Jr.

2013-01-01

The test program developing parachutes for the Orion/MPCV includes drop tests of a Parachute Test Vehicle designed to emulate the wake of the Orion capsule. Delivery of this test vehicle to the initial velocity, altitude, and orientation required for the test is a difficult problem involving multiple engineering disciplines. The available delivery of aircraft options imposed constraints on the test vehicle development and concept of operations. This paper describes the development of this test technique. The engineering challenges include the extraction from an aircraft and separation of two aerodynamically unstable vehicles, one of which will be delivered to a specific orientation with reasonably small rates. The desired attitude is achieved by precisely targeting the separation point using on-board monitoring of the motion. The design of the test vehicle is described. The trajectory simulations and other analyses used to develop this technique and predict the behavior of the test article are reviewed in detail. The application of the technique on several successful drop tests is summarized.

Analysis of multi lobe journal bearings with surface roughness using finite difference method

NASA Astrophysics Data System (ADS)

PhaniRaja Kumar, K.; Bhaskar, SUdaya; Manzoor Hussain, M.

2018-04-01

Multi lobe journal bearings are used for high operating speeds and high loads in machines. In this paper symmetrical multi lobe journal bearings are analyzed to find out the effect of surface roughnessduring non linear loading. Using the fourth order RungeKutta method, time transient analysis was performed to calculate and plot the journal centre trajectories. Flow factor method is used to evaluate the roughness and the finite difference method (FDM) is used to predict the pressure distribution over the bearing surface. The Transient analysis is done on the multi lobe journal bearings for threedifferent surface roughness orientations. Longitudinal surface roughness is more effective when compared with isotopic and traverse surface roughness.

System-Oriented Runway Management Concept of Operations

NASA Technical Reports Server (NTRS)

Lohr, Gary W.; Atkins, Stephen

2015-01-01

This document describes a concept for runway management that maximizes the overall efficiency of arrival and departure operations at an airport or group of airports. Specifically, by planning airport runway configurations/usage, it focuses on the efficiency with which arrival flights reach their parking gates from their arrival fixes and departure flights exit the terminal airspace from their parking gates. In the future, the concept could be expanded to include the management of other limited airport resources. While most easily described in the context of a single airport, the concept applies equally well to a group of airports that comprise a metroplex (i.e., airports in close proximity that share resources such that operations at the airports are at least partially dependent) by including the coordination of runway usage decisions between the airports. In fact, the potential benefit of the concept is expected to be larger in future metroplex environments due to the increasing need to coordinate the operations at proximate airports to more efficiently share limited airspace resources. This concept, called System-Oriented Runway Management (SORM), is further broken down into a set of airport traffic management functions that share the principle that operational performance must be measured over the complete surface and airborne trajectories of the airport's arrivals and departures. The "system-oriented" term derives from the belief that the traffic management objective must consider the efficiency of operations over a wide range of aircraft movements and National Airspace System (NAS) dynamics. The SORM concept is comprised of three primary elements: strategic airport capacity planning, airport configuration management, and combined arrival/departure runway planning. Some aspects of the SORM concept, such as using airport configuration management1 as a mechanism for improving aircraft efficiency, are novel. Other elements (e.g., runway scheduling, which is a part of combined arrival/departure runway scheduling) have been well studied, but are included in the concept for completeness and to allow the concept to define the necessary relationship among the elements. The goal of this document is to describe the overall SORM concept and how it would apply both within the NAS and potential future Next Generation Air Traffic System (NextGen) environments, including research conducted to date. Note that the concept is based on the belief that runways are the primary constraint and the decision point for controlling efficiency, but the efficiency of runway management must be measured over a wide range of space and time. Implementation of the SORM concept is envisioned through a collection of complementary, necessary capabilities collectively focused on ensuring efficient arrival and departure traffic management, where that efficiency is measured not only in terms of runway efficiency but in terms of the overall trajectories between parking gates and transition fixes. For the more original elements of the concept-airport configuration management-this document proposes specific air traffic management (ATM) decision-support automation for realizing the concept.

Proximity operations considerations affecting spacecraft design

NASA Technical Reports Server (NTRS)

Staas, Steven K.

1991-01-01

Proximity operations can be defined as the maneuvering of two or more spacecraft within 1 nautical mile range, with relative velocity less than 10 feet per second. The passive vehicle is nontranslating and should provide for maintenance of the desired approach attitude. It must accommodate the active (translating) vehicle induced structural loads and performance characteristics (mating hardware tolerances), and support sensor compatibility (transponder, visual targets, etc.). The active vehicle must provide adequate sensor systems (relative state information, field-of-view, redundancy), flight control hardware (thruster sizing, minimal cross-coupling, performance margins, redundancy) and software (reconfigurable, attitude/rate modes, translation and rotation fine control authority) characteristic, and adequate non-propulsive consumables such as power. Operational concerns must be considered. These include the following: (1) the desired approach trajectory and relative orientation; (2) the active vehicle thruster plume effects (forces, torques, contamination) on the passive vehicle; and (3) procedures for contingencies such as loss of communications, sensor or propulsion failures, and target vehicle loss of control.

UAV Trajectory Modeling Using Neural Networks

NASA Technical Reports Server (NTRS)

Xue, Min

2017-01-01

Massive small unmanned aerial vehicles are envisioned to operate in the near future. While there are lots of research problems need to be addressed before dense operations can happen, trajectory modeling remains as one of the keys to understand and develop policies, regulations, and requirements for safe and efficient unmanned aerial vehicle operations. The fidelity requirement of a small unmanned vehicle trajectory model is high because these vehicles are sensitive to winds due to their small size and low operational altitude. Both vehicle control systems and dynamic models are needed for trajectory modeling, which makes the modeling a great challenge, especially considering the fact that manufactures are not willing to share their control systems. This work proposed to use a neural network approach for modelling small unmanned vehicle's trajectory without knowing its control system and bypassing exhaustive efforts for aerodynamic parameter identification. As a proof of concept, instead of collecting data from flight tests, this work used the trajectory data generated by a mathematical vehicle model for training and testing the neural network. The results showed great promise because the trained neural network can predict 4D trajectories accurately, and prediction errors were less than 2:0 meters in both temporal and spatial dimensions.

Multidomain Trajectories of Psychological Functioning in Old Age: A Longitudinal Perspective on (Uneven) Successful Aging

ERIC Educational Resources Information Center

Morack, Jennifer; Ram, Nilam; Fauth, Elizabeth B.; Gerstorf, Denis

2013-01-01

Life-span developmentalists have long been interested in the nature of and the contributing factors to successful aging. Using variable-oriented approaches, research has revealed critical insights into the intricacies of human development and successful aging. In the present study, we opted instead for a more subgroup-oriented approach and…

The Development and Coherence of Future-Oriented Behaviors during the Preschool Years

ERIC Educational Resources Information Center

Atance, Cristina M.; Jackson, Laura K.

2009-01-01

Although previous research has identified a number of interesting aspects of future thinking in adults, little is known about the developmental trajectory and coherence of future-oriented behaviors during early childhood. The primary goal of this study was to explore these issues by administering a battery of tasks assessing different aspects of…

Software for Engineering Simulations of a Spacecraft

NASA Technical Reports Server (NTRS)

Shireman, Kirk; McSwain, Gene; McCormick, Bernell; Fardelos, Panayiotis

2005-01-01

Spacecraft Engineering Simulation II (SES II) is a C-language computer program for simulating diverse aspects of operation of a spacecraft characterized by either three or six degrees of freedom. A functional model in SES can include a trajectory flight plan; a submodel of a flight computer running navigational and flight-control software; and submodels of the environment, the dynamics of the spacecraft, and sensor inputs and outputs. SES II features a modular, object-oriented programming style. SES II supports event-based simulations, which, in turn, create an easily adaptable simulation environment in which many different types of trajectories can be simulated by use of the same software. The simulation output consists largely of flight data. SES II can be used to perform optimization and Monte Carlo dispersion simulations. It can also be used to perform simulations for multiple spacecraft. In addition to its generic simulation capabilities, SES offers special capabilities for space-shuttle simulations: for this purpose, it incorporates submodels of the space-shuttle dynamics and a C-language version of the guidance, navigation, and control components of the space-shuttle flight software.

Development of attention networks and their interactions in childhood.

PubMed

Pozuelos, Joan P; Paz-Alonso, Pedro M; Castillo, Alejandro; Fuentes, Luis J; Rueda, M Rosario

2014-10-01

In the present study, we investigated developmental trajectories of alerting, orienting, and executive attention networks and their interactions over childhood. Two cross-sectional experiments were conducted with different samples of 6- to 12-year-old children using modified versions of the attention network task (ANT). In Experiment 1 (N = 106), alerting and orienting cues were independently manipulated, thus allowing examination of interactions between these 2 networks, as well as between them and the executive attention network. In Experiment 2 (N = 159), additional changes were made to the task in order to foster exogenous orienting cues. Results from both studies consistently revealed separate developmental trajectories for each attention network. Children younger than 7 years exhibited stronger benefits from having an alerting auditory signal prior to the target presentation. Developmental changes in orienting were mostly observed on response accuracy between middle and late childhood, whereas executive attention showed increases in efficiency between 7 years and older ages, and further improvements in late childhood. Of importance, across both experiments, significant interactions between alerting and orienting, as well as between each of these and the executive attention network, were observed. Alerting cues led to speeding shifts of attention and enhancing orienting processes. Also, both alerting and orienting cues modulated the magnitude of the flanker interference effect. These findings inform current theoretical models of human attention and its development, characterizing for the first time, the age-related course of attention networks interactions that, present in adults, stem from further refinements over childhood.

Management by Trajectory

NASA Image and Video Library

2018-05-05

This video provides an overview of the Management by Trajectory (MBT) concept of operations developed as part on a NASA Research Announcement (NRA) sponsored by NASA’s Aviation Operations and Safety Program (AOSP). Possible changes in roles and responsibilities among various agents in the air traffic system are identified, and the concept’s potential impact on system safety in a way that brings the National Airspace System (NAS) closer to a full Trajectory-Based Operations (TBO) environment is described.

Asynchrony between position and motion signals in the saccadic system.

PubMed

Schreiber, Céline; Missal, Marcus; Lefèvre, Philippe

2006-02-01

The influence of position and motion signals on saccades was studied in two dimensions (2D) using a double step-ramp paradigm. We showed the presence of a predictive component in 2D catch-up saccade programming that is based on motion signals and influences both saccade amplitude and orientation. Interestingly, a significant proportion of catch-up saccades was characterized by a large curvature or a sudden change of direction in midflight for large values of retinal slip. For these saccades, a quantitative analysis showed that their trajectory could be explained by an asynchrony between position and motion signals in saccade programming. When the saccade trajectory was not straight, position error was always available first and influenced the initial orientation of the saccade, whereas retinal slip determined the final orientation. This new paradigm could be used in electrophysiological experiments, where it should prove to be very useful to study position and motion pathways separately in catch-up saccades.

An Overview of a Trajectory-Based Solution for En Route and Terminal Area Self-Spacing to Include Parallel Runway Operations

NASA Technical Reports Server (NTRS)

Abbott, Terence S.

2011-01-01

This paper presents an overview of an algorithm specifically designed to support NASA's Airborne Precision Spacing concept. This airborne self-spacing concept is trajectory-based, allowing for spacing operations prior to the aircraft being on a common path. This implementation provides the ability to manage spacing against two traffic aircraft, with one of these aircraft operating to a parallel dependent runway. Because this algorithm is trajectory-based, it also has the inherent ability to support required-time-of-arrival (RTA) operations

Droplet morphometry and velocimetry (DMV): a video processing software for time-resolved, label-free tracking of droplet parameters.

PubMed

Basu, Amar S

2013-05-21

Emerging assays in droplet microfluidics require the measurement of parameters such as drop size, velocity, trajectory, shape deformation, fluorescence intensity, and others. While micro particle image velocimetry (μPIV) and related techniques are suitable for measuring flow using tracer particles, no tool exists for tracking droplets at the granularity of a single entity. This paper presents droplet morphometry and velocimetry (DMV), a digital video processing software for time-resolved droplet analysis. Droplets are identified through a series of image processing steps which operate on transparent, translucent, fluorescent, or opaque droplets. The steps include background image generation, background subtraction, edge detection, small object removal, morphological close and fill, and shape discrimination. A frame correlation step then links droplets spanning multiple frames via a nearest neighbor search with user-defined matching criteria. Each step can be individually tuned for maximum compatibility. For each droplet found, DMV provides a time-history of 20 different parameters, including trajectory, velocity, area, dimensions, shape deformation, orientation, nearest neighbour spacing, and pixel statistics. The data can be reported via scatter plots, histograms, and tables at the granularity of individual droplets or by statistics accrued over the population. We present several case studies from industry and academic labs, including the measurement of 1) size distributions and flow perturbations in a drop generator, 2) size distributions and mixing rates in drop splitting/merging devices, 3) efficiency of single cell encapsulation devices, 4) position tracking in electrowetting operations, 5) chemical concentrations in a serial drop dilutor, 6) drop sorting efficiency of a tensiophoresis device, 7) plug length and orientation of nonspherical plugs in a serpentine channel, and 8) high throughput tracking of >250 drops in a reinjection system. Performance metrics show that highest accuracy and precision is obtained when the video resolution is >300 pixels per drop. Analysis time increases proportionally with video resolution. The current version of the software provides throughputs of 2-30 fps, suggesting the potential for real time analysis.

Spacecraft rendezvous operational considerations affecting vehicle systems design and configuration

NASA Astrophysics Data System (ADS)

Prust, Ellen E.

One lesson learned from Orbiting Maneuvering Vehicle (OMV) program experience is that Design Reference Missions must include an appropriate balance of operations and performance inputs to effectively drive vehicle systems design and configuration. Rendezvous trajectory design is based on vehicle characteristics (e.g., mass, propellant tank size, and mission duration capability) and operational requirements, which have evolved through the Gemini, Apollo, and STS programs. Operational constraints affecting the rendezvous final approach are summarized. The two major objectives of operational rendezvous design are vehicle/crew safety and mission success. Operational requirements on the final approach which support these objectives include: tracking/targeting/communications; trajectory dispersion and navigation uncertainty handling; contingency protection; favorable sunlight conditions; acceptable relative state for proximity operations handover; and compliance with target vehicle constraints. A discussion of the ways each of these requirements may constrain the rendezvous trajectory follows. Although the constraints discussed apply to all rendezvous, the trajectory presented in 'Cargo Transfer Vehicle Preliminary Reference Definition' (MSFC, May 1991) was used as the basis for the comments below.

Implied dynamics biases the visual perception of velocity.

PubMed

La Scaleia, Barbara; Zago, Myrka; Moscatelli, Alessandro; Lacquaniti, Francesco; Viviani, Paolo

2014-01-01

We expand the anecdotic report by Johansson that back-and-forth linear harmonic motions appear uniform. Six experiments explore the role of shape and spatial orientation of the trajectory of a point-light target in the perceptual judgment of uniform motion. In Experiment 1, the target oscillated back-and-forth along a circular arc around an invisible pivot. The imaginary segment from the pivot to the midpoint of the trajectory could be oriented vertically downward (consistent with an upright pendulum), horizontally leftward, or vertically upward (upside-down). In Experiments 2 to 5, the target moved uni-directionally. The effect of suppressing the alternation of movement directions was tested with curvilinear (Experiment 2 and 3) or rectilinear (Experiment 4 and 5) paths. Experiment 6 replicated the upright condition of Experiment 1, but participants were asked to hold the gaze on a fixation point. When some features of the trajectory evoked the motion of either a simple pendulum or a mass-spring system, observers identified as uniform the kinematic profiles close to harmonic motion. The bias towards harmonic motion was most consistent in the upright orientation of Experiment 1 and 6. The bias disappeared when the stimuli were incompatible with both pendulum and mass-spring models (Experiments 3 to 5). The results are compatible with the hypothesis that the perception of dynamic stimuli is biased by the laws of motion obeyed by natural events, so that only natural motions appear uniform.

A Near-Term Concept for Trajectory Based Operations with Air/Ground Data Link Communication

NASA Technical Reports Server (NTRS)

McNally, David; Mueller, Eric; Thipphavong, David; Paielli, Russell; Cheng, Jinn-Hwei; Lee, Chuhan; Sahlman, Scott; Walton, Joe

2010-01-01

An operating concept and required system components for trajectory-based operations with air/ground data link for today's en route and transition airspace is proposed. Controllers are fully responsible for separation as they are today, and no new aircraft equipage is required. Trajectory automation computes integrated solutions to problems like metering, weather avoidance, traffic conflicts and the desire to find and fly more time/fuel efficient flight trajectories. A common ground-based system supports all levels of aircraft equipage and performance including those equipped and not equipped for data link. User interface functions for the radar controller's display make trajectory-based clearance advisories easy to visualize, modify if necessary, and implement. Laboratory simulations (without human operators) were conducted to test integrated operation of selected system components with uncertainty modeling. Results are based on 102 hours of Fort Worth Center traffic recordings involving over 37,000 individual flights. The presence of uncertainty had a marginal effect (5%) on minimum-delay conflict resolution performance, and windfavorable routes had no effect on detection and resolution metrics. Flight plan amendments and clearances were substantially reduced compared to today s operations. Top-of-descent prediction errors are the largest cause of failure indicating that better descent predictions are needed to reliably achieve fuel-efficient descent profiles in medium to heavy traffic. Improved conflict detections for climbing flights could enable substantially more continuous climbs to cruise altitude. Unlike today s Conflict Alert, tactical automation must alert when an altitude amendment is entered, but before the aircraft starts the maneuver. In every other failure case tactical automation prevented losses of separation. A real-time prototype trajectory trajectory-automation system is running now and could be made ready for operational testing at an en route Center in 1-2 years.

Interactive orbital proximity operations planning system

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1990-01-01

An interactive graphical planning system for on-site planning of proximity operations in the congested multispacecraft environment about the space station is presented. The system shows the astronaut a bird's eye perspective of the space station, the orbital plane, and the co-orbiting spacecraft. The system operates in two operational modes: (1) a viewpoint mode, in which the astronaut is able to move the viewpoint around in the orbital plane to range in on areas of interest; and (2) a trajectory design mode, in which the trajectory is planned. Trajectory design involves the composition of a set of waypoints which result in a fuel-optimal trajectory which satisfies all operational constraints, such as departure and arrival constraints, plume impingement constraints, and structural constraints. The main purpose of the system is to present the trajectory and the constraints in an easily interpretable graphical format. Through a graphical interactive process, the trajectory waypoints are edited until all operational constraints are satisfied. A series of experiments was conducted to evaluate the system. Eight airline pilots with no prior background in orbital mechanics participated in the experiments. Subject training included a stand-alone training session of about 6 hours duration, in which the subjects became familiar with orbital mechanics concepts and performed a series of exercises to familiarize themselves with the control and display features of the system. They then carried out a series of production runs in which 90 different trajectory design situations were randomly addressed. The purpose of these experiments was to investigate how the planning time, planning efforts, and fuel expenditures were affected by the planning difficulty. Some results of these experiments are presented.

Trajectories of educational expectations from adolescence to young adulthood in Finland.

PubMed

Tynkkynen, Lotta; Tolvanen, Asko; Salmela-Aro, Katariina

2012-11-01

The purpose of this person-oriented, 5-wave longitudinal study was to examine the trajectories of educational expectations from adolescence to young adulthood in the context of the expectancy-value theory (Eccles et al., 1983). Altogether, 853 (48% female; M age = 16 years) Finnish adolescents reported their educational expectation, 1st in the last year of comprehensive school and 4 times during the following 5 years. Latent class analysis showed that 5 trajectories of educational expectations fit the data best: stable-university (38%), stable-vocational (18%), stable-polytechnic (24%), increasing-expectations (10%), and decreasing-expectations (10%). In line with the expectancy-value theory, adolescents' academic achievement, socioeconomic status (SES), perception of parents' aspirations for them, and ability-beliefs were all related to their trajectories of educational expectations. For example, the higher the adolescent's SES, perception of parents' educational aspirations, and grade point average (GPA), the more likely the participant was to be in the stable-university trajectory compared to the stable-vocational trajectory. Gender had an indirect effect on the trajectories via GPA. Moreover, participants with higher ability-beliefs were more likely to be in trajectories with high and stable educational expectations compared to the unstable trajectories. The trajectories were related to the participants' educational situation after comprehensive school.

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

NASA Technical Reports Server (NTRS)

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

1985-01-01

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

Recoil Inversion in the Photodissociation of Carbonyl Sulfide near 234 nm.

PubMed

Sofikitis, Dimitris; Suarez, Jaime; Schmidt, Johan A; Rakitzis, T Peter; Farantos, Stavros C; Janssen, Maurice H M

2017-06-23

We report the observation of recoil inversion of the CO (v=0, J_{CO}=66) state in the UV dissociation of lab-frame oriented carbonyl sulfide (OCS). This state is ejected in the opposite direction with respect to all other (>30) states and in absence of any OCS rotation, thus resulting in spatial filtering of this particular high-J rovibrational state. This inversion is caused by resonances occurring in shallow local minima of the molecular potential, which bring the sulfur closer to the oxygen than the carbon atom, and is a striking example where such subtleties severely modify the photofragment trajectories. The resonant behavior is observed only in the photofragment trajectories and not in their population, showing that stereodynamic measurements from oriented molecules offer an indispensable probe for exploring energy landscapes.

Tail Separation and Density Effects on the Underwater Trajectory of the JDAM

DTIC Science & Technology

2009-12-01

countermeasure technologies that fulfills this criteria—the use of the Joint Direct Attack Munition (JDAM) to clear a minefield. It updates the general...physics-based, six degrees of freedom model, STRIKE35, to predict the three-dimensional, free-fall trajectory and orientation of a MK-84 bomb...simulating the JDAM) through a water column. It accurately predicts the final detonation position relative to an underwater mine in the very shallow

An Information-Centric Approach to Autonomous Trajectory Planning Utilizing Optimal Control Techniques

DTIC Science & Technology

2009-09-01

to promote one way as the best, but to show there are several ways to define the problem. 107 Figure 71. Final Orientation/Obstacle Scenario...a comparison of the running cost vs. distance from an obstacle for varying values of p. Simulations have shown that for 4p  , the running cost...sliding door example. This scenario shows a major weakness when conducting trajectory planning using snapshots in a dynamic environment

On the design of fuzzified trajectory shaping guidance law.

PubMed

Lin, Chun-Liang; Lin, Yu-Ping; Chen, Kai-Ming

2009-04-01

Midcourse guidance is commonly designed to save as much energy as possible so that the missile's final speed can be maximized while entering the homing stage. For this purpose, a competitive guidance design should be able to generate an admissible flight trajectory as to bring the interceptor to a superior altitude for a favorable target engagement. In this paper, a new adaptive trajectory shaping guidance scheme based on the adaptive fuzzy inference system, which is capable of generating a variety of trajectories for efficient target interception, is presented. The guidance law is developed with the aim of saving the interceptor's energy conservation while improving performance robustness. Applications of the presented approach have included a variety of mission oriented guidance, such as cruise missile guidance, anti-ballistic missile guidance, etc.

Adaptive control of space-based robot manipulators

NASA Technical Reports Server (NTRS)

Walker, Michael W.; Wee, Liang-Boon

1991-01-01

A control method is presented that achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. The 15-DOF system dynamics are divided into two components: a 9-DOF invertible portion and 6-DOF noninvertible portion. A controller is then designed to achieve trajectory tracking of the invertible portion of the system, which consists of the manipulator-joint positions and the orientation of the base. The motion of the noninvertible portion is bounded but otherwise unspecified. This portion of the system consists of the position of the robot's base and the position of the reaction wheels. A simulation is presented to demonstrate the effectiveness of the controller. A quadratic polynomial is used to generate the desired trajectory to illustrate the trajectory-tracking capability of the controller.

Mapping quantum-classical Liouville equation: projectors and trajectories.

PubMed

Kelly, Aaron; van Zon, Ramses; Schofield, Jeremy; Kapral, Raymond

2012-02-28

The evolution of a mixed quantum-classical system is expressed in the mapping formalism where discrete quantum states are mapped onto oscillator states, resulting in a phase space description of the quantum degrees of freedom. By defining projection operators onto the mapping states corresponding to the physical quantum states, it is shown that the mapping quantum-classical Liouville operator commutes with the projection operator so that the dynamics is confined to the physical space. It is also shown that a trajectory-based solution of this equation can be constructed that requires the simulation of an ensemble of entangled trajectories. An approximation to this evolution equation which retains only the Poisson bracket contribution to the evolution operator does admit a solution in an ensemble of independent trajectories but it is shown that this operator does not commute with the projection operators and the dynamics may take the system outside the physical space. The dynamical instabilities, utility, and domain of validity of this approximate dynamics are discussed. The effects are illustrated by simulations on several quantum systems.

Evaluation of an active magnetic resonance tracking system for interstitial brachytherapy.

PubMed

Wang, Wei; Viswanathan, Akila N; Damato, Antonio L; Chen, Yue; Tse, Zion; Pan, Li; Tokuda, Junichi; Seethamraju, Ravi T; Dumoulin, Charles L; Schmidt, Ehud J; Cormack, Robert A

2015-12-01

In gynecologic cancers, magnetic resonance (MR) imaging is the modality of choice for visualizing tumors and their surroundings because of superior soft-tissue contrast. Real-time MR guidance of catheter placement in interstitial brachytherapy facilitates target coverage, and would be further improved by providing intraprocedural estimates of dosimetric coverage. A major obstacle to intraprocedural dosimetry is the time needed for catheter trajectory reconstruction. Herein the authors evaluate an active MR tracking (MRTR) system which provides rapid catheter tip localization and trajectory reconstruction. The authors assess the reliability and spatial accuracy of the MRTR system in comparison to standard catheter digitization using magnetic resonance imaging (MRI) and CT. The MRTR system includes a stylet with microcoils mounted on its shaft, which can be inserted into brachytherapy catheters and tracked by a dedicated MRTR sequence. Catheter tip localization errors of the MRTR system and their dependence on catheter locations and orientation inside the MR scanner were quantified with a water phantom. The distances between the tracked tip positions of the MRTR stylet and the predefined ground-truth tip positions were calculated for measurements performed at seven locations and with nine orientations. To evaluate catheter trajectory reconstruction, fifteen brachytherapy catheters were placed into a gel phantom with an embedded catheter fixation framework, with parallel or crossed paths. The MRTR stylet was then inserted sequentially into each catheter. During the removal of the MRTR stylet from within each catheter, a MRTR measurement was performed at 40 Hz to acquire the instantaneous stylet tip position, resulting in a series of three-dimensional (3D) positions along the catheter's trajectory. A 3D polynomial curve was fit to the tracked positions for each catheter, and equally spaced dwell points were then generated along the curve. High-resolution 3D MRI of the phantom was performed followed by catheter digitization based on the catheter's imaging artifacts. The catheter trajectory error was characterized in terms of the mean distance between corresponding dwell points in MRTR-generated catheter trajectory and MRI-based catheter digitization. The MRTR-based catheter trajectory reconstruction process was also performed on three gynecologic cancer patients, and then compared with catheter digitization based on MRI and CT. The catheter tip localization error increased as the MRTR stylet moved further off-center and as the stylet's orientation deviated from the main magnetic field direction. Fifteen catheters' trajectories were reconstructed by MRTR. Compared with MRI-based digitization, the mean 3D error of MRTR-generated trajectories was 1.5 ± 0.5 mm with an in-plane error of 0.7 ± 0.2 mm and a tip error of 1.7 ± 0.5 mm. MRTR resolved ambiguity in catheter assignment due to crossed catheter paths, which is a common problem in image-based catheter digitization. In the patient studies, the MRTR-generated catheter trajectory was consistent with digitization based on both MRI and CT. The MRTR system provides accurate catheter tip localization and trajectory reconstruction in the MR environment. Relative to the image-based methods, it improves the speed, safety, and reliability of the catheter trajectory reconstruction in interstitial brachytherapy. MRTR may enable in-procedural dosimetric evaluation of implant target coverage.

Evaluation of an active magnetic resonance tracking system for interstitial brachytherapy

PubMed Central

Wang, Wei; Viswanathan, Akila N.; Damato, Antonio L.; Chen, Yue; Tse, Zion; Pan, Li; Tokuda, Junichi; Seethamraju, Ravi T.; Dumoulin, Charles L.; Schmidt, Ehud J.; Cormack, Robert A.

2015-01-01

Purpose: In gynecologic cancers, magnetic resonance (MR) imaging is the modality of choice for visualizing tumors and their surroundings because of superior soft-tissue contrast. Real-time MR guidance of catheter placement in interstitial brachytherapy facilitates target coverage, and would be further improved by providing intraprocedural estimates of dosimetric coverage. A major obstacle to intraprocedural dosimetry is the time needed for catheter trajectory reconstruction. Herein the authors evaluate an active MR tracking (MRTR) system which provides rapid catheter tip localization and trajectory reconstruction. The authors assess the reliability and spatial accuracy of the MRTR system in comparison to standard catheter digitization using magnetic resonance imaging (MRI) and CT. Methods: The MRTR system includes a stylet with microcoils mounted on its shaft, which can be inserted into brachytherapy catheters and tracked by a dedicated MRTR sequence. Catheter tip localization errors of the MRTR system and their dependence on catheter locations and orientation inside the MR scanner were quantified with a water phantom. The distances between the tracked tip positions of the MRTR stylet and the predefined ground-truth tip positions were calculated for measurements performed at seven locations and with nine orientations. To evaluate catheter trajectory reconstruction, fifteen brachytherapy catheters were placed into a gel phantom with an embedded catheter fixation framework, with parallel or crossed paths. The MRTR stylet was then inserted sequentially into each catheter. During the removal of the MRTR stylet from within each catheter, a MRTR measurement was performed at 40 Hz to acquire the instantaneous stylet tip position, resulting in a series of three-dimensional (3D) positions along the catheter’s trajectory. A 3D polynomial curve was fit to the tracked positions for each catheter, and equally spaced dwell points were then generated along the curve. High-resolution 3D MRI of the phantom was performed followed by catheter digitization based on the catheter’s imaging artifacts. The catheter trajectory error was characterized in terms of the mean distance between corresponding dwell points in MRTR-generated catheter trajectory and MRI-based catheter digitization. The MRTR-based catheter trajectory reconstruction process was also performed on three gynecologic cancer patients, and then compared with catheter digitization based on MRI and CT. Results: The catheter tip localization error increased as the MRTR stylet moved further off-center and as the stylet’s orientation deviated from the main magnetic field direction. Fifteen catheters’ trajectories were reconstructed by MRTR. Compared with MRI-based digitization, the mean 3D error of MRTR-generated trajectories was 1.5 ± 0.5 mm with an in-plane error of 0.7 ± 0.2 mm and a tip error of 1.7 ± 0.5 mm. MRTR resolved ambiguity in catheter assignment due to crossed catheter paths, which is a common problem in image-based catheter digitization. In the patient studies, the MRTR-generated catheter trajectory was consistent with digitization based on both MRI and CT. Conclusions: The MRTR system provides accurate catheter tip localization and trajectory reconstruction in the MR environment. Relative to the image-based methods, it improves the speed, safety, and reliability of the catheter trajectory reconstruction in interstitial brachytherapy. MRTR may enable in-procedural dosimetric evaluation of implant target coverage. PMID:26632065

Evaluation of an active magnetic resonance tracking system for interstitial brachytherapy

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

Wang, Wei, E-mail: wwang21@partners.org; Viswanathan, Akila N.; Damato, Antonio L.

2015-12-15

Purpose: In gynecologic cancers, magnetic resonance (MR) imaging is the modality of choice for visualizing tumors and their surroundings because of superior soft-tissue contrast. Real-time MR guidance of catheter placement in interstitial brachytherapy facilitates target coverage, and would be further improved by providing intraprocedural estimates of dosimetric coverage. A major obstacle to intraprocedural dosimetry is the time needed for catheter trajectory reconstruction. Herein the authors evaluate an active MR tracking (MRTR) system which provides rapid catheter tip localization and trajectory reconstruction. The authors assess the reliability and spatial accuracy of the MRTR system in comparison to standard catheter digitization usingmore » magnetic resonance imaging (MRI) and CT. Methods: The MRTR system includes a stylet with microcoils mounted on its shaft, which can be inserted into brachytherapy catheters and tracked by a dedicated MRTR sequence. Catheter tip localization errors of the MRTR system and their dependence on catheter locations and orientation inside the MR scanner were quantified with a water phantom. The distances between the tracked tip positions of the MRTR stylet and the predefined ground-truth tip positions were calculated for measurements performed at seven locations and with nine orientations. To evaluate catheter trajectory reconstruction, fifteen brachytherapy catheters were placed into a gel phantom with an embedded catheter fixation framework, with parallel or crossed paths. The MRTR stylet was then inserted sequentially into each catheter. During the removal of the MRTR stylet from within each catheter, a MRTR measurement was performed at 40 Hz to acquire the instantaneous stylet tip position, resulting in a series of three-dimensional (3D) positions along the catheter’s trajectory. A 3D polynomial curve was fit to the tracked positions for each catheter, and equally spaced dwell points were then generated along the curve. High-resolution 3D MRI of the phantom was performed followed by catheter digitization based on the catheter’s imaging artifacts. The catheter trajectory error was characterized in terms of the mean distance between corresponding dwell points in MRTR-generated catheter trajectory and MRI-based catheter digitization. The MRTR-based catheter trajectory reconstruction process was also performed on three gynecologic cancer patients, and then compared with catheter digitization based on MRI and CT. Results: The catheter tip localization error increased as the MRTR stylet moved further off-center and as the stylet’s orientation deviated from the main magnetic field direction. Fifteen catheters’ trajectories were reconstructed by MRTR. Compared with MRI-based digitization, the mean 3D error of MRTR-generated trajectories was 1.5 ± 0.5 mm with an in-plane error of 0.7 ± 0.2 mm and a tip error of 1.7 ± 0.5 mm. MRTR resolved ambiguity in catheter assignment due to crossed catheter paths, which is a common problem in image-based catheter digitization. In the patient studies, the MRTR-generated catheter trajectory was consistent with digitization based on both MRI and CT. Conclusions: The MRTR system provides accurate catheter tip localization and trajectory reconstruction in the MR environment. Relative to the image-based methods, it improves the speed, safety, and reliability of the catheter trajectory reconstruction in interstitial brachytherapy. MRTR may enable in-procedural dosimetric evaluation of implant target coverage.« less

Complexity and the Fractional Calculus

DTIC Science & Technology

2013-01-01

these trajectories over the entire Lotka - Volterra cycle thereby generating the mistaken impression that the resulting average trajectory reaches...interpreted as a form of phase decor- relation process rather than one with friction. The fractional version of the popular Lotka - Volterra ecological...trajectory is an ordinary Lotka - Volterra cycle in the operational time . Transitioning from the operational time to the chronological time spreads

Modeling control of eye orientation in three dimensions. I. Role of muscle pulleys in determining saccadic trajectory.

PubMed

Raphan, T

1998-05-01

This study evaluates the effects of muscle axis shifts on the performance of a vector velocity-position integrator in the CNS. Earlier models of the oculomotor plant assumed that the muscle axes remained fixed relative to the head as the eye rotated into secondary and tertiary eye positions. Under this assumption, the vector integrator model generates torsional transients as the eye moves from secondary to tertiary positions of fixation. The torsional transient represents an eye movement response to a spatial mismatch between the torque axes that remain fixed in the head and the displacement plane that changes by half the angle of the change in eye orientation. When muscle axis shifts were incorporated into the model, the torque axes were closer to the displacement plane at each eye orientation throughout the trajectory, and torsional transients were reduced dramatically. Their size and dynamics were close to reported data. It was also shown that when the muscle torque axes were rotated by 50% of the eye rotation, there was no torsional transient and Listing's law was perfectly obeyed. When muscle torque axes rotated >50%, torsional transients reversed direction compared with what occurred for muscle axis shifts of <50%. The model indicates that Listing's law is implemented by the oculomotor plant subject to a two-dimensional command signal that is confined to the pitch-yaw plane, having zero torsion. Saccades that bring the eye to orientations outside Listing's plane could easily be corrected by a roll pulse that resets the roll state of the velocity-position integrator to zero. This would be a simple implementation of the corrective controller suggested by Van Opstal and colleagues. The model further indicates that muscle axis shifts together with the torque orientation relationship for tissue surrounding the eye and Newton's laws of motion form a sufficient plant model to explain saccadic trajectories and periods of fixation when driven by a vector command confined to the pitch-yaw plane. This implies that the velocity-position integrator is probably realized as a subtractive feedback vector integrator and not as a quaternion-based integrator that implements kinematic transformations to orient the eye.

NextGen Far-Term Concept Exploration for Integrated Gate-to-Gate Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Johnson, Sally C.; Barmore, Bryan E.

2016-01-01

NASA is currently conducting concept exploration studies toward the definition of a far-term, gate-to-gate concept for Trajectory-Based Operations. This paper presents a basic architectural framework for the far-term concept and discusses some observations about implementation of trajectory-based operations in the National Airspace System. Within the concept, operators and service providers collaboratively negotiate aircraft trajectories, providing agile, optimized, aircraft-specific routing to meet service provider gate-to-gate flow-management constraints and increasing capacity by smoothly and effectively combining flight-deck-based and ground-based metering, merging, and spacing in a mixed-equipage environment. The far-term TBO concept is intended to influence the direction of mid-term TBO research and to inform the definition of stable requirements and standards for TBO communications infrastructure and user equipage.

Men's sexual orientation and suicide: evidence for U.S. adolescent-specific risk.

PubMed

Russell, Stephen T; Toomey, Russell B

2012-02-01

There is strong consensus in the research literature that adolescent and adult men who report same-sex sexual orientations, identities, and behaviors are at higher risk for suicide. Recent studies of general adolescent suicide risk have identified developmental trajectories that peak during the teenage years. Because the adolescent years are characterized by the development and heightened awareness of gender roles and sexual scripts closely tied to dominant cultural ideals of masculinity and heterosexuality, an adolescent-focused developmental trajectory for suicide risk might be particularly relevant for males with adolescent same-sex sexual orientations. We provide the first prospective examination of adolescent-specific risk for suicidality based on adolescent same-sex sexual orientation using data from the United States, the National Longitudinal Study of Adolescent Health. Tracing suicide ideation and attempts across four assessments from adolescence (Wave 1 average age 15.3 years) to young adulthood (Wave 4 average age 28.2), we documented that the risk for suicidal thoughts and attempts for adolescent same-sex attracted males is developmental in nature. Specifically, the risk for suicidal thoughts and attempts for males with same-sex attractions is largely limited to the adolescent years. These results offer new insights for suicide prevention and intervention for male adolescents and adults with same-sex sexual orientations. Copyright © 2010 Elsevier Ltd. All rights reserved.

Development of a Mars Airplane Entry, Descent, and Flight Trajectory

NASA Technical Reports Server (NTRS)

Murray, James E.; Tartabini, Paul V.

2001-01-01

An entry, descent, and flight (EDF) trajectory profile for a Mars airplane mission is defined as consisting of the following elements: ballistic entry of an aeroshell; supersonic deployment of a decelerator parachute; subsonic release of a heat shield; release, unfolding, and orientation of an airplane to flight attitude; and execution of a pull up maneuver to achieve trimmed, horizontal flight. Using the Program to Optimize Simulated Trajectories (POST) a trajectory optimization problem was formulated. Model data representative of a specific Mars airplane configuration, current models of the Mars surface topography and atmosphere, and current estimates of the interplanetary trajectory, were incorporated into the analysis. The goal is to develop an EDF trajectory to maximize the surface-relative altitude of the airplane at the end of a pull up maneuver, while subject to the mission design constraints. The trajectory performance was evaluated for three potential mission sites and was found to be site-sensitive. The trajectory performance, examined for sensitivity to a number of design and constraint variables, was found to be most sensitive to airplane mass, aerodynamic performance characteristics, and the pull up Mach constraint. Based on the results of this sensitivity study, an airplane-drag optimized trajectory was developed that showed a significant performance improvement.

Interactive orbital proximity operations planning system instruction and training guide

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1994-01-01

This guide instructs users in the operation of a Proximity Operations Planning System. This system uses an interactive graphical method for planning fuel-efficient rendezvous trajectories in the multi-spacecraft environment of the space station and allows the operator to compose a multi-burn transfer trajectory between orbit initial chaser and target trajectories. The available task time (window) of the mission is predetermined and the maneuver is subject to various operational constraints, such as departure, arrival, spatial, plume impingement, and en route passage constraints. The maneuvers are described in terms of the relative motion experienced in a space station centered coordinate system. Both in-orbital plane as well as out-of-orbital plane maneuvering is considered. A number of visual optimization aids are used for assisting the operator in reaching fuel-efficient solutions. These optimization aids are based on the Primer Vector theory. The visual feedback of trajectory shapes, operational constraints, and optimization functions, provided by user-transparent and continuously active background computations, allows the operator to make fast, iterative design changes that rapidly converge to fuel-efficient solutions. The planning tool is an example of operator-assisted optimization of nonlinear cost functions.

UAV Trajectory Modeling Using Neural Networks

NASA Technical Reports Server (NTRS)

Xue, Min

2017-01-01

Large amount of small Unmanned Aerial Vehicles (sUAVs) are projected to operate in the near future. Potential sUAV applications include, but not limited to, search and rescue, inspection and surveillance, aerial photography and video, precision agriculture, and parcel delivery. sUAVs are expected to operate in the uncontrolled Class G airspace, which is at or below 500 feet above ground level (AGL), where many static and dynamic constraints exist, such as ground properties and terrains, restricted areas, various winds, manned helicopters, and conflict avoidance among sUAVs. How to enable safe, efficient, and massive sUAV operations at the low altitude airspace remains a great challenge. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative works on establishing infrastructure and developing policies, requirement, and rules to enable safe and efficient sUAVs' operations. To achieve this goal, it is important to gain insights of future UTM traffic operations through simulations, where the accurate trajectory model plays an extremely important role. On the other hand, like what happens in current aviation development, trajectory modeling should also serve as the foundation for any advanced concepts and tools in UTM. Accurate models of sUAV dynamics and control systems are very important considering the requirement of the meter level precision in UTM operations. The vehicle dynamics are relatively easy to derive and model, however, vehicle control systems remain unknown as they are usually kept by manufactures as a part of intellectual properties. That brings challenges to trajectory modeling for sUAVs. How to model the vehicle's trajectories with unknown control system? This work proposes to use a neural network to model a vehicle's trajectory. The neural network is first trained to learn the vehicle's responses at numerous conditions. Once being fully trained, given current vehicle states, winds, and desired future trajectory, the neural network should be able to predict the vehicle's future states at next time step. A complete 4-D trajectory are then generated step by step using the trained neural network. Experiments in this work show that the neural network can approximate the sUAV's model and predict the trajectory accurately.

Optimization of geothermal well trajectory in order to minimize borehole failure

NASA Astrophysics Data System (ADS)

Dahrabou, A.; Valley, B.; Ladner, F.; Guinot, F.; Meier, P.

2017-12-01

In projects based on Enhanced Geothermal System (EGS) principle, deep boreholes are drilled to low permeability rock masses. As part of the completion operations, the permeability of existing fractures in the rock mass is enhanced by injecting large volumes of water. These stimulation treatments aim at achieving enough water circulation for heat extraction at commercial rates which makes the stimulation operations critical to the project success. The accurate placement of the stimulation treatments requires well completion with effective zonal isolation, and wellbore stability is a prerequisite to all zonal isolation techniques, be it packer sealing or cement placement. In this project, a workflow allowing a fast decision-making process for selecting an optimal well trajectory for EGS projects is developed. In fact, the well is first drilled vertically then based on logging data which are costly (100 KCHF/day), the direction in which the strongly deviated borehole section will be drilled needs to be determined in order to optimize borehole stability and to intersect the highest number of fractures that are oriented favorably for stimulation. The workflow applies to crystalline rock and includes an uncertainty and risk assessment framework. An initial sensitivity study was performed to identify the most influential parameters on borehole stability. The main challenge in these analyses is that the strength and stress profiles are unknown independently. Calibration of a geomechanical model on the observed borehole failure has been performed using data from the Basel Geothermal well BS-1. In a first approximation, a purely elastic-static analytical solution in combination with a purely cohesive failure criterion were used as it provides the most consistent prediction across failure indicators. A systematic analysis of the uncertainty on all parameters was performed to assess the reliability of the optimal trajectory selection. To each drilling scenario, failure probability and the associated risks, are computed stochastically. In addition, model uncertainty is assessed by confronting various failure modelling approaches to the available failure data from the Basel Project. Together, these results form the basis of an integrated workflow optimizing geothermal (EGS) well trajectory.

A miniature shoe-mounted orientation determination system for accurate indoor heading and trajectory tracking.

PubMed

Zhang, Shengzhi; Yu, Shuai; Liu, Chaojun; Liu, Sheng

2016-06-01

Tracking the position of pedestrian is urgently demanded when the most commonly used GPS (Global Position System) is unavailable. Benefited from the small size, low-power consumption, and relatively high reliability, micro-electro-mechanical system sensors are well suited for GPS-denied indoor pedestrian heading estimation. In this paper, a real-time miniature orientation determination system (MODS) was developed for indoor heading and trajectory tracking based on a novel dual-linear Kalman filter. The proposed filter precludes the impact of geomagnetic distortions on pitch and roll that the heading is subjected to. A robust calibration approach was designed to improve the accuracy of sensors measurements based on a unified sensor model. Online tests were performed on the MODS with an improved turntable. The results demonstrate that the average RMSE (root-mean-square error) of heading estimation is less than 1°. Indoor heading experiments were carried out with the MODS mounted on the shoe of pedestrian. Besides, we integrated the existing MODS into an indoor pedestrian dead reckoning application as an example of its utility in realistic actions. A human attitude-based walking model was developed to calculate the walking distance. Test results indicate that mean percentage error of indoor trajectory tracking achieves 2% of the total walking distance. This paper provides a feasible alternative for accurate indoor heading and trajectory tracking.

Trajectory-Based Complexity (TBX): A Modified Aircraft Count to Predict Sector Complexity During Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Prevot, Thomas; Lee, Paul U.

2011-01-01

In this paper we introduce a new complexity metric to predict -in real-time- sector complexity for trajectory-based operations (TBO). TBO will be implemented in the Next Generation Air Transportation System (NextGen). Trajectory-Based Complexity (TBX) is a modified aircraft count that can easily be computed and communicated in a TBO environment based upon predictions of aircraft and weather trajectories. TBX is scaled to aircraft count and represents an alternate and additional means to manage air traffic demand and capacity with more consideration of dynamic factors such as weather, aircraft equipage or predicted separation violations, as well as static factors such as sector size. We have developed and evaluated TBX in the Airspace Operations Laboratory (AOL) at the NASA Ames Research Center during human-in-the-loop studies of trajectory-based concepts since 2009. In this paper we will describe the TBX computation in detail and present the underlying algorithm. Next, we will describe the specific TBX used in an experiment at NASA's AOL. We will evaluate the performance of this metric using data collected during a controller-inthe- loop study on trajectory-based operations at different equipage levels. In this study controllers were prompted at regular intervals to rate their current workload on a numeric scale. When comparing this real-time workload rating to the TBX values predicted for these time periods we demonstrate that TBX is a better predictor of workload than aircraft count. Furthermore we demonstrate that TBX is well suited to be used for complexity management in TBO and can easily be adjusted to future operational concepts.

Free swimming organisms: Microgravity as an investigative tool

NASA Technical Reports Server (NTRS)

Kessler, John O.

1989-01-01

On earth, micro-organisms are in the grip of gravitational and viscous forces. These forces, in combination with sensory stimuli, determine the average orientation of the organisms' swimming trajectories relative to the fluid environment. Microgravity provides the opportunity to study the rules which govern the summation or orienting influences and to develop quantitative physical measurements of sensory responses, e.g. the measurement of phototactic orientation tendency in torque units. Also, by reducing or eliminating density anisotropy-driven buoyant convection, it will be possible to study illumination, temperature gradient and concentration gradient-mediated collective dynamics.

Multi-agent autonomous system and method

NASA Technical Reports Server (NTRS)

Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

2010-01-01

A method of controlling a plurality of crafts in an operational area includes providing a command system, a first craft in the operational area coupled to the command system, and a second craft in the operational area coupled to the command system. The method further includes determining a first desired destination and a first trajectory to the first desired destination, sending a first command from the command system to the first craft to move a first distance along the first trajectory, and moving the first craft according to the first command. A second desired destination and a second trajectory to the second desired destination are determined and a second command is sent from the command system to the second craft to move a second distance along the second trajectory.

Quantifying kinematics of purposeful movements to real, imagined, or absent functional objects: implications for modelling trajectories for robot-assisted ADL tasks.

PubMed

Wisneski, Kimberly J; Johnson, Michelle J

2007-03-23

Robotic therapy is at the forefront of stroke rehabilitation. The Activities of Daily Living Exercise Robot (ADLER) was developed to improve carryover of gains after training by combining the benefits of Activities of Daily Living (ADL) training (motivation and functional task practice with real objects), with the benefits of robot mediated therapy (repeatability and reliability). In combining these two therapy techniques, we seek to develop a new model for trajectory generation that will support functional movements to real objects during robot training. We studied natural movements to real objects and report on how initial reaching movements are affected by real objects and how these movements deviate from the straight line paths predicted by the minimum jerk model, typically used to generate trajectories in robot training environments. We highlight key issues that to be considered in modelling natural trajectories. Movement data was collected as eight normal subjects completed ADLs such as drinking and eating. Three conditions were considered: object absent, imagined, and present. This data was compared to predicted trajectories generated from implementing the minimum jerk model. The deviations in both the plane of the table (XY) and the sagittal plane of torso (XZ) were examined for both reaches to a cup and to a spoon. Velocity profiles and curvature were also quantified for all trajectories. We hypothesized that movements performed with functional task constraints and objects would deviate from the minimum jerk trajectory model more than those performed under imaginary or object absent conditions. Trajectory deviations from the predicted minimum jerk model for these reaches were shown to depend on three variables: object presence, object orientation, and plane of movement. When subjects completed the cup reach their movements were more curved than for the spoon reach. The object present condition for the cup reach showed more curvature than in the object imagined and absent conditions. Curvature in the XZ plane of movement was greater than curvature in the XY plane for all movements. The implemented minimum jerk trajectory model was not adequate for generating functional trajectories for these ADLs. The deviations caused by object affordance and functional task constraints must be accounted for in order to allow subjects to perform functional task training in robotic therapy environments. The major differences that we have highlighted include trajectory dependence on: object presence, object orientation, and the plane of movement. With the ability to practice ADLs on the ADLER environment we hope to provide patients with a therapy paradigm that will produce optimal results and recovery.

Symmetry in circularly polarized molecular high-order harmonic generation with intense bicircular laser pulses

NASA Astrophysics Data System (ADS)

Yuan, Kai-Jun; Bandrauk, André D.

2018-02-01

We present symmetry effects of laser fields and molecular geometries in circularly polarized high-order harmonic generation by bichromatic counter-rotating circularly polarized laser pulses. Simulations are performed on oriented molecules by numerically solving time-dependent Schrödinger equations. We discuss how electron recollision trajectories by the orthogonal laser field polarizations influence the harmonic polarization by using a time-frequency analysis of harmonics. It is found that orientation-dependent asymmetric ionization in linear molecules due to Coulomb potentials gives rise to a dependence of the polarization on the harmonic frequency. Effects of Coriolis forces are also presented on harmonic generation. Electron recollision trajectories illustrate the effects of the relative symmetry of the field and the molecule, thus paving a method for circularly polarized attosecond pulse generation and molecular orbital imaging in more complex systems.

Sexual identity trajectories among sexual-minority youths: gender comparisons.

PubMed

Savin-Williams, R C; Diamond, L M

2000-12-01

The present investigation explored gender differences in sexual identity development--first same-sex attractions, self-labeling, same-sex sexual contact, and disclosure--among 164 sexual-minority young adults. Based on interviews, results indicated the value of assessing gender differences in the context, timing, spacing, and sequencing of sexual identity milestones. Adolescent males had an earlier onset of all milestones except disclosure. The context for sexual identity milestones were likely to be emotionally oriented for young women and sexually oriented for young men. The gap from first same-sex attractions (8-9 years of age) to first disclosure (around 18 years) averaged 10 years for both sexes. Young women followed label-first developmental trajectories; men were more likely to pursue sex before identifying themselves as gay. In terms of achieving sexual identity milestones, gender mattered, but it was not everything.

Implied Dynamics Biases the Visual Perception of Velocity

PubMed Central

La Scaleia, Barbara; Zago, Myrka; Moscatelli, Alessandro; Lacquaniti, Francesco; Viviani, Paolo

2014-01-01

We expand the anecdotic report by Johansson that back-and-forth linear harmonic motions appear uniform. Six experiments explore the role of shape and spatial orientation of the trajectory of a point-light target in the perceptual judgment of uniform motion. In Experiment 1, the target oscillated back-and-forth along a circular arc around an invisible pivot. The imaginary segment from the pivot to the midpoint of the trajectory could be oriented vertically downward (consistent with an upright pendulum), horizontally leftward, or vertically upward (upside-down). In Experiments 2 to 5, the target moved uni-directionally. The effect of suppressing the alternation of movement directions was tested with curvilinear (Experiment 2 and 3) or rectilinear (Experiment 4 and 5) paths. Experiment 6 replicated the upright condition of Experiment 1, but participants were asked to hold the gaze on a fixation point. When some features of the trajectory evoked the motion of either a simple pendulum or a mass-spring system, observers identified as uniform the kinematic profiles close to harmonic motion. The bias towards harmonic motion was most consistent in the upright orientation of Experiment 1 and 6. The bias disappeared when the stimuli were incompatible with both pendulum and mass-spring models (Experiments 3 to 5). The results are compatible with the hypothesis that the perception of dynamic stimuli is biased by the laws of motion obeyed by natural events, so that only natural motions appear uniform. PMID:24667578

Seeing More by Showing Less: Orientation-Dependent Transparency Rendering for Fiber Tractography Visualization

PubMed Central

Tax, Chantal M. W.; Chamberland, Maxime; van Stralen, Marijn; Viergever, Max A.; Whittingstall, Kevin; Fortin, David; Descoteaux, Maxime; Leemans, Alexander

2015-01-01

Fiber tractography plays an important role in exploring the architectural organization of fiber trajectories, both in fundamental neuroscience and in clinical applications. With the advent of diffusion MRI (dMRI) approaches that can also model “crossing fibers”, the complexity of the fiber network as reconstructed with tractography has increased tremendously. Many pathways interdigitate and overlap, which hampers an unequivocal 3D visualization of the network and impedes an efficient study of its organization. We propose a novel fiber tractography visualization approach that interactively and selectively adapts the transparency rendering of fiber trajectories as a function of their orientation to enhance the visibility of the spatial context. More specifically, pathways that are oriented (locally or globally) along a user-specified opacity axis can be made more transparent or opaque. This substantially improves the 3D visualization of the fiber network and the exploration of tissue configurations that would otherwise be largely covered by other pathways. We present examples of fiber bundle extraction and neurosurgical planning cases where the added benefit of our new visualization scheme is demonstrated over conventional fiber visualization approaches. PMID:26444010

A neural network simulating human reach-grasp coordination by continuous updating of vector positioning commands.

PubMed

Ulloa, Antonio; Bullock, Daniel

2003-10-01

We developed a neural network model to simulate temporal coordination of human reaching and grasping under variable initial grip apertures and perturbations of object size and object location/orientation. The proposed model computes reach-grasp trajectories by continuously updating vector positioning commands. The model hypotheses are (1) hand/wrist transport, grip aperture, and hand orientation control modules are coupled by a gating signal that fosters synchronous completion of the three sub-goals. (2) Coupling from transport and orientation velocities to aperture control causes maximum grip apertures that scale with these velocities and exceed object size. (3) Part of the aperture trajectory is attributable to an aperture-reducing passive biomechanical effect that is stronger for larger apertures. (4) Discrepancies between internal representations of targets partially inhibit the gating signal, leading to movement time increases that compensate for perturbations. Simulations of the model replicate key features of human reach-grasp kinematics observed under three experimental protocols. Our results indicate that no precomputation of component movement times is necessary for online temporal coordination of the components of reaching and grasping.

Curvature-driven capillary migration and assembly of rod-like particles

PubMed Central

Cavallaro, Marcello; Botto, Lorenzo; Lewandowski, Eric P.; Wang, Marisa; Stebe, Kathleen J.

2011-01-01

Capillarity can be used to direct anisotropic colloidal particles to precise locations and to orient them by using interface curvature as an applied field. We show this in experiments in which the shape of the interface is molded by pinning to vertical pillars of different cross-sections. These interfaces present well-defined curvature fields that orient and steer particles along complex trajectories. Trajectories and orientations are predicted by a theoretical model in which capillary forces and torques are related to Gaussian curvature gradients and angular deviations from principal directions of curvature. Interface curvature diverges near sharp boundaries, similar to an electric field near a pointed conductor. We exploit this feature to induce migration and assembly at preferred locations, and to create complex structures. We also report a repulsive interaction, in which microparticles move away from planar bounding walls along curvature gradient contours. These phenomena should be widely useful in the directed assembly of micro- and nanoparticles with potential application in the fabrication of materials with tunable mechanical or electronic properties, in emulsion production, and in encapsulation. PMID:22184218

Seeing More by Showing Less: Orientation-Dependent Transparency Rendering for Fiber Tractography Visualization.

PubMed

Tax, Chantal M W; Chamberland, Maxime; van Stralen, Marijn; Viergever, Max A; Whittingstall, Kevin; Fortin, David; Descoteaux, Maxime; Leemans, Alexander

2015-01-01

Fiber tractography plays an important role in exploring the architectural organization of fiber trajectories, both in fundamental neuroscience and in clinical applications. With the advent of diffusion MRI (dMRI) approaches that can also model "crossing fibers", the complexity of the fiber network as reconstructed with tractography has increased tremendously. Many pathways interdigitate and overlap, which hampers an unequivocal 3D visualization of the network and impedes an efficient study of its organization. We propose a novel fiber tractography visualization approach that interactively and selectively adapts the transparency rendering of fiber trajectories as a function of their orientation to enhance the visibility of the spatial context. More specifically, pathways that are oriented (locally or globally) along a user-specified opacity axis can be made more transparent or opaque. This substantially improves the 3D visualization of the fiber network and the exploration of tissue configurations that would otherwise be largely covered by other pathways. We present examples of fiber bundle extraction and neurosurgical planning cases where the added benefit of our new visualization scheme is demonstrated over conventional fiber visualization approaches.

Non-monotonic dynamics of water in its binary mixture with 1,2-dimethoxy ethane: A combined THz spectroscopic and MD simulation study.

PubMed

Das Mahanta, Debasish; Patra, Animesh; Samanta, Nirnay; Luong, Trung Quan; Mukherjee, Biswaroop; Mitra, Rajib Kumar

2016-10-28

A combined experimental (mid- and far-infrared FTIR spectroscopy and THz time domain spectroscopy (TTDS) (0.3-1.6 THz)) and molecular dynamics (MD) simulation technique are used to understand the evolution of the structure and dynamics of water in its binary mixture with 1,2-dimethoxy ethane (DME) over the entire concentration range. The cooperative hydrogen bond dynamics of water obtained from Debye relaxation of TTDS data reveals a non-monotonous behaviour in which the collective dynamics is much faster in the low X w region (where X w is the mole fraction of water in the mixture), whereas in X w ∼ 0.8 region, the dynamics gets slower than that of pure water. The concentration dependence of the reorientation times of water, calculated from the MD simulations, also captures this non-monotonous character. The MD simulation trajectories reveal presence of large amplitude angular jumps, which dominate the orientational relaxation. We rationalize the non-monotonous, concentration dependent orientational dynamics by identifying two different physical mechanisms which operate at high and low water concentration regimes.

Patterns of Alcohol Use and Consequences Among Empirically Derived Sexual Minority Subgroups

PubMed Central

Talley, Amelia E.; Sher, Kenneth J.; Steinley, Douglas; Wood, Phillip K.; Littlefield, Andrew K.

2012-01-01

Objective: The current study develops an empirically determined classification of sexual orientation developmental patterns based on participants’ annual reports of self-identifications, sexual attractions, and sexual behaviors during the first 4 years of college. A secondary aim of the current work was to examine trajectories of alcohol involvement among identified subgroups. Method: Data were drawn from a subsample of a longitudinal study of incoming first-time college students at a large, public university (n = 2,068). Longitudinal latent class analysis was used to classify sexual minority participants into empirically derived subgroups based on three self-reported facets of sexual orientation. Multivariate repeated-measures analyses were conducted to examine how trajectories of alcohol involvement varied by sexual orientation class membership. Results: Four unique subclasses of sexual orientation developmental patterns were identified for males and females: one consistently exclusively heterosexual group and three sexual minority groups. Despite generally similar alcohol use patterns among subclasses, certain sexual minority subgroups reported elevated levels of alcohol-related negative consequences and maladaptive motivations for use throughout college compared with their exclusively heterosexual counterparts. Conclusions: Elevations in coping and conformity motivations for alcohol use were seen among those subgroups that also evidenced heightened negative alcohol-related consequences. Implications and limitations of the current work are discussed. PMID:22333337

Simulation of orientational coherent effects via Geant4

NASA Astrophysics Data System (ADS)

Bagli, E.; Asai, M.; Brandt, D.; Dotti, A.; Guidi, V.; Verderi, M.; Wright, D.

2017-10-01

Simulation of orientational coherent effects via Geant4 beam manipulation of high-and very-high-energy particle beams is a hot topic in accelerator physics. Coherent effects of ultra-relativistic particles in bent crystals allow the steering of particle trajectories thanks to the strong electrical field generated between atomic planes. Recently, a collimation experiment with bent crystals was carried out at the CERN-LHC, paving the way to the usage of such technology in current and future accelerators. Geant4 is a widely used object-oriented tool-kit for the Monte Carlo simulation of the interaction of particles with matter in high-energy physics. Moreover, its areas of application include also nuclear and accelerator physics, as well as studies in medical and space science. We present the first Geant4 extension for the simulation of orientational effects in straight and bent crystals for high energy charged particles. The model allows the manipulation of particle trajectories by means of straight and bent crystals and the scaling of the cross sections of hadronic and electromagnetic processes for channeled particles. Based on such a model, an extension of the Geant4 toolkit has been developed. The code and the model have been validated by comparison with published experimental data regarding the deflection efficiency via channeling and the variation of the rate of inelastic nuclear interactions.

Research on Airborne SAR Imaging Based on Esc Algorithm

NASA Astrophysics Data System (ADS)

Dong, X. T.; Yue, X. J.; Zhao, Y. H.; Han, C. M.

2017-09-01

Due to the ability of flexible, accurate, and fast obtaining abundant information, airborne SAR is significant in the field of Earth Observation and many other applications. Optimally the flight paths are straight lines, but in reality it is not the case since some portion of deviation from the ideal path is impossible to avoid. A small disturbance from the ideal line will have a major effect on the signal phase, dramatically deteriorating the quality of SAR images and data. Therefore, to get accurate echo information and radar images, it is essential to measure and compensate for nonlinear motion of antenna trajectories. By means of compensating each flying trajectory to its reference track, MOCO method corrects linear phase error and quadratic phase error caused by nonlinear antenna trajectories. Position and Orientation System (POS) data is applied to acquiring accuracy motion attitudes and spatial positions of antenna phase centre (APC). In this paper, extend chirp scaling algorithm (ECS) is used to deal with echo data of airborne SAR. An experiment is done using VV-Polarization raw data of C-band airborne SAR. The quality evaluations of compensated SAR images and uncompensated SAR images are done in the experiment. The former always performs better than the latter. After MOCO processing, azimuth ambiguity is declined, peak side lobe ratio (PSLR) effectively improves and the resolution of images is improved obviously. The result shows the validity and operability of the imaging process for airborne SAR.

A model for helicopter guidance on spiral trajectories

NASA Technical Reports Server (NTRS)

Mendenhall, S.; Slater, G. L.

1980-01-01

A point mass model is developed for helicopter guidance on spiral trajectories. A fully coupled set of state equations is developed and perturbation equations suitable for 3-D and 4-D guidance are derived and shown to be amenable to conventional state variable feedback methods. Control variables are chosen to be the magnitude and orientation of the net rotor thrust. Using these variables reference controls for nonlevel accelerating trajectories are easily determined. The effects of constant wind are shown to require significant feedforward correction to some of the reference controls and to the time. Although not easily measured themselves, the controls variables chosen are shown to be easily related to the physical variables available in the cockpit.

Flight Dynamics Operations: Methods and Lessons Learned from Space Shuttle Orbit Operations

NASA Technical Reports Server (NTRS)

Cutri-Kohart, Rebecca M.

2011-01-01

The Flight Dynamics Officer is responsible for trajectory maintenance of the Space Shuttle. This paper will cover high level operational considerations, methodology, procedures, and lessons learned involved in performing the functions of orbit and rendezvous Flight Dynamics Officer and leading the team of flight dynamics specialists during different phases of flight. The primary functions that will be address are: onboard state vector maintenance, ground ephemeris maintenance, calculation of ground and spacecraft acquisitions, collision avoidance, burn targeting for the primary mission, rendezvous, deorbit and contingencies, separation sequences, emergency deorbit preparation, mass properties coordination, payload deployment planning, coordination with the International Space Station, and coordination with worldwide trajectory customers. Each of these tasks require the Flight Dynamics Officer to have cognizance of the current trajectory state as well as the impact of future events on the trajectory plan in order to properly analyze and react to real-time changes. Additionally, considerations are made to prepare flexible alternative trajectory plans in the case timeline changes or a systems failure impact the primary plan. The evolution of the methodology, procedures, and techniques used by the Flight Dynamics Officer to perform these tasks will be discussed. Particular attention will be given to how specific Space Shuttle mission and training simulation experiences, particularly off-nominal or unexpected events such as shortened mission durations, tank failures, contingency deorbit, navigation errors, conjunctions, and unexpected payload deployments, have influenced the operational procedures and training for performing Space Shuttle flight dynamics operations over the history of the program. These lessons learned can then be extended to future vehicle trajectory operations.

A New Localization System for Indoor Service Robots in Low Luminance and Slippery Indoor Environment Using Afocal Optical Flow Sensor Based Sensor Fusion.

PubMed

Yi, Dong-Hoon; Lee, Tae-Jae; Cho, Dong-Il Dan

2018-01-10

In this paper, a new localization system utilizing afocal optical flow sensor (AOFS) based sensor fusion for indoor service robots in low luminance and slippery environment is proposed, where conventional localization systems do not perform well. To accurately estimate the moving distance of a robot in a slippery environment, the robot was equipped with an AOFS along with two conventional wheel encoders. To estimate the orientation of the robot, we adopted a forward-viewing mono-camera and a gyroscope. In a very low luminance environment, it is hard to conduct conventional feature extraction and matching for localization. Instead, the interior space structure from an image and robot orientation was assessed. To enhance the appearance of image boundary, rolling guidance filter was applied after the histogram equalization. The proposed system was developed to be operable on a low-cost processor and implemented on a consumer robot. Experiments were conducted in low illumination condition of 0.1 lx and carpeted environment. The robot moved for 20 times in a 1.5 × 2.0 m square trajectory. When only wheel encoders and a gyroscope were used for robot localization, the maximum position error was 10.3 m and the maximum orientation error was 15.4°. Using the proposed system, the maximum position error and orientation error were found as 0.8 m and within 1.0°, respectively.

A New Localization System for Indoor Service Robots in Low Luminance and Slippery Indoor Environment Using Afocal Optical Flow Sensor Based Sensor Fusion

PubMed Central

Yi, Dong-Hoon; Lee, Tae-Jae; Cho, Dong-Il “Dan”

2018-01-01

In this paper, a new localization system utilizing afocal optical flow sensor (AOFS) based sensor fusion for indoor service robots in low luminance and slippery environment is proposed, where conventional localization systems do not perform well. To accurately estimate the moving distance of a robot in a slippery environment, the robot was equipped with an AOFS along with two conventional wheel encoders. To estimate the orientation of the robot, we adopted a forward-viewing mono-camera and a gyroscope. In a very low luminance environment, it is hard to conduct conventional feature extraction and matching for localization. Instead, the interior space structure from an image and robot orientation was assessed. To enhance the appearance of image boundary, rolling guidance filter was applied after the histogram equalization. The proposed system was developed to be operable on a low-cost processor and implemented on a consumer robot. Experiments were conducted in low illumination condition of 0.1 lx and carpeted environment. The robot moved for 20 times in a 1.5 × 2.0 m square trajectory. When only wheel encoders and a gyroscope were used for robot localization, the maximum position error was 10.3 m and the maximum orientation error was 15.4°. Using the proposed system, the maximum position error and orientation error were found as 0.8 m and within 1.0°, respectively. PMID:29320414

Method and Apparatus for Generating Flight-Optimizing Trajectories

NASA Technical Reports Server (NTRS)

Ballin, Mark G. (Inventor); Wing, David J. (Inventor)

2015-01-01

An apparatus for generating flight-optimizing trajectories for a first aircraft includes a receiver capable of receiving second trajectory information associated with at least one second aircraft. The apparatus also includes a traffic aware planner (TAP) module operably connected to the receiver to receive the second trajectory information. The apparatus also includes at least one internal input device on board the first aircraft to receive first trajectory information associated with the first aircraft and a TAP application capable of calculating an optimal trajectory for the first aircraft based at least on the first trajectory information and the second trajectory information. The optimal trajectory at least avoids conflicts between the first trajectory information and the second trajectory information.

Navigation and Remote Sensing Payloads and Methods of the Sarvant Unmanned Aerial System

NASA Astrophysics Data System (ADS)

Molina, P.; Fortuny, P.; Colomina, I.; Remy, M.; Macedo, K. A. C.; Zúnigo, Y. R. C.; Vaz, E.; Luebeck, D.; Moreira, J.; Blázquez, M.

2013-08-01

In a large number of scenarios and missions, the technical, operational and economical advantages of UAS-based photogrammetry and remote sensing over traditional airborne and satellite platforms are apparent. Airborne Synthetic Aperture Radar (SAR) or combined optical/SAR operation in remote areas might be a case of a typical "dull, dirty, dangerous" mission suitable for unmanned operation - in harsh environments such as for example rain forest areas in Brazil, topographic mapping of small to medium sparsely inhabited remote areas with UAS-based photogrammetry and remote sensing seems to be a reasonable paradigm. An example of such a system is the SARVANT platform, a fixed-wing aerial vehicle with a six-meter wingspan and a maximumtake- of-weight of 140 kilograms, able to carry a fifty-kilogram payload. SARVANT includes a multi-band (X and P) interferometric SAR payload, as the P-band enables the topographic mapping of densely tree-covered areas, providing terrain profile information. Moreover, the combination of X- and P-band measurements can be used to extract biomass estimations. Finally, long-term plan entails to incorporate surveying capabilities also at optical bands and deliver real-time imagery to a control station. This paper focuses on the remote-sensing concept in SARVANT, composed by the aforementioned SAR sensor and envisioning a double optical camera configuration to cover the visible and the near-infrared spectrum. The flexibility on the optical payload election, ranging from professional, medium-format cameras to mass-market, small-format cameras, is discussed as a driver in the SARVANT development. The paper also focuses on the navigation and orientation payloads, including the sensors (IMU and GNSS), the measurement acquisition system and the proposed navigation and orientation methods. The latter includes the Fast AT procedure, which performs close to traditional Integrated Sensor Orientation (ISO) and better than Direct Sensor Orientation (DiSO), and features the advantage of not requiring the massive image processing load for the generation of tie points, although it does require some Ground Control Points (GCPs). This technique is further supported by the availability of a high quality INS/GNSS trajectory, motivated by single-pass and repeat-pass SAR interferometry requirements.

Acculturative stress is associated with trajectory of anxiety symptoms during pregnancy in Mexican-American women

PubMed Central

Preciado, Andrea; D'Anna-Hernandez, Kimberly

2017-01-01

Over half of pregnant women report anxiety symptoms and these symptoms may be precipitated by stressful experiences. Anxiety rates may be higher in Mexican-American women who experience socio-cultural stressors, such as acculturation, acculturative stress and discrimination. However, the role of such stressors on the trajectory of anxiety symptoms across pregnancy is not yet known. Mexican-American women (n = 151) completed surveys across pregnancy about acculturation, acculturative stress, perceived discrimination, and state anxiety. Multilevel modeling found that acculturation (Anglo orientation, b = 0.050, SE = 0.379, t (137.561) = 0.134, p = 0.894; Mexican orientation, b = 0.775, SE = 0.692, t (133.424) = 1.121, p = 0.264) and perceived discrimination (b = −1.259, SE = 0.921, t (137.489) = −1.367, p = 0.174) were not associated with the trajectory of anxiety symptoms. However, acculturative stress, even while controlling for perceived stress, was associated with high levels of anxiety symptoms that were elevated early in pregnancy (b = −0.045, SE = 0.022, t (135.749) = −2, p = 0.047). This work highlights the unique role of acculturative stress in risk for prenatal anxiety in early pregnancy. PMID:27780654

Acculturative stress is associated with trajectory of anxiety symptoms during pregnancy in Mexican-American women.

PubMed

Preciado, Andrea; D'Anna-Hernandez, Kimberly

2017-05-01

Over half of pregnant women report anxiety symptoms and these symptoms may be precipitated by stressful experiences. Anxiety rates may be higher in Mexican-American women who experience sociocultural stressors, such as acculturation, acculturative stress and discrimination. However, the role of such stressors on the trajectory of anxiety symptoms across pregnancy is not yet known. Mexican-American women (n=151) completed surveys across pregnancy about acculturation, acculturative stress, perceived discrimination, and state anxiety. Multilevel modeling found that acculturation (Anglo orientation, b=0.050, SE=0.379, t (137.561)=0.134, p=0.894; Mexican orientation, b=0.775, SE=0.692, t (133.424)=1.121, p=0.264) and perceived discrimination (b=-1.259, SE=0.921, t (137.489)=-1.367, p=0.174) were not associated with the trajectory of anxiety symptoms. However, acculturative stress, even while controlling for perceived stress, was associated with high levels of anxiety symptoms that were elevated early in pregnancy (b=-0.045, SE=0.022, t (135.749)=-2, p=0.047). This work highlights the unique role of acculturative stress in risk for prenatal anxiety in early pregnancy. Copyright © 2016. Published by Elsevier Ltd.

Jump stabilization and landing control by wing-spreading of a locust-inspired jumper.

PubMed

Beck, Avishai; Zaitsev, Valentin; Hanan, Uri Ben; Kosa, Gabor; Ayali, Amir; Weiss, Avi

2017-10-16

Bio-inspired robotics is a promising design strategy for mobile robots. Jumping is an energy efficient locomotion gait for traversing difficult terrain. Inspired by the jumping and flying behavior of the desert locust, we have recently developed a miniature jumping robot that can jump over 3.5 m high. However, much like the non-adult locust, it rotates while in the air and lands uncontrollably. Inspired by the winged adult locust, we have added spreading wings and a tail to the jumper. After the robot leaps, at the apex of the trajectory, the wings unfold and it glides to the ground. The advantages of this maneuver are the stabilization of the robot when airborne, the reduction of velocity at landing, the control of the landing angle and the potential to change the robot's orientation and control its flight trajectory. The new upgraded robot is capable of jumping to a still impressive height of 1.7 m eliminating airborne rotation and reducing landing velocity. Here, we analyze the dynamic and aerodynamic models of the robot, discuss the robot's design, and validate its ability to perform a jump-glide in a stable trajectory, land safely and change its orientation while in the air.

Robotics-based synthesis of human motion.

PubMed

Khatib, O; Demircan, E; De Sapio, V; Sentis, L; Besier, T; Delp, S

2009-01-01

The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.

A learning controller for nonrepetitive robotic operation

NASA Technical Reports Server (NTRS)

Miller, W. T., III

1987-01-01

A practical learning control system is described which is applicable to complex robotic and telerobotic systems involving multiple feedback sensors and multiple command variables. In the controller, the learning algorithm is used to learn to reproduce the nonlinear relationship between the sensor outputs and the system command variables over particular regions of the system state space, rather than learning the actuator commands required to perform a specific task. The learned information is used to predict the command signals required to produce desired changes in the sensor outputs. The desired sensor output changes may result from automatic trajectory planning or may be derived from interactive input from a human operator. The learning controller requires no a priori knowledge of the relationships between the sensor outputs and the command variables. The algorithm is well suited for real time implementation, requiring only fixed point addition and logical operations. The results of learning experiments using a General Electric P-5 manipulator interfaced to a VAX-11/730 computer are presented. These experiments involved interactive operator control, via joysticks, of the position and orientation of an object in the field of view of a video camera mounted on the end of the robot arm.

An Overview of a Trajectory-Based Solution for En Route and Terminal Area Self-Spacing: Fourth Revision

NASA Technical Reports Server (NTRS)

Abbott, Terence S.

2013-01-01

This paper presents an overview of the fourth major revision to an algorithm specifically designed to support NASA's Airborne Precision Spacing concept. This airborne self-spacing concept is trajectory-based, allowing for spacing operations prior to the aircraft being on a common path. Because this algorithm is trajectory-based, it also has the inherent ability to support required-time-of-arrival (RTA) operations. This algorithm was also designed specifically to support a standalone, non-integrated implementation in the spacing aircraft. Revisions to this algorithm were based on a change to the expected operational environment.

Embedding Human Expert Cognition Into Autonomous UAS Trajectory Planning.

PubMed

Narayan, Pritesh; Meyer, Patrick; Campbell, Duncan

2013-04-01

This paper presents a new approach for the inclusion of human expert cognition into autonomous trajectory planning for unmanned aerial systems (UASs) operating in low-altitude environments. During typical UAS operations, multiple objectives may exist; therefore, the use of multicriteria decision aid techniques can potentially allow for convergence to trajectory solutions which better reflect overall mission requirements. In that context, additive multiattribute value theory has been applied to optimize trajectories with respect to multiple objectives. A graphical user interface was developed to allow for knowledge capture from a human decision maker (HDM) through simulated decision scenarios. The expert decision data gathered are converted into value functions and corresponding criteria weightings using utility additive theory. The inclusion of preferences elicited from HDM data within an automated decision system allows for the generation of trajectories which more closely represent the candidate HDM decision preferences. This approach has been demonstrated in this paper through simulation using a fixed-wing UAS operating in low-altitude environments.

TrackTable Trajectory Analysis

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

Wilson, Andrew T.

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

Managing Contextual Complexity in an Experiential Learning Course: A Dynamic Systems Approach through the Identification of Turning Points in Students' Emotional Trajectories

PubMed Central

Nogueiras, Gloria; Kunnen, E. Saskia; Iborra, Alejandro

2017-01-01

This study adopts a dynamic systems approach to investigate how individuals successfully manage contextual complexity. To that end, we tracked individuals' emotional trajectories during a challenging training course, seeking qualitative changes–turning points—and we tested their relationship with the perceived complexity of the training. The research context was a 5-day higher education course based on process-oriented experiential learning, and the sample consisted of 17 students. The students used a five-point Likert scale to rate the intensity of 16 emotions and the complexity of the training on 8 measurement points. Monte Carlo permutation tests enabled to identify 30 turning points in the 272 emotional trajectories analyzed (17 students * 16 emotions each). 83% of the turning points indicated a change of pattern in the emotional trajectories that consisted of: (a) increasingly intense positive emotions or (b) decreasingly intense negative emotions. These turning points also coincided with particularly complex periods in the training as perceived by the participants (p = 0.003, and p = 0.001 respectively). The relationship between positively-trended turning points in the students' emotional trajectories and the complexity of the training may be interpreted as evidence of a successful management of the cognitive conflict arising from the clash between the students' prior ways of meaning-making and the challenging demands of the training. One of the strengths of this study is that it provides a relatively simple procedure for identifying turning points in developmental trajectories, which can be applied to various longitudinal experiences that are very common in educational and developmental contexts. Additionally, the findings contribute to sustaining that the assumption that complex contextual demands lead unfailingly to individuals' learning is incomplete. Instead, it is how individuals manage complexity which may or may not lead to learning. Finally, this study can also be considered a first step in research on the developmental potential of process-oriented experiential learning training. PMID:28515703

Human Mars Mission: Launch Window from Earth Orbit. Pt. 1

NASA Technical Reports Server (NTRS)

Young, Archie

1999-01-01

The determination of orbital window characteristics is of major importance in the analysis of human interplanetary missions and systems. The orbital launch window characteristics are directly involved in the selection of mission trajectories, the development of orbit operational concepts, and the design of orbital launch systems. The orbital launch window problem arises because of the dynamic nature of the relative geometry between outgoing (departure) asymptote of the hyperbolic escape trajectory and the earth parking orbit. The orientation of the escape hyperbola asymptotic relative to the earth is a function of time. The required hyperbola energy level also varies with time. In addition, the inertial orientation of the parking orbit is a function of time because of the perturbations caused by the Earth's oblateness. Thus, a coplanar injection onto the escape hyperbola can be made only at a point in time when the outgoing escape asymptote is contained by the plane of parking orbit. Even though this condition may be planned as a nominal situation, it will not generally represent the more probable injection geometry. The general case of an escape injection maneuver performed at a time other than the coplanar time will involve both a path angle and plane change and, therefore, a delta V penalty. Usually, because of the delta V penalty the actual departure injection window is smaller in duration than that determined by energy requirement alone. This report contains the formulation, characteristics, and test cases for five different launch window modes for Earth orbit. These modes are: 1) One impulsive maneuver from a Highly Elliptical Orbit (HEO); 2) Two impulsive maneuvers from a Highly Elliptical Orbit (HEO); 3) One impulsive maneuver from a Low Earth Orbit (LEO); 4) Two impulsive maneuvers form LEO; and 5) Three impulsive maneuvers form LEO. The formulation of these five different launch window modes provides a rapid means of generating realistic parametric data for space exploration studies. Also the formulation provides vector and geometrical data sufficient for use as a good starting point in detail trajectory analysis based on calculus of variations, steepest descent, or parameter optimization program techniques.

Defining and Verifying Research Grade Airborne Laser Swath Mapping (ALSM) Observations

NASA Astrophysics Data System (ADS)

Carter, W. E.; Shrestha, R. L.; Slatton, C. C.

2004-12-01

The first and primary goal of the National Science Foundation (NSF) supported Center for Airborne Laser Mapping (NCALM), operated jointly by the University of Florida and the University of California, Berkeley, is to make "research grade" ALSM data widely available at affordable cost to the national scientific community. Cost aside, researchers need to know what NCALM considers research grade data and how the quality of the data is verified, to be able to determine the likelihood that the data they receive will meet their project specific requirements. Given the current state of the technology it is reasonable to expect a well planned and executed survey to produce surface elevations with uncertainties less than 10 centimeters and horizontal uncertainties of a few decimeters. Various components of the total error are generally associated with the aircraft trajectory, aircraft orientation, or laser vectors. Aircraft trajectory error is dependent largely on the Global Positioning System (GPS) observations, aircraft orientation on Inertial Measurement Unit (IMU) observations, and laser vectors on the scanning and ranging instrumentation. In addition to the issue of the precision or accuracy of the coordinates of the surface points, consideration must also be given to the point-to-point spacing and voids in the coverage. The major sources of error produce distinct artifacts in the data set. For example, aircraft trajectory errors tend to change slowly as the satellite constellation geometry varies, producing slopes within swaths and offsets between swaths. Roll, pitch and yaw biases in the IMU observations tend to persist through whole flights, and created distinctive artifacts in the swath overlap areas. Errors in the zero-point and scale of the laser scanner cause the edges of swaths to turn up or down. Range walk errors cause offsets between bright and dark surfaces, causing paint stripes to float above the dark surfaces of roads. The three keys to producing research grade ALSM observations are calibration, calibration, calibration. In this paper we discuss our general calibrations procedures, give examples of project specific calibration procedures, and discuss the use of ground truth data to verify the accuracy of ALSM surface coordinates.

Human Exploration Missions Study Launch Window from Earth Orbit

NASA Technical Reports Server (NTRS)

Young, Archie

2001-01-01

The determination of orbital launch window characteristics is of major importance in the analysis of human interplanetary missions and systems. The orbital launch window characteristics are directly involved in the selection of mission trajectories, the development of orbit operational concepts, and the design of orbital launch systems. The orbital launch window problem arises because of the dynamic nature of the relative geometry between outgoing (departure) asymptote of the hyperbolic escape trajectory and the earth parking orbit. The orientation of the escape hyperbola asymptotic relative to earth is a function of time. The required hyperbola energy level also varies with time. In addition, the inertial orientation of the parking orbit is a function of time because of the perturbations caused by the Earth's oblateness. Thus, a coplanar injection onto the escape hyperbola can be made only at a point in time when the outgoing escape asymptote is contained by the plane of parking orbit. Even though this condition may be planned as a nominal situation, it will not generally represent the more probable injection geometry. The general case of an escape injection maneuver performed at a time other than the coplanar time will involve both a path angle and plane change and, therefore, a Delta(V) penalty. Usually, because of the Delta(V) penalty the actual departure injection window is smaller in duration than that determined by energy requirement alone. This report contains the formulation, characteristics, and test cases for five different launch window modes for Earth orbit. These modes are: (1) One impulsive maneuver from a Low Earth Orbit (LEO), (2) Two impulsive maneuvers from LEO, (3) Three impulsive maneuvers from LEO, (4) One impulsive maneuvers from a Highly Elliptical Orbit (HEO), (5) Two impulsive maneuvers from a Highly Elliptical Orbit (HEO) The formulation of these five different launch window modes provides a rapid means of generating realistic parametric data for space exploration studies. Also the formulation provides vector and geometrical data sufficient for use as a good starting point in detail trajectory analysis based on calculus of variations, steepest descent, or parameter optimization program techniques.

Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR).

PubMed

Moreno, Javier; Clotet, Eduard; Lupiañez, Ruben; Tresanchez, Marcel; Martínez, Dani; Pallejà, Tomàs; Casanovas, Jordi; Palacín, Jordi

2016-10-10

This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm.

Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)

PubMed Central

Moreno, Javier; Clotet, Eduard; Lupiañez, Ruben; Tresanchez, Marcel; Martínez, Dani; Pallejà, Tomàs; Casanovas, Jordi; Palacín, Jordi

2016-01-01

This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm. PMID:27735857

A novel mechatronic tool for computer-assisted arthroscopy.

PubMed

Dario, P; Carrozza, M C; Marcacci, M; D'Attanasio, S; Magnami, B; Tonet, O; Megali, G

2000-03-01

This paper describes a novel mechatronic tool for arthroscopy, which is at the same time a smart tool for traditional arthroscopy and the main component of a system for computer-assisted arthroscopy. The mechatronic arthroscope has a cable-actuated servomotor-driven multi-joint mechanical structure, is equipped with a position sensor measuring the orientation of the tip and with a force sensor detecting possible contact with delicate tissues in the knee, and incorporates an embedded microcontroller for sensor signal processing, motor driving and interfacing with the surgeon and/or the system control unit. When used manually, the mechatronic arthroscope enhances the surgeon's capabilities by enabling him/her to easily control tip motion and to prevent undesired contacts. When the tool is integrated in a complete system for computer-assisted arthroscopy, the trajectory of the arthroscope is reconstructed in real time by an optical tracking system using infrared emitters located in the handle, providing advantages in terms of improved intervention accuracy. The computer-assisted arthroscopy system comprises an image processing module for segmentation and three-dimensional reconstruction of preoperative computer tomography or magnetic resonance images, a registration module for measuring the position of the knee joint, tracking the trajectory of the operating tools, and matching preoperative and intra-operative images, and a human-machine interface that displays the enhanced reality scenario and data from the mechatronic arthroscope in a friendly and intuitive manner. By integrating preoperative and intra-operative images and information provided by the mechatronic arthroscope, the system allows virtual navigation in the knee joint during the planning phase and computer guidance by augmented reality during the intervention. This paper describes in detail the characteristics of the mechatronic arthroscope and of the system for computer-assisted arthroscopy and discusses experimental results obtained with a preliminary version of the tool and of the system.

Intraoperative virtual brain counseling

NASA Astrophysics Data System (ADS)

Jiang, Zhaowei; Grosky, William I.; Zamorano, Lucia J.; Muzik, Otto; Diaz, Fernando

1997-06-01

Our objective is to offer online real-tim e intelligent guidance to the neurosurgeon. Different from traditional image-guidance technologies that offer intra-operative visualization of medical images or atlas images, virtual brain counseling goes one step further. It can distinguish related brain structures and provide information about them intra-operatively. Virtual brain counseling is the foundation for surgical planing optimization and on-line surgical reference. It can provide a warning system that alerts the neurosurgeon if the chosen trajectory will pass through eloquent brain areas. In order to fulfill this objective, tracking techniques are involved for intra- operativity. Most importantly, a 3D virtual brian environment, different from traditional 3D digitized atlases, is an object-oriented model of the brain that stores information about different brain structures together with their elated information. An object-oriented hierarchical hyper-voxel space (HHVS) is introduced to integrate anatomical and functional structures. Spatial queries based on position of interest, line segment of interest, and volume of interest are introduced in this paper. The virtual brain environment is integrated with existing surgical pre-planning and intra-operative tracking systems to provide information for planning optimization and on-line surgical guidance. The neurosurgeon is alerted automatically if the planned treatment affects any critical structures. Architectures such as HHVS and algorithms, such as spatial querying, normalizing, and warping are presented in the paper. A prototype has shown that the virtual brain is intuitive in its hierarchical 3D appearance. It also showed that HHVS, as the key structure for virtual brain counseling, efficiently integrates multi-scale brain structures based on their spatial relationships.This is a promising development for optimization of treatment plans and online surgical intelligent guidance.

Neurons in Primary Motor Cortex Encode Hand Orientation in a Reach-to-Grasp Task.

PubMed

Ma, Chaolin; Ma, Xuan; Fan, Jing; He, Jiping

2017-08-01

It is disputed whether those neurons in the primary motor cortex (M1) that encode hand orientation constitute an independent channel for orientation control in reach-to-grasp behaviors. Here, we trained two monkeys to reach forward and grasp objects positioned in the frontal plane at different orientation angles, and simultaneously recorded the activity of M1 neurons. Among the 2235 neurons recorded in M1, we found that 18.7% had a high correlation exclusively with hand orientation, 15.9% with movement direction, and 29.5% with both movement direction and hand orientation. The distributions of neurons encoding hand orientation and those encoding movement direction were not uniform but coexisted in the same region. The trajectory of hand rotation was reproduced by the firing patterns of the orientation-related neurons independent of the hand reaching direction. These results suggest that hand orientation is an independent component for the control of reaching and grasping activity.

Human Mars Mission: Launch Window from Earth Orbit. Pt. 1

NASA Technical Reports Server (NTRS)

Young, Archie

1999-01-01

The determination of orbital window characteristics is of major importance in the analysis of human interplanetary missions and systems. The orbital launch window characteristics are directly involved in the selection of mission trajectories, the development of orbit operational concepts, and the design of orbital launch systems. The orbital launch window problem arises because of the dynamic nature of the relative geometry between outgoing (departure) asymptote of the hyperbolic escape trajectory and the earth parking orbit. The orientation of the escape hyperbola asymptotic relative to earth is a function of time. The required hyperbola energy level also varies with time. In addition, the inertial orientation of the parking orbit is a function of time because of the perturbations caused by the Earth's oblateness. Thus, a coplanar injection onto the escape hyperbola can be made only at a point in time when the outgoing escape asymptote is contained by the plane of parking orbit. Even though this condition may be planned as a nominal situation, it will not generally represent the more probable injection geometry. The general case of an escape injection maneuver performed at a time other than the coplanar time will involve both a path angle and plane change and, therefore, a DELTA V penalty. Usually, because of the DELTA V penalty the actual departure injection window is smaller in duration than that determined by energy requirement alone. This report contains the formulation, characteristics, and test cases for five different launch window modes for Earth orbit. These modes are: (1) One impulsive maneuver from a Highly Elliptical Orbit (HEO) (2) Two impulsive maneuvers from a Highly Elliptical Orbit (HEO) (3) One impulsive maneuver from a Low Earth Orbit (LEO) (4) Two impulsive maneuvers from LEO (5) Three impulsive maneuvers from LEO.

Properties of Vector Preisach Models

NASA Technical Reports Server (NTRS)

Kahler, Gary R.; Patel, Umesh D.; Torre, Edward Della

2004-01-01

This paper discusses rotational anisotropy and rotational accommodation of magnetic particle tape. These effects have a performance impact during the reading and writing of the recording process. We introduce the reduced vector model as the basis for the computations. Rotational magnetization models must accurately compute the anisotropic characteristics of ellipsoidally magnetizable media. An ellipticity factor is derived for these media that computes the two-dimensional magnetization trajectory for all applied fields. An orientation correction must be applied to the computed rotational magnetization. For isotropic materials, an orientation correction has been developed and presented. For anisotropic materials, an orientation correction is introduced.

Development of an analytical guidance algorithm for lunar descent

NASA Astrophysics Data System (ADS)

Chomel, Christina Tvrdik

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

Combustion Efficiency, Flameout Operability Limits and General Design Optimization for Integrated Ramjet-Scramjet Hypersonic Vehicles

NASA Astrophysics Data System (ADS)

Mbagwu, Chukwuka Chijindu

High speed, air-breathing hypersonic vehicles encounter a varied range of engine and operating conditions traveling along cruise/ascent missions at high altitudes and dynamic pressures. Variations of ambient pressure, temperature, Mach number, and dynamic pressure can affect the combustion conditions in conflicting ways. Computations were performed to understand propulsion tradeoffs that occur when a hypersonic vehicle travels along an ascent trajectory. Proper Orthogonal Decomposition methods were applied for the reduction of flamelet chemistry data in an improved combustor model. Two operability limits are set by requirements that combustion efficiency exceed selected minima and flameout be avoided. A method for flameout prediction based on empirical Damkohler number measurements is presented. Operability limits are plotted that define allowable flight corridors on an altitude versus flight Mach number performance map; fixed-acceleration ascent trajectories were considered for this study. Several design rules are also presented for a hypersonic waverider with a dual-mode scramjet engine. Focus is placed on ''vehicle integration" design, differing from previous ''propulsion-oriented" design optimization. The well-designed waverider falls between that of an aircraft (high lift-to-drag ratio) and a rocket (high thrust-to-drag ratio). 84 variations of an X-43-like vehicle were run using the MASIV scramjet reduced order model to examine performance tradeoffs. Informed by the vehicle design study, variable-acceleration trajectory optimization was performed for three constant dynamic pressures ascents. Computed flameout operability limits were implemented as additional constraints to the optimization problem. The Michigan-AFRL Scramjet In-Vehicle (MASIV) waverider model includes finite-rate chemistry, applied scaling laws for 3-D turbulent mixing, ram-scram transition and an empirical value of the flameout Damkohler number. A reduced-order modeling approach is justified (in lieu of higher-fidelity computational simulations) because all vehicle forces are computed multiple thousands of times to generate multi-dimensional performance maps. The findings of this thesis work present a number of compelling conclusions. It is found that the ideal operating conditions of a scramjet engine are heavily dependent on the ambient and combustor pressure (and less strongly on temperature). Combustor pressures of approximately 1.0 bar or greater achieve the highest combustion efficiency, in line with industry standards of more than 0.5 bar. Ascent trajectory analysis of combustion efficiency and lean-limit flameout dictate best operation at higher dynamic pressures and lower altitudes, but these goals are traded off by current structural limitations whereby dynamic pressures must remain below 100 kPa. Hypersonic waverider designs varied between an "airplane" and a "rocket" are found to have better performance with the latter design, with controllability and minimum elevon/rudder surface area as a stability constraint for the vehicle trim. Ultimately, these findings are beneficial and contribute to the overall understanding of dynamically stable waverider vehicles at hypersonic speeds. These types of vehicles have a range of applications from technology demonstration, to earth-to-low orbit payload transit, to most compellingly another step in the development and realization of viable supersonic commercial transport.

Optimal Trajectories for the Helicopter in One-Engine-Inoperative Terminal-Area Operations

NASA Technical Reports Server (NTRS)

Zhao, Yiyuan; Chen, Robert T. N.

1996-01-01

This paper presents a summary of a series of recent analytical studies conducted to investigate One-Engine-Inoperative (OEI) optimal control strategies and the associated optimal trajectories for a twin engine helicopter in Category-A terminal-area operations. These studies also examine the associated heliport size requirements and the maximum gross weight capability of the helicopter. Using an eight states, two controls, augmented point-mass model representative of the study helicopter, Continued TakeOff (CTO), Rejected TakeOff (RTO), Balked Landing (BL), and Continued Landing (CL) are investigated for both Vertical-TakeOff-and-Landing (VTOL) and Short-TakeOff-and-Landing (STOL) terminal-area operations. The formulation of the nonlinear optimal control problems with considerations for realistic constraints, solution methods for the two-point boundary-value problem, a new real-time generation method for the optimal OEI trajectories, and the main results of this series of trajectory optimization studies are presented. In particular, a new balanced- weight concept for determining the takeoff decision point for VTOL Category-A operations is proposed, extending the balanced-field length concept used for STOL operations.

The Impact of Trajectory Prediction Uncertainty on Air Traffic Controller Performance and Acceptability

NASA Technical Reports Server (NTRS)

Mercer, Joey S.; Bienert, Nancy; Gomez, Ashley; Hunt, Sarah; Kraut, Joshua; Martin, Lynne; Morey, Susan; Green, Steven M.; Prevot, Thomas; Wu, Minghong G.

2013-01-01

A Human-In-The-Loop air traffic control simulation investigated the impact of uncertainties in trajectory predictions on NextGen Trajectory-Based Operations concepts, seeking to understand when the automation would become unacceptable to controllers or when performance targets could no longer be met. Retired air traffic controllers staffed two en route transition sectors, delivering arrival traffic to the northwest corner-post of Atlanta approach control under time-based metering operations. Using trajectory-based decision-support tools, the participants worked the traffic under varying levels of wind forecast error and aircraft performance model error, impacting the ground automations ability to make accurate predictions. Results suggest that the controllers were able to maintain high levels of performance, despite even the highest levels of trajectory prediction errors.

Airborne Tactical Intent-Based Conflict Resolution Capability

NASA Technical Reports Server (NTRS)

Wing, David J.; Vivona, Robert A.; Roscoe, David A.

2009-01-01

Trajectory-based operations with self-separation involve the aircraft taking the primary role in the management of its own trajectory in the presence of other traffic. In this role, the flight crew assumes the responsibility for ensuring that the aircraft remains separated from all other aircraft by at least a minimum separation standard. These operations are enabled by cooperative airborne surveillance and by airborne automation systems that provide essential monitoring and decision support functions for the flight crew. An airborne automation system developed and used by NASA for research investigations of required functionality is the Autonomous Operations Planner. It supports the flight crew in managing their trajectory when responsible for self-separation by providing monitoring and decision support functions for both strategic and tactical flight modes. The paper focuses on the latter of these modes by describing a capability for tactical intent-based conflict resolution and its role in a comprehensive suite of automation functions supporting trajectory-based operations with self-separation.

Trajectory-based morphological operators: a model for efficient image processing.

PubMed

Jimeno-Morenilla, Antonio; Pujol, Francisco A; Molina-Carmona, Rafael; Sánchez-Romero, José L; Pujol, Mar

2014-01-01

Mathematical morphology has been an area of intensive research over the last few years. Although many remarkable advances have been achieved throughout these years, there is still a great interest in accelerating morphological operations in order for them to be implemented in real-time systems. In this work, we present a new model for computing mathematical morphology operations, the so-called morphological trajectory model (MTM), in which a morphological filter will be divided into a sequence of basic operations. Then, a trajectory-based morphological operation (such as dilation, and erosion) is defined as the set of points resulting from the ordered application of the instant basic operations. The MTM approach allows working with different structuring elements, such as disks, and from the experiments, it can be extracted that our method is independent of the structuring element size and can be easily applied to industrial systems and high-resolution images.

Design and Development of a Rapid Research, Design, and Development Platform for In-Situ Testing of Tools and Concepts for Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Underwood, Matthew C.

2017-01-01

To provide justification for equipping a fleet of aircraft with avionics capable of supporting trajectory-based operations, significant flight testing must be accomplished. However, equipping aircraft with these avionics and enabling technologies to communicate the clearances required for trajectory-based operations is cost-challenging using conventional avionics approaches. This paper describes an approach to minimize the costs and risks of flight testing these technologies in-situ, discusses the test-bed platform developed, and highlights results from a proof-of-concept flight test campaign that demonstrates the feasibility and efficiency of this approach.

Multi Sector Planning Tools for Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Prevot, Thomas; Mainini, Matthew; Brasil, Connie

2010-01-01

This paper discusses a suite of multi sector planning tools for trajectory-based operations that were developed and evaluated in the Airspace Operations Laboratory (AOL) at the NASA Ames Research Center. The toolset included tools for traffic load and complexity assessment as well as trajectory planning and coordination. The situation assessment tools included an integrated suite of interactive traffic displays, load tables, load graphs, and dynamic aircraft filters. The planning toolset allowed for single and multi aircraft trajectory planning and data communication-based coordination of trajectories between operators. Also newly introduced was a real-time computation of sector complexity into the toolset that operators could use in lieu of aircraft count to better estimate and manage sector workload, especially in situations with convective weather. The tools were used during a joint NASA/FAA multi sector planner simulation in the AOL in 2009 that had multiple objectives with the assessment of the effectiveness of the tools being one of them. Current air traffic control operators who were experienced as area supervisors and traffic management coordinators used the tools throughout the simulation and provided their usefulness and usability ratings in post simulation questionnaires. This paper presents these subjective assessments as well as the actual usage data that was collected during the simulation. The toolset was rated very useful and usable overall. Many elements received high scores by the operators and were used frequently and successfully. Other functions were not used at all, but various requests for new functions and capabilities were received that could be added to the toolset.

Numerical optimization of actuator trajectories for ITER hybrid scenario profile evolution

NASA Astrophysics Data System (ADS)

van Dongen, J.; Felici, F.; Hogeweij, G. M. D.; Geelen, P.; Maljaars, E.

2014-12-01

Optimal actuator trajectories for an ITER hybrid scenario ramp-up are computed using a numerical optimization method. For both L-mode and H-mode scenarios, the time trajectory of plasma current, EC heating and current drive distribution is determined that minimizes a chosen cost function, while satisfying constraints. The cost function is formulated to reflect two desired properties of the plasma q profile at the end of the ramp-up. The first objective is to maximize the ITG turbulence threshold by maximizing the volume-averaged s/q ratio. The second objective is to achieve a stationary q profile by having a flat loop voltage profile. Actuator and physics-derived constraints are included, imposing limits on plasma current, ramp rates, internal inductance and q profile. This numerical method uses the fast control-oriented plasma profile evolution code RAPTOR, which is successfully benchmarked against more complete CRONOS simulations for L-mode and H-mode mode ITER hybrid scenarios. It is shown that the optimized trajectories computed using RAPTOR also result in an improved ramp-up scenario for CRONOS simulations using the same input trajectories. Furthermore, the optimal trajectories are shown to vary depending on the precise timing of the L-H transition.

Context-dependent arm pointing adaptation

NASA Technical Reports Server (NTRS)

Seidler, R. D.; Bloomberg, J. J.; Stelmach, G. E.

2001-01-01

We sought to determine the effectiveness of head posture as a contextual cue to facilitate adaptive transitions in manual control during visuomotor distortions. Subjects performed arm pointing movements by drawing on a digitizing tablet, with targets and movement trajectories displayed in real time on a computer monitor. Adaptation was induced by presenting the trajectories in an altered gain format on the monitor. The subjects were shown visual displays of their movements that corresponded to either 0.5 or 1.5 scaling of the movements made. Subjects were assigned to three groups: the head orientation group tilted the head towards the right shoulder when drawing under a 0.5 gain of display and towards the left shoulder when drawing under a 1.5 gain of display; the target orientation group had the home and target positions rotated counterclockwise when drawing under the 0.5 gain and clockwise for the 1.5 gain; the arm posture group changed the elbow angle of the arm they were not drawing with from full flexion to full extension with 0.5 and 1.5 gain display changes. To determine if contextual cues were associated with display alternations, the gain changes were returned to the standard (1.0) display. Aftereffects were assessed to determine the efficacy of the head orientation contextual cue compared to the two control cues. The head orientation cue was effectively associated with the multiple gains. The target orientation cue also demonstrated some effectiveness while the arm posture cue did not. The results demonstrate that contextual cues can be used to switch between multiple adaptive states. These data provide support for the idea that static head orientation information is a crucial component to the arm adaptation process. These data further define the functional linkage between head posture and arm pointing movements.

Context-Dependent Arm Pointing Adaptation

NASA Technical Reports Server (NTRS)

Seidler, R. D.; Bloomberg, J. J.; Stelmach, G. E.

2000-01-01

We sought to determine the effectiveness of head posture as a contextual cue to facilitate adaptive transitions in manual control during visuomotor distortions. Subjects performed arm pointing movements by drawing on a digitizing tablet, with targets and movement trajectories displayed in real time on a computer monitor. Adaptation was induced by presenting the trajectories in an altered gain format on the monitor. The subjects were shown visual displays of their movements that corresponded to either 0.5 or 1.5 scaling of the movements made. Subjects were assigned to three groups: the head orientation group tilted the head towards the right shoulder when drawing under a 0.5 gain of display and towards the left shoulder when drawing under a 1.5 gain of display, the target orientation group had the home & target positions rotated counterclockwise when drawing under the 0.5 gain and clockwise for the 1.5 gain, the arm posture group changed the elbow angle of the arm they were not drawing with from full flexion to full extension with 0.5 and 1.5 gain display changes. To determine if contextual cues were associated with display alternations, the gain changes were returned to the standard (1.0) display. Aftereffects were assessed to determine the efficacy of the head orientation contextual cue. . compared to the two control cues. The head orientation cue was effectively associated with the multiple gains. The target orientation cue also demonstrated some effectiveness while the.arm posture cue did not. The results demonstrate that contextual cues can be used to switch between multiple adaptive states. These data provide support for the idea that static head orientation information is a crucial component to the arm adaptation process. These data further define the functional linkage between head posture and arm pointing movements.

Experimental and modelling study of the effect of airflow orientation with respect to strip electrode on ozone production of surface dielectric barrier discharge

NASA Astrophysics Data System (ADS)

Mikeš, J.; Pekárek, S.; Soukup, I.

2016-11-01

This study examines the effect of airflow orientation with respect to the strip active electrode on concentration of ozone and nitrogen dioxide produced in a planar generator based on the surface dielectric barrier discharge. The orientation of the airflow was tested in parallel and perpendicular with respect to the strips. It was found that in the investigated range of average discharge power, the ozone concentration increases approximately by 25% when airflow was oriented in parallel with respect to the strips in comparison with perpendicular orientation of the airflow. Similarly the increase of nitrogen dioxide concentration was observed for parallel orientation of the airflow with respect to the strips in comparison with the perpendicular orientation of the airflow. Within the range of wavelengths from 250 to 1100 nm, the changes of intensities of spectral lines associated with airflow orientation have been observed. A 3D numerical model describing ion trajectories and airflow patterns have also been developed.

Orientation perception in Williams Syndrome: discrimination and integration

PubMed Central

Palomares, Melanie; Landau, Barbara; Egeth, Howard

2009-01-01

Williams Syndrome (WS) is a rare neurodevelopmental disorder, which stems from a genetic deletion on chromosome 7 that causes a profound weakness in visuospatial cognition. Our current study explores how orientation perception may contribute to the visuospatial deficits in WS. In Experiment 1, we found that WS individuals and normal 3-4 year olds had similar orientation discrimination thresholds and had similar prevalence of mirror-reversal errors for diagonal targets (±45 deg). In Experiment 2, we asked whether this immaturity in orientation discrimination would also be reflected in a task requiring integration of oriented elements. We found that sensitivities of WS individuals for detecting orientation-defined contours were higher than sensitivities of normal 3-4 year olds, and were not significantly different from sensitivities of normal adults. Together, these results suggest that orientation discrimination and orientation integration have different maturational trajectories in normal development and different susceptibilities to damage in WS, which may reflect largely separate visuospatial mechanisms. PMID:19231058

Retrospective Recall of Sexual Orientation Identity Development Among Gay, Lesbian, and Bisexual Adults

PubMed Central

Calzo, Jerel P.; Antonucci, Toni C.; Mays, Vickie M.; Cochran, Susan D.

2011-01-01

Although recent attention has focused on the likelihood that contemporary sexual minority youth (i.e., gay, lesbian, bisexual [GLB]) are “coming out” at younger ages, few studies have examined if early sexual orientation identity development is also present in older GLB cohorts. We analyze retrospective data on the timing of sexual orientation milestones in a sample of sexual minorities drawn from the California Quality of Life Surveys. Latent profile analysis of 1,260 GLB adults, ages 18-84 years identified three trajectories of development: Early (n = 951, milestones spanning ages 12 to 20), Middle (n = 239, milestones spanning ages 18 to 31), and Late (n = 70, milestones spanning ages 32 to 43). Motivated by previous research on variability in adolescent developmental trajectories, post-hoc analyses of the Early Profile group identified two sub-groups: Child-Onset (n = 284, milestones spanning ages 8 to 18), and Teen-Onset (n = 667, milestones spanning ages 14 to 22). Nearly all patterns of development were identity-centered, with average age of self-identification as GLB preceding average age of first same-sex sexual activity. Overall, younger participants and the majority of older participants were classified to the Early Profile, suggesting that early development is common regardless of age cohort. The additional gender differences observed in the onset and pace of sexual orientation identity development warrant future research. PMID:21942662

Finite geometry effects of field-aligned currents

NASA Technical Reports Server (NTRS)

Fung, Shing F.; Hoffman, R. A.

1992-01-01

Results are presented of model calculations of the magnetic field produced by finite current regions that would be measured by a spaceborne magnetometer. Conditions were examined under which the infinite current sheet approximation can be applied to the calculation of the field-aligned current (FAC) density, using satellite magnetometer data. The accuracy of the three methods used for calculating the current sheet normal direction with respect to the spacecraft trajectory was assessed. It is shown that the model can be used to obtain the position and the orientation of the spacecraft trajectory through the FAC region.

Preliminary Assessment of Operational Hazards and Safety Requirements for Airborne Trajectory Management (ABTM) Roadmap Applications

NASA Technical Reports Server (NTRS)

Cotton, William B.; Hilb, Robert; Koczo, Stefan, Jr.; Wing, David J.

2016-01-01

A set of five developmental steps building from the NASA TASAR (Traffic Aware Strategic Aircrew Requests) concept are described, each providing incrementally more efficiency and capacity benefits to airspace system users and service providers, culminating in a Full Airborne Trajectory Management capability. For each of these steps, the incremental Operational Hazards and Safety Requirements are identified for later use in future formal safety assessments intended to lead to certification and operational approval of the equipment and the associated procedures. Two established safety assessment methodologies that are compliant with the FAA's Safety Management System were used leading to Failure Effects Classifications (FEC) for each of the steps. The most likely FEC for the first three steps, Basic TASAR, Digital TASAR, and 4D TASAR, is "No effect". For step four, Strategic Airborne Trajectory Management, the likely FEC is "Minor". For Full Airborne Trajectory Management (Step 5), the most likely FEC is "Major".

Prototype Tool and Focus Group Evaluation for an Advanced Trajectory-Based Operations Concept

NASA Technical Reports Server (NTRS)

Guerreiro, Nelson M.; Jones, Denise R.; Barmore, Bryan E.; Butler, Ricky W.; Hagen, George E.; Maddalon, Jeffrey M.; Ahmad, Nash'at N.

2017-01-01

Trajectory-based operations (TBO) is a key concept in the Next Generation Air Transportation System transformation of the National Airspace System (NAS) that will increase the predictability and stability of traffic flows, support a common operational picture through the use of digital data sharing, facilitate more effective collaborative decision making between airspace users and air navigation service providers, and enable increased levels of integrated automation across the NAS. NASA has been developing trajectory-based systems to improve the efficiency of the NAS during specific phases of flight and is now also exploring Advanced 4-Dimensional Trajectory (4DT) operational concepts that will integrate these technologies and incorporate new technology where needed to create both automation and procedures to support gate-to-gate TBO. A TBO Prototype simulation toolkit has been developed that demonstrates initial functionality of an Advanced 4DT TBO concept. Pilot and controller subject matter experts (SMEs) were brought to the Air Traffic Operations Laboratory at NASA Langley Research Center for discussions on an Advanced 4DT operational concept and were provided an interactive demonstration of the TBO Prototype using four example scenarios. The SMEs provided feedback on potential operational, technological, and procedural opportunities and concerns. This paper describes an Advanced 4DT operational concept, the TBO Prototype, the demonstration scenarios and methods used, and the feedback obtained from the pilot and controller SMEs in this focus group activity.

Towards a Formal Semantics of Flight Plans and Trajectories

NASA Technical Reports Server (NTRS)

Hagen, George E.; Butler, Ricky W.

2014-01-01

In the National Airspace System, ight plans are often used only as a planning tool by air trac controllers and aircraft operators. These plans are implicitly translated into trajectories by the pilot or by the ight management system, and subsequently own by the aircraft. This translation process inevitably introduces di erences between the plan and the trajectory. However, given the current intended usage, exact correspondence between the plan and the trajectory is not needed. To achieve greater capacity and eciency, future air trac management concepts are being designed around the use of trajectories where predictability is extremely important. In this paper, a mathematical relationship between ight plans and trajectories is explored with the goal of making feasible, highly accurate predictions of future positions and velocities of aircraft. The goal here is to describe, in mathematically precise detail, a formal language of trajectories, whereby all receivers of the trajectory information will be able to arrive at precisely the same trajectory predication and to do this without having aircraft broadcast a large amount of data. Although even a four-dimensional ight plan is simple in structure, this paper will show that it is inherently ambiguous and will explore these issues in detail. In e ect, we propose that a rigorous semantics for ight plans can be developed and this will serve as an important stepping stone towards trajectory-based operations in the National Airspace System.

Dynamics and control of robot for capturing objects in space

NASA Astrophysics Data System (ADS)

Huang, Panfeng

Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base. After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot.

Visual display aid for orbital maneuvering - Design considerations

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1993-01-01

This paper describes the development of an interactive proximity operations planning system that allows on-site planning of fuel-efficient multiburn maneuvers in a potential multispacecraft environment. Although this display system most directly assists planning by providing visual feedback to aid visualization of the trajectories and constraints, its most significant features include: (1) the use of an 'inverse dynamics' algorithm that removes control nonlinearities facing the operator, and (2) a trajectory planning technique that separates, through a 'geometric spreadsheet', the normally coupled complex problems of planning orbital maneuvers and allows solution by an iterative sequence of simple independent actions. The visual feedback of trajectory shapes and operational constraints, provided by user-transparent and continuously active background computations, allows the operator to make fast, iterative design changes that rapidly converge to fuel-efficient solutions. The planning tool provides an example of operator-assisted optimization of nonlinear cost functions.

Adaptive Trajectory Tracking of Nonholonomic Mobile Robots Using Vision-Based Position and Velocity Estimation.

PubMed

Li, Luyang; Liu, Yun-Hui; Jiang, Tianjiao; Wang, Kai; Fang, Mu

2018-02-01

Despite tremendous efforts made for years, trajectory tracking control (TC) of a nonholonomic mobile robot (NMR) without global positioning system remains an open problem. The major reason is the difficulty to localize the robot by using its onboard sensors only. In this paper, a newly designed adaptive trajectory TC method is proposed for the NMR without its position, orientation, and velocity measurements. The controller is designed on the basis of a novel algorithm to estimate position and velocity of the robot online from visual feedback of an omnidirectional camera. It is theoretically proved that the proposed algorithm yields the TC errors to asymptotically converge to zero. Real-world experiments are conducted on a wheeled NMR to validate the feasibility of the control system.

Manipulator trajectories during orbital servicing mission: numerical simulations and experiments on microgravity simulator

NASA Astrophysics Data System (ADS)

Rybus, T.; Seweryn, K.

2018-06-01

It is considered to use a manipulator-equipped satellite for performing On-Orbit Servicing (OOS) or Active Debris Removal (ADR) missions. In this paper, several possible approaches are reviewed for end-effector (EE) trajectory planning in the Cartesian space, such as application of the Bézier curves for singularity avoidance and method for trajectory optimization. The results of numerical simulations for a satellite equipped with a 7 degree-of-freedom (DoF) manipulator and results of experiments performed on a planar air-bearing microgravity simulator for a simplified two-dimensional (2D) case with a 2-DoF manipulator are presented. Differences between the free-floating case and the case where Attitude and Orbit Control Systems (AOCS) keep constant position and orientation of the satellite are also shown.

An Energy-Aware Trajectory Optimization Layer for sUAS

NASA Astrophysics Data System (ADS)

Silva, William A.

The focus of this work is the implementation of an energy-aware trajectory optimization algorithm that enables small unmanned aircraft systems (sUAS) to operate in unknown, dynamic severe weather environments. The software is designed as a component of an Energy-Aware Dynamic Data Driven Application System (EA-DDDAS) for sUAS. This work addresses the challenges of integrating and executing an online trajectory optimization algorithm during mission operations in the field. Using simplified aircraft kinematics, the energy-aware algorithm enables extraction of kinetic energy from measured winds to optimize thrust use and endurance during flight. The optimization layer, based upon a nonlinear program formulation, extracts energy by exploiting strong wind velocity gradients in the wind field, a process known as dynamic soaring. The trajectory optimization layer extends the energy-aware path planner developed by Wenceslao Shaw-Cortez te{Shaw-cortez2013} to include additional mission configurations, simulations with a 6-DOF model, and validation of the system with flight testing in June 2015 in Lubbock, Texas. The trajectory optimization layer interfaces with several components within the EA-DDDAS to provide an sUAS with optimal flight trajectories in real-time during severe weather. As a result, execution timing, data transfer, and scalability are considered in the design of the software. Severe weather also poses a measure of unpredictability to the system with respect to communication between systems and available data resources during mission operations. A heuristic mission tree with different cost functions and constraints is implemented to provide a level of adaptability to the optimization layer. Simulations and flight experiments are performed to assess the efficacy of the trajectory optimization layer. The results are used to assess the feasibility of flying dynamic soaring trajectories with existing controllers as well as to verify the interconnections between EA-DDDAS components. Results also demonstrate the usage of the trajectory optimization layer in conjunction with a lattice-based path planner as a method of guiding the optimization layer and stitching together subsequent trajectories.

Transzygomatic approach with intraoperative neuromonitoring for resection of middle cranial fossa tumors.

PubMed

Son, Byung Chul; Lee, Sang Won; Kim, Sup; Hong, Jae Taek; Sung, Jae Hoon; Yang, Seung-Ho

2012-02-01

The authors reviewed the surgical experience and operative technique in a series of 11 patients with middle fossa tumors who underwent surgery using the transzygomatic approach and intraoperative neuromonitoring (IOM) at a single institution. This approach was applied to trigeminal schwannomas (n = 3), cavernous angiomas (n = 3), sphenoid wing meningiomas (n = 3), a petroclival meningioma (n = 1), and a hemangiopericytoma (n = 1). An osteotomy of the zygoma, a low-positioned frontotemporal craniotomy, removal of the remaining squamous temporal bone, and extradural drilling of the sphenoid wing made a flat trajectory to the skull base. Total resection was achieved in 9 of 11 patients. Significant motor pathway damage can be avoided using a change in motor-evoked potentials as an early warning sign. Four patients experienced cranial nerve palsies postoperatively, even though free-running electromyography of cranial nerves showed normal responses during the surgical procedure. A simple transzygomatic approach provides a wide surgical corridor for accessing the cavernous sinus, petrous apex, and subtemporal regions. Knowledge of the middle fossa structures is essential for anatomic orientation and avoiding injuries to neurovascular structures, although a neuronavigation system and IOM helps orient neurosurgeons.

Real-time classification of vehicles by type within infrared imagery

NASA Astrophysics Data System (ADS)

Kundegorski, Mikolaj E.; Akçay, Samet; Payen de La Garanderie, Grégoire; Breckon, Toby P.

2016-10-01

Real-time classification of vehicles into sub-category types poses a significant challenge within infra-red imagery due to the high levels of intra-class variation in thermal vehicle signatures caused by aspects of design, current operating duration and ambient thermal conditions. Despite these challenges, infra-red sensing offers significant generalized target object detection advantages in terms of all-weather operation and invariance to visual camouflage techniques. This work investigates the accuracy of a number of real-time object classification approaches for this task within the wider context of an existing initial object detection and tracking framework. Specifically we evaluate the use of traditional feature-driven bag of visual words and histogram of oriented gradient classification approaches against modern convolutional neural network architectures. Furthermore, we use classical photogrammetry, within the context of current target detection and classification techniques, as a means of approximating 3D target position within the scene based on this vehicle type classification. Based on photogrammetric estimation of target position, we then illustrate the use of regular Kalman filter based tracking operating on actual 3D vehicle trajectories. Results are presented using a conventional thermal-band infra-red (IR) sensor arrangement where targets are tracked over a range of evaluation scenarios.

Effective electric fields along realistic DTI-based neural trajectories for modelling the stimulation mechanisms of TMS

NASA Astrophysics Data System (ADS)

De Geeter, N.; Crevecoeur, G.; Leemans, A.; Dupré, L.

2015-01-01

In transcranial magnetic stimulation (TMS), an applied alternating magnetic field induces an electric field in the brain that can interact with the neural system. It is generally assumed that this induced electric field is the crucial effect exciting a certain region of the brain. More specifically, it is the component of this field parallel to the neuron’s local orientation, the so-called effective electric field, that can initiate neuronal stimulation. Deeper insights on the stimulation mechanisms can be acquired through extensive TMS modelling. Most models study simple representations of neurons with assumed geometries, whereas we embed realistic neural trajectories computed using tractography based on diffusion tensor images. This way of modelling ensures a more accurate spatial distribution of the effective electric field that is in addition patient and case specific. The case study of this paper focuses on the single pulse stimulation of the left primary motor cortex with a standard figure-of-eight coil. Including realistic neural geometry in the model demonstrates the strong and localized variations of the effective electric field between the tracts themselves and along them due to the interplay of factors such as the tract’s position and orientation in relation to the TMS coil, the neural trajectory and its course along the white and grey matter interface. Furthermore, the influence of changes in the coil orientation is studied. Investigating the impact of tissue anisotropy confirms that its contribution is not negligible. Moreover, assuming isotropic tissues lead to errors of the same size as rotating or tilting the coil with 10 degrees. In contrast, the model proves to be less sensitive towards the not well-known tissue conductivity values.

[Schooling and care of mild intellectual disability children].

PubMed

David, M; Billette de Villemeur, A; Devillard, F; Dieterich, K; Jouk, P-S; Prado, C; Descotes, A; Guillon, J-L; Counillon, J; Bloch, J; Cans, C

2015-03-01

Studies on mild intellectual disability (MID) are scarce. The aim of this study was to describe the educational and medical care trajectories and their determinants in children with MID. The study population concerned children born in 1997 and resident in a French county (Isère) in 2008. MID was defined as an overall IQ score between 50 and 69. For the present study, this definition was adjusted by integrating the IQ confidence intervals so that the risk of IQ measurement relativity and possible score discrepancy could be taken into account. Of the 267 children included, 180 (67%) were identified through an institute that decides upon special education and allowances (MDPH) and 87 (33%) through the educational system. The parents of 181 children (68%) accepted to answer a telephone questionnaire, describing their child's educational and medical history. Children with MID frequently presented clinical signs and comorbidities. Educational trajectories were quite varied: a majority of the children (52.9%) were oriented toward sections with adapted general and professional education (SEGPA) after finishing primary school, a minority (41.3%) were oriented towards specialized schools, such as medical-educational institutions, and a small proportion of children (5.8%) stayed in ordinary school. Children followed the SEGPA orientation more frequently when a relative written language disorder was present, and autism-spectrum disorders or other clinical signs were absent. Concerning follow-up care and rehabilitation, children mostly took part in speech therapy (76.2%) and psychotherapy (55.8%). The French law dating from 2005, ensuring equal opportunity for people with disabilities, has borne fruit in the diversification of educational trajectories. Copyright © 2015 Elsevier Masson SAS. All rights reserved.

High-Speed Printing Process Characterization using the Lissajous Trajectory Method

NASA Astrophysics Data System (ADS)

Lee, Sangwon; Kim, Daekeun

2018-04-01

We present a novel stereolithographic three-dimensional (3D) printing process that uses Lissajous trajectories. By using Lissajous trajectories, this 3D printing process allows two laser-scanning mirrors to operate at similar high-speed frequencies simultaneously, and the printing speed can be faster than that of raster scanning used in conventional stereolithography. In this paper, we first propose the basic theoretical background for this printing process based on Lissajous trajectories. We also characterize its printing conditions, such as printing size, laser spot size, and minimum printing resolution, with respect to the operating frequencies of the scanning mirrors and the capability of the laser modulation. Finally, we demonstrate simulation results for printing basic 2D shapes by using a noble printing process algorithm.

Human body motion capture from multi-image video sequences

NASA Astrophysics Data System (ADS)

D'Apuzzo, Nicola

2003-01-01

In this paper is presented a method to capture the motion of the human body from multi image video sequences without using markers. The process is composed of five steps: acquisition of video sequences, calibration of the system, surface measurement of the human body for each frame, 3-D surface tracking and tracking of key points. The image acquisition system is currently composed of three synchronized progressive scan CCD cameras and a frame grabber which acquires a sequence of triplet images. Self calibration methods are applied to gain exterior orientation of the cameras, the parameters of internal orientation and the parameters modeling the lens distortion. From the video sequences, two kinds of 3-D information are extracted: a three-dimensional surface measurement of the visible parts of the body for each triplet and 3-D trajectories of points on the body. The approach for surface measurement is based on multi-image matching, using the adaptive least squares method. A full automatic matching process determines a dense set of corresponding points in the triplets. The 3-D coordinates of the matched points are then computed by forward ray intersection using the orientation and calibration data of the cameras. The tracking process is also based on least squares matching techniques. Its basic idea is to track triplets of corresponding points in the three images through the sequence and compute their 3-D trajectories. The spatial correspondences between the three images at the same time and the temporal correspondences between subsequent frames are determined with a least squares matching algorithm. The results of the tracking process are the coordinates of a point in the three images through the sequence, thus the 3-D trajectory is determined by computing the 3-D coordinates of the point at each time step by forward ray intersection. Velocities and accelerations are also computed. The advantage of this tracking process is twofold: it can track natural points, without using markers; and it can track local surfaces on the human body. In the last case, the tracking process is applied to all the points matched in the region of interest. The result can be seen as a vector field of trajectories (position, velocity and acceleration). The last step of the process is the definition of selected key points of the human body. A key point is a 3-D region defined in the vector field of trajectories, whose size can vary and whose position is defined by its center of gravity. The key points are tracked in a simple way: the position at the next time step is established by the mean value of the displacement of all the trajectories inside its region. The tracked key points lead to a final result comparable to the conventional motion capture systems: 3-D trajectories of key points which can be afterwards analyzed and used for animation or medical purposes.

Complexity Science Applications to Dynamic Trajectory Management: Research Strategies

NASA Technical Reports Server (NTRS)

Sawhill, Bruce; Herriot, James; Holmes, Bruce J.; Alexandrov, Natalia

2009-01-01

The promise of the Next Generation Air Transportation System (NextGen) is strongly tied to the concept of trajectory-based operations in the national airspace system. Existing efforts to develop trajectory management concepts are largely focused on individual trajectories, optimized independently, then de-conflicted among each other, and individually re-optimized, as possible. The benefits in capacity, fuel, and time are valuable, though perhaps could be greater through alternative strategies. The concept of agent-based trajectories offers a strategy for automation of simultaneous multiple trajectory management. The anticipated result of the strategy would be dynamic management of multiple trajectories with interacting and interdependent outcomes that satisfy multiple, conflicting constraints. These constraints would include the business case for operators, the capacity case for the Air Navigation Service Provider (ANSP), and the environmental case for noise and emissions. The benefits in capacity, fuel, and time might be improved over those possible under individual trajectory management approaches. The proposed approach relies on computational agent-based modeling (ABM), combinatorial mathematics, as well as application of "traffic physics" concepts to the challenge, and modeling and simulation capabilities. The proposed strategy could support transforming air traffic control from managing individual aircraft behaviors to managing systemic behavior of air traffic in the NAS. A system built on the approach could provide the ability to know when regions of airspace approach being "full," that is, having non-viable local solution space for optimizing trajectories in advance.

A six degree of freedom, plume-fuel optimal trajectory planner for spacecraft proximity operations using an A* node search. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Jackson, Mark Charles

1994-01-01

Spacecraft proximity operations are complicated by the fact that exhaust plume impingement from the reaction control jets of space vehicles can cause structural damage, contamination of sensitive arrays and instruments, or attitude misalignment during docking. The occurrence and effect of jet plume impingement can be reduced by planning approach trajectories with plume effects considered. An A* node search is used to find plume-fuel optimal trajectories through a discretized six dimensional attitude-translation space. A plume cost function which approximates jet plume isopressure envelopes is presented. The function is then applied to find relative costs for predictable 'trajectory altering' firings and unpredictable 'deadbanding' firings. Trajectory altering firings are calculated by running the spacecraft jet selection algorithm and summing the cost contribution from each jet fired. A 'deadbanding effects' function is defined and integrated to determine the potential for deadbanding impingement along candidate trajectories. Plume costs are weighed against fuel costs in finding the optimal solution. A* convergence speed is improved by solving approach trajectory problems in reverse time. Results are obtained on a high fidelity space shuttle/space station simulation. Trajectory following is accomplished by a six degree of freedom autopilot. Trajectories planned with, and without, plume costs are compared in terms of force applied to the target structure.

Theoretical Foundation of Copernicus: A Unified System for Trajectory Design and Optimization

NASA Technical Reports Server (NTRS)

Ocampo, Cesar; Senent, Juan S.; Williams, Jacob

2010-01-01

The fundamental methods are described for the general spacecraft trajectory design and optimization software system called Copernicus. The methods rely on a unified framework that is used to model, design, and optimize spacecraft trajectories that may operate in complex gravitational force fields, use multiple propulsion systems, and involve multiple spacecraft. The trajectory model, with its associated equations of motion and maneuver models, are discussed.

A simple acquisition strategy to avoid off-resonance blurring in spiral imaging with redundant spiral-in/out k-space trajectories.

PubMed

Fielden, Samuel W; Meyer, Craig H

2015-02-01

The major hurdle to widespread adoption of spiral trajectories has been their poor off-resonance performance. Here we present a self-correcting spiral k-space trajectory that avoids much of the well-known spiral blurring during data acquisition. In comparison with a traditional spiral-out trajectory, the spiral-in/out trajectory has improved off-resonance performance. By combining two spiral-in/out acquisitions, one rotated 180° in k-space compared with the other, multishot spiral-in/out artifacts are eliminated. A phantom was scanned with the center frequency manually tuned 20, 40, 80, and 160 Hz off-resonance with both a spiral-out gradient echo sequence and the redundant spiral-in/out sequence. The phantom was also imaged in an oblique orientation in order to demonstrate improved concomitant gradient field performance of the sequence. Additionally, the trajectory was incorporated into a spiral turbo spin echo sequence for brain imaging. Phantom studies with manually tuned off-resonance agree well with theoretical calculations, showing that moderate off-resonance is well-corrected by this acquisition scheme. Blur due to concomitant fields is reduced, and good results are obtained in vivo. The redundant spiral-in/out trajectory results in less image blur for a given readout length than a traditional spiral-out scan, reducing the need for complex off-resonance correction algorithms. © 2014 Wiley Periodicals, Inc.

Kinematic evaluation of virtual walking trajectories.

PubMed

Cirio, Gabriel; Olivier, Anne-Hélène; Marchal, Maud; Pettré, Julien

2013-04-01

Virtual walking, a fundamental task in Virtual Reality (VR), is greatly influenced by the locomotion interface being used, by the specificities of input and output devices, and by the way the virtual environment is represented. No matter how virtual walking is controlled, the generation of realistic virtual trajectories is absolutely required for some applications, especially those dedicated to the study of walking behaviors in VR, navigation through virtual places for architecture, rehabilitation and training. Previous studies focused on evaluating the realism of locomotion trajectories have mostly considered the result of the locomotion task (efficiency, accuracy) and its subjective perception (presence, cybersickness). Few focused on the locomotion trajectory itself, but in situation of geometrically constrained task. In this paper, we study the realism of unconstrained trajectories produced during virtual walking by addressing the following question: did the user reach his destination by virtually walking along a trajectory he would have followed in similar real conditions? To this end, we propose a comprehensive evaluation framework consisting on a set of trajectographical criteria and a locomotion model to generate reference trajectories. We consider a simple locomotion task where users walk between two oriented points in space. The travel path is analyzed both geometrically and temporally in comparison to simulated reference trajectories. In addition, we demonstrate the framework over a user study which considered an initial set of common and frequent virtual walking conditions, namely different input devices, output display devices, control laws, and visualization modalities. The study provides insight into the relative contributions of each condition to the overall realism of the resulting virtual trajectories.

A Final Approach Trajectory Model for Current Operations

NASA Technical Reports Server (NTRS)

Gong, Chester; Sadovsky, Alexander

2010-01-01

Predicting accurate trajectories with limited intent information is a challenge faced by air traffic management decision support tools in operation today. One such tool is the FAA's Terminal Proximity Alert system which is intended to assist controllers in maintaining safe separation of arrival aircraft during final approach. In an effort to improve the performance of such tools, two final approach trajectory models are proposed; one based on polynomial interpolation, the other on the Fourier transform. These models were tested against actual traffic data and used to study effects of the key final approach trajectory modeling parameters of wind, aircraft type, and weight class, on trajectory prediction accuracy. Using only the limited intent data available to today's ATM system, both the polynomial interpolation and Fourier transform models showed improved trajectory prediction accuracy over a baseline dead reckoning model. Analysis of actual arrival traffic showed that this improved trajectory prediction accuracy leads to improved inter-arrival separation prediction accuracy for longer look ahead times. The difference in mean inter-arrival separation prediction error between the Fourier transform and dead reckoning models was 0.2 nmi for a look ahead time of 120 sec, a 33 percent improvement, with a corresponding 32 percent improvement in standard deviation.

Parental Divorce and Child Mental Health Trajectories

ERIC Educational Resources Information Center

Strohschein, Lisa

2005-01-01

A process-oriented approach to parental divorce locates the experience within the social and developmental context of children's lives, providing greater insight into how parental divorce produces vulnerability in some children and resiliency in others. The current study involves prospectively tracking a nationally representative sample of…

Analyses of the P/Wild 2 Images from STARDUST

NASA Technical Reports Server (NTRS)

Duxbury, Thomas C.

2004-01-01

This viewgraph presentation reviews the design of the Stardust spacecraft, and the trajectory that took it to rendezvous with the comet, Wild-2. Included are views of the comet, and comparisons with other astronomical bodies. Close up views show size, shape and orientation.

Explaining equity gains in child survival in Bangladesh: scale, speed, and selectivity in health and development.

PubMed

Adams, Alayne M; Rabbani, Atonu; Ahmed, Shamim; Mahmood, Shehrin Shaila; Al-Sabir, Ahmed; Rashid, Sabina F; Evans, Timothy G

2013-12-14

By disaggregating gains in child health in Bangladesh over the past several decades, significant improvements in gender and socioeconomic inequities have been revealed. With the use of a social determinants of health approach, key features of the country's development experience can be identified that help explain its unexpected health trajectory. The systematic equity orientation of health and socioeconomic development in Bangladesh, and the implementation attributes of scale, speed, and selectivity, have been important drivers of health improvement. Despite this impressive pro-equity trajectory, there remain significant residual inequities in survival of girls and lower wealth quintiles as well as a host of new health and development challenges such as urbanisation, chronic disease, and climate change. Further progress in sustaining and enhancing equity-oriented achievements in health hinges on stronger governance and longer-term systems thinking regarding how to effectively promote inclusive and equitable development within and beyond the health system. Copyright © 2013 Elsevier Ltd. All rights reserved.

Amplified effect of Brownian motion in bacterial near-surface swimming

PubMed Central

Li, Guanglai; Tam, Lick-Kong; Tang, Jay X.

2008-01-01

Brownian motion influences bacterial swimming by randomizing displacement and direction. Here, we report that the influence of Brownian motion is amplified when it is coupled to hydrodynamic interaction. We examine swimming trajectories of the singly flagellated bacterium Caulobacter crescentus near a glass surface with total internal reflection fluorescence microscopy and observe large fluctuations over time in the distance of the cell from the solid surface caused by Brownian motion. The observation is compared with computer simulation based on analysis of relevant physical factors, including electrostatics, van der Waals force, hydrodynamics, and Brownian motion. The simulation reproduces the experimental findings and reveals contribution from fluctuations of the cell orientation beyond the resolution of present observation. Coupled with hydrodynamic interaction between the bacterium and the boundary surface, the fluctuations in distance and orientation subsequently lead to variation of the swimming speed and local radius of curvature of swimming trajectory. These results shed light on the fundamental roles of Brownian motion in microbial motility, nutrient uptake, and adhesion. PMID:19015518

CFD Analysis of Swing of Cricket Ball and Trajectory Prediction

NASA Astrophysics Data System (ADS)

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

2013-11-01

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

Analysis of self-overlap reveals trade-offs in plankton swimming trajectories

PubMed Central

Bianco, Giuseppe; Mariani, Patrizio; Visser, Andre W.; Mazzocchi, Maria Grazia; Pigolotti, Simone

2014-01-01

Movement is a fundamental behaviour of organisms that not only brings about beneficial encounters with resources and mates, but also at the same time exposes the organism to dangerous encounters with predators. The movement patterns adopted by organisms should reflect a balance between these contrasting processes. This trade-off can be hypothesized as being evident in the behaviour of plankton, which inhabit a dilute three-dimensional environment with few refuges or orienting landmarks. We present an analysis of the swimming path geometries based on a volumetric Monte Carlo sampling approach, which is particularly adept at revealing such trade-offs by measuring the self-overlap of the trajectories. Application of this method to experimentally measured trajectories reveals that swimming patterns in copepods are shaped to efficiently explore volumes at small scales, while achieving a large overlap at larger scales. Regularities in the observed trajectories make the transition between these two regimes always sharper than in randomized trajectories or as predicted by random walk theory. Thus, real trajectories present a stronger separation between exploration for food and exposure to predators. The specific scale and features of this transition depend on species, gender and local environmental conditions, pointing at adaptation to state and stage-dependent evolutionary trade-offs. PMID:24789560

The symbolic computation and automatic analysis of trajectories

NASA Technical Reports Server (NTRS)

Grossman, Robert

1991-01-01

Research was generally done on computation of trajectories of dynamical systems, especially control systems. Algorithms were further developed for rewriting expressions involving differential operators. The differential operators involved arise in the local analysis of nonlinear control systems. An initial design was completed of the system architecture for software to analyze nonlinear control systems using data base computing.

LDSD POST2 Simulation and SFDT-1 Pre-Flight Launch Operations Analyses

NASA Technical Reports Server (NTRS)

Bowes, Angela L.; Davis, Jody L.; Dutta, Soumyo; Striepe, Scott A.; Ivanov, Mark C.; Powell, Richard W.; White, Joseph

2015-01-01

The Low-Density Supersonic Decelerator (LDSD) Project's first Supersonic Flight Dynamics Test (SFDT-1) occurred June 28, 2014. Program to Optimize Simulated Trajectories II (POST2) was utilized to develop trajectory simulations characterizing all SFDT-1 flight phases from drop to splashdown. These POST2 simulations were used to validate the targeting parameters developed for SFDT- 1, predict performance and understand the sensitivity of the vehicle and nominal mission designs, and to support flight test operations with trajectory performance and splashdown location predictions for vehicle recovery. This paper provides an overview of the POST2 simulations developed for LDSD and presents the POST2 simulation flight dynamics support during the SFDT-1 launch, operations, and recovery.

An adaptive inverse kinematics algorithm for robot manipulators

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

Precision orbit raising trajectories. [solar electric propulsion orbital transfer program

NASA Technical Reports Server (NTRS)

Flanagan, P. F.; Horsewood, J. L.; Pines, S.

1975-01-01

A precision trajectory program has been developed to serve as a test bed for geocentric orbit raising steering laws. The steering laws to be evaluated have been developed using optimization methods employing averaging techniques. This program provides the capability of testing the steering laws in a precision simulation. The principal system models incorporated in the program are described, including the radiation environment, the solar array model, the thrusters and power processors, the geopotential, and the solar system. Steering and array orientation constraints are discussed, and the impact of these constraints on program design is considered.

Flight Deck Surface Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Foyle, David C.; Hooey, Becky L.; Bakowski, Deborah L.

2017-01-01

Surface Trajectory-Based Operations (STBO) is a future concept for surface operations where time requirements are incorporated into taxi operations to support surface planning and coordination. Pilot-in-the-loop flight deck simulations have been conducted to study flight deck displays algorithms to aid pilots in complying with the time requirements of time-based taxi operations (i.e., at discrete locations in 3 12 D operations or at all points along the route in 4DT operations). The results of these studies (conformance, time-of-arrival error, eye-tracking data, and safety ratings) are presented. Flight deck simulation work done in collaboration with DLR is described. Flight deck research issues in future auto-taxi operations are also introduced.

Trajectory Design and Control for the Compton Gamma Ray Observatory Re-Entry

NASA Technical Reports Server (NTRS)

Hoge, Susan; Vaughn, Frank J., Jr.

2001-01-01

The Compton Gamma Ray Observatory (CGRO) controlled re-entry operation was successfully conducted in June of 2000. The surviving parts of the spacecraft landed in the Pacific Ocean within the nominal impact target zone. The design of the maneuvers to control the trajectory to accomplish this re-entry presented several challenges. These challenges included the timing and duration of the maneuvers, propellant management, post-maneuver state determination, collision avoidance with other spacecraft, accounting for the break-up of the spacecraft into several pieces with a wide range of ballistic coefficients, and ensuring that the impact footprint would remain within the desired impact target zone in the event of contingencies. This paper presents the initial re-entry trajectory design and traces the evolution of that design into the maneuver sequence used for the re-entry. The paper also discusses the spacecraft systems and operational constraints imposed on the trajectory design and the required modifications to the initial design based on those constraints. Data from the reentry operation are also presented.

Operational oil spill trajectory modelling using HF radar currents: A northwest European continental shelf case study.

PubMed

Abascal, Ana J; Sanchez, Jorge; Chiri, Helios; Ferrer, María I; Cárdenas, Mar; Gallego, Alejandro; Castanedo, Sonia; Medina, Raúl; Alonso-Martirena, Andrés; Berx, Barbara; Turrell, William R; Hughes, Sarah L

2017-06-15

This paper presents a novel operational oil spill modelling system based on HF radar currents, implemented in a northwest European shelf sea. The system integrates Open Modal Analysis (OMA), Short Term Prediction algorithms (STPS) and an oil spill model to simulate oil spill trajectories. A set of 18 buoys was used to assess the accuracy of the system for trajectory forecast and to evaluate the benefits of HF radar data compared to the use of currents from a hydrodynamic model (HDM). The results showed that simulated trajectories using OMA currents were more accurate than those obtained using a HDM. After 48h the mean error was reduced by 40%. The forecast skill of the STPS method was valid up to 6h ahead. The analysis performed shows the benefits of HF radar data for operational oil spill modelling, which could be easily implemented in other regions with HF radar coverage. Crown Copyright © 2017. Published by Elsevier Ltd. All rights reserved.

Global Optimization of Low-Thrust Interplanetary Trajectories Subject to Operational Constraints

NASA Technical Reports Server (NTRS)

Englander, Jacob A.; Vavrina, Matthew A.; Hinckley, David

2016-01-01

Low-thrust interplanetary space missions are highly complex and there can be many locally optimal solutions. While several techniques exist to search for globally optimal solutions to low-thrust trajectory design problems, they are typically limited to unconstrained trajectories. The operational design community in turn has largely avoided using such techniques and has primarily focused on accurate constrained local optimization combined with grid searches and intuitive design processes at the expense of efficient exploration of the global design space. This work is an attempt to bridge the gap between the global optimization and operational design communities by presenting a mathematical framework for global optimization of low-thrust trajectories subject to complex constraints including the targeting of planetary landing sites, a solar range constraint to simplify the thermal design of the spacecraft, and a real-world multi-thruster electric propulsion system that must switch thrusters on and off as available power changes over the course of a mission.

Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

NASA Astrophysics Data System (ADS)

Khusainov, R.; Klimchik, A.; Magid, E.

2017-01-01

The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.

RESEARCH ON ADOLESCENT SEXUAL ORIENTATION: DEVELOPMENT, HEALTH DISPARITIES, STIGMA AND RESILIENCE

PubMed Central

Saewyc, Elizabeth M.

2016-01-01

The decade between 1998 and 2008 saw rapid increases in research on adolescent sexual orientation development and related health issues, both in quantity and in quality of studies. While much of the research originated in North America, studies from other countries also contributed to emerging understanding of developmental trajectories and social influences on the health of sexual minority adolescents. This paper reviews the body of research from the past decade on adolescent sexual orientation, focused on issues of measurement, developmental trajectories, evidence related to health disparities, and the risks and protective factors that help explain the health and developmental challenges some lesbian, gay, and bisexual adolescents experience. Although many sexual minority adolescents face stigma and rejection within their families, their schools, or their communities, it should be noted that most successfully navigate the developmental tasks of adolescence, and attain similar levels of health and well-being as their heterosexual peers, often despite the stigma and discrimination they encounter. Further research is needed to understand population trends as well as individual patterns of development; cultural variations in both development and health disparities; the interplay of general and unique risk factors that contribute to various health disparities and protective factors that buffer those risks; and interventions to promote the healthy development of sexual minority adolescents. PMID:27099454

Performance Assessment of Model-Based Optimal Feedforward and Feedback Current Profile Control in NSTX-U using the TRANSP Code

NASA Astrophysics Data System (ADS)

Ilhan, Z.; Wehner, W. P.; Schuster, E.; Boyer, M. D.; Gates, D. A.; Gerhardt, S.; Menard, J.

2015-11-01

Active control of the toroidal current density profile is crucial to achieve and maintain high-performance, MHD-stable plasma operation in NSTX-U. A first-principles-driven, control-oriented model describing the temporal evolution of the current profile has been proposed earlier by combining the magnetic diffusion equation with empirical correlations obtained at NSTX-U for the electron density, electron temperature, and non-inductive current drives. A feedforward + feedback control scheme for the requlation of the current profile is constructed by embedding the proposed nonlinear, physics-based model into the control design process. Firstly, nonlinear optimization techniques are used to design feedforward actuator trajectories that steer the plasma to a desired operating state with the objective of supporting the traditional trial-and-error experimental process of advanced scenario planning. Secondly, a feedback control algorithm to track a desired current profile evolution is developed with the goal of adding robustness to the overall control scheme. The effectiveness of the combined feedforward + feedback control algorithm for current profile regulation is tested in predictive simulations carried out in TRANSP. Supported by PPPL.

Analysis and interpretation of stress indicators in deviated wells of the Coso Geothermal Field

USGS Publications Warehouse

Schoenball, Martin; Glen, Jonathan M. G.; Davatzes, Nicholas C.

2016-01-01

Characterizing the tectonic stress field is an integral part of the development of hydrothermal systems and especially for enhanced geothermal systems (EGS). With a well characterized stress field the propensity of fault slip on faults with known location and orientation can be identified. Faults that are critically oriented for faulting with respect to the stress field are known to provide natural fluid pathways. A high slip tendency makes a fault a likely candidate for reactivation during the creation of an EGS. Similarly, the stress state provides insight for the potential of larger, damaging earthquakes should extensive portions of well-oriented, larger faults be reactivated.The analysis of stress indicators such as drilling-induced fractures and borehole breakouts is the main tool to infer information on the stress state of a geothermal reservoir. The standard procedure is applicable to sub-vertical wellbore sections and highly deviated sections have to be discarded. However, in order to save costs and reduce the environmental impact most recent wells are directionally drilled with deviations that require appropriate consideration of the deviated trajectory. Here we present an analysis scheme applicable to arbitrary well trajectories or a combination of wells to infer the stress state. Through the sampling of the stress tensor along several directions additional information on the stress regime and even relative stress magnitudes can be obtained. We apply this method on image logs from the pair of wells 58-10 and 58A-10 that were drilled from the same well pad. Both wells have image logs of about 2km of their trajectories that are separated by less than 300m. For both wells we obtain a mean orientation of SHmax of N23° with large standard deviations of locations of stress indicators of 24° and 26°, respectively. While the local stress direction is highly variable along both wells with dominant wavelengths from around 50 to 500m, the mean directions are very consistent and also agree with previous stress estimates in the eastern part of the Coso Geothermal Field. In order to obtain a reliable estimation of the stress orientation in this setting, it is necessary to sample the stress field on an interval long to capture several of the dominant wavelengths.

Implicit Theories about Intelligence and Growth (Personal Best) Goals: Exploring Reciprocal Relationships

ERIC Educational Resources Information Center

Martin, Andrew J.

2015-01-01

Background: There has been increasing interest in growth approaches to students' academic development, including value-added models, modelling of academic trajectories, growth motivation orientations, growth mindsets, and growth goals. Aims: This study sought to investigate the relationships between implicit theories about intelligence…

Moyal dynamics and trajectories

NASA Astrophysics Data System (ADS)

Braunss, G.

2010-01-01

We give first an approximation of the operator δh: f → δhf := h*planckf - f*planckh in terms of planck2n, n >= 0, where h\\equiv h(p,q), (p,q)\\in {\\mathbb R}^{2 n} , is a Hamilton function and *planck denotes the star product. The operator, which is the generator of time translations in a *planck-algebra, can be considered as a canonical extension of the Liouville operator Lh: f → Lhf := {h, f}Poisson. Using this operator we investigate the dynamics and trajectories of some examples with a scheme that extends the Hamilton-Jacobi method for classical dynamics to Moyal dynamics. The examples we have chosen are Hamiltonians with a one-dimensional quartic potential and two-dimensional radially symmetric nonrelativistic and relativistic Coulomb potentials, and the Hamiltonian for a Schwarzschild metric. We further state a conjecture concerning an extension of the Bohr-Sommerfeld formula for the calculation of the exact eigenvalues for systems with classically periodic trajectories.

Trifocal Tensor-Based Adaptive Visual Trajectory Tracking Control of Mobile Robots.

PubMed

Chen, Jian; Jia, Bingxi; Zhang, Kaixiang

2017-11-01

In this paper, a trifocal tensor-based approach is proposed for the visual trajectory tracking task of a nonholonomic mobile robot equipped with a roughly installed monocular camera. The desired trajectory is expressed by a set of prerecorded images, and the robot is regulated to track the desired trajectory using visual feedback. Trifocal tensor is exploited to obtain the orientation and scaled position information used in the control system, and it works for general scenes owing to the generality of trifocal tensor. In the previous works, the start, current, and final images are required to share enough visual information to estimate the trifocal tensor. However, this requirement can be easily violated for perspective cameras with limited field of view. In this paper, key frame strategy is proposed to loosen this requirement, extending the workspace of the visual servo system. Considering the unknown depth and extrinsic parameters (installing position of the camera), an adaptive controller is developed based on Lyapunov methods. The proposed control strategy works for almost all practical circumstances, including both trajectory tracking and pose regulation tasks. Simulations are made based on the virtual experimentation platform (V-REP) to evaluate the effectiveness of the proposed approach.

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

NASA Astrophysics Data System (ADS)

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

2012-02-01

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

System Identification and Steering Control Characteristic of Rice Combine Harvester Model

NASA Astrophysics Data System (ADS)

Sutisna, S. P.; Setiawan, R. P. A.; Subrata, I. D. M.; Mandang, T.

2018-05-01

This study is a preliminary research of rice combine harvester trajectory. A vehicle model of rice combine used crawler with differential steering. Turning process of differential steering used speed difference of right and left tracks This study aims to learn of rice combine harvester steering control. In real condition, the hydraulic break on each track produced the speed difference. The model used two DC motors with maximum speed 100 rpm for each tracks. A rotary encoder with resolution 600 pulse/rotation was connected to each DC motors shaft to monitor the speed of tracks and connected to the input shaft of a gearbox with ratio 1:46. The motor speed control for each track used pulse width modulation to produce the speed difference. A gyroscope sensor with resolution 0.01° was used to determine the model orientation angle. Like the real rice combine, the tracks can not rotate to the opposite direction at the same time so it makes the model can not perform the pivot turn. The turn radius of the model was 28 cm and the forward maximum speed was 17.8 cm/s. The model trajectory control used PID odometry controller. Parameters input were the speed of each track and the orientation of the vehicle. The straight line test showed the controller can control the rice combine model trajectory with the average error 0.67 cm.

Neck Proprioception Shapes Body Orientation and Perception of Motion

PubMed Central

Pettorossi, Vito Enrico; Schieppati, Marco

2014-01-01

This review article deals with some effects of neck muscle proprioception on human balance, gait trajectory, subjective straight-ahead (SSA), and self-motion perception. These effects are easily observed during neck muscle vibration, a strong stimulus for the spindle primary afferent fibers. We first remind the early findings on human balance, gait trajectory, SSA, induced by limb, and neck muscle vibration. Then, more recent findings on self-motion perception of vestibular origin are described. The use of a vestibular asymmetric yaw-rotation stimulus for emphasizing the proprioceptive modulation of motion perception from the neck is mentioned. In addition, an attempt has been made to conjointly discuss the effects of unilateral neck proprioception on motion perception, SSA, and walking trajectory. Neck vibration also induces persistent aftereffects on the SSA and on self-motion perception of vestibular origin. These perceptive effects depend on intensity, duration, side of the conditioning vibratory stimulation, and on muscle status. These effects can be maintained for hours when prolonged high-frequency vibration is superimposed on muscle contraction. Overall, this brief outline emphasizes the contribution of neck muscle inflow to the construction and fine-tuning of perception of body orientation and motion. Furthermore, it indicates that tonic neck-proprioceptive input may induce persistent influences on the subject’s mental representation of space. These plastic changes might adapt motion sensitiveness to lasting or permanent head positional or motor changes. PMID:25414660

Neck proprioception shapes body orientation and perception of motion.

PubMed

Pettorossi, Vito Enrico; Schieppati, Marco

2014-01-01

This review article deals with some effects of neck muscle proprioception on human balance, gait trajectory, subjective straight-ahead (SSA), and self-motion perception. These effects are easily observed during neck muscle vibration, a strong stimulus for the spindle primary afferent fibers. We first remind the early findings on human balance, gait trajectory, SSA, induced by limb, and neck muscle vibration. Then, more recent findings on self-motion perception of vestibular origin are described. The use of a vestibular asymmetric yaw-rotation stimulus for emphasizing the proprioceptive modulation of motion perception from the neck is mentioned. In addition, an attempt has been made to conjointly discuss the effects of unilateral neck proprioception on motion perception, SSA, and walking trajectory. Neck vibration also induces persistent aftereffects on the SSA and on self-motion perception of vestibular origin. These perceptive effects depend on intensity, duration, side of the conditioning vibratory stimulation, and on muscle status. These effects can be maintained for hours when prolonged high-frequency vibration is superimposed on muscle contraction. Overall, this brief outline emphasizes the contribution of neck muscle inflow to the construction and fine-tuning of perception of body orientation and motion. Furthermore, it indicates that tonic neck-proprioceptive input may induce persistent influences on the subject's mental representation of space. These plastic changes might adapt motion sensitiveness to lasting or permanent head positional or motor changes.

Surgical strategies to improve fixation in the osteoporotic spine: the effects of tapping, cement augmentation, and screw trajectory.

PubMed

Kuhns, Craig A; Reiter, Michael; Pfeiffer, Ferris; Choma, Theodore J

2014-02-01

Study Design Biomechanical study of pedicle screw fixation in osteoporotic bone. Objective To investigate whether it is better to tap or not tap osteoporotic bone prior to placing a cement-augmented pedicle screw. Methods Initially, we evaluated load to failure of screws placed in cancellous bone blocks with or without prior tapping as well as after varying the depths of tapping prior to screw insertion. Then we evaluated load to failure of screws placed in bone block models with a straight-ahead screw trajectory as well as with screws having a 23-degree cephalad trajectory (toward the end plate). These techniques were tested with nonaugmented (NA) screws as well as with bioactive cement (BioC) augmentation prior to screw insertion. Results In the NA group, pretapping decreased fixation strength in a dose-dependent fashion. In the BioC group, the tapped screws had significantly greater loads to failure (p < 0.01). Comparing only the screw orientation, the screws oriented at 23 degrees cephalad had a significantly higher failure force than their respective counterparts at 0 degrees (p < 0.01). Conclusions Standard pedicle screw fixation is often inadequate in the osteoporotic spine, but this study suggests tapping prior to cement augmentation will substantially improve fixation when compared with not tapping. Angulating screws more cephalad also seems to enhance aging spine fixation.

Conversion and control of an all-terrain vehicle for use as an autonomous mobile robot

NASA Astrophysics Data System (ADS)

Jacob, John S.; Gunderson, Robert W.; Fullmer, R. R.

1998-08-01

A systematic approach to ground vehicle automation is presented, combining low-level controls, trajectory generation and closed-loop path correction in an integrated system. Development of cooperative robotics for precision agriculture at Utah State University required the automation of a full-scale motorized vehicle. The Triton Predator 8- wheeled skid-steering all-terrain vehicle was selected for the project based on its ability to maneuver precisely and the simplicity of controlling the hydrostatic drivetrain. Low-level control was achieved by fitting an actuator on the engine throttle, actuators for the left and right drive controls, encoders on the left and right drive shafts to measure wheel speeds, and a signal pick-off on the alternator for measuring engine speed. Closed loop control maintains a desired engine speed and tracks left and right wheel speeds commands. A trajectory generator produces the wheel speed commands needed to steer the vehicle through a predetermined set of map coordinates. A planar trajectory through the points is computed by fitting a 2D cubic spline over each path segment while enforcing initial and final orientation constraints at segment endpoints. Acceleration and velocity profiles are computed for each trajectory segment, with the velocity over each segment dependent on turning radius. Left and right wheel speed setpoints are obtained by combining velocity and path curvature for each low-level timestep. The path correction algorithm uses GPS position and compass orientation information to adjust the wheel speed setpoints according to the 'crosstrack' and 'downtrack' errors and heading error. Nonlinear models of the engine and the skid-steering vehicle/ground interaction were developed for testing the integrated system in simulation. These test lead to several key design improvements which assisted final implementation on the vehicle.

Intersection Detection Based on Qualitative Spatial Reasoning on Stopping Point Clusters

NASA Astrophysics Data System (ADS)

Zourlidou, S.; Sester, M.

2016-06-01

The purpose of this research is to propose and test a method for detecting intersections by analysing collectively acquired trajectories of moving vehicles. Instead of solely relying on the geometric features of the trajectories, such as heading changes, which may indicate turning points and consequently intersections, we extract semantic features of the trajectories in form of sequences of stops and moves. Under this spatiotemporal prism, the extracted semantic information which indicates where vehicles stop can reveal important locations, such as junctions. The advantage of the proposed approach in comparison with existing turning-points oriented approaches is that it can detect intersections even when not all the crossing road segments are sampled and therefore no turning points are observed in the trajectories. The challenge with this approach is that first of all, not all vehicles stop at the same location - thus, the stop-location is blurred along the direction of the road; this, secondly, leads to the effect that nearby junctions can induce similar stop-locations. As a first step, a density-based clustering is applied on the layer of stop observations and clusters of stop events are found. Representative points of the clusters are determined (one per cluster) and in a last step the existence of an intersection is clarified based on spatial relational cluster reasoning, with which less informative geospatial clusters, in terms of whether a junction exists and where its centre lies, are transformed in more informative ones. Relational reasoning criteria, based on the relative orientation of the clusters with their adjacent ones are discussed for making sense of the relation that connects them, and finally for forming groups of stop events that belong to the same junction.

The relationship between operative and radiographic acetabular component orientation: which factors influence resultant cup orientation?

PubMed

Grammatopoulos, G; Pandit, H G; da Assunção, R; McLardy-Smith, P; De Smet, K A; Gill, H S; Murray, D W

2014-10-01

There is great variability in acetabular component orientation following hip replacement. The aims of this study were to compare the component orientation at impaction with the orientation measured on post-operative radiographs and identify factors that influence the difference between the two. A total of 67 hip replacements (52 total hip replacements and 15 hip resurfacings) were prospectively studied. Intra-operatively, the orientation of the acetabular component after impaction relative to the operating table was measured using a validated stereo-photogrammetry protocol. Post-operatively, the radiographic orientation was measured; the mean inclination/anteversion was 43° (sd 6°)/ 19° (sd 7°). A simulated radiographic orientation was calculated based on how the orientation would have appeared had an on-table radiograph been taken intra-operatively. The mean difference between radiographic and intra-operative inclination/anteversion was 5° (sd 5°)/ -8° (sd 8°). The mean difference between simulated radiographic and intra-operative inclination/anteversion, which quantifies the effect of the different way acetabular orientation is measured, was 3°/-6° (sd 2°). The mean difference between radiographic and simulated radiographic orientation inclination/anteversion, which is a manifestation of the change in pelvic position between component impaction and radiograph, was 1°/-2° (sd 7°). This study demonstrated that in order to achieve a specific radiographic orientation target, surgeons should implant the acetabular component 5° less inclined and 8° more anteverted than their target. Great variability (2 sd about ± 15°) in the post-operative radiographic cup orientation was seen. The two equally contributing causes for this are variability in the orientation at which the cup is implanted, and the change in pelvic position between impaction and post-operative radiograph. ©2014 The British Editorial Society of Bone & Joint Surgery.

Automated Sensitivity Analysis of Interplanetary Trajectories

NASA Technical Reports Server (NTRS)

Knittel, Jeremy; Hughes, Kyle; Englander, Jacob; Sarli, Bruno

2017-01-01

This work describes a suite of Python tools known as the Python EMTG Automated Trade Study Application (PEATSA). PEATSA was written to automate the operation of trajectory optimization software, simplify the process of performing sensitivity analysis, and was ultimately found to out-perform a human trajectory designer in unexpected ways. These benefits will be discussed and demonstrated on sample mission designs.

Program For Simulation Of Trajectories And Events

NASA Technical Reports Server (NTRS)

Gottlieb, Robert G.

1992-01-01

Universal Simulation Executive (USE) program accelerates and eases generation of application programs for numerical simulation of continuous trajectories interrupted by or containing discrete events. Developed for simulation of multiple spacecraft trajectories with events as one spacecraft crossing the equator, two spacecraft meeting or parting, or firing rocket engine. USE also simulates operation of chemical batch processing factory. Written in Ada.

Interactive orbital proximity operations planning system

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1988-01-01

An interactive graphical proximity operations planning system was developed, which allows on-site design of efficient, complex, multiburn maneuvers in a dynamic multispacecraft environment. Maneuvering takes place in and out of the orbital plane. The difficulty in planning such missions results from the unusual and counterintuitive character of orbital dynamics and complex time-varying operational constraints. This difficulty is greatly overcome by visualizing the relative trajectories and the relevant constraints in an easily interpretable graphical format, which provides the operator with immediate feedback on design actions. The display shows a perspective bird's-eye view of a Space Station and co-orbiting spacecraft on the background of the Station's orbital plane. The operator has control over the two modes of operation: a viewing system mode, which enables the exporation of the spatial situation about the Space Station and thus the ability to choose and zoom in on areas of interest; and a trajectory design mode, which allows the interactive editing of a series of way points and maneuvering burns to obtain a trajectory that complies with all operational constraints. A first version of this display was completed. An experimental program is planned in which operators will carry out a series of design missions which vary in complexity and constraints.

Efficient Trajectory Options Allocation for the Collaborative Trajectory Options Program

NASA Technical Reports Server (NTRS)

Rodionova, Olga; Arneson, Heather; Sridhar, Banavar; Evans, Antony

2017-01-01

The Collaborative Trajectory Options Program (CTOP) is a Traffic Management Initiative (TMI) intended to control the air traffic flow rates at multiple specified Flow Constrained Areas (FCAs), where demand exceeds capacity. CTOP allows flight operators to submit the desired Trajectory Options Set (TOS) for each affected flight with associated Relative Trajectory Cost (RTC) for each option. CTOP then creates a feasible schedule that complies with capacity constraints by assigning affected flights with routes and departure delays in such a way as to minimize the total cost while maintaining equity across flight operators. The current version of CTOP implements a Ration-by-Schedule (RBS) scheme, which assigns the best available options to flights based on a First-Scheduled-First-Served heuristic. In the present study, an alternative flight scheduling approach is developed based on linear optimization. Results suggest that such an approach can significantly reduce flight delays, in the deterministic case, while maintaining equity as defined using a Max-Min fairness scheme.

Pair-Wise Trajectory Management-Oceanic (PTM-O) . [Concept of Operations—Version 3.9

NASA Technical Reports Server (NTRS)

Jones, Kenneth M.

2014-01-01

This document describes the Pair-wise Trajectory Management-Oceanic (PTM-O) Concept of Operations (ConOps). Pair-wise Trajectory Management (PTM) is a concept that includes airborne and ground-based capabilities designed to enable and to benefit from, airborne pair-wise distance-monitoring capability. PTM includes the capabilities needed for the controller to issue a PTM clearance that resolves a conflict for a specific pair of aircraft. PTM avionics include the capabilities needed for the flight crew to manage their trajectory relative to specific designated aircraft. Pair-wise Trajectory Management PTM-Oceanic (PTM-O) is a regional specific application of the PTM concept. PTM is sponsored by the National Aeronautics and Space Administration (NASA) Concept and Technology Development Project (part of NASA's Airspace Systems Program). The goal of PTM is to use enhanced and distributed communications and surveillance along with airborne tools to permit reduced separation standards for given aircraft pairs, thereby increasing the capacity and efficiency of aircraft operations at a given altitude or volume of airspace.

Designing train-speed trajectory with energy efficiency and service quality

NASA Astrophysics Data System (ADS)

Jia, Jiannan; Yang, Kai; Yang, Lixing; Gao, Yuan; Li, Shukai

2018-05-01

With the development of automatic train operations, optimal trajectory design is significant to the performance of train operations in railway transportation systems. Considering energy efficiency and service quality, this article formulates a bi-objective train-speed trajectory optimization model to minimize simultaneously the energy consumption and travel time in an inter-station section. This article is distinct from previous studies in that more sophisticated train driving strategies characterized by the acceleration/deceleration gear, the cruising speed, and the speed-shift site are specifically considered. For obtaining an optimal train-speed trajectory which has equal satisfactory degree on both objectives, a fuzzy linear programming approach is applied to reformulate the objectives. In addition, a genetic algorithm is developed to solve the proposed train-speed trajectory optimization problem. Finally, a series of numerical experiments based on a real-world instance of Beijing-Tianjin Intercity Railway are implemented to illustrate the practicability of the proposed model as well as the effectiveness of the solution methodology.

Traffic Aware Strategic Aircrew Requests (TASAR) Concept of Operations

NASA Technical Reports Server (NTRS)

Henderson, Jeffrey

2013-01-01

Aircrews submit trajectory change requests to air traffic control (ATC) to better achieve the operator's preferred business trajectory. Requests are currently made with limited information and are often denied because the change is not compatible with traffic. Also, request opportunities can be overlooked due to lack of automation that advises aircrews of trajectory changes that improve flight time, fuel burn, and other objectives. The Traffic Aware Strategic Aircrew Requests (TASAR) concept leverages Automatic Dependent Surveillance-Broadcast (ADS-B) surveillance information to advise the aircrew of beneficial trajectory changes that are probed for traffic compatibility prior to issuing the request to ATC. This document describes the features, benefits, and limitations of TASAR automation hosted on an Electronic Flight Bag. TASAR has two modes: (1) auto mode that continuously assesses opportunities for improving the performance of the flight and (2) manual mode that probes trajectory changes entered by aircrews for conflicts and performance objectives. The roles and procedures of the aircrew and ATC remain unchanged under TASAR.

Operational space trajectory tracking control of robot manipulators endowed with a primary controller of synthetic joint velocity.

PubMed

Moreno-Valenzuela, Javier; González-Hernández, Luis

2011-01-01

In this paper, a new control algorithm for operational space trajectory tracking control of robot arms is introduced. The new algorithm does not require velocity measurement and is based on (1) a primary controller which incorporates an algorithm to obtain synthesized velocity from joint position measurements and (2) a secondary controller which computes the desired joint acceleration and velocity required to achieve operational space motion control. The theory of singularly perturbed systems is crucial for the analysis of the closed-loop system trajectories. In addition, the practical viability of the proposed algorithm is explored through real-time experiments in a two degrees-of-freedom horizontal planar direct-drive arm. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Jettison Engineering Trajectory Tool

NASA Technical Reports Server (NTRS)

Zaczek, Mariusz; Walter, Patrick; Pascucci, Joseph; Armstrong, Phyllis; Hallbick, Patricia; Morgan, Randal; Cooney, James

2013-01-01

The Jettison Engineering Trajectory Tool (JETT) performs the jettison analysis function for any orbiting asset. It provides a method to compute the relative trajectories between an orbiting asset and any jettisoned item (intentional or unintentional) or sublimating particles generated by fluid dumps to assess whether an object is safe to jettison, or if there is a risk with an item that was inadvertently lost overboard. The main concern is the interaction and possible recontact of the jettisoned object with an asset. This supports the analysis that jettisoned items will safely clear the vehicle, ensuring no collisions. The software will reduce the jettison analysis task from one that could take days to complete to one that can be completed in hours, with an analysis that is more comprehensive than the previous method. It provides the ability to define the jettison operation relative to International Space Station (ISS) structure, and provides 2D and 3D plotting capability to allow an analyst to perform a subjective clearance assessment with ISS structures. The developers followed the SMP to create the code and all supporting documentation. The code makes extensive use of the object-oriented format of Java and, in addition, the Model-View-Controller architecture was used in the organization of the code, allowing each piece to be independent of updates to the other pieces. The model category is for maintaining data entered by the user and generated by the analysis. The view category provides capabilities for data entry and displaying all or a portion of the analysis data in tabular, 2D, and 3D representation. The controller category allows for handling events that affect the model or view(s). The JETT utilizes orbital mechanics with complex algorithms. Since JETT is written in JAVA, it is essentially platform-independent.

Learning in Equity-Oriented Scale-Making Projects

ERIC Educational Resources Information Center

Jurow, A. Susan; Shea, Molly

2015-01-01

This article examines how new forms of learning and expertise are made to become consequential in changing communities of practice. We build on notions of scale making to understand how particular relations between practices, technologies, and people become meaningful across spatial and temporal trajectories of social action. A key assumption of…

The Typical Developmental Trajectory of Social and Executive Functions in Late Adolescence and Early Adulthood

ERIC Educational Resources Information Center

Taylor, Sophie Jane; Barker, Lynne Ann; Heavey, Lisa; McHale, Sue

2013-01-01

Executive functions and social cognition develop through childhood into adolescence and early adulthood and are important for adaptive goal-oriented behavior (Apperly, Samson, & Humphreys, 2009; Blakemore & Choudhury, 2006). These functions are attributed to frontal networks known to undergo protracted maturation into early adulthood…

Cultural Variations in Global versus Local Processing: A Developmental Perspective

ERIC Educational Resources Information Center

Oishi, Shigehiro; Jaswal, Vikram K.; Lillard, Angeline S.; Mizokawa, Ai; Hitokoto, Hidefumi; Tsutsui, Yoshiro

2014-01-01

We conducted 3 studies to explore cultural differences in global versus local processing and their developmental trajectories. In Study 1 ("N" = 363), we found that Japanese college students were less globally oriented in their processing than American or Argentine participants. We replicated this effect in Study 2 ("N" =…

"Commentary": Object and Spatial Visualization in Geosciences

ERIC Educational Resources Information Center

Kastens, Kim

2010-01-01

Cognitive science research shows that the brain has two systems for processing visual information, one specialized for spatial information such as position, orientation, and trajectory, and the other specialized for information used to identify objects, such as color, shape and texture. Some individuals seem to be more facile with the spatial…

A probabilistic approach for mine burial prediction

NASA Astrophysics Data System (ADS)

Barbu, Costin; Valent, Philip; Richardson, Michael; Abelev, Andrei; Plant, Nathaniel

2004-09-01

Predicting the degree of burial of mines in soft sediments is one of the main concerns of Naval Mine CounterMeasures (MCM) operations. This is a difficult problem to solve due to uncertainties and variability of the sediment parameters (i.e., density and shear strength) and of the mine state at contact with the seafloor (i.e., vertical and horizontal velocity, angular rotation rate, and pitch angle at the mudline). A stochastic approach is proposed in this paper to better incorporate the dynamic nature of free-falling cylindrical mines in the modeling of impact burial. The orientation, trajectory and velocity of cylindrical mines, after about 4 meters free-fall in the water column, are very strongly influenced by boundary layer effects causing quite chaotic behavior. The model's convolution of the uncertainty through its nonlinearity is addressed by employing Monte Carlo simulations. Finally a risk analysis based on the probability of encountering an undetectable mine is performed.

Phase space dynamics and control of the quantum particles associated to hypergraph states

NASA Astrophysics Data System (ADS)

Berec, Vesna

2015-05-01

As today's nanotechnology focus becomes primarily oriented toward production and manipulation of materials at the subatomic level, allowing the performance and complexity of interconnects where the device density accepts more than hundreds devices on a single chip, the manipulation of semiconductor nanostructures at the subatomic level sets its prime tasks on preserving and adequate transmission of information encoded in specified (quantum) states. The presented study employs the quantum communication protocol based on the hypergraph network model where the numerical solutions of equations of motion of quantum particles are associated to vertices (assembled with device chip), which follow specific controllable paths in the phase space. We address these findings towards ultimate quest for prediction and selective control of quantum particle trajectories. In addition, presented protocols could represent valuable tool for reducing background noise and uncertainty in low-dimensional and operationally meaningful, scalable complex systems.

Early Phase Contingency Trajectory Design for the Failure of the First Lunar Orbit Insertion Maneuver: Direct Recovery Options

NASA Astrophysics Data System (ADS)

Song, Young-Joo; Bae, Jonghee; Kim, Young-Rok; Kim, Bang-Yeop

2017-12-01

To ensure the successful launch of the Korea pathfinder lunar orbiter (KPLO) mission, the Korea Aerospace Research Institute (KARI) is now performing extensive trajectory design and analysis studies. From the trajectory design perspective, it is crucial to prepare contingency trajectory options for the failure of the first lunar brake or the failure of the first lunar orbit insertion (LOI) maneuver. As part of the early phase trajectory design and analysis activities, the required time of flight (TOF) and associated delta-V magnitudes for each recovery maneuver (RM) to recover the KPLO mission trajectory are analyzed. There are two typical trajectory recovery options, direct recovery and low energy recovery. The current work is focused on the direct recovery option. Results indicate that a quicker execution of the first RM after the failure of the first LOI plays a significant role in saving the magnitudes of the RMs. Under the conditions of the extremely tight delta-V budget that is currently allocated for the KPLO mission, it is found that the recovery of the KPLO without altering the originally planned mission orbit (a 100 km circular orbit) cannot be achieved via direct recovery options. However, feasible recovery options are suggested within the boundaries of the currently planned delta-V budget. By changing the shape and orientation of the recovered final mission orbit, it is expected that the KPLO mission may partially pursue its scientific mission after successful recovery, though it will be limited.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Jain, A.; Kreutz-Delgado, K.

1991-01-01

A recently developed spatial operator algebra for manipulator modeling, control, and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and for control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics.

An Overview of a Trajectory-Based Solution for En Route and Terminal Area Self-Spacing: Third Revision

NASA Technical Reports Server (NTRS)

Abbott, Terence S.

2012-01-01

This paper presents an overview of the third major revision to an algorithm specifically designed to support NASA's Airborne Precision Spacing concept. This algorithm is referred to as the Airborne Spacing for Terminal Arrival Routes version 11 (ASTAR11). This airborne self-spacing concept is trajectory-based, allowing for spacing operations prior to the aircraft being on a common path. Because this algorithm is trajectory-based, it also has the inherent ability to support required time-of-arrival (RTA) operations. This algorithm was also designed specifically to support a standalone, non-integrated implementation in the spacing aircraft.

A Vision and Roadmap for Increasing User Autonomy in Flight Operations in the National Airspace

NASA Technical Reports Server (NTRS)

Cotton, William B.; Hilb, Robert; Koczo, Stefan; Wing, David

2016-01-01

The purpose of Air Transportation is to move people and cargo safely, efficiently and swiftly to their destinations. The companies and individuals who use aircraft for this purpose, the airspace users, desire to operate their aircraft according to a dynamically optimized business trajectory for their specific mission and operational business model. In current operations, the dynamic optimization of business trajectories is limited by constraints built into operations in the National Airspace System (NAS) for reasons of safety and operational needs of the air navigation service providers. NASA has been developing and testing means to overcome many of these constraints and permit operations to be conducted closer to the airspace user's changing business trajectory as conditions unfold before and during the flight. A roadmap of logical steps progressing toward increased user autonomy is proposed, beginning with NASA's Traffic Aware Strategic Aircrew Requests (TASAR) concept that enables flight crews to make informed, deconflicted flight-optimization requests to air traffic control. These steps include the use of data communications for route change requests and approvals, integration with time-based arrival flow management processes under development by the Federal Aviation Administration (FAA), increased user authority for defining and modifying downstream, strategic portions of the trajectory, and ultimately application of self-separation. This progression takes advantage of existing FAA NextGen programs and RTCA standards development, and it is designed to minimize the number of hardware upgrades required of airspace users to take advantage of these advanced capabilities to achieve dynamically optimized business trajectories in NAS operations. The roadmap is designed to provide operational benefits to first adopters so that investment decisions do not depend upon a large segment of the user community becoming equipped before benefits can be realized. The issues of equipment certification and operational approval of new procedures are addressed in a way that minimizes their impact on the transition by deferring a change in the assignment of separation responsibility until a large body of operational data is available to support the safety case for this change in the last roadmap step.This paper will relate the roadmap steps to ongoing activities to clarify the economics-based transition to these technologies for operational use.

A novel passive/active hybrid robot for orthopaedic trauma surgery.

PubMed

Kuang, Shaolong; Leung, Kwok-sui; Wang, Tianmiao; Hu, Lei; Chui, Elvis; Liu, Wenyong; Wang, Yu

2012-12-01

Image guided navigation systems (IGNS) have been implemented successfully in orthopaedic trauma surgery procedures because of their ability to help surgeons position and orient hand-held drills at optimal entry points. However, current IGNS cannot prevent drilling tools or instruments from slipping or deviating from the planned trajectory during the drilling process. A method is therefore needed to overcome such problems. A novel passive/active hybrid robot (the HybriDot) for positioning and supporting surgical tools and instruments while drilling and/or cutting in orthopaedic trauma surgery is presented in this paper. This new robot, consisting of a circular prismatic joint and five passive/active back-drivable joints, is designed to fulfill clinical needs. In this paper, a system configuration and three operational modes are introduced and analyzed. Workspace and layout in the operating theatre (OT) are also analyzed in order to validate the structure design. Finally, experiments to evaluate the feasibility of the robot system are described. Analysis, simulation, and experimental results show that the novel structure of the robot can provide an appropriate workspace without risk of collision within OT environments during operation. The back-drivable joint mechanism can provide surgeons with more safety and flexibility in operational modes. The mean square value of the positional accuracy of this robot is 0.811 mm, with a standard deviation (SD) of 0.361 mm; the orientation is accurate to within 2.186º, with a SD of 0.932º. Trials on actual patients undergoing surgery for distal locking of intramedullary nails were successfully conducted in one pass using the robot. This robot has the advantages of having an appropriate workspace, being well designed for human-robot cooperation, and having high accuracy, sufficient rigidity, and easy deployability within the OT for use in common orthopaedic trauma surgery tasks such as screw fixation and drilling assistance. Copyright © 2012 John Wiley & Sons, Ltd.

A New Theory of Trajectory Design and NASA's Vision

NASA Technical Reports Server (NTRS)

Folta, David

2006-01-01

This new theory is defined as the use of chaos to design trajectories and orbits that can be used to meet complex mission goals. The benefits are; a) minimizes fuel costs; b) optimizes trajectory profiles; c) provides non-standard and new orbit designs; and d) mitigates operational risks. Other synonymous terms include dynamical systems, invariant manifolds, capture orbits and ballistic orbits.

Automated Sensitivity Analysis of Interplanetary Trajectories for Optimal Mission Design

NASA Technical Reports Server (NTRS)

Knittel, Jeremy; Hughes, Kyle; Englander, Jacob; Sarli, Bruno

2017-01-01

This work describes a suite of Python tools known as the Python EMTG Automated Trade Study Application (PEATSA). PEATSA was written to automate the operation of trajectory optimization software, simplify the process of performing sensitivity analysis, and was ultimately found to out-perform a human trajectory designer in unexpected ways. These benefits will be discussed and demonstrated on sample mission designs.

Global Optimization of Low-Thrust Interplanetary Trajectories Subject to Operational Constraints

NASA Technical Reports Server (NTRS)

Englander, Jacob Aldo; Vavrina, Matthew; Hinckley, David

2016-01-01

Low-thrust electric propulsion provides many advantages for mission to difficult targets-Comets and asteroids-Mercury-Outer planets (with sufficient power supply)Low-thrust electric propulsion is characterized by high power requirements but also very high specific impulse (Isp), leading to very good mass fractions. Low-thrust trajectory design is a very different process from chemical trajectory.

Multicellular Self-Organization of P. aeruginosa due to Interactions with Secreted Trails.

PubMed

Gelimson, Anatolij; Zhao, Kun; Lee, Calvin K; Kranz, W Till; Wong, Gerard C L; Golestanian, Ramin

2016-10-21

Guided movement in response to slowly diffusing polymeric trails provides a unique mechanism for self-organization of some microorganisms. To elucidate how this signaling route leads to microcolony formation, we experimentally probe the trajectory and orientation of Pseudomonas aeruginosa that propel themselves on a surface using type IV pili motility appendages, which preferentially attach to deposited exopolysaccharides. We construct a stochastic model by analyzing single-bacterium trajectories and show that the resulting theoretical prediction for the many-body behavior of the bacteria is in quantitative agreement with our experimental characterization of how cells explore the surface via a power-law strategy.

A simple acquisition strategy to avoid off-resonance blurring in spiral imaging with redundant spiral-in/out k-space trajectories

PubMed Central

Fielden, Samuel W.; Meyer, Craig H.

2014-01-01

Purpose The major hurdle to widespread adoption of spiral trajectories has been their poor off-resonance performance. Here we present a self-correcting spiral k-space trajectory that avoids much of the well-known spiral blurring during data acquisition. Theory and Methods In comparison with a traditional spiral-out trajectory, the spiral-in/out trajectory has improved off-resonance performance. By combining two spiral-in/out acquisitions, one rotated 180° in k-space compared to the other, multi-shot spiral-in/out artifacts are eliminated. A phantom was scanned with the center frequency manually tuned 20, 40, 80, and 160 Hz off-resonance with both a spiral-out gradient echo sequence and the redundant spiral-in/out sequence. The phantom was also imaged in an oblique orientation in order to demonstrate improved concomitant gradient field performance of the sequence, and was additionally incorporated into a spiral turbo spin echo sequence for brain imaging. Results Phantom studies with manually-tuned off-resonance agree well with theoretical calculations, showing that moderate off-resonance is well-corrected by this acquisition scheme. Blur due to concomitant fields is reduced, and good results are obtained in vivo. Conclusion The redundant spiral-in/out trajectory results in less image blur for a given readout length than a traditional spiral-out scan, reducing the need for complex off-resonance correction algorithms. PMID:24604539

Preparing GMAT for Operational Maneuver Planning of the Advanced Composition Explorer (ACE)

NASA Technical Reports Server (NTRS)

Qureshi, Rizwan Hamid; Hughes, Steven P.

2014-01-01

The General Mission Analysis Tool (GMAT) is an open-source space mission design, analysis and trajectory optimization tool. GMAT is developed by a team of NASA, private industry, public and private contributors. GMAT is designed to model, optimize and estimate spacecraft trajectories in flight regimes ranging from low Earth orbit to lunar applications, interplanetary trajectories and other deep space missions. GMAT has also been flight qualified to support operational maneuver planning for the Advanced Composition Explorer (ACE) mission. ACE was launched in August, 1997 and is orbiting the Sun-Earth L1 libration point. The primary science objective of ACE is to study the composition of both the solar wind and the galactic cosmic rays. Operational orbit determination, maneuver operations and product generation for ACE are conducted by NASA Goddard Space Flight Center (GSFC) Flight Dynamics Facility (FDF). This paper discusses the entire engineering lifecycle and major operational certification milestones that GMAT successfully completed to obtain operational certification for the ACE mission. Operational certification milestones such as gathering of the requirements for ACE operational maneuver planning, gap analysis, test plans and procedures development, system design, pre-shadow operations, training to FDF ACE maneuver planners, shadow operations, Test Readiness Review (TRR) and finally Operational Readiness Review (ORR) are discussed. These efforts have demonstrated that GMAT is flight quality software ready to support ACE mission operations in the FDF.

A Potentially Useful for Airborne Separation in 4D-Trajectory ATM Operations

NASA Technical Reports Server (NTRS)

Wing, David J.

2005-01-01

An aircraft equipped with Airborne Separation Assistance System functions and 4- dimensional trajectory management capabilities can have significant, potentially transforming, value to Air Traffic Management at the local and system levels. This paper discusses how certain vital characteristics envisioned in the Next Generation Air Transportation System enable some Air Traffic Management functions to be distributed to properly equipped aircraft, and it defines and illustrates this equipage level in a potential application. The new equipage level, perhaps the most capable of many levels permitted, enables an effective implementation of both near- and long-term 4-dimensional trajectory operations in complex airspace, with the aircraft providing the near-term tactical functions and conforming to the long-term trajectory attributes coordinated with ground-based Traffic Flow Management authorities. NASA s recent research and development of this proposed aircraft equipage for en-route and terminal-arrival operations is summarized. The role the equipage level may play in addressing key implementation challenges of reducing ground infrastructure cost, building in security and safety, and scaling to traffic demand is discussed.

Predicting drifter trajectories and particle dispersion in the Caribbean using a high resolution coastal ocean forecasting system

NASA Astrophysics Data System (ADS)

Solano, M.

2016-02-01

The present study discusses the accuracy of a high-resolution ocean forecasting system in predicting floating drifter trajectories and the uncertainty of modeled particle dispersion in coastal areas. Trajectories were calculated using an offline particle-tracking algorithm coupled to the operational model developed for the region of Puerto Rico by CariCOOS. Both, a simple advection algorithm as well as the Larval TRANSport (LTRANS) model, a more sophisticated offline particle-tracking application, were coupled to the ocean model. Numerical results are compared with 12 floating drifters deployed in the near-shore of Puerto Rico during February and March 2015, and tracked for several days using Global Positioning Systems mounted on the drifters. In addition the trajectories have also been calculated with the AmSeas Navy Coastal Ocean Model (NCOM). The operational model is based on the Regional Ocean Modeling System (ROMS) with a uniform horizontal resolution of 1/100 degrees (1.1km). Initial, surface and open boundary conditions are taken from NCOM, except for wind stress, which is computed using winds from the National Digital Forecasting Database. Probabilistic maps were created to quantify the uncertainty of particle trajectories at different locations. Results show that the forecasted trajectories are location dependent, with tidally active regions having the largest error. The predicted trajectories by both the ROMS and NCOM models show good agreement on average, however both perform differently at particular locations. The effect of wind stress on the drifter trajectories is investigated to account for wind slippage. Furthermore, a real case scenario is presented where simulated trajectories show good agreement when compared to the actual drifter trajectories.

Benchmarking Foot Trajectory Estimation Methods for Mobile Gait Analysis

PubMed Central

Ollenschläger, Malte; Roth, Nils; Klucken, Jochen

2017-01-01

Mobile gait analysis systems based on inertial sensing on the shoe are applied in a wide range of applications. Especially for medical applications, they can give new insights into motor impairment in, e.g., neurodegenerative disease and help objectify patient assessment. One key component in these systems is the reconstruction of the foot trajectories from inertial data. In literature, various methods for this task have been proposed. However, performance is evaluated on a variety of datasets due to the lack of large, generally accepted benchmark datasets. This hinders a fair comparison of methods. In this work, we implement three orientation estimation and three double integration schemes for use in a foot trajectory estimation pipeline. All methods are drawn from literature and evaluated against a marker-based motion capture reference. We provide a fair comparison on the same dataset consisting of 735 strides from 16 healthy subjects. As a result, the implemented methods are ranked and we identify the most suitable processing pipeline for foot trajectory estimation in the context of mobile gait analysis. PMID:28832511

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

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Simulations of High Speed Fragment Trajectories

NASA Astrophysics Data System (ADS)

Yeh, Peter; Attaway, Stephen; Arunajatesan, Srinivasan; Fisher, Travis

2017-11-01

Flying shrapnel from an explosion are capable of traveling at supersonic speeds and distances much farther than expected due to aerodynamic interactions. Predicting the trajectories and stable tumbling modes of arbitrary shaped fragments is a fundamental problem applicable to range safety calculations, damage assessment, and military technology. Traditional approaches rely on characterizing fragment flight using a single drag coefficient, which may be inaccurate for fragments with large aspect ratios. In our work we develop a procedure to simulate trajectories of arbitrary shaped fragments with higher fidelity using high performance computing. We employ a two-step approach in which the force and moment coefficients are first computed as a function of orientation using compressible computational fluid dynamics. The force and moment data are then input into a six-degree-of-freedom rigid body dynamics solver to integrate trajectories in time. Results of these high fidelity simulations allow us to further understand the flight dynamics and tumbling modes of a single fragment. Furthermore, we use these results to determine the validity and uncertainty of inexpensive methods such as the single drag coefficient model.

Evaluation of the Trajectory Operations Applications Software Task (TOAST). Volume 2: Interview transcripts

NASA Technical Reports Server (NTRS)

Perkins, Sharon; Martin, Andrea; Bavinger, Bill

1990-01-01

The Trajectory Operations Applications Software Task (TOAST) is a software development project whose purpose is to provide trajectory operation pre-mission and real-time support for the Space Shuttle. The purpose of the evaluation was to evaluate TOAST as an Application Manager - to assess current and planned capabilities, compare capabilities to commercially-available off the shelf (COTS) software, and analyze requirements of MCC and Flight Analysis Design System (FADS) for TOAST implementation. As a major part of the data gathering for the evaluation, interviews were conducted with NASA and contractor personnel. Real-time and flight design users, orbit navigation users, the TOAST developers, and management were interviewed. Code reviews and demonstrations were also held. Each of these interviews was videotaped and transcribed as appropriate. Transcripts were edited and are presented chronologically.

Mothers Coping With Bereavement in the 2008 China Earthquake: A Dual Process Model Analysis.

PubMed

Chen, Lin; Fu, Fang; Sha, Wei; Chan, Cecilia L W; Chow, Amy Y M

2017-01-01

The purpose of this study is to explore the grief experiences of mothers after they lost their children in the 2008 China earthquake. Informed by the dual process model, this study conducted in-depth interviews to explore how six bereaved mothers coped with such grief over a 2-year period. Right after the earthquake, these mothers suffered from intensive grief. They primarily coped with loss-oriented stressors. As time passed, these mothers began to focus on restoration-oriented stressors to face changes in life. This coping trajectory was a dynamic and integral process, which bereaved mothers oscillated between loss- and restoration-oriented stressors. This study offers insight in extending the existing empirical evidence of the dual process model.

Mothers Coping With Bereavement in the 2008 China Earthquake: A Dual Process Model Analysis.

PubMed

Chen, Lin; Fu, Fang; Sha, Wei; Chan, Cecilia L W; Chow, Amy Y M

2017-01-01

The purpose of this study is to explore the grief experiences of mothers after they lost their children in the 2008 China earthquake. Informed by the Dual Process Model, this study conducted in-depth interviews to explore how six bereaved mothers coped with such grief over a 2-year period. Right after the earthquake, these mothers suffered from intensive grief. They primarily coped with loss-oriented stressors. As time passed, these mothers began to focus on restoration-oriented stressors to face changes in life. This coping trajectory was a dynamic and integral process, which bereaved mothers oscillated between loss- and restoration-oriented stressors. This study offers insight in extending the existing empirical evidence of the Dual Process Model.

Interplanetary Program to Optimize Simulated Trajectories (IPOST). Volume 3: Programmer's manual

NASA Technical Reports Server (NTRS)

Hong, P. E.; Kent, P. D.; Olson, D. W.; Vallado, C. A.

1992-01-01

The Interplanetary Program to Optimize Space Trajectories (IPOST) is intended to support many analysis phases, from early interplanetary feasibility studies through spacecraft development and operations. Here, information is given on the IPOST code.

The Educational Competence of College Students as a Factor of the Quality of Higher Education

ERIC Educational Resources Information Center

Lyz', N. A.

2012-01-01

The system of higher professional education being updated in Russia, including the federal state educational standards, calls for an orientation toward the interests of customers, providing students with greater opportunities to choose and implement their own educational trajectory, increasing the proportion of independent creative research work…

Development of Attention Networks and Their Interactions in Childhood

ERIC Educational Resources Information Center

Pozuelos, Joan P.; Paz-Alonso, Pedro M.; Castillo, Alejandro; Fuentes, Luis J.; Rueda, M. Rosario

2014-01-01

In the present study, we investigated developmental trajectories of alerting, orienting, and executive attention networks and their interactions over childhood. Two cross-sectional experiments were conducted with different samples of 6-to 12-year-old children using modified versions of the attention network task (ANT). In Experiment 1 (N = 106),…

Predictors of Externalizing Behavior Problems in Early Elementary-Aged Children: The Role of Family and Home Environments

ERIC Educational Resources Information Center

Price, Joseph M.; Chiapa, Amanda; Walsh, Natalia Escobar

2013-01-01

As children enter elementary school they display behavioral orientations that reveal potential developmental trajectories. Developmental transitions offer unique opportunities for examining developmental pathways and the factors that influence emerging pathways. The primary goal of this investigation was to examine characteristics of family and…

Cultural Orientation Trajectories and Substance Use: Findings from a Longitudinal Study of Mexican-Origin Youth

ERIC Educational Resources Information Center

Cruz, Rick A.; King, Kevin M.; Cauce, Ana M.; Conger, Rand D.; Robins, Richard W.

2017-01-01

Cultural adaptation may influence Latino youth substance use (SU) development, yet few longitudinal studies have examined cultural change over time and adolescent SU outcomes. Using longitudinal data collected annually across ages 10-16 from 674 Mexican-origin youth (50% female), the authors characterized cultural adaptation patterns for language…

Longitudinal Examination of Optimism, Personal Self-Efficacy and Student Well-Being: A Path Analysis

ERIC Educational Resources Information Center

Phan, Huy P.

2016-01-01

The present longitudinal study, based on existing theoretical tenets, explored a conceptual model that depicted four major orientations: optimism, self-efficacy, and academic well-being. An important question for consideration, in this case, involved the testing of different untested trajectories that could explain and predict individuals'…

Trochoidal X-ray Vector Radiography: Directional dark-field without grating stepping

NASA Astrophysics Data System (ADS)

Sharma, Y.; Bachche, S.; Kageyama, M.; Kuribayashi, M.; Pfeiffer, F.; Lasser, T.; Momose, A.

2018-03-01

X-ray Vector Radiography (XVR) is an imaging technique that reveals the orientations of sub-pixel sized structures within a sample. Several dark-field radiographs are acquired by rotating the sample around the beam propagation direction and stepping one of the gratings to several positions for every pose of the sample in an X-ray grating interferometry setup. In this letter, we present a method of performing XVR of a continuously moving sample without the need of any grating motion. We reconstruct the orientations within a sample by analyzing the change in the background moire fringes caused by the sample moving and simultaneously rotating in plane (trochoidal trajectory) across the detector field-of-view. Avoiding the motion of gratings provides significant advantages in terms of stability and repeatability, while the continuous motion of the sample makes this kind of system adaptable for industrial applications such as the scanning of samples on a conveyor belt. Being the first step in the direction of utilizing advanced sample trajectories to replace grating motion, this work also lays the foundations for a full three dimensional reconstruction of scattering function without grating motion.

Elucidating fluctuating diffusivity in center-of-mass motion of polymer models with time-averaged mean-square-displacement tensor

NASA Astrophysics Data System (ADS)

Miyaguchi, Tomoshige

2017-10-01

There have been increasing reports that the diffusion coefficient of macromolecules depends on time and fluctuates randomly. Here a method is developed to elucidate this fluctuating diffusivity from trajectory data. Time-averaged mean-square displacement (MSD), a common tool in single-particle-tracking (SPT) experiments, is generalized to a second-order tensor with which both magnitude and orientation fluctuations of the diffusivity can be clearly detected. This method is used to analyze the center-of-mass motion of four fundamental polymer models: the Rouse model, the Zimm model, a reptation model, and a rigid rodlike polymer. It is found that these models exhibit distinctly different types of magnitude and orientation fluctuations of diffusivity. This is an advantage of the present method over previous ones, such as the ergodicity-breaking parameter and a non-Gaussian parameter, because with either of these parameters it is difficult to distinguish the dynamics of the four polymer models. Also, the present method of a time-averaged MSD tensor could be used to analyze trajectory data obtained in SPT experiments.

Tuning Bacterial Hydrodynamics with Magnetic Fields: A Path to Bacterial Robotics

NASA Astrophysics Data System (ADS)

Pierce, Christopher; Mumper, Eric; Brangham, Jack; Wijesinghe, Hiran; Lower, Stephen; Lower, Brian; Yang, Fengyuan; Sooryakumar, Ratnasingham

Magnetotactic Bacteria (MTB) are a group of motile prokaryotes that synthesize chains of lipid-bound, magnetic nano-particles. In this study, the innate magnetism of these flagellated swimmers is exploited to explore their hydrodynamics near confining surfaces, using the magnetic field as a tuning parameter. With weak (Gauss), uniform, external, magnetic ?elds and the field gradients arising from micro-magnetic surface patterns, the relative strength of hydrodynamic, magnetic and ?agellar force components is tuned through magnetic control of the bacteria's orientation and position. In addition to direct measurement of several hydrodynamic quantities related to the motility of individual cells, their tunable dynamics reveal a number of novel, highly controllable swimming behaviors with potential value in micro-robotics applications. Specifically, the experiments permit the MTB cells to be directed along parallel or divergent trajectories, suppress their flagellar forces through magnetic means, and induce transitions between planar, circulating trajectories and drifting, vertically oriented ``top-like'' motion. The implications of the work for fundamental hydrodynamics research as well as bacterially driven robotics applications will be discussed.

Update on PISCES

NASA Technical Reports Server (NTRS)

Pearson, Don; Hamm, Dustin; Kubena, Brian; Weaver, Jonathan K.

2010-01-01

An updated version of the Platform Independent Software Components for the Exploration of Space (PISCES) software library is available. A previous version was reported in Library for Developing Spacecraft-Mission-Planning Software (MSC-22983), NASA Tech Briefs, Vol. 25, No. 7 (July 2001), page 52. To recapitulate: This software provides for Web-based, collaborative development of computer programs for planning trajectories and trajectory- related aspects of spacecraft-mission design. The library was built using state-of-the-art object-oriented concepts and software-development methodologies. The components of PISCES include Java-language application programs arranged in a hierarchy of classes that facilitates the reuse of the components. As its full name suggests, the PISCES library affords platform-independence: The Java language makes it possible to use the classes and application programs with a Java virtual machine, which is available in most Web-browser programs. Another advantage is expandability: Object orientation facilitates expansion of the library through creation of a new class. Improvements in the library since the previous version include development of orbital-maneuver- planning and rendezvous-launch-window application programs, enhancement of capabilities for propagation of orbits, and development of a desktop user interface.

Telerobot local-remote control architecture for space flight program applications

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne; Backes, Paul; Steele, Robert; Long, Mark; Bon, Bruce; Beahan, John

1993-01-01

The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.

Rapid Preliminary Design of Interplanetary Trajectories Using the Evolutionary Mission Trajectory Generator

NASA Technical Reports Server (NTRS)

Englander, Jacob

2016-01-01

This set of tutorial slides is an introduction to the Evolutionary Mission Trajectory Generator (EMTG), NASA Goddard Space Flight Center's autonomous tool for preliminary design of interplanetary missions. This slide set covers the basics of creating and post-processing simple interplanetary missions in EMTG using both high-thrust chemical and low-thrust electric propulsion along with a variety of operational constraints.

Optimization of fixed-range trajectories for supersonic transport aircraft

NASA Astrophysics Data System (ADS)

Windhorst, Robert Dennis

1999-11-01

This thesis develops near-optimal guidance laws that generate minimum fuel, time, or direct operating cost fixed-range trajectories for supersonic transport aircraft. The approach uses singular perturbation techniques to time-scale de-couple the equations of motion into three sets of dynamics, two of which are analyzed in the main body of this thesis and one of which is analyzed in the Appendix. The two-point-boundary-value-problems obtained by application of the maximum principle to the dynamic systems are solved using the method of matched asymptotic expansions. Finally, the two solutions are combined using the matching principle and an additive composition rule to form a uniformly valid approximation of the full fixed-range trajectory. The approach is used on two different time-scale formulations. The first holds weight constant, and the second allows weight and range dynamics to propagate on the same time-scale. Solutions for the first formulation are only carried out to zero order in the small parameter, while solutions for the second formulation are carried out to first order. Calculations for a HSCT design were made to illustrate the method. Results show that the minimum fuel trajectory consists of three segments: a minimum fuel energy-climb, a cruise-climb, and a minimum drag glide. The minimum time trajectory also has three segments: a maximum dynamic pressure ascent, a constant altitude cruise, and a maximum dynamic pressure glide. The minimum direct operating cost trajectory is an optimal combination of the two. For realistic costs of fuel and flight time, the minimum direct operating cost trajectory is very similar to the minimum fuel trajectory. Moreover, the HSCT has three local optimum cruise speeds, with the globally optimum cruise point at the highest allowable speed, if range is sufficiently long. The final range of the trajectory determines which locally optimal speed is best. Ranges of 500 to 6,000 nautical miles, subsonic and supersonic mixed flight, and varying fuel efficiency cases are analyzed. Finally, the payload-range curve of the HSCT design is determined.

Homing Pigeons Respond to Time-Compensated Solar Cues Even in Sight of the Loft

PubMed Central

Armstrong, Chris; Wilkinson, Helen; Meade, Jessica; Biro, Dora; Freeman, Robin; Guilford, Tim

2013-01-01

The sun has long been thought to guide bird navigation as the second step in a two-stage process, in which determining position using a map is followed by course setting using a compass, both over unfamiliar and familiar terrain. The animal’s endogenous clock time-compensates the solar compass for the sun’s apparent movement throughout the day, and this allows predictable deflections in orientation to test for the compass’ influence using clock-shift manipulations. To examine the influence of the solar compass during a highly familiar navigational task, 24 clock-shifted homing pigeons were precision-tracked from a release site close to and in sight of their final goal, the colony loft. The resulting trajectories displayed significant partial deflection from the loft direction as predicted by either fast or slow clock-shift treatments. The partial deflection was also found to be stable along the entire trajectory indicating regular updating of orientation via input from the solar compass throughout the final approach flight to the loft. Our results demonstrate that time-compensated solar cues are deeply embedded in the way birds orient during homing flight, are accessed throughout the journey and on a remarkably fine-grained scale, and may be combined effectively simultaneously with direct guidance from familiar landmarks, even when birds are flying towards a directly visible goal. PMID:23717401

Statistics of actin-propelled trajectories in noisy environments

NASA Astrophysics Data System (ADS)

Wen, Fu-Lai; Chen, Hsuan-Yi; Leung, Kwan-tai

2016-06-01

Actin polymerization is ubiquitously utilized to power the locomotion of eukaryotic cells and pathogenic bacteria in living systems. Inevitably, actin polymerization and depolymerization proceed in a fluctuating environment that renders the locomotion stochastic. Previously, we have introduced a deterministic model that manages to reproduce actin-propelled trajectories in experiments, but not to address fluctuations around them. To remedy this, here we supplement the deterministic model with noise terms. It enables us to compute the effects of fluctuating actin density and forces on the trajectories. Specifically, the mean-squared displacement (MSD) of the trajectories is computed and found to show a super-ballistic scaling with an exponent 3 in the early stage, followed by a crossover to a normal, diffusive scaling of exponent 1 in the late stage. For open-end trajectories such as straights and S-shaped curves, the time of crossover matches the decay time of orientational order of the velocities along trajectories, suggesting that it is the spreading of velocities that leads to the crossover. We show that the super-ballistic scaling of MSD arises from the initial, linearly increasing correlation of velocities, before time translational symmetry is established. When the spreading of velocities reaches a steady state in the long-time limit, short-range correlation then yields a diffusive scaling in MSD. In contrast, close-loop trajectories like circles exhibit localized periodic motion, which inhibits spreading. The initial super-ballistic scaling of MSD arises from velocity correlation that both linearly increases and oscillates in time. Finally, we find that the above statistical features of the trajectories transcend the nature of noises, be it additive or multiplicative, and generalize to other self-propelled systems that are not necessarily actin based.

Innovative design of composite structures: Design, manufacturing, and testing of plates utilizing curvilinear fiber trajectories

NASA Technical Reports Server (NTRS)

Hyer, M. W.; Rust, R. J.; Waters, W. A., Jr.

1994-01-01

As a means of improving structural design, the concept of fabricating flat plates containing holes by incorporating curvilinear fiber trajectories to transmit loads around the hole is studied. In the present discussion this concept is viewed from a structural level, where access holes, windows, doors, and other openings are of significant size. This is opposed to holes sized for mechanical fasteners. Instead of cutting the important load-bearing fibers at the hole edge, as a conventional straightline design does, the curvilinear design preserves the load-bearing fibers by orienting them in smooth trajectories around the holes, their loading not ending abruptly at the hole edge. Though the concept of curvilinear fiber trajectories has been studied before, attempts to manufacture and test such plates have been limited. This report describes a cooperative effort between Cincinnati Milacron Inc., NASA Langley Research Center, and Virginia Polytechnic Institute and State University to design, manufacture, and test plates using the curvilinear fiber trajectory concept. The paper discusses details of the plate design, details of the manufacturing, and a summary of results from testing the plates with inplane compressive buckling loads and tensile loads. Comparisons between the curvilinear and conventional straightline fiber designs based on measurements and observation are made. Failure modes, failure loads, strains, deflections, and other key responses are compared.

Visiting Vehicle Ground Trajectory Tool

NASA Technical Reports Server (NTRS)

Hamm, Dustin

2013-01-01

The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

Parallel Aircraft Trajectory Optimization with Analytic Derivatives

NASA Technical Reports Server (NTRS)

Falck, Robert D.; Gray, Justin S.; Naylor, Bret

2016-01-01

Trajectory optimization is an integral component for the design of aerospace vehicles, but emerging aircraft technologies have introduced new demands on trajectory analysis that current tools are not well suited to address. Designing aircraft with technologies such as hybrid electric propulsion and morphing wings requires consideration of the operational behavior as well as the physical design characteristics of the aircraft. The addition of operational variables can dramatically increase the number of design variables which motivates the use of gradient based optimization with analytic derivatives to solve the larger optimization problems. In this work we develop an aircraft trajectory analysis tool using a Legendre-Gauss-Lobatto based collocation scheme, providing analytic derivatives via the OpenMDAO multidisciplinary optimization framework. This collocation method uses an implicit time integration scheme that provides a high degree of sparsity and thus several potential options for parallelization. The performance of the new implementation was investigated via a series of single and multi-trajectory optimizations using a combination of parallel computing and constraint aggregation. The computational performance results show that in order to take full advantage of the sparsity in the problem it is vital to parallelize both the non-linear analysis evaluations and the derivative computations themselves. The constraint aggregation results showed a significant numerical challenge due to difficulty in achieving tight convergence tolerances. Overall, the results demonstrate the value of applying analytic derivatives to trajectory optimization problems and lay the foundation for future application of this collocation based method to the design of aircraft with where operational scheduling of technologies is key to achieving good performance.

Evaluation of the Trajectory Operations Applications Software Task (TOAST)

NASA Technical Reports Server (NTRS)

Perkins, Sharon; Martin, Andrea; Bavinger, Bill

1990-01-01

The Trajectory Operations Applications Software Task (TOAST) is a software development project under the auspices of the Mission Operations Directorate. Its purpose is to provide trajectory operation pre-mission and real-time support for the Space Shuttle program. As an Application Manager, TOAST provides an isolation layer between the underlying Unix operating system and the series of user programs. It provides two main services: a common interface to operating system functions with semantics appropriate for C or FORTRAN, and a structured input and output package that can be utilized by user application programs. In order to evaluate TOAST as an Application Manager, the task was to assess current and planned capabilities, compare capabilities to functions available in commercially-available off the shelf (COTS) and Flight Analysis Design System (FADS) users for TOAST implementation. As a result of the investigation, it was found that the current version of TOAST is well implemented and meets the needs of the real-time users. The plans for migrating TOAST to the X Window System are essentially sound; the Executive will port with minor changes, while Menu Handler will require a total rewrite. A series of recommendations for future TOAST directions are included.

EIVAN - AN INTERACTIVE ORBITAL TRAJECTORY PLANNING TOOL

NASA Technical Reports Server (NTRS)

Brody, A. R.

1994-01-01

The Interactive Orbital Trajectory planning Tool, EIVAN, is a forward looking interactive orbit trajectory plotting tool for use with Proximity Operations (operations occurring within a one kilometer sphere of the space station) and other maneuvers. The result of vehicle burns on-orbit is very difficult to anticipate because of non-linearities in the equations of motion governing orbiting bodies. EIVAN was developed to plot resulting trajectories, to provide a better comprehension of orbital mechanics effects, and to help the user develop heuristics for onorbit mission planning. EIVAN comprises a worksheet and a chart from Microsoft Excel on a Macintosh computer. The orbital path for a user-specified time interval is plotted given operator burn inputs. Fuel use is also calculated. After the thrust parameters (magnitude, direction, and time) are input, EIVAN plots the resulting trajectory. Up to five burns may be inserted at any time in the mission. Twenty data points are plotted for each burn and the time interval can be varied to accommodate any desired time frame or degree of resolution. Since the number of data points for each burn is constant, the mission duration can be increased or decreased by increasing or decreasing the time interval. The EIVAN program runs with Microsoft's Excel for execution on a Macintosh running Macintosh OS. A working knowledge of Excel is helpful, but not imperative, for interacting with EIVAN. The program was developed in 1989.

Multisensory control of a straight locomotor trajectory.

PubMed

Hanna, Maxim; Fung, Joyce; Lamontagne, Anouk

2017-01-01

Locomotor steering is contingent upon orienting oneself spatially in the environment. When the head is turned while walking, the optic flow projected onto the retina is a complex pattern comprising of a translational and a rotational component. We have created a unique paradigm to simulate different optic flows in a virtual environment. We hypothesized that non-visual (vestibular and somatosensory) cues are required for proper control of a straight trajectory while walking. This research study included 9 healthy young subjects walking in a large physical space (40×25m2) while the virtual environment is viewed in a helmet-mounted display. They were instructed to walk straight in the physical world while being exposed to three conditions: (1) self-initiated active head turns (AHT: 40° right, left, or none); (2) visually simulated head turns (SHT); and (3) visually simulated head turns with no target element (SHT_NT). Conditions 1 and 2 involved an eye-level target which subjects were instructed to fixate, whereas condition 3 was similar to condition 2 but with no target. Identical retinal flow patterns were present in the AHT and SHT conditions whereas non-visual cues differed in that a head rotation was sensed only in AHT but not in SHT. Body motions were captured by a 12-camera Vicon system. Horizontal orientations of the head and body segments, as well as the trajectory of the body's centre of mass were analyzed. SHT and SNT_NT yielded similar results. Heading and body segment orientations changed in the direction opposite to the head turns in SHT conditions. Heading remained unchanged across head turn directions in AHT. Results suggest that non-visual information is used in the control of heading while being exposed to changing rotational optic flows. The small magnitude of the changes in SHT conditions suggests that the CNS can re-weight relevant sources of information to minimize heading errors in the presence of sensory conflicts.

Interaction of the body, head, and eyes during walking and turning

NASA Technical Reports Server (NTRS)

Imai, T.; Moore, S. T.; Raphan, T.; Cohen, B.

2001-01-01

Body, head, and eye movements were measured in five subjects during straight walking and while turning corners. The purpose was to determine how well the head and eyes followed the linear trajectory of the body in space and whether head orientation followed changes in the gravito-inertial acceleration vector (GIA). Head and body movements were measured with a video-based motion analysis system and horizontal, vertical, and torsional eye movements with video-oculography. During straight walking, there was lateral body motion at the stride frequency, which was at half the frequency of stepping. The GIA oscillated about the direction of heading, according to the acceleration and deceleration associated with heel strike and toe flexion, and the body yawed in concert with stepping. Despite the linear and rotatory motions of the head and body, the head pointed along the forward motion of the body during straight walking. The head pitch/roll component appeared to compensate for vertical and horizontal acceleration of the head rather than orienting to the tilt of the GIA or anticipating it. When turning corners, subjects walked on a 50-cm radius over two steps or on a 200-cm radius in five to seven steps. Maximum centripetal accelerations in sharp turns were ca.0.4 g, which tilted the GIA ca.21 degrees with regard to the heading. This was anticipated by a roll tilt of the head of up to 8 degrees. The eyes rolled 1-1.5 degrees and moved down into the direction of linear acceleration during the tilts of the GIA. Yaw head deviations moved smoothly through the turn, anticipating the shift in lateral body trajectory by as much as 25 degrees. The trunk did not anticipate the change in trajectory. Thus, in contrast to straight walking, the tilt axes of the head and the GIA tended to align during turns. Gaze was stable in space during the slow phases and jumped forward in saccades along the trajectory, leading it by larger angles when the angular velocity of turning was greater. The anticipatory roll head movements during turning are likely to be utilized to overcome inertial forces that would destabilize balance during turning. The data show that compensatory eye, head, and body movements stabilize gaze during straight walking, while orienting mechanisms direct the eyes, head, and body to tilts of the GIA in space during turning.

An Augmentation of G-Guidance Algorithms

NASA Technical Reports Server (NTRS)

Carson, John M. III; Acikmese, Behcet

2011-01-01

The original G-Guidance algorithm provided an autonomous guidance and control policy for small-body proximity operations that took into account uncertainty and dynamics disturbances. However, there was a lack of robustness in regards to object proximity while in autonomous mode. The modified GGuidance algorithm was augmented with a second operational mode that allows switching into a safety hover mode. This will cause a spacecraft to hover in place until a mission-planning algorithm can compute a safe new trajectory. No state or control constraints are violated. When a new, feasible state trajectory is calculated, the spacecraft will return to standard mode and maneuver toward the target. The main goal of this augmentation is to protect the spacecraft in the event that a landing surface or obstacle is closer or further than anticipated. The algorithm can be used for the mitigation of any unexpected trajectory or state changes that occur during standard mode operations

Pain and Function Recovery Trajectories following Revision Hip Arthroplasty: Short-Term Changes and Comparison with Primary Hip Arthroplasty in the ADAPT Cohort Study.

PubMed

Lenguerrand, Erik; Whitehouse, Michael R; Wylde, Vikki; Gooberman-Hill, Rachael; Blom, Ashley W

2016-01-01

Patients report similar or better pain and function before revision hip arthroplasty than before primary arthroplasty but worse results are reported after revision surgery than after primary surgery. The trajectory of post-operative recovery during the first months and any differences by type of surgery have received little attention. We explored the trajectories of change in pain and function after revision hip arthroplasty to 12-months post-operatively and compare them with those observed after primary hip arthroplasty. This study is a prospective cohort study of patients undergoing primary (n = 80 with 92% for an indication of osteoarthritis) and revision (n = 43) hip arthroplasties. WOMAC pain and function scores and walking speed were collected pre-operatively, at 3 and 12-months post-operatively. Multilevel regression models were used to chart and compare the trajectories of change (0-3 months and 3-12 months) between types of surgery. The improvements in pain and function following revision arthroplasty occurred within the first 3-months with no evidence of further change beyond this initial period. While the pattern of recovery was similar to the one observed after primary arthroplasty, improvements in the first 3-months were smaller after revision compared to primary arthroplasty. Patients listed for revision surgery reported lower pre-operative pain levels but similar post-operative levels compared to those undergoing primary surgery. At 12-months post-operation patients who underwent a revision arthroplasty had not reached the same level of function achieved by those who underwent primary arthroplasty. The post-operative improvements in pain and function are larger following primary hip arthroplasty than following revision hip arthroplasty. Irrespectively of surgery type, most of the improvements occur in the first three post-operative months. More research is required to identify whether the recovery following revision surgery could be improved with specific post-operative interventions.

Space shuttle engineering and operations support. ALT separation reference trajectories for tailcone on orbiter forward and aft CG configurations. Mission planning, mission analysis and software formulation

NASA Technical Reports Server (NTRS)

Glenn, G. M.

1977-01-01

A preflight analysis of the ALT separation reference trajectories for the tailcone on, forward, and aft cg orbiter configurations is documented. The ALT separation reference trajectories encompass the time from physical separation of the orbiter from the carrier to orbiter attainment of the maximum ALT interface airspeed. The trajectories include post separation roll maneuvers by both vehicles and are generated using the final preflight data base. The trajectories so generated satisfy all known separation design criteria and violate no known constraints. The requirement for this analysis is given along with the specifications, assumptions, and analytical approach used to generate the separation trajectories. The results of the analytical approach are evaluated, and conclusions and recommendations are summarized.

ASTP (SA-210) Launch vehicle operational flight trajectory. Part 3: Final documentation

NASA Technical Reports Server (NTRS)

Carter, A. B.; Klug, G. W.; Williams, N. W.

1975-01-01

Trajectory data are presented for a nominal and two launch window trajectory simulations. These trajectories are designed to insert a manned Apollo spacecraft into a 150/167 km. (81/90 n. mi.) earth orbit inclined at 51.78 degrees for rendezvous with a Soyuz spacecraft, which will be orbiting at approximately 225 km. (121.5 n. mi.). The launch window allocation defined for this launch is 500 pounds of S-IVB stage propellant. The launch window opening trajectory simulation depicts the earliest launch time deviation from a planar flight launch which conforms to this constraint. The launch window closing trajectory simulation was developed for the more stringent Air Force Eastern Test Range (AFETR) flight azimuth restriction of 37.4 degrees east-of-north. These trajectories enclose a 12.09 minute launch window, pertinent features of which are provided in a tabulation. Planar flight data are included for mid-window reference.

IRVE-II Post-Flight Trajectory Reconstruction

NASA Technical Reports Server (NTRS)

O'Keefe, Stephen A.; Bose, David M.

2010-01-01

NASA s Inflatable Re-entry Vehicle Experiment (IRVE) II successfully demonstrated an inflatable aerodynamic decelerator after being launched aboard a sounding rocket from Wallops Flight Facility (WFF). Preliminary day of flight data compared well with pre-flight Monte Carlo analysis, and a more complete trajectory reconstruction performed with an Extended Kalman Filter (EKF) approach followed. The reconstructed trajectory and comparisons to an attitude solution provided by NASA Sounding Rocket Operations Contract (NSROC) personnel at WFF are presented. Additional comparisons are made between the reconstructed trajectory and pre and post-flight Monte Carlo trajectory predictions. Alternative observations of the trajectory are summarized which leverage flight accelerometer measurements, the pre-flight aerodynamic database, and on-board flight video. Finally, analysis of the payload separation and aeroshell deployment events are presented. The flight trajectory is reconstructed to fidelity sufficient to assess overall project objectives related to flight dynamics and overall, IRVE-II flight dynamics are in line with expectations

Asymmetric nanoparticle may go "active" at room temperature

NASA Astrophysics Data System (ADS)

Sheng, Nan; Tu, YuSong; Guo, Pan; Wan, RongZheng; Wang, ZuoWei; Fang, HaiPing

2017-04-01

Using molecular dynamics simulations, we show that an asymmetrically shaped nanoparticle in dilute solution possesses a spontaneously curved trajectory within a finite time interval, instead of the generally expected random walk. This unexpected dynamic behavior has a similarity to that of active matters, such as swimming bacteria, cells, or even fish, but is of a different physical origin. The key to the curved trajectory lies in the non-zero resultant force originated from the imbalance of the collision forces acted by surrounding solvent molecules on the asymmetrically shaped nanoparticle during its orientation regulation. Theoretical formulae based on microscopic observations have been derived to describe this non-zero force and the resulting motion of the asymmetrically shaped nanoparticle.

Optimization of Composite Structures with Curved Fiber Trajectories

NASA Astrophysics Data System (ADS)

Lemaire, Etienne; Zein, Samih; Bruyneel, Michael

2014-06-01

This paper studies the problem of optimizing composites shells manufactured using Automated Tape Layup (ATL) or Automated Fiber Placement (AFP) processes. The optimization procedure relies on a new approach to generate equidistant fiber trajectories based on Fast Marching Method. Starting with a (possibly curved) reference fiber direction defined on a (possibly curved) meshed surface, the new method allows determining fibers orientation resulting from a uniform thickness layup. The design variables are the parameters defining the position and the shape of the reference curve which results in very few design variables. Thanks to this efficient parameterization, maximum stiffness optimization numerical applications are proposed. The shape of the design space is discussed, regarding local and global optimal solutions.

Results of prototype software development for automation of shuttle proximity operations

NASA Technical Reports Server (NTRS)

Hiers, Hal; Olszweski, Oscar

1991-01-01

The effort involves demonstration of expert system technology application to Shuttle rendezvous operations in a high-fidelity, real-time simulation environment. The JSC Systems Engineering Simulator (SES) served as the test bed for the demonstration. Rendezvous applications were focused on crew procedures and monitoring of sensor health and trajectory status. Proximity operations applications were focused on monitoring, crew advisory, and control of the approach trajectory. Guidance, Navigation, and Control areas of emphasis included the approach, transition and stationkeeping guidance, and laser docking sensor navigation. Operator interface displays for monitor and control functions were developed. A rule-based expert system was developed to manage the relative navigation system/sensors for nominal operations and simple failure contingencies. Testing resulted in the following findings; (1) the developed guidance is applicable for operations with LVLH stabilized targets; (2) closing rates less than 0.05 feet per second are difficult to maintain due to the Shuttle translational/rotational cross-coupling; (3) automated operations result in reduced propellant consumption and plume impingement effects on the target as compared to manual operations; and (4) braking gates are beneficial for trajectory management. A versatile guidance design was demonstrated. An accurate proximity operations sensor/navigation system to provide relative attitude information within 30 feet is required and redesign of the existing Shuttle digital autopilot should be considered to reduce the cross-coupling effects. This activity has demonstrated the feasibility of automated Shuttle proximity operations with the Space Station Freedom. Indications are that berthing operations as well as docking can be supported.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Kreutz, K.; Jain, A.

1989-01-01

A spatial operator algebra for modeling the control and trajectory design of manipulation is discussed, with emphasis on its analytical formulation and implementation in the Ada programming language. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of the manipulator. Inversion is obtained using techniques of recursive filtering and smoothing. The operator alegbra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. Implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection, thus greatly simplifying the transition from an abstract problem formulation and solution to the detailed mechanization of a specific algorithm.

Trajectories of Pain and Function after Primary Hip and Knee Arthroplasty: The ADAPT Cohort Study

PubMed Central

Lenguerrand, Erik; Wylde, Vikki; Gooberman-Hill, Rachael; Sayers, Adrian; Brunton, Luke; Beswick, Andrew D.; Dieppe, Paul; Blom, Ashley W.

2016-01-01

Background and Purpose Pain and function improve dramatically in the first three months after hip and knee arthroplasty but the trajectory after three months is less well described. It is also unclear how pre-operative pain and function influence short- and long-term recovery. We explored the trajectory of change in function and pain until and beyond 3-months post-operatively and the influence of pre-operative self-reported symptoms. Methods The study was a prospective cohort study of 164 patients undergoing primary hip (n = 80) or knee (n = 84) arthroplasty in the United Kingdom. Self-reported measures of pain and function using the Western Ontario and McMaster Universities Osteoarthritis index were collected pre-operatively and at 3 and 12 months post-operatively. Hip and knee arthroplasties were analysed separately, and patients were split into two groups: those with high or low symptoms pre-operatively. Multilevel regression models were used for each outcome (pain and function), and the trajectories of change were charted (0–3 months and 3–12 months). Results Hip: Most improvement occurred within the first 3 months following hip surgery and patients with worse pre-operative scores had greater changes. The mean changes observed between 3 and twelve months were statistically insignificant. One year after surgery, patients with worse pre-operative scores had post-operative outcomes similar to those observed among patients with less severe pre-operative symptoms. Knee: Most improvement occurred in the first 3 months following knee surgery with no significant change thereafter. Despite greater mean change during the first three months, patients with worse pre-operative scores had not ‘caught-up’ with those with less severe pre-operative symptoms 12 months after their surgery. Conclusion Most symptomatic improvement occurred within the first 3 months after surgery with no significant change between 3–12 months. Further investigations are now required to determine if patients with severe symptoms at the time of their knee arthroplasty have a different pre-surgical history than those with less severe symptoms and if they could benefit from earlier surgical intervention and tailored rehabilitation to achieve better post-operative patient-reported outcomes. PMID:26871909

Trajectories of Pain and Function after Primary Hip and Knee Arthroplasty: The ADAPT Cohort Study.

PubMed

Lenguerrand, Erik; Wylde, Vikki; Gooberman-Hill, Rachael; Sayers, Adrian; Brunton, Luke; Beswick, Andrew D; Dieppe, Paul; Blom, Ashley W

2016-01-01

Pain and function improve dramatically in the first three months after hip and knee arthroplasty but the trajectory after three months is less well described. It is also unclear how pre-operative pain and function influence short- and long-term recovery. We explored the trajectory of change in function and pain until and beyond 3-months post-operatively and the influence of pre-operative self-reported symptoms. The study was a prospective cohort study of 164 patients undergoing primary hip (n = 80) or knee (n = 84) arthroplasty in the United Kingdom. Self-reported measures of pain and function using the Western Ontario and McMaster Universities Osteoarthritis index were collected pre-operatively and at 3 and 12 months post-operatively. Hip and knee arthroplasties were analysed separately, and patients were split into two groups: those with high or low symptoms pre-operatively. Multilevel regression models were used for each outcome (pain and function), and the trajectories of change were charted (0-3 months and 3-12 months). Hip: Most improvement occurred within the first 3 months following hip surgery and patients with worse pre-operative scores had greater changes. The mean changes observed between 3 and twelve months were statistically insignificant. One year after surgery, patients with worse pre-operative scores had post-operative outcomes similar to those observed among patients with less severe pre-operative symptoms. Knee: Most improvement occurred in the first 3 months following knee surgery with no significant change thereafter. Despite greater mean change during the first three months, patients with worse pre-operative scores had not 'caught-up' with those with less severe pre-operative symptoms 12 months after their surgery. Most symptomatic improvement occurred within the first 3 months after surgery with no significant change between 3-12 months. Further investigations are now required to determine if patients with severe symptoms at the time of their knee arthroplasty have a different pre-surgical history than those with less severe symptoms and if they could benefit from earlier surgical intervention and tailored rehabilitation to achieve better post-operative patient-reported outcomes.

Canadian Youths' Trajectories of Psychosocial Competencies through University: Academic and Romantic Affairs Matter

ERIC Educational Resources Information Center

Lascano, Dayuma Ixchel Vargas; Galambos, Nancy L.; Hoglund, Wendy L.

2014-01-01

The increasingly prolonged transition to adulthood has raised concerns about the nature and timing of growth in the attainment of important psychosocial competencies in young people. Changes over time in self-reported competencies (work orientation, identity, intimacy) were examined in 198 Canadians, who were followed for the first 4 years of…

The Relational Web in Teaching and Learning: Connections, Disconnections and the Central Relational Paradox in Schools

ERIC Educational Resources Information Center

Stieha, Vicki

2010-01-01

Using relational and action oriented qualitative modes of inquiry (Cochran-Smith & Lytle, 2009; Gilligan, Spencer, Weinberg, & Bertsch, 2003; Raider-Roth, 2005), this research explores the trajectory of five veteran teachers' practice over two years. The participants were part of a group of teachers involved in an intensive Summer Teachers…

Gap Year Students in Lithuania: The Value Orientations of Children from Wealthy Social Groups

ERIC Educational Resources Information Center

Leonavicius, Vylius; Ozolinciute, Egle

2015-01-01

The paper seeks to understand the trajectories of students who defer entry to university. The study was conducted in Lithuania, a former Soviet Union republic. The phenomenon of a "gap year" is usually associated with young people, who decide not to enter higher education schools immediately after receiving secondary education, instead…

Narratives of Success: A Retrospective Trajectory Analysis of Men of Color Who Successfully Transferred from the Community College

ERIC Educational Resources Information Center

Urias, Marissa Vasquez; Falcon, Vannessa; Harris, Frank, III; Wood, J. Luke

2016-01-01

With the use of a narrative approach to inquiry, this chapter seeks to reframe deficit-oriented research on men of color, which often focuses on patterns of failure and underachievement, by exploring the pathways of community college men of color who successfully transferred to 4-year institutions.

Resonant power processors. II - Methods of control

NASA Technical Reports Server (NTRS)

Oruganti, R.; Lee, F. C.

1984-01-01

The nature of resonant converter control is discussed. Employing the state-portrait, different control methods for series resonant converter are identified and their performance evaluated based on their stability, response to control and load changes and range of operation. A new control method, optimal-trajectory control, is proposed which, by utilizing the state trajectories as control laws, continuously monitors the energy level of the resonant tank. The method is shown to have superior control properties especially under transient operation.

Mission Operations and Navigation Toolkit Environment

NASA Technical Reports Server (NTRS)

Sunseri, Richard F.; Wu, Hsi-Cheng; Hanna, Robert A.; Mossey, Michael P.; Duncan, Courtney B.; Evans, Scott E.; Evans, James R.; Drain, Theodore R.; Guevara, Michelle M.; Martin Mur, Tomas J.;

Multidisciplinary Tool for Systems Analysis of Planetary Entry, Descent, and Landing

NASA Technical Reports Server (NTRS)

Samareh, Jamshid A.

2011-01-01

Systems analysis of a planetary entry (SAPE), descent, and landing (EDL) is a multidisciplinary activity in nature. SAPE improves the performance of the systems analysis team by automating and streamlining the process, and this improvement can reduce the errors that stem from manual data transfer among discipline experts. SAPE is a multidisciplinary tool for systems analysis of planetary EDL for Venus, Earth, Mars, Jupiter, Saturn, Uranus, Neptune, and Titan. It performs EDL systems analysis for any planet, operates cross-platform (i.e., Windows, Mac, and Linux operating systems), uses existing software components and open-source software to avoid software licensing issues, performs low-fidelity systems analysis in one hour on a computer that is comparable to an average laptop, and keeps discipline experts in the analysis loop. SAPE uses Python, a platform-independent, open-source language, for integration and for the user interface. Development has relied heavily on the object-oriented programming capabilities that are available in Python. Modules are provided to interface with commercial and government off-the-shelf software components (e.g., thermal protection systems and finite-element analysis). SAPE currently includes the following analysis modules: geometry, trajectory, aerodynamics, aerothermal, thermal protection system, and interface for structural sizing.

Liquid-Propellant Rocket Engine Throttling: A Comprehensive Review

NASA Technical Reports Server (NTRS)

Casiano, Matthew; Hulka, James; Yang, Virog

2009-01-01

Liquid-Propellant Rocket Engines (LREs) are capable of on-command variable thrust or thrust modulation, an operability advantage that has been studied intermittently since the late 1930s. Throttleable LREs can be used for planetary entry and descent, space rendezvous, orbital maneuvering including orientation and stabilization in space, and hovering and hazard avoidance during planetary landing. Other applications have included control of aircraft rocket engines, limiting of vehicle acceleration or velocity using retrograde rockets, and ballistic missile defense trajectory control. Throttleable LREs can also continuously follow the most economical thrust curve in a given situation, compared to discrete throttling changes over a few select operating points. The effects of variable thrust on the mechanics and dynamics of an LRE as well as difficulties and issues surrounding the throttling process are important aspects of throttling behavior. This review provides a detailed survey of LRE throttling centered around engines from the United States. Several LRE throttling methods are discussed, including high-pressure-drop systems, dual-injector manifolds, gas injection, multiple chambers, pulse modulation, throat throttling, movable injector components, and hydrodynamically dissipative injectors. Concerns and issues surrounding each method are examined, and the advantages and shortcomings compared.

Planning nonlinear access paths for temporal bone surgery.

PubMed

Fauser, Johannes; Sakas, Georgios; Mukhopadhyay, Anirban

2018-05-01

Interventions at the otobasis operate in the narrow region of the temporal bone where several highly sensitive organs define obstacles with minimal clearance for surgical instruments. Nonlinear trajectories for potential minimally invasive interventions can provide larger distances to risk structures and optimized orientations of surgical instruments, thus improving clinical outcomes when compared to existing linear approaches. In this paper, we present fast and accurate planning methods for such nonlinear access paths. We define a specific motion planning problem in [Formula: see text] with notable constraints in computation time and goal pose that reflect the requirements of temporal bone surgery. We then present [Formula: see text]-RRT-Connect: two suitable motion planners based on bidirectional Rapidly exploring Random Tree (RRT) to solve this problem efficiently. The benefits of [Formula: see text]-RRT-Connect are demonstrated on real CT data of patients. Their general performance is shown on a large set of realistic synthetic anatomies. We also show that these new algorithms outperform state-of-the-art methods based on circular arcs or Bézier-Splines when applied to this specific problem. With this work, we demonstrate that preoperative and intra-operative planning of nonlinear access paths is possible for minimally invasive surgeries at the otobasis.

Application of Vehicle Dynamic Modeling in Uavs for Precise Determination of Exterior Orientation

NASA Astrophysics Data System (ADS)

Khaghani, M.; Skaloud, J.

2016-06-01

Advances in unmanned aerial vehicles (UAV) and especially micro aerial vehicle (MAV) technology together with increasing quality and decreasing price of imaging devices have resulted in growing use of MAVs in photogrammetry. The practicality of MAV mapping is seriously enhanced with the ability to determine parameters of exterior orientation (EO) with sufficient accuracy, in both absolute and relative senses (change of attitude between successive images). While differential carrier phase GNSS satisfies cm-level positioning accuracy, precise attitude determination is essential for both direct sensor orientation (DiSO) and integrated sensor orientation (ISO) in corridor mapping or in block configuration imaging over surfaces with low texture. Limited cost, size, and weight of MAVs represent limitations on quality of onboard navigation sensors and puts emphasis on exploiting full capacity of available resources. Typically short flying times (10-30 minutes) also limit the possibility of estimating and/or correcting factors such as sensor misalignment and poor attitude initialization of inertial navigation system (INS). This research aims at increasing the accuracy of attitude determination in both absolute and relative senses with no extra sensors onboard. In comparison to classical INS/GNSS setup, novel approach is presented here to integrated state estimation, in which vehicle dynamic model (VDM) is used as the main process model. Such system benefits from available information from autopilot and physical properties of the platform in enhancing performance of determination of trajectory and parameters of exterior orientation consequently. The navigation system employs a differential carrier phase GNSS receiver and a micro electro-mechanical system (MEMS) grade inertial measurement unit (IMU), together with MAV control input from autopilot. Monte-Carlo simulation has been performed on trajectories for typical corridor mapping and block imaging. Results reveal considerable reduction in attitude errors with respect to conventional INS/GNSS system, in both absolute and relative senses. This eventually translates into higher redundancy and accuracy for photogrammetry applications.

Homing by path integration when a locomotion trajectory crosses itself.

PubMed

Yamamoto, Naohide; Meléndez, Jayleen A; Menzies, Derek T

2014-01-01

Path integration is a process with which navigators derive their current position and orientation by integrating self-motion signals along a locomotion trajectory. It has been suggested that path integration becomes disproportionately erroneous when the trajectory crosses itself. However, there is a possibility that this previous finding was confounded by effects of the length of a traveled path and the amount of turns experienced along the path, two factors that are known to affect path integration performance. The present study was designed to investigate whether the crossover of a locomotion trajectory truly increases errors of path integration. In an experiment, blindfolded human navigators were guided along four paths that varied in their lengths and turns, and attempted to walk directly back to the beginning of the paths. Only one of the four paths contained a crossover. Results showed that errors yielded from the path containing the crossover were not always larger than those observed in other paths, and the errors were attributed solely to the effects of longer path lengths or greater degrees of turns. These results demonstrated that path crossover does not always cause significant disruption in path integration processes. Implications of the present findings for models of path integration are discussed.

Human arm stiffness and equilibrium-point trajectory during multi-joint movement.

PubMed

Gomi, H; Kawato, M

1997-03-01

By using a newly designed high-performance manipulandum and a new estimation algorithm, we measured human multi-joint arm stiffness parameters during multi-joint point-to-point movements on a horizontal plane. This manipulandum allows us to apply a sufficient perturbation to subject's arm within a brief period during movement. Arm stiffness parameters were reliably estimated using a new algorithm, in which all unknown structural parameters could be estimated independent of arm posture (i.e., constant values under any arm posture). Arm stiffness during transverse movement was considerably greater than that during corresponding posture, but not during a longitudinal movement. Although the ratios of elbow, shoulder, and double-joint stiffness were varied in time, the orientation of stiffness ellipses during the movement did not change much. Equilibrium-point trajectories that were predicted from measured stiffness parameters and actual trajectories were slightly sinusoidally curved in Cartesian space and their velocity profiles were quite different from the velocity profiles of actual hand trajectories. This result contradicts the hypothesis that the brain does not take the dynamics into account in movement control depending on the neuromuscular servo mechanism; rather, it implies that the brain needs to acquire some internal models of controlled objects.

Construction of a WMR for trajectory tracking control: experimental results.

PubMed

Silva-Ortigoza, R; Márquez-Sánchez, C; Marcelino-Aranda, M; Marciano-Melchor, M; Silva-Ortigoza, G; Bautista-Quintero, R; Ramos-Silvestre, E R; Rivera-Díaz, J C; Muñoz-Carrillo, D

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x₁∗, y₁∗),..., (x(n)∗, y(n)∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.

Construction of a WMR for Trajectory Tracking Control: Experimental Results

PubMed Central

Silva-Ortigoza, R.; Márquez-Sánchez, C.; Marcelino-Aranda, M.; Marciano-Melchor, M.; Silva-Ortigoza, G.; Bautista-Quintero, R.; Ramos-Silvestre, E. R.; Rivera-Díaz, J. C.; Muñoz-Carrillo, D.

2013-01-01

This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x1∗, y1∗),..., (xn∗, yn∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software. PMID:23997679

Integrated guidance and control for microsatellite real-time automated proximity operations

NASA Astrophysics Data System (ADS)

Chen, Ying; He, Zhen; Zhou, Ding; Yu, Zhenhua; Li, Shunli

2018-07-01

This paper investigates the trajectory planning and control of autonomous spacecraft proximity operations with impulsive dynamics. A new integrated guidance and control scheme is developed to perform automated close-range rendezvous for underactuated microsatellites. To efficiently prevent collision, a modified RRT* trajectory planning algorithm is proposed under this context. Several engineering constraints such as collision avoidance, plume impingement, field of view and control feasibility are considered simultaneously. Then, the feedback controller that employs a turn-burn-turn strategy with a combined impulsive orbital control and finite-time attitude control is designed to ensure the implementation of planned trajectory. Finally, the performance of trajectory planner and controller are evaluated through numerical tests. Simulation results indicate the real-time implementability of the proposed integrated guidance and control scheme with position control error less than 0.5 m and velocity control error less than 0.05 m/s. Consequently, the proposed scheme offers the potential for wide applications, such as on-orbit maintenance, space surveillance and debris removal.

Trajectory Design and Control for the Compton Gamma Ray Observatory Re-Entry

NASA Technical Reports Server (NTRS)

Hoge, Susan; Vaughn, Frank; Bauer, Frank H. (Technical Monitor)

2000-01-01

The Compton Gamma Ray Observatory (CGRO) controlled re-entry operation was successfully conducted in June of 2000. The surviving parts of the spacecraft landed in the Pacific Ocean within the predicted footprint. The design of the maneuvers to control the trajectory to accomplish this re-entry presented several challenges. These challenges included timing and duration of the maneuvers, fuel management, post maneuver position knowledge, collision avoidance with other spacecraft, accounting for the break-up of the spacecraft into several pieces with a wide range of ballistic coefficients, and ensuring that the impact footprint would remain within the desired landing area in the event of contingencies. This paper presents the initial re-entry trajectory design and the evolution of the design into the maneuver sequence used for the re-entry. The paper discusses the constraints on the trajectory design, the modifications made to the initial design and the reasons behind these modifications. Data from the re-entry operation are presented.

Conformal bootstrap at large charge

NASA Astrophysics Data System (ADS)

Jafferis, Daniel; Mukhametzhanov, Baur; Zhiboedov, Alexander

2018-05-01

We consider unitary CFTs with continuous global symmetries in d > 2. We consider a state created by the lightest operator of large charge Q ≫ 1 and analyze the correlator of two light charged operators in this state. We assume that the correlator admits a well-defined large Q expansion and, relatedly, that the macroscopic (thermodynamic) limit of the correlator exists. We find that the crossing equations admit a consistent truncation, where only a finite number N of Regge trajectories contribute to the correlator at leading nontrivial order. We classify all such truncated solutions to the crossing. For one Regge trajectory N = 1, the solution is unique and given by the effective field theory of a Goldstone mode. For two or more Regge trajectories N ≥ 2, the solutions are encoded in roots of a certain degree N polynomial. Some of the solutions admit a simple weakly coupled EFT description, whereas others do not. In the weakly coupled case, each Regge trajectory corresponds to a field in the effective Lagrangian.

Q-space trajectory imaging for multidimensional diffusion MRI of the human brain

PubMed Central

Westin, Carl-Fredrik; Knutsson, Hans; Pasternak, Ofer; Szczepankiewicz, Filip; Özarslan, Evren; van Westen, Danielle; Mattisson, Cecilia; Bogren, Mats; O’Donnell, Lauren; Kubicki, Marek; Topgaard, Daniel; Nilsson, Markus

2016-01-01

This work describes a new diffusion MR framework for imaging and modeling of microstructure that we call q-space trajectory imaging (QTI). The QTI framework consists of two parts: encoding and modeling. First we propose q-space trajectory encoding, which uses time-varying gradients to probe a trajectory in q-space, in contrast to traditional pulsed field gradient sequences that attempt to probe a point in q-space. Then we propose a microstructure model, the diffusion tensor distribution (DTD) model, which takes advantage of additional information provided by QTI to estimate a distributional model over diffusion tensors. We show that the QTI framework enables microstructure modeling that is not possible with the traditional pulsed gradient encoding as introduced by Stejskal and Tanner. In our analysis of QTI, we find that the well-known scalar b-value naturally extends to a tensor-valued entity, i.e., a diffusion measurement tensor, which we call the b-tensor. We show that b-tensors of rank 2 or 3 enable estimation of the mean and covariance of the DTD model in terms of a second order tensor (the diffusion tensor) and a fourth order tensor. The QTI framework has been designed to improve discrimination of the sizes, shapes, and orientations of diffusion microenvironments within tissue. We derive rotationally invariant scalar quantities describing intuitive microstructural features including size, shape, and orientation coherence measures. To demonstrate the feasibility of QTI on a clinical scanner, we performed a small pilot study comparing a group of five healthy controls with five patients with schizophrenia. The parameter maps derived from QTI were compared between the groups, and 9 out of the 14 parameters investigated showed differences between groups. The ability to measure and model the distribution of diffusion tensors, rather than a quantity that has already been averaged within a voxel, has the potential to provide a powerful paradigm for the study of complex tissue architecture. PMID:26923372

Analysis of several Boolean operation based trajectory generation strategies for automotive spray applications

NASA Astrophysics Data System (ADS)

Gao, Guoyou; Jiang, Chunsheng; Chen, Tao; Hui, Chun

2018-05-01

Industrial robots are widely used in various processes of surface manufacturing, such as thermal spraying. The established robot programming methods are highly time-consuming and not accurate enough to fulfil the demands of the actual market. There are many off-line programming methods developed to reduce the robot programming effort. This work introduces the principle of several based robot trajectory generation strategy on planar surface and curved surface. Since the off-line programming software is widely used and thus facilitates the robot programming efforts and improves the accuracy of robot trajectory, the analysis of this work is based on the second development of off-line programming software Robot studio™. To meet the requirements of automotive paint industry, this kind of software extension helps provide special functions according to the users defined operation parameters. The presented planning strategy generates the robot trajectory by moving an orthogonal surface according to the information of coating surface, a series of intersection curves are then employed to generate the trajectory points. The simulation results show that the path curve created with this method is successive and smooth, which corresponds to the requirements of automotive spray industrial applications.

Towards Autonomous Airport Surface Operations: NextGen Flight Deck Implications

NASA Technical Reports Server (NTRS)

Foyle, David C.; Hooey, Becky Lee; Bakowski, Deborah Lee

2017-01-01

Surface Trajectory-based Operations (STBO) is a potential concept candidate for flight deck autonomous operations. Existing research will be reviewed and possible architectures and research issues will be presented.

Trajectories of Mexican American and Mainstream Cultural Values Among Mexican American Adolescents

PubMed Central

Knight, George P.; Basilio, Camille D.; Cham, Heining; Gonzales, Nancy A.; Liu, Yu; Umaña-Taylor, Adriana J.

2013-01-01

Mexican Americans are one of the largest and fastest growing ethnic groups in the United States, yet we have limited knowledge regarding changes (i.e., developmental trajectories) in cultural orientation based upon their exposure to the Mexican American and mainstream cultures. We examined the parallel trajectories of Mexican American and mainstream cultural values in a sample of 749 Mexican American adolescents (49% female) across assessments during the fifth grade (approximately 11 years of age), the seventh grade (approximately 13 years of age) and the tenth grade (approximately 16 years of age). We expected that these values would change over this developmental period and this longitudinal approach is more appropriate than the often used median split classification to identify distinct types of acculturation. We found four distinct acculturation trajectory groups: two trajectory groups that were increasing slightly with age in the endorsement of mainstream cultural values, one of which was relatively stable in Mexican American cultural values while the other was declining in their endorsement of these values; and two trajectory groups that were declining substantially with age in their endorsement of mainstream cultural values, one of which was also declining in Mexican American cultural values and the other which was stable in these values. These four trajectory groups differed in expected ways on a number of theoretically related cultural variables, but were not highly consistent with the median split classifications. The findings highlight the need to utilize longitudinal data to examine the developmental changes of Mexican American individual’s adaptation to the ethnic and mainstream culture in order to understand more fully the processes of acculturation and enculturation. PMID:23877194

Trajectories of Mexican American and mainstream cultural values among Mexican American adolescents.

PubMed

Knight, George P; Basilio, Camille D; Cham, Heining; Gonzales, Nancy A; Liu, Yu; Umaña-Taylor, Adriana J

2014-12-01

Mexican Americans are one of the largest and fastest growing ethnic groups in the United States, yet we have limited knowledge regarding changes (i.e., developmental trajectories) in cultural orientation based upon their exposure to the Mexican American and mainstream cultures. We examined the parallel trajectories of Mexican American and mainstream cultural values in a sample of 749 Mexican American adolescents (49 % female) across assessments during the fifth grade (approximately 11 years of age), the seventh grade (approximately 13 years of age) and the tenth grade (approximately 16 years of age). We expected that these values would change over this developmental period and this longitudinal approach is more appropriate than the often used median split classification to identify distinct types of acculturation. We found four distinct acculturation trajectory groups: two trajectory groups that were increasing slightly with age in the endorsement of mainstream cultural values, one of which was relatively stable in Mexican American cultural values while the other was declining in their endorsement of these values; and two trajectory groups that were declining substantially with age in their endorsement of mainstream cultural values, one of which was also declining in Mexican American cultural values and the other which was stable in these values. These four trajectory groups differed in expected ways on a number of theoretically related cultural variables, but were not highly consistent with the median split classifications. The findings highlight the need to utilize longitudinal data to examine the developmental changes of Mexican American individual's adaptation to the ethnic and mainstream culture in order to understand more fully the processes of acculturation and enculturation.

Probabilistic Modeling of Aircraft Trajectories for Dynamic Separation Volumes

NASA Technical Reports Server (NTRS)

Lewis, Timothy A.

2016-01-01

With a proliferation of new and unconventional vehicles and operations expected in the future, the ab initio airspace design will require new approaches to trajectory prediction for separation assurance and other air traffic management functions. This paper presents an approach to probabilistic modeling of the trajectory of an aircraft when its intent is unknown. The approach uses a set of feature functions to constrain a maximum entropy probability distribution based on a set of observed aircraft trajectories. This model can be used to sample new aircraft trajectories to form an ensemble reflecting the variability in an aircraft's intent. The model learning process ensures that the variability in this ensemble reflects the behavior observed in the original data set. Computational examples are presented.

Modeling Off-Nominal Recovery in NextGen Terminal-Area Operations

NASA Technical Reports Server (NTRS)

Callantine, Todd J.

2011-01-01

Robust schedule-based arrival management requires efficient recovery from off-nominal situations. This paper presents research on modeling off-nominal situations and plans for recovering from them using TRAC, a route/airspace design, fast-time simulation, and analysis tool for studying NextGen trajectory-based operations. The paper provides an overview of a schedule-based arrival-management concept and supporting controller tools, then describes TRAC implementations of methods for constructing off-nominal scenarios, generating trajectory options to meet scheduling constraints, and automatically producing recovery plans.

Validation of a Low-Thrust Mission Design Tool Using Operational Navigation Software

NASA Technical Reports Server (NTRS)

Englander, Jacob A.; Knittel, Jeremy M.; Williams, Ken; Stanbridge, Dale; Ellison, Donald H.

2017-01-01

Design of flight trajectories for missions employing solar electric propulsion requires a suitably high-fidelity design tool. In this work, the Evolutionary Mission Trajectory Generator (EMTG) is presented as a medium-high fidelity design tool that is suitable for mission proposals. EMTG is validated against the high-heritage deep-space navigation tool MIRAGE, demonstrating both the accuracy of EMTG's model and an operational mission design and navigation procedure using both tools. The validation is performed using a benchmark mission to the Jupiter Trojans.

Mexican-Origin Youth Participation in Extracurricular Activities: Predicting Trajectories of Involvement from 7th to 12th Grade.

PubMed

Dawes, Nickki Pearce; Modecki, Kathryn L; Gonzales, Nancy; Dumka, Larry; Millsap, Roger

2015-11-01

The potential benefits of participation in extracurricular activities may be especially important for youth who are at risk for academic underachievement, such as low income Mexican-origin youth in the U.S. To advance understanding of factors that drive participation for this population, this study examined Mexican-origin youth's trajectories of participation in extracurricular activities across Grades 7-12 and tested theoretically-derived predictors of these trajectories. Participants were 178 adolescents (53.9 % Female, Mage = 12.28) and their mothers who separately completed in-home interviews. Youth reported the frequency of their participation across a range of extracurricular activities. Latent growth curve models of overall extracurricular activities participation, sports participation, and fine arts participation were individually estimated via structural equation modeling. The findings demonstrated developmental declines in overall participation and in sports participation. For fine arts, declines in participation in middle school were followed by subsequent increases during high school (a curvilinear pattern). Motivationally-salient predictors of participation trajectories included youth's traditional cultural values orientation (sports), the mothers' educational aspirations for the youth (sports, fine arts, overall activity), and youth gender (sports, fine arts). Overall, the results suggest variability in participation trajectories based on program type, and highlight the need for additional research to enhance our understanding of the impact of culturally-relevant predictors on participation over time.

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

NASA Astrophysics Data System (ADS)

Alam, Manjurul; Golozar, Matin; Darabi, Jeff

2018-04-01

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

Statistical characteristics of trajectories of diamagnetic unicellular organisms in a magnetic field.

PubMed

Gorobets, Yu I; Gorobets, O Yu

2015-01-01

The statistical model is proposed in this paper for description of orientation of trajectories of unicellular diamagnetic organisms in a magnetic field. The statistical parameter such as the effective energy is calculated on basis of this model. The resulting effective energy is the statistical characteristics of trajectories of diamagnetic microorganisms in a magnetic field connected with their metabolism. The statistical model is applicable for the case when the energy of the thermal motion of bacteria is negligible in comparison with their energy in a magnetic field and the bacteria manifest the significant "active random movement", i.e. there is the randomizing motion of the bacteria of non thermal nature, for example, movement of bacteria by means of flagellum. The energy of the randomizing active self-motion of bacteria is characterized by the new statistical parameter for biological objects. The parameter replaces the energy of the randomizing thermal motion in calculation of the statistical distribution. Copyright © 2014 Elsevier Ltd. All rights reserved.

Active motion assisted by correlated stochastic torques.

PubMed

Weber, Christian; Radtke, Paul K; Schimansky-Geier, Lutz; Hänggi, Peter

2011-07-01

The stochastic dynamics of an active particle undergoing a constant speed and additionally driven by an overall fluctuating torque is investigated. The random torque forces are expressed by a stochastic differential equation for the angular dynamics of the particle determining the orientation of motion. In addition to a constant torque, the particle is supplemented by random torques, which are modeled as an Ornstein-Uhlenbeck process with given correlation time τ(c). These nonvanishing correlations cause a persistence of the particles' trajectories and a change of the effective spatial diffusion coefficient. We discuss the mean square displacement as a function of the correlation time and the noise intensity and detect a nonmonotonic dependence of the effective diffusion coefficient with respect to both correlation time and noise strength. A maximal diffusion behavior is obtained if the correlated angular noise straightens the curved trajectories, interrupted by small pirouettes, whereby the correlated noise amplifies a straightening of the curved trajectories caused by the constant torque.

MDAnalysis: a toolkit for the analysis of molecular dynamics simulations.

PubMed

Michaud-Agrawal, Naveen; Denning, Elizabeth J; Woolf, Thomas B; Beckstein, Oliver

2011-07-30

MDAnalysis is an object-oriented library for structural and temporal analysis of molecular dynamics (MD) simulation trajectories and individual protein structures. It is written in the Python language with some performance-critical code in C. It uses the powerful NumPy package to expose trajectory data as fast and efficient NumPy arrays. It has been tested on systems of millions of particles. Many common file formats of simulation packages including CHARMM, Gromacs, Amber, and NAMD and the Protein Data Bank format can be read and written. Atoms can be selected with a syntax similar to CHARMM's powerful selection commands. MDAnalysis enables both novice and experienced programmers to rapidly write their own analytical tools and access data stored in trajectories in an easily accessible manner that facilitates interactive explorative analysis. MDAnalysis has been tested on and works for most Unix-based platforms such as Linux and Mac OS X. It is freely available under the GNU General Public License from http://mdanalysis.googlecode.com. Copyright © 2011 Wiley Periodicals, Inc.

Weathering the Great Recession: Psychological and Behavioral Trajectories in the Transition from School to Work*

PubMed Central

Vuolo, Mike; Staff, Jeremy; Mortimer, Jeylan T.

2011-01-01

Studies of career development highlight the importance of finding a good “fit” between individual values, needs, and abilities and the experiences and rewards to be found in particular occupations. Rapid economic change and labor market turbulence make career choice and development life-long processes. Still, early careers are particularly unstable, as young workers move from “survival jobs” to “career jobs” in their quest for a good person-job fit. Little is known, however, about the psychological orientations and behaviors in the post-adolescent period that foster longer-term success in the world of work. The maintenance of high aspirations, crystallization of career goals, and intensive job search may be particularly important. Using multilevel latent class analysis applied to longitudinal data obtained from 1,010 youth surveyed by the ongoing Youth Development Study (YDS), this article examines the interrelations of psychological orientations and behaviors indicative of agentic striving from age 18 to 31. In addition, we assess how these trajectories influence adaptation to declining labor market conditions during the severe economic recession that began in 2007. We find that those who maintain high aspiration and certainty over career goals are better insulated against unemployment between 2007 and 2009 (age 33 to 35), even when educational and self-identified career attainments, adolescent achievement orientations, and social background variables indicative of advantage are controlled. They also have higher hourly wages in 2009. PMID:22059449

Visual display aid for orbital maneuvering - Experimental evaluation

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1993-01-01

An interactive proximity operations planning system, which allows on-site planning of fuel-efficient, multiburn maneuvers in a potential multispacecraft environment, has been experimentally evaluated. An experiment has been carried out in which nonastronaut operators with brief initial training were required to plan a trajectory to retrieve an object accidentally separated from a dual-keel Space Station, for a variety of different orbital situations. The experiments have shown that these operators were able to plan workable trajectories, satisfying a number of operational constraints. Fuel use and planning time were strongly correlated, both with the angle at which the object was separated and with the existence of spatial constraints. Planning behavior was found to be strongly operator-dependent. This finding calls for the need for standardizing planning strategies through operator training or the use of semiautomated planning schemes.

Simulated trajectories error analysis program, version 2. Volume 2: Programmer's manual

NASA Technical Reports Server (NTRS)

Vogt, E. D.; Adams, G. L.; Working, M. M.; Ferguson, J. B.; Bynum, M. R.

1971-01-01

A series of three computer programs for the mathematical analysis of navigation and guidance of lunar and interplanetary trajectories was developed. All three programs require the integration of n-body trajectories for both interplanetary and lunar missions. The virutal mass technique is used in all three programs. The user's manual contains the information necessary to operate the programs. The input and output quantities of the programs are described. Sample cases are given and discussed.

Multi-objective optimisation of aircraft flight trajectories in the ATM and avionics context

NASA Astrophysics Data System (ADS)

Gardi, Alessandro; Sabatini, Roberto; Ramasamy, Subramanian

2016-05-01

The continuous increase of air transport demand worldwide and the push for a more economically viable and environmentally sustainable aviation are driving significant evolutions of aircraft, airspace and airport systems design and operations. Although extensive research has been performed on the optimisation of aircraft trajectories and very efficient algorithms were widely adopted for the optimisation of vertical flight profiles, it is only in the last few years that higher levels of automation were proposed for integrated flight planning and re-routing functionalities of innovative Communication Navigation and Surveillance/Air Traffic Management (CNS/ATM) and Avionics (CNS+A) systems. In this context, the implementation of additional environmental targets and of multiple operational constraints introduces the need to efficiently deal with multiple objectives as part of the trajectory optimisation algorithm. This article provides a comprehensive review of Multi-Objective Trajectory Optimisation (MOTO) techniques for transport aircraft flight operations, with a special focus on the recent advances introduced in the CNS+A research context. In the first section, a brief introduction is given, together with an overview of the main international research initiatives where this topic has been studied, and the problem statement is provided. The second section introduces the mathematical formulation and the third section reviews the numerical solution techniques, including discretisation and optimisation methods for the specific problem formulated. The fourth section summarises the strategies to articulate the preferences and to select optimal trajectories when multiple conflicting objectives are introduced. The fifth section introduces a number of models defining the optimality criteria and constraints typically adopted in MOTO studies, including fuel consumption, air pollutant and noise emissions, operational costs, condensation trails, airspace and airport operations. A brief overview of atmospheric and weather modelling is also included. Key equations describing the optimality criteria are presented, with a focus on the latest advancements in the respective application areas. In the sixth section, a number of MOTO implementations in the CNS+A systems context are mentioned with relevant simulation case studies addressing different operational tasks. The final section draws some conclusions and outlines guidelines for future research on MOTO and associated CNS+A system implementations.

Stabilization of cat paw trajectory during locomotion

PubMed Central

Klishko, Alexander N.; Farrell, Bradley J.; Beloozerova, Irina N.; Latash, Mark L.

2014-01-01

We investigated which of cat limb kinematic variables during swing of regular walking and accurate stepping along a horizontal ladder are stabilized by coordinated changes of limb segment angles. Three hypotheses were tested: 1) animals stabilize the entire swing trajectory of specific kinematic variables (performance variables); and 2) the level of trajectory stabilization is similar between regular and ladder walking and 3) is higher for forelimbs compared with hindlimbs. We used the framework of the uncontrolled manifold (UCM) hypothesis to quantify the structure of variance of limb kinematics in the limb segment orientation space across steps. Two components of variance were quantified for each potential performance variable, one of which affected it (“bad variance,” variance orthogonal to the UCM, VORT) while the other one did not (“good variance,” variance within the UCM, VUCM). The analysis of five candidate performance variables revealed that cats during both locomotor behaviors stabilize 1) paw vertical position during the entire swing (VUCM > VORT, except in mid-hindpaw swing of ladder walking) and 2) horizontal paw position in initial and terminal swing (except for the entire forepaw swing of regular walking). We also found that the limb length was typically stabilized in midswing, whereas limb orientation was not (VUCM ≤ VORT) for both limbs and behaviors during entire swing. We conclude that stabilization of paw position in early and terminal swing enables accurate and stable locomotion, while stabilization of vertical paw position in midswing helps paw clearance. This study is the first to demonstrate the applicability of the UCM-based analysis to nonhuman movement. PMID:24899676

Post-adoption Depression: Parental Classes of Depressive Symptoms Across Time

PubMed Central

Foli, Karen J.; South, Susan C.; Lim, Eunjung; Jarnecke, Amber

2016-01-01

Background Approximately 10%-15% of birth mothers and fathers experience postpartum depression, but reports of depressive symptoms in adoptive parents are more variable. Findings from investigators range from 10%-32%, which may mask the experiences of distinct groups of adoptive parents from pre-to post-placement of a child. Methods We performed latent class growth analysis using the Center for Epidemiologic Studies-Depression scores of 129 primarily heterosexual, adoptive parents (50% females) for three time points: 4-6 weeks pre-placement of the child, 4-6 weeks post-placement, and 5-6 months post-placement. Mixed effects models by parent depressive trajectories were also conducted for three types of variables: interpersonal, psychological symptoms, and life orientation. Results Five classes of depressive symptom trajectories were found. The majority of parents (71%) belonged to a class with low levels of depressive symptoms across time. However, two classes of parents were above the threshold for depressive symptoms at placement, and three classes of parents were above the threshold at 6 months post-placement. The majority of interpersonal, psychological symptom, and life orientation variables were significant across classes and by time. Limitations The homogeneity of the sample calls for replication of study findings. Conclusions An explanation for inconsistencies in the range of adoptive parent depressive symptoms may be explained by different subgroups of parents who vary by their trajectory of depressive symptoms before and after placement of the child. Adoption and mental health professionals should be aware that select adoptive parents may struggle pre-and post-placement of a child. PMID:27155072

Post-adoption depression: Parental classes of depressive symptoms across time.

PubMed

Foli, Karen J; South, Susan C; Lim, Eunjung; Jarnecke, Amber M

2016-08-01

Approximately 10-15% of birth mothers and fathers experience postpartum depression, but reports of depressive symptoms in adoptive parents are more variable. Findings from investigators range from 10% to 32%, which may mask the experiences of distinct groups of adoptive parents from pre-to post-placement of a child. We performed latent class growth analysis using the Center for Epidemiologic Studies-Depression scores of 129 primarily heterosexual, adoptive parents (50% females) for three time points: 4-6 weeks pre-placement of the child, 4-6 weeks post-placement, and 5-6 months post-placement. Mixed effects models by parent depressive trajectories were also conducted for three types of variables: interpersonal, psychological symptoms, and life orientation. Five classes of depressive symptom trajectories were found. The majority of parents (71%) belonged to a class with low levels of depressive symptoms across time. However, two classes of parents were above the threshold for depressive symptoms at placement, and three classes of parents were above the threshold at 6 months post-placement. The majority of interpersonal, psychological symptom, and life orientation variables were significant across classes and by time. The homogeneity of the sample calls for replication of study findings. An explanation for inconsistencies in the range of adoptive parent depressive symptoms may be explained by different subgroups of parents who vary by their trajectory of depressive symptoms before and after placement of the child. Adoption and mental health professionals should be aware that select adoptive parents may struggle pre-and post-placement of a child. Copyright © 2016 Elsevier B.V. All rights reserved.

Sexual Orientation and Gender Identity/Expression Related Peer Victimization in Adolescence: A Systematic Review of Associated Psychosocial and Health Outcomes

PubMed Central

Collier, Kate L.; van Beusekom, Gabriël; Bos, Henny M. W.; Sandfort, Theo G. M.

2012-01-01

This article reviews research on psychosocial and health outcomes associated with peer victimization related to adolescent sexual orientation and gender identity or expression. Using four electronic databases and supplementary methods, we identified 39 relevant studies. These studies were published between 1995 and 2012 and conducted in 12 different countries. The studies were diverse in terms of their approaches to sampling participants, assessing participants’ sexual orientation, operationalizing peer victimization, and with regard to the psychosocial and health outcomes studied in relation to peer victimization. Despite the methodological diversity across studies, there is fairly strong evidence that peer victimization related to sexual orientation and gender identity or expression is associated with a diminished sense of school belonging and higher levels of depressive symptoms; findings regarding the relationship between peer victimization and suicidality have been more mixed. Peer victimization related to sexual orientation and gender identity or expression is also associated with disruptions in educational trajectories, traumatic stress, and alcohol and substance use. Recommendations for future research and interventions are discussed. PMID:23480074

Preferred negative geotactic orientation in mobile cells: Tetrahymena results.

PubMed Central

Noever, D A; Cronise, R; Matsos, H C

1994-01-01

For the protozoan species Tetrahymena a series of airplane experiments are reported, which varied gravity as an active laboratory parameter and tested for corresponding changes in geotaxic orientation of single cells. The airplane achieved alternating periods of low (0.01 g) and high (1.8 g; g = 980 cm/s) gravity by flying repeated Keplerian parabolas. The experimental design was undertaken to clearly distinguish gravity from competing aerodynamic and chemical gradients. In this way, each culture served as its own control, with gravity level alone determining the orientational changes. On average, 6.3% of the Tetrahymena oriented vertically in low gravity, while 27% oriented vertically in high-gravity phases. Simplified physical models are explored for describing these cell trajectories as a function of gravity, aerodynamic drag, and lift. The notable effect of gravity on turning behavior is emphasized as the biophysical cause of the observed negative geotaxis in Tetrahymena. A fundamental investigation of the biological gravity receptor (if it exists) and improved modeling for vertical migration in important types of ocean plankton motivate the present research. Images FIGURE 1 PMID:7858146

Sexual orientation and gender identity/expression related peer victimization in adolescence: a systematic review of associated psychosocial and health outcomes.

PubMed

Collier, Kate L; van Beusekom, Gabriël; Bos, Henny M W; Sandfort, Theo G M

2013-01-01

This article reviews research on psychosocial and health outcomes associated with peer victimization related to adolescent sexual orientation and gender identity or expression. Using four electronic databases and supplementary methods, we identified 39 relevant studies. These studies were published between 1995 and 2012 and conducted in 12 different countries. The studies were diverse in terms of their approaches to sampling participants, assessing participants' sexual orientation, operationalizing peer victimization, and with regard to the psychosocial and health outcomes studied in relation to peer victimization. Despite the methodological diversity across studies, there is fairly strong evidence that peer victimization related to sexual orientation and gender identity or expression is associated with a diminished sense of school belonging and higher levels of depressive symptoms; findings regarding the relationship between peer victimization and suicidality have been more mixed. Peer victimization related to sexual orientation and gender identity or expression is also associated with disruptions in educational trajectories, traumatic stress, and alcohol and substance use. Recommendations for future research and interventions are discussed.

Experimental Evaluation of an Integrated Datalink and Automation-Based Strategic Trajectory Concept

NASA Technical Reports Server (NTRS)

Mueller, Eric

2007-01-01

This paper presents research on the interoperability of trajectory-based automation concepts and technologies with modern Flight Management Systems and datalink communication available on many of today s commercial aircraft. A tight integration of trajectory-based ground automation systems with the aircraft Flight Management System through datalink will enable mid-term and far-term benefits from trajectory-based automation methods. A two-way datalink connection between the trajectory-based automation resident in the Center/TRACON Automation System and the Future Air Navigation System-1 integrated FMS/datalink in NASA Ames B747-400 Level D simulator has been established and extensive simulation of the use of datalink messages to generate strategic trajectories completed. A strategic trajectory is defined as an aircraft deviation needed to solve a conflict or honor a route request and then merge the aircraft back to its nominal preferred trajectory using a single continuous trajectory clearance. Engineers on the ground side of the datalink generated lateral and vertical trajectory clearances and transmitted them to the Flight Management System of the 747; the airborne automation then flew the new trajectory without human intervention, requiring the flight crew only to review and to accept the trajectory. This simulation established the protocols needed for a significant majority of the trajectory change types required to solve a traffic conflict or deviate around weather. This demonstration provides a basis for understanding the requirements for integration of trajectory-based automation with current Flight Management Systems and datalink to support future National Airspace System operations.

A Unified Latent Curve, Latent State-Trait Analysis of the Developmental Trajectories and Correlates of Positive Orientation

ERIC Educational Resources Information Center

Alessandri, Guido; Caprara, Gian Vittorio; Tisak, John

2012-01-01

Literature documents that the judgments people hold about themselves, their life, and their future are important ingredients of their psychological functioning and well-being and are commonly related to each other. In this article, results from a longitudinal study (N = 298, 45% males) are presented. Using an integrative Latent Curve, Latent…

Updating Target Location at the End of an Orienting Saccade Affects the Characteristics of Simple Point-to-Point Movements

ERIC Educational Resources Information Center

Desmurget, Michel; Turner, Robert S.; Prablanc, Claude; Russo, Gary S.; Alexander, Garret E.; Grafton, Scott T.

2005-01-01

Six results are reported. (a) Reaching accuracy increases when visual capture of the target is allowed (e.g., target on vs. target off at saccade onset). (b) Whatever the visual condition, trajectories diverge only after peak acceleration, suggesting that accuracy is improved through feedback mechanisms. (c) Feedback corrections are smoothly…

Sexual Attraction and Trajectories of Mental Health and Substance Use during the Transition from Adolescence to Adulthood

ERIC Educational Resources Information Center

Needham, Belinda L.

2012-01-01

Previous research suggests that sexual minority youth have poorer health-related outcomes than their heterosexual peers. The purpose of this study is to determine whether sexual orientation disparities in mental health and substance use increase, decrease, or remain the same during the transition from adolescence to adulthood. Data are from Waves…

Tidal Distortion and Disruption of Earth-Crossing Asteriods

NASA Technical Reports Server (NTRS)

Love, Stanley G.; Bottke, William, Jr.

1997-01-01

We represent results of numerical simulations that show Earth's tidal forces can both distort and disrupt Earth-crossing asteriods (ECAs) that have weak rubble-pile structures. Building on previous studies, we consider more realistic asteriod shapes and trajectories, test a variety of spin and rates and axis orientations, and employ a dissipation algorithm to more accurately treat collisions between particles.

Developments in Motivation and Achievement during Primary School: A Longitudinal Study on Group-Specific Differences

ERIC Educational Resources Information Center

Hornstra, Lisette; van der Veen, Ineke; Peetsma, Thea; Volman, Monique

2013-01-01

To gain insight in developmental trajectories of motivation during upper primary school, the present study focused on how different aspects of students' motivation, i.e., task-orientation, self-efficacy, and school investment develop from grade three to six of primary school and how these developments differ for boys and girls, and students with…

Insect-Based Vision for Autonomous Vehicles: A Feasibility Study

NASA Technical Reports Server (NTRS)

Srinivasan, Mandyam V.

1999-01-01

The aims of the project were to use a high-speed digital video camera to pursue two questions: i) To explore the influence of temporal imaging constraints on the performance of vision systems for autonomous mobile robots; To study the fine structure of insect flight trajectories with in order to better understand the characteristics of flight control, orientation and navigation.

Predictive Role of Physical Education Motivation: The Developmental Trajectories of Physical Activity during Grades 7-9

ERIC Educational Resources Information Center

Yli-Piipari, Sami; Leskinen, Esko; Jaakkola, Timo; Liukkonen, Jarmo

2012-01-01

In this study we examined adolescents' physical activity (PA) stability as well as individual differences in PA across grades 7-9. In addition, we tested the predictive role of adolescents' self-determination and goal orientations in physical education at grade 6 in relation to their PA development. Adolescents' (N = 812) self-reported PA was…

Making the Lisbon Strategy Happen: A New Phase of Lifelong Learning Discourse in European Policy?

ERIC Educational Resources Information Center

Nordin, Andreas

2011-01-01

The discourse of lifelong learning has undergone great changes, from its initial engagement when it was a matter of social and humanitarian issues as outlined in the early documents of UNESCO, to emphasising lifelong learning as a moral and individual obligation in a more competitive and market-oriented language. This policy trajectory has taken…

The Role of Testimony in Young Children's Solution of a Gravity-Driven Invisible Displacement Task

ERIC Educational Resources Information Center

Bascandziev, Igor; Harris, Paul L.

2010-01-01

Previous research has shown that young children make a perseverative, gravity-oriented, error when asked to predict the final location of a ball dropped down an S-shaped opaque tube (Hood, 1995). We asked if providing children with verbal information concerning the role that the tubes play, in determining the ball's trajectory would improve their…

Insect-Based Vision for Autonomous Vehicles: A Feasibility Study

NASA Technical Reports Server (NTRS)

Srinivasan, Mandyam V.

1999-01-01

The aims of the project were to use a high-speed digital video camera to pursue two questions: (1) To explore the influence of temporal imaging constraints on the performance of vision systems for autonomous mobile robots; (2) To study the fine structure of insect flight trajectories in order to better understand the characteristics of flight control, orientation and navigation.

Validating Affordances as an Instrument for Design and a Priori Analysis of Didactical Situations in Mathematics

ERIC Educational Resources Information Center

Sollervall, Håkan; Stadler, Erika

2015-01-01

The aim of the presented case study is to investigate how coherent analytical instruments may guide the a priori and a posteriori analyses of a didactical situation. In the a priori analysis we draw on the notion of affordances, as artefact-mediated opportunities for action, to construct hypothetical trajectories of goal-oriented actions that have…

Large Angle Satellite Attitude Maneuvers

NASA Technical Reports Server (NTRS)

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

1975-01-01

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

Hummingbirds control turning velocity using body orientation and turning radius using asymmetrical wingbeat kinematics

PubMed Central

Read, Tyson J. G.; Segre, Paolo S.; Middleton, Kevin M.; Altshuler, Douglas L.

2016-01-01

Turning in flight requires reorientation of force, which birds, bats and insects accomplish either by shifting body position and total force in concert or by using left–right asymmetries in wingbeat kinematics. Although both mechanisms have been observed in multiple species, it is currently unknown how each is used to control changes in trajectory. We addressed this problem by measuring body and wingbeat kinematics as hummingbirds tracked a revolving feeder, and estimating aerodynamic forces using a quasi-steady model. During arcing turns, hummingbirds symmetrically banked the stroke plane of both wings, and the body, into turns, supporting a body-dependent mechanism. However, several wingbeat asymmetries were present during turning, including a higher and flatter outer wingtip path and a lower more deviated inner wingtip path. A quasi-steady analysis of arcing turns performed with different trajectories revealed that changes in radius were associated with asymmetrical kinematics and forces, and changes in velocity were associated with symmetrical kinematics and forces. Collectively, our results indicate that both body-dependent and -independent force orientation mechanisms are available to hummingbirds, and that these kinematic strategies are used to meet the separate aerodynamic challenges posed by changes in velocity and turning radius. PMID:27030042

Romantic Relationship Patterns in Young Adulthood and Their Developmental Antecedents

PubMed Central

Rauer, Amy J.; Pettit, Gregory S.; Lansford, Jennifer E.; Bates, John E.; Dodge, Kenneth A.

2013-01-01

The delayed entry into marriage that characterizes modern society raises questions about young adults' romantic relationship trajectories and whether patterns found to characterize adolescent romantic relationships persist into young adulthood. The current study traced developmental transitions into and out of romantic relationships from age 18 through age 25 in a sample of 511 young adults. The developmental antecedents of these different romantic relationship experiences in both distal and proximal family and peer domains were also examined. Analyses included both person-oriented and variable-oriented approaches. Findings show 5 distinct clusters varying in timing, duration, and frequency of participation in romantic relationships that range from those who had only recently entered into a romantic relationship to those who had been in the same relationship from age 18 to age 25. These relationship outcome trajectory clusters were predicted by variations in competence in early relationships with family and peers. Interpersonal experiences in family and peer contexts in early childhood through adolescence thus may form a scaffold on which later competence in romantic relationships develops. Findings shed light on both normative and nonnormative developmental transitions of romantic relationships in young adulthood. PMID:23421803

An Experience Oriented-Convergence Improved Gravitational Search Algorithm for Minimum Variance Distortionless Response Beamforming Optimum.

PubMed

Darzi, Soodabeh; Tiong, Sieh Kiong; Tariqul Islam, Mohammad; Rezai Soleymanpour, Hassan; Kibria, Salehin

2016-01-01

An experience oriented-convergence improved gravitational search algorithm (ECGSA) based on two new modifications, searching through the best experiments and using of a dynamic gravitational damping coefficient (α), is introduced in this paper. ECGSA saves its best fitness function evaluations and uses those as the agents' positions in searching process. In this way, the optimal found trajectories are retained and the search starts from these trajectories, which allow the algorithm to avoid the local optimums. Also, the agents can move faster in search space to obtain better exploration during the first stage of the searching process and they can converge rapidly to the optimal solution at the final stage of the search process by means of the proposed dynamic gravitational damping coefficient. The performance of ECGSA has been evaluated by applying it to eight standard benchmark functions along with six complicated composite test functions. It is also applied to adaptive beamforming problem as a practical issue to improve the weight vectors computed by minimum variance distortionless response (MVDR) beamforming technique. The results of implementation of the proposed algorithm are compared with some well-known heuristic methods and verified the proposed method in both reaching to optimal solutions and robustness.

Probing periodic potential of crystals via strong-field re-scattering

NASA Astrophysics Data System (ADS)

You, Yong Sing; Cunningham, Eric; Reis, David A.; Ghimire, Shambhu

2018-06-01

Strong-field ionization and re-scattering phenomena have been used to image angstrom-scale structures of isolated molecules in the gas phase. These methods typically make use of the anisotropic response of the participating molecular orbital. Recently, an anisotropic strong-field response has also been observed in high-order harmonic generation (HHG) from bulk crystals (2016 Nat. Phys. 13 345). In a (100) cut magnesium oxide crystal, extreme ultraviolet high-harmonics are found to depend strongly on the crystal structure and inter-atomic bonding. Here, we extend these measurements to other two important crystal orientations: (111) and (110). We find that HHG from these orientations is also strongly anisotropic. The underlying dynamics is understood using a real-space picture, where high-harmonics are produced via coherent collision of strong-field driven electrons from the atomic sites, including from the nearest neighbor atoms. We find that harmonic efficiency is enhanced when semi-classical electron trajectories connect to the concentrated valence charge distribution regions around the atomic cores. Similarly, the efficiency is suppressed when the trajectories miss the atomic cores. These results further support the real-space picture of HHG with implications for retrieving the periodic potential of the crystal, if not the wavefunctions in three-dimensions.

Blending Velocities In Task Space In Computing Robot Motions

NASA Technical Reports Server (NTRS)

Volpe, Richard A.

1995-01-01

Blending of linear and angular velocities between sequential specified points in task space constitutes theoretical basis of improved method of computing trajectories followed by robotic manipulators. In method, generalized velocity-vector-blending technique provides relatively simple, common conceptual framework for blending linear, angular, and other parametric velocities. Velocity vectors originate from straight-line segments connecting specified task-space points, called "via frames" and represent specified robot poses. Linear-velocity-blending functions chosen from among first-order, third-order-polynomial, and cycloidal options. Angular velocities blended by use of first-order approximation of previous orientation-matrix-blending formulation. Angular-velocity approximation yields small residual error, quantified and corrected. Method offers both relative simplicity and speed needed for generation of robot-manipulator trajectories in real time.

Differing Developmental Trajectories in Heart Rate Responses to Speech Stimuli in Infants at High and Low Risk for Autism Spectrum Disorder.

PubMed

Perdue, Katherine L; Edwards, Laura A; Tager-Flusberg, Helen; Nelson, Charles A

2017-08-01

We investigated heart rate (HR) in infants at 3, 6, 9, and 12 months of age, at high (HRA) and low (LRC) familial risk for ASD, to identify potential endophenotypes of ASD risk related to attentional responses. HR was extracted from functional near-infrared spectroscopy recordings while infants listened to speech stimuli. Longitudinal analysis revealed that HRA infants and males generally had lower baseline HR than LRC infants and females. HRA infants showed decreased HR responses to early trials over development, while LRC infants showed increased responses. These findings suggest altered developmental trajectories in physiological responses to speech stimuli over the first year of life, with HRA infants showing less social orienting over time.

Entry, Descent, and Landing Operations Analysis for the Mars Phoenix Lander

NASA Technical Reports Server (NTRS)

Prince, Jill L.; Desai, Prasun N.; Queen, Eric M.; Grover, Myron R.

2008-01-01

The Mars Phoenix lander was launched August 4, 2007 and remained in cruise for ten months before landing in the northern plains of Mars in May 2008. The one-month Entry, Descent, and Landing (EDL) operations phase prior to entry consisted of daily analyses, meetings, and decisions necessary to determine if trajectory correction maneuvers and environmental parameter updates to the spacecraft were required. An overview of the Phoenix EDL trajectory simulation and analysis that was performed during the EDL approach and operations phase is described in detail. The evolution of the Monte Carlo statistics and footprint ellipse during the final approach phase is also provided. The EDL operations effort accurately delivered the Phoenix lander to the desired landing region on May 25, 2008.

Analysis of multibunch free electron laser operation

NASA Astrophysics Data System (ADS)

Hellert, Thorsten; Decking, Winfried; Branlard, Julien

2017-09-01

At the SASE-FEL user facilities FLASH and European XFEL, superconducting TESLA type cavities are used for acceleration of the driving electron bunches. The high achievable duty cycle allows for operating with long bunch trains, hence considerably increasing the efficiency of the machine. However, multibunch free electron lasers (FEL) operation requires longitudinal and transverse stability within the bunch train. The purpose of this work is to investigate the intra-bunch-train transverse dynamics at FLASH and European XFEL. Key relationships of superconducting rf cavity operation and the resulting impact on the intrabunch-train trajectory variation are described. The observed trajectory variation during multibunch user runs at FLASH is analyzed and related to both, intrabunch-train variations of the rf and the following impact on the multibunch FEL performance.

Left Atrial trajectory impairment in Hypertrophic Cardiomyopathy disclosed by Geometric Morphometrics and Parallel Transport

NASA Astrophysics Data System (ADS)

Piras, Paolo; Torromeo, Concetta; Re, Federica; Evangelista, Antonietta; Gabriele, Stefano; Esposito, Giuseppe; Nardinocchi, Paola; Teresi, Luciano; Madeo, Andrea; Chialastri, Claudia; Schiariti, Michele; Varano, Valerio; Uguccioni, Massimo; Puddu, Paolo E.

2016-10-01

The analysis of full Left Atrium (LA) deformation and whole LA deformational trajectory in time has been poorly investigated and, to the best of our knowledge, seldom discussed in patients with Hypertrophic Cardiomyopathy. Therefore, we considered 22 patients with Hypertrophic Cardiomyopathy (HCM) and 46 healthy subjects, investigated them by three-dimensional Speckle Tracking Echocardiography, and studied the derived landmark clouds via Geometric Morphometrics with Parallel Transport. Trajectory shape and trajectory size were different in Controls versus HCM and their classification powers had high AUC (Area Under the Receiving Operator Characteristic Curve) and accuracy. The two trajectories were much different at the transition between LA conduit and booster pump functions. Full shape and deformation analyses with trajectory analysis enabled a straightforward perception of pathophysiological consequences of HCM condition on LA functioning. It might be worthwhile to apply these techniques to look for novel pathophysiological approaches that may better define atrio-ventricular interaction.

The analysis of control trajectories using symbolic and database computing

NASA Technical Reports Server (NTRS)

Grossman, Robert

1995-01-01

This final report comprises the formal semi-annual status reports for this grant for the periods June 30-December 31, 1993, January 1-June 30, 1994, and June 1-December 31, 1994. The research supported by this grant is broadly concerned with the symbolic computation, mixed numeric-symbolic computation, and database computation of trajectories of dynamical systems, especially control systems. A review of work during the report period covers: trajectories and approximating series, the Cayley algebra of trees, actions of differential operators, geometrically stable integration algorithms, hybrid systems, trajectory stores, PTool, and other activities. A list of publications written during the report period is attached.

Optimal helicopter trajectory planning for terrain following flight

NASA Technical Reports Server (NTRS)

Menon, P. K. A.

1990-01-01

Helicopters operating in high threat areas have to fly close to the earth surface to minimize the risk of being detected by the adversaries. Techniques are presented for low altitude helicopter trajectory planning. These methods are based on optimal control theory and appear to be implementable onboard in realtime. Second order necessary conditions are obtained to provide a criterion for finding the optimal trajectory when more than one extremal passes through a given point. A second trajectory planning method incorporating a quadratic performance index is also discussed. Trajectory planning problem is formulated as a differential game. The objective is to synthesize optimal trajectories in the presence of an actively maneuvering adversary. Numerical methods for obtaining solutions to these problems are outlined. As an alternative to numerical method, feedback linearizing transformations are combined with the linear quadratic game results to synthesize explicit nonlinear feedback strategies for helicopter pursuit-evasion. Some of the trajectories generated from this research are evaluated on a six-degree-of-freedom helicopter simulation incorporating an advanced autopilot. The optimal trajectory planning methods presented are also useful for autonomous land vehicle guidance.

76 FR 77392 - Patient Protection and Affordable Care Act; Establishment of Consumer Operated and Oriented Plan...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-12-13

... to protect CO-OP members against insurance industry involvement and interference. To ensure consumer... Protection and Affordable Care Act; Establishment of Consumer Operated and Oriented Plan (CO-OP) Program... the Consumer Operated and Oriented Plan (CO-OP) program, which provides loans to foster the creation...

75 FR 35816 - Establishment of the Consumer Operated and Oriented Plan (CO-OP) Advisory Board

Federal Register 2010, 2011, 2012, 2013, 2014

2010-06-23

... (CO-OP) Advisory Board AGENCY: Department of Health and Human Services, Office of Consumer Information & Insurance Oversight. ACTION: Federal Register Notice. Authority: The Consumer Operated and Oriented Plan (CO... (PPACA) that calls for the establishment of the Consumer Operated and Oriented Plans (CO-OP) Program...

Position, Attitude, and Fault-Tolerant Control of Tilting-Rotor Quadcopter

NASA Astrophysics Data System (ADS)

Kumar, Rumit

The aim of this thesis is to present algorithms for autonomous control of tilt-rotor quadcopter UAV. In particular, this research work describes position, attitude and fault tolerant control in tilt-rotor quadcopter. Quadcopters are one of the most popular and reliable unmanned aerial systems because of the design simplicity, hovering capabilities and minimal operational cost. Numerous applications for quadcopters have been explored all over the world but very little work has been done to explore design enhancements and address the fault-tolerant capabilities of the quadcopters. The tilting rotor quadcopter is a structural advancement of traditional quadcopter and it provides additional actuated controls as the propeller motors are actuated for tilt which can be utilized to improve efficiency of the aerial vehicle during flight. The tilting rotor quadcopter design is accomplished by using an additional servo motor for each rotor that enables the rotor to tilt about the axis of the quadcopter arm. Tilting rotor quadcopter is a more agile version of conventional quadcopter and it is a fully actuated system. The tilt-rotor quadcopter is capable of following complex trajectories with ease. The control strategy in this work is to use the propeller tilts for position and orientation control during autonomous flight of the quadcopter. In conventional quadcopters, two propellers rotate in clockwise direction and other two propellers rotate in counter clockwise direction to cancel out the effective yawing moment of the system. The variation in rotational speeds of these four propellers is utilized for maneuvering. On the other hand, this work incorporates use of varying propeller rotational speeds along with tilting of the propellers for maneuvering during flight. The rotational motion of propellers work in sync with propeller tilts to control the position and orientation of the UAV during the flight. A PD flight controller is developed to achieve various modes of the flight. Further, the performance of the controller and the tilt-rotor design has been compared with respect to the conventional quadcopter in the presence of wind disturbances and sensor uncertainties. In this work, another novel feed-forward control design approach is presented for complex trajectory tracking during autonomous flight. Differential flatness based feed-forward position control is employed to enhance the performance of the UAV during complex trajectory tracking. By accounting for differential flatness based feed-forward control input parameters, a new PD controller is designed to achieve the desired performance in autonomous flight. The results for tracking complex trajectories have been presented by performing numerical simulations with and without environmental uncertainties to demonstrate robustness of the controller during flight. The conventional quadcopters are under-actuated systems and, upon failure of one propeller, the conventional quadcopter would have a tendency of spinning about the primary axis fixed to the vehicle as an outcome of the asymmetry in resultant yawing moment in the system. In this work, control of tilt-rotor quadcopter is presented upon failure of one propeller during flight. The tilt-rotor quadcopter is capable of handling a propeller failure and hence is a fault-tolerant system. The dynamic model of tilting-rotor quadcopter with one propeller failure is derived and a controller has been designed to achieve hovering and navigation capability. The simulation results of way point navigation, complex trajectory tracking and fault-tolerance are presented.

Optimal Propellant Maneuver Flight Demonstrations on ISS

NASA Technical Reports Server (NTRS)

Bhatt, Sagar; Bedrossian, Nazareth; Longacre, Kenneth; Nguyen, Louis

2013-01-01

In this paper, first ever flight demonstrations of Optimal Propellant Maneuver (OPM), a method of propulsive rotational state transition for spacecraft controlled using thrusters, is presented for the International Space Station (ISS). On August 1, 2012, two ISS reorientations of about 180deg each were performed using OPMs. These maneuvers were in preparation for the same-day launch and rendezvous of a Progress vehicle, also a first for ISS visiting vehicles. The first maneuver used 9.7 kg of propellant, whereas the second used 10.2 kg. Identical maneuvers performed without using OPMs would have used approximately 151.1kg and 150.9kg respectively. The OPM method is to use a pre-planned attitude command trajectory to accomplish a rotational state transition. The trajectory is designed to take advantage of the complete nonlinear system dynamics. The trajectory choice directly influences the cost of the maneuver, in this case, propellant. For example, while an eigenaxis maneuver is kinematically the shortest path between two orientations, following that path requires overcoming the nonlinear system dynamics, thereby increasing the cost of the maneuver. The eigenaxis path is used for ISS maneuvers using thrusters. By considering a longer angular path, the path dependence of the system dynamics can be exploited to reduce the cost. The benefits of OPM for the ISS include not only reduced lifetime propellant use, but also reduced loads, erosion, and contamination from thrusters due to fewer firings. Another advantage of the OPM is that it does not require ISS flight software modifications since it is a set of commands tailored to the specific attitude control architecture. The OPM takes advantage of the existing ISS control system architecture for propulsive rotation called USTO control mode1. USTO was originally developed to provide ISS Orbiter stack attitude control capability for a contingency tile-repair scenario, where the Orbiter is maneuvered using its robotic manipulator relative to the ISS. Since 2005 USTO has been used for nominal ISS operations.

An empirically grounded agent based model for modeling directs, conflict detection and resolution operations in air traffic management.

PubMed

Bongiorno, Christian; Miccichè, Salvatore; Mantegna, Rosario N

2017-01-01

We present an agent based model of the Air Traffic Management socio-technical complex system aiming at modeling the interactions between aircraft and air traffic controllers at a tactical level. The core of the model is given by the conflict detection and resolution module and by the directs module. Directs are flight shortcuts that are given by air controllers to speed up the passage of an aircraft within a certain airspace and therefore to facilitate airline operations. Conflicts between flight trajectories can occur for two main reasons: either the planning of the flight trajectory was not sufficiently detailed to rule out all potential conflicts or unforeseen events during the flight require modifications of the flight plan that can conflict with other flight trajectories. Our model performs a local conflict detection and resolution procedure. Once a flight trajectory has been made conflict-free, the model searches for possible improvements of the system efficiency by issuing directs. We give an example of model calibration based on real data. We then provide an illustration of the capability of our model in generating scenario simulations able to give insights about the air traffic management system. We show that the calibrated model is able to reproduce the existence of a geographical localization of air traffic controllers' operations. Finally, we use the model to investigate the relationship between directs and conflict resolutions (i) in the presence of perfect forecast ability of controllers, and (ii) in the presence of some degree of uncertainty in flight trajectory forecast.

An empirically grounded agent based model for modeling directs, conflict detection and resolution operations in air traffic management

PubMed Central

Bongiorno, Christian; Mantegna, Rosario N.

2017-01-01

We present an agent based model of the Air Traffic Management socio-technical complex system aiming at modeling the interactions between aircraft and air traffic controllers at a tactical level. The core of the model is given by the conflict detection and resolution module and by the directs module. Directs are flight shortcuts that are given by air controllers to speed up the passage of an aircraft within a certain airspace and therefore to facilitate airline operations. Conflicts between flight trajectories can occur for two main reasons: either the planning of the flight trajectory was not sufficiently detailed to rule out all potential conflicts or unforeseen events during the flight require modifications of the flight plan that can conflict with other flight trajectories. Our model performs a local conflict detection and resolution procedure. Once a flight trajectory has been made conflict-free, the model searches for possible improvements of the system efficiency by issuing directs. We give an example of model calibration based on real data. We then provide an illustration of the capability of our model in generating scenario simulations able to give insights about the air traffic management system. We show that the calibrated model is able to reproduce the existence of a geographical localization of air traffic controllers’ operations. Finally, we use the model to investigate the relationship between directs and conflict resolutions (i) in the presence of perfect forecast ability of controllers, and (ii) in the presence of some degree of uncertainty in flight trajectory forecast. PMID:28419160

Geometric quadratic stochastic operator on countable infinite set

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

Ganikhodjaev, Nasir; Hamzah, Nur Zatul Akmar

2015-02-03

In this paper we construct the family of Geometric quadratic stochastic operators defined on the countable sample space of nonnegative integers and investigate their trajectory behavior. Such operators can be reinterpreted in terms of of evolutionary operator of free population. We show that Geometric quadratic stochastic operators are regular transformations.

Autonomous vision-based navigation for proximity operations around binary asteroids

NASA Astrophysics Data System (ADS)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-02-01

Future missions to small bodies demand higher level of autonomy in the Guidance, Navigation and Control system for higher scientific return and lower operational costs. Different navigation strategies have been assessed for ESA's asteroid impact mission (AIM). The main objective of AIM is the detailed characterization of binary asteroid Didymos. The trajectories for the proximity operations shall be intrinsically safe, i.e., no collision in presence of failures (e.g., spacecraft entering safe mode), perturbations (e.g., non-spherical gravity field), and errors (e.g., maneuver execution error). Hyperbolic arcs with sufficient hyperbolic excess velocity are designed to fulfil the safety, scientific, and operational requirements. The trajectory relative to the asteroid is determined using visual camera images. The ground-based trajectory prediction error at some points is comparable to the camera Field Of View (FOV). Therefore, some images do not contain the entire asteroid. Autonomous navigation can update the state of the spacecraft relative to the asteroid at higher frequency. The objective of the autonomous navigation is to improve the on-board knowledge compared to the ground prediction. The algorithms shall fit in off-the-shelf, space-qualified avionics. This note presents suitable image processing and relative-state filter algorithms for autonomous navigation in proximity operations around binary asteroids.

Autonomous vision-based navigation for proximity operations around binary asteroids

NASA Astrophysics Data System (ADS)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-06-01

Future missions to small bodies demand higher level of autonomy in the Guidance, Navigation and Control system for higher scientific return and lower operational costs. Different navigation strategies have been assessed for ESA's asteroid impact mission (AIM). The main objective of AIM is the detailed characterization of binary asteroid Didymos. The trajectories for the proximity operations shall be intrinsically safe, i.e., no collision in presence of failures (e.g., spacecraft entering safe mode), perturbations (e.g., non-spherical gravity field), and errors (e.g., maneuver execution error). Hyperbolic arcs with sufficient hyperbolic excess velocity are designed to fulfil the safety, scientific, and operational requirements. The trajectory relative to the asteroid is determined using visual camera images. The ground-based trajectory prediction error at some points is comparable to the camera Field Of View (FOV). Therefore, some images do not contain the entire asteroid. Autonomous navigation can update the state of the spacecraft relative to the asteroid at higher frequency. The objective of the autonomous navigation is to improve the on-board knowledge compared to the ground prediction. The algorithms shall fit in off-the-shelf, space-qualified avionics. This note presents suitable image processing and relative-state filter algorithms for autonomous navigation in proximity operations around binary asteroids.

SPICE Module for the Satellite Orbit Analysis Program (SOAP)

NASA Technical Reports Server (NTRS)

Coggi, John; Carnright, Robert; Hildebrand, Claude

2008-01-01

A SPICE module for the Satellite Orbit Analysis Program (SOAP) precisely represents complex motion and maneuvers in an interactive, 3D animated environment with support for user-defined quantitative outputs. (SPICE stands for Spacecraft, Planet, Instrument, Camera-matrix, and Events). This module enables the SOAP software to exploit NASA mission ephemeris represented in the JPL Ancillary Information Facility (NAIF) SPICE formats. Ephemeris types supported include position, velocity, and orientation for spacecraft and planetary bodies including the Sun, planets, natural satellites, comets, and asteroids. Entire missions can now be imported into SOAP for 3D visualization, playback, and analysis. The SOAP analysis and display features can now leverage detailed mission files to offer the analyst both a numerically correct and aesthetically pleasing combination of results that can be varied to study many hypothetical scenarios. The software provides a modeling and simulation environment that can encompass a broad variety of problems using orbital prediction. For example, ground coverage analysis, communications analysis, power and thermal analysis, and 3D visualization that provide the user with insight into complex geometric relations are included. The SOAP SPICE module allows distributed science and engineering teams to share common mission models of known pedigree, which greatly reduces duplication of effort and the potential for error. The use of the software spans all phases of the space system lifecycle, from the study of future concepts to operations and anomaly analysis. It allows SOAP software to correctly position and orient all of the principal bodies of the Solar System within a single simulation session along with multiple spacecraft trajectories and the orientation of mission payloads. In addition to the 3D visualization, the user can define numeric variables and x-y plots to quantitatively assess metrics of interest.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Kreutz, Kenneth; Jain, Abhinandan

1989-01-01

A recently developed spatial operator algebra, useful for modeling, control, and trajectory design of manipulators is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics. Furthermore, implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection. Thus, the transition from an abstract problem formulation and solution to the detailed mechanizaton of specific algorithms is greatly simplified. The analytical formulation of the operator algebra, as well as its implementation in the Ada programming language are discussed.

Cutting velocity accuracy as a criterion for comparing robot trajectories and manual movements for medical industry

NASA Astrophysics Data System (ADS)

Vorotnikov, A. A.; Klimov, D. D.; Romash, E. V.; Bashevskaya, O. S.; Poduraev, Yu. V.; Bazykyan, E. A.; Chunihin, A. A.

2018-03-01

Industrial robots perform technological operations, such as spot and arc welding, machining and laser cutting along different trajectories within their performance characteristics. The evaluation of these characteristics is carried out according to the criteria of the standard ISO 9283. The criteria of this standard are applicable in industrial manufacturing, but not in the medical industry, as they are not developed in the framework of medical tasks. Therefore, it is necessary to evaluate according to criteria built on different principles. In this article, the question of comparative evaluation of trajectories from program movements of a robot and manual movements of a surgeon, arising during the development of robotic medical complexes using industrial robots, is considered. A comparative evaluation is required to prove the expediency of automating medical operations in maxillofacial surgery. This study focuses on the estimation of velocity accuracy of a medical instrument. To obtain the velocity of the medical instrument, coordinates of the trajectory points from the program movements of the robot KUKA LWR4+ and trajectories from the manual movements of a professional surgeon have been measured. The measurement was carried out using a coordinate measuring machine, the laser tracker Leica LTD800. The accuracy estimation was carried out by two criteria: the criterion set out in the ISO 9283 standard, and the developed alternative criterion, the description of which is presented in this article. A quantitative comparative evaluation of the trajectories of a robot and a surgeon was obtained.

PaCER - A fully automated method for electrode trajectory and contact reconstruction in deep brain stimulation.

PubMed

Husch, Andreas; V Petersen, Mikkel; Gemmar, Peter; Goncalves, Jorge; Hertel, Frank

2018-01-01

Deep brain stimulation (DBS) is a neurosurgical intervention where electrodes are permanently implanted into the brain in order to modulate pathologic neural activity. The post-operative reconstruction of the DBS electrodes is important for an efficient stimulation parameter tuning. A major limitation of existing approaches for electrode reconstruction from post-operative imaging that prevents the clinical routine use is that they are manual or semi-automatic, and thus both time-consuming and subjective. Moreover, the existing methods rely on a simplified model of a straight line electrode trajectory, rather than the more realistic curved trajectory. The main contribution of this paper is that for the first time we present a highly accurate and fully automated method for electrode reconstruction that considers curved trajectories. The robustness of our proposed method is demonstrated using a multi-center clinical dataset consisting of N  = 44 electrodes. In all cases the electrode trajectories were successfully identified and reconstructed. In addition, the accuracy is demonstrated quantitatively using a high-accuracy phantom with known ground truth. In the phantom experiment, the method could detect individual electrode contacts with high accuracy and the trajectory reconstruction reached an error level below 100 μm (0.046 ± 0.025 mm). An implementation of the method is made publicly available such that it can directly be used by researchers or clinicians. This constitutes an important step towards future integration of lead reconstruction into standard clinical care.

Modified Hyperspheres Algorithm to Trace Homotopy Curves of Nonlinear Circuits Composed by Piecewise Linear Modelled Devices

PubMed Central

Vazquez-Leal, H.; Jimenez-Fernandez, V. M.; Benhammouda, B.; Filobello-Nino, U.; Sarmiento-Reyes, A.; Ramirez-Pinero, A.; Marin-Hernandez, A.; Huerta-Chua, J.

2014-01-01

We present a homotopy continuation method (HCM) for finding multiple operating points of nonlinear circuits composed of devices modelled by using piecewise linear (PWL) representations. We propose an adaptation of the modified spheres path tracking algorithm to trace the homotopy trajectories of PWL circuits. In order to assess the benefits of this proposal, four nonlinear circuits composed of piecewise linear modelled devices are analysed to determine their multiple operating points. The results show that HCM can find multiple solutions within a single homotopy trajectory. Furthermore, we take advantage of the fact that homotopy trajectories are PWL curves meant to replace the multidimensional interpolation and fine tuning stages of the path tracking algorithm with a simple and highly accurate procedure based on the parametric straight line equation. PMID:25184157

Object-oriented technologies in a multi-mission data system

NASA Technical Reports Server (NTRS)

Murphy, Susan C.; Miller, Kevin J.; Louie, John J.

1993-01-01

The Operations Engineering Laboratory (OEL) at JPL is developing new technologies that can provide more efficient and productive ways of doing business in flight operations. Over the past three years, we have worked closely with the Multi-Mission Control Team to develop automation tools, providing technology transfer into operations and resulting in substantial cost savings and error reduction. The OEL development philosophy is characterized by object-oriented design, extensive reusability of code, and an iterative development model with active participation of the end users. Through our work, the benefits of object-oriented design became apparent for use in mission control data systems. Object-oriented technologies and how they can be used in a mission control center to improve efficiency and productivity are explained. The current research and development efforts in the JPL Operations Engineering Laboratory are also discussed to architect and prototype a new paradigm for mission control operations based on object-oriented concepts.

Nuclear powered Mars cargo transport mission utilizing advanced ion propulsion

NASA Technical Reports Server (NTRS)

Galecki, Diane L.; Patterson, Michael J.

1987-01-01

Nuclear-powered ion propulsion technology was combined with detailed trajectory analysis to determine propulsion system and trajectory options for an unmanned cargo mission to Mars in support of manned Mars missions. A total of 96 mission scenarios were identified by combining two power levels, two propellants, four values of specific impulse per propellant, three starting altitudes, and two starting velocities. Sixty of these scenarios were selected for a detailed trajectory analysis; a complete propulsion system study was then conducted for 20 of these trajectories. Trip times ranged from 344 days for a xenon propulsion system operating at 300 kW total power and starting from lunar orbit with escape velocity, to 770 days for an argon propulsion system operating at 300 kW total power and starting from nuclear start orbit with circular velocity. Trip times for the 3 MW cases studied ranged from 356 to 413 days. Payload masses ranged from 5700 to 12,300 kg for the 300 kW power level, and from 72,200 to 81,500 kg for the 3 MW power level.

Program manual for ASTOP, an Arbitrary space trajectory optimization program

NASA Technical Reports Server (NTRS)

Horsewood, J. L.

1974-01-01

The ASTOP program (an Arbitrary Space Trajectory Optimization Program) designed to generate optimum low-thrust trajectories in an N-body field while satisfying selected hardware and operational constraints is presented. The trajectory is divided into a number of segments or arcs over which the control is held constant. This constant control over each arc is optimized using a parameter optimization scheme based on gradient techniques. A modified Encke formulation of the equations of motion is employed. The program provides a wide range of constraint, end conditions, and performance index options. The basic approach is conducive to future expansion of features such as the incorporation of new constraints and the addition of new end conditions.

Numerical analysis for trajectory controllability of a coupled multi-order fractional delay differential system via the shifted Jacobi method

NASA Astrophysics Data System (ADS)

Priya, B. Ganesh; Muthukumar, P.

2018-02-01

This paper deals with the trajectory controllability for a class of multi-order fractional linear systems subject to a constant delay in state vector. The solution for the coupled fractional delay differential equation is established by the Mittag-Leffler function. The necessary and sufficient condition for the trajectory controllability is formulated and proved by the generalized Gronwall's inequality. The approximate trajectory for the proposed system is obtained through the shifted Jacobi operational matrix method. The numerical simulation of the approximate solution shows the theoretical results. Finally, some remarks and comments on the existing results of constrained controllability for the fractional dynamical system are also presented.

Pteros: fast and easy to use open-source C++ library for molecular analysis.

PubMed

Yesylevskyy, Semen O

2012-07-15

An open-source Pteros library for molecular modeling and analysis of molecular dynamics trajectories for C++ programming language is introduced. Pteros provides a number of routine analysis operations ranging from reading and writing trajectory files and geometry transformations to structural alignment and computation of nonbonded interaction energies. The library features asynchronous trajectory reading and parallel execution of several analysis routines, which greatly simplifies development of computationally intensive trajectory analysis algorithms. Pteros programming interface is very simple and intuitive while the source code is well documented and easily extendible. Pteros is available for free under open-source Artistic License from http://sourceforge.net/projects/pteros/. Copyright © 2012 Wiley Periodicals, Inc.

Pilot study on quantitative assessment of muscle imbalance: differences of muscle synergies, equilibrium-point trajectories, and endpoint stiffness in normal and pathological upper-limb movements.

PubMed

Oku, Takanori; Uno, Kanna; Nishi, Tomoki; Kageyama, Masayuki; Phatiwuttipat, Pipatthana; Koba, Keitaro; Yamashita, Yuto; Murakami, Kenta; Uemura, Mitsunori; Hirai, Hiroaki; Miyazaki, Fumio; Naritomi, Hiroaki

2014-01-01

This paper proposes a novel method for assessment of muscle imbalance based on muscle synergy hypothesis and equilibrium point (EP) hypothesis of motor control. We explain in detail the method for extracting muscle synergies under the concept of agonist-antagonist (AA) muscle pairs and for estimating EP trajectories and endpoint stiffness of human upper limbs in a horizontal plane using an electromyogram. The results of applying this method to the reaching movement of one normal subject and one hemiplegic subject suggest that (1) muscle synergies (the balance among coactivation of AA muscle pairs), particularly the synergies that contributes to the angular directional kinematics of EP and the limb stiffness, are quite different between the normal subject and the hemiplegic subject; (2) the concomitant EP trajectory is also different between the normal and hemiplegic subjects, corresponding to the difference of muscle synergies; and (3) the endpoint (hand) stiffness ellipse of the hemiplegic subject becomes more elongated and orientation of the major axis rotates clockwise more than that of the normal subject. The level of motor impairment would be expected to be assessed from a comparison of these differences of muscle synergies, EP trajectories, and endpoint stiffness among normal and pathological subjects using the method.

Trabecular trajectory in the articular processes of the human fourth cervical vertebra

PubMed Central

HERRERA, M.; PANCHÓN, A.; PEREZ-BACETE, M.

2001-01-01

The articular processes (AP) of the neural arch have been implicated in weight transmission through the cervical spine. To analyse the mechanism of weight transmission in the AP, we studied the direction of forces within it, in particular, the pattern of trabecular trajectories. Twenty-two AP from C4 vertebrae were studied in anatomical sections, and corresponding photoelastic models from selected sections were constructed and analysed. Anatomical and photoelastic findings show the subarticular spongiosa of the superior articular process (SAP) to be orthogonally arranged with vertical and oblique trabeculae in the direction of compressive forces and additional trabeculae always oriented perpendicular to the former. Vertical and oblique trabeculae are divided into rostral, middle and posterior groups. Rostral and middle trabeculae end in the anterior wall of the SAP and the transitional zone with the pedicle. Posterior trabeculae end in the subarticular spongiosa of the inferior articular process (IAP). The findings relating to trabecular trajectories in the SAP differ from previous descriptions and instead suggest that a part of the weight forces distributed within the AP transmit to the subchondral zone of the IAP. Knowledge of the trajectorial architecture of the AP may contribute to refining finite element analytical models for investigating its weight-bearing function. PMID:11554512

Regional source identification using Lagrangian stochastic particle dispersion and HYSPLIT backward-trajectory models.

PubMed

Koracin, Darko; Vellore, Ramesh; Lowenthal, Douglas H; Watson, John G; Koracin, Julide; McCord, Travis; DuBois, David W; Chen, L W Antony; Kumar, Naresh; Knipping, Eladio M; Wheeler, Neil J M; Craig, Kenneth; Reid, Stephen

2011-06-01

The main objective of this study was to investigate the capabilities of the receptor-oriented inverse mode Lagrangian Stochastic Particle Dispersion Model (LSPDM) with the 12-km resolution Mesoscale Model 5 (MM5) wind field input for the assessment of source identification from seven regions impacting two receptors located in the eastern United States. The LSPDM analysis was compared with a standard version of the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) single-particle backward-trajectory analysis using inputs from MM5 and the Eta Data Assimilation System (EDAS) with horizontal grid resolutions of 12 and 80 km, respectively. The analysis included four 7-day summertime events in 2002; residence times in the modeling domain were computed from the inverse LSPDM runs and HYPSLIT-simulated backward trajectories started from receptor-source heights of 100, 500, 1000, 1500, and 3000 m. Statistics were derived using normalized values of LSPDM- and HYSPLIT-predicted residence times versus Community Multiscale Air Quality model-predicted sulfate concentrations used as baseline information. From 40 cases considered, the LSPDM identified first- and second-ranked emission region influences in 37 cases, whereas HYSPLIT-MM5 (HYSPLIT-EDAS) identified the sources in 21 (16) cases. The LSPDM produced a higher overall correlation coefficient (0.89) compared with HYSPLIT (0.55-0.62). The improvement of using the LSPDM is also seen in the overall normalized root mean square error values of 0.17 for LSPDM compared with 0.30-0.32 for HYSPLIT. The HYSPLIT backward trajectories generally tend to underestimate near-receptor sources because of a lack of stochastic dispersion of the backward trajectories and to overestimate distant sources because of a lack of treatment of dispersion. Additionally, the HYSPLIT backward trajectories showed a lack of consistency in the results obtained from different single vertical levels for starting the backward trajectories. To alleviate problems due to selection of a backward-trajectory starting level within a large complex set of 3-dimensional winds, turbulence, and dispersion, results were averaged from all heights, which yielded uniform improvement against all individual cases.

Impact of Dynamic Specimen Shape Evolution on the Atom Probe Tomography Results of Doped Epitaxial Oxide Multilayers: Comparison of Experiment and Simulation

DOE PAGES

Madaan, Nitesh; Bao, Jie; Nandasiri, Manjula I.; ...

2015-08-31

The experimental atom probe tomography results from two different specimen orientations (top-down and side-ways) of a high oxygen ion conducting Samaria-doped-ceria/Scandia-stabilized-zirconia multilayer thin film solid oxide fuel cell electrolyte was correlated with level-set method based field evaporation simulations for the same specimen orientations. This experiment-theory correlation explains the dynamic specimen shape evolution and ion trajectory aberrations that can induce density artifacts in final reconstruction leading to inaccurate estimation of interfacial intermixing. This study highlights the need and importance of correlating experimental results with field evaporation simulations when using atom probe tomography for studying oxide heterostructure interfaces.

Profile negotiation: An air/ground automation integration concept for managing arrival traffic

NASA Technical Reports Server (NTRS)

Williams, David H.; Arbuckle, P. Douglas; Green, Steven M.; Denbraven, Wim

1993-01-01

NASA Ames Research Center and NASA Langley Research Center conducted a joint simulation study to evaluate a profile negotiation process (PNP) between a time-based air traffic control ATC system and an airplane equipped with a four dimensional flight management system (4D FMS). Prototype procedures were developed to support the functional implementation of this process. The PNP was designed to provide an arrival trajectory solution that satisfies the separation requirements of ATC while remaining as close as possible to the airplane's preferred trajectory. The Transport Systems Research Vehicle cockpit simulator was linked in real-time to the Center/TRACON Automation System (CTAS) for the experiment. Approximately 30 hours of simulation testing were conducted over a three week period. Active airline pilot crews and active Center controller teams participated as test subjects. Results from the experiment indicate the potential for successful incorporation of airplane preferred arrival trajectories in the CTAS automation environment. Controllers were able to consistently and effectively negotiate nominally conflict-free trajectories with pilots flying a 4D-FMS-equipped airplane. The negotiated trajectories were substantially closer to the airplane's preference than would have otherwise been possible without the PNP. Airplane fuel savings relative to baseline CTAS were achieved in the test scenarios. The datalink procedures and clearances developed for this experiment, while providing the necessary functionality, were found to be operationally unacceptable to the pilots. Additional pilot control and understanding of the proposed airplane-preferred trajectory and a simplified clearance procedure were cited as necessary for operational implementation of the concept. From the controllers' perspective, the main concerns were the ability of the 4D airplane to accurately track the negotiated trajectory and the workload required to support the PNP as implemented in this study.

Stability and change in political conservatism following the global financial crisis.

PubMed

Milojev, Petar; Greaves, Lara; Osborne, Danny; Sibley, Chris G

2015-01-01

The current study analyzes data from a national probability panel sample of New Zealanders (N = 5,091) to examine stability and change in political orientation over four consecutive yearly assessments (2009-2012) following the 2007/2008 global financial crisis. Bayesian Latent Growth Modeling identified systematic variation in the growth trajectory of conservatism that was predicted by age and socio-economic status. Younger people (ages 25-45) did not change in their political orientation. Older people, however, became more conservative over time. Likewise, people with lower socio-economic status showed a marked increase in political conservatism. In addition, tests of rank-order stability showed that age had a cubic relationship with the stability of political orientation over our four annual assessments. Our findings provide strong support for System Justification Theory by showing that increases in conservatism in the wake of the recent global financial crisis occurred primarily among the poorest and most disadvantaged.

Choices, Frameworks and Refinement

NASA Technical Reports Server (NTRS)

Campbell, Roy H.; Islam, Nayeem; Johnson, Ralph; Kougiouris, Panos; Madany, Peter

1991-01-01

In this paper we present a method for designing operating systems using object-oriented frameworks. A framework can be refined into subframeworks. Constraints specify the interactions between the subframeworks. We describe how we used object-oriented frameworks to design Choices, an object-oriented operating system.

Contribution of the maculo-ocular reflex to gaze stability in the rabbit.

PubMed

Pettorossi, V E; Errico, P; Santarelli, R M

1991-01-01

The contribution of the maculo-ocular reflex to gaze stability was studied in 10 pigmented rabbits by rolling the animals at various angles of sagittal inclination of the rotation and/or longitudinal animal axes. At low frequencies (0.005-0.01 Hz) of sinusoidal stimulation the vestibulo-ocular reflex (VOR) was due to macular activation, while at intermediate and high frequencies it was mainly due to ampullar activation. The following results were obtained: 1) maculo-ocular reflex gain decreased as a function of the cosine of the angle between the rotation axis and the earth's horizontal plane. No change in gain was observed when longitudinal animal axis alone was inclined. 2) At 0 degrees of rotation axis and with the animal's longitudinal axis inclination also set at 0 degrees, the maculo-ocular reflex was oriented about 20 degrees forward and upward with respect to the earth's vertical axis. This orientation remained constant with sagittal inclinations of the rotation and/or longitudinal animal axes ranging from approximately 5 degrees upward to 30 degrees downward. When the longitudinal animal axis was inclined beyond these limits, the eye trajectory tended to follow the axis inclination. In the upside down position, the maculo-ocular reflex was anticompensatory, oblique and fixed with respect to orbital coordinates. 3) Ampullo-ocular reflex gain did not change with inclinations of the rotation and/or longitudinal animal axes. The ocular responses were consistently oriented to the stimulus plane. At intermediate frequencies the eye movement trajectory was elliptic because of directional differences between the ampullo- and maculo-ocular reflexes.(ABSTRACT TRUNCATED AT 250 WORDS)

Obstacle Detection using Binocular Stereo Vision in Trajectory Planning for Quadcopter Navigation

NASA Astrophysics Data System (ADS)

Bugayong, Albert; Ramos, Manuel, Jr.

2018-02-01

Quadcopters are one of the most versatile unmanned aerial vehicles due to its vertical take-off and landing as well as hovering capabilities. This research uses the Sum of Absolute Differences (SAD) block matching algorithm for stereo vision. A complementary filter was used in sensor fusion to combine obtained quadcopter orientation data from the accelerometer and the gyroscope. PID control was implemented for the motor control and VFH+ algorithm was implemented for trajectory planning. Results show that the quadcopter was able to consistently actuate itself in the roll, yaw and z-axis during obstacle avoidance but was however found to be inconsistent in the pitch axis during forward and backward maneuvers due to the significant noise present in the pitch axis angle outputs compared to the roll and yaw axes.

DYNECHARM++: a toolkit to simulate coherent interactions of high-energy charged particles in complex structures

NASA Astrophysics Data System (ADS)

Bagli, Enrico; Guidi, Vincenzo

2013-08-01

A toolkit for the simulation of coherent interactions between high-energy charged particles and complex crystal structures, called DYNECHARM++ has been developed. The code has been written in C++ language taking advantage of this object-oriented programing method. The code is capable to evaluating the electrical characteristics of complex atomic structures and to simulate and track the particle trajectory within them. Calculation method of electrical characteristics based on their expansion in Fourier series has been adopted. Two different approaches to simulate the interaction have been adopted, relying on the full integration of particle trajectories under the continuum potential approximation and on the definition of cross-sections of coherent processes. Finally, the code has proved to reproduce experimental results and to simulate interaction of charged particles with complex structures.

Trajectory Software With Upper Atmosphere Model

NASA Technical Reports Server (NTRS)

Barrett, Charles

2012-01-01

The Trajectory Software Applications 6.0 for the Dec Alpha platform has an implementation of the Jacchia-Lineberry Upper Atmosphere Density Model used in the Mission Control Center for International Space Station support. Previous trajectory software required an upper atmosphere to support atmosphere drag calculations in the Mission Control Center. The Functional operation will differ depending on the end-use of the module. In general, the calling routine will use function-calling arguments to specify input to the processor. The atmosphere model will then compute and return atmospheric density at the time of interest.

Welding torch trajectory generation for hull joining using autonomous welding mobile robot

NASA Astrophysics Data System (ADS)

Hascoet, J. Y.; Hamilton, K.; Carabin, G.; Rauch, M.; Alonso, M.; Ares, E.

2012-04-01

Shipbuilding processes involve highly dangerous manual welding operations. Welding of ship hulls presents a hazardous environment for workers. This paper describes a new robotic system, developed by the SHIPWELD consortium, that moves autonomously on the hull and automatically executes the required welding processes. Specific focus is placed on the trajectory control of such a system and forms the basis for the discussion in this paper. It includes a description of the robotic hardware design as well as some methodology used to establish the torch trajectory control.

Evaluation of some significant issues affecting trajectory and control management for air-breathing hypersonic vehicles

NASA Technical Reports Server (NTRS)

Hattis, Philip D.; Malchow, Harvey L.

1992-01-01

Horizontal takeoff airbreathing-propulsion launch vehicles require near-optimal guidance and control which takes into account performance sensitivities to atmospheric characteristics while satisfying physically-derived operational constraints. A generic trajectory/control analysis tool that deepens insight into these considerations has been applied to two versions of a winged-cone vehicle model. Information that is critical to the design and trajectory of these vehicles is derived, and several unusual characteristics of the airbreathing propulsion model are shown to have potentially substantial effects on vehicle dynamics.

General Methodology for Designing Spacecraft Trajectories

NASA Technical Reports Server (NTRS)

Condon, Gerald; Ocampo, Cesar; Mathur, Ravishankar; Morcos, Fady; Senent, Juan; Williams, Jacob; Davis, Elizabeth C.

2012-01-01

A methodology for designing spacecraft trajectories in any gravitational environment within the solar system has been developed. The methodology facilitates modeling and optimization for problems ranging from that of a single spacecraft orbiting a single celestial body to that of a mission involving multiple spacecraft and multiple propulsion systems operating in gravitational fields of multiple celestial bodies. The methodology consolidates almost all spacecraft trajectory design and optimization problems into a single conceptual framework requiring solution of either a system of nonlinear equations or a parameter-optimization problem with equality and/or inequality constraints.

Evaluation of spinal missile injuries with respect to bullet trajectory, surgical indications and timing of surgical intervention: a new guideline.

PubMed

Duz, Bulent; Cansever, Tufan; Secer, Halil Ibrahim; Kahraman, Serdar; Daneyemez, Mehmet Kadri; Gonul, Engin

2008-09-15

Analysis of the patients with spinal missile injury (SMI). Choosing the optimum treatment for SMI with respect to bullet trajectory, evaluation of surgical indications, and timing of surgical intervention. A few guidelines were reported for the management of SMI. But there is still no consensus about the indication and timing of the surgery. The relationship between the surgery and bullet trajectory was not reported previously. One hundred twenty-nine patients with spinal missile injury were admitted to our department from 1994 to 2006 and 122 of them could be functionally monitored. Functional recovery and complications in surgical and conservative treatment groups were evaluated. Surgical indications were discussed. The injuries were classified with respect to the bullet's trajectory. Seventy-four patients were treated surgically, of whom 60 (81%) had incomplete injuries. All 17 patients whose vertebral column was injured with side-to-side trajectory were operated on because of instability. In the surgical group, 33 (56.9%) showed improvement, 20 (34.5%) showed no change, and 5 (8.6%) worsened. The best results were obtained by the patients who received operations because of rapid neurologic decline, compression, and instability in the spinal canal (P < 0.0001). Twenty-three (31%) complications and associated injuries were seen in the surgically treated patients and 18 (34.6%) were seen in the conservatively treated patients. Anteroposterior and oblique trajectories [Gulhane Military Medical Academy (GATA)-SMI I and GATA-SMI II] of SMI must be recognized as highly infective in the lumbar region. A side-to-side trajectory (GATA-SMI III) missile causing spinal cord injury is unstable and needs further stabilization. The spinal cord is not injured by the GATA-SMI IV trajectory, and thus, the best approach in this case is conservative. The best results from neurosurgical interventions may be achieved after rapid neurologic deteriorations because of spinal compression and/or instability.

Adaptive Trajectory Prediction Algorithm for Climbing Flights

NASA Technical Reports Server (NTRS)

Schultz, Charles Alexander; Thipphavong, David P.; Erzberger, Heinz

2012-01-01

Aircraft climb trajectories are difficult to predict, and large errors in these predictions reduce the potential operational benefits of some advanced features for NextGen. The algorithm described in this paper improves climb trajectory prediction accuracy by adjusting trajectory predictions based on observed track data. It utilizes rate-of-climb and airspeed measurements derived from position data to dynamically adjust the aircraft weight modeled for trajectory predictions. In simulations with weight uncertainty, the algorithm is able to adapt to within 3 percent of the actual gross weight within two minutes of the initial adaptation. The root-mean-square of altitude errors for five-minute predictions was reduced by 73 percent. Conflict detection performance also improved, with a 15 percent reduction in missed alerts and a 10 percent reduction in false alerts. In a simulation with climb speed capture intent and weight uncertainty, the algorithm improved climb trajectory prediction accuracy by up to 30 percent and conflict detection performance, reducing missed and false alerts by up to 10 percent.

Automatic determination of optimal linear drilling trajectories for cochlear access accounting for drill-positioning error.

PubMed

Noble, Jack H; Majdani, Omid; Labadie, Robert F; Dawant, Benoit; Fitzpatrick, J Michael

2010-09-01

Cochlear implantation is a surgical procedure in which an electrode array is permanently implanted into the cochlea to stimulate the auditory nerve and allow deaf people to hear. Percutaneous cochlear access, a new minimally invasive implantation approach, requires drilling a single linear channel from the skull surface to the cochlea. The focus of this paper addresses a major challenge with this approach, which is the ability to determine, in a pre-operative CT, a safe and effective drilling trajectory. A measure of the safety and effectiveness of a given trajectory relative to sensitive structures is derived using a Monte Carlo approach. The drilling trajectory that maximizes this measure is found using an optimization algorithm. In tests on 13 ears, the technique was shown to find approximately twice as many acceptable trajectories as those found manually by an experienced surgeon. Using this method, safe trajectories can be automatically determined quickly and consistently. Copyright 2010 John Wiley & Sons, Ltd.

Coordinated turn-and-reach movements. II. Planning in an external frame of reference

NASA Technical Reports Server (NTRS)

Pigeon, Pascale; Bortolami, Simone B.; DiZio, Paul; Lackner, James R.

2003-01-01

The preceding study demonstrated that normal subjects compensate for the additional interaction torques generated when a reaching movement is made during voluntary trunk rotation. The present paper assesses the influence of trunk rotation on finger trajectories and on interjoint coordination and determines whether simultaneous turn-and-reach movements are most simply described relative to a trunk-based or an external reference frame. Subjects reached to targets requiring different extents of arm joint and trunk rotation at a natural pace and quickly in normal lighting and in total darkness. We first examined whether the larger interaction torques generated during rapid turn-and-reach movements perturb finger trajectories and interjoint coordination and whether visual feedback plays a role in compensating for these torques. These issues were addressed using generalized Procrustes analysis (GPA), which attempts to overlap a group of configurations (e.g., joint trajectories) through translations and rotations in multi-dimensional space. We first used GPA to identify the mean intrinsic patterns of finger and joint trajectories (i.e., their average shape irrespective of location and orientation variability in the external and joint workspaces) from turn-and-reach movements performed in each experimental condition and then calculated their curvatures. We then quantified the discrepancy between each finger or joint trajectory and the intrinsic pattern both after GPA was applied individually to trajectories from a pair of experimental conditions and after GPA was applied to the same trajectories pooled together. For several subjects, joint trajectories but not finger trajectories were more curved in fast than slow movements. The curvature of both joint and finger trajectories of turn-and-reach movements was relatively unaffected by the vision conditions. Pooling across speed conditions significantly increased the discrepancy between joint but not finger trajectories for most subjects, indicating that subjects used different patterns of interjoint coordination in slow and fast movements while nevertheless preserving the shape of their finger trajectory. Higher movement speeds did not disrupt the arm joint rotations despite the larger interaction torques generated. Rather, subjects used the redundant degrees of freedom of the arm/trunk system to achieve similar finger trajectories with differing joint configurations. We examined finger movement patterns and velocity profiles to determine the frame of reference in which turn-and-reach movements could be most simply described. Finger trajectories of turn-and-reach movements had much larger curvatures and their velocity profiles were less smooth and less bell-like in trunk-based coordinates than in external coordinates. Taken together, these results support the conclusion that turn-and-reach movements are controlled in an external frame of reference.

Cooperative control of two active spacecraft during proximity operations. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Polutchko, Robert J.

1989-01-01

A cooperative autopilot is developed for the control of the relative attitude, relative position and absolute attitude of two maneuvering spacecraft during on orbit proximity operations. The autopilot consists of an open-loop trajectory solver which computes a nine dimensional linearized nominal state trajectory at the beginning of each maneuver and a phase space regulator which maintains the two spacecraft on the nominal trajectory during coast phases of the maneuver. A linear programming algorithm is used to perform jet selection. Simulation tests using a system of two space shuttle vehicles are performed to verify the performance of the cooperative controller and comparisons are made to a traditional passive target/active pursuit vehicle approach to proximity operations. The cooperative autopilot is shown to be able to control the two vehicle system when both the would be pursuit vehicle and the target vehicle are not completely controllable in six degrees of freedom. The cooperative controller is also shown to use as much as 37 percent less fuel and 57 percent fewer jet firings than a single pursuit vehicle during a simple docking approach maneuver.

Auditory and visual orienting responses in listeners with and without hearing-impairment

PubMed Central

Brimijoin, W. Owen; McShefferty, David; Akeroyd, Michael A.

2015-01-01

Head movements are intimately involved in sound localization and may provide information that could aid an impaired auditory system. Using an infrared camera system, head position and orientation was measured for 17 normal-hearing and 14 hearing-impaired listeners seated at the center of a ring of loudspeakers. Listeners were asked to orient their heads as quickly as was comfortable toward a sequence of visual targets, or were blindfolded and asked to orient toward a sequence of loudspeakers playing a short sentence. To attempt to elicit natural orienting responses, listeners were not asked to reorient their heads to the 0° loudspeaker between trials. The results demonstrate that hearing-impairment is associated with several changes in orienting responses. Hearing-impaired listeners showed a larger difference in auditory versus visual fixation position and a substantial increase in initial and fixation latency for auditory targets. Peak velocity reached roughly 140 degrees per second in both groups, corresponding to a rate of change of approximately 1 microsecond of interaural time difference per millisecond of time. Most notably, hearing-impairment was associated with a large change in the complexity of the movement, changing from smooth sigmoidal trajectories to ones characterized by abruptly-changing velocities, directional reversals, and frequent fixation angle corrections. PMID:20550266

Statcast and the Baseball Trajectory Calculator

ERIC Educational Resources Information Center

Kagan, David; Nathan, Alan M.

2017-01-01

Baseball's flirtation with technology began in 2005 when PITCHf/x® by Sportvision started to be installed in major league ballparks. Every stadium had the system operational by 2007. Since then, the trajectories of over six million pitches have been measured to within about half an inch using three 60-Hz video cameras to track the position of the…

Spaceplane Technology and Research (STAR)

DTIC Science & Technology

1984-08-01

autonomy, flexibility , maneuverability, responsiveness, survivability and cost- effectiveness required of military aerospace operations as the result...orbit to simulate desired trajectory. Determine the ablative behavior and its effect on trajectory for various C/C composite materials. Expected... the 747-200F would potentially be the most flexible and cost- effective launch system. The associated use of stage-stations appears especially cost

From On-Campus to Online: A Trajectory of Innovation, Internationalization and Inclusion

ERIC Educational Resources Information Center

Moreira, Darlinda

2016-01-01

This paper presents a study focused on a trajectory for developing an online operating mode on a campus-based university in the area of Massachusetts, USA. It addresses the innovation process and the changes and challenges faced by faculty and administrators. Methodologically-speaking, a mainly ethnographic approach was used for a systematic…

An operational search and rescue model for the Norwegian Sea and the North Sea

NASA Astrophysics Data System (ADS)

Breivik, Øyvind; Allen, Arthur A.

A new operational, ensemble-based search and rescue model for the Norwegian Sea and the North Sea is presented. The stochastic trajectory model computes the net motion of a range of search and rescue objects. A new, robust formulation for the relation between the wind and the motion of the drifting object (termed the leeway of the object) is employed. Empirically derived coefficients for 63 categories of search objects compiled by the US Coast Guard are ingested to estimate the leeway of the drifting objects. A Monte Carlo technique is employed to generate an ensemble that accounts for the uncertainties in forcing fields (wind and current), leeway drift properties, and the initial position of the search object. The ensemble yields an estimate of the time-evolving probability density function of the location of the search object, and its envelope defines the search area. Forcing fields from the operational oceanic and atmospheric forecast system of The Norwegian Meteorological Institute are used as input to the trajectory model. This allows for the first time high-resolution wind and current fields to be used to forecast search areas up to 60 h into the future. A limited set of field exercises show good agreement between model trajectories, search areas, and observed trajectories for life rafts and other search objects. Comparison with older methods shows that search areas expand much more slowly using the new ensemble method with high resolution forcing fields and the new leeway formulation. It is found that going to higher-order stochastic trajectory models will not significantly improve the forecast skill and the rate of expansion of search areas.

An Evaluation of a Flight Deck Interval Management Algorithm Including Delayed Target Trajectories

NASA Technical Reports Server (NTRS)

Swieringa, Kurt A.; Underwood, Matthew C.; Barmore, Bryan; Leonard, Robert D.

2014-01-01

NASA's first Air Traffic Management (ATM) Technology Demonstration (ATD-1) was created to facilitate the transition of mature air traffic management technologies from the laboratory to operational use. The technologies selected for demonstration are the Traffic Management Advisor with Terminal Metering (TMA-TM), which provides precise timebased scheduling in the terminal airspace; Controller Managed Spacing (CMS), which provides controllers with decision support tools enabling precise schedule conformance; and Interval Management (IM), which consists of flight deck automation that enables aircraft to achieve or maintain precise in-trail spacing. During high demand operations, TMA-TM may produce a schedule and corresponding aircraft trajectories that include delay to ensure that a particular aircraft will be properly spaced from other aircraft at each schedule waypoint. These delayed trajectories are not communicated to the automation onboard the aircraft, forcing the IM aircraft to use the published speeds to estimate the target aircraft's estimated time of arrival. As a result, the aircraft performing IM operations may follow an aircraft whose TMA-TM generated trajectories have substantial speed deviations from the speeds expected by the spacing algorithm. Previous spacing algorithms were not designed to handle this magnitude of uncertainty. A simulation was conducted to examine a modified spacing algorithm with the ability to follow aircraft flying delayed trajectories. The simulation investigated the use of the new spacing algorithm with various delayed speed profiles and wind conditions, as well as several other variables designed to simulate real-life variability. The results and conclusions of this study indicate that the new spacing algorithm generally exhibits good performance; however, some types of target aircraft speed profiles can cause the spacing algorithm to command less than optimal speed control behavior.

Visual orienting and attention deficits in 5- and 10-month-old preterm infants.

PubMed

Ross-Sheehy, Shannon; Perone, Sammy; Macek, Kelsi L; Eschman, Bret

2017-02-01

Cognitive outcomes for children born prematurely are well characterized, including increased risk for deficits in memory, attention, processing speed, and executive function. However, little is known about deficits that appear within the first 12 months, and how these early deficits contribute to later outcomes. To probe for functional deficits in visual attention, preterm and full-term infants were tested at 5 and 10 months with the Infant Orienting With Attention task (IOWA; Ross-Sheehy, Schneegans and Spencer, 2015). 5-month-old preterm infants showed significant deficits in orienting speed and task related error. However, 10-month-old preterm infants showed only selective deficits in spatial attention, particularly reflexive orienting responses, and responses that required some inhibition. These emergent deficits in spatial attention suggest preterm differences may be related to altered postnatal developmental trajectories. Moreover, we found no evidence of a dose-response relation between increased gestational risk and spatial attention. These results highlight the critical role of postnatal visual experience, and suggest that visual orienting may be a sensitive measure of attentional delay. Results reported here both inform current theoretical models of early perceptual/cognitive development, and future intervention efforts. Copyright © 2016 Elsevier Inc. All rights reserved.

Determining fast orientation changes of multi-spectral line cameras from the primary images

NASA Astrophysics Data System (ADS)

Wohlfeil, Jürgen

2012-01-01

Fast orientation changes of airborne and spaceborne line cameras cannot always be avoided. In such cases it is essential to measure them with high accuracy to ensure a good quality of the resulting imagery products. Several approaches exist to support the orientation measurement by using optical information received through the main objective/telescope. In this article an approach is proposed that allows the determination of non-systematic orientation changes between every captured line. It does not require any additional camera hardware or onboard processing capabilities but the payload images and a rough estimate of the camera's trajectory. The approach takes advantage of the typical geometry of multi-spectral line cameras with a set of linear sensor arrays for different spectral bands on the focal plane. First, homologous points are detected within the heavily distorted images of different spectral bands. With their help a connected network of geometrical correspondences can be built up. This network is used to calculate the orientation changes of the camera with the temporal and angular resolution of the camera. The approach was tested with an extensive set of aerial surveys covering a wide range of different conditions and achieved precise and reliable results.

Serial dependence promotes object stability during occlusion

PubMed Central

Liberman, Alina; Zhang, Kathy; Whitney, David

2016-01-01

Object identities somehow appear stable and continuous over time despite eye movements, disruptions in visibility, and constantly changing visual input. Recent results have demonstrated that the perception of orientation, numerosity, and facial identity is systematically biased (i.e., pulled) toward visual input from the recent past. The spatial region over which current orientations or face identities are pulled by previous orientations or identities, respectively, is known as the continuity field, which is temporally tuned over the past several seconds (Fischer & Whitney, 2014). This perceptual pull could contribute to the visual stability of objects over short time periods, but does it also address how perceptual stability occurs during visual discontinuities? Here, we tested whether the continuity field helps maintain perceived object identity during occlusion. Specifically, we found that the perception of an oriented Gabor that emerged from behind an occluder was significantly pulled toward the random (and unrelated) orientation of the Gabor that was seen entering the occluder. Importantly, this serial dependence was stronger for predictable, continuously moving trajectories, compared to unpredictable ones or static displacements. This result suggests that our visual system takes advantage of expectations about a stable world, helping to maintain perceived object continuity despite interrupted visibility. PMID:28006066

Change detection of Bunaken Island coral reefs using 15years of very high resolution satellite images: A kaleidoscope of habitat trajectories.

PubMed

Ampou, Eghbert Elvan; Ouillon, Sylvain; Iovan, Corina; Andréfouët, Serge

2018-06-01

In Bunaken Island (Indonesia), a time-series of very high resolution (2-4m) satellite imagery was used to draw the long-term dynamics of shallow reef flat habitats from 2001 to 2015. Lack of historical georeferenced ground-truth data oriented the analysis towards a scenario-approach based on the monitoring of selected unambiguously-changing habitat polygons characterized in situ in 2014 and 2015. Eight representative scenarios (coral colonization, coral loss, coral stability, and sand colonization by seagrass) were identified. All occurred simultaneously in close vicinity, precluding the identification of a single general cause of changes that could have affected the whole reef. Likely, very fine differences in reef topography, exposure to wind/wave and sea level variations were responsible for the variety of trajectories. While trajectories of reef habitats is a way to measure resilience and coral recovery, here, the 15-year time-series was too short to be able to conclude on the resilience of Bunaken reefs. Copyright © 2017 Elsevier Ltd. All rights reserved.

The ontogenetic origins of skull shape disparity in the Triturus cristatus group.

PubMed

Cvijanović, Milena; Ivanović, Ana; Kalezić, Miloš L; Zelditch, Miriam L

2014-09-01

Comparative studies of ontogenies of closely related species provide insights into the mechanisms responsible for morphological diversification. Using geometric morphometrics, we investigated the ontogenetic dynamics of postlarval skull shape and disparity in three closely related crested newt species. The skull shapes of juveniles just after metamorphosis (hereafter metamorphs) and adult individuals were sampled by landmark configurations that describe the shape of the dorsal and ventral side of the newt skull, and analyzed separately. The three species differ in skull size and shape in metamorphs and adults. The ontogenies of dorsal and ventral skull differ in the orientation but not lengths of the ontogenetic trajectories. The disparity of dorsal skull shape increases over ontogeny, but that of ventral skull shape does not. Thus, modifications of ontogenetic trajectories can, but need not, increase the disparity of shape. In species with biphasic life-cycles, when ontogenetic trajectories for one stage can be decoupled from those of another, increases and decreases in disparity are feasible, but our results show that they need not occur. © 2014 Wiley Periodicals, Inc.

Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

NASA Astrophysics Data System (ADS)

Bayram, Atilla

2017-03-01

Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.

An Overview of a Trajectory-Based Solution for En Route and Terminal Area Self-Spacing: Fifth Edition

NASA Technical Reports Server (NTRS)

Abbott, Terence S.

2015-01-01

This paper presents an overview of the fifth revision to an algorithm specifically designed to support NASA's Airborne Precision Spacing concept. This algorithm is referred to as the Airborne Spacing for Terminal Arrival Routes version 12 (ASTAR12). This airborne self-spacing concept is trajectory-based, allowing for spacing operations prior to the aircraft being on a common path. Because this algorithm is trajectory-based, it also has the inherent ability to support required-time-of- arrival (RTA) operations. This algorithm was also designed specifically to support a standalone, non-integrated implementation in the spacing aircraft. This current revision to the algorithm includes a ground speed feedback term to compensate for slower than expected traffic aircraft speeds based on the accepted air traffic control tendency to slow aircraft below the nominal arrival speeds when they are farther from the airport.

Sexual orientation of trans adults is not linked to outcome of transition-related health care, but worth asking.

PubMed

Nieder, Timo O; Elaut, Els; Richards, Christina; Dekker, Arne

2016-01-01

Since the beginning of contemporary transition-related care at the outset of the 20th century, sexual orientation has ben considered to be closely connected with gender identity and the developmental trajectories of trans people. Specifically, health professionals have regarded the anticipated post-transitional heterosexual behaviour of trans adults as predictive of a good outcome of cross-sex hormones and gender-confirming surgeries. This article reviews the current literature according to the question of whether the sexual orientation of trans people is linked to outcome measures following transition-related interventions. A comprehensive review was undertaken using the Medline database, searching for empirical studies published between 2010 and 2015. Out of a total of 474 studies, only 10 studies reported a follow-up of trans adults and assessed sexual orientation in the study protocol at all. Sexual orientation was predominantly assessed as homosexual versus non-homosexual related to sex assigned at birth. Only one 1 of 10 follow-up studies found a significant association according to the outcome between groups differentiated by sexual orientation. Empirically there is no link between sexual orientation and outcome of transition-related health care for trans adults. In order to provide comprehensive health care, we recommend asking for sexual behaviours, attractions and identities, as well as for gender experiences and expressions; however, this knowledge should not drive, but simply inform, such comprehensive care.

Processing Motion Signals in Complex Environments

NASA Technical Reports Server (NTRS)

Verghese, Preeti

2000-01-01

Motion information is critical for human locomotion and scene segmentation. Currently we have excellent neurophysiological models that are able to predict human detection and discrimination of local signals. Local motion signals are insufficient by themselves to guide human locomotion and to provide information about depth, object boundaries and surface structure. My research is aimed at understanding the mechanisms underlying the combination of motion signals across space and time. A target moving on an extended trajectory amidst noise dots in Brownian motion is much more detectable than the sum of signals generated by independent motion energy units responding to the trajectory segments. This result suggests that facilitation occurs between motion units tuned to similar directions, lying along the trajectory path. We investigated whether the interaction between local motion units along the motion direction is mediated by contrast. One possibility is that contrast-driven signals from motion units early in the trajectory sequence are added to signals in subsequent units. If this were the case, then units later in the sequence would have a larger signal than those earlier in the sequence. To test this possibility, we compared contrast discrimination thresholds for the first and third patches of a triplet of sequentially presented Gabor patches, aligned along the motion direction. According to this simple additive model, contrast increment thresholds for the third patch should be higher than thresholds for the first patch.The lack of a measurable effect on contrast thresholds for these various manipulations suggests that the pooling of signals along a trajectory is not mediated by contrast-driven signals. Instead, these results are consistent with models that propose that the facilitation of trajectory signals is achieved by a second-level network that chooses the strongest local motion signals and combines them if they occur in a spatio-temporal sequence consistent with a trajectory. These results parallel the lack of increased apparent contrast along a static contour made up of similarly oriented elements.

An Experience Oriented-Convergence Improved Gravitational Search Algorithm for Minimum Variance Distortionless Response Beamforming Optimum

PubMed Central

Darzi, Soodabeh; Tiong, Sieh Kiong; Tariqul Islam, Mohammad; Rezai Soleymanpour, Hassan; Kibria, Salehin

2016-01-01

An experience oriented-convergence improved gravitational search algorithm (ECGSA) based on two new modifications, searching through the best experiments and using of a dynamic gravitational damping coefficient (α), is introduced in this paper. ECGSA saves its best fitness function evaluations and uses those as the agents’ positions in searching process. In this way, the optimal found trajectories are retained and the search starts from these trajectories, which allow the algorithm to avoid the local optimums. Also, the agents can move faster in search space to obtain better exploration during the first stage of the searching process and they can converge rapidly to the optimal solution at the final stage of the search process by means of the proposed dynamic gravitational damping coefficient. The performance of ECGSA has been evaluated by applying it to eight standard benchmark functions along with six complicated composite test functions. It is also applied to adaptive beamforming problem as a practical issue to improve the weight vectors computed by minimum variance distortionless response (MVDR) beamforming technique. The results of implementation of the proposed algorithm are compared with some well-known heuristic methods and verified the proposed method in both reaching to optimal solutions and robustness. PMID:27399904

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

PubMed

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

1997-01-01

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

Fusing human and machine skills for remote robotic operations

NASA Technical Reports Server (NTRS)

Schenker, Paul S.; Kim, Won S.; Venema, Steven C.; Bejczy, Antal K.

1991-01-01

The question of how computer assists can improve teleoperator trajectory tracking during both free and force-constrained motions is addressed. Computer graphics techniques which enable the human operator to both visualize and predict detailed 3D trajectories in real-time are reported. Man-machine interactive control procedures for better management of manipulator contact forces and positioning are also described. It is found that collectively, these novel advanced teleoperations techniques both enhance system performance and significantly reduce control problems long associated with teleoperations under time delay. Ongoing robotic simulations of the 1984 space shuttle Solar Maximum EVA Repair Mission are briefly described.

A state-trajectory control law for dc-to-dc converters

NASA Technical Reports Server (NTRS)

Burns, W. W., III; Wilson, T. G.

1978-01-01

Mathematical representations of a state-plane switching boundary employed in a state-trajectory control law for dc-to-dc converters are derived. Several levels of approximation to the switching boundary equations are presented, together with an evaluation of the effects of nonideal operating characteristics of converter power stage components on the shape and location of the boundary and the behavior of a system controlled by it. Digital computer simulations of dc-to-dc converters operating in conjunction with each of these levels of control are presented and evaluated with respect to changes in transient and steady-state performance.

Programmer's manual for the Mission Analysis Evaluation and Space Trajectory Operations program (MAESTRO)

NASA Technical Reports Server (NTRS)

Lutzky, D.; Bjorkman, W. S.

1973-01-01

The Mission Analysis Evaluation and Space Trajectory Operations program known as MAESTRO is described. MAESTRO is an all FORTRAN, block style, computer program designed to perform various mission control tasks. This manual is a guide to MAESTRO, providing individuals the capability of modifying the program to suit their needs. Descriptions are presented of each of the subroutines descriptions consist of input/output description, theory, subroutine description, and a flow chart where applicable. The programmer's manual also contains a detailed description of the common blocks, a subroutine cross reference map, and a general description of the program structure.

Machine vision based teleoperation aid

NASA Technical Reports Server (NTRS)

Hoff, William A.; Gatrell, Lance B.; Spofford, John R.

1991-01-01

When teleoperating a robot using video from a remote camera, it is difficult for the operator to gauge depth and orientation from a single view. In addition, there are situations where a camera mounted for viewing by the teleoperator during a teleoperation task may not be able to see the tool tip, or the viewing angle may not be intuitive (requiring extensive training to reduce the risk of incorrect or dangerous moves by the teleoperator). A machine vision based teleoperator aid is presented which uses the operator's camera view to compute an object's pose (position and orientation), and then overlays onto the operator's screen information on the object's current and desired positions. The operator can choose to display orientation and translation information as graphics and/or text. This aid provides easily assimilated depth and relative orientation information to the teleoperator. The camera may be mounted at any known orientation relative to the tool tip. A preliminary experiment with human operators was conducted and showed that task accuracies were significantly greater with than without this aid.

PEM-West trajectory climatology and photochemical model sensitivity study prepared using retrospective meteorological data

NASA Technical Reports Server (NTRS)

Merrill, John T.; Rodriguez, Jose M.

1991-01-01

Trajectory and photochemical model calculations based on retrospective meteorological data for the operations areas of the NASA Pacific Exploratory Mission (PEM)-West mission are summarized. The trajectory climatology discussed here is intended to provide guidance for flight planning and initial data interpretation during the field phase of the expedition by indicating the most probable path air parcels are likely to take to reach various points in the area. The photochemical model calculations which are discussed indicate the sensitivity of the chemical environment to various initial chemical concentrations and to conditions along the trajectory. In the post-expedition analysis these calculations will be used to provide a climatological context for the meteorological conditions which are encountered in the field.

Safe-trajectory optimization and tracking control in ultra-close proximity to a failed satellite

NASA Astrophysics Data System (ADS)

Zhang, Jingrui; Chu, Xiaoyu; Zhang, Yao; Hu, Quan; Zhai, Guang; Li, Yanyan

2018-03-01

This paper presents a trajectory-optimization method for a chaser spacecraft operating in ultra-close proximity to a failed satellite. Based on the combination of active and passive trajectory protection, the constraints in the optimization framework are formulated for collision avoidance and successful docking in the presence of any thruster failure. The constraints are then handled by an adaptive Gauss pseudospectral method, in which the dynamic residuals are used as the metric to determine the distribution of collocation points. A finite-time feedback control is further employed in tracking the optimized trajectory. In particular, the stability and convergence of the controller are proved. Numerical results are given to demonstrate the effectiveness of the proposed methods.

Coordinated joint motion control system with position error correction

DOEpatents

Danko, George [Reno, NV

2011-11-22

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Extreme trajectory approach to the problem of determining the degree of stability of a laser surface scanning system

NASA Astrophysics Data System (ADS)

Nikitin, V. N.; Chemodanov, V. B.

2018-02-01

The degree of stability of a laser system for surface scanning with nonlinear multiplicative crosstalks is discussed. To determine its stability, the action functional is introduced, which is defined on the set of virtual (achievable) trajectories. The action functional is a measure of external action, which should be applied to a system to move it along a predetermined trial trajectory in the state space.The degree of stability of the system depends on the minimum value of the action functional which is reached on the extreme trajectory transferring the laser scanning system from equilibrium to the limit of the normal operation range. Numerical methods are proposed for calculating the degree of stability.

Coordinated joint motion control system with position error correction

DOEpatents

Danko, George L.

2016-04-05

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Interplanetary Program to Optimize Simulated Trajectories (IPOST). Volume 2: Analytic manual

NASA Technical Reports Server (NTRS)

Hong, P. E.; Kent, P. D.; Olson, D. W.; Vallado, C. A.

1992-01-01

The Interplanetary Program to Optimize Space Trajectories (IPOST) is intended to support many analysis phases, from early interplanetary feasibility studies through spacecraft development and operations. The IPOST output provides information for sizing and understanding mission impacts related to propulsion, guidance, communications, sensor/actuators, payload, and other dynamic and geometric environments. IPOST models three degree of freedom trajectory events, such as launch/ascent, orbital coast, propulsive maneuvering (impulsive and finite burn), gravity assist, and atmospheric entry. Trajectory propagation is performed using a choice of Cowell, Encke, Multiconic, Onestep, or Conic methods. The user identifies a desired sequence of trajectory events, and selects which parameters are independent (controls) and dependent (targets), as well as other constraints and the cost function. Targeting and optimization is performed using the Stanford NPSOL algorithm. IPOST structure allows subproblems within a master optimization problem to aid in the general constrained parameter optimization solution. An alternate optimization method uses implicit simulation and collocation techniques.

46 CFR 26.03-1 - Safety orientation.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 1 2010-10-01 2010-10-01 false Safety orientation. 26.03-1 Section 26.03-1 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY UNINSPECTED VESSELS OPERATIONS Special Operating Requirements § 26.03-1 Safety orientation. (a) Before getting underway on any uninspected passenger vessel, the...

Seismic analysis of clinoform depositional sequences and shelf-margin trajectories in Lower Cretaceous (Albian) strata, Alaska North Slope

USGS Publications Warehouse

Houseknecht, D.W.; Bird, K.J.; Schenk, C.J.

2009-01-01

Lower Cretaceous strata beneath the Alaska North Slope include clinoform depositional sequences that filled the western Colville foreland basin and overstepped the Beaufort rift shoulder. Analysis of Albian clinoform sequences with two-dimensional (2D) seismic data resulted in the recognition of seismic facies inferred to represent lowstand, transgressive and highstand systems tracts. These are stacked to produce shelf-margin trajectories that appear in low-resolution seismic data to alternate between aggradational and progradational. Higher-resolution seismic data reveal shelf-margin trajectories that are more complex, particularly in net-aggradational areas, where three patterns commonly are observed: (1) a negative (downward) step across the sequence boundary followed by mostly aggradation in the lowstand systems tract (LST), (2) a positive (upward) step across the sequence boundary followed by mostly progradation in the LST and (3) an upward backstep across a mass-failure d??collement. These different shelf-margin trajectories are interpreted as (1) fall of relative sea level below the shelf edge, (2) fall of relative sea level to above the shelf edge and (3) mass-failure removal of shelf-margin sediment. Lowstand shelf margins mapped using these criteria are oriented north-south in the foreland basin, indicating longitudinal filling from west to east. The shelf margins turn westward in the north, where the clinoform depositional system overstepped the rift shoulder, and turn eastward in the south, suggesting progradation of depositional systems from the ancestral Brooks Range into the foredeep. Lowstand shelf-margin orientations are consistently perpendicular to clinoform-foreset-dip directions. Although the Albian clinoform sequences of the Alaska North Slope are generally similar in stratal geometry to clinoform sequences elsewhere, they are significantly thicker. Clinoform-sequence thickness ranges from 600-1000 m in the north to 1700-2000 m in the south, reflecting increased accommodation from the rift shoulder into the foredeep. The unusually thick clinoform sequences suggest significant subsidence followed by rapid sediment influx. No claim to original US government works. Journal Compilation ?? Blackwell Publishing Ltd, European Association of Geoscientists & Engineers and International Association of Sedimentologists.

Muscle activity patterns altered during pedaling at different body orientations.

PubMed

Brown, D A; Kautz, S A; Dairaghi, C A

1996-10-01

Gravity is a contributing force that is believed to influence strongly the control of limb movements since it affects sensory input and also contributes to task mechanics. By altering the relative contribution of gravitational force to the overall forces used to control pedaling at different body orientations, we tested the hypothesis that joint torque and muscle activation patterns would be modified to generate steady-state pedaling at altered body orientations. Eleven healthy subjects pedaled a modified ergometer at different body orientations (from horizontal to vertical), maintaining the same workload (80 J), cadence (60 rpm), and hip and knee kinematics. Pedal reaction forces and crank and pedal kinematics were measured and used to calculate joint torques and angles. EMG was recorded from four muscles (tibialis anterior, triceps surae, rectus femoris, biceps femoris). Measures of muscle activation (joint torque and EMG activity) showed strong dependence on body orientation, indicating that muscle activity is not fixed and is modified in response to altered body orientation. Simulations confirmed that, while joint torque changes were not necessary to pedal at different body orientations, observed changes were necessary to maintain consistent crank angular velocity profiles. Dependence of muscle activity on body orientation may be due to neural integration of sensory information with an internal model that includes characteristics of the endpoint, to produce consistent pedaling trajectories. Thus, both sensory consequences and mechanical aspects of gravitational forces are important determinants of locomotor tasks such as pedaling.

Undifferentiated Gender Role Orientation, Drinking Motives, and Increased Alcohol Use in Men and Women.

PubMed

Fugitt, Jessica L; Ham, Lindsay S; Bridges, Ana J

2017-05-12

Alcohol misuse has historically affected men more than women. However, the differences in drinking behaviors across sex have steadily decreased over time and accumulating research suggests that gender role orientation, or culturally scripted gender-specific characteristics, and negative reinforcement drinking motives may better explain risk for alcohol use and related problems than sex. The current study tested a mediational model of the undifferentiated orientation (low masculinity and low femininity), an oft neglected orientation despite evidence that it could carry much weight in drinking behaviors, versus the other three gender role orientations, coping and conformity drinking motives, and hazardous alcohol use. Participants were 426 current drinkers over age 21 (41% men; 77.8% Caucasian; M age = 34.5, range = 21-73) residing across the United States who completed an online survey. Structural equation modeling analyses suggested that individuals with an undifferentiated orientation (n = 99), compared to masculine (high masculinity, low femininity; n = 102), feminine (high femininity, low masculinity; n = 113), or androgynous (high masculinity, high femininity; n = 112) orientations, reported higher coping drinking motives, which were positively associated with levels of hazardous alcohol use. Although analyses suggested that undifferentiated individuals reported drinking for conformity motives more often than masculine and androgynous individuals, conformity motives were not associated with increased use. Conclusions/Importance: An undifferentiated gender role orientation may contribute a unique risk for alcohol use and related problems by increasing frequency of drinking to cope, a motive specifically associated with hazardous use trajectories.

Optimal Trajectories and Control Strategies for the Helicopter in One-Engine-Inoperative Terminal-Area Operations

NASA Technical Reports Server (NTRS)

Chen, Robert T. N.; Zhao, Yi-Yuan; Aiken, Edwin W. (Technical Monitor)

1995-01-01

Engine failure represents a major safety concern to helicopter operations, especially in the critical flight phases of takeoff and landing from/to small, confined areas. As a result, the JAA and FAA both certificate a transport helicopter as either Category-A or Category-B according to the ability to continue its operations following engine failures. A Category-B helicopter must be able to land safely in the event of one or all engine failures. There is no requirement, however, for continued flight capability. In contrast, Category-A certification, which applies to multi-engine transport helicopters with independent engine systems, requires that they continue the flight with one engine inoperative (OEI). These stringent requirements, while permitting its operations from rooftops and oil rigs and flight to areas where no emergency landing sites are available, restrict the payload of a Category-A transport helicopter to a value safe for continued flight as well as for landing with one engine inoperative. The current certification process involves extensive flight tests, which are potentially dangerous, costly, and time consuming. These tests require the pilot to simulate engine failures at increasingly critical conditions, Flight manuals based on these tests tend to provide very conservative recommendations with regard to maximum takeoff weight or required runway length. There are very few theoretical studies on this subject to identify the fundamental parameters and tradeoff factors involved. Furthermore, a capability for real-time generation of OEI optimal trajectories is very desirable for providing timely cockpit display guidance to assist the pilot in reducing his workload and to increase safety in a consistent and reliable manner. A joint research program involving NASA Ames Research Center, the FAA, and the University of Minnesota is being conducted to determine OEI optimal control strategies and the associated optimal,trajectories for continued takeoff (CTO), rejected takeoff (RTO), balked landing (BL), and continued landing (CL) for a twin engine helicopter in both VTOL and STOL terminal-area operations. This proposed paper will present the problem formulation, the optimal control solution methods, and the key results of the trajectory optimization studies for both STOL and VTOL OEI operations. In addition, new results concerning the recently developed methodology, which enable a real-time generation of optimal OEI trajectories, will be presented in the paper. This new real-time capability was developed to support the second piloted simulator investigation on cockpit displays for Category-A operations being scheduled for the NASA Ames Vertical Motion Simulator in June-August of 1995. The first VMS simulation was conducted in 1994 and reported.

Self-organizing neural integration of pose-motion features for human action recognition

PubMed Central

Parisi, German I.; Weber, Cornelius; Wermter, Stefan

2015-01-01

The visual recognition of complex, articulated human movements is fundamental for a wide range of artificial systems oriented toward human-robot communication, action classification, and action-driven perception. These challenging tasks may generally involve the processing of a huge amount of visual information and learning-based mechanisms for generalizing a set of training actions and classifying new samples. To operate in natural environments, a crucial property is the efficient and robust recognition of actions, also under noisy conditions caused by, for instance, systematic sensor errors and temporarily occluded persons. Studies of the mammalian visual system and its outperforming ability to process biological motion information suggest separate neural pathways for the distinct processing of pose and motion features at multiple levels and the subsequent integration of these visual cues for action perception. We present a neurobiologically-motivated approach to achieve noise-tolerant action recognition in real time. Our model consists of self-organizing Growing When Required (GWR) networks that obtain progressively generalized representations of sensory inputs and learn inherent spatio-temporal dependencies. During the training, the GWR networks dynamically change their topological structure to better match the input space. We first extract pose and motion features from video sequences and then cluster actions in terms of prototypical pose-motion trajectories. Multi-cue trajectories from matching action frames are subsequently combined to provide action dynamics in the joint feature space. Reported experiments show that our approach outperforms previous results on a dataset of full-body actions captured with a depth sensor, and ranks among the best results for a public benchmark of domestic daily actions. PMID:26106323

Parameter selection with the Hotelling observer in linear iterative image reconstruction for breast tomosynthesis

NASA Astrophysics Data System (ADS)

Rose, Sean D.; Roth, Jacob; Zimmerman, Cole; Reiser, Ingrid; Sidky, Emil Y.; Pan, Xiaochuan

2018-03-01

In this work we investigate an efficient implementation of a region-of-interest (ROI) based Hotelling observer (HO) in the context of parameter optimization for detection of a rod signal at two orientations in linear iterative image reconstruction for DBT. Our preliminary results suggest that ROI-HO performance trends may be efficiently estimated by modeling only the 2D plane perpendicular to the detector and containing the X-ray source trajectory. In addition, the ROI-HO is seen to exhibit orientation dependent trends in detectability as a function of the regularization strength employed in reconstruction. To further investigate the ROI-HO performance in larger 3D system models, we present and validate an iterative methodology for calculating the ROI-HO. Lastly, we present a real data study investigating the correspondence between ROI-HO performance trends and signal conspicuity. Conspicuity of signals in real data reconstructions is seen to track well with trends in ROI-HO detectability. In particular, we observe orientation dependent conspicuity matching the orientation dependent detectability of the ROI-HO.

Optimal Control of Induction Machines to Minimize Transient Energy Losses

NASA Astrophysics Data System (ADS)

Plathottam, Siby Jose

Induction machines are electromechanical energy conversion devices comprised of a stator and a rotor. Torque is generated due to the interaction between the rotating magnetic field from the stator, and the current induced in the rotor conductors. Their speed and torque output can be precisely controlled by manipulating the magnitude, frequency, and phase of the three input sinusoidal voltage waveforms. Their ruggedness, low cost, and high efficiency have made them ubiquitous component of nearly every industrial application. Thus, even a small improvement in their energy efficient tend to give a large amount of electrical energy savings over the lifetime of the machine. Hence, increasing energy efficiency (reducing energy losses) in induction machines is a constrained optimization problem that has attracted attention from researchers. The energy conversion efficiency of induction machines depends on both the speed-torque operating point, as well as the input voltage waveform. It also depends on whether the machine is in the transient or steady state. Maximizing energy efficiency during steady state is a Static Optimization problem, that has been extensively studied, with commercial solutions available. On the other hand, improving energy efficiency during transients is a Dynamic Optimization problem that is sparsely studied. This dissertation exclusively focuses on improving energy efficiency during transients. This dissertation treats the transient energy loss minimization problem as an optimal control problem which consists of a dynamic model of the machine, and a cost functional. The rotor field oriented current fed model of the induction machine is selected as the dynamic model. The rotor speed and rotor d-axis flux are the state variables in the dynamic model. The stator currents referred to as d-and q-axis currents are the control inputs. A cost functional is proposed that assigns a cost to both the energy losses in the induction machine, as well as the deviations from desired speed-torque-magnetic flux setpoints. Using Pontryagin's minimum principle, a set of necessary conditions that must be satisfied by the optimal control trajectories are derived. The conditions are in the form a two-point boundary value problem, that can be solved numerically. The conjugate gradient method that was modified using the Hestenes-Stiefel formula was used to obtain the numerical solution of both the control and state trajectories. Using the distinctive shape of the numerical trajectories as inspiration, analytical expressions were derived for the state, and control trajectories. It was shown that the trajectory could be fully described by finding the solution of a one-dimensional optimization problem. The sensitivity of both the optimal trajectory and the optimal energy efficiency to different induction machine parameters were analyzed. A non-iterative solution that can use feedback for generating optimal control trajectories in real time was explored. It was found that an artificial neural network could be trained using the numerical solutions and made to emulate the optimal control trajectories with a high degree of accuracy. Hence a neural network along with a supervisory logic was implemented and used in a real-time simulation to control the Finite Element Method model of the induction machine. The results were compared with three other control regimes and the optimal control system was found to have the highest energy efficiency for the same drive cycle.

Procedure for the systematic orientation of digitised cranial models. Design and validation.

PubMed

Bailo, M; Baena, S; Marín, J J; Arredondo, J M; Auría, J M; Sánchez, B; Tardío, E; Falcón, L

2015-12-01

Comparison of bony pieces requires that they are oriented systematically to ensure that homologous regions are compared. Few orientation methods are highly accurate; this is particularly true for methods applied to three-dimensional models obtained by surface scanning, a technique whose special features make it a powerful tool in forensic contexts. The aim of this study was to develop and evaluate a systematic, assisted orientation method for aligning three-dimensional cranial models relative to the Frankfurt Plane, which would be produce accurate orientations independent of operator and anthropological expertise. The study sample comprised four crania of known age and sex. All the crania were scanned and reconstructed using an Eva Artec™ portable 3D surface scanner and subsequently, the position of certain characteristic landmarks were determined by three different operators using the Rhinoceros 3D surface modelling software. Intra-observer analysis showed a tendency for orientation to be more accurate when using the assisted method than when using conventional manual orientation. Inter-observer analysis showed that experienced evaluators achieve results at least as accurate if not more accurate using the assisted method than those obtained using manual orientation; while inexperienced evaluators achieved more accurate orientation using the assisted method. The method tested is a an innovative system capable of providing very precise, systematic and automatised spatial orientations of virtual cranial models relative to standardised anatomical planes independent of the operator and operator experience. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

JBoss Middleware for Spacecraft Trajectory Operations

NASA Technical Reports Server (NTRS)

Stensrud, Kjell; Srinivasan, Ravi; Hamm, Dustin

2008-01-01

This viewgraph presentation reviews the use of middleware for spacecraft trajectory planning. It reviews the following areas and questions: 1. Project Background - What is the environment where we are considering Open Source Middleware? 2. System Architecture - What technologies and design did we apply? 3. Testing overview - What are the quality scenarios and test points? 4. Project Conclusion - What did we learn about Open Source Middleware?

FPGA Implementation of an Efficient Algorithm for the Calculation of Charged Particle Trajectories in Cosmic Ray Detectors

NASA Astrophysics Data System (ADS)

Villar, Xabier; Piso, Daniel; Bruguera, Javier D.

2014-02-01

This paper presents an FPGA implementation of an algorithm, previously published, for the the reconstruction of cosmic rays' trajectories and the determination of the time of arrival and velocity of the particles. The accuracy and precision issues of the algorithm have been analyzed to propose a suitable implementation. Thus, a 32-bit fixed-point format has been used for the representation of the data values. Moreover, the dependencies among the different operations have been taken into account to obtain a highly parallel and efficient hardware implementation. The final hardware architecture requires 18 cycles to process every particle, and has been exhaustively simulated to validate all the design decisions. The architecture has been mapped over different commercial FPGAs, with a frequency of operation ranging from 300 MHz to 1.3 GHz, depending on the FPGA being used. Consequently, the number of particle trajectories processed per second is between 16 million and 72 million. The high number of particle trajectories calculated per second shows that the proposed FPGA implementation might be used also in high rate environments such as those found in particle and nuclear physics experiments.

Visual Uav Trajectory Plan System Based on Network Map

NASA Astrophysics Data System (ADS)

Li, X. L.; Lin, Z. J.; Su, G. Z.; Wu, B. Y.

2012-07-01

The base map of the current software UP-30 using in trajectory plan for Unmanned Aircraft Vehicle is vector diagram. UP-30 draws navigation points manually. But in the field of operation process, the efficiency and the quality of work is influenced because of insufficient information, screen reflection, calculate inconveniently and other factors. If we do this work in indoor, the effect of external factors on the results would be eliminated, the network earth users can browse the free world high definition satellite images through downloading a client software, and can export the high resolution image by standard file format. This brings unprecedented convenient of trajectory plan. But the images must be disposed by coordinate transformation, geometric correction. In addition, according to the requirement of mapping scale ,camera parameters and overlap degree we can calculate exposure hole interval and trajectory distance between the adjacent trajectory automatically . This will improve the degree of automation of data collection. Software will judge the position of next point according to the intersection of the trajectory and the survey area and ensure the position of point according to trajectory distance. We can undertake the points artificially. So the trajectory plan is automatic and flexible. Considering safety, the date can be used in flying after simulating flight. Finally we can export all of the date using a key

Real time correlation function in a single phase space integral beyond the linearized semiclassical initial value representation.

PubMed

Liu, Jian; Miller, William H

2007-06-21

It is shown how quantum mechanical time correlation functions [defined, e.g., in Eq. (1.1)] can be expressed, without approximation, in the same form as the linearized approximation of the semiclassical initial value representation (LSC-IVR), or classical Wigner model, for the correlation function [cf. Eq. (2.1)], i.e., as a phase space average (over initial conditions for trajectories) of the Wigner functions corresponding to the two operators. The difference is that the trajectories involved in the LSC-IVR evolve classically, i.e., according to the classical equations of motion, while in the exact theory they evolve according to generalized equations of motion that are derived here. Approximations to the exact equations of motion are then introduced to achieve practical methods that are applicable to complex (i.e., large) molecular systems. Four such methods are proposed in the paper--the full Wigner dynamics (full WD) and the second order WD based on "Wigner trajectories" [H. W. Lee and M. D. Scully, J. Chem. Phys. 77, 4604 (1982)] and the full Donoso-Martens dynamics (full DMD) and the second order DMD based on "Donoso-Martens trajectories" [A. Donoso and C. C. Martens, Phys. Rev. Lett. 8722, 223202 (2001)]--all of which can be viewed as generalizations of the original LSC-IVR method. Numerical tests of the four versions of this new approach are made for two anharmonic model problems, and for each the momentum autocorrelation function (i.e., operators linear in coordinate or momentum operators) and the force autocorrelation function (nonlinear operators) have been calculated. These four new approximate treatments are indeed seen to be significant improvements to the original LSC-IVR approximation.

3D Position and Velocity Vector Computations of Objects Jettisoned from the International Space Station Using Close-Range Photogrammetry Approach

NASA Technical Reports Server (NTRS)

Papanyan, Valeri; Oshle, Edward; Adamo, Daniel

2008-01-01

Measurement of the jettisoned object departure trajectory and velocity vector in the International Space Station (ISS) reference frame is vitally important for prompt evaluation of the object s imminent orbit. We report on the first successful application of photogrammetric analysis of the ISS imagery for the prompt computation of the jettisoned object s position and velocity vectors. As post-EVA analyses examples, we present the Floating Potential Probe (FPP) and the Russian "Orlan" Space Suit jettisons, as well as the near-real-time (provided in several hours after the separation) computations of the Video Stanchion Support Assembly Flight Support Assembly (VSSA-FSA) and Early Ammonia Servicer (EAS) jettisons during the US astronauts space-walk. Standard close-range photogrammetry analysis was used during this EVA to analyze two on-board camera image sequences down-linked from the ISS. In this approach the ISS camera orientations were computed from known coordinates of several reference points on the ISS hardware. Then the position of the jettisoned object for each time-frame was computed from its image in each frame of the video-clips. In another, "quick-look" approach used in near-real time, orientation of the cameras was computed from their position (from the ISS CAD model) and operational data (pan and tilt) then location of the jettisoned object was calculated only for several frames of the two synchronized movies. Keywords: Photogrammetry, International Space Station, jettisons, image analysis.

Ankle joint movements are encoded by both cutaneous and muscle afferents in humans.

PubMed

Aimonetti, Jean-Marc; Roll, Jean-Pierre; Hospod, Valérie; Ribot-Ciscar, Edith

2012-08-01

We analyzed the cutaneous encoding of two-dimensional movements by investigating the coding of movement velocity for differently oriented straight-line movements and the coding of complex trajectories describing cursive letters. The cutaneous feedback was then compared with that of the underlying muscle afferents previously recorded during the same "writing-like" movements. The unitary activity of 43 type II cutaneous afferents was recorded in the common peroneal nerve in healthy subjects during imposed ankle movements. These movements consisted first of ramp-and-hold movements imposed at two different and close velocities in seven directions and secondly of "writing-like" movements. In both cases, the responses were analyzed using the neuronal population vector model. The results show that movement velocity encoding depended on the direction of the ongoing movement. Discriminating between two velocities therefore involved processing the activity of afferent populations located in the various skin areas surrounding the moving joint, as shown by the statistically significant difference observed in the amplitude of the sum vectors. Secondly, "writing-like" movements induced cutaneous neuronal patterns of activity, which were reproducible and specific to each trajectory. Lastly, the "cutaneous neuronal trajectories," built by adding the sum vectors tip-to-tail, nearly matched both the movement trajectories and the "muscle neuronal trajectories," built from previously recorded muscle afferents. It was concluded that type II cutaneous and the underlying muscle afferents show similar encoding properties of two-dimensional movement parameters. This similarity is discussed in relation to a central gating process that would for instance increase the gain of cutaneous inputs when muscle information is altered by the fusimotor drive.

The Mechanism for Processing Random-Dot Motion at Various Speeds in Early Visual Cortices

PubMed Central

An, Xu; Gong, Hongliang; McLoughlin, Niall; Yang, Yupeng; Wang, Wei

2014-01-01

All moving objects generate sequential retinotopic activations representing a series of discrete locations in space and time (motion trajectory). How direction-selective neurons in mammalian early visual cortices process motion trajectory remains to be clarified. Using single-cell recording and optical imaging of intrinsic signals along with mathematical simulation, we studied response properties of cat visual areas 17 and 18 to random dots moving at various speeds. We found that, the motion trajectory at low speed was encoded primarily as a direction signal by groups of neurons preferring that motion direction. Above certain transition speeds, the motion trajectory is perceived as a spatial orientation representing the motion axis of the moving dots. In both areas studied, above these speeds, other groups of direction-selective neurons with perpendicular direction preferences were activated to encode the motion trajectory as motion-axis information. This applied to both simple and complex neurons. The average transition speed for switching between encoding motion direction and axis was about 31°/s in area 18 and 15°/s in area 17. A spatio-temporal energy model predicted the transition speeds accurately in both areas, but not the direction-selective indexes to random-dot stimuli in area 18. In addition, above transition speeds, the change of direction preferences of population responses recorded by optical imaging can be revealed using vector maximum but not vector summation method. Together, this combined processing of motion direction and axis by neurons with orthogonal direction preferences associated with speed may serve as a common principle of early visual motion processing. PMID:24682033

Trajectories of women's abortion-related care: A conceptual framework.

PubMed

Coast, Ernestina; Norris, Alison H; Moore, Ann M; Freeman, Emily

2018-03-01

We present a new conceptual framework for studying trajectories to obtaining abortion-related care. It assembles for the first time all of the known factors influencing a trajectory and encourages readers to consider the ways these macro- and micro-level factors operate in multiple and sometimes conflicting ways. Based on presentation to and feedback from abortion experts (researchers, providers, funders, policymakers and advisors, advocates) (n = 325) between 03/06/2014 and 22/08/2015, and a systematic mapping of peer-reviewed literature (n = 424) published between 01/01/2011 and 30/10/2017, our framework synthesises the factors shaping abortion trajectories, grouped into three domains: abortion-specific experiences, individual contexts, and (inter)national and sub-national contexts. Our framework includes time-dependent processes involved in an individual trajectory, starting with timing of pregnancy awareness. This framework can be used to guide testable hypotheses about enabling and inhibiting influences on care-seeking behaviour and consideration about how abortion trajectories might be influenced by policy or practice. Research based on understanding of trajectories has the potential to improve women's experiences and outcomes of abortion-related care. Copyright © 2018 The Author(s). Published by Elsevier Ltd.. All rights reserved.

Piloted simulation of an air-ground profile negotiation process in a time-based Air Traffic Control environment

NASA Technical Reports Server (NTRS)

Williams, David H.; Green, Steven M.

1993-01-01

Historically, development of airborne flight management systems (FMS) and ground-based air traffic control (ATC) systems has tended to focus on different objectives with little consideration for operational integration. A joint program, between NASA's Ames Research Center (Ames) and Langley Research Center (Langley), is underway to investigate the issues of, and develop systems for, the integration of ATC and airborne automation systems. A simulation study was conducted to evaluate a profile negotiation process (PNP) between the Center/TRACON Automation System (CTAS) and an aircraft equipped with a four-dimensional flight management system (4D FMS). Prototype procedures were developed to support the functional implementation of this process. The PNP was designed to provide an arrival trajectory solution which satisfies the separation requirements of ATC while remaining as close as possible to the aircraft's preferred trajectory. Results from the experiment indicate the potential for successful incorporation of aircraft-preferred arrival trajectories in the CTAS automation environment. Fuel savings on the order of 2 percent to 8 percent, compared to fuel required for the baseline CTAS arrival speed strategy, were achieved in the test scenarios. The data link procedures and clearances developed for this experiment, while providing the necessary functionality, were found to be operationally unacceptable to the pilots. In particular, additional pilot control and understanding of the proposed aircraft-preferred trajectory, and a simplified clearance procedure were cited as necessary for operational implementation of the concept.

Modeling and Classifying Six-Dimensional Trajectories for Teleoperation Under a Time Delay

NASA Technical Reports Server (NTRS)

SunSpiral, Vytas; Wheeler, Kevin R.; Allan, Mark B.; Martin, Rodney

2006-01-01

Within the context of teleoperating the JSC Robonaut humanoid robot under 2-10 second time delays, this paper explores the technical problem of modeling and classifying human motions represented as six-dimensional (position and orientation) trajectories. A dual path research agenda is reviewed which explored both deterministic approaches and stochastic approaches using Hidden Markov Models. Finally, recent results are shown from a new model which represents the fusion of these two research paths. Questions are also raised about the possibility of automatically generating autonomous actions by reusing the same predictive models of human behavior to be the source of autonomous control. This approach changes the role of teleoperation from being a stand-in for autonomy into the first data collection step for developing generative models capable of autonomous control of the robot.

Physical Sensing of Surface Properties by Microswimmers--Directing Bacterial Motion via Wall Slip.

PubMed

Hu, Jinglei; Wysocki, Adam; Winkler, Roland G; Gompper, Gerhard

2015-05-20

Bacteria such as Escherichia coli swim along circular trajectories adjacent to surfaces. Thereby, the orientation (clockwise, counterclockwise) and the curvature depend on the surface properties. We employ mesoscale hydrodynamic simulations of a mechano-elastic model of E. coli, with a spherocylindrical body propelled by a bundle of rotating helical flagella, to study quantitatively the curvature of the appearing circular trajectories. We demonstrate that the cell is sensitive to nanoscale changes in the surface slip length. The results are employed to propose a novel approach to directing bacterial motion on striped surfaces with different slip lengths, which implies a transformation of the circular motion into a snaking motion along the stripe boundaries. The feasibility of this approach is demonstrated by a simulation of active Brownian rods, which also reveals a dependence of directional motion on the stripe width.

Steering particles by breaking symmetries

NASA Astrophysics Data System (ADS)

Bet, Bram; Samin, Sela; Georgiev, Rumen; Burak Eral, Huseyin; van Roij, René

2018-06-01

We derive general equations of motions for highly-confined particles that perform quasi-two-dimensional motion in Hele-Shaw channels, which we solve analytically, aiming to derive design principles for self-steering particles. Based on symmetry properties of a particle, its equations of motion can be simplified, where we retrieve an earlier-known equation of motion for the orientation of dimer particles consisting of disks (Uspal et al 2013 Nat. Commun. 4), but now in full generality. Subsequently, these solutions are compared with particle trajectories that are obtained numerically. For mirror-symmetric particles, excellent agreement between the analytical and numerical solutions is found. For particles lacking mirror symmetry, the analytic solutions provide means to classify the motion based on particle geometry, while we find that taking the side-wall interactions into account is important to accurately describe the trajectories.

3D imaging studies of rigid-fiber sedimentation

NASA Astrophysics Data System (ADS)

Vahey, David W.; Tozzi, Emilio J.; Scott, C. Tim; Klingenberg, Daniel J.

2011-03-01

Fibers are industrially important particles that experience coupling between rotational and translational motion during sedimentation. This leads to helical trajectories that have yet to be accurately predicted or measured. Sedimentation experiments and hydrodynamic analysis were performed on 11 copper "fibers" of average length 10.3 mm and diameter 0.20 mm. Each fiber contained three linear but non-coplanar segments. Fiber dimensions were measured by imaging their 2D projections on three planes. The fibers were sequentially released into silicone oil contained in a transparent cylinder of square cross section. Identical, synchronized cameras were mounted to a moveable platform and imaged the cylinder from orthogonal directions. The cameras were fixed in position during the time that a fiber remained in the field of view. Subsequently, the cameras were controllably moved to the next lower field of view. The trajectories of descending fibers were followed over distances up to 250 mm. Custom software was written to extract fiber orientation and trajectory from the 3D images. Fibers with similar terminal velocity often had significantly different terminal angular velocities. Both were well-predicted by theory. The radius of the helical trajectory was hard to predict when angular velocity was high, probably reflecting uncertainties in fiber shape, initial velocity, and fluid conditions associated with launch. Nevertheless, lateral excursion of fibers during sedimentation was reasonably predicted by fiber curl and asymmetry, suggesting the possibility of sorting fibers according to their shape.

Real-time distortion correction of spiral and echo planar images using the gradient system impulse response function.

PubMed

Campbell-Washburn, Adrienne E; Xue, Hui; Lederman, Robert J; Faranesh, Anthony Z; Hansen, Michael S

2016-06-01

MRI-guided interventions demand high frame rate imaging, making fast imaging techniques such as spiral imaging and echo planar imaging (EPI) appealing. In this study, we implemented a real-time distortion correction framework to enable the use of these fast acquisitions for interventional MRI. Distortions caused by gradient waveform inaccuracies were corrected using the gradient impulse response function (GIRF), which was measured by standard equipment and saved as a calibration file on the host computer. This file was used at runtime to calculate the predicted k-space trajectories for image reconstruction. Additionally, the off-resonance reconstruction frequency was modified in real time to interactively deblur spiral images. Real-time distortion correction for arbitrary image orientations was achieved in phantoms and healthy human volunteers. The GIRF-predicted k-space trajectories matched measured k-space trajectories closely for spiral imaging. Spiral and EPI image distortion was visibly improved using the GIRF-predicted trajectories. The GIRF calibration file showed no systematic drift in 4 months and was demonstrated to correct distortions after 30 min of continuous scanning despite gradient heating. Interactive off-resonance reconstruction was used to sharpen anatomical boundaries during continuous imaging. This real-time distortion correction framework will enable the use of these high frame rate imaging methods for MRI-guided interventions. Magn Reson Med 75:2278-2285, 2016. © 2015 Wiley Periodicals, Inc. © 2015 Wiley Periodicals, Inc.

Real-time distortion correction of spiral and echo planar images using the gradient system impulse response function

PubMed Central

Campbell-Washburn, Adrienne E; Xue, Hui; Lederman, Robert J; Faranesh, Anthony Z; Hansen, Michael S

2015-01-01

Purpose MRI-guided interventions demand high frame-rate imaging, making fast imaging techniques such as spiral imaging and echo planar imaging (EPI) appealing. In this study, we implemented a real-time distortion correction framework to enable the use of these fast acquisitions for interventional MRI. Methods Distortions caused by gradient waveform inaccuracies were corrected using the gradient impulse response function (GIRF), which was measured by standard equipment and saved as a calibration file on the host computer. This file was used at runtime to calculate the predicted k-space trajectories for image reconstruction. Additionally, the off-resonance reconstruction frequency was modified in real-time to interactively de-blur spiral images. Results Real-time distortion correction for arbitrary image orientations was achieved in phantoms and healthy human volunteers. The GIRF predicted k-space trajectories matched measured k-space trajectories closely for spiral imaging. Spiral and EPI image distortion was visibly improved using the GIRF predicted trajectories. The GIRF calibration file showed no systematic drift in 4 months and was demonstrated to correct distortions after 30 minutes of continuous scanning despite gradient heating. Interactive off-resonance reconstruction was used to sharpen anatomical boundaries during continuous imaging. Conclusions This real-time distortion correction framework will enable the use of these high frame-rate imaging methods for MRI-guided interventions. PMID:26114951

Advanced software development workstation: Object-oriented methodologies and applications for flight planning and mission operations

NASA Technical Reports Server (NTRS)

Izygon, Michel

1993-01-01

The work accomplished during the past nine months in order to help three different organizations involved in Flight Planning and in Mission Operations systems, to transition to Object-Oriented Technology, by adopting one of the currently most widely used Object-Oriented analysis and Design Methodology is summarized.

DefenseLink Special: Joint Civilian Orientation Conference, JCOC 71, April

Science.gov Websites

Websites Contact Us Joint Civilian Orientation Conference 71 Multi-Service Orientation Program for Civilian in the Middle East: how the U.S. Coast Guard is helping keep Iraq's offshore oil terminals operating -improvised explosive device training at Forward Operating Base Sword in Kuwait, April 26, 2006. Hendrickson

Incidents Prediction in Road Junctions Using Artificial Neural Networks

NASA Astrophysics Data System (ADS)

Hajji, Tarik; Alami Hassani, Aicha; Ouazzani Jamil, Mohammed

2018-05-01

The implementation of an incident detection system (IDS) is an indispensable operation in the analysis of the road traffics. However the IDS may, in no case, represent an alternative to the classical monitoring system controlled by the human eye. The aim of this work is to increase detection and prediction probability of incidents in camera-monitored areas. Knowing that, these areas are monitored by multiple cameras and few supervisors. Our solution is to use Artificial Neural Networks (ANN) to analyze moving objects trajectories on captured images. We first propose a modelling of the trajectories and their characteristics, after we develop a learning database for valid and invalid trajectories, and then we carry out a comparative study to find the artificial neural network architecture that maximizes the rate of valid and invalid trajectories recognition.

Trajectory Design Employing Convex Optimization for Landing on Irregularly Shaped Asteroids

NASA Technical Reports Server (NTRS)

Pinson, Robin M.; Lu, Ping

2016-01-01

Mission proposals that land on asteroids are becoming popular. However, in order to have a successful mission the spacecraft must reliably and softly land at the intended landing site. The problem under investigation is how to design a fuel-optimal powered descent trajectory that can be quickly computed on- board the spacecraft, without interaction from ground control. An optimal trajectory designed immediately prior to the descent burn has many advantages. These advantages include the ability to use the actual vehicle starting state as the initial condition in the trajectory design and the ease of updating the landing target site if the original landing site is no longer viable. For long trajectories, the trajectory can be updated periodically by a redesign of the optimal trajectory based on current vehicle conditions to improve the guidance performance. One of the key drivers for being completely autonomous is the infrequent and delayed communication between ground control and the vehicle. Challenges that arise from designing an asteroid powered descent trajectory include complicated nonlinear gravity fields, small rotating bodies and low thrust vehicles. There are two previous studies that form the background to the current investigation. The first set looked in-depth at applying convex optimization to a powered descent trajectory on Mars with promising results.1, 2 This showed that the powered descent equations of motion can be relaxed and formed into a convex optimization problem and that the optimal solution of the relaxed problem is indeed a feasible solution to the original problem. This analysis used a constant gravity field. The second area applied a successive solution process to formulate a second order cone program that designs rendezvous and proximity operations trajectories.3, 4 These trajectories included a Newtonian gravity model. The equivalence of the solutions between the relaxed and the original problem is theoretically established. The proposed solution for designing the asteroid powered descent trajectory is to use convex optimization, a gravity model with higher fidelity than Newtonian, and an iterative solution process to design the fuel optimal trajectory. The solution to the convex optimization problem is the thrust profile, magnitude and direction, that will yield the minimum fuel trajectory for a soft landing at the target site, subject to various mission and operational constraints. The equations of motion are formulated in a rotating coordinate system and includes a high fidelity gravity model. The vehicle's thrust magnitude can vary between maximum and minimum bounds during the burn. Also, constraints are included to ensure that the vehicle does not run out of propellant, or go below the asteroid's surface, and any vehicle pointing requirements. The equations of motion are discretized and propagated with the trapezoidal rule in order to produce equality constraints for the optimization problem. These equality constraints allow the optimization algorithm to solve the entire problem, without including a propagator inside the optimization algorithm.

Finite burn maneuver modeling for a generalized spacecraft trajectory design and optimization system.

PubMed

Ocampo, Cesar

2004-05-01

The modeling, design, and optimization of finite burn maneuvers for a generalized trajectory design and optimization system is presented. A generalized trajectory design and optimization system is a system that uses a single unified framework that facilitates the modeling and optimization of complex spacecraft trajectories that may operate in complex gravitational force fields, use multiple propulsion systems, and involve multiple spacecraft. The modeling and optimization issues associated with the use of controlled engine burn maneuvers of finite thrust magnitude and duration are presented in the context of designing and optimizing a wide class of finite thrust trajectories. Optimal control theory is used examine the optimization of these maneuvers in arbitrary force fields that are generally position, velocity, mass, and are time dependent. The associated numerical methods used to obtain these solutions involve either, the solution to a system of nonlinear equations, an explicit parameter optimization method, or a hybrid parameter optimization that combines certain aspects of both. The theoretical and numerical methods presented here have been implemented in copernicus, a prototype trajectory design and optimization system under development at the University of Texas at Austin.

An Advanced Trajectory-Based Operations Prototype Tool and Focus Group Evaluation

NASA Technical Reports Server (NTRS)

Guerreiro, Nelson M.; Jones, Denise R.; Barmore, Bryan E.; Butler, Ricky W.; Hagen, George E.; Maddalon, Jeffrey M.; Ahmad, Nash'at N.; Rogers, Laura J.; Underwood, Matthew C.; Johnson, Sally C.

2017-01-01

Trajectory-based operations (TBO) is a key concept in the Next Generation Air Transportation System transformation of the National Airspace System (NAS) that will increase the predictability and stability of traffic flows, support a common operational picture through the use of digital data sharing, facilitate more effective collaborative decision making between airspace users and air navigation service providers, and enable increased levels of integrated automation across the NAS. The National Aeronautics and Space Administration (NASA) has been developing trajectory-based systems to improve the efficiency of the NAS during specific phases of flight and is now also exploring Advanced 4-Dimensional Trajectory (4DT) operational concepts that will integrate these technologies and incorporate new technology where needed to create both automation and procedures to support gate-to-gate TBO. A TBO Prototype simulation toolkit has been developed that demonstrates initial functionality that may reside in an Advanced 4DT TBO concept. Pilot and controller subject matter experts (SMEs) were brought to the Air Traffic Operations Laboratory at NASA Langley Research Center for discussions on an Advanced 4DT operational concept and were provided an interactive demonstration of the TBO Prototype using four example scenarios. The SMEs provided feedback on potential operational, technological, and procedural opportunities and concerns. After viewing the interactive demonstration scenarios, the SMEs felt the operational capabilities demonstrated would be useful for performing TBO while maintaining situation awareness and low mental workload. The TBO concept demonstrated produced defined routings around weather which resulted in a more organized, consistent flow of traffic where it was clear to both the controller and pilot what route the aircraft was to follow. In general, the controller SMEs felt that traffic flow management should be responsible for generating and negotiating the operational constraints demonstrated, in cooperation with the Air Traffic Control System Command Center, while air traffic control should be responsible for the implementation of those constraints. The SMEs also indicated that digital data communications would be very beneficial for TBO operations and would result in less workload due to reduced communications, would eliminate issues due to language barriers and frequency problems, and would make receiving, loading, accepting, and executing clearances easier, less ambiguous, and more expeditious. This paper describes an Advanced 4DT operational concept, the TBO Prototype, the demonstration scenarios and methods used, and the feedback obtained from the pilot and controller SMEs in this focus group evaluation.

Space Shuttle to deploy Magellan planetary science mission

NASA Technical Reports Server (NTRS)

1989-01-01

The objectives of Space Shuttle Mission STS-30 are described along with major flight activities, prelaunch and launch operations, trajectory sequence of events, and landing and post-landing operations. The primary objective of STS-30 is to successfully deploy the Magellan spacecraft into low earth orbit. Following deployment, Magellan will be propelled to its Venus trajectory by an Inertial Upper Stage booster. The objectives of the Magellan mission are to obtain radar images of more than 70 percent of Venus' surface, a near-global topographic map, and near-global gravity field data. Secondary STS-30 payloads include the Fluids Experiment Apparatus (FEA) and the Mesoscale Lightning Experiment (MLE).

LDSD POST2 Modeling Enhancements in Support of SFDT-2 Flight Operations

NASA Technical Reports Server (NTRS)

White, Joseph; Bowes, Angela L.; Dutta, Soumyo; Ivanov, Mark C.; Queen, Eric M.

2016-01-01

Program to Optimize Simulated Trajectories II (POST2) was utilized to develop trajectory simulations characterizing all flight phases from drop to splashdown for the Low-Density Supersonic Decelerator (LDSD) project's first and second Supersonic Flight Dynamics Tests (SFDT-1 and SFDT-2) which took place June 28, 2014 and June 8, 2015, respectively. This paper describes the modeling improvements incorporated into the LDSD POST2 simulations since SFDT-1 and presents how these modeling updates affected the predicted SFDT-2 performance and sensitivity to the mission design. The POST2 simulation flight dynamics support during the SFDT-2 launch, operations, and recovery is also provided.

Analytic derivation and evaluation of a state-trajectory control law for dc-to-dc converters

NASA Technical Reports Server (NTRS)

Burns, W. W., III; Wilson, T. G.

1977-01-01

Mathematical representations of a state-plane switching boundary employed in a state-trajectory control law for dc-to-dc converters are derived. Several levels of approximation to the switching boundary equations are presented, together with an evaluation of the effects of nonideal operating characteristics of converter power stage components on the shape and location of the boundary and the behavior of a system controlled by it. Digital computer simulations of dc-to-dc converters operating in conjunction with each of these levels of control are presented and evaluated with respect to changes in transient and steady-state performance.

Performance Evaluation of the Approaches and Algorithms for Hamburg Airport Operations

NASA Technical Reports Server (NTRS)

Zhu, Zhifan; Jung, Yoon; Lee, Hanbong; Schier, Sebastian; Okuniek, Nikolai; Gerdes, Ingrid

2016-01-01

In this work, fast-time simulations have been conducted using SARDA tools at Hamburg airport by NASA and real-time simulations using CADEO and TRACC with the NLR ATM Research Simulator (NARSIM) by DLR. The outputs are analyzed using a set of common metrics collaborated between DLR and NASA. The proposed metrics are derived from International Civil Aviation Organization (ICAO)s Key Performance Areas (KPAs) in capability, efficiency, predictability and environment, and adapted to simulation studies. The results are examined to explore and compare the merits and shortcomings of the two approaches using the common performance metrics. Particular attention is paid to the concept of the close-loop, trajectory-based taxi as well as the application of US concept to the European airport. Both teams consider the trajectory-based surface operation concept a critical technology advance in not only addressing the current surface traffic management problems, but also having potential application in unmanned vehicle maneuver on airport surface, such as autonomous towing or TaxiBot [6][7] and even Remote Piloted Aircraft (RPA). Based on this work, a future integration of TRACC and SOSS is described aiming at bringing conflict-free trajectory-based operation concept to US airport.

Event-synchronized data acquisition system for the SPring-8 linac beam position monitors

NASA Astrophysics Data System (ADS)

Masuda, T.; Fukui, T.; Tanaka, R.; Taniuchi, T.; Yamashita, A.; Yanagida, K.

2005-05-01

By the summer of 2003, we had completed the installation of a new non-destructive beam position monitor (BPM) system to facilitate beam trajectory and energy correction for the SPring-8 linac. In all, 47 BPM sets were installed on the 1-GeV linac and three beam-transport lines. All of the BPM data acquisition system was required to operate synchronously with the electron beam acceleration cycle. We have developed an event-synchronized data acquisition system for the BPM data readout. We have succeeded in continuously taking all the BPMs data from six VME computers synchronized with the 10 pps operation of the linac to continuously acquire data. For each beam shot, the data points are indexed by event number and stored in a database. Using the real-time features of the Solaris operating system and distributed database technology, we currently have achieved about 99.9% efficiency in capturing and archiving all of the 10 Hz data. The linac BPM data is available for off-line analysis of the beam trajectory, but also for real-time control and automatic correction of the beam trajectory and energy.

Ares I-X Range Safety Flight Envelope Analysis

NASA Technical Reports Server (NTRS)

Starr, Brett R.; Olds, Aaron D.; Craig, Anthony S.

2011-01-01

Ares I-X was the first test flight of NASA's Constellation Program's Ares I Crew Launch Vehicle designed to provide manned access to low Earth orbit. As a one-time test flight, the Air Force's 45th Space Wing required a series of Range Safety analysis data products to be developed for the specified launch date and mission trajectory prior to granting flight approval on the Eastern Range. The range safety data package is required to ensure that the public, launch area, and launch complex personnel and resources are provided with an acceptable level of safety and that all aspects of prelaunch and launch operations adhere to applicable public laws. The analysis data products, defined in the Air Force Space Command Manual 91-710, Volume 2, consisted of a nominal trajectory, three sigma trajectory envelopes, stage impact footprints, acoustic intensity contours, trajectory turn angles resulting from potential vehicle malfunctions (including flight software failures), characterization of potential debris, and debris impact footprints. These data products were developed under the auspices of the Constellation's Program Launch Constellation Range Safety Panel and its Range Safety Trajectory Working Group with the intent of beginning the framework for the operational vehicle data products and providing programmatic review and oversight. A multi-center NASA team in conjunction with the 45th Space Wing, collaborated within the Trajectory Working Group forum to define the data product development processes, performed the analyses necessary to generate the data products, and performed independent verification and validation of the data products. This paper outlines the Range Safety data requirements and provides an overview of the processes established to develop both the data products and the individual analyses used to develop the data products, and it summarizes the results of the analyses required for the Ares I-X launch.

Ares I-X Range Safety Analyses Overview

NASA Technical Reports Server (NTRS)

Starr, Brett R.; Gowan, John W., Jr.; Thompson, Brian G.; Tarpley, Ashley W.

2011-01-01

Ares I-X was the first test flight of NASA's Constellation Program's Ares I Crew Launch Vehicle designed to provide manned access to low Earth orbit. As a one-time test flight, the Air Force's 45th Space Wing required a series of Range Safety analysis data products to be developed for the specified launch date and mission trajectory prior to granting flight approval on the Eastern Range. The range safety data package is required to ensure that the public, launch area, and launch complex personnel and resources are provided with an acceptable level of safety and that all aspects of prelaunch and launch operations adhere to applicable public laws. The analysis data products, defined in the Air Force Space Command Manual 91-710, Volume 2, consisted of a nominal trajectory, three sigma trajectory envelopes, stage impact footprints, acoustic intensity contours, trajectory turn angles resulting from potential vehicle malfunctions (including flight software failures), characterization of potential debris, and debris impact footprints. These data products were developed under the auspices of the Constellation's Program Launch Constellation Range Safety Panel and its Range Safety Trajectory Working Group with the intent of beginning the framework for the operational vehicle data products and providing programmatic review and oversight. A multi-center NASA team in conjunction with the 45th Space Wing, collaborated within the Trajectory Working Group forum to define the data product development processes, performed the analyses necessary to generate the data products, and performed independent verification and validation of the data products. This paper outlines the Range Safety data requirements and provides an overview of the processes established to develop both the data products and the individual analyses used to develop the data products, and it summarizes the results of the analyses required for the Ares I-X launch.

Characterizing spouse/partner depression and alcohol problems over the course of military deployment.

PubMed

Erbes, Christopher R; Kramer, Mark; Arbisi, Paul A; DeGarmo, David; Polusny, Melissa A

2017-04-01

Spouse/partners of military personnel demonstrate elevated levels of distress during military deployments, yet there is insufficient information about courses of adjustment over time. The current study identified trajectories of depression and alcohol use problems and predictors of those trajectories across the deployment cycle. National Guard soldiers (N = 1973) and spouses/intimate partners (N = 1020) completed assessments of risk/protective factors and baseline measures of mental health functioning 2 to 5 months prior to soldiers' 1-year deployments (Time 1) to Kuwait/Iraq in support of Operation New Dawn or Afghanistan in support of Operation Enduring Freedom. Partners' mental health was reassessed at 4 months (Time 2) and 8 months (Time 3) after soldiers deployed, and both spouses/partners and soldiers were reassessed 2-3 months postdeployment (Time 4). Latent class growth modeling of partner depression symptoms over time revealed 4 groups: Resilience (79.9%), Deployment Distress (8.9%), Anticipatory Distress (8.4%), and Post-Deployment Distress (2.7%). Three alcohol misuse trajectories were identified: Resilience (91.3%), Deployment Onset (5.4%), and Deployment Desistance (3.3%). Predeployment predictors of partners' depression symptom trajectories varied by group and included soldier reports of stressors and social support and partner levels of neuroticism, introversion, disconstraint, and reported stressors. Predeployment predictors of alcohol misuse trajectories varied by group, and included soldier levels of alcohol misuse as well as partner neuroticism, disconstraint, and family readiness. Delineating and predicting trajectories of partner adjustment can allow for better targeted interventions toward those most at risk for heightened distress or alcohol problems over the deployment cycle. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Quadrotor Intercept Trajectory Planning and Simulation

DTIC Science & Technology

2017-06-01

Figure 41. Results are grouped by geometry type and colored based on trajectory planner. Figure 41. Summary of Experimental Data Intercept Time...DISTRIBUTION CODE 13. ABSTRACT (maximum 200 words) Quadrotor drones pose a safety hazard when operated in or near controlled airspace. A hazardous...quadrotor could be intercepted and removed by another quadrotor. In this thesis, we seek to determine if optimal control methods outperform missile

Toward a self-organizing pre-symbolic neural model representing sensorimotor primitives.

PubMed

Zhong, Junpei; Cangelosi, Angelo; Wermter, Stefan

2014-01-01

The acquisition of symbolic and linguistic representations of sensorimotor behavior is a cognitive process performed by an agent when it is executing and/or observing own and others' actions. According to Piaget's theory of cognitive development, these representations develop during the sensorimotor stage and the pre-operational stage. We propose a model that relates the conceptualization of the higher-level information from visual stimuli to the development of ventral/dorsal visual streams. This model employs neural network architecture incorporating a predictive sensory module based on an RNNPB (Recurrent Neural Network with Parametric Biases) and a horizontal product model. We exemplify this model through a robot passively observing an object to learn its features and movements. During the learning process of observing sensorimotor primitives, i.e., observing a set of trajectories of arm movements and its oriented object features, the pre-symbolic representation is self-organized in the parametric units. These representational units act as bifurcation parameters, guiding the robot to recognize and predict various learned sensorimotor primitives. The pre-symbolic representation also accounts for the learning of sensorimotor primitives in a latent learning context.

Toward a self-organizing pre-symbolic neural model representing sensorimotor primitives

PubMed Central

Zhong, Junpei; Cangelosi, Angelo; Wermter, Stefan

2014-01-01

The acquisition of symbolic and linguistic representations of sensorimotor behavior is a cognitive process performed by an agent when it is executing and/or observing own and others' actions. According to Piaget's theory of cognitive development, these representations develop during the sensorimotor stage and the pre-operational stage. We propose a model that relates the conceptualization of the higher-level information from visual stimuli to the development of ventral/dorsal visual streams. This model employs neural network architecture incorporating a predictive sensory module based on an RNNPB (Recurrent Neural Network with Parametric Biases) and a horizontal product model. We exemplify this model through a robot passively observing an object to learn its features and movements. During the learning process of observing sensorimotor primitives, i.e., observing a set of trajectories of arm movements and its oriented object features, the pre-symbolic representation is self-organized in the parametric units. These representational units act as bifurcation parameters, guiding the robot to recognize and predict various learned sensorimotor primitives. The pre-symbolic representation also accounts for the learning of sensorimotor primitives in a latent learning context. PMID:24550798

Optimization-Based Sensor Fusion of GNSS and IMU Using a Moving Horizon Approach

PubMed Central

Girrbach, Fabian; Hol, Jeroen D.; Bellusci, Giovanni; Diehl, Moritz

2017-01-01

The rise of autonomous systems operating close to humans imposes new challenges in terms of robustness and precision on the estimation and control algorithms. Approaches based on nonlinear optimization, such as moving horizon estimation, have been shown to improve the accuracy of the estimated solution compared to traditional filter techniques. This paper introduces an optimization-based framework for multi-sensor fusion following a moving horizon scheme. The framework is applied to the often occurring estimation problem of motion tracking by fusing measurements of a global navigation satellite system receiver and an inertial measurement unit. The resulting algorithm is used to estimate position, velocity, and orientation of a maneuvering airplane and is evaluated against an accurate reference trajectory. A detailed study of the influence of the horizon length on the quality of the solution is presented and evaluated against filter-like and batch solutions of the problem. The versatile configuration possibilities of the framework are finally used to analyze the estimated solutions at different evaluation times exposing a nearly linear behavior of the sensor fusion problem. PMID:28534857

Single-step collision-free trajectory planning of biped climbing robots in spatial trusses.

PubMed

Zhu, Haifei; Guan, Yisheng; Chen, Shengjun; Su, Manjia; Zhang, Hong

For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation along with corresponding operations including sampling, metric calculation and interpolation is presented. A simple but effective model of a biped climbing robot in trusses is proposed, through which the motion planning of one climbing cycle is transformed to that of a manipulator. In addition, the pre- and post-processes are introduced to expedite the convergence of the Bi-RRT algorithm and to ensure the safe motion of the climbing robot near poles as well. The piecewise linear paths are smoothed by utilizing cubic B-spline curve fitting. The effectiveness and efficiency of the presented Bi-RRT algorithm for climbing motion planning are verified by simulations.

Optimization-Based Sensor Fusion of GNSS and IMU Using a Moving Horizon Approach.

PubMed

Girrbach, Fabian; Hol, Jeroen D; Bellusci, Giovanni; Diehl, Moritz

2017-05-19

The rise of autonomous systems operating close to humans imposes new challenges in terms of robustness and precision on the estimation and control algorithms. Approaches based on nonlinear optimization, such as moving horizon estimation, have been shown to improve the accuracy of the estimated solution compared to traditional filter techniques. This paper introduces an optimization-based framework for multi-sensor fusion following a moving horizon scheme. The framework is applied to the often occurring estimation problem of motion tracking by fusing measurements of a global navigation satellite system receiver and an inertial measurement unit. The resulting algorithm is used to estimate position, velocity, and orientation of a maneuvering airplane and is evaluated against an accurate reference trajectory. A detailed study of the influence of the horizon length on the quality of the solution is presented and evaluated against filter-like and batch solutions of the problem. The versatile configuration possibilities of the framework are finally used to analyze the estimated solutions at different evaluation times exposing a nearly linear behavior of the sensor fusion problem.

Memoryless control of boundary concentrations of diffusing particles.

PubMed

Singer, A; Schuss, Z; Nadler, B; Eisenberg, R S

2004-12-01

Flux between regions of different concentration occurs in nearly every device involving diffusion, whether an electrochemical cell, a bipolar transistor, or a protein channel in a biological membrane. Diffusion theory has calculated that flux since the time of Fick (1855), and the flux has been known to arise from the stochastic behavior of Brownian trajectories since the time of Einstein (1905), yet the mathematical description of the behavior of trajectories corresponding to different types of boundaries is not complete. We consider the trajectories of noninteracting particles diffusing in a finite region connecting two baths of fixed concentrations. Inside the region, the trajectories of diffusing particles are governed by the Langevin equation. To maintain average concentrations at the boundaries of the region at their values in the baths, a control mechanism is needed to set the boundary dynamics of the trajectories. Different control mechanisms are used in Langevin and Brownian simulations of such systems. We analyze models of controllers and derive equations for the time evolution and spatial distribution of particles inside the domain. Our analysis shows a distinct difference between the time evolution and the steady state concentrations. While the time evolution of the density is governed by an integral operator, the spatial distribution is governed by the familiar Fokker-Planck operator. The boundary conditions for the time dependent density depend on the model of the controller; however, this dependence disappears in the steady state, if the controller is of a renewal type. Renewal-type controllers, however, produce spurious boundary layers that can be catastrophic in simulations of charged particles, because even a tiny net charge can have global effects. The design of a nonrenewal controller that maintains concentrations of noninteracting particles without creating spurious boundary layers at the interface requires the solution of the time-dependent Fokker-Planck equation with absorption of outgoing trajectories and a source of ingoing trajectories on the boundary (the so called albedo problem).

Accuracy of image-guided surgical navigation using near infrared (NIR) optical tracking

NASA Astrophysics Data System (ADS)

Jakubovic, Raphael; Farooq, Hamza; Alarcon, Joseph; Yang, Victor X. D.

2015-03-01

Spinal surgery is particularly challenging for surgeons, requiring a high level of expertise and precision without being able to see beyond the surface of the bone. Accurate insertion of pedicle screws is critical considering perforation of the pedicle can result in profound clinical consequences including spinal cord, nerve root, arterial injury, neurological deficits, chronic pain, and/or failed back syndrome. Various navigation systems have been designed to guide pedicle screw fixation. Computed tomography (CT)-based image guided navigation systems increase the accuracy of screw placement allowing for 3- dimensional visualization of the spinal anatomy. Current localization techniques require extensive preparation and introduce spatial deviations. Use of near infrared (NIR) optical tracking allows for realtime navigation of the surgery by utilizing spectral domain multiplexing of light, greatly enhancing the surgeon's situation awareness in the operating room. While the incidence of pedicle screw perforation and complications have been significantly reduced with the introduction of modern navigational technologies, some error exists. Several parameters have been suggested including fiducial localization and registration error, target registration error, and angular deviation. However, many of these techniques quantify error using the pre-operative CT and an intra-operative screenshot without assessing the true screw trajectory. In this study we quantified in-vivo error by comparing the true screw trajectory to the intra-operative trajectory. Pre- and post- operative CT as well as intra-operative screenshots were obtained for a cohort of patients undergoing spinal surgery. We quantified entry point error and angular deviation in the axial and sagittal planes.

The Development and Evaluation of an Operational Aerobraking Strategy for the Mars 2001 Odyssey Orbiter

NASA Technical Reports Server (NTRS)

Tartabini, Paul V.; Munk, Michelle M.; Powell, Richard W.

2002-01-01

The Mars 2001 Odyssey Orbiter successfully completed the aerobraking phase of its mission on January 11, 2002. This paper discusses the support provided by NASA's Langley Research Center to the navigation team at the Jet Propulsion Laboratory in the planning and operational support of Mars Odyssey Aerobraking. Specifically, the development of a three-degree-of-freedom aerobraking trajectory simulation and its application to pre-flight planning activities as well as operations is described. The importance of running the simulation in a Monte Carlo fashion to capture the effects of mission and atmospheric uncertainties is demonstrated, and the utility of including predictive logic within the simulation that could mimic operational maneuver decision-making is shown. A description is also provided of how the simulation was adapted to support flight operations as both a validation and risk reduction tool and as a means of obtaining a statistical basis for maneuver strategy decisions. This latter application was the first use of Monte Carlo trajectory analysis in an aerobraking mission.

Orientational dynamics in a room temperature ionic liquid: Are angular jumps predominant?

NASA Astrophysics Data System (ADS)

Das, Suman; Mukherjee, Biswaroop; Biswas, Ranjit

2018-05-01

Reorientational dynamics of the constituent ions in a room temperature ionic liquid, 1-butyl-3-methylimidazolium hexafluorophosphate ([BMIM][PF6]), are explored via molecular dynamics simulations, and several features of orientation dynamics are summarized. The anion, [PF6]-, not only exhibits a higher propensity to orientation jumps than the cation, [BMIM]+ but also accesses a wider jump angle distribution and larger peak-angle. Jump and waiting time distributions for both the ions depict power-law dependences, suggesting temporally heterogeneous dynamics for the medium. This heterogeneity feature is further highlighted by the finding that the simulated first rank (ℓ = 1) and second rank (ℓ = 2) average reorientational correlation times reflect a severe break-down of Debye's ℓ(ℓ + 1) law for orientational diffusion in an isotropic homogeneous medium. Simulated average H-bond lifetime resides between the mean orientation jump and waiting times, while the structural H-bond relaxation suggests, as in normal liquids, a pronounced presence of translational motion of the partnering ions. Average simulated jump trajectories reveal a strong rotation-translation coupling and indicate relatively larger changes in spatial and angular arrangements for the anion during an orientation jump. In fact, a closer inspection of all these results points toward more heterogeneous dynamics for [PF6]- than [BMIM]+. This is a new observation and may simply be linked to the ion-size. However, such a generalization warrants further study.

Quantum Stochastic Trajectories: The Fokker-Planck-Bohm Equation Driven by the Reduced Density Matrix.

PubMed

Avanzini, Francesco; Moro, Giorgio J

2018-03-15

The quantum molecular trajectory is the deterministic trajectory, arising from the Bohm theory, that describes the instantaneous positions of the nuclei of molecules by assuring the agreement with the predictions of quantum mechanics. Therefore, it provides the suitable framework for representing the geometry and the motions of molecules without neglecting their quantum nature. However, the quantum molecular trajectory is extremely demanding from the computational point of view, and this strongly limits its applications. To overcome such a drawback, we derive a stochastic representation of the quantum molecular trajectory, through projection operator techniques, for the degrees of freedom of an open quantum system. The resulting Fokker-Planck operator is parametrically dependent upon the reduced density matrix of the open system. Because of the pilot role played by the reduced density matrix, this stochastic approach is able to represent accurately the main features of the open system motions both at equilibrium and out of equilibrium with the environment. To verify this procedure, the predictions of the stochastic and deterministic representation are compared for a model system of six interacting harmonic oscillators, where one oscillator is taken as the open quantum system of interest. The undeniable advantage of the stochastic approach is that of providing a simplified and self-contained representation of the dynamics of the open system coordinates. Furthermore, it can be employed to study the out of equilibrium dynamics and the relaxation of quantum molecular motions during photoinduced processes, like photoinduced conformational changes and proton transfers.

The SMART-NAS Testbed

NASA Technical Reports Server (NTRS)

Aquilina, Rudolph A.

2015-01-01

The SMART-NAS Testbed for Safe Trajectory Based Operations Project will deliver an evaluation capability, critical to the ATM community, allowing full NextGen and beyond-NextGen concepts to be assessed and developed. To meet this objective a strong focus will be placed on concept integration and validation to enable a gate-to-gate trajectory-based system capability that satisfies a full vision for NextGen. The SMART-NAS for Safe TBO Project consists of six sub-projects. Three of the sub-projects are focused on exploring and developing technologies, concepts and models for evolving and transforming air traffic management operations in the ATM+2 time horizon, while the remaining three sub-projects are focused on developing the tools and capabilities needed for testing these advanced concepts. Function Allocation, Networked Air Traffic Management and Trajectory Based Operations are developing concepts and models. SMART-NAS Test-bed, System Assurance Technologies and Real-time Safety Modeling are developing the tools and capabilities to test these concepts. Simulation and modeling capabilities will include the ability to assess multiple operational scenarios of the national airspace system, accept data feeds, allowing shadowing of actual operations in either real-time, fast-time and/or hybrid modes of operations in distributed environments, and enable integrated examinations of concepts, algorithms, technologies, and NAS architectures. An important focus within this project is to enable the development of a real-time, system-wide safety assurance system. The basis of such a system is a continuum of information acquisition, analysis, and assessment that enables awareness and corrective action to detect and mitigate potential threats to continuous system-wide safety at all levels. This process, which currently can only be done post operations, will be driven towards "real-time" assessments in the 2035 time frame.

Gun orientation in self-inflicted craniomaxillofacial gunshot wounds: risk factors associated with fatality.

PubMed

Johnson, J; Markiewicz, M R; Bell, R B; Potter, B E; Dierks, E J

2012-08-01

The purpose of this study was to evaluate whether orientation of a firearm predicts survival, and to identify risk factors associated with fatality in subjects with self-inflicted craniomaxillofacial gunshot wounds. A retrospective cohort study design was used. The primary predictor variable was orientation of the weapon, defined as in the coronal (lateral) or sagittal (anterior-posterior) trajectory pattern. The primary outcome variable was death for subjects on arrival or during their hospital stay. Other covariates measured include demographic, firearm-related, and psychosocial variables. Risk factors for fatality were identified using multivariate logistic regression. Of the 92 subjects that met study inclusion criteria, 47 (67.2) held the firearm in the coronal position. In the full multivariate model, coronal gun orientation (OR=7.7, 95% CI: 2.0, 30.1, p=0.003) and the absence of a psychiatric diagnosis were associated with an increased risk of fatality (OR=0.1, 95% CI: 0.04, 0.5, p=0.002). Coronal firearm orientation was associated with an increased risk of fatality following self-inflicted craniomaxillofacial gunshot injuries. A patient with a documented psychiatric disorder was not found to be more likely to succumb to this type of injury. Copyright © 2012 International Association of Oral and Maxillofacial Surgeons. Published by Elsevier Ltd. All rights reserved.

Three Dimensional Gait Analysis Using Wearable Acceleration and Gyro Sensors Based on Quaternion Calculations

PubMed Central

Tadano, Shigeru; Takeda, Ryo; Miyagawa, Hiroaki

2013-01-01

This paper proposes a method for three dimensional gait analysis using wearable sensors and quaternion calculations. Seven sensor units consisting of a tri-axial acceleration and gyro sensors, were fixed to the lower limbs. The acceleration and angular velocity data of each sensor unit were measured during level walking. The initial orientations of the sensor units were estimated using acceleration data during upright standing position and the angular displacements were estimated afterwards using angular velocity data during gait. Here, an algorithm based on quaternion calculation was implemented for orientation estimation of the sensor units. The orientations of the sensor units were converted to the orientations of the body segments by a rotation matrix obtained from a calibration trial. Body segment orientations were then used for constructing a three dimensional wire frame animation of the volunteers during the gait. Gait analysis was conducted on five volunteers, and results were compared with those from a camera-based motion analysis system. Comparisons were made for the joint trajectory in the horizontal and sagittal plane. The average RMSE and correlation coefficient (CC) were 10.14 deg and 0.98, 7.88 deg and 0.97, 9.75 deg and 0.78 for the hip, knee and ankle flexion angles, respectively. PMID:23877128

Piracetam and fish orientation during parabolic aircraft flight

NASA Technical Reports Server (NTRS)

Hoffman, R. B.; Salinas, G. A.; Homick, J. L.

1980-01-01

Goldfish were flown in parabolic Keplerian trajectories in a KC-135 aircraft to assay both the effectiveness of piracetam as an antimotion sickness drug and the effectiveness of state-dependent training during periods of oscillating gravity levels. Single-frame analyses of infrared films were performed for two classes of responses - role rates in hypogravity or hypogravity orienting responses (LGR) and climbing responses in hypergravity or hypergravity orienting responses (HGR). In Experiment I, preflight training with the vestibular stressor facilitated suppression of LGR by the 10th parabola. An inverse correlation was found between the magnitudes of LGR and HGR. Piracetam was not effective in a state-dependent design, but the drug did significantly increase HGR when injected into trained fish shortly before flight. In Experiment II, injections of saline, piracetam, and modifiers of gamma-aminobutyric acid - aminooxyacetic acid (AOAA) and isonicotinic acid did not modify LGR. AOAA did significantly increase HGR. Thus, the preflight training has a beneficial effect in reducing disorientation in the fish in weightlessness, but the drugs employed were ineffective.

On the impact of rolling direction and tool orientation angle in Rotary Peen Forming

NASA Astrophysics Data System (ADS)

Gottschalk, M.; Hirt, G.

2016-10-01

Shot Peen Forming processes are suitable to produce surface curvatures that are commonly required for aircraft fuselage as well as structural components. The so called Rotary Peen Forming is an alternative process for manufacturing sheet metals with slight curvature. The forming tool consists of impactors which are connected flexibly to a rotating hub and thus moving on a circular trajectory. An industrial robot guides the Rotary Peen Forming tools. As a result, the machine design is more compact compared to traditional Shot Peen Forming. In the present work, the impact of both, the tool orientation angle and the rolling direction, on the curvature of aluminum AA5083 samples is examined. By means of a point laser measurement, the set-up enables a distance control to adjust a determined indentation depth. It can be shown, that the highest curvature is achieved when the tool is orientated parallel and when the rolling direction of the sheet metal is transversal to the curvature plane.

Cluster analysis of molecular simulation trajectories for systems where both conformation and orientation of the sampled states are important.

PubMed

Abramyan, Tigran M; Snyder, James A; Thyparambil, Aby A; Stuart, Steven J; Latour, Robert A

2016-08-05

Clustering methods have been widely used to group together similar conformational states from molecular simulations of biomolecules in solution. For applications such as the interaction of a protein with a surface, the orientation of the protein relative to the surface is also an important clustering parameter because of its potential effect on adsorbed-state bioactivity. This study presents cluster analysis methods that are specifically designed for systems where both molecular orientation and conformation are important, and the methods are demonstrated using test cases of adsorbed proteins for validation. Additionally, because cluster analysis can be a very subjective process, an objective procedure for identifying both the optimal number of clusters and the best clustering algorithm to be applied to analyze a given dataset is presented. The method is demonstrated for several agglomerative hierarchical clustering algorithms used in conjunction with three cluster validation techniques. © 2016 Wiley Periodicals, Inc. © 2016 Wiley Periodicals, Inc.

Automated correction of improperly rotated diffusion gradient orientations in diffusion weighted MRI.

PubMed

Jeurissen, Ben; Leemans, Alexander; Sijbers, Jan

2014-10-01

Ensuring one is using the correct gradient orientations in a diffusion MRI study can be a challenging task. As different scanners, file formats and processing tools use different coordinate frame conventions, in practice, users can end up with improperly oriented gradient orientations. Using such wrongly oriented gradient orientations for subsequent diffusion parameter estimation will invalidate all rotationally variant parameters and fiber tractography results. While large misalignments can be detected by visual inspection, small rotations of the gradient table (e.g. due to angulation of the acquisition plane), are much more difficult to detect. In this work, we propose an automated method to align the coordinate frame of the gradient orientations with that of the corresponding diffusion weighted images, using a metric based on whole brain fiber tractography. By transforming the gradient table and measuring the average fiber trajectory length, we search for the transformation that results in the best global 'connectivity'. To ensure a fast calculation of the metric we included a range of algorithmic optimizations in our tractography routine. To make the optimization routine robust to spurious local maxima, we use a stochastic optimization routine that selects a random set of seed points on each evaluation. Using simulations, we show that our method can recover the correct gradient orientations with high accuracy and precision. In addition, we demonstrate that our technique can successfully recover rotated gradient tables on a wide range of clinically realistic data sets. As such, our method provides a practical and robust solution to an often overlooked pitfall in the processing of diffusion MRI. Copyright © 2014 Elsevier B.V. All rights reserved.

Superintegrability of the Fock-Darwin system

NASA Astrophysics Data System (ADS)

Drigho-Filho, E.; Kuru, Ş.; Negro, J.; Nieto, L. M.

2017-08-01

The Fock-Darwin system is analyzed from the point of view of its symmetry properties in the quantum and classical frameworks. The quantum Fock-Darwin system is known to have two sets of ladder operators, a fact which guarantees its solvability. We show that for rational values of the quotient of two relevant frequencies, this system is superintegrable, the quantum symmetries being responsible for the degeneracy of the energy levels. These symmetries are of higher order and close a polynomial algebra. In the classical case, the ladder operators are replaced by ladder functions and the symmetries by constants of motion. We also prove that the rational classical system is superintegrable and its trajectories are closed. The constants of motion are also generators of symmetry transformations in the phase space that have been integrated for some special cases. These transformations connect different trajectories with the same energy. The coherent states of the quantum superintegrable system are found and they reproduce the closed trajectories of the classical one.

Improvement of operational prediction system applied to the oil spill prediction in the Yellow Sea

NASA Astrophysics Data System (ADS)

Kim, C.; Cho, Y.; Choi, B.; Jung, K.

2012-12-01

Multi-nested operational prediction system for the Yellow Sea (YS) has been developed to predict the movement of oil spill. Drifter trajectory simulations were performed to predict the path of the oil spill of the MV Hebei Spirit accident occurred on 7 December 2007. The oil spill trajectories at the surface predicted by numerical model without tidal forcing were remarkably faster than the observation. However the speed of drifters predicted by model considering tide was satisfactorily improved not only for the motion with tidal cycle but also for the motion with subtidal period. The subtidal flow of the simulation with tide was weaker than that without tide due to tidal stress. Tidal stress decelerated the southward subtidal flows driven by northwesterly wind along the Korean coast of the YS in winter. This result provides a substantial implication that tide must be included for accurate prediction of oil spill trajectory not only for variation within a tidal cycle but also for longer time scale advection in tide dominant area.

High speed flux feedback for tuning a universal field oriented controller capable of operating in direct and indirect field orientation modes

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

De Doncker, Rik W. A. A.

The direct (d) and quadrature (q) components of flux, as sensed by flux sensors or determined from voltage and current measurements in a direct field orientation scheme, are processed rapidly and accurately to provide flux amplitude and angular position values for use by the vector rotator of a universal field-oriented (UFO) controller. Flux amplitude (linear or squared) is provided as feedback to tune the UFO controller for operation in direct and indirect field orientation modes and enables smooth transitions from one mode to the other.

High speed flux feedback for tuning a universal field oriented controller capable of operating in direct and indirect field orientation modes

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

De Doncker, R.W.A.A.

The direct (d) and quadrature (q) components of flux, as sensed by flux sensors or determined from voltage and current measurements in a direct field orientation scheme, are processed rapidly and accurately to provide flux amplitude and angular position values for use by the vector rotator of a universal field-oriented (UFO) controller. Flux amplitude (linear or squared) is provided as feedback to tune the UFO controller for operation in direct and indirect field orientation modes and enables smooth transitions from one mode to the other. 3 figs.

High speed flux feedback for tuning a universal field oriented controller capable of operating in direct and indirect field orientation modes

DOEpatents

De Doncker, R.W.A.A.

1992-09-01

The direct (d) and quadrature (q) components of flux, as sensed by flux sensors or determined from voltage and current measurements in a direct field orientation scheme, are processed rapidly and accurately to provide flux amplitude and angular position values for use by the vector rotator of a universal field-oriented (UFO) controller. Flux amplitude (linear or squared) is provided as feedback to tune the UFO controller for operation in direct and indirect field orientation modes and enables smooth transitions from one mode to the other. 3 figs.

Free Energy Landscape of Protein-Protein Encounter Resulting from Brownian Dynamics Simulations of Barnase:Barstar.

PubMed

Spaar, Alexander; Helms, Volkhard

2005-07-01

Over the past years Brownian dynamics (BD) simulations have been proven to be a suitable tool for the analysis of protein-protein association. The computed rates and relative trends for protein mutants and different ionic strength are generally in good agreement with experimental results, e.g. see ref 1. By design, BD simulations correspond to an intensive sampling over energetically favorable states, rather than to a systematic sampling over all possible states which is feasible only at rather low resolution. On the example of barnase and barstar, a well characterized model system of electrostatically steered diffusional encounter, we report here the computation of the 6-dimensional free energy landscape for the encounter process of two proteins by a novel, careful analysis of the trajectories from BD simulations. The aim of these studies was the clarification of the encounter state. Along the trajectories, the individual positions and orientations of one protein (relative to the other) are recorded and stored in so-called occupancy maps. Since the number of simulated trajectories is sufficiently high, these occupancy maps can be interpreted as a probability distribution which allows the calculation of the entropy landscape by the use of a locally defined entropy function. Additionally, the configuration dependent electrostatic and desolvation energies are recorded in separate maps. The free energy landscape of protein-protein encounter is finally obtained by summing the energy and entropy contributions. In the free energy profile along the reaction path, which is defined as the path along the minima in the free energy landscape, a minimum shows up suggesting this to be used as the definition of the encounter state. This minimum describes a state of reduced diffusion velocity where the electrostatic attraction is compensated by the repulsion due to the unfavorable desolvation of the charged residues and the entropy loss due to the increasing restriction of the motional freedom. In the simulations the orientational degrees of freedom at the encounter state are found to be less restricted than the translational degrees of freedom. Therefore, the orientational alignment of the two binding partners seems to take place beyond this free energy minimum. The free energy profiles along the reaction pathway are compared for different ionic strength and temperature. This novel analysis technique facilitates mechanistic interpretation of protein-protein encounter pathways which should be useful for interpretation of experimental results as well.

Interplanetary program to optimize simulated trajectories (IPOST). Volume 4: Sample cases

NASA Technical Reports Server (NTRS)

Hong, P. E.; Kent, P. D; Olson, D. W.; Vallado, C. A.

1992-01-01

The Interplanetary Program to Optimize Simulated Trajectories (IPOST) is intended to support many analysis phases, from early interplanetary feasibility studies through spacecraft development and operations. The IPOST output provides information for sizing and understanding mission impacts related to propulsion, guidance, communications, sensor/actuators, payload, and other dynamic and geometric environments. IPOST models three degree of freedom trajectory events, such as launch/ascent, orbital coast, propulsive maneuvering (impulsive and finite burn), gravity assist, and atmospheric entry. Trajectory propagation is performed using a choice of Cowell, Encke, Multiconic, Onestep, or Conic methods. The user identifies a desired sequence of trajectory events, and selects which parameters are independent (controls) and dependent (targets), as well as other constraints and the cost function. Targeting and optimization are performed using the Standard NPSOL algorithm. The IPOST structure allows sub-problems within a master optimization problem to aid in the general constrained parameter optimization solution. An alternate optimization method uses implicit simulation and collocation techniques.

Neural Network Training by Integration of Adjoint Systems of Equations Forward in Time

NASA Technical Reports Server (NTRS)

Toomarian, Nikzad (Inventor); Barhen, Jacob (Inventor)

1999-01-01

A method and apparatus for supervised neural learning of time dependent trajectories exploits the concepts of adjoint operators to enable computation of the gradient of an objective functional with respect to the various parameters of the network architecture in a highly efficient manner. Specifically. it combines the advantage of dramatic reductions in computational complexity inherent in adjoint methods with the ability to solve two adjoint systems of equations together forward in time. Not only is a large amount of computation and storage saved. but the handling of real-time applications becomes also possible. The invention has been applied it to two examples of representative complexity which have recently been analyzed in the open literature and demonstrated that a circular trajectory can be learned in approximately 200 iterations compared to the 12000 reported in the literature. A figure eight trajectory was achieved in under 500 iterations compared to 20000 previously required. Tbc trajectories computed using our new method are much closer to the target trajectories than was reported in previous studies.

Neural network training by integration of adjoint systems of equations forward in time

NASA Technical Reports Server (NTRS)

Toomarian, Nikzad (Inventor); Barhen, Jacob (Inventor)

1992-01-01

A method and apparatus for supervised neural learning of time dependent trajectories exploits the concepts of adjoint operators to enable computation of the gradient of an objective functional with respect to the various parameters of the network architecture in a highly efficient manner. Specifically, it combines the advantage of dramatic reductions in computational complexity inherent in adjoint methods with the ability to solve two adjoint systems of equations together forward in time. Not only is a large amount of computation and storage saved, but the handling of real-time applications becomes also possible. The invention has been applied it to two examples of representative complexity which have recently been analyzed in the open literature and demonstrated that a circular trajectory can be learned in approximately 200 iterations compared to the 12000 reported in the literature. A figure eight trajectory was achieved in under 500 iterations compared to 20000 previously required. The trajectories computed using our new method are much closer to the target trajectories than was reported in previous studies.

Benefits of Using Pairwise Trajectory Management in the Central East Pacific

NASA Technical Reports Server (NTRS)

Chartrand, Ryan; Ballard, Kathryn

2016-01-01

Pairwise Trajectory Management (PTM) is a concept that utilizes airborne and ground-based capabilities to enable airborne spacing operations in oceanic regions. The goal of PTM is to use enhanced surveillance, along with airborne tools, to manage the spacing between aircraft. Due to the enhanced airborne surveillance of Automatic Dependent Surveillance-Broadcast (ADS-B) information and reduced communication, the PTM minimum spacing distance will be less than distances currently required of an air traffic controller. Reduced minimum distance will increase the capacity of aircraft operations at a given altitude or volume of airspace, thereby increasing time on desired trajectory and overall flight efficiency. PTM is designed to allow a flight crew to resolve a specific traffic conflict (or conflicts), identified by the air traffic controller, while maintaining the flight crew's desired altitude. The air traffic controller issues a PTM clearance to a flight crew authorized to conduct PTM operations in order to resolve a conflict for the pair (or pairs) of aircraft (i.e., the PTM aircraft and a designated target aircraft). This clearance requires the flight crew of the PTM aircraft to use their ADS-B-enabled onboard equipment to manage their spacing relative to the designated target aircraft to ensure spacing distances that are no closer than the PTM minimum distance. When the air traffic controller determines that PTM is no longer required, the controller issues a clearance to cancel the PTM operation.

Fuel-conservative guidance system for powered-lift aircraft

NASA Technical Reports Server (NTRS)

Erzberger, H.; Mclean, J. D.

1979-01-01

A concept for automatic terminal area guidance, comprising two modes of operation, was developed and evaluated in flight tests. In the predictive mode, fuel efficient approach trajectories are synthesized in fast time. In the tracking mode, the synthesized trajectories are reconstructed and tracked automatically. An energy rate performance model derived from the lift, drag, and propulsion system characteristics of the aircraft is used in the synthesis algorithm. The method optimizes the trajectory for the initial aircraft position and wind and temperature profiles encountered during each landing approach. The design theory and the results of simulations and flight tests using the Augmentor Wing Jet STOL Research Aircraft are described.

Trajectory correction propulsion for TOPS

NASA Technical Reports Server (NTRS)

Long, H. R.; Bjorklund, R. A.

1972-01-01

A blowdown-pressurized hydrazine propulsion system was selected to provide trajectory correction impulse for outer planet flyby spacecraft as the result of cost/mass/reliability tradeoff analyses. Present hydrazine component and system technology and component designs were evaluated for application to the Thermoelectric Outer Planet Spacecraft (TOPS); while general hydrazine technology was adequate, component design changes were deemed necessary for TOPS-type missions. A prototype hydrazine propulsion system was fabricated and fired nine times for a total of 1600 s to demonstrate the operation and performance of the TOPS propulsion configuration. A flight-weight trajectory correction propulsion subsystem (TCPS) was designed for the TOPS based on actual and estimated advanced components.

Global, Multi-Objective Trajectory Optimization With Parametric Spreading

NASA Technical Reports Server (NTRS)

Vavrina, Matthew A.; Englander, Jacob A.; Phillips, Sean M.; Hughes, Kyle M.

2017-01-01

Mission design problems are often characterized by multiple, competing trajectory optimization objectives. Recent multi-objective trajectory optimization formulations enable generation of globally-optimal, Pareto solutions via a multi-objective genetic algorithm. A byproduct of these formulations is that clustering in design space can occur in evolving the population towards the Pareto front. This clustering can be a drawback, however, if parametric evaluations of design variables are desired. This effort addresses clustering by incorporating operators that encourage a uniform spread over specified design variables while maintaining Pareto front representation. The algorithm is demonstrated on a Neptune orbiter mission, and enhanced multidimensional visualization strategies are presented.

Trajectory planning and control of a 6 DOF manipulator with Stewart platform-based mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami

1990-01-01

The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform. First the main components of the manipulator is described along with its operation. The solutions are briefly prescribed for the forward and inverse kinematics of the manipulator. After that, two trajectory planning schemes are developed using the manipulator inverse kinematics to track straight lines and circular paths. Finally experiments conducted to study the performance of the developed planning schemes in tracking a straight line and a circle are presented and discussed.

Optic Flow Dominates Visual Scene Polarity in Causing Adaptive Modification of Locomotor Trajectory

NASA Technical Reports Server (NTRS)

Nomura, Y.; Mulavara, A. P.; Richards, J. T.; Brady, R.; Bloomberg, Jacob J.

2005-01-01

Locomotion and posture are influenced and controlled by vestibular, visual and somatosensory information. Optic flow and scene polarity are two characteristics of a visual scene that have been identified as being critical in how they affect perceived body orientation and self-motion. The goal of this study was to determine the role of optic flow and visual scene polarity on adaptive modification in locomotor trajectory. Two computer-generated virtual reality scenes were shown to subjects during 20 minutes of treadmill walking. One scene was a highly polarized scene while the other was composed of objects displayed in a non-polarized fashion. Both virtual scenes depicted constant rate self-motion equivalent to walking counterclockwise around the perimeter of a room. Subjects performed Stepping Tests blindfolded before and after scene exposure to assess adaptive changes in locomotor trajectory. Subjects showed a significant difference in heading direction, between pre and post adaptation stepping tests, when exposed to either scene during treadmill walking. However, there was no significant difference in the subjects heading direction between the two visual scene polarity conditions. Therefore, it was inferred from these data that optic flow has a greater role than visual polarity in influencing adaptive locomotor function.

'TARMACKING' IN THE MILLENNIUM CITY: SPATIAL AND TEMPORAL TRAJECTORIES OF EMPOWERMENT AND DEVELOPMENT IN KISUMU, KENYA.

PubMed

Prince, Ruth J

2013-11-01

Over the past fifteen years, the city of Kisumu in western Kenya has emerged as an epicentre of 'global health' interventions, organized by non-governmental and transnational groups. These interventions involve concrete, practical engagements with the city's populations, but also imaginations and desires, as they intersect with residents' expectations of development. This article follows the hopes, aspirations and trajectories of people who attach themselves as volunteers to these interventions, or who hope to do so through a process they describe as 'tarmacking'. In exploring how volunteers orient themselves to ideas of 'empowerment' that are promoted by NGOs and also have influence outside institutional settings, it examines the relations between the landscapes of intervention, the spatial-temporal horizons, and the geographies of responsibility emergent in the city. Through its association with 'moving ahead' and with development, empowerment implies movement towards some kind of future. While there is a widely shared sense among volunteers that they are going somewhere, just where that might be is not clearly articulated. Rather than attempt to pinpoint this destination, this article follows their trajectories in an attempt to grasp why and how it remains obscure.

Separating the air quality impact of a major highway and nearby sources by nonparametric trajectory analysis.

PubMed

Henry, Ronald C; Vette, Alan; Norris, Gary; Vedantham, Ram; Kimbrough, Sue; Shores, Richard C

2011-12-15

Nonparametric Trajectory Analysis (NTA), a receptor-oriented model, was used to assess the impact of local sources of air pollution at monitoring sites located adjacent to highway I-15 in Las Vegas, NV. Measurements of black carbon, carbon monoxide, nitrogen oxides, and sulfur dioxide concentrations were collected from December 2008 to December 2009. The purpose of the study was to determine the impact of the highway at three downwind monitoring stations using an upwind station to measure background concentrations. NTA was used to precisely determine the contribution of the highway to the average concentrations measured at the monitoring stations accounting for the spatially heterogeneous contributions of other local urban sources. NTA uses short time average concentrations, 5 min in this case, and constructed local back-trajectories from similarly short time average wind speed and direction to locate and quantify contributions from local source regions. Averaged over an entire year, the decrease of concentrations with distance from the highway was found to be consistent with previous studies. For this study, the NTA model is shown to be a reliable approach to quantify the impact of the highway on local air quality in an urban area with other local sources.

Measurements of the STS orbiter's angular stability during in-orbit operations

NASA Technical Reports Server (NTRS)

Neupert, Werner M.; Epstein, Gabriel L.; Houston, James; Zarechnak, Andrew

1995-01-01

We report on measurements of the angular stability, commonly called 'jitter', of the STS Orbiter during normal operations in space. Measurements were carried out by measuring optically the Orbiter's roll and pitch orientation relative to the solar vector as the orbiter was held in a -Z(sub 0) solar inertial orientation (orbiter bay oriented toward the Sun). We also report observations of an interesting perturbation to the orbiter's orientation noted by the crew during the STS-60 mission. These data may be useful in analyzing the in-orbit response of the Orbiter to thruster firings and other applied torques, and may aid in the planning of future experiments that require fine-pointed operations by the orbiter.

Fast Calculation of Abort Return Trajectories for Manned Missions to the Moon

NASA Technical Reports Server (NTRS)

Senent, Juan S.

2010-01-01

In order to support the anytime abort requirements of a manned mission to the Moon, the vehicle abort capabilities for the translunar and circumlunar phases of the mission must be studied. Depending on the location of the abort maneuver, the maximum return time to Earth and the available propellant, two different kinds of return trajectories can be calculated: direct and fly-by. This paper presents a new method to compute these return trajectories in a deterministic and fast way without using numerical optimizers. Since no simplifications of the gravity model are required, the resulting trajectories are very accurate and can be used for both mission design and operations. This technique has been extensively used to evaluate the abort capabilities of the Orion/Altair vehicles in the Constellation program for the translunar phase of the mission.

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

NASA Astrophysics Data System (ADS)

Gramajo, German G.

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

Improved Collision-Detection Method for Robotic Manipulator

NASA Technical Reports Server (NTRS)

Leger, Chris

2003-01-01

An improved method has been devised for the computational prediction of a collision between (1) a robotic manipulator and (2) another part of the robot or an external object in the vicinity of the robot. The method is intended to be used to test commanded manipulator trajectories in advance so that execution of the commands can be stopped before damage is done. The method involves utilization of both (1) mathematical models of the robot and its environment constructed manually prior to operation and (2) similar models constructed automatically from sensory data acquired during operation. The representation of objects in this method is simpler and more efficient (with respect to both computation time and computer memory), relative to the representations used in most prior methods. The present method was developed especially for use on a robotic land vehicle (rover) equipped with a manipulator arm and a vision system that includes stereoscopic electronic cameras. In this method, objects are represented and collisions detected by use of a previously developed technique known in the art as the method of oriented bounding boxes (OBBs). As the name of this technique indicates, an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs), as in the example of Figure 1. Unlike prior methods, the OBB/OBP method does not require any divisions or transcendental functions; this feature leads to greater robustness and numerical accuracy. The OBB/OBP method was selected for incorporation into the present method because it offers the best compromise between accuracy on the one hand and computational efficiency (and thus computational speed) on the other hand.

Synthesis and implementation of state-trajectory control law for dc-to-dc converters

NASA Technical Reports Server (NTRS)

Burns, W. W., III; Huffman, S. D.; Wilson, T. G.; Owen, H. A., Jr.

1977-01-01

Mathematical representations of a state-plane switching boundary employed in a state-trajectory control law for dc-to-dc converters are derived. Two approaches to implementing the control law are discussed; one approach employs a digital processor and the other uses analog computational circuits. Performance characteristics of experimental voltage step-up dc-to-dc converters operating under the control of each of these implementations are presented.

Simulator evaluation of optimal thrust management/fuel conservation strategies for airbus aircraft on short haul routes

NASA Technical Reports Server (NTRS)

Bochem, J. H.; Mossman, D. C.; Lanier, P. D.

1977-01-01

The feasibility of incorporating optimal concepts into a practical system was determined. Various earlier theoretical analyses were confirmed, and insight was gained into the sensitivity of fuel conservation strategies to nonlinear and second order aerodynamic and engine characteristics. In addition to the investigation of optimal trajectories the study ascertained combined fuel savings by utilizing various procedure-oriented improvements such as delayed flap/decelerating approaches and great circle navigation.

Optimizing Aircraft Trajectories with Multiple Cruise Altitudes in the Presence of Winds

NASA Technical Reports Server (NTRS)

Ng, Hok K.; Sridhar, Banavar; Grabbe, Shon

2014-01-01

This study develops a trajectory optimization algorithm for approximately minimizing aircraft travel time and fuel burn by combining a method for computing minimum-time routes in winds on multiple horizontal planes, and an aircraft fuel burn model for generating fuel-optimal vertical profiles. It is applied to assess the potential benefits of flying user-preferred routes for commercial cargo flights operating between Anchorage, Alaska and major airports in Asia and the contiguous United States. Flying wind optimal trajectories with a fuel-optimal vertical profile reduces average fuel burn of international flights cruising at a single altitude by 1-3 percent. The potential fuel savings of performing en-route step climbs are not significant for many shorter domestic cargo flights that have only one step climb. Wind-optimal trajectories reduce fuel burn and travel time relative to the flight plan route by up to 3 percent for the domestic cargo flights. However, for trans-oceanic traffic, the fuel burn savings could be as much as 10 percent. The actual savings in operations will vary from the simulation results due to differences in the aircraft models and user defined cost indices. In general, the savings are proportional to trip length, and depend on the en-route wind conditions and aircraft types.

Newly Enacted Intent Changes to ADS-B MASPS: Emphasis on Operations, Compatibility, and Integrity

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Warren, Anthony W.

2002-01-01

Significant changes to the intent reporting structure in the Minimum Aviation System Performance Standards (MASPS) for Automatic Dependent Surveillance Broadcast (ADS-B) have recently been approved by RTCA Special Committee 186. The re-structured intent formats incorporate two major changes to the current MASPS (DO-242): addition of a Target State (TS) report that provides information on the horizontal and vertical targets for the current flight segment and replacement of the current Trajectory Change Point (TCP) and TCP+1 reports with Trajectory Change (TC) reports. TC reports include expanded information about TCPs and their connecting flight segments, in addition to making provisions for trajectory conformance elements. New intent elements are designed to accommodate a greater range of intent information, better reflect operational use and capabilities of existing and future aircraft avionics, and aid trajectory synthesis and conformance monitoring systems. These elements are expected to benefit near-term and future Air Traffic Management (ATM) applications, including separation assurance, local traffic flow management, and conformance monitoring. The current MASPS revision (DO-242A) implements those intent elements that are supported by current avionics standards and data buses. Additional elements are provisioned for inclusion in future MASPS revisions (beyond DO-242A) as avionics systems are evolved.

Atmospheric Ascent Guidance for Rocket-Powered Launch Vehicles

NASA Technical Reports Server (NTRS)

Dukeman, Greg A.

2002-01-01

An advanced ascent guidance algorithm for rocket- powered launch vehicles is developed. This algorithm cyclically solves the calculus-of-variations two-point boundary-value problem starting at vertical rise completion through main engine cutoff. This is different from traditional ascent guidance algorithms which operate in a simple open-loop mode until high dynamic pressure (including the critical max-Q) portion of the trajectory is over, at which time guidance operates under the assumption of negligible aerodynamic acceleration (i.e., vacuum dynamics). The initial costate guess is corrected based on errors in the terminal state constraints and the transversality conditions. Judicious approximations are made to reduce the order and complexity of the state/costate system. Results comparing guided launch vehicle trajectories with POST open-loop trajectories are given verifying the basic formulation of the algorithm. Multiple shooting is shown to be a very effective numerical technique for this application. In particular, just one intermediate shooting point, in addition to the initial shooting point, is sufficient to significantly reduce sensitivity to the guessed initial costates. Simulation results from a high-fidelity trajectory simulation are given for the case of launch to sub-orbital cutoff conditions as well as launch to orbit conditions. An abort to downrange landing site formulation of the algorithm is presented.