A complete system for 3D reconstruction of roots for phenotypic analysis.

PubMed

Kumar, Pankaj; Cai, Jinhai; Miklavcic, Stanley J

2015-01-01

Here we present a complete system for 3D reconstruction of roots grown in a transparent gel medium or washed and suspended in water. The system is capable of being fully automated as it is self calibrating. The system starts with detection of root tips in root images from an image sequence generated by a turntable motion. Root tips are detected using the statistics of Zernike moments on image patches centred on high curvature points on root boundary and Bayes classification rule. The detected root tips are tracked in the image sequence using a multi-target tracking algorithm. Conics are fitted to the root tip trajectories using a novel ellipse fitting algorithm which weighs the data points by its eccentricity. The conics projected from the circular trajectory have a complex conjugate intersection which are image of the circular points. Circular points constraint the image of the absolute conics which are directly related to the internal parameters of the camera. The pose of the camera is computed from the image of the rotation axis and the horizon. The silhouettes of the roots and camera parameters are used to reconstruction the 3D voxel model of the roots. We show the results of real 3D reconstruction of roots which are detailed and realistic for phenotypic analysis.

Exploring Dance Movement Data Using Sequence Alignment Methods

PubMed Central

Chavoshi, Seyed Hossein; De Baets, Bernard; Neutens, Tijs; De Tré, Guy; Van de Weghe, Nico

2015-01-01

Despite the abundance of research on knowledge discovery from moving object databases, only a limited number of studies have examined the interaction between moving point objects in space over time. This paper describes a novel approach for measuring similarity in the interaction between moving objects. The proposed approach consists of three steps. First, we transform movement data into sequences of successive qualitative relations based on the Qualitative Trajectory Calculus (QTC). Second, sequence alignment methods are applied to measure the similarity between movement sequences. Finally, movement sequences are grouped based on similarity by means of an agglomerative hierarchical clustering method. The applicability of this approach is tested using movement data from samba and tango dancers. PMID:26181435

Learning of Chunking Sequences in Cognition and Behavior

PubMed Central

Rabinovich, Mikhail

2015-01-01

We often learn and recall long sequences in smaller segments, such as a phone number 858 534 22 30 memorized as four segments. Behavioral experiments suggest that humans and some animals employ this strategy of breaking down cognitive or behavioral sequences into chunks in a wide variety of tasks, but the dynamical principles of how this is achieved remains unknown. Here, we study the temporal dynamics of chunking for learning cognitive sequences in a chunking representation using a dynamical model of competing modes arranged to evoke hierarchical Winnerless Competition (WLC) dynamics. Sequential memory is represented as trajectories along a chain of metastable fixed points at each level of the hierarchy, and bistable Hebbian dynamics enables the learning of such trajectories in an unsupervised fashion. Using computer simulations, we demonstrate the learning of a chunking representation of sequences and their robust recall. During learning, the dynamics associates a set of modes to each information-carrying item in the sequence and encodes their relative order. During recall, hierarchical WLC guarantees the robustness of the sequence order when the sequence is not too long. The resulting patterns of activities share several features observed in behavioral experiments, such as the pauses between boundaries of chunks, their size and their duration. Failures in learning chunking sequences provide new insights into the dynamical causes of neurological disorders such as Parkinson’s disease and Schizophrenia. PMID:26584306

Non-Rigid Structure Estimation in Trajectory Space from Monocular Vision

PubMed Central

Wang, Yaming; Tong, Lingling; Jiang, Mingfeng; Zheng, Junbao

2015-01-01

In this paper, the problem of non-rigid structure estimation in trajectory space from monocular vision is investigated. Similar to the Point Trajectory Approach (PTA), based on characteristic points’ trajectories described by a predefined Discrete Cosine Transform (DCT) basis, the structure matrix was also calculated by using a factorization method. To further optimize the non-rigid structure estimation from monocular vision, the rank minimization problem about structure matrix is proposed to implement the non-rigid structure estimation by introducing the basic low-rank condition. Moreover, the Accelerated Proximal Gradient (APG) algorithm is proposed to solve the rank minimization problem, and the initial structure matrix calculated by the PTA method is optimized. The APG algorithm can converge to efficient solutions quickly and lessen the reconstruction error obviously. The reconstruction results of real image sequences indicate that the proposed approach runs reliably, and effectively improves the accuracy of non-rigid structure estimation from monocular vision. PMID:26473863

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.

Statistical learning of movement.

PubMed

Ongchoco, Joan Danielle Khonghun; Uddenberg, Stefan; Chun, Marvin M

2016-12-01

The environment is dynamic, but objects move in predictable and characteristic ways, whether they are a dancer in motion, or a bee buzzing around in flight. Sequences of movement are comprised of simpler motion trajectory elements chained together. But how do we know where one trajectory element ends and another begins, much like we parse words from continuous streams of speech? As a novel test of statistical learning, we explored the ability to parse continuous movement sequences into simpler element trajectories. Across four experiments, we showed that people can robustly parse such sequences from a continuous stream of trajectories under increasingly stringent tests of segmentation ability and statistical learning. Observers viewed a single dot as it moved along simple sequences of paths, and were later able to discriminate these sequences from novel and partial ones shown at test. Observers demonstrated this ability when there were potentially helpful trajectory-segmentation cues such as a common origin for all movements (Experiment 1); when the dot's motions were entirely continuous and unconstrained (Experiment 2); when sequences were tested against partial sequences as a more stringent test of statistical learning (Experiment 3); and finally, even when the element trajectories were in fact pairs of trajectories, so that abrupt directional changes in the dot's motion could no longer signal inter-trajectory boundaries (Experiment 4). These results suggest that observers can automatically extract regularities in movement - an ability that may underpin our capacity to learn more complex biological motions, as in sport or dance.

Variational algorithms for nonlinear smoothing applications

NASA Technical Reports Server (NTRS)

Bach, R. E., Jr.

1977-01-01

A variational approach is presented for solving a nonlinear, fixed-interval smoothing problem with application to offline processing of noisy data for trajectory reconstruction and parameter estimation. The nonlinear problem is solved as a sequence of linear two-point boundary value problems. Second-order convergence properties are demonstrated. Algorithms for both continuous and discrete versions of the problem are given, and example solutions are provided.

Automated trajectory planning for multiple-flyby interplanetary missions

NASA Astrophysics Data System (ADS)

Englander, Jacob

Many space mission planning problems may be formulated as hybrid optimal control problems (HOCP), i.e. problems that include both real-valued variables and categorical variables. In interplanetary trajectory design problems the categorical variables will typically specify the sequence of planets at which to perform flybys, and the real-valued variables will represent the launch date, ight times between planets, magnitudes and directions of thrust, flyby altitudes, etc. The contribution of this work is a framework for the autonomous optimization of multiple-flyby interplanetary trajectories. The trajectory design problem is converted into a HOCP with two nested loops: an "outer-loop" that finds the sequence of flybys and an "inner-loop" that optimizes the trajectory for each candidate yby sequence. The problem of choosing a sequence of flybys is posed as an integer programming problem and solved using a genetic algorithm (GA). This is an especially difficult problem to solve because GAs normally operate on a fixed-length set of decision variables. Since in interplanetary trajectory design the number of flyby maneuvers is not known a priori, it was necessary to devise a method of parameterizing the problem such that the GA can evolve a variable-length sequence of flybys. A novel "null gene" transcription was developed to meet this need. Then, for each candidate sequence of flybys, a trajectory must be found that visits each of the flyby targets and arrives at the final destination while optimizing some cost metric, such as minimizing ▵v or maximizing the final mass of the spacecraft. Three different classes of trajectory are described in this work, each of which requireda different physical model and optimization method. The choice of a trajectory model and optimization method is especially challenging because of the nature of the hybrid optimal control problem. Because the trajectory optimization problem is generated in real time by the outer-loop, the inner-loop optimization algorithm cannot require any a priori information and must always return a solution. In addition, the upper and lower bounds on each decision variable cannot be chosen a priori by the user because the user has no way to know what problem will be solved. Instead a method of choosing upper and lower bounds via a set of simple rules was developed and used for all three types of trajectory optimization problem. Many optimization algorithms were tested and discarded until suitable algorithms were found for each type of trajectory. The first class of trajectories use chemical propulsion and may only apply a ▵v at the periapse of each flyby. These Multiple Gravity Assist (MGA) trajectories are optimized using a cooperative algorithm of Differential Evolution (DE) and Particle Swarm Optimization (PSO). The second class of trajectories, known as Multiple Gravity Assist with one Deep Space Maneuver (MGA-DSM), also use chemical propulsion but instead of maneuvering at the periapse of each flyby as in the MGA case a maneuver is applied at a free point along each planet-to-planet arc, i.e. there is one maneuver for each pair of flybys. MGA-DSM trajectories are parameterized by more variables than MGA trajectories, and so the cooperative algorithm of DE and PSO that was used to optimize MGA trajectories was found to be less effective when applied to MGA-DSM. Instead, either PSO or DE alone were found to be more effective. The third class of trajectories addressed in this work are those using continuousthrust propulsion. Continuous-thrust trajectory optimization problems are more challenging than impulsive-thrust problems because the control variables are a continuous time series rather than a small set of parameters and because the spacecraft does not follow a conic section trajectory, leading to a large number of nonlinear constraints that must be satisfied to ensure that the spacecraft obeys the equations of motion. Many models and optimization algorithms were applied including direct transcription with nonlinear programming (DTNLP), the inverse-polynomial shapebased method, and feasible region analysis. However the only physical model and optimization method that proved reliable enough were the Sims-Flanagan transcription coupled with a nonlinear programming solver and the monotonic basin hopping (MBH) global search heuristic. The methods developed here are demonstrated to optimize a set of example trajectories, including a recreation of the Cassini mission, a Galileo-like mission, and conceptual continuous-thrust missions to Jupiter, Mercury, and Uranus.

Mining spatiotemporal patterns of urban dwellers from taxi trajectory data

NASA Astrophysics Data System (ADS)

Mao, Feng; Ji, Minhe; Liu, Ting

2016-06-01

With the widespread adoption of locationaware technology, obtaining long-sequence, massive and high-accuracy spatiotemporal trajectory data of individuals has become increasingly popular in various geographic studies. Trajectory data of taxis, one of the most widely used inner-city travel modes, contain rich information about both road network traffic and travel behavior of passengers. Such data can be used to study the microscopic activity patterns of individuals as well as the macro system of urban spatial structures. This paper focuses on trajectories obtained from GPS-enabled taxis and their applications for mining urban commuting patterns. A novel approach is proposed to discover spatiotemporal patterns of household travel from the taxi trajectory dataset with a large number of point locations. The approach involves three critical steps: spatial clustering of taxi origin-destination (OD) based on urban traffic grids to discover potentially meaningful places, identifying threshold values from statistics of the OD clusters to extract urban jobs-housing structures, and visualization of analytic results to understand the spatial distribution and temporal trends of the revealed urban structures and implied household commuting behavior. A case study with a taxi trajectory dataset in Shanghai, China is presented to demonstrate and evaluate the proposed method.

Trajectory of coronary motion and its significance in robotic motion cancellation.

PubMed

Cattin, Philippe; Dave, Hitendu; Grünenfelder, Jürg; Szekely, Gabor; Turina, Marko; Zünd, Gregor

2004-05-01

To characterize remaining coronary artery motion of beating pig hearts after stabilization with an 'Octopus' using an optical remote analysis technique. Three pigs (40, 60 and 65 kg) underwent full sternotomy after receiving general anesthesia. An 8-bit high speed black and white video camera (50 frames/s) coupled with a laser sensor (60 microm resolution) were used to capture heart wall motion in all three dimensions. Dopamine infusion was used to deliberately modulate cardiac contractility. Synchronized ECG, blood pressure, airway pressure and video data of the region around the first branching point of the left anterior descending (LAD) coronary artery after Octopus stabilization were captured for stretches of 8 s each. Several sequences of the same region were captured over a period of several minutes. Computerized off-line analysis allowed us to perform minute characterization of the heart wall motion. The movement of the points of interest on the LAD ranged from 0.22 to 0.81 mm in the lateral plane (x/y-axis) and 0.5-2.6 mm out of the plane (z-axis). Fast excursions (>50 microm/s in the lateral plane) occurred corresponding to the QRS complex and the T wave; while slow excursion phases (<50 microm/s in the lateral plane) were observed during the P wave and the ST segment. The trajectories of the points of interest during consecutive cardiac cycles as well as during cardiac cycles minutes apart remained comparable (the differences were negligible), provided the hemodynamics remained stable. Inotrope-induced changes in cardiac contractility influenced not only the maximum excursion, but also the shape of the trajectory. Normal positive pressure ventilation displacing the heart in the thoracic cage was evident by the displacement of the reference point of the trajectory. The movement of the coronary artery after stabilization appears to be still significant. Minute characterization of the trajectory of motion could provide the substrate for achieving motion cancellation for existing robotic systems. Velocity plots could also help improve gated cardiac imaging.

A high-order time-accurate interrogation method for time-resolved PIV

NASA Astrophysics Data System (ADS)

Lynch, Kyle; Scarano, Fulvio

2013-03-01

A novel method is introduced for increasing the accuracy and extending the dynamic range of time-resolved particle image velocimetry (PIV). The approach extends the concept of particle tracking velocimetry by multiple frames to the pattern tracking by cross-correlation analysis as employed in PIV. The working principle is based on tracking the patterned fluid element, within a chosen interrogation window, along its individual trajectory throughout an image sequence. In contrast to image-pair interrogation methods, the fluid trajectory correlation concept deals with variable velocity along curved trajectories and non-zero tangential acceleration during the observed time interval. As a result, the velocity magnitude and its direction are allowed to evolve in a nonlinear fashion along the fluid element trajectory. The continuum deformation (namely spatial derivatives of the velocity vector) is accounted for by adopting local image deformation. The principle offers important reductions of the measurement error based on three main points: by enlarging the temporal measurement interval, the relative error becomes reduced; secondly, the random and peak-locking errors are reduced by the use of least-squares polynomial fits to individual trajectories; finally, the introduction of high-order (nonlinear) fitting functions provides the basis for reducing the truncation error. Lastly, the instantaneous velocity is evaluated as the temporal derivative of the polynomial representation of the fluid parcel position in time. The principal features of this algorithm are compared with a single-pair iterative image deformation method. Synthetic image sequences are considered with steady flow (translation, shear and rotation) illustrating the increase of measurement precision. An experimental data set obtained by time-resolved PIV measurements of a circular jet is used to verify the robustness of the method on image sequences affected by camera noise and three-dimensional motions. In both cases, it is demonstrated that the measurement time interval can be significantly extended without compromising the correlation signal-to-noise ratio and with no increase of the truncation error. The increase of velocity dynamic range scales more than linearly with the number of frames included for the analysis, which supersedes by one order of magnitude the pair correlation by window deformation. The main factors influencing the performance of the method are discussed, namely the number of images composing the sequence and the polynomial order chosen to represent the motion throughout the trajectory.

Gaussian process-based Bayesian nonparametric inference of population size trajectories from gene genealogies.

PubMed

Palacios, Julia A; Minin, Vladimir N

2013-03-01

Changes in population size influence genetic diversity of the population and, as a result, leave a signature of these changes in individual genomes in the population. We are interested in the inverse problem of reconstructing past population dynamics from genomic data. We start with a standard framework based on the coalescent, a stochastic process that generates genealogies connecting randomly sampled individuals from the population of interest. These genealogies serve as a glue between the population demographic history and genomic sequences. It turns out that only the times of genealogical lineage coalescences contain information about population size dynamics. Viewing these coalescent times as a point process, estimating population size trajectories is equivalent to estimating a conditional intensity of this point process. Therefore, our inverse problem is similar to estimating an inhomogeneous Poisson process intensity function. We demonstrate how recent advances in Gaussian process-based nonparametric inference for Poisson processes can be extended to Bayesian nonparametric estimation of population size dynamics under the coalescent. We compare our Gaussian process (GP) approach to one of the state-of-the-art Gaussian Markov random field (GMRF) methods for estimating population trajectories. Using simulated data, we demonstrate that our method has better accuracy and precision. Next, we analyze two genealogies reconstructed from real sequences of hepatitis C and human Influenza A viruses. In both cases, we recover more believed aspects of the viral demographic histories than the GMRF approach. We also find that our GP method produces more reasonable uncertainty estimates than the GMRF method. Copyright © 2013, The International Biometric Society.

Chaotic Dynamics in a Low-Energy Transfer Strategy to the Equilateral Equilibrium Points in the Earth-Moon System

NASA Astrophysics Data System (ADS)

Salazar, F. J. T.; Macau, E. E. N.; Winter, O. C.

In the frame of the equilateral equilibrium points exploration, numerous future space missions will require maximization of payload mass, simultaneously achieving reasonable transfer times. To fulfill this request, low-energy non-Keplerian orbits could be used to reach L4 and L5 in the Earth-Moon system instead of high energetic transfers. Previous studies have shown that chaos in physical systems like the restricted three-body Earth-Moon-particle problem can be used to direct a chaotic trajectory to a target that has been previously considered. In this work, we propose to transfer a spacecraft from a circular Earth Orbit in the chaotic region to the equilateral equilibrium points L4 and L5 in the Earth-Moon system, exploiting the chaotic region that connects the Earth with the Moon and changing the trajectory of the spacecraft (relative to the Earth) by using a gravity assist maneuver with the Moon. Choosing a sequence of small perturbations, the time of flight is reduced and the spacecraft is guided to a proper trajectory so that it uses the Moon's gravitational force to finally arrive at a desired target. In this study, the desired target will be an orbit about the Lagrangian equilibrium points L4 or L5. This strategy is not only more efficient with respect to thrust requirement, but also its time transfer is comparable to other known transfer techniques based on time optimization.

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.

A novel method for trajectory planning of cooperative mobile manipulators.

PubMed

Bolandi, Hossein; Ehyaei, Amir Farhad

2011-01-01

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on a portion of the configuration space that satisfies the collision and closure constraints. The final stage is to calculate a sequence of time-optimal trajectories to go between the consecutive points of the path, with regard to the nonholonomic constraints and the maximum allowed joint accelerations. This approach allows geometric constraints such as joint limits and closed-chain constraints, along with differential constraints such as nonholonomic velocity constraints and acceleration limits, to be incorporated into the planning scheme. The simulation results illustrate the effectiveness of the proposed method.

A Novel Method for Trajectory Planning of Cooperative Mobile Manipulators

PubMed Central

Bolandi, Hossein; Ehyaei, Amir Farhad

2011-01-01

We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on a portion of the configuration space that satisfies the collision and closure constraints. The final stage is to calculate a sequence of time-optimal trajectories to go between the consecutive points of the path, with regard to the nonholonomic constraints and the maximum allowed joint accelerations. This approach allows geometric constraints such as joint limits and closed-chain constraints, along with differential constraints such as nonholonomic velocity constraints and acceleration limits, to be incorporated into the planning scheme. The simulation results illustrate the effectiveness of the proposed method. PMID:22606656

New method for finding multiple meaningful trajectories

NASA Astrophysics Data System (ADS)

Bao, Zhonghao; Flachs, Gerald M.; Jordan, Jay B.

1995-07-01

Mathematical foundations and algorithms for efficiently finding multiple meaningful trajectories (FMMT) in a sequence of digital images are presented. A meaningful trajectory is motion created by a sentient being or by a device under the control of a sentient being. It is smooth and predictable over short time intervals. A meaningful trajectory can suddenly appear or disappear in sequence images. The development of the FMMT is based on these assumptions. A finite state machine in the FMMT is used to model the trajectories under the conditions of occlusions and false targets. Each possible trajectory is associated with an initial state of a finite state machine. When two frames of data are available, a linear predictor is used to predict the locations of all possible trajectories. All trajectories within a certain error bound are moved to a monitoring trajectory state. When trajectories attain three consecutive good predictions, they are moved to a valid trajectory state and considered to be locked into a tracking mode. If an object is occluded while in the valid trajectory state, the predicted position is used to continue to track; however, the confidence in the trajectory is lowered. If the trajectory confidence falls below a lower limit, the trajectory is terminated. Results are presented that illustrate the FMMT applied to track multiple munitions fired from a missile in a sequence of images. Accurate trajectories are determined even in poor images where the probabilities of miss and false alarm are very high.

Human Exploration of Earth's Neighborhood and Mars

NASA Technical Reports Server (NTRS)

Condon, Gerald

2003-01-01

The presentation examines Mars landing scenarios, Earth to Moon transfers comparing direct vs. via libration points. Lunar transfer/orbit diagrams, comparison of opposition class and conjunction class missions, and artificial gravity for human exploration missions. Slides related to Mars landing scenarios include: mission scenario; direct entry landing locations; 2005 opportunity - Type 1; Earth-mars superior conjunction; Lander latitude accessibility; Low thrust - Earth return phase; SEP Earth return sequence; Missions - 200, 2007, 2009; and Mission map. Slides related to Earth to Moon transfers (direct vs. via libration points (L1, L2) include libration point missions, expeditionary vs. evolutionary, Earth-Moon L1 - gateway for lunar surface operations, and Lunar mission libration point vs. lunar orbit rendezvous (LOR). Slides related to lunar transfer/orbit diagrams include: trans-lunar trajectory from ISS parking orbit, trans-Earth trajectories, parking orbit considerations, and landing latitude restrictions. Slides related to comparison of opposition class (short-stay) and conjunction class (long-stay) missions for human exploration of Mars include: Mars mission planning, Earth-Mars orbital characteristics, delta-V variations, and Mars mission duration comparison. Slides related to artificial gravity for human exploration missions include: current configuration, NEP thruster location trades, minor axis rotation, and example load paths.

Gradient waveform pre-emphasis based on the gradient system transfer function.

PubMed

Stich, Manuel; Wech, Tobias; Slawig, Anne; Ringler, Ralf; Dewdney, Andrew; Greiser, Andreas; Ruyters, Gudrun; Bley, Thorsten A; Köstler, Herbert

2018-02-25

The gradient system transfer function (GSTF) has been used to describe the distorted k-space trajectory for image reconstruction. The purpose of this work was to use the GSTF to determine the pre-emphasis for an undistorted gradient output and intended k-space trajectory. The GSTF of the MR system was determined using only standard MR hardware without special equipment such as field probes or a field camera. The GSTF was used for trajectory prediction in image reconstruction and for a gradient waveform pre-emphasis. As test sequences, a gradient-echo sequence with phase-encoding gradient modulation and a gradient-echo sequence with a spiral read-out trajectory were implemented and subsequently applied on a structural phantom and in vivo head measurements. Image artifacts were successfully suppressed by applying the GSTF-based pre-emphasis. Equivalent results are achieved with images acquired using GSTF-based post-correction of the trajectory as a part of image reconstruction. In contrast, the pre-emphasis approach allows reconstruction using the initially intended trajectory. The artifact suppression shown for two sequences demonstrates that the GSTF can serve for a novel pre-emphasis. A pre-emphasis based on the GSTF information can be applied to any arbitrary sequence type. © 2018 International Society for Magnetic Resonance in Medicine.

Four-body trajectory optimization

NASA Technical Reports Server (NTRS)

Pu, C. L.; Edelbaum, T. N.

1973-01-01

A collection of typical three-body trajectories from the L1 libration point on the sun-earth line to the earth is presented. These trajectories in the sun-earth system are grouped into four distinct families which differ in transfer time and delta V requirements. Curves showing the variations of delta V with respect to transfer time, and typical two and three-impulse primer vector histories, are included. The development of a four-body trajectory optimization program to compute fuel optimal trajectories between the earth and a point in the sun-earth-moon system are also discussed. Methods for generating fuel optimal two-impulse trajectories which originate at the earth or a point in space, and fuel optimal three-impulse trajectories between two points in space, are presented. A brief qualitative comparison of these methods is given. An example of a four-body two-impulse transfer from the Li libration point to the earth is included.

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

Firing rate dynamics in the hippocampus induced by trajectory learning.

PubMed

Ji, Daoyun; Wilson, Matthew A

2008-04-30

The hippocampus is essential for spatial navigation, which may involve sequential learning. However, how the hippocampus encodes new sequences in familiar environments is unknown. To study the impact of novel spatial sequences on the activity of hippocampal neurons, we monitored hippocampal ensembles while rats learned to switch from two familiar trajectories to a new one in a familiar environment. Here, we show that this novel spatial experience induces two types of changes in firing rates, but not locations of hippocampal place cells. First, place-cell firing rates on the two familiar trajectories start to change before the actual behavioral switch to the new trajectory. Second, repeated exposure on the new trajectory is associated with an increased dependence of place-cell firing rates on immediate past locations. The result suggests that sequence encoding in the hippocampus may involve integration of information about the recent past into current state.

Firing Rate Dynamics in the Hippocampus Induced by Trajectory Learning

PubMed Central

Wilson, Matthew A.

2008-01-01

The hippocampus is essential for spatial navigation, which may involve sequential learning. However, how the hippocampus encodes new sequences in familiar environments is unknown. To study the impact of novel spatial sequences on the activity of hippocampal neurons, we monitored hippocampal ensembles while rats learned to switch from two familiar trajectories to a new one in a familiar environment. Here, we show that this novel spatial experience induces two types of changes in firing rates, but not locations of hippocampal place cells. First, place-cell firing rates on the two familiar trajectories start to change before the actual behavioral switch to the new trajectory. Second, repeated exposure on the new trajectory is associated with an increased dependence of place-cell firing rates on immediate past locations. The result suggests that sequence encoding in the hippocampus may involve integration of information about the recent past into current state. PMID:18448645

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.

Trajectories of affective states in adolescent hockey players: turning point and motivational antecedents.

PubMed

Gaudreau, Patrick; Amiot, Catherine E; Vallerand, Robert J

2009-03-01

This study examined longitudinal trajectories of positive and negative affective states with a sample of 265 adolescent elite hockey players followed across 3 measurement points during the 1st 11 weeks of a season. Latent class growth modeling, incorporating a time-varying covariate and a series of predictors assessed at the onset of the season, was used to chart out distinct longitudinal trajectories of affective states. Results provided evidence for 3 trajectories of positive affect and 3 trajectories of negative affect. Two of these trajectories were deflected by team selection, a seasonal turning point occurring after the 1st measurement point. Furthermore, the trajectories of positive and negative affective states were predicted by theoretically driven predictors assessed at the start of the season (i.e., self-determination, need satisfaction, athletic identity, and school identity). These results contribute to a better understanding of the motivational, social, and identity-related processes associated with the distinct affective trajectories of athletes participating in elite sport during adolescence.

Understanding sequence similarity and framework analysis between centromere proteins using computational biology.

PubMed

Doss, C George Priya; Chakrabarty, Chiranjib; Debajyoti, C; Debottam, S

2014-11-01

Certain mysteries pointing toward their recruitment pathways, cell cycle regulation mechanisms, spindle checkpoint assembly, and chromosome segregation process are considered the centre of attraction in cancer research. In modern times, with the established databases, ranges of computational platforms have provided a platform to examine almost all the physiological and biochemical evidences in disease-associated phenotypes. Using existing computational methods, we have utilized the amino acid residues to understand the similarity within the evolutionary variance of different associated centromere proteins. This study related to sequence similarity, protein-protein networking, co-expression analysis, and evolutionary trajectory of centromere proteins will speed up the understanding about centromere biology and will create a road map for upcoming researchers who are initiating their work of clinical sequencing using centromere proteins.

Active head rotations and eye-head coordination

NASA Technical Reports Server (NTRS)

Zangemeister, W. H.; Stark, L.

1981-01-01

It is pointed out that head movements play an important role in gaze. The interaction between eye and head movements involves both their shared role in directing gaze and the compensatory vestibular ocular reflex. The dynamics of head trajectories are discussed, taking into account the use of parameterization to obtain the peak velocity, peak accelerations, the times of these extrema, and the duration of the movement. Attention is given to the main sequence, neck muscle EMG and details of the head-movement trajectory, types of head model accelerations, the latency of eye and head movement in coordinated gaze, gaze latency as a function of various factors, and coordinated gaze types. Clinical examples of gaze-plane analysis are considered along with the instantaneous change of compensatory eye movement (CEM) gain, and aspects of variability.

Anatomy-driven multiple trajectory planning (ADMTP) of intracranial electrodes for epilepsy surgery.

PubMed

Sparks, Rachel; Vakharia, Vejay; Rodionov, Roman; Vos, Sjoerd B; Diehl, Beate; Wehner, Tim; Miserocchi, Anna; McEvoy, Andrew W; Duncan, John S; Ourselin, Sebastien

2017-08-01

Epilepsy is potentially curable with resective surgery if the epileptogenic zone (EZ) can be identified. If non-invasive imaging is unable to elucidate the EZ, intracranial electrodes may be implanted to identify the EZ as well as map cortical function. In current clinical practice, each electrode trajectory is determined by time-consuming manual inspection of preoperative imaging to find a path that avoids blood vessels while traversing appropriate deep and superficial regions of interest (ROIs). We present anatomy-driven multiple trajectory planning (ADMTP) to find safe trajectories from a list of user-defined ROIs within minutes rather than the hours required for manual planning. Electrode trajectories are automatically computed in three steps: (1) Target Point Selection to identify appropriate target points within each ROI; (2) Trajectory Risk Scoring to quantify the cumulative distance to critical structures (blood vessels) along each trajectory, defined as the skull entry point to target point. (3) Implantation Plan Computation: to determine a feasible combination of low-risk trajectories for all electrodes. ADMTP was evaluated on 20 patients (190 electrodes). ADMTP lowered the quantitative risk score in 83% of electrodes. Qualitative results show ADMTP found suitable trajectories for 70% of electrodes; a similar portion of manual trajectories were considered suitable. Trajectory suitability for ADMTP was 95% if traversing sulci was not included in the safety criteria. ADMTP is computationally efficient, computing between 7 and 12 trajectories in 54.5 (17.3-191.9) s. ADMTP efficiently compute safe and surgically feasible electrode trajectories.

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

NASA Technical Reports Server (NTRS)

Armoundas, A. A.; Feldman, A. B.; Sherman, D. A.; Cohen, R. J.

2001-01-01

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

Indoor Smartphone Navigation Using a Combination of Wi-Fi and Inertial Navigation with Intelligent Checkpoints

NASA Astrophysics Data System (ADS)

Hofer, H.; Retscher, G.

2017-09-01

For Wi-Fi positioning location fingerprinting is one of the most commonly employed localization technique. To achieve an acceptable level of positioning accuracy on the few meter level, i.e., to provide at least room resolution in buildings, such an approach is very labour consuming as it requires a high density of reference points. Thus, the novel approach developed aims at a significant reduction of workload for the training phase. The basic idea is to intelligently choose waypoints along possible users' trajectories in the indoor environment. These waypoints are termed intelligent checkpoints (iCPs) and serve as reference points for the fingerprinting localization approach. They are selected along the trajectories in such a way that they define a logical sequence with their ascending order. Thereby, the iCPs are located, for instance, at doors at entrances to buildings, rooms, along corridors, etc., or in low density along the trajectory to provide a suitable absolute user localization. Continuous positioning between these iCPs is obtained with the help of the smartphones' inertial sensors. While walking along a selected trajectory to the destination a dynamic recognition of the iCPs is performed and the drift of the inertial sensors is reduced as the iCP recognition serves as absolute position update. Conducted experiments in a multi-storey office building have shown that positioning accuracy of around 2.0 m are achievable which goes along with a reduction of workload by three quarter using this novel approach. The iCP concept and performance are presented and demonstrated in this paper.

Optimization of Insertion Cost for Transfer Trajectories to Libration Point Orbits

NASA Technical Reports Server (NTRS)

Howell, K. C.; Wilson, R. S.; Lo, M. W.

1999-01-01

The objective of this work is the development of efficient techniques to optimize the cost associated with transfer trajectories to libration point orbits in the Sun-Earth-Moon four body problem, that may include lunar gravity assists. Initially, dynamical systems theory is used to determine invariant manifolds associated with the desired libration point orbit. These manifolds are employed to produce an initial approximation to the transfer trajectory. Specific trajectory requirements such as, transfer injection constraints, inclusion of phasing loops, and targeting of a specified state on the manifold are then incorporated into the design of the transfer trajectory. A two level differential corrections process is used to produce a fully continuous trajectory that satisfies the design constraints, and includes appropriate lunar and solar gravitational models. Based on this methodology, and using the manifold structure from dynamical systems theory, a technique is presented to optimize the cost associated with insertion onto a specified libration point orbit.

Choice-specific sequences in parietal cortex during a virtual-navigation decision task

PubMed Central

Harvey, Christopher D.; Coen, Philip; Tank, David W.

2012-01-01

The posterior parietal cortex (PPC) plays an important role in many cognitive behaviors; however, the neural circuit dynamics underlying PPC function are not well understood. Here we optically imaged the spatial and temporal activity patterns of neuronal populations in mice performing a PPC-dependent task that combined a perceptual decision and memory-guided navigation in a virtual environment. Individual neurons had transient activation staggered relative to one another in time, forming a sequence of neuronal activation spanning the entire length of a task trial. Distinct sequences of neurons were triggered on trials with opposite behavioral choices and defined divergent, choice-specific trajectories through a state space of neuronal population activity. Cells participating in the different sequences and at distinct time points in the task were anatomically intermixed over microcircuit length scales (< 100 micrometers). During working memory decision tasks the PPC may therefore perform computations through sequence-based circuit dynamics, rather than long-lived stable states, implemented using anatomically intermingled microcircuits. PMID:22419153

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

Simultaneous Detection and Tracking of Pedestrian from Panoramic Laser Scanning Data

NASA Astrophysics Data System (ADS)

Xiao, Wen; Vallet, Bruno; Schindler, Konrad; Paparoditis, Nicolas

2016-06-01

Pedestrian traffic flow estimation is essential for public place design and construction planning. Traditional data collection by human investigation is tedious, inefficient and expensive. Panoramic laser scanners, e.g. Velodyne HDL-64E, which scan surroundings repetitively at a high frequency, have been increasingly used for 3D object tracking. In this paper, a simultaneous detection and tracking (SDAT) method is proposed for precise and automatic pedestrian trajectory recovery. First, the dynamic environment is detected using two different methods, Nearest-point and Max-distance. Then, all the points on moving objects are transferred into a space-time (x, y, t) coordinate system. The pedestrian detection and tracking amounts to assign the points belonging to pedestrians into continuous trajectories in space-time. We formulate the point assignment task as an energy function which incorporates the point evidence, trajectory number, pedestrian shape and motion. A low energy trajectory will well explain the point observations, and have plausible trajectory trend and length. The method inherently filters out points from other moving objects and false detections. The energy function is solved by a two-step optimization process: tracklet detection in a short temporal window; and global tracklet association through the whole time span. Results demonstrate that the proposed method can automatically recover the pedestrians trajectories with accurate positions and low false detections and mismatches.

A Variational Approach to Video Registration with Subspace Constraints.

PubMed

Garg, Ravi; Roussos, Anastasios; Agapito, Lourdes

2013-01-01

This paper addresses the problem of non-rigid video registration, or the computation of optical flow from a reference frame to each of the subsequent images in a sequence, when the camera views deformable objects. We exploit the high correlation between 2D trajectories of different points on the same non-rigid surface by assuming that the displacement of any point throughout the sequence can be expressed in a compact way as a linear combination of a low-rank motion basis. This subspace constraint effectively acts as a trajectory regularization term leading to temporally consistent optical flow. We formulate it as a robust soft constraint within a variational framework by penalizing flow fields that lie outside the low-rank manifold. The resulting energy functional can be decoupled into the optimization of the brightness constancy and spatial regularization terms, leading to an efficient optimization scheme. Additionally, we propose a novel optimization scheme for the case of vector valued images, based on the dualization of the data term. This allows us to extend our approach to deal with colour images which results in significant improvements on the registration results. Finally, we provide a new benchmark dataset, based on motion capture data of a flag waving in the wind, with dense ground truth optical flow for evaluation of multi-frame optical flow algorithms for non-rigid surfaces. Our experiments show that our proposed approach outperforms state of the art optical flow and dense non-rigid registration algorithms.

Mutual information in the evolution of trajectories in discrete aiming movements.

PubMed

Lai, Shih-Chiung; Mayer-Kress, Gottfried; Newell, Karl M

2008-07-01

This study investigated the mutual information in the trajectories of discrete aiming movements on a computer controlled graphics tablet where movement time ( 300 - 2050 ms) was manipulated in a given distance (100 mm) and movement distance (15-240 mm) in 2 given movement times (300 ms and 800 ms ). For the distance-fixed conditions, there was higher mutual information in the slower movements in the 0 vs. 80-100% trajectory point comparisons, whereas the mutual information was higher for the faster movements when comparing within the 80 and 100% points of the movement trajectory. For the time-fixed conditions, the spatial constraints led to a decreasing pattern of the mutual information throughout the points of the trajectory, with the highest mutual information found in the 80 vs. 100% comparison. Overall, the pattern of mutual information reveals systematic modulation of the trajectories between the attractive fixed point of the target as a function of movement condition. These mutual information patterns are postulated to be the consequence of the different relative contributions of feedforward and feedback control processes in trajectory formation as a function of task constraints.

Geostationary orbits from mid-latitude launch sites via lunar gravity assist

NASA Astrophysics Data System (ADS)

Graziani, F.; Castronuovo, M. M.; Teofilatto, P.

The out-of-plane maneuver, necessary to acquire a geostationary orbit from launch sites that are at some degrees of latitude, makes the cost of such a mission very high. In this paper, we present a trajectory design for reaching a geostationary orbit from a mid-latitude launch base, with a consistent saving of propellant. This has been obtained using a lunar gravity assist (g.a.) to change the high inclination of the satellite orbit and, at the same time, to raise the perigee to the geosynchronous height. The Moon g.a. has been designed, describing the physical process by means of Opik's method. This is an analytical approximation technique which allows computation of outcome of planetary close encounters in a simple, but accurate, way. The trajectory resulting from this preliminary study has been used as a starting point for a numerical integration, using Everhart's integrator RADAU. We considered also the launch from Cape Canaveral (28.5 deg North), finding a small saving of V. The mission sequences are described and compared to other traditional trajectory designs.

Equilibrium-point control hypothesis examined by measured arm stiffness during multijoint movement.

PubMed

Gomi, H; Kawato

1996-04-05

For the last 20 years, it has been hypothesized that well-coordinated, multijoint movements are executed without complex computation by the brain, with the use of springlike muscle properties and peripheral neural feedback loops. However, it has been technically and conceptually difficult to examine this "equilibrium-point control" hypothesis directly in physiological or behavioral experiments. A high-performance manipulandum was developed and used here to measure human arm stiffness, the magnitude of which during multijoint movement is important for this hypothesis. Here, the equilibrium-point trajectory was estimated from the measured stiffness, the actual trajectory, and the generated torque. Its velocity profile differed from that of the actual trajectory. These results argue against the hypothesis that the brain sends as a motor command only an equilibrium-point trajectory similar to the actual trajectory.

Trajectory design for a rendezvous mission to Earth's Trojan asteroid 2010 TK7

NASA Astrophysics Data System (ADS)

Lei, Hanlun; Xu, Bo; Zhang, Lei

2017-12-01

In this paper a rendezvous mission to the Earth's Trojan asteroid 2010 TK7 is proposed, and preliminary transfer trajectories are designed. Due to the high inclination (∼ 20.9°) of the target asteroid relative to the ecliptic plane, direct transfers usually require large amounts of fuel consumption, which is beyond the capacity of current technology. As gravity assist technique could effectively change the inclination of spacecraft's trajectory, it is adopted to reduce the launch energy and rendezvous velocity maneuver. In practical computation, impulsive and low-thrust, gravity-assisted trajectories are considered. Among all the trajectories computed, the low-thrust gravity-assisted trajectory with Venus-Earth-Venus (V-E-V) swingby sequence performs the best in terms of propellant mass. For a spacecraft with initial mass of 800 kg , propellant mass of the best trajectory is 36.74 kg . Numerical results indicate that both the impulsive and low-thrust, gravity-assisted trajectories corresponding to V-E-V sequence could satisfy mission constraints, and can be applied to practical rendezvous mission.

Approximate optimal tracking control for near-surface AUVs with wave disturbances

NASA Astrophysics Data System (ADS)

Yang, Qing; Su, Hao; Tang, Gongyou

2016-10-01

This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.

Trajectory data privacy protection based on differential privacy mechanism

NASA Astrophysics Data System (ADS)

Gu, Ke; Yang, Lihao; Liu, Yongzhi; Liao, Niandong

2018-05-01

In this paper, we propose a trajectory data privacy protection scheme based on differential privacy mechanism. In the proposed scheme, the algorithm first selects the protected points from the user’s trajectory data; secondly, the algorithm forms the polygon according to the protected points and the adjacent and high frequent accessed points that are selected from the accessing point database, then the algorithm calculates the polygon centroids; finally, the noises are added to the polygon centroids by the differential privacy method, and the polygon centroids replace the protected points, and then the algorithm constructs and issues the new trajectory data. The experiments show that the running time of the proposed algorithms is fast, the privacy protection of the scheme is effective and the data usability of the scheme is higher.

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

Langevin synchronization in a time-dependent, harmonic basin: An exact solution in 1D

NASA Astrophysics Data System (ADS)

Cadilhe, A.; Voter, Arthur F.

2018-02-01

The trajectories of two particles undergoing Langevin dynamics while sharing a common noise sequence can merge into a single (master) trajectory. Here, we present an exact solution for a particle undergoing Langevin dynamics in a harmonic, time-dependent potential, thus extending the idea of synchronization to nonequilibrium systems. We calculate the synchronization level, i.e., the mismatch between two trajectories sharing a common noise sequence, in the underdamped, critically damped, and overdamped regimes. Finally, we provide asymptotic expansions in various limiting cases and compare to the time independent case.

Assessing randomness and complexity in human motion trajectories through analysis of symbolic sequences

PubMed Central

Peng, Zhen; Genewein, Tim; Braun, Daniel A.

2014-01-01

Complexity is a hallmark of intelligent behavior consisting both of regular patterns and random variation. To quantitatively assess the complexity and randomness of human motion, we designed a motor task in which we translated subjects' motion trajectories into strings of symbol sequences. In the first part of the experiment participants were asked to perform self-paced movements to create repetitive patterns, copy pre-specified letter sequences, and generate random movements. To investigate whether the degree of randomness can be manipulated, in the second part of the experiment participants were asked to perform unpredictable movements in the context of a pursuit game, where they received feedback from an online Bayesian predictor guessing their next move. We analyzed symbol sequences representing subjects' motion trajectories with five common complexity measures: predictability, compressibility, approximate entropy, Lempel-Ziv complexity, as well as effective measure complexity. We found that subjects' self-created patterns were the most complex, followed by drawing movements of letters and self-paced random motion. We also found that participants could change the randomness of their behavior depending on context and feedback. Our results suggest that humans can adjust both complexity and regularity in different movement types and contexts and that this can be assessed with information-theoretic measures of the symbolic sequences generated from movement trajectories. PMID:24744716

Back to the Future: Consistency-Based Trajectory Tracking

NASA Technical Reports Server (NTRS)

Kurien, James; Nayak, P. Pandurand; Norvig, Peter (Technical Monitor)

2000-01-01

Given a model of a physical process and a sequence of commands and observations received over time, the task of an autonomous controller is to determine the likely states of the process and the actions required to move the process to a desired configuration. We introduce a representation and algorithms for incrementally generating approximate belief states for a restricted but relevant class of partially observable Markov decision processes with very large state spaces. The algorithm presented incrementally generates, rather than revises, an approximate belief state at any point by abstracting and summarizing segments of the likely trajectories of the process. This enables applications to efficiently maintain a partial belief state when it remains consistent with observations and revisit past assumptions about the process' evolution when the belief state is ruled out. The system presented has been implemented and results on examples from the domain of spacecraft control are presented.

Hippocampal replay in the awake state: a potential physiological substrate of memory consolidation and retrieval

PubMed Central

Carr, Margaret F.; Jadhav, Shantanu P.; Frank, Loren M.

2011-01-01

The hippocampus is required for the encoding, consolidation, and retrieval of event memories. While the neural mechanisms that underlie these processes are only partially understood, a series of recent papers point to awake memory replay as a potential contributor to both consolidation and retrieval. Replay is the sequential reactivation of hippocampal place cells that represent previously experienced behavioral trajectories and occurs frequently in the awake state, particularly during periods of relative immobility. Awake replay may reflect trajectories through either the current environment or previously visited environments that are spatially remote. The repetition of learned sequences on a compressed time scale is well suited to promote memory consolidation in distributed circuits beyond the hippocampus, suggesting that consolidation occurs in both the awake and sleeping animal. Moreover, sensory information can influence the content of awake replay, suggesting a role for awake replay in memory retrieval. PMID:21270783

Error-based Extraction of States and Energy Landscapes from Experimental Single-Molecule Time-Series

NASA Astrophysics Data System (ADS)

Taylor, J. Nicholas; Li, Chun-Biu; Cooper, David R.; Landes, Christy F.; Komatsuzaki, Tamiki

2015-03-01

Characterization of states, the essential components of the underlying energy landscapes, is one of the most intriguing subjects in single-molecule (SM) experiments due to the existence of noise inherent to the measurements. Here we present a method to extract the underlying state sequences from experimental SM time-series. Taking into account empirical error and the finite sampling of the time-series, the method extracts a steady-state network which provides an approximation of the underlying effective free energy landscape. The core of the method is the application of rate-distortion theory from information theory, allowing the individual data points to be assigned to multiple states simultaneously. We demonstrate the method's proficiency in its application to simulated trajectories as well as to experimental SM fluorescence resonance energy transfer (FRET) trajectories obtained from isolated agonist binding domains of the AMPA receptor, an ionotropic glutamate receptor that is prevalent in the central nervous system.

SELENE Translunar Trajectory Reconfiguration Plan Provided for the Case of Main Engine Anomaly

NASA Technical Reports Server (NTRS)

Kawakatsu, Yasuhiro

2007-01-01

In this paper, the reconfiguration of translunar trajectory in case of main engine anomaly is investigated. The objectives of the trajectory design are to reduce the excessive velocity at the Lunar encounter as well as to reduce the total required Delta-v to complete the sequence. 3-impulse Hohmann transfer based trajectory is adopted and possible trajectories are categorized under 2-body approximation. The solutions obtained are applied to more sophisticated models (3-body approximation and 4-body) and yields feasible trajectory.

Four-body trajectory optimization

NASA Technical Reports Server (NTRS)

Pu, C. L.; Edelbaum, T. N.

1974-01-01

A comprehensive optimization program has been developed for computing fuel-optimal trajectories between the earth and a point in the sun-earth-moon system. It presents methods for generating fuel optimal two-impulse trajectories which may originate at the earth or a point in space and fuel optimal three-impulse trajectories between two points in space. The extrapolation of the state vector and the computation of the state transition matrix are accomplished by the Stumpff-Weiss method. The cost and constraint gradients are computed analytically in terms of the terminal state and the state transition matrix. The 4-body Lambert problem is solved by using the Newton-Raphson method. An accelerated gradient projection method is used to optimize a 2-impulse trajectory with terminal constraint. The Davidon's Variance Method is used both in the accelerated gradient projection method and the outer loop of a 3-impulse trajectory optimization problem.

Chaotic trajectories in the standard map. The concept of anti-integrability

NASA Astrophysics Data System (ADS)

Aubry, Serge; Abramovici, Gilles

1990-07-01

A rigorous proof is given in the standard map (associated with a Frenkel-Kontorowa model) for the existence of chaotic trajectories with unbounded momenta for large enough coupling constant k > k0. These chaotic trajectories (with finite entropy per site) are coded by integer sequences { mi} such that the sequence bi = |m i+1 + m i-1-2m i| be bounded by some integer b. The bound k0 in k depends on b and can be lowered for coding sequences { mi} fulfilling more restrictive conditions. The obtained chaotic trajectories correspond to stationary configurations of the Frenkel-Kontorowa model with a finite (non-zero) photon gap (called gap parameter in dimensionless units). This property implies that the trajectory (or the configuration { ui}) can be uniquely continued as a uniformly continuous function of the model parameter k in some neighborhood of the initial configuration. A non-zero gap parameter implies that the Lyapunov coefficient is strictly positive (when it is defined). In addition, the existence of dilating and contracting manifolds is proven for these chaotic trajectories. “Exotic” trajectories such as ballistic trajectories are also proven to exist as a consequence of these theorems. The concept of anti-integrability emerges from these theorems. In the anti-integrable limit which can be only defined for a discrete time dynamical system, the coordinates of the trajectory at time i do not depend on the coordinates at time i - 1. Thus, at this singular limit, the existence of chaotic trajectories is trivial and the dynamical system reduces to a Bernoulli shift. It is well known that the KAM tori of symplectic dynamical originates by continuity from the invariant tori which exists in the integrible limit (under certain conditions). In a similar way, it appears that the chaotic trajectories of dynamical systems originate by continuity from those which exists at the anti-integrable limits (also under certain conditions).

Generation of brain pseudo-CTs using an undersampled, single-acquisition UTE-mDixon pulse sequence and unsupervised clustering

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

Su, Kuan-Hao; Hu, Lingzhi; Traughber, Melanie

Purpose: MR-based pseudo-CT has an important role in MR-based radiation therapy planning and PET attenuation correction. The purpose of this study is to establish a clinically feasible approach, including image acquisition, correction, and CT formation, for pseudo-CT generation of the brain using a single-acquisition, undersampled ultrashort echo time (UTE)-mDixon pulse sequence. Methods: Nine patients were recruited for this study. For each patient, a 190-s, undersampled, single acquisition UTE-mDixon sequence of the brain was acquired (TE = 0.1, 1.5, and 2.8 ms). A novel method of retrospective trajectory correction of the free induction decay (FID) signal was performed based on point-spreadmore » functions of three external MR markers. Two-point Dixon images were reconstructed using the first and second echo data (TE = 1.5 and 2.8 ms). R2{sup ∗} images (1/T2{sup ∗}) were then estimated and were used to provide bone information. Three image features, i.e., Dixon-fat, Dixon-water, and R2{sup ∗}, were used for unsupervised clustering. Five tissue clusters, i.e., air, brain, fat, fluid, and bone, were estimated using the fuzzy c-means (FCM) algorithm. A two-step, automatic tissue-assignment approach was proposed and designed according to the prior information of the given feature space. Pseudo-CTs were generated by a voxelwise linear combination of the membership functions of the FCM. A low-dose CT was acquired for each patient and was used as the gold standard for comparison. Results: The contrast and sharpness of the FID images were improved after trajectory correction was applied. The mean of the estimated trajectory delay was 0.774 μs (max: 1.350 μs; min: 0.180 μs). The FCM-estimated centroids of different tissue types showed a distinguishable pattern for different tissues, and significant differences were found between the centroid locations of different tissue types. Pseudo-CT can provide additional skull detail and has low bias and absolute error of estimated CT numbers of voxels (−22 ± 29 HU and 130 ± 16 HU) when compared to low-dose CT. Conclusions: The MR features generated by the proposed acquisition, correction, and processing methods may provide representative clustering information and could thus be used for clinical pseudo-CT generation.« less

Rapid Design of Gravity Assist Trajectories

NASA Technical Reports Server (NTRS)

Carrico, J.; Hooper, H. L.; Roszman, L.; Gramling, C.

1991-01-01

Several International Solar Terrestrial Physics (ISTP) missions require the design of complex gravity assisted trajectories in order to investigate the interaction of the solar wind with the Earth's magnetic field. These trajectories present a formidable trajectory design and optimization problem. The philosophy and methodology that enable an analyst to design and analyse such trajectories are discussed. The so called 'floating end point' targeting, which allows the inherently nonlinear multiple body problem to be solved with simple linear techniques, is described. The combination of floating end point targeting with analytic approximations with a Newton method targeter to achieve trajectory design goals quickly, even for the very sensitive double lunar swingby trajectories used by the ISTP missions, is demonstrated. A multiconic orbit integration scheme allows fast and accurate orbit propagation. A prototype software tool, Swingby, built for trajectory design and launch window analysis, is described.

Image encryption using random sequence generated from generalized information domain

NASA Astrophysics Data System (ADS)

Xia-Yan, Zhang; Guo-Ji, Zhang; Xuan, Li; Ya-Zhou, Ren; Jie-Hua, Wu

2016-05-01

A novel image encryption method based on the random sequence generated from the generalized information domain and permutation-diffusion architecture is proposed. The random sequence is generated by reconstruction from the generalized information file and discrete trajectory extraction from the data stream. The trajectory address sequence is used to generate a P-box to shuffle the plain image while random sequences are treated as keystreams. A new factor called drift factor is employed to accelerate and enhance the performance of the random sequence generator. An initial value is introduced to make the encryption method an approximately one-time pad. Experimental results show that the random sequences pass the NIST statistical test with a high ratio and extensive analysis demonstrates that the new encryption scheme has superior security.

Kinematics of pointing movements made in a virtual versus a physical 3-dimensional environment in healthy and stroke subjects.

PubMed

Knaut, Luiz A; Subramanian, Sandeep K; McFadyen, Bradford J; Bourbonnais, Daniel; Levin, Mindy F

2009-05-01

To compare kinematics of 3-dimensional pointing movements performed in a virtual environment (VE) displayed through a head-mounted display with those made in a physical environment. Observational study of movement in poststroke and healthy subjects. Motion analysis laboratory. Adults (n=15; 4 women; 59+/-15.4y) with chronic poststroke hemiparesis were recruited. Participants had moderate upper-limb impairment with Chedoke-McMaster Arm Scores ranging from 3 to 6 out of 7. Twelve healthy subjects (6 women; 53.3+/-17.1y) were recruited from the community. Not applicable. Arm and trunk kinematics were recorded in similar virtual and physical environments with an Optotrak System (6 markers; 100Hz; 5s). Subjects pointed as quickly and as accurately as possible to 6 targets (12 trials/target in a randomized sequence) placed in arm workspace areas requiring different arm movement patterns and levels of difficulty. Movements were analyzed in terms of performance outcome measures (endpoint precision, trajectory, peak velocity) and arm and trunk movement patterns (elbow and shoulder ranges of motion, elbow/shoulder coordination, trunk displacement, rotation). For healthy subjects, precision and trajectory straightness were higher in VE when pointing to contralateral targets, and movements were slower for all targets in VE. Stroke participants made less accurate and more curved movements in VE and used less trunk displacement. Elbow/shoulder coordination differed when pointing to the lower ipsilateral target. There were no group-by-environment interactions. Movements in both environments were sufficiently similar to consider VE a valid environment for clinical interventions and motor control studies.

Relative Pose Estimation Using Image Feature Triplets

NASA Astrophysics Data System (ADS)

Chuang, T. Y.; Rottensteiner, F.; Heipke, C.

2015-03-01

A fully automated reconstruction of the trajectory of image sequences using point correspondences is turning into a routine practice. However, there are cases in which point features are hardly detectable, cannot be localized in a stable distribution, and consequently lead to an insufficient pose estimation. This paper presents a triplet-wise scheme for calibrated relative pose estimation from image point and line triplets, and investigates the effectiveness of the feature integration upon the relative pose estimation. To this end, we employ an existing point matching technique and propose a method for line triplet matching in which the relative poses are resolved during the matching procedure. The line matching method aims at establishing hypotheses about potential minimal line matches that can be used for determining the parameters of relative orientation (pose estimation) of two images with respect to the reference one; then, quantifying the agreement using the estimated orientation parameters. Rather than randomly choosing the line candidates in the matching process, we generate an associated lookup table to guide the selection of potential line matches. In addition, we integrate the homologous point and line triplets into a common adjustment procedure. In order to be able to also work with image sequences the adjustment is formulated in an incremental manner. The proposed scheme is evaluated with both synthetic and real datasets, demonstrating its satisfactory performance and revealing the effectiveness of image feature integration.

Equally parsimonious pathways through an RNA sequence space are not equally likely

NASA Technical Reports Server (NTRS)

Lee, Y. H.; DSouza, L. M.; Fox, G. E.

1997-01-01

An experimental system for determining the potential ability of sequences resembling 5S ribosomal RNA (rRNA) to perform as functional 5S rRNAs in vivo in the Escherichia coli cellular environment was devised previously. Presumably, the only 5S rRNA sequences that would have been fixed by ancestral populations are ones that were functionally valid, and hence the actual historical paths taken through RNA sequence space during 5S rRNA evolution would have most likely utilized valid sequences. Herein, we examine the potential validity of all sequence intermediates along alternative equally parsimonious trajectories through RNA sequence space which connect two pairs of sequences that had previously been shown to behave as valid 5S rRNAs in E. coli. The first trajectory requires a total of four changes. The 14 sequence intermediates provide 24 apparently equally parsimonious paths by which the transition could occur. The second trajectory involves three changes, six intermediate sequences, and six potentially equally parsimonious paths. In total, only eight of the 20 sequence intermediates were found to be clearly invalid. As a consequence of the position of these invalid intermediates in the sequence space, seven of the 30 possible paths consisted of exclusively valid sequences. In several cases, the apparent validity/invalidity of the intermediate sequences could not be anticipated on the basis of current knowledge of the 5S rRNA structure. This suggests that the interdependencies in RNA sequence space may be more complex than currently appreciated. If ancestral sequences predicted by parsimony are to be regarded as actual historical sequences, then the present results would suggest that they should also satisfy a validity requirement and that, in at least limited cases, this conjecture can be tested experimentally.

Imaging atomic-level random walk of a point defect in graphene

NASA Astrophysics Data System (ADS)

Kotakoski, Jani; Mangler, Clemens; Meyer, Jannik C.

2014-05-01

Deviations from the perfect atomic arrangements in crystals play an important role in affecting their properties. Similarly, diffusion of such deviations is behind many microstructural changes in solids. However, observation of point defect diffusion is hindered both by the difficulties related to direct imaging of non-periodic structures and by the timescales involved in the diffusion process. Here, instead of imaging thermal diffusion, we stimulate and follow the migration of a divacancy through graphene lattice using a scanning transmission electron microscope operated at 60 kV. The beam-activated process happens on a timescale that allows us to capture a significant part of the structural transformations and trajectory of the defect. The low voltage combined with ultra-high vacuum conditions ensure that the defect remains stable over long image sequences, which allows us for the first time to directly follow the diffusion of a point defect in a crystalline material.

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

NASA Technical Reports Server (NTRS)

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

2017-01-01

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

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.

Estimation of object motion parameters from noisy images.

PubMed

Broida, T J; Chellappa, R

1986-01-01

An approach is presented for the estimation of object motion parameters based on a sequence of noisy images. The problem considered is that of a rigid body undergoing unknown rotational and translational motion. The measurement data consists of a sequence of noisy image coordinates of two or more object correspondence points. By modeling the object dynamics as a function of time, estimates of the model parameters (including motion parameters) can be extracted from the data using recursive and/or batch techniques. This permits a desired degree of smoothing to be achieved through the use of an arbitrarily large number of images. Some assumptions regarding object structure are presently made. Results are presented for a recursive estimation procedure: the case considered here is that of a sequence of one dimensional images of a two dimensional object. Thus, the object moves in one transverse dimension, and in depth, preserving the fundamental ambiguity of the central projection image model (loss of depth information). An iterated extended Kalman filter is used for the recursive solution. Noise levels of 5-10 percent of the object image size are used. Approximate Cramer-Rao lower bounds are derived for the model parameter estimates as a function of object trajectory and noise level. This approach may be of use in situations where it is difficult to resolve large numbers of object match points, but relatively long sequences of images (10 to 20 or more) are available.

Comparison of centric and reverse-centric trajectories for highly accelerated three-dimensional saturation recovery cardiac perfusion imaging.

PubMed

Wang, Haonan; Bangerter, Neal K; Park, Daniel J; Adluru, Ganesh; Kholmovski, Eugene G; Xu, Jian; DiBella, Edward

2015-10-01

Highly undersampled three-dimensional (3D) saturation-recovery sequences are affected by k-space trajectory since the magnetization does not reach steady state during the acquisition and the slab excitation profile yields different flip angles in different slices. This study compares centric and reverse-centric 3D cardiac perfusion imaging. An undersampled (98 phase encodes) 3D ECG-gated saturation-recovery sequence that alternates centric and reverse-centric acquisitions each time frame was used to image phantoms and in vivo subjects. Flip angle variation across the slices was measured, and contrast with each trajectory was analyzed via Bloch simulation. Significant variations in flip angle were observed across slices, leading to larger signal variation across slices for the centric acquisition. In simulation, severe transient artifacts were observed when using the centric trajectory with higher flip angles, placing practical limits on the maximum flip angle used. The reverse-centric trajectory provided less contrast, but was more robust to flip angle variations. Both of the k-space trajectories can provide reasonable image quality. The centric trajectory can have higher CNR, but is more sensitive to flip angle variation. The reverse-centric trajectory is more robust to flip angle variation. © 2014 Wiley Periodicals, Inc.

Using chaos to generate variations on movement sequences

NASA Astrophysics Data System (ADS)

Bradley, Elizabeth; Stuart, Joshua

1998-12-01

We describe a method for introducing variations into predefined motion sequences using a chaotic symbol-sequence reordering technique. A progression of symbols representing the body positions in a dance piece, martial arts form, or other motion sequence is mapped onto a chaotic trajectory, establishing a symbolic dynamics that links the movement sequence and the attractor structure. A variation on the original piece is created by generating a trajectory with slightly different initial conditions, inverting the mapping, and using special corpus-based graph-theoretic interpolation schemes to smooth any abrupt transitions. Sensitive dependence guarantees that the variation is different from the original; the attractor structure and the symbolic dynamics guarantee that the two resemble one another in both aesthetic and mathematical senses.

TH-EF-BRA-06: A Novel Retrospective 3D K-Space Sorting 4D-MRI Technique Using a Radial K-Space Acquisition MRI Sequence

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

Liu, Y; Subashi, E; Yin, F

Purpose: Current retrospective 4D-MRI provides superior tumor-to-tissue contrast and accurate respiratory motion information for radiotherapy motion management. The developed 4D-MRI techniques based on 2D-MRI image sorting require a high frame-rate of the MR sequences. However, several MRI sequences provide excellent image quality but have low frame-rate. This study aims at developing a novel retrospective 3D k-space sorting 4D-MRI technique using radial k-space acquisition MRI sequences to improve 4D-MRI image quality and temporal-resolution for imaging irregular organ/tumor respiratory motion. Methods: The method is based on a RF-spoiled, steady-state, gradient-recalled sequence with minimal echo time. A 3D radial k-space data acquisition trajectorymore » was used for sampling the datasets. Each radial spoke readout data line starts from the 3D center of Field-of-View. Respiratory signal can be extracted from the k-space center data point of each spoke. The spoke data was sorted based on its self-synchronized respiratory signal using phase sorting. Subsequently, 3D reconstruction was conducted to generate the time-resolved 4D-MRI images. As a feasibility study, this technique was implemented on a digital human phantom XCAT. The respiratory motion was controlled by an irregular motion profile. To validate using k-space center data as a respiratory surrogate, we compared it with the XCAT input controlling breathing profile. Tumor motion trajectories measured on reconstructed 4D-MRI were compared to the average input trajectory. The mean absolute amplitude difference (D) was calculated. Results: The signal extracted from k-space center data matches well with the input controlling respiratory profile of XCAT. The relative amplitude error was 8.6% and the relative phase error was 3.5%. XCAT 4D-MRI demonstrated a clear motion pattern with little serrated artifacts. D of tumor trajectories was 0.21mm, 0.23mm and 0.23mm in SI, AP and ML directions, respectively. Conclusion: A novel retrospective 3D k-space sorting 4D-MRI technique has been developed and evaluated on human digital phantom. NIH (1R21CA165384-01A1)« less

Clustering method for counting passengers getting in a bus with single camera

NASA Astrophysics Data System (ADS)

Yang, Tao; Zhang, Yanning; Shao, Dapei; Li, Ying

2010-03-01

Automatic counting of passengers is very important for both business and security applications. We present a single-camera-based vision system that is able to count passengers in a highly crowded situation at the entrance of a traffic bus. The unique characteristics of the proposed system include, First, a novel feature-point-tracking- and online clustering-based passenger counting framework, which performs much better than those of background-modeling-and foreground-blob-tracking-based methods. Second, a simple and highly accurate clustering algorithm is developed that projects the high-dimensional feature point trajectories into a 2-D feature space by their appearance and disappearance times and counts the number of people through online clustering. Finally, all test video sequences in the experiment are captured from a real traffic bus in Shanghai, China. The results show that the system can process two 320×240 video sequences at a frame rate of 25 fps simultaneously, and can count passengers reliably in various difficult scenarios with complex interaction and occlusion among people. The method achieves high accuracy rates up to 96.5%.

Optimal solar sail planetocentric trajectories

NASA Technical Reports Server (NTRS)

Sackett, L. L.

1977-01-01

The analysis of solar sail planetocentric optimal trajectory problem is described. A computer program was produced to calculate optimal trajectories for a limited performance analysis. A square sail model is included and some consideration is given to a heliogyro sail model. Orbit to a subescape point and orbit to orbit transfer are considered. Trajectories about the four inner planets can be calculated and shadowing, oblateness, and solar motion may be included. Equinoctial orbital elements are used to avoid the classical singularities, and the method of averaging is applied to increase computational speed. Solution of the two-point boundary value problem which arises from the application of optimization theory is accomplished with a Newton procedure. Time optimal trajectories are emphasized, but a penalty function has been considered to prevent trajectories which intersect a planet's surface.

Misperceptions in the Trajectories of Objects undergoing Curvilinear Motion

PubMed Central

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

2012-01-01

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

Broad Search Solar Electric Propulsion Trajectories to Saturn with Gravity Assists

NASA Technical Reports Server (NTRS)

Lam, Try; Landau, Damon; Strange, Nathan

2009-01-01

Solar electric propulsion (SEP) trajectories to Saturn using multiple gravity assists are explored for the joint NASA and ESA Titan Saturn System Mission study. Results show that these new trajectories enable greater performance compared to chemical propulsion with similar gravity assists or SEP without gravity assists. This paper describes the method used in finding these interplanetary trajectories and examines variations in the performance for different SEP systems, flight times, and flyby sequences. The benefits of the SEP trajectories for a mission to Saturn are also discussed.

Context-aware pattern discovery for moving object trajectories

NASA Astrophysics Data System (ADS)

Sharif, Mohammad; Asghar Alesheikh, Ali; Kaffash Charandabi, Neda

2018-05-01

Movement of point objects are highly sensitive to the underlying situations and conditions during the movement, which are known as contexts. Analyzing movement patterns, while accounting the contextual information, helps to better understand how point objects behave in various contexts and how contexts affect their trajectories. One potential solution for discovering moving objects patterns is analyzing the similarities of their trajectories. This article, therefore, contextualizes the similarity measure of trajectories by not only their spatial footprints but also a notion of internal and external contexts. The dynamic time warping (DTW) method is employed to assess the multi-dimensional similarities of trajectories. Then, the results of similarity searches are utilized in discovering the relative movement patterns of the moving point objects. Several experiments are conducted on real datasets that were obtained from commercial airplanes and the weather information during the flights. The results yielded the robustness of DTW method in quantifying the commonalities of trajectories and discovering movement patterns with 80 % accuracy. Moreover, the results revealed the importance of exploiting contextual information because it can enhance and restrict movements.

The Detection of Transport Land-Use Data Using Crowdsourcing Taxi Trajectory

NASA Astrophysics Data System (ADS)

Ai, T.; Yang, W.

2016-06-01

This study tries to explore the question of transport land-use change detection by large volume of vehicle trajectory data, presenting a method based on Deluanay triangulation. The whole method includes three steps. The first one is to pre-process the vehicle trajectory data including the point anomaly removing and the conversion of trajectory point to track line. Secondly, construct Deluanay triangulation within the vehicle trajectory line to detect neighborhood relation. Considering the case that some of the trajectory segments are too long, we use a interpolation measure to add more points for the improved triangulation. Thirdly, extract the transport road by cutting short triangle edge and organizing the polygon topology. We have conducted the experiment of transport land-use change discovery using the data of taxi track in Beijing City. We extract not only the transport land-use area but also the semantic information such as the transformation speed, the traffic jam distribution, the main vehicle movement direction and others. Compared with the existed transport network data, such as OpenStreet Map, our method is proved to be quick and accurate.

Multi-Dimensional Pattern Discovery of Trajectories Using Contextual Information

NASA Astrophysics Data System (ADS)

Sharif, M.; Alesheikh, A. A.

2017-10-01

Movement of point objects are highly sensitive to the underlying situations and conditions during the movement, which are known as contexts. Analyzing movement patterns, while accounting the contextual information, helps to better understand how point objects behave in various contexts and how contexts affect their trajectories. One potential solution for discovering moving objects patterns is analyzing the similarities of their trajectories. This article, therefore, contextualizes the similarity measure of trajectories by not only their spatial footprints but also a notion of internal and external contexts. The dynamic time warping (DTW) method is employed to assess the multi-dimensional similarities of trajectories. Then, the results of similarity searches are utilized in discovering the relative movement patterns of the moving point objects. Several experiments are conducted on real datasets that were obtained from commercial airplanes and the weather information during the flights. The results yielded the robustness of DTW method in quantifying the commonalities of trajectories and discovering movement patterns with 80 % accuracy. Moreover, the results revealed the importance of exploiting contextual information because it can enhance and restrict movements.

Automatic Generation of Indoor Navigable Space Using a Point Cloud and its Scanner Trajectory

NASA Astrophysics Data System (ADS)

Staats, B. R.; Diakité, A. A.; Voûte, R. L.; Zlatanova, S.

2017-09-01

Automatic generation of indoor navigable models is mostly based on 2D floor plans. However, in many cases the floor plans are out of date. Buildings are not always built according to their blue prints, interiors might change after a few years because of modified walls and doors, and furniture may be repositioned to the user's preferences. Therefore, new approaches for the quick recording of indoor environments should be investigated. This paper concentrates on laser scanning with a Mobile Laser Scanner (MLS) device. The MLS device stores a point cloud and its trajectory. If the MLS device is operated by a human, the trajectory contains information which can be used to distinguish different surfaces. In this paper a method is presented for the identification of walkable surfaces based on the analysis of the point cloud and the trajectory of the MLS scanner. This method consists of several steps. First, the point cloud is voxelized. Second, the trajectory is analysing and projecting to acquire seed voxels. Third, these seed voxels are generated into floor regions by the use of a region growing process. By identifying dynamic objects, doors and furniture, these floor regions can be modified so that each region represents a specific navigable space inside a building as a free navigable voxel space. By combining the point cloud and its corresponding trajectory, the walkable space can be identified for any type of building even if the interior is scanned during business hours.

Hypersonic Vehicle Trajectory Optimization and Control

NASA Technical Reports Server (NTRS)

Balakrishnan, S. N.; Shen, J.; Grohs, J. R.

1997-01-01

Two classes of neural networks have been developed for the study of hypersonic vehicle trajectory optimization and control. The first one is called an 'adaptive critic'. The uniqueness and main features of this approach are that: (1) they need no external training; (2) they allow variability of initial conditions; and (3) they can serve as feedback control. This is used to solve a 'free final time' two-point boundary value problem that maximizes the mass at the rocket burn-out while satisfying the pre-specified burn-out conditions in velocity, flightpath angle, and altitude. The second neural network is a recurrent network. An interesting feature of this network formulation is that when its inputs are the coefficients of the dynamics and control matrices, the network outputs are the Kalman sequences (with a quadratic cost function); the same network is also used for identifying the coefficients of the dynamics and control matrices. Consequently, we can use it to control a system whose parameters are uncertain. Numerical results are presented which illustrate the potential of these methods.

Internally displaced "victims of armed conflict" in Colombia: the trajectory and trauma signature of forced migration.

PubMed

Shultz, James M; Garfin, Dana Rose; Espinel, Zelde; Araya, Ricardo; Oquendo, Maria A; Wainberg, Milton L; Chaskel, Roberto; Gaviria, Silvia L; Ordóñez, Anna E; Espinola, Maria; Wilson, Fiona E; Muñoz García, Natalia; Gómez Ceballos, Angela Milena; Garcia-Barcena, Yanira; Verdeli, Helen; Neria, Yuval

2014-10-01

While conflict-induced forced migration is a global phenomenon, the situation in Colombia, South America, is distinctive. Colombia has ranked either first or second in the number of internally displaced persons for 10 years, a consequence of decades of armed conflict compounded by high prevalence of drug trafficking. The displacement trajectory for displaced persons in Colombia proceeds through a sequence of stages: (1) pre-expulsion threats and vulnerability, (2) expulsion, (3) migration, (4) initial adaptation to relocation, (5) protracted resettlement (the end point for most forced migrants), and, rarely, (6) return to the community of origin. Trauma signature analysis, an evidence-based method that elucidates the physical and psychological consequences associated with exposures to harm and loss during disasters and complex emergencies, was used to identify the psychological risk factors and potentially traumatic events experienced by conflict-displaced persons in Colombia, stratified across the phases of displacement. Trauma and loss are experienced differentially throughout the pathway of displacement.

Autonomous proximity operations using machine vision for trajectory control and pose estimation

NASA Technical Reports Server (NTRS)

Cleghorn, Timothy F.; Sternberg, Stanley R.

1991-01-01

A machine vision algorithm was developed which permits guidance control to be maintained during autonomous proximity operations. At present this algorithm exists as a simulation, running upon an 80386 based personal computer, using a ModelMATE CAD package to render the target vehicle. However, the algorithm is sufficiently simple, so that following off-line training on a known target vehicle, it should run in real time with existing vision hardware. The basis of the algorithm is a sequence of single camera images of the target vehicle, upon which radial transforms were performed. Selected points of the resulting radial signatures are fed through a decision tree, to determine whether the signature matches that of the known reference signatures for a particular view of the target. Based upon recognized scenes, the position of the maneuvering vehicle with respect to the target vehicles can be calculated, and adjustments made in the former's trajectory. In addition, the pose and spin rates of the target satellite can be estimated using this method.

Internally Displaced “Victims of Armed Conflict” in Colombia: The Trajectory and Trauma Signature of Forced Migration

PubMed Central

Shultz, James M.; Garfin, Dana Rose; Espinel, Zelde; Araya, Ricardo; Oquendo, Maria A.; Wainberg, Milton L.; Chaskel, Roberto; Gaviria, Silvia L.; Ordóñez, Anna E.; Espinola, Maria; Wilson, Fiona E.; García, Natalia Muñoz; Ceballos, Ángela Milena Gómez; Garcia-Barcena, Yanira; Verdeli, Helen; Neria, Yuval

2016-01-01

While conflict-induced forced migration is a global phenomenon, the situation in Colombia, South America, is distinctive. Colombia has ranked either first or second in the number of internally displaced persons for 10 years, a consequence of decades of armed conflict compounded by high prevalence of drug trafficking. The displacement trajectory for displaced persons in Colombia proceeds through a sequence of stages: (1) pre-expulsion threats and vulnerability, (2) expulsion, (3) migration, (4) initial adaptation to relocation, (5) protracted resettlement (the end point for most forced migrants), and, rarely, (6) return to the community of origin. Trauma signature analysis, an evidence-based method that elucidates the physical and psychological consequences associated with exposures to harm and loss during disasters and complex emergencies, was used to identify the psychological risk factors and potentially traumatic events experienced by conflict-displaced persons in Colombia, stratified across the phases of displacement. Trauma and loss are experienced differentially throughout the pathway of displacement. PMID:25135775

X-Band Acquisition Aid Software

NASA Technical Reports Server (NTRS)

Britcliffe, Michael J.; Strain, Martha M.; Wert, Michael

2011-01-01

The X-band Acquisition Aid (AAP) software is a low-cost acquisition aid for the Deep Space Network (DSN) antennas, and is used while acquiring a spacecraft shortly after it has launched. When enabled, the acquisition aid provides corrections to the antenna-predicted trajectory of the spacecraft to compensate for the variations that occur during the actual launch. The AAP software also provides the corrections to the antenna-predicted trajectory to the navigation team that uses the corrections to refine their model of the spacecraft in order to produce improved antenna-predicted trajectories for each spacecraft that passes over each complex. The software provides an automated Acquisition Aid receiver calibration, and provides graphical displays to the operator and remote viewers via an Ethernet connection. It has a Web server, and the remote workstations use the Firefox browser to view the displays. At any given time, only one operator can control any particular display in order to avoid conflicting commands from more than one control point. The configuration and control is accomplished solely via the graphical displays. The operator does not have to remember any commands. Only a few configuration parameters need to be changed, and can be saved to the appropriate spacecraft-dependent configuration file on the AAP s hard disk. AAP automates the calibration sequence by first commanding the antenna to the correct position, starting the receiver calibration sequence, and then providing the operator with the option of accepting or rejecting the new calibration parameters. If accepted, the new parameters are stored in the appropriate spacecraft-dependent configuration file. The calibration can be performed on the Sun, greatly expanding the window of opportunity for calibration. The spacecraft traditionally used for calibration is in view typically twice per day, and only for about ten minutes each pass.

Sampling factors influencing accuracy of sperm kinematic analysis.

PubMed

Owen, D H; Katz, D F

1993-01-01

Sampling conditions that influence the accuracy of experimental measurement of sperm head kinematics were studied by computer simulation methods. Several archetypal sperm trajectories were studied. First, mathematical models of typical flagellar beats were input to hydrodynamic equations of sperm motion. The instantaneous swimming velocities of such sperm were computed over sequences of flagellar beat cycles, from which the resulting trajectories were determined. In a second, idealized approach, direct mathematical models of trajectories were utilized, based upon similarities to the previous hydrodynamic constructs. In general, it was found that analyses of sampling factors produced similar results for the hydrodynamic and idealized trajectories. A number of experimental sampling factors were studied, including the number of sperm head positions measured per flagellar beat, and the time interval over which these measurements are taken. It was found that when one flagellar beat is sampled, values of amplitude of lateral head displacement (ALH) and linearity (LIN) approached their actual values when five or more sample points per beat were taken. Mean angular displacement (MAD) values, however, remained sensitive to sampling rate even when large sampling rates were used. Values of MAD were also much more sensitive to the initial starting point of the sampling procedure than were ALH or LIN. On the basis of these analyses of measurement accuracy for individual sperm, simulations were then performed of cumulative effects when studying entire populations of motile cells. It was found that substantial (double digit) errors occurred in the mean values of curvilinear velocity (VCL), LIN, and MAD under the conditions of 30 video frames per second and 0.5 seconds of analysis time. Increasing the analysis interval to 1 second did not appreciably improve the results. However, increasing the analysis rate to 60 frames per second significantly reduced the errors. These findings thus suggest that computer-aided sperm analysis (CASA) application at 60 frames per second will significantly improve the accuracy of kinematic analysis in most applications to human and other mammalian sperm.

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

Dual Sticky Hierarchical Dirichlet Process Hidden Markov Model and Its Application to Natural Language Description of Motions.

PubMed

Hu, Weiming; Tian, Guodong; Kang, Yongxin; Yuan, Chunfeng; Maybank, Stephen

2017-09-25

In this paper, a new nonparametric Bayesian model called the dual sticky hierarchical Dirichlet process hidden Markov model (HDP-HMM) is proposed for mining activities from a collection of time series data such as trajectories. All the time series data are clustered. Each cluster of time series data, corresponding to a motion pattern, is modeled by an HMM. Our model postulates a set of HMMs that share a common set of states (topics in an analogy with topic models for document processing), but have unique transition distributions. For the application to motion trajectory modeling, topics correspond to motion activities. The learnt topics are clustered into atomic activities which are assigned predicates. We propose a Bayesian inference method to decompose a given trajectory into a sequence of atomic activities. On combining the learnt sources and sinks, semantic motion regions, and the learnt sequence of atomic activities, the action represented by the trajectory can be described in natural language in as automatic a way as possible. The effectiveness of our dual sticky HDP-HMM is validated on several trajectory datasets. The effectiveness of the natural language descriptions for motions is demonstrated on the vehicle trajectories extracted from a traffic scene.

Vectorization of a classical trajectory code on a floating point systems, Inc. Model 164 attached processor.

PubMed

Kraus, Wayne A; Wagner, Albert F

1986-04-01

A triatomic classical trajectory code has been modified by extensive vectorization of the algorithms to achieve much improved performance on an FPS 164 attached processor. Extensive timings on both the FPS 164 and a VAX 11/780 with floating point accelerator are presented as a function of the number of trajectories simultaneously run. The timing tests involve a potential energy surface of the LEPS variety and trajectories with 1000 time steps. The results indicate that vectorization results in timing improvements on both the VAX and the FPS. For larger numbers of trajectories run simultaneously, up to a factor of 25 improvement in speed occurs between VAX and FPS vectorized code. Copyright © 1986 John Wiley & Sons, Inc.

Measuring a diffusion coefficient by single-particle tracking: statistical analysis of experimental mean squared displacement curves.

PubMed

Ernst, Dominique; Köhler, Jürgen

2013-01-21

We provide experimental results on the accuracy of diffusion coefficients obtained by a mean squared displacement (MSD) analysis of single-particle trajectories. We have recorded very long trajectories comprising more than 1.5 × 10(5) data points and decomposed these long trajectories into shorter segments providing us with ensembles of trajectories of variable lengths. This enabled a statistical analysis of the resulting MSD curves as a function of the lengths of the segments. We find that the relative error of the diffusion coefficient can be minimized by taking an optimum number of points into account for fitting the MSD curves, and that this optimum does not depend on the segment length. Yet, the magnitude of the relative error for the diffusion coefficient does, and achieving an accuracy in the order of 10% requires the recording of trajectories with about 1000 data points. Finally, we compare our results with theoretical predictions and find very good qualitative and quantitative agreement between experiment and theory.

Evaluation of use of MPAD trajectory tape and number of orbit points for orbiter mission thermal predictions

NASA Technical Reports Server (NTRS)

Vogt, R. A.

1979-01-01

The application of using the mission planning and analysis division (MPAD) common format trajectory data tape to predict temperatures for preflight and post flight mission analysis is presented and evaluated. All of the analyses utilized the latest Space Transportation System 1 flight (STS-1) MPAD trajectory tape, and the simplified '136 note' midsection/payload bay thermal math model. For the first 6.7 hours of the STS-1 flight profile, transient temperatures are presented for selected nodal locations with the current standard method, and the trajectory tape method. Whether the differences are considered significant or not depends upon the view point. Other transient temperature predictions are also presented. These results were obtained to investigate an initial concern that perhaps the predicted temperature differences between the two methods would not only be caused by the inaccuracies of the current method's assumed nominal attitude profile but also be affected by a lack of a sufficient number of orbit points in the current method. Comparison between 6, 12, and 24 orbit point parameters showed a surprising insensitivity to the number of orbit points.

Recognition of Drainage Tunnels during Glacier Lake Outburst Events from Terrestrial Image Sequences

NASA Astrophysics Data System (ADS)

Schwalbe, E.; Koschitzki, R.; Maas, H.-G.

2016-06-01

In recent years, many glaciers all over the world have been distinctly retreating and thinning. One of the consequences of this is the increase of so called glacier lake outburst flood events (GLOFs). The mechanisms ruling such GLOF events are still not yet fully understood by glaciologists. Thus, there is a demand for data and measurements that can help to understand and model the phenomena. Thereby, a main issue is to obtain information about the location and formation of subglacial channels through which some lakes, dammed by a glacier, start to drain. The paper will show how photogrammetric image sequence analysis can be used to collect such data. For the purpose of detecting a subglacial tunnel, a camera has been installed in a pilot study to observe the area of the Colonia Glacier (Northern Patagonian Ice Field) where it dams the Lake Cachet II. To verify the hypothesis, that the course of the subglacial tunnel is indicated by irregular surface motion patterns during its collapse, the camera acquired image sequences of the glacier surface during several GLOF events. Applying tracking techniques to these image sequences, surface feature motion trajectories could be obtained for a dense raster of glacier points. Since only a single camera has been used for image sequence acquisition, depth information is required to scale the trajectories. Thus, for scaling and georeferencing of the measurements a GPS-supported photogrammetric network has been measured. The obtained motion fields of the Colonia Glacier deliver information about the glacier's behaviour before during and after a GLOF event. If the daily vertical glacier motion of the glacier is integrated over a period of several days and projected into a satellite image, the location and shape of the drainage channel underneath the glacier becomes visible. The high temporal resolution of the motion fields may also allows for an analysis of the tunnels dynamic in comparison to the changing water level of the lake.

Calculation of water drop trajectories to and about arbitrary three-dimensional lifting and nonlifting bodies in potential airflow

NASA Technical Reports Server (NTRS)

Norment, H. G.

1985-01-01

Subsonic, external flow about nonlifting bodies, lifting bodies or combinations of lifting and nonlifting bodies is calculated by a modified version of the Hess lifting code. Trajectory calculations can be performed for any atmospheric conditions and for all water drop sizes, from the smallest cloud droplet to large raindrops. Experimental water drop drag relations are used in the water drop equations of motion and effects of gravity settling are included. Inlet flow can be accommodated, and high Mach number compressibility effects are corrected for approximately. Seven codes are described: (1) a code used to debug and plot body surface description data; (2) a code that processes the body surface data to yield the potential flow field; (3) a code that computes flow velocities at arrays of points in space; (4) a code that computes water drop trajectories from an array of points in space; (5) a code that computes water drop trajectories and fluxes to arbitrary target points; (6) a code that computes water drop trajectories tangent to the body; and (7) a code that produces stereo pair plots which include both the body and trajectories. Accuracy of the calculations is discussed, and trajectory calculation results are compared with prior calculations and with experimental data.

Libration Point Navigation Concepts Supporting the Vision for Space Exploration

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell; Folta, David C.; Moreau, Michael C.; Quinn, David A.

2004-01-01

This work examines the autonomous navigation accuracy achievable for a lunar exploration trajectory from a translunar libration point lunar navigation relay satellite, augmented by signals from the Global Positioning System (GPS). We also provide a brief analysis comparing the libration point relay to lunar orbit relay architectures, and discuss some issues of GPS usage for cis-lunar trajectories.

A spiral-based volumetric acquisition for MR temperature imaging.

PubMed

Fielden, Samuel W; Feng, Xue; Zhao, Li; Miller, G Wilson; Geeslin, Matthew; Dallapiazza, Robert F; Elias, W Jeffrey; Wintermark, Max; Butts Pauly, Kim; Meyer, Craig H

2018-06-01

To develop a rapid pulse sequence for volumetric MR thermometry. Simulations were carried out to assess temperature deviation, focal spot distortion/blurring, and focal spot shift across a range of readout durations and maximum temperatures for Cartesian, spiral-out, and retraced spiral-in/out (RIO) trajectories. The RIO trajectory was applied for stack-of-spirals 3D imaging on a real-time imaging platform and preliminary evaluation was carried out compared to a standard 2D sequence in vivo using a swine brain model, comparing maximum and mean temperatures measured between the two methods, as well as the temporal standard deviation measured by the two methods. In simulations, low-bandwidth Cartesian trajectories showed substantial shift of the focal spot, whereas both spiral trajectories showed no shift while maintaining focal spot geometry. In vivo, the 3D sequence achieved real-time 4D monitoring of thermometry, with an update time of 2.9-3.3 s. Spiral imaging, and RIO imaging in particular, is an effective way to speed up volumetric MR thermometry. Magn Reson Med 79:3122-3127, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

Internally generated hippocampal sequences as a vantage point to probe future-oriented cognition.

PubMed

Pezzulo, Giovanni; Kemere, Caleb; van der Meer, Matthijs A A

2017-05-01

Information processing in the rodent hippocampus is fundamentally shaped by internally generated sequences (IGSs), expressed during two different network states: theta sequences, which repeat and reset at the ∼8 Hz theta rhythm associated with active behavior, and punctate sharp wave-ripple (SWR) sequences associated with wakeful rest or slow-wave sleep. A potpourri of diverse functional roles has been proposed for these IGSs, resulting in a fragmented conceptual landscape. Here, we advance a unitary view of IGSs, proposing that they reflect an inferential process that samples a policy from the animal's generative model, supported by hippocampus-specific priors. The same inference affords different cognitive functions when the animal is in distinct dynamical modes, associated with specific functional networks. Theta sequences arise when inference is coupled to the animal's action-perception cycle, supporting online spatial decisions, predictive processing, and episode encoding. SWR sequences arise when the animal is decoupled from the action-perception cycle and may support offline cognitive processing, such as memory consolidation, the prospective simulation of spatial trajectories, and imagination. We discuss the empirical bases of this proposal in relation to rodent studies and highlight how the proposed computational principles can shed light on the mechanisms of future-oriented cognition in humans. © 2017 New York Academy of Sciences.

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.

Characterizing chaotic dynamics from integrate-and-fire interspike intervals at the presence of noise

NASA Astrophysics Data System (ADS)

Mohammad, Yasir K.; Pavlova, Olga N.; Pavlov, Alexey N.

2016-04-01

We discuss the problem of quantifying chaotic dynamics at the input of the "integrate-and-fire" (IF) model from the output sequences of interspike intervals (ISIs) for the case when the fluctuating threshold level leads to the appearance of noise in ISI series. We propose a way to detect an ability of computing dynamical characteristics of the input dynamics and the level of noise in the output point processes. The proposed approach is based on the dependence of the largest Lyapunov exponent from the maximal orientation error used at the estimation of the averaged rate of divergence of nearby phase trajectories.

Nonlinear system guidance in the presence of transmission zero dynamics

NASA Technical Reports Server (NTRS)

Meyer, G.; Hunt, L. R.; Su, R.

1995-01-01

An iterative procedure is proposed for computing the commanded state trajectories and controls that guide a possibly multiaxis, time-varying, nonlinear system with transmission zero dynamics through a given arbitrary sequence of control points. The procedure is initialized by the system inverse with the transmission zero effects nulled out. Then the 'steady state' solution of the perturbation model with the transmission zero dynamics intact is computed and used to correct the initial zero-free solution. Both time domain and frequency domain methods are presented for computing the steady state solutions of the possibly nonminimum phase transmission zero dynamics. The procedure is illustrated by means of linear and nonlinear examples.

Chaotic scattering in an open vase-shaped cavity: Topological, numerical, and experimental results

NASA Astrophysics Data System (ADS)

Novick, Jaison Allen

We present a study of trajectories in a two-dimensional, open, vase-shaped cavity in the absence of forces The classical trajectories freely propagate between elastic collisions. Bound trajectories, regular scattering trajectories, and chaotic scattering trajectories are present in the vase. Most importantly, we find that classical trajectories passing through the vase's mouth escape without return. In our simulations, we propagate bursts of trajectories from point sources located along the vase walls. We record the time for escaping trajectories to pass through the vase's neck. Constructing a plot of escape time versus the initial launch angle for the chaotic trajectories reveals a vastly complicated recursive structure or a fractal. This fractal structure can be understood by a suitable coordinate transform. Reducing the dynamics to two dimensions reveals that the chaotic dynamics are organized by a homoclinic tangle, which is formed by the union of infinitely long, intersecting stable and unstable manifolds. This study is broken down into three major components. We first present a topological theory that extracts the essential topological information from a finite subset of the tangle and encodes this information in a set of symbolic dynamical equations. These equations can be used to predict a topologically forced minimal subset of the recursive structure seen in numerically computed escape time plots. We present three applications of the theory and compare these predictions to our simulations. The second component is a presentation of an experiment in which the vase was constructed from Teflon walls using an ultrasound transducer as a point source. We compare the escaping signal to a classical simulation and find agreement between the two. Finally, we present an approximate solution to the time independent Schrodinger Equation for escaping waves. We choose a set of points at which to evaluate the wave function and interpolate trajectories connecting the source point to each "detector point". We then construct the wave function directly from these classical trajectories using the two-dimensional WKB approximation. The wave function is Fourier Transformed using a Fast Fourier Transform algorithm resulting in a spectrum in which each peak corresponds to an interpolated trajectory. Our predictions are based on an imagined experiment that uses microwave propagation within an electromagnetic waveguide. Such an experiment exploits the fact that under suitable conditions both Maxwell's Equations and the Schrodinger Equation can be reduced to the Helmholtz Equation. Therefore, our predictions, while compared to the electromagnetic experiment, contain information about the quantum system. Identifying peaks in the transmission spectrum with chaotic trajectories will allow for an additional experimental verification of the intermediate recursive structure. Finally, we summarize our results and discuss possible extensions of this project.

Examination of the gamma equilibrium point hypothesis when applied to single degree of freedom movements performed with different inertial loads.

PubMed

Bellomo, A; Inbar, G

1997-01-01

One of the theories of human motor control is the gamma Equilibrium Point Hypothesis. It is an attractive theory since it offers an easy control scheme where the planned trajectory shifts monotionically from an initial to a final equilibrium state. The feasibility of this model was tested by reconstructing the virtual trajectory and the stiffness profiles for movements performed with different inertial loads and examining them. Three types of movements were tested: passive movements, targeted movements, and repetitive movements. Each of the movements was performed with five different inertial loads. Plausible virtual trajectories and stiffness profiles were reconstructed based on the gamma Equilibrium Point Hypothesis for the three different types of movements performed with different inertial loads. However, the simple control strategy supported by the model, where the planned trajectory shifts monotonically from an initial to a final equilibrium state, could not be supported for targeted movements performed with added inertial load. To test the feasibility of the model further we must examine the probability that the human motor control system would choose a trajectory more complicated than the actual trajectory to control.

Calculation of Water Drop Trajectories to and About Arbitrary Three-Dimensional Bodies in Potential Airflow

NASA Technical Reports Server (NTRS)

Norment, H. G.

1980-01-01

Calculations can be performed for any atmospheric conditions and for all water drop sizes, from the smallest cloud droplet to large raindrops. Any subsonic, external, non-lifting flow can be accommodated; flow into, but not through, inlets also can be simulated. Experimental water drop drag relations are used in the water drop equations of motion and effects of gravity settling are included. Seven codes are described: (1) a code used to debug and plot body surface description data; (2) a code that processes the body surface data to yield the potential flow field; (3) a code that computes flow velocities at arrays of points in space; (4) a code that computes water drop trajectories from an array of points in space; (5) a code that computes water drop trajectories and fluxes to arbitrary target points; (6) a code that computes water drop trajectories tangent to the body; and (7) a code that produces stereo pair plots which include both the body and trajectories. Code descriptions include operating instructions, card inputs and printouts for example problems, and listing of the FORTRAN codes. Accuracy of the calculations is discussed, and trajectory calculation results are compared with prior calculations and with experimental data.

Two-phase framework for near-optimal multi-target Lambert rendezvous

NASA Astrophysics Data System (ADS)

Bang, Jun; Ahn, Jaemyung

2018-03-01

This paper proposes a two-phase framework to obtain a near-optimal solution of multi-target Lambert rendezvous problem. The objective of the problem is to determine the minimum-cost rendezvous sequence and trajectories to visit a given set of targets within a maximum mission duration. The first phase solves a series of single-target rendezvous problems for all departure-arrival object pairs to generate the elementary solutions, which provides candidate rendezvous trajectories. The second phase formulates a variant of traveling salesman problem (TSP) using the elementary solutions prepared in the first phase and determines the final rendezvous sequence and trajectories of the multi-target rendezvous problem. The validity of the proposed optimization framework is demonstrated through an asteroid exploration case study.

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.

Entropic Movement Complexity Reflects Subjective Creativity Rankings of Visualized Hand Motion Trajectories

PubMed Central

Peng, Zhen; Braun, Daniel A.

2015-01-01

In a previous study we have shown that human motion trajectories can be characterized by translating continuous trajectories into symbol sequences with well-defined complexity measures. Here we test the hypothesis that the motion complexity individuals generate in their movements might be correlated to the degree of creativity assigned by a human observer to the visualized motion trajectories. We asked participants to generate 55 novel hand movement patterns in virtual reality, where each pattern had to be repeated 10 times in a row to ensure reproducibility. This allowed us to estimate a probability distribution over trajectories for each pattern. We assessed motion complexity not only by the previously proposed complexity measures on symbolic sequences, but we also propose two novel complexity measures that can be directly applied to the distributions over trajectories based on the frameworks of Gaussian Processes and Probabilistic Movement Primitives. In contrast to previous studies, these new methods allow computing complexities of individual motion patterns from very few sample trajectories. We compared the different complexity measures to how a group of independent jurors rank ordered the recorded motion trajectories according to their personal creativity judgment. We found three entropic complexity measures that correlate significantly with human creativity judgment and discuss differences between the measures. We also test whether these complexity measures correlate with individual creativity in divergent thinking tasks, but do not find any consistent correlation. Our results suggest that entropic complexity measures of hand motion may reveal domain-specific individual differences in kinesthetic creativity. PMID:26733896

An industrial robot singular trajectories planning based on graphs and neural networks

NASA Astrophysics Data System (ADS)

Łęgowski, Adrian; Niezabitowski, Michał

2016-06-01

Singular trajectories are rarely used because of issues during realization. A method of planning trajectories for given set of points in task space with use of graphs and neural networks is presented. In every desired point the inverse kinematics problem is solved in order to derive all possible solutions. A graph of solutions is made. The shortest path is determined to define required nodes in joint space. Neural networks are used to define the path between these nodes.

Apollo Mission Techniques Lunar Orbit Activities - Part 1a

NASA Technical Reports Server (NTRS)

Interbartolo, Michael A.

2009-01-01

This slide presentation reviews the planned sequence of events and the rationale for all lunar missions, and the flight experiences and lessons learned for the lunar orbit activities from a trajectory perspective. Shown are trajectories which include the moon's position at the various stages in the complete trip from launch, to the return and reentry. Included in the presentation are objectives and the sequence of events,for the Apollo 8, and Apollo 10. This is followed by a discussion of Apollo 11, including: the primary mission objective, the sequence of events, and the flight experience. The next mission discussed was Apollo 12. It reviews the objectives, the ground tracking, procedure changes, and the sequence of events. The aborted Apollo 13 mission is reviewed, including the objectives, and the sequence of events. Brief summaries of the flight experiences for Apollo 14-16 are reviewed. The flight sequence of events of Apollo 17 are discussed. In summary each mission consistently performing precision landings required that Apollo lunar orbit activities devote considerable attention to: (1) Improving fidelity of lunar gravity models, (2) Maximizing availability of ground tracking, (3) Minimizing perturbations on the trajectory, (4) Maximizing LM propellant reserves for hover time. Also the use of radial separation maneuvers (1) allows passive re-rendezvous after each rev, but ... (2) sensitive to small dispersions in initial sep direction

Exploring the clinical course of neck pain in physical therapy: a longitudinal study.

PubMed

Walton, David M; Eilon-Avigdor, Yaara; Wonderham, Michael; Wilk, Piotr

2014-02-01

To investigate the short-term trajectory of recovery from mechanical neck pain, and predictors of trajectory. Prospective, longitudinal cohort study with 5 repeated measurements over 4 weeks. Community-based physical therapy clinics. Convenience sample of community-dwelling adults (N=50) with uncomplicated mechanical neck disorders of any duration. Usual physical therapy care. Neck Disability Index (NDI), numeric rating scale (NRS) of pain intensity. A total of 50 consecutive subjects provided 5 data points over 4 weeks. Exploratory modeling using latent class growth analysis revealed a linear trend in improvement, at a mean of 1.5 NDI points and 0.5 NRS points per week. Within the NDI trajectory, 3 latent classes were identified, each with a unique trend: worsening (14.5%), rapid improvement (19.6%), and slow improvement (65.8%). Within the NRS trajectory, 2 unique trends were identified: stable (48.0%) and improving (52.0%). Predictors of trajectory class suggest that it may be possible to predict the trajectory. Results are described in view of the sample size. The mean trajectory of improvement in neck pain adequately fits a linear model and suggests slow but stable improvement over the short term. However, up to 3 different trajectories have been identified that suggest neck pain, and recovery thereof, is not homogenous. This may hold value for the design of clinical trials. Copyright © 2014 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Zero-point energy constraint in quasi-classical trajectory calculations.

PubMed

Xie, Zhen; Bowman, Joel M

2006-04-27

A method to constrain the zero-point energy in quasi-classical trajectory calculations is proposed and applied to the Henon-Heiles system. The main idea of this method is to smoothly eliminate the coupling terms in the Hamiltonian as the energy of any mode falls below a specified value.

Trajectory Approaches for Launching Hypersonic Flight Tests (Preprint)

DTIC Science & Technology

2014-08-01

This paper presents some approaches toward designing trajectories for hypersonic testing at up to Mach 10 speed using a reusable rocket -powered first...Program to Optimize Simulated Trajectories (POST) code to look at different ways of flying to Mach 10 with a reusable first stage rocket . These trajectories...are good starting points for how to setup a trajectory simulation to meet hypersonic testing needs. 15. SUBJECT TERMS responsive and reusable rocket

The OPALS Plan for Operations: Use of ISS Trajectory and Attitude Models in the OPALS Pointing Strategy

NASA Technical Reports Server (NTRS)

Abrahamson, Matthew J.; Oaida, Bogdan; Erkmen, Baris

2013-01-01

This paper will discuss the OPALS pointing strategy, focusing on incorporation of ISS trajectory and attitude models to build pointing predictions. Methods to extrapolate an ISS prediction based on past data will be discussed and will be compared to periodically published ISS predictions and Two-Line Element (TLE) predictions. The prediction performance will also be measured against GPS states available in telemetry. The performance of the pointing products will be compared to the allocated values in the OPALS pointing budget to assess compliance with requirements.

Brain-wide mapping of neural activity controlling zebrafish exploratory locomotion

PubMed Central

Dunn, Timothy W; Mu, Yu; Narayan, Sujatha; Randlett, Owen; Naumann, Eva A; Yang, Chao-Tsung; Schier, Alexander F

2016-01-01

In the absence of salient sensory cues to guide behavior, animals must still execute sequences of motor actions in order to forage and explore. How such successive motor actions are coordinated to form global locomotion trajectories is unknown. We mapped the structure of larval zebrafish swim trajectories in homogeneous environments and found that trajectories were characterized by alternating sequences of repeated turns to the left and to the right. Using whole-brain light-sheet imaging, we identified activity relating to the behavior in specific neural populations that we termed the anterior rhombencephalic turning region (ARTR). ARTR perturbations biased swim direction and reduced the dependence of turn direction on turn history, indicating that the ARTR is part of a network generating the temporal correlations in turn direction. We also find suggestive evidence for ARTR mutual inhibition and ARTR projections to premotor neurons. Finally, simulations suggest the observed turn sequences may underlie efficient exploration of local environments. DOI: http://dx.doi.org/10.7554/eLife.12741.001 PMID:27003593

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

NASA Technical Reports Server (NTRS)

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

2010-01-01

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

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

The infinitesimal operator for the semigroup of the Frobenius-Perron operator from image sequence data: vector fields and transport barriers from movies.

PubMed

Santitissadeekorn, N; Bollt, E M

2007-06-01

In this paper, we present an approach to approximate the Frobenius-Perron transfer operator from a sequence of time-ordered images, that is, a movie dataset. Unlike time-series data, successive images do not provide a direct access to a trajectory of a point in a phase space; more precisely, a pixel in an image plane. Therefore, we reconstruct the velocity field from image sequences based on the infinitesimal generator of the Frobenius-Perron operator. Moreover, we relate this problem to the well-known optical flow problem from the computer vision community and we validate the continuity equation derived from the infinitesimal operator as a constraint equation for the optical flow problem. Once the vector field and then a discrete transfer operator are found, then, in addition, we present a graph modularity method as a tool to discover basin structure in the phase space. Together with a tool to reconstruct a velocity field, this graph-based partition method provides us with a way to study transport behavior and other ergodic properties of measurable dynamical systems captured only through image sequences.

Artificial delta growth

NASA Astrophysics Data System (ADS)

Mikeš, Daniel

2010-05-01

A deltaic sedimentary system has a point source; sediment is carried over the delta plain by distributary channels away from the point source and deposited at the delta front by distributary mouth bars. The established methods to describe such a sedimentary system are "bedding analysis", "facies analysis", and "basin analysis". We shall call the ambient conditions "input" and the rock record "output". There exist a number of methods to deduce input from output, e.g. "Sequence stratigraphy" (a.o. Vail et al. 1977, Catuneanu et al. 2009), "Shoreline trajectory" (a.o. Helland-Hansen & Martinsen 1996, Helland-Hansen & Hampson 2009) on the one hand and the complex use of established techniques on the other (a.o. Miall & Miall 2001, Miall & Miall 2002). None of these deductive methods seems to be sufficient. I claim that the common errors in all these attempts are the following: (1) a sedimentary system is four-dimensional (3+1) and a lesser dimensional analysis is insufficient; (2) a sedimentary system is complex and any empirical/deductive analysis is non-unique. The proper approach to the problem is therefore the theoretical/inductive analysis. To that end we performed six scenarios of a scaled version of a passive margin delta in a flume tank. The scenarios have identical stepwise tectonic subsidence and semi-cyclic sealevel, but different supply curves, i.e. supply is: constant, highly-frequent, proportional to sealevel, inversely proportional to sealevel, lagging to sealevel, ahead of sealevel. The preliminary results are indicative. Lobe-switching occurs frequently and hence locally sedimentation occurs shortly and hiatuses are substantial; therefore events in 2D (+1) cross-sections don't correlate temporally. The number of sedimentary cycles disequals the number of sealevel cycles. Lobe-switching and stepwise tectonic subsidence cause onlap/transgression. Erosional unconformities are local diachronous events, whereas maximum flooding surfaces are regional synchronous events. The evolution of the different scenarios is significantly different. These results demonstrate that the complexity of the deltaic system merits the inductive approach. References: Catuneanu, O. et al., 2009. Towards the standardization of sequence stratigraphy. Earth-Science Reviews, v. 92, p. 1-33. Helland-Hansen, W., and Martinsen, O.J., 1996, Shoreline trajectories and sequences: description of variable depositional dip scenarios: Journal of Sedimentary Research, v. 66, p. 670-688. Helland-Hansen, W. and Hampson, G.J., 2009, Trajectory analysis: concepts and applications. In: Basin Research Special Publication 21, p. 454-483. Miall, A.D., Miall, C.E., 2001, Sequence stratigraphy as a scientific enterprise: the evolution and persistence of conflicting paradigms, Earth Science Reviews, v. 54, p. 321-348. Miall, C.E., Miall, A.D., 2002, The Exxon Factor: the roles of corporate and academic science in the emergence and success of a new global model of sequence stratigraphy, Sociological Quarterly, v. 43-3, p. 307-334. Vail, P.R., Mitchum Jr., R.M., Todd, R.G., Widmier, J.M., Thompson III, S., Sangree, J.B., Bubb, J.N., Hatlelid, W.G., 1977. Seismic stratigraphy and global changes of sea-level. In: Payton, C.E. (Ed.), Seismic Stratigraphy-Applications to Hydrocarbon Exploration. American Association of Petroleum Geologists Memoir, v. 26, p. 49-212.

Hippocampal Replay is Not a Simple Function of Experience

PubMed Central

Gupta, Anoopum S.; van der Meer, Matthijs A. A.; Touretzky, David S.; Redish, A. David

2015-01-01

Summary Replay of behavioral sequences in the hippocampus during sharp-wave-ripple-complexes (SWRs) provides a potential mechanism for memory consolidation and the learning of knowledge structures. Current hypotheses imply that replay should straightforwardly reflect recent experience. However, we find these hypotheses to be incompatible with the content of replay on a task with two distinct behavioral sequences (A&B). We observed forward and backward replay of B even when rats had been performing A for >10 minutes. Furthermore, replay of non-local sequence B occurred more often when B was infrequently experienced. Neither forward nor backward sequences preferentially represented highly-experienced trajectories within a session. Additionally, we observed the construction of never-experienced novel-path sequences. These observations challenge the idea that sequence activation during SWRs is a simple replay of recent experience. Instead, replay reflected all physically available trajectories within the environment, suggesting a potential role in active learning and maintenance of the cognitive map. PMID:20223204

A Direct Method for Fuel Optimal Maneuvers of Distributed Spacecraft in Multiple Flight Regimes

NASA Technical Reports Server (NTRS)

Hughes, Steven P.; Cooley, D. S.; Guzman, Jose J.

2005-01-01

We present a method to solve the impulsive minimum fuel maneuver problem for a distributed set of spacecraft. We develop the method assuming a non-linear dynamics model and parameterize the problem to allow the method to be applicable to multiple flight regimes including low-Earth orbits, highly-elliptic orbits (HEO), Lagrange point orbits, and interplanetary trajectories. Furthermore, the approach is not limited by the inter-spacecraft separation distances and is applicable to both small formations as well as large constellations. Semianalytical derivatives are derived for the changes in the total AV with respect to changes in the independent variables. We also apply a set of constraints to ensure that the fuel expenditure is equalized over the spacecraft in formation. We conclude with several examples and present optimal maneuver sequences for both a HE0 and libration point formation.

Maneuver sequence design for the post-Jupiter leg of Pioneer Saturn

NASA Technical Reports Server (NTRS)

Frauenholz, R. B.; Brady, W. F.

1976-01-01

After passing the planet Jupiter in December 1974, Pioneer 11 is on a flight path on which it will encounter Saturn in late 1979. Following an uncorrected trajectory, the spacecraft would pass 2 million km behind Saturn. A sequence of midcourse maneuvers for modifying the Pioneer trajectory is discussed. The corrected flight path is to bring the spacecraft within 500,000 km of Saturn's satellite Titan. Attention is given to maneuver capabilities and constraints, the maneuver design concept, questions related to the selection of an interim aimpoint, and aspects of maneuver implementation.

Program to Optimize Simulated Trajectories (POST). Volume 1: Formulation manual

NASA Technical Reports Server (NTRS)

Brauer, G. L.; Cornick, D. E.; Habeger, A. R.; Petersen, F. M.; Stevenson, R.

1975-01-01

A general purpose FORTRAN program for simulating and optimizing point mass trajectories (POST) of aerospace vehicles is described. The equations and the numerical techniques used in the program are documented. Topics discussed include: coordinate systems, planet model, trajectory simulation, auxiliary calculations, and targeting and optimization.

Numerical study and ex vivo assessment of HIFU treatment time reduction through optimization of focal point trajectory

NASA Astrophysics Data System (ADS)

Grisey, A.; Yon, S.; Pechoux, T.; Letort, V.; Lafitte, P.

2017-03-01

Treatment time reduction is a key issue to expand the use of high intensity focused ultrasound (HIFU) surgery, especially for benign pathologies. This study aims at quantitatively assessing the potential reduction of the treatment time arising from moving the focal point during long pulses. In this context, the optimization of the focal point trajectory is crucial to achieve a uniform thermal dose repartition and avoid boiling. At first, a numerical optimization algorithm was used to generate efficient trajectories. Thermal conduction was simulated in 3D with a finite difference code and damages to the tissue were modeled using the thermal dose formula. Given an initial trajectory, the thermal dose field was first computed, then, making use of Pontryagin's maximum principle, the trajectory was iteratively refined. Several initial trajectories were tested. Then, an ex vivo study was conducted in order to validate the efficicency of the resulting optimized strategies. Single pulses were performed at 3MHz on fresh veal liver samples with an Echopulse and the size of each unitary lesion was assessed by cutting each sample along three orthogonal planes and measuring the dimension of the whitened area based on photographs. We propose a promising approach to significantly shorten HIFU treatment time: the numerical optimization algorithm was shown to provide a reliable insight on trajectories that can improve treatment strategies. The model must now be improved in order to take in vivo conditions into account and extensively validated.

Dynamic Forms. Part 2; Application to Aircraft Guidance

NASA Technical Reports Server (NTRS)

Meyer, George; Smith, G. Allan

1997-01-01

The paper describes a method for guiding a dynamic system through a given set of points. The paradigm is a fully automatic aircraft subject to air traffic control (ATC). The ATC provides a sequence of waypoints through which the aircraft trajectory must pass. The waypoints typically specify time, position, and velocity. The guidance problem is to synthesize a system state trajectory that satisfies both the ATC and aircraft constraints. Complications arise because the controlled process is multidimensional, multiaxis, nonlinear, highly coupled, and the state space is not flat. In addition, there is a multitude of operating modes, which may number in the hundreds. Each such mode defines a distinct state space model of the process by specifying the state space coordinatization, the partition of the controls into active controls and configuration controls, and the output map. Furthermore, mode transitions are required to be smooth. The proposed guidance algorithm is based on the inversion of the pure feedback approximation, followed by correction for the effects of zero dynamics. The paper describes the structure and major modules of the algorithm, and the performance is illustrated by several example aircraft maneuvers.

Application of the nudged elastic band method to the point-to-point radio wave ray tracing in IRI modeled ionosphere

NASA Astrophysics Data System (ADS)

Nosikov, I. A.; Klimenko, M. V.; Bessarab, P. F.; Zhbankov, G. A.

2017-07-01

Point-to-point ray tracing is an important problem in many fields of science. While direct variational methods where some trajectory is transformed to an optimal one are routinely used in calculations of pathways of seismic waves, chemical reactions, diffusion processes, etc., this approach is not widely known in ionospheric point-to-point ray tracing. We apply the Nudged Elastic Band (NEB) method to a radio wave propagation problem. In the NEB method, a chain of points which gives a discrete representation of the radio wave ray is adjusted iteratively to an optimal configuration satisfying the Fermat's principle, while the endpoints of the trajectory are kept fixed according to the boundary conditions. Transverse displacements define the radio ray trajectory, while springs between the points control their distribution along the ray. The method is applied to a study of point-to-point ionospheric ray tracing, where the propagation medium is obtained with the International Reference Ionosphere model taking into account traveling ionospheric disturbances. A 2-dimensional representation of the optical path functional is developed and used to gain insight into the fundamental difference between high and low rays. We conclude that high and low rays are minima and saddle points of the optical path functional, respectively.

Performance Evaluation of sUAS Equipped with Velodyne HDL-32E LiDAR Sensor

NASA Astrophysics Data System (ADS)

Jozkow, G.; Wieczorek, P.; Karpina, M.; Walicka, A.; Borkowski, A.

2017-08-01

The Velodyne HDL-32E laser scanner is used more frequently as main mapping sensor in small commercial UASs. However, there is still little information about the actual accuracy of point clouds collected with such UASs. This work evaluates empirically the accuracy of the point cloud collected with such UAS. Accuracy assessment was conducted in four aspects: impact of sensors on theoretical point cloud accuracy, trajectory reconstruction quality, and internal and absolute point cloud accuracies. Theoretical point cloud accuracy was evaluated by calculating 3D position error knowing errors of used sensors. The quality of trajectory reconstruction was assessed by comparing position and attitude differences from forward and reverse EKF solution. Internal and absolute accuracies were evaluated by fitting planes to 8 point cloud samples extracted for planar surfaces. In addition, the absolute accuracy was also determined by calculating point 3D distances between LiDAR UAS and reference TLS point clouds. Test data consisted of point clouds collected in two separate flights performed over the same area. Executed experiments showed that in tested UAS, the trajectory reconstruction, especially attitude, has significant impact on point cloud accuracy. Estimated absolute accuracy of point clouds collected during both test flights was better than 10 cm, thus investigated UAS fits mapping-grade category.

Improved UTE-based attenuation correction for cranial PET-MR using dynamic magnetic field monitoring

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

Aitken, A. P.; Giese, D.; Tsoumpas, C.

2014-01-15

Purpose: Ultrashort echo time (UTE) MRI has been proposed as a way to produce segmented attenuation maps for PET, as it provides contrast between bone, air, and soft tissue. However, UTE sequences require samples to be acquired during rapidly changing gradient fields, which makes the resulting images prone to eddy current artifacts. In this work it is demonstrated that this can lead to misclassification of tissues in segmented attenuation maps (AC maps) and that these effects can be corrected for by measuring the true k-space trajectories using a magnetic field camera. Methods: The k-space trajectories during a dual echo UTEmore » sequence were measured using a dynamic magnetic field camera. UTE images were reconstructed using nominal trajectories and again using the measured trajectories. A numerical phantom was used to demonstrate the effect of reconstructing with incorrect trajectories. Images of an ovine leg phantom were reconstructed and segmented and the resulting attenuation maps were compared to a segmented map derived from a CT scan of the same phantom, using the Dice similarity measure. The feasibility of the proposed method was demonstrated inin vivo cranial imaging in five healthy volunteers. Simulated PET data were generated for one volunteer to show the impact of misclassifications on the PET reconstruction. Results: Images of the numerical phantom exhibited blurring and edge artifacts on the bone–tissue and air–tissue interfaces when nominal k-space trajectories were used, leading to misclassification of soft tissue as bone and misclassification of bone as air. Images of the tissue phantom and thein vivo cranial images exhibited the same artifacts. The artifacts were greatly reduced when the measured trajectories were used. For the tissue phantom, the Dice coefficient for bone in MR relative to CT was 0.616 using the nominal trajectories and 0.814 using the measured trajectories. The Dice coefficients for soft tissue were 0.933 and 0.934 for the nominal and measured cases, respectively. For air the corresponding figures were 0.991 and 0.993. Compared to an unattenuated reference image, the mean error in simulated PET uptake in the brain was 9.16% when AC maps derived from nominal trajectories was used, with errors in the SUV{sub max} for simulated lesions in the range of 7.17%–12.19%. Corresponding figures when AC maps derived from measured trajectories were used were 0.34% (mean error) and −0.21% to +1.81% (lesions). Conclusions: Eddy current artifacts in UTE imaging can be corrected for by measuring the true k-space trajectories during a calibration scan and using them in subsequent image reconstructions. This improves the accuracy of segmented PET attenuation maps derived from UTE sequences and subsequent PET reconstruction.« less

Referent control and motor equivalence of reaching from standing

PubMed Central

Tomita, Yosuke; Feldman, Anatol G.

2016-01-01

Motor actions may result from central changes in the referent body configuration, defined as the body posture at which muscles begin to be activated or deactivated. The actual body configuration deviates from the referent configuration, particularly because of body inertia and environmental forces. Within these constraints, the system tends to minimize the difference between these configurations. For pointing movement, this strategy can be expressed as the tendency to minimize the difference between the referent trajectory (RT) and actual trajectory (QT) of the effector (hand). This process may underlie motor equivalent behavior that maintains the pointing trajectory regardless of the number of body segments involved. We tested the hypothesis that the minimization process is used to produce pointing in standing subjects. With eyes closed, 10 subjects reached from a standing position to a remembered target located beyond arm length. In randomly chosen trials, hip flexion was unexpectedly prevented, forcing subjects to take a step during pointing to prevent falling. The task was repeated when subjects were instructed to intentionally take a step during pointing. In most cases, reaching accuracy and trajectory curvature were preserved due to adaptive condition-specific changes in interjoint coordination. Results suggest that referent control and the minimization process associated with it may underlie motor equivalence in pointing. NEW & NOTEWORTHY Motor actions may result from minimization of the deflection of the actual body configuration from the centrally specified referent body configuration, in the limits of neuromuscular and environmental constraints. The minimization process may maintain reaching trajectory and accuracy regardless of the number of body segments involved (motor equivalence), as confirmed in this study of reaching from standing in young healthy individuals. Results suggest that the referent control process may underlie motor equivalence in reaching. PMID:27784802

Evaluation of spiral acquisition variants for functional imaging of human superior colliculus at 3T field strength.

PubMed

Singh, Vimal; Pfeuffer, Josef; Zhao, Tiejun; Ress, David

2018-04-01

High-resolution functional magnetic resonance imaging of human subcortical brain structures is challenging because of their deep location in the cranium, and their comparatively weak blood oxygen level dependent responses to strong stimuli. Magnetic resonance imaging data for subcortical brain regions exhibit both low signal-to-noise ratio and low functional contrast-to-noise ratio. To overcome these challenges, this work evaluates the use of dual-echo spiral variants that combine outward and inward trajectories. Specifically, in-in, in-out, and out-out combinations are evaluated. For completeness, single-echo spiral-in and parallel-receive-accelerated echo-planar-imaging sequences are also evaluated. Sequence evaluation was based on comparison of functional contrast-to-noise ratio within retinotopically predefined regions of interest. Superior colliculus was chosen as sample subcortical brain region because it exhibits a strong visual response. All sequences were compared relative to a single-echo spiral-out trajectory to establish a within-session reference. In superior colliculus, the dual-echo out-out outperformed the reference trajectory by 55% in contrast-to-noise ratio, while all other trajectories had performance similar to the reference. The sequences were also compared in early visual cortex. Here, both dual-echo spiral out-out and in-out outperformed the reference by ∼25%. Dual-echo spiral variants offer improved contrast-to-noise ratio performance for high-resolution imaging for both superior colliculus and cortex. Magn Reson Med 79:1931-1940, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

Control of asteroid retrieval trajectories to libration point orbits

NASA Astrophysics Data System (ADS)

Ceriotti, Matteo; Sanchez, Joan Pau

2016-09-01

The fascinating idea of shepherding asteroids for science and resource utilization is being considered as a credible concept in a not too distant future. Past studies identified asteroids which could be efficiently injected into manifolds which wind onto periodic orbits around collinear Lagrangian points of the Sun-Earth system. However, the trajectories are unstable, and errors in the capture maneuver would lead to complete mission failure, with potential danger of collision with the Earth, if uncontrolled. This paper investigates the controllability of some asteroids along the transfers and the periodic orbits, assuming the use of a solar-electric low-thrust system shepherding the asteroid. Firstly, an analytical approach is introduced to estimate the stability of the trajectories from a dynamical point of view; then, a numerical control scheme based on a linear quadratic regulator is proposed, where the gains are optimized for each trajectory through a genetic algorithm. A stochastic simulation with a Monte Carlo approach is used to account for different perturbed initial conditions and the epistemic uncertainty on the asteroid mass. Results show that only a small subset of the considered combinations of trajectories/asteroids are reliably controllable, and therefore controllability must be taken into account in the selection of potential targets.

Analysis Method for Non-Nominal First Acquisition

NASA Technical Reports Server (NTRS)

Sieg, Detlef; Mugellesi-Dow, Roberta

2007-01-01

First this paper describes a method how the trajectory of the launcher can be modelled for the contingency analysis without having much information about the launch vehicle itself. From a dense sequence of state vectors a velocity profile is derived which is sufficiently accurate to enable the Flight Dynamics Team to integrate parts of the launcher trajectory on its own and to simulate contingency cases by modifying the velocity profile. Then the paper focuses on the thorough visibility analysis which has to follow the contingency case or burn performance simulations. In the ideal case it is possible to identify a ground station which is able to acquire the satellite independent from the burn performance. The correlations between the burn performance and the pointing at subsequent ground stations are derived with the aim of establishing simple guidelines which can be applied quickly and which significantly improve the chance of acquisition at subsequent ground stations. In the paper the method is applied to the Soyuz/Fregat launch with the MetOp satellite. Overall the paper shows that the launcher trajectory modelling with the simulation of contingency cases in connection with a ground station visibility analysis leads to a proper selection of ground stations and acquisition methods. In the MetOp case this ensured successful contact of all ground stations during the first hour after separation without having to rely on any early orbit determination result or state vector update.

Strategies and trajectories of coral reef fish larvae optimizing self-recruitment.

PubMed

Irisson, Jean-Olivier; LeVan, Anselme; De Lara, Michel; Planes, Serge

2004-03-21

Like many marine organisms, most coral reef fishes have a dispersive larval phase. The fate of this phase is of great concern for their ecology as it may determine population demography and connectivity. As direct study of the larval phase is difficult, we tackle the question of dispersion from an opposite point of view and study self-recruitment. In this paper, we propose a mathematical model of the pelagic phase, parameterized by a limited number of factors (currents, predator and prey distributions, energy budgets) and which focuses on the behavioral response of the larvae to these factors. We evaluate optimal behavioral strategies of the larvae (i.e. strategies that maximize the probability of return to the natal reef) and examine the trajectories of dispersal that they induce. Mathematically, larval behavior is described by a controlled Markov process. A strategy induces a sequence, indexed by time steps, of "decisions" (e.g. looking for food, swimming in a given direction). Biological, physical and topographic constraints are captured through the transition probabilities and the sets of possible decisions. Optimal strategies are found by means of the so-called stochastic dynamic programming equation. A computer program is developed and optimal decisions and trajectories are numerically derived. We conclude that this technique can be considered as a good tool to represent plausible larval behaviors and that it has great potential in terms of theoretical investigations and also for field applications.

Modelling of human exposure to air pollution in the urban environment: a GPS-based approach.

PubMed

Dias, Daniela; Tchepel, Oxana

2014-03-01

The main objective of this work was the development of a new modelling tool for quantification of human exposure to traffic-related air pollution within distinct microenvironments by using a novel approach for trajectory analysis of the individuals. For this purpose, mobile phones with Global Positioning System technology have been used to collect daily trajectories of the individuals with higher temporal resolution and a trajectory data mining, and geo-spatial analysis algorithm was developed and implemented within a Geographical Information System to obtain time-activity patterns. These data were combined with air pollutant concentrations estimated for several microenvironments. In addition to outdoor, pollutant concentrations in distinct indoor microenvironments are characterised using a probabilistic approach. An example of the application for PM2.5 is presented and discussed. The results obtained for daily average individual exposure correspond to a mean value of 10.6 and 6.0-16.4 μg m(-3) in terms of 5th-95th percentiles. Analysis of the results shows that the use of point air quality measurements for exposure assessment will not explain the intra- and inter-variability of individuals' exposure levels. The methodology developed and implemented in this work provides time-sequence of the exposure events thus making possible association of the exposure with the individual activities and delivers main statistics on individual's air pollution exposure with high spatio-temporal resolution.

Hydration effects on the electrostatic potential around tuftsin.

PubMed

Valdeavella, C V; Blatt, H D; Yang, L; Pettitt, B M

1999-08-01

The electrostatic potential and component dielectric constants from molecular dynamics (MD) trajectories of tuftsin, a tetrapeptide with the amino acid sequence Thr-Lys-Pro-Arg in water and in saline solution are presented. The results obtained from the analysis of the MD trajectories for the total electrostatic potential at points on a grid using the Ewald technique are compared with the solution to the Poisson-Boltzmann (PB) equation. The latter was solved using several sets of dielectric constant parameters. The effects of structural averaging on the PB results were also considered. Solute conformational mobility in simulations gives rise to an electrostatic potential map around the solute dominated by the solute monopole (or lowest order multipole). The detailed spatial variation of the electrostatic potential on the molecular surface brought about by the compounded effects of the distribution of water and ions close to the peptide, solvent mobility, and solute conformational mobility are not qualitatively reproducible from a reparametrization of the input solute and solvent dielectric constants to the PB equation for a single structure or for structurally averaged PB calculations. Nevertheless, by fitting the PB to the MD electrostatic potential surfaces with the dielectric constants as fitting parameters, we found that the values that give the best fit are the values calculated from the MD trajectories. Implications of using such field calculations on the design of tuftsin peptide analogues are discussed.

Trajectories of martian habitability.

PubMed

Cockell, Charles S

2014-02-01

Beginning from two plausible starting points-an uninhabited or inhabited Mars-this paper discusses the possible trajectories of martian habitability over time. On an uninhabited Mars, the trajectories follow paths determined by the abundance of uninhabitable environments and uninhabited habitats. On an inhabited Mars, the addition of a third environment type, inhabited habitats, results in other trajectories, including ones where the planet remains inhabited today or others where planetary-scale life extinction occurs. By identifying different trajectories of habitability, corresponding hypotheses can be described that allow for the various trajectories to be disentangled and ultimately a determination of which trajectory Mars has taken and the changing relative abundance of its constituent environments.

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

PubMed Central

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

2010-01-01

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

Comparison of the Effects of Velocity and Range Triggers on Trajectory Dispersions for the Mars 2020 Mission

NASA Technical Reports Server (NTRS)

Dutta, Soumyo; Way, David W.

2017-01-01

Mars 2020, the next planned U.S. rover mission to land on Mars, is based on the design of the successful 2012 Mars Science Laboratory (MSL) mission. Mars 2020 retains most of the entry, descent, and landing (EDL) sequences of MSL, including the closed-loop entry guidance scheme based on the Apollo guidance algorithm. However, unlike MSL, Mars 2020 will trigger the parachute deployment and descent sequence on range trigger rather than the previously used velocity trigger. This difference will greatly reduce the landing ellipse sizes. Additionally, the relative contribution of each models to the total ellipse sizes have changed greatly due to the switch to range trigger. This paper considers the effect on trajectory dispersions due to changing the trigger schemes and the contributions of these various models to trajectory and EDL performance.

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.

Rapid indirect trajectory optimization on highly parallel computing architectures

NASA Astrophysics Data System (ADS)

Antony, Thomas

Trajectory optimization is a field which can benefit greatly from the advantages offered by parallel computing. The current state-of-the-art in trajectory optimization focuses on the use of direct optimization methods, such as the pseudo-spectral method. These methods are favored due to their ease of implementation and large convergence regions while indirect methods have largely been ignored in the literature in the past decade except for specific applications in astrodynamics. It has been shown that the shortcomings conventionally associated with indirect methods can be overcome by the use of a continuation method in which complex trajectory solutions are obtained by solving a sequence of progressively difficult optimization problems. High performance computing hardware is trending towards more parallel architectures as opposed to powerful single-core processors. Graphics Processing Units (GPU), which were originally developed for 3D graphics rendering have gained popularity in the past decade as high-performance, programmable parallel processors. The Compute Unified Device Architecture (CUDA) framework, a parallel computing architecture and programming model developed by NVIDIA, is one of the most widely used platforms in GPU computing. GPUs have been applied to a wide range of fields that require the solution of complex, computationally demanding problems. A GPU-accelerated indirect trajectory optimization methodology which uses the multiple shooting method and continuation is developed using the CUDA platform. The various algorithmic optimizations used to exploit the parallelism inherent in the indirect shooting method are described. The resulting rapid optimal control framework enables the construction of high quality optimal trajectories that satisfy problem-specific constraints and fully satisfy the necessary conditions of optimality. The benefits of the framework are highlighted by construction of maximum terminal velocity trajectories for a hypothetical long range weapon system. The techniques used to construct an initial guess from an analytic near-ballistic trajectory and the methods used to formulate the necessary conditions of optimality in a manner that is transparent to the designer are discussed. Various hypothetical mission scenarios that enforce different combinations of initial, terminal, interior point and path constraints demonstrate the rapid construction of complex trajectories without requiring any a-priori insight into the structure of the solutions. Trajectory problems of this kind were previously considered impractical to solve using indirect methods. The performance of the GPU-accelerated solver is found to be 2x--4x faster than MATLAB's bvp4c, even while running on GPU hardware that is five years behind the state-of-the-art.

Spatio-Temporal Pattern Mining on Trajectory Data Using Arm

NASA Astrophysics Data System (ADS)

Khoshahval, S.; Farnaghi, M.; Taleai, M.

2017-09-01

Preliminary mobile was considered to be a device to make human connections easier. But today the consumption of this device has been evolved to a platform for gaming, web surfing and GPS-enabled application capabilities. Embedding GPS in handheld devices, altered them to significant trajectory data gathering facilities. Raw GPS trajectory data is a series of points which contains hidden information. For revealing hidden information in traces, trajectory data analysis is needed. One of the most beneficial concealed information in trajectory data is user activity patterns. In each pattern, there are multiple stops and moves which identifies users visited places and tasks. This paper proposes an approach to discover user daily activity patterns from GPS trajectories using association rules. Finding user patterns needs extraction of user's visited places from stops and moves of GPS trajectories. In order to locate stops and moves, we have implemented a place recognition algorithm. After extraction of visited points an advanced association rule mining algorithm, called Apriori was used to extract user activity patterns. This study outlined that there are useful patterns in each trajectory that can be emerged from raw GPS data using association rule mining techniques in order to find out about multiple users' behaviour in a system and can be utilized in various location-based applications.

Trajectory Design Strategies for the NGST L2 Libration Point Mission

NASA Technical Reports Server (NTRS)

Folta, David; Cooley, Steven; Howell, Kathleen; Bauer, Frank H.

2001-01-01

The Origins' Next Generation Space Telescope (NGST) trajectory design is addressed in light of improved methods for attaining constrained orbit parameters and their control at the exterior collinear libration point, L2. The use of a dynamical systems approach, state-space equations for initial libration orbit control, and optimization to achieve constrained orbit parameters are emphasized. The NGST trajectory design encompasses a direct transfer and orbit maintenance under a constant acceleration. A dynamical systems approach can be used to provide a biased orbit and stationkeeping maintenance method that incorporates the constraint of a single axis correction scheme.

A Robust Crowdsourcing-Based Indoor Localization System.

PubMed

Zhou, Baoding; Li, Qingquan; Mao, Qingzhou; Tu, Wei

2017-04-14

WiFi fingerprinting-based indoor localization has been widely used due to its simplicity and can be implemented on the smartphones. The major drawback of WiFi fingerprinting is that the radio map construction is very labor-intensive and time-consuming. Another drawback of WiFi fingerprinting is the Received Signal Strength (RSS) variance problem, caused by environmental changes and device diversity. RSS variance severely degrades the localization accuracy. In this paper, we propose a robust crowdsourcing-based indoor localization system (RCILS). RCILS can automatically construct the radio map using crowdsourcing data collected by smartphones. RCILS abstracts the indoor map as the semantics graph in which the edges are the possible user paths and the vertexes are the location where users may take special activities. RCILS extracts the activity sequence contained in the trajectories by activity detection and pedestrian dead-reckoning. Based on the semantics graph and activity sequence, crowdsourcing trajectories can be located and a radio map is constructed based on the localization results. For the RSS variance problem, RCILS uses the trajectory fingerprint model for indoor localization. During online localization, RCILS obtains an RSS sequence and realizes localization by matching the RSS sequence with the radio map. To evaluate RCILS, we apply RCILS in an office building. Experiment results demonstrate the efficiency and robustness of RCILS.

A Robust Crowdsourcing-Based Indoor Localization System

PubMed Central

Zhou, Baoding; Li, Qingquan; Mao, Qingzhou; Tu, Wei

2017-01-01

WiFi fingerprinting-based indoor localization has been widely used due to its simplicity and can be implemented on the smartphones. The major drawback of WiFi fingerprinting is that the radio map construction is very labor-intensive and time-consuming. Another drawback of WiFi fingerprinting is the Received Signal Strength (RSS) variance problem, caused by environmental changes and device diversity. RSS variance severely degrades the localization accuracy. In this paper, we propose a robust crowdsourcing-based indoor localization system (RCILS). RCILS can automatically construct the radio map using crowdsourcing data collected by smartphones. RCILS abstracts the indoor map as the semantics graph in which the edges are the possible user paths and the vertexes are the location where users may take special activities. RCILS extracts the activity sequence contained in the trajectories by activity detection and pedestrian dead-reckoning. Based on the semantics graph and activity sequence, crowdsourcing trajectories can be located and a radio map is constructed based on the localization results. For the RSS variance problem, RCILS uses the trajectory fingerprint model for indoor localization. During online localization, RCILS obtains an RSS sequence and realizes localization by matching the RSS sequence with the radio map. To evaluate RCILS, we apply RCILS in an office building. Experiment results demonstrate the efficiency and robustness of RCILS. PMID:28420108

Trajectories of Affective States in Adolescent Hockey Players: Turning Point and Motivational Antecedents

ERIC Educational Resources Information Center

Gaudreau, Patrick; Amiot, Catherine E.; Vallerand, Robert J.

2009-01-01

This study examined longitudinal trajectories of positive and negative affective states with a sample of 265 adolescent elite hockey players followed across 3 measurement points during the 1st 11 weeks of a season. Latent class growth modeling, incorporating a time-varying covariate and a series of predictors assessed at the onset of the season,…

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.

Improved first-pass spiral myocardial perfusion imaging with variable density trajectories.

PubMed

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

2013-11-01

To develop and evaluate variable-density spiral first-pass perfusion pulse sequences for improved efficiency and off-resonance performance and to demonstrate the utility of an apodizing density compensation function (DCF) to improve signal-to-noise ratio (SNR) and reduce dark-rim artifact caused by cardiac motion and Gibbs Ringing. Three variable density spiral trajectories were designed, simulated, and evaluated in 18 normal subjects, and in eight patients with cardiac pathology on a 1.5T scanner. By using a DCF, which intentionally apodizes the k-space data, the sidelobe amplitude of the theoretical point spread function (PSF) is reduced by 68%, with only a 13% increase in the full-width at half-maximum of the main-lobe when compared with the same data corrected with a conventional variable-density DCF, and has an 8% higher resolution than a uniform density spiral with the same number of interleaves and readout duration. Furthermore, this strategy results in a greater than 60% increase in measured SNR when compared with the same variable-density spiral data corrected with a conventional DCF (P < 0.01). Perfusion defects could be clearly visualized with minimal off-resonance and dark-rim artifacts. Variable-density spiral pulse sequences using an apodized DCF produce high-quality first-pass perfusion images with minimal dark-rim and off-resonance artifacts, high SNR and contrast-to-noise ratio, and good delineation of resting perfusion abnormalities. Copyright © 2012 Wiley Periodicals, Inc.

Satellite Re-entry Modeling and Uncertainty Quantification

NASA Astrophysics Data System (ADS)

Horsley, M.

2012-09-01

LEO trajectory modeling is a fundamental aerospace capability and has applications in many areas of aerospace, such as maneuver planning, sensor scheduling, re-entry prediction, collision avoidance, risk analysis, and formation flying. Somewhat surprisingly, modeling the trajectory of an object in low Earth orbit is still a challenging task. This is primarily due to the large uncertainty in the upper atmospheric density, about 15-20% (1-sigma) for most thermosphere models. Other contributions come from our inability to precisely model future solar and geomagnetic activities, the potentially unknown shape, material construction and attitude history of the satellite, and intermittent, noisy tracking data. Current methods to predict a satellite's re-entry trajectory typically involve making a single prediction, with the uncertainty dealt with in an ad-hoc manner, usually based on past experience. However, due to the extreme speed of a LEO satellite, even small uncertainties in the re-entry time translate into a very large uncertainty in the location of the re-entry event. Currently, most methods simply update the re-entry estimate on a regular basis. This results in a wide range of estimates that are literally spread over the entire globe. With no understanding of the underlying distribution of potential impact points, the sequence of impact points predicted by the current methodology are largely useless until just a few hours before re-entry. This paper will discuss the development of a set of the High Performance Computing (HPC)-based capabilities to support near real-time quantification of the uncertainty inherent in uncontrolled satellite re-entries. An appropriate management of the uncertainties is essential for a rigorous treatment of the re-entry/LEO trajectory problem. The development of HPC-based tools for re-entry analysis is important as it will allow a rigorous and robust approach to risk assessment by decision makers in an operational setting. Uncertainty quantification results from the recent uncontrolled re-entry of the Phobos-Grunt satellite will be presented and discussed. This work performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory under Contract DE-AC52-07NA27344.

Locally optimal transfer trajectories between libration point orbits using invariant manifolds

NASA Astrophysics Data System (ADS)

Davis, Kathryn E.

2009-12-01

Techniques from dynamical systems theory and primer vector theory have been applied to the construction of locally optimal transfer trajectories between libration point orbits. When two libration point orbits have different energies, it has been found that the unstable manifold of the first orbit can be connected to the stable manifold of the second orbit with a bridging trajectory. A bounding sphere centered on the secondary, with a radius less than the radius of the sphere of influence of the secondary, was used to study the stable and unstable manifold trajectories. It was numerically demonstrated that within the bounding sphere, the two-body parameters of the unstable and stable manifold trajectories could be analyzed to locate low transfer costs. It was shown that as the two-body parameters of an unstable manifold trajectory more closely matched the two-body parameters of a stable manifold trajectory, the total DeltaV necessary to complete the transfer decreased. Primer vector theory was successfully applied to a transfer to determine the optimal maneuvers required to create the bridging trajectory that connected the unstable manifold of the first orbit to the stable manifold of the second orbit. Transfer trajectories were constructed between halo orbits in the Sun-Earth and Earth-Moon three-body systems. Multiple solutions were found between the same initial and final orbits, where certain solutions retraced interior portions of the trajectory. All of the trajectories created satisfied the conditions for optimality. The costs of transfers constructed using invariant manifolds were compared to the costs of transfers constructed without the use of invariant manifolds, when data was available. In all cases, the total cost of the transfers were significantly lower when invariant manifolds were used in the transfer construction. In many cases, the transfers that employed invariant manifolds were three to four times more efficient, in terms of fuel expenditure, than the transfer that did not. The decrease in transfer cost was accompanied by an increase in transfer time of flight. Transfers constructed in the Earth-Moon system were shown to be particularly viable for lunar navigation and communication constellations, as excellent coverage of the lunar surface can be achieved during the transfer.

14 CFR Appendix B to Part 420 - Method for Defining a Flight Corridor

Code of Federal Regulations, 2010 CFR

2010-01-01

... trajectory simulation software. Trajectory time intervals shall be no greater than one second. If an... applicant shall construct a launch area of a flight corridor using the processes and equations of this paragraph for each trajectory position. An applicant shall repeat these processes at time points on the...

Generalized Gaussian wave packet dynamics: Integrable and chaotic systems.

PubMed

Pal, Harinder; Vyas, Manan; Tomsovic, Steven

2016-01-01

The ultimate semiclassical wave packet propagation technique is a complex, time-dependent Wentzel-Kramers-Brillouin method known as generalized Gaussian wave packet dynamics (GGWPD). It requires overcoming many technical difficulties in order to be carried out fully in practice. In its place roughly twenty years ago, linearized wave packet dynamics was generalized to methods that include sets of off-center, real trajectories for both classically integrable and chaotic dynamical systems that completely capture the dynamical transport. The connections between those methods and GGWPD are developed in a way that enables a far more practical implementation of GGWPD. The generally complex saddle-point trajectories at its foundation are found using a multidimensional Newton-Raphson root search method that begins with the set of off-center, real trajectories. This is possible because there is a one-to-one correspondence. The neighboring trajectories associated with each off-center, real trajectory form a path that crosses a unique saddle; there are exceptions that are straightforward to identify. The method is applied to the kicked rotor to demonstrate the accuracy improvement as a function of ℏ that comes with using the saddle-point trajectories.

Point-Mass Aircraft Trajectory Prediction Using a Hierarchical, Highly-Adaptable Software Design

NASA Technical Reports Server (NTRS)

Karr, David A.; Vivona, Robert A.; Woods, Sharon E.; Wing, David J.

2017-01-01

A highly adaptable and extensible method for predicting four-dimensional trajectories of civil aircraft has been developed. This method, Behavior-Based Trajectory Prediction, is based on taxonomic concepts developed for the description and comparison of trajectory prediction software. A hierarchical approach to the "behavioral" layer of a point-mass model of aircraft flight, a clear separation between the "behavioral" and "mathematical" layers of the model, and an abstraction of the methods of integrating differential equations in the "mathematical" layer have been demonstrated to support aircraft models of different types (in particular, turbojet vs. turboprop aircraft) using performance models at different levels of detail and in different formats, and promise to be easily extensible to other aircraft types and sources of data. The resulting trajectories predict location, altitude, lateral and vertical speeds, and fuel consumption along the flight path of the subject aircraft accurately and quickly, accounting for local conditions of wind and outside air temperature. The Behavior-Based Trajectory Prediction concept was implemented in NASA's Traffic Aware Planner (TAP) flight-optimizing cockpit software application.

Young Children's Understandings of Length Measurement: Evaluating a Learning Trajectory

ERIC Educational Resources Information Center

Szilagyi, Janka; Clements, Douglas H.; Sarama, Julie

2013-01-01

This study investigated the development of length measurement ideas in students from prekindergarten through 2nd grade. The main purpose was to evaluate and elaborate the developmental progression, or levels of thinking, of a hypothesized learning trajectory for length measurement to ensure that the sequence of levels of thinking is consistent…

A new trajectory concept for exploring the earth's geomagnetic tail

NASA Technical Reports Server (NTRS)

Farquhar, R. W.; Dunham, D. W.

1981-01-01

An innovative trajectory technique for a magnetotail mapping mission is described which can control the apsidal rotation of an elliptical earth orbit and keep its apogee segment inside the tail region. The required apsidal rotation rate of approximately 1 deg/day is achieved by using the moon to carry out a prescribed sequence of gravity-assist maneuvers. Apogee distances are alternately raised and lowered by the lunar-swingby maneuvers; several categories of the 'sun-synchronous' swingby trajectories are identified. The strength and flexibility of the new trajectory concept is demonstrated by using real-world simulations showing that a large variety of trajectory shapes can be used to explore the earth's geomagnetic tail between 60 and 250 R sub E.

A Method of Trajectory Design for Manned Asteroids Exploration

NASA Astrophysics Data System (ADS)

Gan, Q. B.; Zhang, Y.; Zhu, Z. F.; Han, W. H.; Dong, X.

2014-11-01

A trajectory optimization method of the nuclear propulsion manned asteroids exploration is presented. In the case of launching between 2035 and 2065, based on the Lambert transfer orbit, the phases of departure from and return to the Earth are searched at first. Then the optimal flight trajectory in the feasible regions is selected by pruning the flight sequences. Setting the nuclear propulsion flight plan as propel-coast-propel, and taking the minimal mass of aircraft departure as the index, the nuclear propulsion flight trajectory is separately optimized using a hybrid method. With the initial value of the optimized local parameters of each three phases, the global parameters are jointedly optimized. At last, the minimal departure mass trajectory design result is given.

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.

Feature point based 3D tracking of multiple fish from multi-view images

PubMed Central

Qian, Zhi-Ming

2017-01-01

A feature point based method is proposed for tracking multiple fish in 3D space. First, a simplified representation of the object is realized through construction of two feature point models based on its appearance characteristics. After feature points are classified into occluded and non-occluded types, matching and association are performed, respectively. Finally, the object's motion trajectory in 3D space is obtained through integrating multi-view tracking results. Experimental results show that the proposed method can simultaneously track 3D motion trajectories for up to 10 fish accurately and robustly. PMID:28665966

Feature point based 3D tracking of multiple fish from multi-view images.

PubMed

Qian, Zhi-Ming; Chen, Yan Qiu

2017-01-01

A feature point based method is proposed for tracking multiple fish in 3D space. First, a simplified representation of the object is realized through construction of two feature point models based on its appearance characteristics. After feature points are classified into occluded and non-occluded types, matching and association are performed, respectively. Finally, the object's motion trajectory in 3D space is obtained through integrating multi-view tracking results. Experimental results show that the proposed method can simultaneously track 3D motion trajectories for up to 10 fish accurately and robustly.

The physics of evolution

NASA Astrophysics Data System (ADS)

Eigen, Manfred

1988-12-01

The Darwinian concept of evolution through natural selection has been revised and put on a solid physical basis, in a form which applies to self-replicable macromolecules. Two new concepts are introduced: sequence space and quasi-species. Evolutionary change in the DNA- or RNA-sequence of a gene can be mapped as a trajectory in a sequence space of dimension ν, where ν corresponds to the number of changeable positions in the genomic sequence. Emphasis, however, is shifted from the single surviving wildtype, a single point in the sequence space, to the complex structure of the mutant distribution that constitutes the quasi-species. Selection is equivalent to an establishment of the quasi-species in a localized region of sequence space, subject to threshold conditions for the error rate and sequence length. Arrival of a new mutant may violate the local threshold condition and thereby lead to a displacement of the quasi-species into a different region of sequence space. This transformation is similar to a phase transition; the dynamical equations that describe the quase-species have been shown to be analogous to those of the two-dimensional Ising model of ferromagnetism. The occurrence of a selectively advantageous mutant is biased by the particulars of the quasi-species distribution, whose mutants are populated according to their fitness relative to that of the wild-type. Inasmuch as fitness regions are connected (like mountain ridges) the evolutionary trajectory is guided to regions of optimal fitness. Evolution experiments in test tubes confirm this modification of the simple chance and law nature of the Darwinian concept. The results of the theory can also be applied to the construction of a machine that provides optimal conditions for a rapid evolution of functionally active macromolecules. An introduction to the physics of molecular evolution by the author has appeared recently.1 Detailed studies of the kinetics and mechanisms of replication of RNA, the most likely candidate for early evolution2,3, and of the implications on natural selection have been given in Refs. 4 and 5. The quasi-species model has been constructed in Refs. 6 and 7 using the concept of sequence space. Subsequently various methods have been invented to elucidate this concept and to relate it to the theory of critical phenomena 8-19. The instability of the quasi-species at the error threshold is discussed in Ref. 10. Evolution experiments with RNA strands in test tubes are described in Refs. 21 and 22.

Predictive value of dysregulation profile trajectories in childhood for symptoms of ADHD, anxiety and depression in late adolescence.

PubMed

Wang, B; Brueni, L G; Isensee, C; Meyer, T; Bock, N; Ravens-Sieberer, U; Klasen, F; Schlack, R; Becker, A; Rothenberger, A

2018-06-01

We examined whether there are certain dysregulation profile trajectories in childhood that may predict an elevated risk for mental disorders in later adolescence. Participants (N = 554) were drawn from a representative community sample of German children, 7-11 years old, who were followed over four measurement points (baseline, 1, 2 and 6 years later). Dysregulation profile, derived from the parent report of the Strengths and Difficulties Questionnaire, was measured at the first three measurement points, while symptoms of attention deficit hyperactivity disorder (ADHD), anxiety and depression were assessed at the fourth measurement point. We used latent class growth analysis to investigate developmental trajectories in the development of the dysregulation profile. The predictive value of dysregulation profile trajectories for later ADHD, anxiety and depression was examined by linear regression. For descriptive comparison, the predictive value of a single measurement (baseline) was calculated. Dysregulation profile was a stable trait during childhood. Boys and girls had similar levels of dysregulation profile over time. Two developmental subgroups were identified, namely the low dysregulation profile and the high dysregulation profile trajectory. The group membership in the high dysregulation profile trajectory (n = 102) was best predictive of later ADHD, regardless of an individual's gender and age. It explained 11% of the behavioural variance. For anxiety this was 8.7% and for depression 5.6%, including some gender effects. The single-point measurement was less predictive. An enduring high dysregulation profile in childhood showed some predictive value for psychological functioning 4 years later. Hence, it might be helpful in the preventive monitoring of children at risk.

Note on the displacement of a trajectory of hyperbolic motion in curved space-time

NASA Astrophysics Data System (ADS)

Krikorian, R. A.

2012-04-01

The object of this note is to present a physical application of the theory of the infinitesimal deformations or displacements of curves developed by Yano using the concept of Lie derivative. It is shown that an infinitesimal point transformation which carries a given trajectory of hyperbolic motion into a trajectory of the same type, and preserves the affine parametrization of the trajectory, defines a homothetic motion.

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

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

MacDonald, L; Thomas, C; Syme, A

2016-06-15

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

Broken-Plane Maneuver Applications for Earth to Mars Trajectories

NASA Technical Reports Server (NTRS)

Abilleira, Fernando

2007-01-01

Optimization techniques are critical when investigating Earth to Mars trajectories since they have the potential of reducing the total (delta)V of a mission. A deep space maneuver (DSM) executed during the cruise may improve a trajectory by reducing the total mission V. Nonetheless, DSMs not only may improve trajectory performance (from an energetic point of view) but also open up new families of trajectories that would satisfy very specific mission requirements not achievable with ballistic trajectories. In the following pages, various specific examples showing the potential advantages of the usage of broken plane maneuvers will be introduced. These examples correspond to possible scenarios for Earth to Mars trajectories during the next decade (2010-2020).

Cocoa/Cotton Comparative Genomics

USDA-ARS?s Scientific Manuscript database

With genome sequence from two members of the Malvaceae family recently made available, we are exploring syntenic relationships, gene content, and evolutionary trajectories between the cacao and cotton genomes. An assembly of cacao (Theobroma cacao) using Illumina and 454 sequence technology yielded ...

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.

MGA trajectory planning with an ACO-inspired algorithm

NASA Astrophysics Data System (ADS)

Ceriotti, Matteo; Vasile, Massimiliano

2010-11-01

Given a set of celestial bodies, the problem of finding an optimal sequence of swing-bys, deep space manoeuvres (DSM) and transfer arcs connecting the elements of the set is combinatorial in nature. The number of possible paths grows exponentially with the number of celestial bodies. Therefore, the design of an optimal multiple gravity assist (MGA) trajectory is a NP-hard mixed combinatorial-continuous problem. Its automated solution would greatly improve the design of future space missions, allowing the assessment of a large number of alternative mission options in a short time. This work proposes to formulate the complete automated design of a multiple gravity assist trajectory as an autonomous planning and scheduling problem. The resulting scheduled plan will provide the optimal planetary sequence and a good estimation of the set of associated optimal trajectories. The trajectory model consists of a sequence of celestial bodies connected by two-dimensional transfer arcs containing one DSM. For each transfer arc, the position of the planet and the spacecraft, at the time of arrival, are matched by varying the pericentre of the preceding swing-by, or the magnitude of the launch excess velocity, for the first arc. For each departure date, this model generates a full tree of possible transfers from the departure to the destination planet. Each leaf of the tree represents a planetary encounter and a possible way to reach that planet. An algorithm inspired by ant colony optimization (ACO) is devised to explore the space of possible plans. The ants explore the tree from departure to destination adding one node at the time: every time an ant is at a node, a probability function is used to select a feasible direction. This approach to automatic trajectory planning is applied to the design of optimal transfers to Saturn and among the Galilean moons of Jupiter. Solutions are compared to those found through more traditional genetic-algorithm techniques.

Backbone hydration determines the folding signature of amino acid residues.

PubMed

Bignucolo, Olivier; Leung, Hoi Tik Alvin; Grzesiek, Stephan; Bernèche, Simon

2015-04-08

The relation between the sequence of a protein and its three-dimensional structure remains largely unknown. A lasting dream is to elucidate the side-chain-dependent driving forces that govern the folding process. Different structural data suggest that aromatic amino acids play a particular role in the stabilization of protein structures. To better understand the underlying mechanism, we studied peptides of the sequence EGAAXAASS (X = Gly, Ile, Tyr, Trp) through comparison of molecular dynamics (MD) trajectories and NMR residual dipolar coupling (RDC) measurements. The RDC data for aromatic substitutions provide evidence for a kink in the peptide backbone. Analysis of the MD simulations shows that the formation of internal hydrogen bonds underlying a helical turn is key to reproduce the experimental RDC values. The simulations further reveal that the driving force leading to such helical-turn conformations arises from the lack of hydration of the peptide chain on either side of the bulky aromatic side chain, which can potentially act as a nucleation point initiating the folding process.

Convergence of neural networks for programming problems via a nonsmooth Lojasiewicz inequality.

PubMed

Forti, Mauro; Nistri, Paolo; Quincampoix, Marc

2006-11-01

This paper considers a class of neural networks (NNs) for solving linear programming (LP) problems, convex quadratic programming (QP) problems, and nonconvex QP problems where an indefinite quadratic objective function is subject to a set of affine constraints. The NNs are characterized by constraint neurons modeled by ideal diodes with vertical segments in their characteristic, which enable to implement an exact penalty method. A new method is exploited to address convergence of trajectories, which is based on a nonsmooth Lojasiewicz inequality for the generalized gradient vector field describing the NN dynamics. The method permits to prove that each forward trajectory of the NN has finite length, and as a consequence it converges toward a singleton. Furthermore, by means of a quantitative evaluation of the Lojasiewicz exponent at the equilibrium points, the following results on convergence rate of trajectories are established: (1) for nonconvex QP problems, each trajectory is either exponentially convergent, or convergent in finite time, toward a singleton belonging to the set of constrained critical points; (2) for convex QP problems, the same result as in (1) holds; moreover, the singleton belongs to the set of global minimizers; and (3) for LP problems, each trajectory converges in finite time to a singleton belonging to the set of global minimizers. These results, which improve previous results obtained via the Lyapunov approach, are true independently of the nature of the set of equilibrium points, and in particular they hold even when the NN possesses infinitely many nonisolated equilibrium points.

OTIS 3.2 Software Released

NASA Technical Reports Server (NTRS)

Riehl, John P.; Sjauw, Waldy K.

2004-01-01

Trajectory, mission, and vehicle engineers concern themselves with finding the best way for an object to get from one place to another. These engineers rely upon special software to assist them in this. For a number of years, many engineers have used the OTIS program for this assistance. With OTIS, an engineer can fully optimize trajectories for airplanes, launch vehicles like the space shuttle, interplanetary spacecraft, and orbital transfer vehicles. OTIS provides four modes of operation, with each mode providing successively stronger optimization capability. The most powerful mode uses a mathematical method called implicit integration to solve what engineers and mathematicians call the optimal control problem. OTIS 3.2, which was developed at the NASA Glenn Research Center, is the latest release of this industry workhorse and features new capabilities for parameter optimization and mission design. OTIS stands for Optimal Control by Implicit Simulation, and it is implicit integration that makes OTIS so powerful at solving trajectory optimization problems. Why is this so important? The optimization process not only determines how to get from point A to point B, but it can also determine how to do this with the least amount of propellant, with the lightest starting weight, or in the fastest time possible while avoiding certain obstacles along the way. There are numerous conditions that engineers can use to define optimal, or best. OTIS provides a framework for defining the starting and ending points of the trajectory (point A and point B), the constraints on the trajectory (requirements like "avoid these regions where obstacles occur"), and what is being optimized (e.g., minimize propellant). The implicit integration method can find solutions to very complicated problems when there is not a lot of information available about what the optimal trajectory might be. The method was first developed for solving two-point boundary value problems and was adapted for use in OTIS. Implicit integration usually allows OTIS to find solutions to problems much faster than programs that use explicit integration and parametric methods. Consequently, OTIS is best suited to solving very complicated and highly constrained problems.

A Robot Trajectory Optimization Approach for Thermal Barrier Coatings Used for Free-Form Components

NASA Astrophysics Data System (ADS)

Cai, Zhenhua; Qi, Beichun; Tao, Chongyuan; Luo, Jie; Chen, Yuepeng; Xie, Changjun

2017-10-01

This paper is concerned with a robot trajectory optimization approach for thermal barrier coatings. As the requirements of high reproducibility of complex workpieces increase, an optimal thermal spraying trajectory should not only guarantee an accurate control of spray parameters defined by users (e.g., scanning speed, spray distance, scanning step, etc.) to achieve coating thickness homogeneity but also help to homogenize the heat transfer distribution on the coating surface. A mesh-based trajectory generation approach is introduced in this work to generate path curves on a free-form component. Then, two types of meander trajectories are generated by performing a different connection method. Additionally, this paper presents a research approach for introducing the heat transfer analysis into the trajectory planning process. Combining heat transfer analysis with trajectory planning overcomes the defects of traditional trajectory planning methods (e.g., local over-heating), which helps form the uniform temperature field by optimizing the time sequence of path curves. The influence of two different robot trajectories on the process of heat transfer is estimated by coupled FEM models which demonstrates the effectiveness of the presented optimization approach.

Did I see your hand moving? The effect of movement-related information on the Corsi block tapping task.

PubMed

Brunetti, Riccardo; Del Gatto, Claudia; Cavallina, Clarissa; Farina, Benedetto; Delogu, Franco

2018-05-01

The Corsi Block Tapping Task is a widespread test used to assess spatial working memory. Previous research hypothesized that the discrepancy found in some cases between the traditional and the digital (touchscreen) version of the Corsi block tapping task may be due to a direct motor resonance between the experimenter's and the participant's hand movements. However, we hypothesize that this discrepancy might be due to extra movement-related information included in the traditional version, lacking in the digital one. We investigated the effects of such task-irrelevant information using eCorsi, a touchscreen version of the task. In Experiment 1, we manipulate timing in sequence presentation, creating three conditions. In the Congruent condition, the inter-stimulus intervals reflected the physical distance in which the stimuli were spatially placed: The longer the spatial distance, the longer the temporal interval. In the Incongruent condition the timing changed randomly. Finally, in the Isochronous condition every stimulus appeared after a fixed interval, independently from its spatial position. The results showed a performance enhancement in the Congruent condition, suggesting an incidental spatio-temporal binding. In Experiment 2, we added straight lines between each location in the sequences: In the Trajectories condition participants saw trajectories from one spatial position to the other during sequence presentation, while a condition without such trajectories served as control. Results showed better performances in the Trajectories condition. We suggest that the timing and trajectories information play a significant role in the discrepancies found between the traditional and the touchscreen version of the Corsi Block Tapping Task, without the necessity of explanations involving direct motor resonance (e.g. seeing an actual hand moving) as a causal factor.

Trajectories of Childbearing among HIV Infected Indian Women: A Sequence Analysis Approach

PubMed Central

Darak, Shrinivas; Mills, Melinda; Kulkarni, Vinay; Kulkarni, Sanjeevani; Hutter, Inge; Janssen, Fanny

2015-01-01

Background HIV infection closely relates to and deeply affects the reproductive career of those infected. However, little is known about the reproductive career trajectories, specifically the interaction of the timing of HIV diagnosis with the timing and sequencing of reproductive events among HIV infected women. This is the first study to describe and typify this interaction. Methods Retrospective calendar data of ever married HIV infected women aged 15-45 attending a HIV clinic in Pune, Maharashtra, Western India (N=622) on reproductive events such as marriage, cohabitation with the partner, use of contraception, pregnancy, childbirth and HIV diagnosis were analyzed using sequence analysis and multinomial logistic regression. Results Optimal matching revealed three distinct trajectories: 1) HIV diagnosis concurrent with childbearing (40.7%), 2) HIV diagnosis after childbearing (32.1%), and 3) HIV diagnosis after husband’s death (27.2%). Multinomial logistic regression (trajectory 1 = baseline) showed that women who got married before the age of 21 years and who had no or primary level education had a significantly higher risk of knowing their HIV status either after childbearing or close to their husband’s death. The risk of HIV diagnosis after husband’s death was also higher among rural women and those who were diagnosed before 2005. Conclusions Three distinct patterns of interaction of timing of HIV diagnosis with timing and sequencing of events in the reproductive career were observed that have clear implications for (i) understanding of the individual life planning process in the context of HIV, (ii) formulation of assumptions for estimating HIV infected women in need of PMTCT services, and (iii) provision of care services. PMID:25906185

Adaptive surrogate model based multi-objective transfer trajectory optimization between different libration points

NASA Astrophysics Data System (ADS)

Peng, Haijun; Wang, Wei

2016-10-01

An adaptive surrogate model-based multi-objective optimization strategy that combines the benefits of invariant manifolds and low-thrust control toward developing a low-computational-cost transfer trajectory between libration orbits around the L1 and L2 libration points in the Sun-Earth system has been proposed in this paper. A new structure for a multi-objective transfer trajectory optimization model that divides the transfer trajectory into several segments and gives the dominations for invariant manifolds and low-thrust control in different segments has been established. To reduce the computational cost of multi-objective transfer trajectory optimization, a mixed sampling strategy-based adaptive surrogate model has been proposed. Numerical simulations show that the results obtained from the adaptive surrogate-based multi-objective optimization are in agreement with the results obtained using direct multi-objective optimization methods, and the computational workload of the adaptive surrogate-based multi-objective optimization is only approximately 10% of that of direct multi-objective optimization. Furthermore, the generating efficiency of the Pareto points of the adaptive surrogate-based multi-objective optimization is approximately 8 times that of the direct multi-objective optimization. Therefore, the proposed adaptive surrogate-based multi-objective optimization provides obvious advantages over direct multi-objective optimization methods.

Determination of the Minimum Delta V Transfer Trajectory from a Low Earth Orbit to a Stable Orbit Around the Lagrangian Point L4 in a Restricted Four-Body System.

DTIC Science & Technology

1979-12-01

the Moon revolves around the Earth. T. A . Heppenheimer (Ref 5) and his colleagues B. O’Leary and D. Kaplan (Ref 7) have also examined the pro- blem of...colony location and transfer trajectories. Heppenheimer found a 2/1 resonant orbit around the Earth 2S that could be reached from L2 by a Hohmann...would not allow a catcher near either of these points. In their work together, O’Leary, Kaplan and Heppenheimer found a transfer trajectory from L2

Development and clinical evaluation of a simple optical method to detect and measure patient external motion.

PubMed

Barbés, Benigno; Azcona, Juan Diego; Prieto, Elena; de Foronda, José Manuel; García, Marina; Burguete, Javier

2015-09-08

A simple and independent system to detect and measure the position of a number of points in space was devised and implemented. Its application aimed to detect patient motion during radiotherapy treatments, alert of out-of-tolerances motion, and record the trajectories for subsequent studies. The system obtains the 3D position of points in space, through its projections in 2D images recorded by two cameras. It tracks black dots on a white sticker placed on the surface of the moving object. The system was tested with linear displacements of a phantom, circular trajectories of a rotating disk, oscillations of an in-house phantom, and oscillations of a 4D phantom. It was also used to track 461 trajectories of points on the surface of patients during their radiotherapy treatments. Trajectories of several points were reproduced with accuracy better than 0.3 mm in the three spatial directions. The system was able to follow periodic motion with amplitudes lower than 0.5 mm, to follow trajectories of rotating points at speeds up to 11.5 cm/s, and to track accurately the motion of a respiratory phantom. The technique has been used to track the motion of patients during radiotherapy and to analyze that motion. The method is flexible. Its installation and calibration are simple and quick. It is easy to use and can be implemented at a very affordable price. Data collection does not involve any discomfort to the patient and does not delay the treatment, so the system can be used routinely in all treatments. It has an accuracy similar to that of other, more sophisticated, commercially available systems. It is suitable to implement a gating system or any other application requiring motion detection, such as 4D CT, MRI or PET.

Launch mission summary and sequence of events Telesat-F(anik-D1)/Delta-164

NASA Technical Reports Server (NTRS)

1982-01-01

The launch vehicle, spacecraft, and mission are summarized. Launch window information, vehicle telemetry coverage, real time data flow, telemetry coverage by station, selected trajectory information, and a brief sequence of flight events are included.

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.

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.

Spacecraft Station-Keeping Trajectory and Mission Design Tools

NASA Technical Reports Server (NTRS)

Chung, Min-Kun J.

2009-01-01

Two tools were developed for designing station-keeping trajectories and estimating delta-v requirements for designing missions to a small body such as a comet or asteroid. This innovation uses NPOPT, a non-sparse, general-purpose sequential quadratic programming (SQP) optimizer and the Two-Level Differential Corrector (T-LDC) in LTool (Libration point mission design Tool) to design three kinds of station-keeping scripts: vertical hovering, horizontal hovering, and orbiting. The T-LDC is used to differentially correct several trajectory legs that join hovering points. In a vertical hovering, the maximum and minimum range points must be connected smoothly while maintaining the spacecrafts range from a small body, all within the law of gravity and the solar radiation pressure. The same is true for a horizontal hover. A PatchPoint is an LTool class that denotes a space-time event with some extra information for differential correction, including a set of constraints to be satisfied by T-LDC. Given a set of PatchPoints, each with its own constraint, the T-LDC differentially corrects the entire trajectory by connecting each trajectory leg joined by PatchPoints while satisfying all specified constraints at the same time. Vertical and horizontal hover both are needed to minimize delta-v spent for station keeping. A Python I/F to NPOPT has been written to be used from an LTool script. In vertical hovering, the spacecraft stays along the line joining the Sun and a small body. An instantaneous delta-v toward the anti- Sun direction is applied at the closest approach to the small body for station keeping. For example, the spacecraft hovers between the minimum range (2 km) point and the maximum range (2.5 km) point from the asteroid 1989ML. Horizontal hovering buys more time for a spacecraft to recover if, for any reason, a planned thrust fails, by returning almost to the initial position after some time later via a near elliptical orbit around the small body. The mapping or staging orbit may be similarly generated using T-LDC with a set of constraints. Some delta-v tables are generated for several different asteroid masses.

Using ToxCast™ Data to Reconstruct Dynamic Cell State Trajectories and Estimate Toxicological Points of Departure

PubMed Central

Shah, Imran; Setzer, R. Woodrow; Jack, John; Houck, Keith A.; Judson, Richard S.; Knudsen, Thomas B.; Liu, Jie; Martin, Matthew T.; Reif, David M.; Richard, Ann M.; Thomas, Russell S.; Crofton, Kevin M.; Dix, David J.; Kavlock, Robert J.

2015-01-01

Background: High-content imaging (HCI) allows simultaneous measurement of multiple cellular phenotypic changes and is an important tool for evaluating the biological activity of chemicals. Objectives: Our goal was to analyze dynamic cellular changes using HCI to identify the “tipping point” at which the cells did not show recovery towards a normal phenotypic state. Methods: HCI was used to evaluate the effects of 967 chemicals (in concentrations ranging from 0.4 to 200 μM) on HepG2 cells over a 72-hr exposure period. The HCI end points included p53, c-Jun, histone H2A.x, α-tubulin, histone H3, alpha tubulin, mitochondrial membrane potential, mitochondrial mass, cell cycle arrest, nuclear size, and cell number. A computational model was developed to interpret HCI responses as cell-state trajectories. Results: Analysis of cell-state trajectories showed that 336 chemicals produced tipping points and that HepG2 cells were resilient to the effects of 334 chemicals up to the highest concentration (200 μM) and duration (72 hr) tested. Tipping points were identified as concentration-dependent transitions in system recovery, and the corresponding critical concentrations were generally between 5 and 15 times (25th and 75th percentiles, respectively) lower than the concentration that produced any significant effect on HepG2 cells. The remaining 297 chemicals require more data before they can be placed in either of these categories. Conclusions: These findings show the utility of HCI data for reconstructing cell state trajectories and provide insight into the adaptation and resilience of in vitro cellular systems based on tipping points. Cellular tipping points could be used to define a point of departure for risk-based prioritization of environmental chemicals. Citation: Shah I, Setzer RW, Jack J, Houck KA, Judson RS, Knudsen TB, Liu J, Martin MT, Reif DM, Richard AM, Thomas RS, Crofton KM, Dix DJ, Kavlock RJ. 2016. Using ToxCast™ data to reconstruct dynamic cell state trajectories and estimate toxicological points of departure. Environ Health Perspect 124:910–919; http://dx.doi.org/10.1289/ehp.1409029 PMID:26473631

A variational technique for smoothing flight-test and accident data

NASA Technical Reports Server (NTRS)

Bach, R. E., Jr.

1980-01-01

The problem of determining aircraft motions along a trajectory is solved using a variational algorithm that generates unmeasured states and forcing functions, and estimates instrument bias and scale-factor errors. The problem is formulated as a nonlinear fixed-interval smoothing problem, and is solved as a sequence of linear two-point boundary value problems, using a sweep method. The algorithm has been implemented for use in flight-test and accident analysis. Aircraft motions are assumed to be governed by a six-degree-of-freedom kinematic model; forcing functions consist of body accelerations and winds, and the measurement model includes aerodynamic and radar data. Examples of the determination of aircraft motions from typical flight-test and accident data are presented.

A Data Cleaning Method for Big Trace Data Using Movement Consistency

PubMed Central

Tang, Luliang; Zhang, Xia; Li, Qingquan

2018-01-01

Given the popularization of GPS technologies, the massive amount of spatiotemporal GPS traces collected by vehicles are becoming a new kind of big data source for urban geographic information extraction. The growing volume of the dataset, however, creates processing and management difficulties, while the low quality generates uncertainties when investigating human activities. Based on the conception of the error distribution law and position accuracy of the GPS data, we propose in this paper a data cleaning method for this kind of spatial big data using movement consistency. First, a trajectory is partitioned into a set of sub-trajectories using the movement characteristic points. In this process, GPS points indicate that the motion status of the vehicle has transformed from one state into another, and are regarded as the movement characteristic points. Then, GPS data are cleaned based on the similarities of GPS points and the movement consistency model of the sub-trajectory. The movement consistency model is built using the random sample consensus algorithm based on the high spatial consistency of high-quality GPS data. The proposed method is evaluated based on extensive experiments, using GPS trajectories generated by a sample of vehicles over a 7-day period in Wuhan city, China. The results show the effectiveness and efficiency of the proposed method. PMID:29522456

Features in chemical kinetics. III. Attracting subspaces in a hyper-spherical representation of the reactive system

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

Ceccato, Alessandro; Frezzato, Diego, E-mail: diego.frezzato@unipd.it; Nicolini, Paolo

In this work, we deal with general reactive systems involving N species and M elementary reactions under applicability of the mass-action law. Starting from the dynamic variables introduced in two previous works [P. Nicolini and D. Frezzato, J. Chem. Phys. 138(23), 234101 (2013); 138(23), 234102 (2013)], we turn to a new representation in which the system state is specified in a (N × M){sup 2}-dimensional space by a point whose coordinates have physical dimension of inverse-of-time. By adopting hyper-spherical coordinates (a set of dimensionless “angular” variables and a single “radial” one with physical dimension of inverse-of-time) and by examining themore » properties of their evolution law both formally and numerically on model kinetic schemes, we show that the system evolves towards the equilibrium as being attracted by a sequence of fixed subspaces (one at a time) each associated with a compact domain of the concentration space. Thus, we point out that also for general non-linear kinetics there exist fixed “objects” on the global scale, although they are conceived in such an abstract and extended space. Moreover, we propose a link between the persistence of the belonging of a trajectory to such subspaces and the closeness to the slow manifold which would be perceived by looking at the bundling of the trajectories in the concentration space.« less

Reactivation, Replay, and Preplay: How It Might All Fit Together

PubMed Central

Buhry, Laure; Azizi, Amir H.; Cheng, Sen

2011-01-01

Sequential activation of neurons that occurs during “offline” states, such as sleep or awake rest, is correlated with neural sequences recorded during preceding exploration phases. This so-called reactivation, or replay, has been observed in a number of different brain regions such as the striatum, prefrontal cortex, primary visual cortex and, most prominently, the hippocampus. Reactivation largely co-occurs together with hippocampal sharp-waves/ripples, brief high-frequency bursts in the local field potential. Here, we first review the mounting evidence for the hypothesis that reactivation is the neural mechanism for memory consolidation during sleep. We then discuss recent results that suggest that offline sequential activity in the waking state might not be simple repetitions of previously experienced sequences. Some offline sequential activity occurs before animals are exposed to a novel environment for the first time, and some sequences activated offline correspond to trajectories never experienced by the animal. We propose a conceptual framework for the dynamics of offline sequential activity that can parsimoniously describe a broad spectrum of experimental results. These results point to a potentially broader role of offline sequential activity in cognitive functions such as maintenance of spatial representation, learning, or planning. PMID:21918724

Identification of Intensity Ratio Break Points from Photon Arrival Trajectories in Ratiometric Single Molecule Spectroscopy

PubMed Central

Bingemann, Dieter; Allen, Rachel M.

2012-01-01

We describe a statistical method to analyze dual-channel photon arrival trajectories from single molecule spectroscopy model-free to identify break points in the intensity ratio. Photons are binned with a short bin size to calculate the logarithm of the intensity ratio for each bin. Stochastic photon counting noise leads to a near-normal distribution of this logarithm and the standard student t-test is used to find statistically significant changes in this quantity. In stochastic simulations we determine the significance threshold for the t-test’s p-value at a given level of confidence. We test the method’s sensitivity and accuracy indicating that the analysis reliably locates break points with significant changes in the intensity ratio with little or no error in realistic trajectories with large numbers of small change points, while still identifying a large fraction of the frequent break points with small intensity changes. Based on these results we present an approach to estimate confidence intervals for the identified break point locations and recommend a bin size to choose for the analysis. The method proves powerful and reliable in the analysis of simulated and actual data of single molecule reorientation in a glassy matrix. PMID:22837704

Point Clouds to Indoor/outdoor Accessibility Diagnosis

NASA Astrophysics Data System (ADS)

Balado, J.; Díaz-Vilariño, L.; Arias, P.; Garrido, I.

2017-09-01

This work presents an approach to automatically detect structural floor elements such as steps or ramps in the immediate environment of buildings, elements that may affect the accessibility to buildings. The methodology is based on Mobile Laser Scanner (MLS) point cloud and trajectory information. First, the street is segmented in stretches along the trajectory of the MLS to work in regular spaces. Next, the lower region of each stretch (the ground zone) is selected as the ROI and normal, curvature and tilt are calculated for each point. With this information, points in the ROI are classified in horizontal, inclined or vertical. Points are refined and grouped in structural elements using raster process and connected components in different phases for each type of previously classified points. At last, the trajectory data is used to distinguish between road and sidewalks. Adjacency information is used to classify structural elements in steps, ramps, curbs and curb-ramps. The methodology is tested in a real case study, consisting of 100 m of an urban street. Ground elements are correctly classified in an acceptable computation time. Steps and ramps also are exported to GIS software to enrich building models from Open Street Map with information about accessible/inaccessible entrances and their locations.

Changes in At-Risk American Men's Crime and Substance Use Trajectories following Fatherhood

ERIC Educational Resources Information Center

Kerr, David C. R.; Capaldi, Deborah M.; Owen, Lee D.; Wiesner, Margit; Pears, Katherine C.

2011-01-01

Fatherhood can be a turning point in development and in men's crime and substance use trajectories. At-risk boys (N = 206) were assessed annually from ages 12 to 31 years. Crime, arrest, and tobacco, alcohol, and marijuana use trajectories were examined. Marriage was associated with lower levels of crime and less frequent substance use. Following…

Simulating protein folding initiation sites using an alpha-carbon-only knowledge-based force field

PubMed Central

Buck, Patrick M.; Bystroff, Christopher

2015-01-01

Protein folding is a hierarchical process where structure forms locally first, then globally. Some short sequence segments initiate folding through strong structural preferences that are independent of their three-dimensional context in proteins. We have constructed a knowledge-based force field in which the energy functions are conditional on local sequence patterns, as expressed in the hidden Markov model for local structure (HMMSTR). Carbon-alpha force field (CALF) builds sequence specific statistical potentials based on database frequencies for α-carbon virtual bond opening and dihedral angles, pairwise contacts and hydrogen bond donor-acceptor pairs, and simulates folding via Brownian dynamics. We introduce hydrogen bond donor and acceptor potentials as α-carbon probability fields that are conditional on the predicted local sequence. Constant temperature simulations were carried out using 27 peptides selected as putative folding initiation sites, each 12 residues in length, representing several different local structure motifs. Each 0.6 μs trajectory was clustered based on structure. Simulation convergence or representativeness was assessed by subdividing trajectories and comparing clusters. For 21 of the 27 sequences, the largest cluster made up more than half of the total trajectory. Of these 21 sequences, 14 had cluster centers that were at most 2.6 Å root mean square deviation (RMSD) from their native structure in the corresponding full-length protein. To assess the adequacy of the energy function on nonlocal interactions, 11 full length native structures were relaxed using Brownian dynamics simulations. Equilibrated structures deviated from their native states but retained their overall topology and compactness. A simple potential that folds proteins locally and stabilizes proteins globally may enable a more realistic understanding of hierarchical folding pathways. PMID:19137613

Proprioceptive coordination of movement sequences: role of velocity and position information.

PubMed

Cordo, P; Carlton, L; Bevan, L; Carlton, M; Kerr, G K

1994-05-01

1. Recent studies have shown that the CNS uses proprioceptive information to coordinate multijoint movement sequences; proprioceptive input related to the kinematics of one joint rotation in a movement sequence can be used to trigger a subsequent joint rotation. In this paper we adopt a broad definition of "proprioception," which includes all somatosensory information related to joint posture and kinematics. This paper addresses how the CNS uses proprioceptive information related to the velocity and position of joints to coordinate multijoint movement sequences. 2. Normal human subjects sat at an experimental apparatus and performed a movement sequence with the right arm without visual feedback. The apparatus passively rotated the right elbow horizontally in the extension direction with either a constant velocity trajectory or an unpredictable velocity trajectory. The subjects' task was to open briskly the right hand when the elbow passed through a prescribed target position, similar to backhand throwing in the horizontal plane. The randomization of elbow velocities and the absence of visual information was used to discourage subjects from using any information other than proprioceptive input to perform the task. 3. Our results indicate that the CNS is able to extract the necessary kinematic information from proprioceptive input to trigger the hand opening at the correct elbow position. We estimated the minimal sensory conduction and processing delay to be 150 ms, and on the basis of this estimate, we predicted the expected performance with different degrees of reduced proprioceptive information. These predictions were compared with the subjects' actual performances, revealing that the CNS was using proprioceptive input related to joint velocity in this motor task. To determine whether position information was also being used, we examined the subjects' performances with unpredictable velocity trajectories. The results from experiments with unpredictable velocity trajectories indicate that the CNS extracts proprioceptive information related to both the velocity and the angular position of the joint to trigger the hand movement in this movement sequence. 4. To determine the generality of proprioceptive triggering in movement sequences, we estimated the minimal movement duration with which proprioceptive information can be used as well as the amount of learning required to use proprioceptive input to perform the task. The temporal limits for proprioceptive processing in this movement task were established by determining the minimal movement time during which the task could be performed.(ABSTRACT TRUNCATED AT 400 WORDS)

Statistical analysis of life history calendar data.

PubMed

Eerola, Mervi; Helske, Satu

2016-04-01

The life history calendar is a data-collection tool for obtaining reliable retrospective data about life events. To illustrate the analysis of such data, we compare the model-based probabilistic event history analysis and the model-free data mining method, sequence analysis. In event history analysis, we estimate instead of transition hazards the cumulative prediction probabilities of life events in the entire trajectory. In sequence analysis, we compare several dissimilarity metrics and contrast data-driven and user-defined substitution costs. As an example, we study young adults' transition to adulthood as a sequence of events in three life domains. The events define the multistate event history model and the parallel life domains in multidimensional sequence analysis. The relationship between life trajectories and excess depressive symptoms in middle age is further studied by their joint prediction in the multistate model and by regressing the symptom scores on individual-specific cluster indices. The two approaches complement each other in life course analysis; sequence analysis can effectively find typical and atypical life patterns while event history analysis is needed for causal inquiries. © The Author(s) 2012.

Developmental Trajectory of Rule Detection in Four- to Six-Year-Old Children

ERIC Educational Resources Information Center

Li, Wei; Cao, Bihua; Hu, Lijuan; Li, Fuhong

2017-01-01

Children younger than three years old are able to detect hidden rules in numerical sequences, and this ability matches that of adults by age seven. However, the developmental trajectory of this ability during the ages of four to six remains unknown. The present study adopted a modified Brixton task to address this issue. In this task, children…

Combining point context and dynamic time warping for online gesture recognition

NASA Astrophysics Data System (ADS)

Mao, Xia; Li, Chen

2017-05-01

Previous gesture recognition methods usually focused on recognizing gestures after the entire gesture sequences were obtained. However, in many practical applications, a system has to identify gestures before they end to give instant feedback. We present an online gesture recognition approach that can realize early recognition of unfinished gestures with low latency. First, a curvature buffer-based point context (CBPC) descriptor is proposed to extract the shape feature of a gesture trajectory. The CBPC descriptor is a complete descriptor with a simple computation, and thus has its superiority in online scenarios. Then, we introduce an online windowed dynamic time warping algorithm to realize online matching between the ongoing gesture and the template gestures. In the algorithm, computational complexity is effectively decreased by adding a sliding window to the accumulative distance matrix. Lastly, the experiments are conducted on the Australian sign language data set and the Kinect hand gesture (KHG) data set. Results show that the proposed method outperforms other state-of-the-art methods especially when gesture information is incomplete.

Smooth Sensor Motion Planning for Robotic Cyber Physical Social Sensing (CPSS)

PubMed Central

Tang, Hong; Li, Liangzhi; Xiao, Nanfeng

2017-01-01

Although many researchers have begun to study the area of Cyber Physical Social Sensing (CPSS), few are focused on robotic sensors. We successfully utilize robots in CPSS, and propose a sensor trajectory planning method in this paper. Trajectory planning is a fundamental problem in mobile robotics. However, traditional methods are not suited for robotic sensors, because of their low efficiency, instability, and non-smooth-generated paths. This paper adopts an optimizing function to generate several intermediate points and regress these discrete points to a quintic polynomial which can output a smooth trajectory for the robotic sensor. Simulations demonstrate that our approach is robust and efficient, and can be well applied in the CPSS field. PMID:28218649

Flight trajectories with maximum tangential thrust in a central Newtonian field

NASA Astrophysics Data System (ADS)

Azizov, A. G.; Korshunova, N. A.

1983-07-01

The paper examines the two-dimensional problem of determining the optimal trajectories of a point moving with a limited per-second mass consumption in a central Newtonian field. It is shown that one of the cases in which the variational equations in the Meier formulation can be integrated in quadratures is motion with maximum tangential thrust. Trajectories corresponding to this motion are determined. By way of application, attention is given to the problem of determining the thrust which assures maximum kinetic energy for the point at the moment t = t1, corresponding to the mass consumption M0 - M1, where M0 and M1 are, respectively, the initial and final mass.

Electromagnetic braking revisited with a magnetic point dipole model

NASA Astrophysics Data System (ADS)

Land, Sara; McGuire, Patrick; Bumb, Nikhil; Mann, Brian P.; Yellen, Benjamin B.

2016-04-01

A theoretical model is developed to predict the trajectory of magnetized spheres falling through a copper pipe. The derive magnetic point dipole model agrees well with the experimental trajectories for NdFeB spherical magnets of varying diameter, which are embedded inside 3D printed shells with fixed outer dimensions. This demonstration of electrodynamic phenomena and Lenz's law serves as a good laboratory exercise for physics, electromagnetics, and dynamics classes at the undergraduate level.

Local dynamics in decision making: The evolution of preference within and across decisions

NASA Astrophysics Data System (ADS)

O'Hora, Denis; Dale, Rick; Piiroinen, Petri T.; Connolly, Fionnuala

2013-07-01

Within decisions, perceived alternatives compete until one is preferred. Across decisions, the playing field on which these alternatives compete evolves to favor certain alternatives. Mouse cursor trajectories provide rich continuous information related to such cognitive processes during decision making. In three experiments, participants learned to choose symbols to earn points in a discrimination learning paradigm and the cursor trajectories of their responses were recorded. Decisions between two choices that earned equally high-point rewards exhibited far less competition than decisions between choices that earned equally low-point rewards. Using positional coordinates in the trajectories, it was possible to infer a potential field in which the choice locations occupied areas of minimal potential. These decision spaces evolved through the experiments, as participants learned which options to choose. This visualisation approach provides a potential framework for the analysis of local dynamics in decision-making that could help mitigate both theoretical disputes and disparate empirical results.

Regularity results for the minimum time function with Hörmander vector fields

NASA Astrophysics Data System (ADS)

Albano, Paolo; Cannarsa, Piermarco; Scarinci, Teresa

2018-03-01

In a bounded domain of Rn with boundary given by a smooth (n - 1)-dimensional manifold, we consider the homogeneous Dirichlet problem for the eikonal equation associated with a family of smooth vector fields {X1 , … ,XN } subject to Hörmander's bracket generating condition. We investigate the regularity of the viscosity solution T of such problem. Due to the presence of characteristic boundary points, singular trajectories may occur. First, we characterize these trajectories as the closed set of all points at which the solution loses point-wise Lipschitz continuity. Then, we prove that the local Lipschitz continuity of T, the local semiconcavity of T, and the absence of singular trajectories are equivalent properties. Finally, we show that the last condition is satisfied whenever the characteristic set of {X1 , … ,XN } is a symplectic manifold. We apply our results to several examples.

Evolutionary dynamics of retrotransposons assessed by high-throughput sequencing in wild relatives of wheat.

PubMed

Senerchia, Natacha; Wicker, Thomas; Felber, François; Parisod, Christian

2013-01-01

Transposable elements (TEs) represent a major fraction of plant genomes and drive their evolution. An improved understanding of genome evolution requires the dynamics of a large number of TE families to be considered. We put forward an approach bypassing the required step of a complete reference genome to assess the evolutionary trajectories of high copy number TE families from genome snapshot with high-throughput sequencing. Low coverage sequencing of the complex genomes of Aegilops cylindrica and Ae. geniculata using 454 identified more than 70% of the sequences as known TEs, mainly long terminal repeat (LTR) retrotransposons. Comparing the abundance of reads as well as patterns of sequence diversity and divergence within and among genomes assessed the dynamics of 44 major LTR retrotransposon families of the 165 identified. In particular, molecular population genetics on individual TE copies distinguished recently active from quiescent families and highlighted different evolutionary trajectories of retrotransposons among related species. This work presents a suite of tools suitable for current sequencing data, allowing to address the genome-wide evolutionary dynamics of TEs at the family level and advancing our understanding of the evolution of nonmodel genomes.

Orbit Determination Support for the Microwave Anisotropy Probe (MAP)

NASA Technical Reports Server (NTRS)

Bauer, Frank (Technical Monitor); Truong, Son H.; Cuevas, Osvaldo O.; Slojkowski, Steven

2003-01-01

NASA's Microwave Anisotropy Probe (MAP) was launched from the Cape Canaveral Air Force Station Complex 17 aboard a Delta II 7425-10 expendable launch vehicle on June 30, 2001. The spacecraft received a nominal direct insertion by the Delta expendable launch vehicle into a 185-km circular orbit with a 28.7deg inclination. MAP was then maneuvered into a sequence of phasing loops designed to set up a lunar swingby (gravity-assisted acceleration) of the spacecraft onto a transfer trajectory to a lissajous orbit about the Earth-Sun L2 Lagrange point, about 1.5 million km from Earth. Because of its complex orbital characteristics, the mission provided a unique challenge for orbit determination (OD) support in many orbital regimes. This paper summarizes the premission trajectory covariance error analysis, as well as actual OD results. The use and impact of the various tracking stations, systems, and measurements will be also discussed. Important lessons learned from the MAP OD support team will be presented. There will be a discussion of the challenges presented to OD support including the effects of delta-Vs at apogee as well as perigee, and the impact of the spacecraft attitude mode on the OD accuracy and covariance analysis.

Perception of oral food breakdown. The concept of sensory trajectory.

PubMed

Lenfant, Francine; Loret, Chrystel; Pineau, Nicolas; Hartmann, Christoph; Martin, Nathalie

2009-06-01

Texture perceived in mouth largely depends on the behaviour of the food when it is broken down and transformed by the mouth elements. Texture results from a dynamic process in which texture attributes are continuously analysed by the oral sensory systems during mastication. However, the particular sequence of perceptual events that occur during oral food breakdown remains unknown. The aim of the present study is to describe the succession of perceptual events that happen in mouth during mastication and to show that for each food a texture pathway can be built. This for, we used a sensory method enabling to evaluate the dynamics of texture perceptions during food consumption: the Temporal Dominance of Sensation. On different breakfast cereals, we measured the sensation dominating at each point of the mastication process. We showed that the dynamics of appearance and disappearance of each texture sensation experienced in mouth during the eating process differed among cereals. However, some common features in this sensory trajectory were also observed for the category of products studied. Hardness, crackliness and crispness were rather perceived at the beginning of the mastication period, brittleness and lightness in the middle and stickiness at the end.

Single particle tracking of internalized metallic nanoparticles reveals heterogeneous directed motion after clathrin dependent endocytosis in mouse chromaffin cells

NASA Astrophysics Data System (ADS)

Gabriel, Manuela; Moya-Díaz, José; Gallo, Luciana I.; Marengo, Fernando D.; Estrada, Laura C.

2018-01-01

Most accepted single particle tracking methods are able to obtain high-resolution trajectories for relatively short periods of time. In this work we apply a straightforward combination of single-particle tracking microscopy and metallic nanoparticles internalization on mouse chromaffin cells to unveil the intracellular trafficking mechanism of metallic-nanoparticle-loaded vesicles (MNP-V) complexes after clathrin dependent endocytosis. We found that directed transport is the major route of MNP-Vs intracellular trafficking after stimulation (92.6% of the trajectories measured). We then studied the MNP-V speed at each point along the trajectory, and found that the application of a second depolarization stimulus during the tracking provokes an increase in the percentage of low-speed trajectory points in parallel with a decrease in the number of high-speed trajectory points. This result suggests that stimulation may facilitate the compartmentalization of internalized MNPs in a more restricted location such as was already demonstrated in neuronal and neuroendocrine cells (Bronfman et al 2003 J. Neurosci. 23 3209-20). Although further experiments will be required to address the mechanisms underlying this transport dynamics, our studies provide quantitative evidence of the heterogeneous behavior of vesicles mobility after endocytosis in chromaffin cells highlighting the potential of MNPs as alternative labels in optical microscopy to provide new insights into the vesicles dynamics in a wide variety of cellular environments.

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

NASA Astrophysics Data System (ADS)

Luo, Tong; Xu, Ming; Colombo, Camilla

2018-04-01

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

TH-EF-BRB-10: Dosimetric Validation of a Trajectory Based Cranial SRS Treatment Technique On a Varian TrueBeam Linac

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

Wilson, B; Vancouver Cancer Centre, Vancouver, BC; Gete, E

2016-06-15

Purpose: This work investigates the dosimetric accuracy of a trajectory based delivery technique in which an optimized radiation beam is delivered along a Couch-Gantry trajectory that is formed by simultaneous rotation of the linac gantry and the treatment couch. Methods: Nine trajectory based cranial SRS treatment plans were created using in-house optimization software. The plans were calculated for delivery on the TrueBeam STx linac with 6MV photon beam. Dose optimization was performed along a user-defined trajectory using MLC modulation, dose rate modulation and jaw tracking. The pre-defined trajectory chosen for this study is formed by a couch rotation through itsmore » full range of 180 degrees while the gantry makes four partial arc sweeps which are 170 degrees each. For final dose calculation, the trajectory based plans were exported to the Varian Eclipse Treatment Planning System. The plans were calculated on a homogeneous cube phantom measuring 18.2×18.2×18.2 cm3 with the analytical anisotropic algorithm (AAA) using a 1mm3 calculation voxel. The plans were delivered on the TrueBeam linac via the developer’s mode. Point dose measurements were performed on 9 patients with the IBA CC01 mini-chamber with a sensitive volume of 0.01 cc. Gafchromic film measurements along the sagittal and coronal planes were performed on three of the 9 treatment plans. Point dose values were compared with ion chamber measurements. Gamma analysis comparing film measurement and AAA calculations was performed using FilmQA Pro. Results: The AAA calculations and measurements were in good agreement. The point dose difference between AAA and ion chamber measurements were within 2.2%. Gamma analysis test pass rates (2%, 2mm passing criteria) for the Gafchromic film measurements were >95%. Conclusion: We have successfully tested TrueBeam’s ability to deliver accurate trajectory based treatments involving simultaneous gantry and couch rotation with MLC and dose rate modulation along the trajectory.« less

Evolutionary trajectory of Pack-MULEs is determined by their epigenetic status

USDA-ARS?s Scientific Manuscript database

Acquisition and rearrangement of host genes by transposable elements is one mechanism to increase gene diversity. The rice genome is replete in such sequences and while ~3,000 Pack- Mutator-like transposable elements containing gene sequences (Pack-MULEs) have been identified, their function remains...

Engagement Within a Mobile Phone-Based Smoking Cessation Intervention for Adolescents and its Association With Participant Characteristics and Outcomes.

PubMed

Paz Castro, Raquel; Haug, Severin; Filler, Andreas; Kowatsch, Tobias; Schaub, Michael P

2017-11-01

Although mobile phone-delivered smoking cessation programs are a promising way to promote smoking cessation among adolescents, little is known about how adolescents might actually use them. The aim of this study was to determine adolescents' trajectories of engagement with a mobile phone-delivered smoking cessation program over time and the associations these trajectories have with baseline characteristics and treatment outcomes. We performed secondary data analysis on a dataset from a study that compared a mobile phone-delivered integrated smoking cessation and alcohol intervention with a smoking cessation only intervention for adolescents recruited in vocational and upper secondary school classes (N=1418). Throughout the 3-month intervention, participants in both intervention groups received one text message prompt per week that either assessed smoking-related target behaviors or encouraged participation in a quiz or a message contest. Sequence analyses were performed to identify engagement trajectories. Analyses were conducted to identify predictors of engagement trajectory and associations between engagement trajectories and treatment outcomes. Three engagement trajectories emerged: (1) stable engagement (646/1418, 45.56%), (2) decreasing engagement (501/1418, 35.33%), and (3) stable nonengagement (271/1418, 19.11%). Adolescents who were younger, had no immigrant background, perceived more benefits of quitting smoking, and reported binge drinking preceding the baseline assessment were more likely to exhibit stable engagement. Due to different reach of more engaged and less engaged participants at follow-up, three statistical models (complete-cases, last-observation-carried-forward, and multiple imputation) for the associations of engagement trajectory and smoking outcome were tested. For 7-point smoking abstinence, no association was revealed to be statistically significant over all three models. However, decreasing engagement with the program was associated over all three models, with greater reductions in daily tobacco use than nonengagement. The majority of tobacco-smoking adolescents engaged extensively with a mobile phone-based smoking cessation program. However, not only stable engagement but also decreasing engagement with a program might be an indicator of behavioral change. Measures to avoid nonengagement among adolescents appear especially necessary for older smokers with an immigrant background who do not drink excessively. In addition, future studies should not only examine the use of specific program components but also users' engagement trajectories to better understand the mechanisms behind behavioral change. ©Raquel Paz Castro, Severin Haug, Andreas Filler, Tobias Kowatsch, Michael P Schaub. Originally published in the Journal of Medical Internet Research (http://www.jmir.org), 01.11.2017.

Adapted cuing technique: facilitating sequential phoneme production.

PubMed

Klick, S L

1994-09-01

ACT is a visual cuing technique designed to facilitate dyspraxic speech by highlighting the sequential production of phonemes. In using ACT, cues are presented in such a way as to suggest sequential, coarticulatory movement in an overall pattern of motion. While using ACT, the facilitator's hand moves forward and back along the side of her (or his) own face. Finger movements signal specific speech sounds in formations loosely based on the manual alphabet for the hearing impaired. The best movements suggest the flowing, interactive nature of coarticulated phonemes. The synergistic nature of speech is suggested by coordinated hand motions which tighten and relax, move quickly or slowly, reflecting the motions of the vocal tract at various points during production of phonemic sequences. General principles involved in using ACT include a primary focus on speech-in-motion, the monitoring and fading of cues, and the presentation of stimuli based on motor-task analysis of phonemic sequences. Phonemic sequences are cued along three dimensions: place, manner, and vowel-related mandibular motion. Cuing vowels is a central feature of ACT. Two parameters of vowel production, focal point of resonance and mandibular closure, are cued. The facilitator's hand motions reflect the changing shape of the vocal tract and the trajectory of the tongue that result from the coarticulation of vowels and consonants. Rigid presentation of the phonemes is secondary to the facilitator's primary focus on presenting the overall sequential movement. The facilitator's goal is to self-tailor ACT in response to the changing needs and abilities of the client.(ABSTRACT TRUNCATED AT 250 WORDS)

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

NASA Astrophysics Data System (ADS)

Güler, Fatma; Kasap, Emin

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

Route Sanitizer: Connected Vehicle Trajectory De-Identification Tool

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

Carter, Jason M; Ferber, Aaron E

Route Sanitizer is ORNL's connected vehicle moving object database de-identification tool and a graphical user interface to ORNL's connected vehicle de-identification algorithm. It uses the Google Chrome (soon to be Electron) platform so it will run on different computing platforms. The basic de-identification strategy is record redaction: portions of a vehicle trajectory (e.g. sequences of precise temporal spatial records) are removed. It does not alter retained records. The algorithm uses custom techniques to find areas within trajectories that may be considered private, then it suppresses those in addition to enough of the trajectory surrounding those locations to protect against "inferencemore » attacks" in a mathematically sound way. Map data is integrated into the process to make this possible.« less

Particle Swarm Optimization of Low-Thrust, Geocentric-to-Halo-Orbit Transfers

NASA Astrophysics Data System (ADS)

Abraham, Andrew J.

Missions to Lagrange points are becoming increasingly popular amongst spacecraft mission planners. Lagrange points are locations in space where the gravity force from two bodies, and the centrifugal force acting on a third body, cancel. To date, all spacecraft that have visited a Lagrange point have done so using high-thrust, chemical propulsion. Due to the increasing availability of low-thrust (high efficiency) propulsive devices, and their increasing capability in terms of fuel efficiency and instantaneous thrust, it has now become possible for a spacecraft to reach a Lagrange point orbit without the aid of chemical propellant. While at any given time there are many paths for a low-thrust trajectory to take, only one is optimal. The traditional approach to spacecraft trajectory optimization utilizes some form of gradient-based algorithm. While these algorithms offer numerous advantages, they also have a few significant shortcomings. The three most significant shortcomings are: (1) the fact that an initial guess solution is required to initialize the algorithm, (2) the radius of convergence can be quite small and can allow the algorithm to become trapped in local minima, and (3) gradient information is not always assessable nor always trustworthy for a given problem. To avoid these problems, this dissertation is focused on optimizing a low-thrust transfer trajectory from a geocentric orbit to an Earth-Moon, L1, Lagrange point orbit using the method of Particle Swarm Optimization (PSO). The PSO method is an evolutionary heuristic that was originally written to model birds swarming to locate hidden food sources. This PSO method will enable the exploration of the invariant stable manifold of the target Lagrange point orbit in an effort to optimize the spacecraft's low-thrust trajectory. Examples of these optimized trajectories are presented and contrasted with those found using traditional, gradient-based approaches. In summary, the results of this dissertation find that the PSO method does, indeed, successfully optimize the low-thrust trajectory transfer problem without the need for initial guessing. Furthermore, a two-degree-of-freedom PSO problem formulation significantly outperformed a one-degree-of-freedom formulation by at least an order of magnitude, in terms of CPU time. Finally, the PSO method is also used to solve a traditional, two-burn, impulsive transfer to a Lagrange point orbit using a hybrid optimization algorithm that incorporates a gradient-based shooting algorithm as a pre-optimizer. Surprisingly, the results of this study show that "fast" transfers outperform "slow" transfers in terms of both Deltav and time of flight.

Learning Progressions and Teaching Sequences: A Review and Analysis

ERIC Educational Resources Information Center

Duschl, Richard; Maeng, Seungho; Sezen, Asli

2011-01-01

Our paper is an analytical review of the design, development and reporting of learning progressions and teaching sequences. Research questions are: (1) what criteria are being used to propose a "hypothetical learning progression/trajectory" and (2) what measurements/evidence are being used to empirically define and refine a "hypothetical learning…

Effects of modeling errors on trajectory predictions in air traffic control automation

NASA Technical Reports Server (NTRS)

Jackson, Michael R. C.; Zhao, Yiyuan; Slattery, Rhonda

1996-01-01

Air traffic control automation synthesizes aircraft trajectories for the generation of advisories. Trajectory computation employs models of aircraft performances and weather conditions. In contrast, actual trajectories are flown in real aircraft under actual conditions. Since synthetic trajectories are used in landing scheduling and conflict probing, it is very important to understand the differences between computed trajectories and actual trajectories. This paper examines the effects of aircraft modeling errors on the accuracy of trajectory predictions in air traffic control automation. Three-dimensional point-mass aircraft equations of motion are assumed to be able to generate actual aircraft flight paths. Modeling errors are described as uncertain parameters or uncertain input functions. Pilot or autopilot feedback actions are expressed as equality constraints to satisfy control objectives. A typical trajectory is defined by a series of flight segments with different control objectives for each flight segment and conditions that define segment transitions. A constrained linearization approach is used to analyze trajectory differences caused by various modeling errors by developing a linear time varying system that describes the trajectory errors, with expressions to transfer the trajectory errors across moving segment transitions. A numerical example is presented for a complete commercial aircraft descent trajectory consisting of several flight segments.

Multi-rendezvous low-thrust trajectory optimization using costate transforming and homotopic approach

NASA Astrophysics Data System (ADS)

Chen, Shiyu; Li, Haiyang; Baoyin, Hexi

2018-06-01

This paper investigates a method for optimizing multi-rendezvous low-thrust trajectories using indirect methods. An efficient technique, labeled costate transforming, is proposed to optimize multiple trajectory legs simultaneously rather than optimizing each trajectory leg individually. Complex inner-point constraints and a large number of free variables are one main challenge in optimizing multi-leg transfers via shooting algorithms. Such a difficulty is reduced by first optimizing each trajectory leg individually. The results may be, next, utilized as an initial guess in the simultaneous optimization of multiple trajectory legs. In this paper, the limitations of similar techniques in previous research is surpassed and a homotopic approach is employed to improve the convergence efficiency of the shooting process in multi-rendezvous low-thrust trajectory optimization. Numerical examples demonstrate that newly introduced techniques are valid and efficient.

An Interpolation Approach to Optimal Trajectory Planning for Helicopter Unmanned Aerial Vehicles

DTIC Science & Technology

2012-06-01

Armament Data Line DOF Degree of Freedom PS Pseudospectral LGL Legendre -Gauss-Lobatto quadrature nodes ODE Ordinary Differential Equation xiv...low order polynomials patched together in such away so that the resulting trajectory has several continuous derivatives at all points. In [7], Murray...claims that splines are ideal for optimal control problems because each segment of the spline’s piecewise polynomials approximate the trajectory

Selection and trajectory design to mission secondary targets

NASA Astrophysics Data System (ADS)

Victorino Sarli, Bruno; Kawakatsu, Yasuhiro

2017-02-01

Recently, with new trajectory design techniques and use of low-thrust propulsion systems, missions have become more efficient and cheaper with respect to propellant. As a way to increase the mission's value and scientific return, secondary targets close to the main trajectory are often added with a small change in the transfer trajectory. As a result of their large number, importance and facility to perform a flyby, asteroids are commonly used as such targets. This work uses the Primer Vector theory to define the direction and magnitude of the thrust for a minimum fuel consumption problem. The design of a low-thrust trajectory with a midcourse asteroid flyby is not only challenging for the low-thrust problem solution, but also with respect to the selection of a target and its flyby point. Currently more than 700,000 minor bodies have been identified, which generates a very large number of possible flyby points. This work uses a combination of reachability, reference orbit, and linear theory to select appropriate candidates, drastically reducing the simulation time, to be later included in the main trajectory and optimized. Two test cases are presented using the aforementioned selection process and optimization to add and design a secondary flyby to a mission with the primary objective of 3200 Phaethon flyby and 25143 Itokawa rendezvous.

Collision-free motion of two robot arms in a common workspace

NASA Technical Reports Server (NTRS)

Basta, Robert A.; Mehrotra, Rajiv; Varanasi, Murali R.

1987-01-01

Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed.

Knee medial and lateral contact forces in a musculoskeletal model with subject-specific contact point trajectories.

PubMed

Zeighami, A; Aissaoui, R; Dumas, R

2018-03-01

Contact point (CP) trajectory is a crucial parameter in estimating medial/lateral tibio-femoral contact forces from the musculoskeletal (MSK) models. The objective of the present study was to develop a method to incorporate the subject-specific CP trajectories into the MSK model. Ten healthy subjects performed 45 s treadmill gait trials. The subject-specific CP trajectories were constructed on the tibia and femur as a function of extension-flexion using low-dose bi-plane X-ray images during a quasi-static squat. At each extension-flexion position, the tibia and femur CPs were superimposed in the three directions on the medial side, and in the anterior-posterior and proximal-distal directions on the lateral side to form the five kinematic constraints of the knee joint. The Lagrange multipliers associated to these constraints directly yielded the medial/lateral contact forces. The results from the personalized CP trajectory model were compared against the linear CP trajectory and sphere-on-plane CP trajectory models which were adapted from the commonly used MSK models. Changing the CP trajectory had a remarkable impact on the knee kinematics and changed the medial and lateral contact forces by 1.03 BW and 0.65 BW respectively, in certain subjects. The direction and magnitude of the medial/lateral contact force were highly variable among the subjects and the medial-lateral shift of the CPs alone could not determine the increase/decrease pattern of the contact forces. The suggested kinematic constraints are adaptable to the CP trajectories derived from a variety of joint models and those experimentally measured from the 3D imaging techniques. Copyright © 2018 Elsevier Ltd. All rights reserved.

POCS-based reconstruction of multiplexed sensitivity encoded MRI (POCSMUSE): a general algorithm for reducing motion-related artifacts

PubMed Central

Chu, Mei-Lan; Chang, Hing-Chiu; Chung, Hsiao-Wen; Truong, Trong-Kha; Bashir, Mustafa R.; Chen, Nan-kuei

2014-01-01

Purpose A projection onto convex sets reconstruction of multiplexed sensitivity encoded MRI (POCSMUSE) is developed to reduce motion-related artifacts, including respiration artifacts in abdominal imaging and aliasing artifacts in interleaved diffusion weighted imaging (DWI). Theory Images with reduced artifacts are reconstructed with an iterative POCS procedure that uses the coil sensitivity profile as a constraint. This method can be applied to data obtained with different pulse sequences and k-space trajectories. In addition, various constraints can be incorporated to stabilize the reconstruction of ill-conditioned matrices. Methods The POCSMUSE technique was applied to abdominal fast spin-echo imaging data, and its effectiveness in respiratory-triggered scans was evaluated. The POCSMUSE method was also applied to reduce aliasing artifacts due to shot-to-shot phase variations in interleaved DWI data corresponding to different k-space trajectories and matrix condition numbers. Results Experimental results show that the POCSMUSE technique can effectively reduce motion-related artifacts in data obtained with different pulse sequences, k-space trajectories and contrasts. Conclusion POCSMUSE is a general post-processing algorithm for reduction of motion-related artifacts. It is compatible with different pulse sequences, and can also be used to further reduce residual artifacts in data produced by existing motion artifact reduction methods. PMID:25394325

LAURA Users Manual: 5.3-48528

NASA Technical Reports Server (NTRS)

Mazaheri, Alireza; Gnoffo, Peter A.; Johnston, Chirstopher O.; Kleb, Bil

2010-01-01

This users manual provides in-depth information concerning installation and execution of LAURA, version 5. LAURA is a structured, multi-block, computational aerothermodynamic simulation code. Version 5 represents a major refactoring of the original Fortran 77 LAURA code toward a modular structure afforded by Fortran 95. The refactoring improved usability and maintainability by eliminating the requirement for problem-dependent re-compilations, providing more intuitive distribution of functionality, and simplifying interfaces required for multi-physics coupling. As a result, LAURA now shares gas-physics modules, MPI modules, and other low-level modules with the FUN3D unstructured-grid code. In addition to internal refactoring, several new features and capabilities have been added, e.g., a GNU-standard installation process, parallel load balancing, automatic trajectory point sequencing, free-energy minimization, and coupled ablation and flowfield radiation.

LAURA Users Manual: 5.5-64987

NASA Technical Reports Server (NTRS)

Mazaheri, Alireza; Gnoffo, Peter A.; Johnston, Christopher O.; Kleb, William L.

2013-01-01

This users manual provides in-depth information concerning installation and execution of LAURA, version 5. LAURA is a structured, multi-block, computational aerothermodynamic simulation code. Version 5 represents a major refactoring of the original Fortran 77 LAURA code toward a modular structure afforded by Fortran 95. The refactoring improved usability and maintain ability by eliminating the requirement for problem dependent recompilations, providing more intuitive distribution of functionality, and simplifying interfaces required for multi-physics coupling. As a result, LAURA now shares gas-physics modules, MPI modules, and other low-level modules with the Fun3D unstructured-grid code. In addition to internal refactoring, several new features and capabilities have been added, e.g., a GNU standard installation process, parallel load balancing, automatic trajectory point sequencing, free-energy minimization, and coupled ablation and flowfield radiation.

LAURA Users Manual: 5.4-54166

NASA Technical Reports Server (NTRS)

Mazaheri, Alireza; Gnoffo, Peter A.; Johnston, Christopher O.; Kleb, Bil

2011-01-01

This users manual provides in-depth information concerning installation and execution of Laura, version 5. Laura is a structured, multi-block, computational aerothermodynamic simulation code. Version 5 represents a major refactoring of the original Fortran 77 Laura code toward a modular structure afforded by Fortran 95. The refactoring improved usability and maintainability by eliminating the requirement for problem dependent re-compilations, providing more intuitive distribution of functionality, and simplifying interfaces required for multi-physics coupling. As a result, Laura now shares gas-physics modules, MPI modules, and other low-level modules with the Fun3D unstructured-grid code. In addition to internal refactoring, several new features and capabilities have been added, e.g., a GNU-standard installation process, parallel load balancing, automatic trajectory point sequencing, free-energy minimization, and coupled ablation and flowfield radiation.

LAURA Users Manual: 5.2-43231

NASA Technical Reports Server (NTRS)

Mazaheri, Alireza; Gnoffo, Peter A.; Johnston, Christopher O.; Kleb, Bil

2009-01-01

This users manual provides in-depth information concerning installation and execution of LAURA, version 5. LAURA is a structured, multi-block, computational aerothermodynamic simulation code. Version 5 represents a major refactoring of the original Fortran 77 LAURA code toward a modular structure afforded by Fortran 95. The refactoring improved usability and maintainability by eliminating the requirement for problem-dependent re-compilations, providing more intuitive distribution of functionality, and simplifying interfaces required for multiphysics coupling. As a result, LAURA now shares gas-physics modules, MPI modules, and other low-level modules with the FUN3D unstructured-grid code. In addition to internal refactoring, several new features and capabilities have been added, e.g., a GNU-standard installation process, parallel load balancing, automatic trajectory point sequencing, free-energy minimization, and coupled ablation and flowfield radiation.

Laura Users Manual: 5.1-41601

NASA Technical Reports Server (NTRS)

Mazaheri, Alireza; Gnoffo, Peter A.; Johnston, Christopher O.; Kleb, Bil

2009-01-01

This users manual provides in-depth information concerning installation and execution of LAURA, version 5. LAURA is a structured, multi-block, computational aerothermodynamic simulation code. Version 5 represents a major refactoring of the original Fortran 77 LAURA code toward a modular structure afforded by Fortran 95. The refactoring improved usability and maintainability by eliminating the requirement for problem-dependent re-compilations, providing more intuitive distribution of functionality, and simplifying interfaces required for multiphysics coupling. As a result, LAURA now shares gas-physics modules, MPI modules, and other low-level modules with the FUN3D unstructured-grid code. In addition to internal refactoring, several new features and capabilities have been added, e.g., a GNU-standard installation process, parallel load balancing, automatic trajectory point sequencing, free-energy minimization, and coupled ablation and flowfield radiation.

Preserving correlations between trajectories for efficient path sampling

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

Gingrich, Todd R.; Geissler, Phillip L.; Chemical Sciences Division, Lawrence Berkeley National Laboratory, Berkeley, California 94720

2015-06-21

Importance sampling of trajectories has proved a uniquely successful strategy for exploring rare dynamical behaviors of complex systems in an unbiased way. Carrying out this sampling, however, requires an ability to propose changes to dynamical pathways that are substantial, yet sufficiently modest to obtain reasonable acceptance rates. Satisfying this requirement becomes very challenging in the case of long trajectories, due to the characteristic divergences of chaotic dynamics. Here, we examine schemes for addressing this problem, which engineer correlation between a trial trajectory and its reference path, for instance using artificial forces. Our analysis is facilitated by a modern perspective onmore » Markov chain Monte Carlo sampling, inspired by non-equilibrium statistical mechanics, which clarifies the types of sampling strategies that can scale to long trajectories. Viewed in this light, the most promising such strategy guides a trial trajectory by manipulating the sequence of random numbers that advance its stochastic time evolution, as done in a handful of existing methods. In cases where this “noise guidance” synchronizes trajectories effectively, as the Glauber dynamics of a two-dimensional Ising model, we show that efficient path sampling can be achieved for even very long trajectories.« less

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.

Line plus arc source trajectories and their R-line coverage for long-object cone-beam imaging with a C-arm system

NASA Astrophysics Data System (ADS)

Yu, Zhicong; Wunderlich, Adam; Dennerlein, Frank; Lauritsch, Günter; Noo, Frédéric

2011-06-01

Cone-beam imaging with C-arm systems has become a valuable tool in interventional radiology. Currently, a simple circular trajectory is used, but future applications should use more sophisticated source trajectories, not only to avoid cone-beam artifacts but also to allow extended volume imaging. One attractive strategy to achieve these two goals is to use a source trajectory that consists of two parallel circular arcs connected by a line segment, possibly with repetition. In this work, we address the question of R-line coverage for such a trajectory. More specifically, we examine to what extent R-lines for such a trajectory cover a central cylindrical region of interest (ROI). An R-line is a line segment connecting any two points on the source trajectory. Knowledge of R-line coverage is crucial because a general theory for theoretically exact and stable image reconstruction from axially truncated data is only known for the points in the scanned object that lie on R-lines. Our analysis starts by examining the R-line coverage for the elemental trajectories consisting of (i) two parallel circular arcs and (ii) a circular arc connected orthogonally to a line segment. Next, we utilize our understanding of the R-lines for the aforementioned elemental trajectories to determine the R-line coverage for the trajectory consisting of two parallel circular arcs connected by a tightly fit line segment. For this trajectory, we find that the R-line coverage is insufficient to completely cover any central ROI. Because extension of the line segment beyond the circular arcs helps to increase the R-line coverage, we subsequently propose a trajectory composed of two parallel circular arcs connected by an extended line. We show that the R-lines for this trajectory can fully cover a central ROI if the line extension is long enough. Our presentation includes a formula for the minimum line extension needed to achieve full R-line coverage of an ROI with a specified size, and also includes a preliminary study on the required detector size, showing that the R-lines added by the line extension are not constraining.

Fast T2*-weighted MRI of the prostate at 3 Tesla.

PubMed

Hardman, Rulon L; El-Merhi, Fadi; Jung, Adam J; Ware, Steve; Thompson, Ian M; Friel, Harry T; Peng, Qi

2011-04-01

To describe a rapid T2*-weighted (T2*W), three-dimensional (3D) echo planar imaging (EPI) sequence and its application in mapping local magnetic susceptibility variations in 3 Tesla (T) prostate MRI. To compare the sensitivity of T2*W EPI with routinely used T1-weighted turbo-spin echo sequence (T1W TSE) in detecting hemorrhage and the implications on sequences sensitive to field inhomogeneities such as MR spectroscopy (MRS). B(0) susceptibility weighted mapping was performed using a 3D EPI sequence featuring a 2D spatial excitation pulse with gradients of spiral k-space trajectory. A series of 11 subjects were imaged using 3T MRI and combination endorectal (ER) and six-channel phased array cardiac coils. T1W TSE and T2*W EPI sequences were analyzed quantitatively for hemorrhage contrast. Point resolved spectroscopy (PRESS MRS) was performed and data quality was analyzed. Two types of susceptibility variation were identified: hemorrhagic and nonhemorrhagic T2*W-positive areas. Post-biopsy hemorrhage lesions showed on average five times greater contrast on the T2*W images than T1W TSE images. Six nonhemorrhage regions of severe susceptibility artifact were apparent on the T2*W images that were not seen on standard T1W or T2W images. All nonhemorrhagic susceptibility artifact regions demonstrated compromised spectral quality on 3D MRS. The fast T2*W EPI sequence identifies hemorrhagic and nonhemorrhagic areas of susceptibility variation that may be helpful in prostate MRI planning at 3.0T. Copyright © 2011 Wiley-Liss, Inc.

Parallelization of Program to Optimize Simulated Trajectories (POST3D)

NASA Technical Reports Server (NTRS)

Hammond, Dana P.; Korte, John J. (Technical Monitor)

2001-01-01

This paper describes the parallelization of the Program to Optimize Simulated Trajectories (POST3D). POST3D uses a gradient-based optimization algorithm that reaches an optimum design point by moving from one design point to the next. The gradient calculations required to complete the optimization process, dominate the computational time and have been parallelized using a Single Program Multiple Data (SPMD) on a distributed memory NUMA (non-uniform memory access) architecture. The Origin2000 was used for the tests presented.

Photogrammetric determination of spatio-temporal velocity fields at Glaciar San Rafael in the Northern Patagonian Icefield

NASA Astrophysics Data System (ADS)

Maas, H.-G.; Casassa, G.; Schneider, D.; Schwalbe, E.; Wendt, A.

2010-11-01

Glaciar San Rafael in the Northern Patagonian Icefield, with a length of 46 km and an ice area of 722 km2, is the lowest latitude tidewater outlet glacier in the world and one of the fastest and most productive glaciers in southern South America in terms of iceberg flux. In a joint project of the TU Dresden and CECS, spatio-temporal velocity fields in the region of the glacier front were determined in a campaign in austral spring of 2009. Monoscopic terrestrial image sequences were recorded with an intervallometer mode high resolution digital camera over several days. In these image sequences, a large number of glacier surface points were tracked by subpixel accuracy feature tracking techniques. Scaling and georeferencing of the trajectories obtained from image space tracking was performed via a multi-station GPS-supported photogrammetric network. The technique allows for tracking hundreds of glacier surface points at a measurement accuracy in the order of one decimeter and an almost arbitrarily high temporary resolution. The results show velocities of up to 16 m per day. No significant tidal signals could be observed. Our velocities are in agreement with earlier measurements from theodolite and satellite interferometry performed in 1986-1994, suggesting that the current thinning of 3.5 m/y at the front is not due to dynamic thinning but rather by enhanced melting.

Extreme multistability analysis of memristor-based chaotic system and its application in image decryption

NASA Astrophysics Data System (ADS)

Li, Chuang; Min, Fuhong; Jin, Qiusen; Ma, Hanyuan

2017-12-01

An active charge-controlled memristive Chua's circuit is implemented, and its basic properties are analyzed. Firstly, with the system trajectory starting from an equilibrium point, the dynamic behavior of multiple coexisting attractors depending on the memristor initial value and the system parameter is studied, which shows the coexisting behaviors of point, period, chaos, and quasic-period. Secondly, with the system motion starting from a non-equilibrium point, the dynamics of extreme multistability in a wide initial value domain are easily conformed by new analytical methods. Furthermore, the simulation results indicate that some strange chaotic attractors like multi-wing type and multi-scroll type are observed when the observed signals are extended from voltage and current to power and energy, respectively. Specially, when different initial conditions are taken, the coexisting strange chaotic attractors between the power and energy signals are exhibited. Finally, the chaotic sequences of the new system are used for encrypting color image to protect image information security. The encryption performance is analyzed by statistic histogram, correlation, key spaces and key sensitivity. Simulation results show that the new memristive chaotic system has high security in color image encryption.

Transfers between libration-point orbits in the elliptic restricted problem

NASA Astrophysics Data System (ADS)

Hiday, L. A.; Howell, K. C.

The present time-fixed impulsive transfers between 3D libration point orbits in the vicinity of the interior L(1) libration point of the sun-earth-moon barycenter system are 'optimal' in that the total characteristic velocity required for implementation of the transfer exhibits a local minimum. The conditions necessary for a time-fixed, two-impulse transfer trajectory to be optimal are stated in terms of the primer vector, and the conditions necessary for satisfying the local optimality of a transfer trajectory containing additional impulses are addressed by requiring continuity of the Hamiltonian and the derivative of the primer vector at all interior impulses.

Extending the Functionality of Behavioural Change-Point Analysis with k-Means Clustering: A Case Study with the Little Penguin (Eudyptula minor)

PubMed Central

Zhang, Jingjing; Dennis, Todd E.

2015-01-01

We present a simple framework for classifying mutually exclusive behavioural states within the geospatial lifelines of animals. This method involves use of three sequentially applied statistical procedures: (1) behavioural change point analysis to partition movement trajectories into discrete bouts of same-state behaviours, based on abrupt changes in the spatio-temporal autocorrelation structure of movement parameters; (2) hierarchical multivariate cluster analysis to determine the number of different behavioural states; and (3) k-means clustering to classify inferred bouts of same-state location observations into behavioural modes. We demonstrate application of the method by analysing synthetic trajectories of known ‘artificial behaviours’ comprised of different correlated random walks, as well as real foraging trajectories of little penguins (Eudyptula minor) obtained by global-positioning-system telemetry. Our results show that the modelling procedure correctly classified 92.5% of all individual location observations in the synthetic trajectories, demonstrating reasonable ability to successfully discriminate behavioural modes. Most individual little penguins were found to exhibit three unique behavioural states (resting, commuting/active searching, area-restricted foraging), with variation in the timing and locations of observations apparently related to ambient light, bathymetry, and proximity to coastlines and river mouths. Addition of k-means clustering extends the utility of behavioural change point analysis, by providing a simple means through which the behaviours inferred for the location observations comprising individual movement trajectories can be objectively classified. PMID:25922935

Extending the Functionality of Behavioural Change-Point Analysis with k-Means Clustering: A Case Study with the Little Penguin (Eudyptula minor).

PubMed

Zhang, Jingjing; O'Reilly, Kathleen M; Perry, George L W; Taylor, Graeme A; Dennis, Todd E

2015-01-01

We present a simple framework for classifying mutually exclusive behavioural states within the geospatial lifelines of animals. This method involves use of three sequentially applied statistical procedures: (1) behavioural change point analysis to partition movement trajectories into discrete bouts of same-state behaviours, based on abrupt changes in the spatio-temporal autocorrelation structure of movement parameters; (2) hierarchical multivariate cluster analysis to determine the number of different behavioural states; and (3) k-means clustering to classify inferred bouts of same-state location observations into behavioural modes. We demonstrate application of the method by analysing synthetic trajectories of known 'artificial behaviours' comprised of different correlated random walks, as well as real foraging trajectories of little penguins (Eudyptula minor) obtained by global-positioning-system telemetry. Our results show that the modelling procedure correctly classified 92.5% of all individual location observations in the synthetic trajectories, demonstrating reasonable ability to successfully discriminate behavioural modes. Most individual little penguins were found to exhibit three unique behavioural states (resting, commuting/active searching, area-restricted foraging), with variation in the timing and locations of observations apparently related to ambient light, bathymetry, and proximity to coastlines and river mouths. Addition of k-means clustering extends the utility of behavioural change point analysis, by providing a simple means through which the behaviours inferred for the location observations comprising individual movement trajectories can be objectively classified.

Quantum dynamics modeled by interacting trajectories

NASA Astrophysics Data System (ADS)

Cruz-Rodríguez, L.; Uranga-Piña, L.; Martínez-Mesa, A.; Meier, C.

2018-03-01

We present quantum dynamical simulations based on the propagation of interacting trajectories where the effect of the quantum potential is mimicked by effective pseudo-particle interactions. The method is applied to several quantum systems, both for bound and scattering problems. For the bound systems, the quantum ground state density and zero point energy are shown to be perfectly obtained by the interacting trajectories. In the case of time-dependent quantum scattering, the Eckart barrier and uphill ramp are considered, with transmission coefficients in very good agreement with standard quantum calculations. Finally, we show that via wave function synthesis along the trajectories, correlation functions and energy spectra can be obtained based on the dynamics of interacting trajectories.

Rare behavior of growth processes via umbrella sampling of trajectories

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

First-pass myocardial perfusion imaging with whole-heart coverage using L1-SPIRiT accelerated variable density spiral trajectories

PubMed Central

Yang, Yang; Kramer, Christopher M.; Shaw, Peter W.; Meyer, Craig H.; Salerno, Michael

2015-01-01

Purpose To design and evaluate 2D L1-SPIRiT accelerated spiral pulse sequences for first-pass myocardial perfusion imaging with whole heart coverage capable of measuring 8 slices at 2 mm in-plane resolution at heart rates up to 125 beats per minute (BPM). Methods Combinations of 5 different spiral trajectories and 4 k-t sampling patterns were retrospectively simulated in 25 fully sampled datasets and reconstructed with L1-SPIRiT to determine the best combination of parameters. Two candidate sequences were prospectively evaluated in 34 human subjects to assess in-vivo performance. Results A dual density broad transition spiral trajectory with either angularly uniform or golden angle in time k-t sampling pattern had the largest structural similarity (SSIM) and smallest root mean square error (RMSE) from the retrospective simulation, and the L1-SPIRiT reconstruction had well-preserved temporal dynamics. In vivo data demonstrated that both of the sampling patterns could produce high quality perfusion images with whole-heart coverage. Conclusion First-pass myocardial perfusion imaging using accelerated spirals with optimized trajectory and k-t sampling pattern can produce high quality 2D-perfusion images with wholeheart coverage at the heart rates up to 125 BPM. PMID:26538511

Aerothermodynamic environments for Mars entry, Mars return, and lunar return aerobraking missions

NASA Astrophysics Data System (ADS)

Rochelle, W. C.; Bouslog, S. A.; Ting, P. C.; Curry, D. M.

1990-06-01

The aeroheating environments to vehicles undergoing Mars aerocapture, earth aerocapture from Mars, and earth aerocapture from the moon are presented. An engineering approach for the analysis of various types of vehicles and trajectories was taken, rather than performing a benchmark computation for a specific point at a selected time point in a trajectory. The radiation into Mars using the Mars Rover Sample Return (MRSR) 2-ft nose radius bionic remains a small contributor of heating for 6 to 10 km/sec; however, at 12 km/sec it becomes comparable with the convection. For earth aerocapture, returning from Mars, peak radiation for the MRSR SRC is only 25 percent of the peak convection for the 12-km/sec trajectory. However, when large vehicles are considered with this trajectory, peak radiation can become 2 to 4 times higher than the peak convection. For both Mars entry and return, a partially ablative Thermal Protection System (TPS) would be required, but for Lunar Transfer Vehicle return an all-reusable TPS can be used.

Speed Approach for UAV Collision Avoidance

NASA Astrophysics Data System (ADS)

Berdonosov, V. D.; Zivotova, A. A.; Htet Naing, Zaw; Zhuravlev, D. O.

2018-05-01

The article represents a new approach of defining potential collision of two or more UAVs in a common aviation area. UAVs trajectories are approximated by two or three trajectories’ points obtained from the ADS-B system. In the process of defining meeting points of trajectories, two cutoff values of the critical speed range, at which a UAVs collision is possible, are calculated. As calculation expressions for meeting points and cutoff values of the critical speed are represented in the analytical form, even if an on-board computer system has limited computational capacity, the time for calculation will be far less than the time of receiving data from ADS-B. For this reason, calculations can be updated at each cycle of new data receiving, and the trajectory approximation can be bounded by straight lines. Such approach allows developing the compact algorithm of collision avoidance, even for a significant amount of UAVs (more than several dozens). To proof the research adequacy, modeling was performed using a software system developed specifically for this purpose.

A Method of Trajectory Design for Manned Asteroid Explorations1,2

NASA Astrophysics Data System (ADS)

Gan, Qing-Bo; Zhang, Yang; Zhu, Zheng-Fan; Han, Wei-Hua; Dong, Xin

2015-07-01

A trajectory optimization method for the nuclear-electric propulsion manned asteroid explorations is presented. In the case of launching between 2035 and 2065, based on the two-pulse single-cycle Lambert transfer orbit, the phases of departure from and return to the Earth are searched at first. Then the optimal flight trajectory is selected by pruning the flight sequences in two feasible regions. Setting the flight strategy of propelling-taxiing-propelling, and taking the minimal fuel consumption as the performance index, the nuclear-electric propulsion flight trajectory is optimized using the hybrid method. Finally, taking the segmentally optimized parameters as the initial values, in accordance with the overall mission constraints, the globally optimized parameters are obtained. And the numerical and diagrammatical results are given at the same time.

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

PubMed

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

2005-06-23

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

Feature space trajectory for distorted-object classification and pose estimation in synthetic aperture radar

NASA Astrophysics Data System (ADS)

Casasent, David P.; Shenoy, Rajesh

1997-10-01

Classification and pose estimation of distorted input objects are considered. The feature space trajectory representation of distorted views of an object is used with a new eigenfeature space. For a distorted input object, the closest trajectory denotes the class of the input and the closest line segment on it denotes its pose. If an input point is too far from a trajectory, it is rejected as clutter. New methods for selecting Fukunaga-Koontz discriminant vectors, the number of dominant eigenvectors per class and for determining training, and test set compatibility are presented.

Minimum fuel trajectory for the aerospace-plane

NASA Technical Reports Server (NTRS)

Breakwell, John V.; Golan, Oded; Sauvageot, Anne

1990-01-01

An overall trajectory for a single-stage-to-orbit vehicle with an initial weight of 234 tons is calculated, and four different propulsion models including turbojet, ramjet, scramjet, and rocket are considered. First, the atmospheric flight in the thicker atmosphere is discussed with emphasis on trajectory optimization, optimization problem, aerodynamic problem, propulsion model, and initial conditions. The performance of turbojet and ramjet-scramjet engines is analyzed; and then the flight to orbit is assessed from the optimization point of view. It is shown that roll modulation saves little during the trajectory, and the combined application of airbreathing propulsion and aerodynamic lift is suggested.

Method of interplanetary trajectory optimization for the spacecraft with low thrust and swing-bys

NASA Astrophysics Data System (ADS)

Konstantinov, M. S.; Thein, M.

2017-07-01

The method developed to avoid the complexity of solving the multipoint boundary value problem while optimizing interplanetary trajectories of the spacecraft with electric propulsion and a sequence of swing-bys is presented in the paper. This method is based on the use of the preliminary problem solutions for the impulsive trajectories. The preliminary problem analyzed at the first stage of the study is formulated so that the analysis and optimization of a particular flight path is considered as the unconstrained minimum in the space of the selectable parameters. The existing methods can effectively solve this problem and make it possible to identify rational flight paths (the sequence of swing-bys) to receive the initial approximation for the main characteristics of the flight path (dates, values of the hyperbolic excess velocity, etc.). These characteristics can be used to optimize the trajectory of the spacecraft with electric propulsion. The special feature of the work is the introduction of the second (intermediate) stage of the research. At this stage some characteristics of the analyzed flight path (e.g. dates of swing-bys) are fixed and the problem is formulated so that the trajectory of the spacecraft with electric propulsion is optimized on selected sites of the flight path. The end-to-end optimization is carried out at the third (final) stage of the research. The distinctive feature of this stage is the analysis of the full set of optimal conditions for the considered flight path. The analysis of the characteristics of the optimal flight trajectories to Jupiter with Earth, Venus and Mars swing-bys for the spacecraft with electric propulsion are presented. The paper shows that the spacecraft weighing more than 7150 kg can be delivered into the vicinity of Jupiter along the trajectory with two Earth swing-bys by use of the space transportation system based on the "Angara A5" rocket launcher, the chemical upper stage "KVTK" and the electric propulsion system with input electrical power of 100 kW.

Wake Flow About the Mars Pathfinder Entry Vehicle

NASA Technical Reports Server (NTRS)

Mitcheltree, R. A.; Gnoffo, P. A.

1995-01-01

A computational approach is used to describe the aerothermodynamics of the Mars Pathfinder vehicle entering the Mars atmosphere at the maximum heating and maximum deceleration points in its trajectory. Ablating and nonablating boundary conditions are developed which produce maximum recombination of CO2 on the surface. For the maximum heating trajectory point, an axisymmetric, nonablating calculation predicts a stagnation-point value for the convective heating of 115 W/cm(exp 2). Radiative heating estimates predict an additional 5-12 W/cm(exp 2) at the stagnation point. Peak convective heating on the afterbody occurs on the vehicle's flat stern with a value of 5.9% of the stagnation value. The forebody flow exhibits chemical nonequilibrium behavior, and the flow is frozen in the near wake. Including ablation injection on the forebody lowers the stagnation-point convective heating 18%.

MitoGen: A Framework for Generating 3D Synthetic Time-Lapse Sequences of Cell Populations in Fluorescence Microscopy.

PubMed

Svoboda, David; Ulman, Vladimir

2017-01-01

The proper analysis of biological microscopy images is an important and complex task. Therefore, it requires verification of all steps involved in the process, including image segmentation and tracking algorithms. It is generally better to verify algorithms with computer-generated ground truth datasets, which, compared to manually annotated data, nowadays have reached high quality and can be produced in large quantities even for 3D time-lapse image sequences. Here, we propose a novel framework, called MitoGen, which is capable of generating ground truth datasets with fully 3D time-lapse sequences of synthetic fluorescence-stained cell populations. MitoGen shows biologically justified cell motility, shape and texture changes as well as cell divisions. Standard fluorescence microscopy phenomena such as photobleaching, blur with real point spread function (PSF), and several types of noise, are simulated to obtain realistic images. The MitoGen framework is scalable in both space and time. MitoGen generates visually plausible data that shows good agreement with real data in terms of image descriptors and mean square displacement (MSD) trajectory analysis. Additionally, it is also shown in this paper that four publicly available segmentation and tracking algorithms exhibit similar performance on both real and MitoGen-generated data. The implementation of MitoGen is freely available.

How do people become plasma and platelet donors in a VNR context?

PubMed

Charbonneau, Johanne; Cloutier, Marie-Soleil; Fainstein, Balia

2017-08-25

The demand for therapeutic plasma-derived products poses a challenge to blood collection agencies (BCAs). In 2014-2015, the volume of plasma sent for fractionation met 17.7% of Quebec's needs for immunoglobulins. This article aims to offer an exploration of the paths blood donors follow in order to become plasma and platelet donors (PPDs). This analysis is based on semi-structured interviews with 50 PPDs in Quebec, Canada. Our analysis focused on the occurrence of events and the presence of contextual elements identified through: (1) factual data on PPDs; and (2) what PPDs identified as being an influence on their donation experience. This information was synthesized using a typology of trajectories. Six typical trajectories have been distinguished, first by the presence (19/50 respondents) or absence (31/50) of blood donation as a family tradition. Of the latter 31 donors, some pointed instead to inherited family values as having a significant influence on their commitment (11/31). Donors' careers were then distinguished as having started early (34) or late (16). Sub-types then appeared with the addition of other contextual elements, motivation profiles, and circumstances under which the conversion to apheresis donation occurred. Our findings suggest the existence of diversified donor trajectories, and confirm the importance of conducting more in-depth analyses of the sequence of events occurring along PPDs career. BCAs should develop strategies carefully tailored to different potential clienteles if they wish to convert whole blood donors to apheresis donation, and also focus on recruiting and retaining young PPDs. © 2017 The Authors. Journal of Clinical Apheresis Published by Wiley Periodicals, Inc.

A suggested trajectory for a Venus-sun, earth-sun Lagrange points mission, Vela

NASA Technical Reports Server (NTRS)

Bender, D. F.

1979-01-01

The possibility is suggested of investigating the existence of small, as-yet undiscovered, asteroids orbiting in the solar system near the earth-sun or Venus-sun stable Lagrange points by means of a spacecraft which traverses these regions. The type of trajectory suggested lies in the ecliptic plane and has a period of 5/6 years and a perihelion at the Venus orbital distance. The regions in which stable orbits associated with the earth and with Venus may lie are estimated to be a thin and tadpole-shaped area extending from 35 deg to 100 deg from the planet. Crossings of the regions by the trajectory are described, and the requirements for detecting the presence of 1 km sized asteroids are presented and shown to be attainable.

Trajectory analysis of transfers between L4 and L5 and low lunar orbit

NASA Technical Reports Server (NTRS)

1988-01-01

The flight characteristics and spacecraft performance during missions involving flight between the equilateral libration points and the Moon are discussed. The conclusions drawn will show that a minimum energy trajectory is the most efficient transfer technique for this type of flight.

TH-C-12A-12: Veritas: An Open Source Tool to Facilitate User Interaction with TrueBeam Developer Mode

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

Mishra, P; Varian Medical Systems, Palo Alto, CA; Lewis, J

2014-06-15

Purpose: To address the challenges of creating delivery trajectories and imaging sequences with TrueBeam Developer Mode, a new open-source graphical XML builder, Veritas, has been developed, tested and made freely available. Veritas eliminates most of the need to understand the underlying schema and write XML scripts, by providing a graphical menu for each control point specifying the state of 30 mechanical/dose axes. All capabilities of Developer Mode are accessible in Veritas. Methods: Veritas was designed using QT Designer, a ‘what-you-is-what-you-get’ (WYSIWIG) tool for building graphical user interfaces (GUI). Different components of the GUI are integrated using QT's signals and slotsmore » mechanism. Functionalities are added using PySide, an open source, cross platform Python binding for the QT framework. The XML code generated is immediately visible, making it an interactive learning tool. A user starts from an anonymized DICOM file or XML example and introduces delivery modifications, or begins their experiment from scratch, then uses the GUI to modify control points as desired. The software automatically generates XML plans following the appropriate schema. Results: Veritas was tested by generating and delivering two XML plans at Brigham and Women's Hospital. The first example was created to irradiate the letter ‘B’ with a narrow MV beam using dynamic couch movements. The second was created to acquire 4D CBCT projections for four minutes. The delivery of the letter ‘B’ was observed using a 2D array of ionization chambers. Both deliveries were generated quickly in Veritas by non-expert Developer Mode users. Conclusion: We introduced a new open source tool Veritas for generating XML plans (delivery trajectories and imaging sequences). Veritas makes Developer Mode more accessible by reducing the learning curve for quick translation of research ideas into XML plans. Veritas is an open source initiative, creating the possibility for future developments and collaboration with other researchers. I am an employee of Varian Medical Systems.« less

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.

Low-Thrust Trajectory Optimization with Simplified SQP Algorithm

NASA Technical Reports Server (NTRS)

Parrish, Nathan L.; Scheeres, Daniel J.

2017-01-01

The problem of low-thrust trajectory optimization in highly perturbed dynamics is a stressing case for many optimization tools. Highly nonlinear dynamics and continuous thrust are each, separately, non-trivial problems in the field of optimal control, and when combined, the problem is even more difficult. This paper de-scribes a fast, robust method to design a trajectory in the CRTBP (circular restricted three body problem), beginning with no or very little knowledge of the system. The approach is inspired by the SQP (sequential quadratic programming) algorithm, in which a general nonlinear programming problem is solved via a sequence of quadratic problems. A few key simplifications make the algorithm presented fast and robust to initial guess: a quadratic cost function, neglecting the line search step when the solution is known to be far away, judicious use of end-point constraints, and mesh refinement on multiple shooting with fixed-step integration.In comparison to the traditional approach of plugging the problem into a “black-box” NLP solver, the methods shown converge even when given no knowledge of the solution at all. It was found that the only piece of information that the user needs to provide is a rough guess for the time of flight, as the transfer time guess will dictate which set of local solutions the algorithm could converge on. This robustness to initial guess is a compelling feature, as three-body orbit transfers are challenging to design with intuition alone. Of course, if a high-quality initial guess is available, the methods shown are still valid.We have shown that endpoints can be efficiently constrained to lie on 3-body repeating orbits, and that time of flight can be optimized as well. When optimizing the endpoints, we must make a trade between converging quickly on sub-optimal endpoints or converging more slowly on end-points that are arbitrarily close to optimal. It is easy for the mission design engineer to adjust this trade based on the problem at hand.The biggest limitation to the algorithm at this point is that multi-revolution transfers (greater than 2 revolutions) do not work nearly as well. This restriction comes in because the relationship between node 1 and node N becomes increasingly nonlinear as the angular distance grows. Trans-fers with more than about 1.5 complete revolutions generally require the line search to improve convergence. Future work includes: Comparison of this algorithm with other established tools; improvements to how multiple-revolution transfers are handled; parallelization of the Jacobian computation; in-creased efficiency for the line search; and optimization of many more trajectories between a variety of 3-body orbits.

Robotic autopositioning of the operating microscope.

PubMed

Oppenlander, Mark E; Chowdhry, Shakeel A; Merkl, Brandon; Hattendorf, Guido M; Nakaji, Peter; Spetzler, Robert F

2014-06-01

Use of the operating microscope has become pervasive since its introduction to the neurosurgical world. Neuronavigation fused with the operating microscope has allowed accurate correlation of the focal point of the microscope and its location on the downloaded imaging study. However, the robotic ability of the Pentero microscope has not been utilized to orient the angle of the microscope or to change its focal length to hone in on a predefined target. To report a novel technology that allows automatic positioning of the operating microscope onto a set target and utilization of a planned trajectory, either determined with the StealthStation S7 by using preoperative imaging or intraoperatively with the microscope. By utilizing the current motorized capabilities of the Zeiss OPMI Pentero microscope, a robotic autopositioning feature was developed in collaboration with Surgical Technologies, Medtronic, Inc. (StealthStation S7). The system is currently being tested at the Barrow Neurological Institute. Three options were developed for automatically positioning the microscope: AutoLock Current Point, Align Parallel to Plan, and Point to Plan Target. These options allow the microscope to pivot around the lesion, hover in a set plane parallel to the determined trajectory, or rotate and point to a set target point, respectively. Integration of automatic microscope positioning into the operative workflow has potential to increase operative efficacy and safety. This technology is best suited for precise trajectories and entry points into deep-seated lesions.

Alternative transfer to the Earth-Moon Lagrangian points L4 and L5 using lunar gravity assist

NASA Astrophysics Data System (ADS)

Salazar, F. J. T.; Macau, E. E. N.; Winter, O. C.

2014-02-01

Lagrangian points L4 and L5 lie at 60° ahead of and behind the Moon in its orbit with respect to the Earth. Each one of them is a third point of an equilateral triangle with the base of the line defined by those two bodies. These Lagrangian points are stable for the Earth-Moon mass ratio. As so, these Lagrangian points represent remarkable positions to host astronomical observatories or space stations. However, this same distance characteristic may be a challenge for periodic servicing mission. This paper studies elliptic trajectories from an Earth circular parking orbit to reach the Moon's sphere of influence and apply a swing-by maneuver in order to re-direct the path of a spacecraft to a vicinity of the Lagrangian points L4 and L5. Once the geocentric transfer orbit and the initial impulsive thrust have been determined, the goal is to establish the angle at which the geocentric trajectory crosses the lunar sphere of influence in such a way that when the spacecraft leaves the Moon's gravitational field, its trajectory and velocity with respect to the Earth change in order to the spacecraft arrives at L4 and L5. In this work, the planar Circular Restricted Three Body Problem approximation is used and in order to avoid solving a two boundary problem, the patched-conic approximation is considered.

Exploration of the region near the sun-earth collinear libration points for the control of large formations

NASA Astrophysics Data System (ADS)

Heritier, Aurelie

Spacecraft formations possess many applications in the future of space exploration. During the last decade, due to the detection of a large number of extrasolar planets, new studies on formation flying in multi-body regimes have emerged to support searches for Earth-like planets in other solar systems. The L2 Sun-Earth libration point region has been a popular destination in creating an architecture for astronomical missions. It is a relatively cold environment, far from the disturbances of the Sun and, therefore, ideal for astronomical instruments. However, controlling multiple spacecraft in a multi-body environment is challenging and a good understanding of the natural dynamics in this regime is essential. The current investigation explores the dynamical environment near the L2 Sun-Earth libration point to aid in the control of formations of spacecraft. By exploiting the natural dynamics in the circular restricted three-body model (CR3BP), natural regions are determined that are particularly suitable for maintaining formations of spacecraft. The natural dynamics at small distances from a given reference trajectory are initially investigated for the placement of small formations of spacecraft. Some regions with low relative drift represent suitable locations to maintain small formations and are derived analytically using variational equations. Spacecraft located in such regions avoid large variations in their mutual distances while maintaining the orientation of the formation. These regions represent quadric surfaces, and the type of quadric surfaces, either ellipsoids or elliptic cylinders, depends on the eigenstructure reflecting the phase space along the given reference trajectory. The natural flow at large distances from a given reference trajectory is explored next to characterize regions that are suitable to maintain large formations, i.e., when the mutual distances between the spacecraft reaches tens of thousands of kilometers. Spheres of points at various locations along the reference orbit are constructed to classify the space, and regions of low natural drift on the spheres are numerically identified when the distance between two vehicles is large. These low drift regions are examined in detail, and a correspondance with the quadric surfaces that are derived for small formations is established. In particular, the orientation of these low drift zones along a given reference orbit are investigated as some parameters vary, such as the size of the formation as well as the reference orbit. Using the low natural drift regions, control strategies are then developed for large formations. Traditional controllers, such as impulsive maneuvers and linear quadratic regulators (LQR), are employed to quantify the level of control that is required to maintain large formations along specific directions in the CR3BP. Designs of new controllers are also investigated to produce some set of desired relative motions between two spacecraft placed at large mutual distances. In a potential formation option investigated in this analysis, a deputy vehicle maintains a fixed circular motion in a plane relative to a chief spacecraft moving along its reference trajectory. Finally, the effectiveness of using the low natural drift regions as derived for large formations is tested for the New Worlds Observer mission concept. This scenario involves a large telescope-occulter formation for star observations, to detect and characterize habitable terrestrial exoplanets. The low drift zones are employed to reduce the control effort to maintain a large telescope-occulter formation during the observation of inertially-fixed target stars. In particular, the occulter is maintained via a linear quadratic regulator during star observations. Given a set of inertially-fixed target stars, an automatic star sequence design process is proposed with observation and reconfiguration phases using the low drift regions. This design creates star sequences that lead to relatively small overall maneuver costs for this particular mission concept.

Rapid Generation of Optimal Asteroid Powered Descent Trajectories Via Convex Optimization

NASA Technical Reports Server (NTRS)

Pinson, Robin; Lu, Ping

2015-01-01

This paper investigates a convex optimization based method that can rapidly generate the fuel optimal asteroid powered descent trajectory. The ultimate goal is to autonomously design the optimal powered descent trajectory on-board the spacecraft immediately prior to the descent burn. Compared to a planetary powered landing problem, the major difficulty is the complex gravity field near the surface of an asteroid that cannot be approximated by a constant gravity field. This paper uses relaxation techniques and a successive solution process that seeks the solution to the original nonlinear, nonconvex problem through the solutions to a sequence of convex optimal control problems.

Mass-selective isolation of ions stored in a quadrupole ion trap. A simulation study

NASA Astrophysics Data System (ADS)

March, Raymond E.; Londry, Frank A.; Alfred, Roland L.; Franklin, Anthony M.; Todd, John F. J.

1992-01-01

Trajectories of single ions stored in the quadrupole ion trap have been calculated using a simulation program described as the specific program for quadrupolar resonance (SPQR). Previously, the program has been used for the investigation of quadrupolar resonance excitation of ions with a static working point (or co-ordinates) in the stability diagram. The program has been modified to accommodate continuous d.c. and/or r.f. voltage ramps so as to permit calculation of ion trajectories while the working point is being changed. The modified program has been applied to the calculation of ion trajectories during ion isolation, or mass-selective storage, in the ion trap. The quadrupolar resonance excitation aspect of SPQR was not used in this study. Trajectories are displayed as temporal variations of ion kinetic energy, and axial and radial excursions from the centre of the ion trap. The working points of three ion species (m/z 144, 146 and 148), located initially on the qz, axis with qz [approximate] 0.12, were moved to the vicinity of the upper apex by a combination of r.f. and d.c. voltages applied in succession. Stable trajectories were maintained only for the ion species of m/z 146 for which the working point lay within this apex; the other ion species were ejected either radially or axially. The d.c. voltage was then reduced to zero so as to restore the working point of the isolated ion species to the qz axis. The amplitude of the r.f voltage was reduced to its initial value so as to retrieve the initial working point for m/z 146. The process extended over a real time of 2.9 ms, and was collision-free. The trajectory of the isolated ion was stable during this process; the ion species with m/z value lower than that of the target ion, that is, m/z 144, was ejected axially at the [beta]z = 1 boundary, while that with higher m/z value, that is, m/z 148, was ejected radially at the [beta]r = 0 boundary, as expected. The moderating effects of buffer gas were not taken into consideration and ion kinetic energies during the sorting period were found to be sufficiently great that dissociative losses may be appreciable in a collisional system. A possible strategy for reducing kinetic energy during this process has been proposed.

Zero-Point Energy Constraint for Unimolecular Dissociation Reactions. Giving Trajectories Multiple Chances To Dissociate Correctly.

PubMed

Paul, Amit K; Hase, William L

2016-01-28

A zero-point energy (ZPE) constraint model is proposed for classical trajectory simulations of unimolecular decomposition and applied to CH4* → H + CH3 decomposition. With this model trajectories are not allowed to dissociate unless they have ZPE in the CH3 product. If not, they are returned to the CH4* region of phase space and, if necessary, given additional opportunities to dissociate with ZPE. The lifetime for dissociation of an individual trajectory is the time it takes to dissociate with ZPE in CH3, including multiple possible returns to CH4*. With this ZPE constraint the dissociation of CH4* is exponential in time as expected for intrinsic RRKM dynamics and the resulting rate constant is in good agreement with the harmonic quantum value of RRKM theory. In contrast, a model that discards trajectories without ZPE in the reaction products gives a CH4* → H + CH3 rate constant that agrees with the classical and not quantum RRKM value. The rate constant for the purely classical simulation indicates that anharmonicity may be important and the rate constant from the ZPE constrained classical trajectory simulation may not represent the complete anharmonicity of the RRKM quantum dynamics. The ZPE constraint model proposed here is compared with previous models for restricting ZPE flow in intramolecular dynamics, and connecting product and reactant/product quantum energy levels in chemical dynamics simulations.

A Hybrid Spatio-Temporal Data Indexing Method for Trajectory Databases

PubMed Central

Ke, Shengnan; Gong, Jun; Li, Songnian; Zhu, Qing; Liu, Xintao; Zhang, Yeting

2014-01-01

In recent years, there has been tremendous growth in the field of indoor and outdoor positioning sensors continuously producing huge volumes of trajectory data that has been used in many fields such as location-based services or location intelligence. Trajectory data is massively increased and semantically complicated, which poses a great challenge on spatio-temporal data indexing. This paper proposes a spatio-temporal data indexing method, named HBSTR-tree, which is a hybrid index structure comprising spatio-temporal R-tree, B*-tree and Hash table. To improve the index generation efficiency, rather than directly inserting trajectory points, we group consecutive trajectory points as nodes according to their spatio-temporal semantics and then insert them into spatio-temporal R-tree as leaf nodes. Hash table is used to manage the latest leaf nodes to reduce the frequency of insertion. A new spatio-temporal interval criterion and a new node-choosing sub-algorithm are also proposed to optimize spatio-temporal R-tree structures. In addition, a B*-tree sub-index of leaf nodes is built to query the trajectories of targeted objects efficiently. Furthermore, a database storage scheme based on a NoSQL-type DBMS is also proposed for the purpose of cloud storage. Experimental results prove that HBSTR-tree outperforms TB*-tree in some aspects such as generation efficiency, query performance and query type. PMID:25051028

A hybrid spatio-temporal data indexing method for trajectory databases.

PubMed

Ke, Shengnan; Gong, Jun; Li, Songnian; Zhu, Qing; Liu, Xintao; Zhang, Yeting

2014-07-21

In recent years, there has been tremendous growth in the field of indoor and outdoor positioning sensors continuously producing huge volumes of trajectory data that has been used in many fields such as location-based services or location intelligence. Trajectory data is massively increased and semantically complicated, which poses a great challenge on spatio-temporal data indexing. This paper proposes a spatio-temporal data indexing method, named HBSTR-tree, which is a hybrid index structure comprising spatio-temporal R-tree, B*-tree and Hash table. To improve the index generation efficiency, rather than directly inserting trajectory points, we group consecutive trajectory points as nodes according to their spatio-temporal semantics and then insert them into spatio-temporal R-tree as leaf nodes. Hash table is used to manage the latest leaf nodes to reduce the frequency of insertion. A new spatio-temporal interval criterion and a new node-choosing sub-algorithm are also proposed to optimize spatio-temporal R-tree structures. In addition, a B*-tree sub-index of leaf nodes is built to query the trajectories of targeted objects efficiently. Furthermore, a database storage scheme based on a NoSQL-type DBMS is also proposed for the purpose of cloud storage. Experimental results prove that HBSTR-tree outperforms TB*-tree in some aspects such as generation efficiency, query performance and query type.

Sample size and classification error for Bayesian change-point models with unlabelled sub-groups and incomplete follow-up.

PubMed

White, Simon R; Muniz-Terrera, Graciela; Matthews, Fiona E

2018-05-01

Many medical (and ecological) processes involve the change of shape, whereby one trajectory changes into another trajectory at a specific time point. There has been little investigation into the study design needed to investigate these models. We consider the class of fixed effect change-point models with an underlying shape comprised two joined linear segments, also known as broken-stick models. We extend this model to include two sub-groups with different trajectories at the change-point, a change and no change class, and also include a missingness model to account for individuals with incomplete follow-up. Through a simulation study, we consider the relationship of sample size to the estimates of the underlying shape, the existence of a change-point, and the classification-error of sub-group labels. We use a Bayesian framework to account for the missing labels, and the analysis of each simulation is performed using standard Markov chain Monte Carlo techniques. Our simulation study is inspired by cognitive decline as measured by the Mini-Mental State Examination, where our extended model is appropriate due to the commonly observed mixture of individuals within studies who do or do not exhibit accelerated decline. We find that even for studies of modest size ( n = 500, with 50 individuals observed past the change-point) in the fixed effect setting, a change-point can be detected and reliably estimated across a range of observation-errors.

Signal displacement in spiral-in acquisitions: simulations and implications for imaging in SFG regions.

PubMed

Brewer, Kimberly D; Rioux, James A; Klassen, Martyn; Bowen, Chris V; Beyea, Steven D

2012-07-01

Susceptibility field gradients (SFGs) cause problems for functional magnetic resonance imaging (fMRI) in regions like the orbital frontal lobes, leading to signal loss and image artifacts (signal displacement and "pile-up"). Pulse sequences with spiral-in k-space trajectories are often used when acquiring fMRI in SFG regions such as inferior/medial temporal cortex because it is believed that they have improved signal recovery and decreased signal displacement properties. Previously postulated theories explain differing reasons why spiral-in appears to perform better than spiral-out; however it is clear that multiple mechanisms are occurring in parallel. This study explores differences in spiral-in and spiral-out images using human and phantom empirical data, as well as simulations consistent with the phantom model. Using image simulations, the displacement of signal was characterized using point spread functions (PSFs) and target maps, the latter of which are conceptually inverse PSFs describing which spatial locations contribute signal to a particular voxel. The magnitude of both PSFs and target maps was found to be identical for spiral-out and spiral-in acquisitions, with signal in target maps being displaced from distant regions in both cases. However, differences in the phase of the signal displacement patterns that consequently lead to changes in the intervoxel phase coherence were found to be a significant mechanism explaining differences between the spiral sequences. The results demonstrate that spiral-in trajectories do preserve more total signal in SFG regions than spiral-out; however, spiral-in does not in fact exhibit decreased signal displacement. Given that this signal can be displaced by significant distances, its recovery may not be preferable for all fMRI applications. Copyright © 2012 Elsevier Inc. All rights reserved.

Exploring the complexity of quantum control optimization trajectories.

PubMed

Nanduri, Arun; Shir, Ofer M; Donovan, Ashley; Ho, Tak-San; Rabitz, Herschel

2015-01-07

The control of quantum system dynamics is generally performed by seeking a suitable applied field. The physical objective as a functional of the field forms the quantum control landscape, whose topology, under certain conditions, has been shown to contain no critical point suboptimal traps, thereby enabling effective searches for fields that give the global maximum of the objective. This paper addresses the structure of the landscape as a complement to topological critical point features. Recent work showed that landscape structure is highly favorable for optimization of state-to-state transition probabilities, in that gradient-based control trajectories to the global maximum value are nearly straight paths. The landscape structure is codified in the metric R ≥ 1.0, defined as the ratio of the length of the control trajectory to the Euclidean distance between the initial and optimal controls. A value of R = 1 would indicate an exactly straight trajectory to the optimal observable value. This paper extends the state-to-state transition probability results to the quantum ensemble and unitary transformation control landscapes. Again, nearly straight trajectories predominate, and we demonstrate that R can take values approaching 1.0 with high precision. However, the interplay of optimization trajectories with critical saddle submanifolds is found to influence landscape structure. A fundamental relationship necessary for perfectly straight gradient-based control trajectories is derived, wherein the gradient on the quantum control landscape must be an eigenfunction of the Hessian. This relation is an indicator of landscape structure and may provide a means to identify physical conditions when control trajectories can achieve perfect linearity. The collective favorable landscape topology and structure provide a foundation to understand why optimal quantum control can be readily achieved.

Quantifying vocal fatigue recovery: Dynamic vocal recovery trajectories after a vocal loading exercise

PubMed Central

Hunter, Eric J.; Titze, Ingo R.

2012-01-01

Objectives To quantify the recovery of voice following a 2-hour vocal loading exercise (oral reading). Methods 86 adult participants tracked their voice recovery using short vocal tasks and perceptual ratings after an initial vocal loading exercise and for the following two days. Results Short-term recovery was apparent with 90% recovery within 4-6 hours and full recovery at 12-18 hours. Recovery was shown to be similar to a dermal wound healing trajectory. Conclusions The new recovery trajectory highlighted by the vocal loading exercise in the current study is called a vocal recovery trajectory. By comparing vocal fatigue to dermal wound healing, this trajectory is parallel to a chronic wound healing trajectory (as opposed to an acute wound healing trajectory). This parallel suggests that vocal fatigue from the daily use of the voice could be treated as a chronic wound, with the healing and repair mechanisms in a state of constant repair. In addition, there is likely a vocal fatigue threshold at which point the level of tissue damage would shift the chronic healing trajectory to an acute healing trajectory. PMID:19663377

Developmental Trajectories of Agency and Communion in Moral Motivation

ERIC Educational Resources Information Center

Walker, Lawrence J.; Frimer, Jeremy A.

2015-01-01

How does moral motivation develop across the life span? Previous research has indicated that moral exemplars have integrated the typically oppositional motives of agency and communion. The present research maps developmental trajectories in these motives that may lead to this end-point integration. Participants were 140 Canadians comprising four…

Progress toward a cosmic dust collection facility on space station

NASA Technical Reports Server (NTRS)

Mackinnon, Ian D. R. (Editor); Carey, William C. (Editor)

1987-01-01

Scientific and programmatic progress toward the development of a cosmic dust collection facility (CDCF) for the proposed space station is documented. Topics addressed include: trajectory sensor concepts; trajectory accuracy and orbital evolution; CDCF pointing direction; development of capture devices; analytical techniques; programmatic progress; flight opportunities; and facility development.

Zero-point Energy is Needed in Molecular Dynamics Calculations to Access the Saddle Point for H+HCN→H2CN* and cis/trans-HCNH* on a New Potential Energy Surface.

PubMed

Wang, Xiaohong; Bowman, Joel M

2013-02-12

We calculate the probabilities for the association reactions H+HCN→H2CN* and cis/trans-HCNH*, using quasiclassical trajectory (QCT) and classical trajectory (CT) calculations, on a new global ab initio potential energy surface (PES) for H2CN including the reaction channels. The surface is a linear least-squares fit of roughly 60 000 CCSD(T)-F12b/aug-cc-pVDZ electronic energies, using a permutationally invariant basis with Morse-type variables. The reaction probabilities are obtained at a variety of collision energies and impact parameters. Large differences in the threshold energies in the two types of dynamics calculations are traced to the absence of zero-point energy in the CT calculations. We argue that the QCT threshold energy is the realistic one. In addition, trajectories find a direct pathway to trans-HCNH, even though there is no obvious transition state (TS) for this pathway. Instead the saddle point (SP) for the addition to cis-HCNH is evidently also the TS for direct formation of trans-HCNH.

Augmenting Parametric Optimal Ascent Trajectory Modeling with Graph Theory

NASA Technical Reports Server (NTRS)

Dees, Patrick D.; Zwack, Matthew R.; Edwards, Stephen; Steffens, Michael

2016-01-01

It has been well documented that decisions made in the early stages of Conceptual and Pre-Conceptual design commit up to 80% of total Life-Cycle Cost (LCC) while engineers know the least about the product they are designing [1]. Once within Preliminary and Detailed design however, making changes to the design becomes far more difficult to enact in both cost and schedule. Primarily this has been due to a lack of detailed data usually uncovered later during the Preliminary and Detailed design phases. In our current budget-constrained environment, making decisions within Conceptual and Pre-Conceptual design which minimize LCC while meeting requirements is paramount to a program's success. Within the arena of launch vehicle design, optimizing the ascent trajectory is critical for minimizing the costs present within such concerns as propellant, aerodynamic, aeroheating, and acceleration loads while meeting requirements such as payload delivered to a desired orbit. In order to optimize the vehicle design its constraints and requirements must be known, however as the design cycle proceeds it is all but inevitable that the conditions will change. Upon that change, the previously optimized trajectory may no longer be optimal, or meet design requirements. The current paradigm for adjusting to these updates is generating point solutions for every change in the design's requirements [2]. This can be a tedious, time-consuming task as changes in virtually any piece of a launch vehicle's design can have a disproportionately large effect on the ascent trajectory, as the solution space of the trajectory optimization problem is both non-linear and multimodal [3]. In addition, an industry standard tool, Program to Optimize Simulated Trajectories (POST), requires an expert analyst to produce simulated trajectories that are feasible and optimal [4]. In a previous publication the authors presented a method for combatting these challenges [5]. In order to bring more detailed information into Conceptual and Pre-Conceptual design, knowledge of the effects originating from changes to the vehicle must be calculated. In order to do this, a model capable of quantitatively describing any vehicle within the entire design space under consideration must be constructed. This model must be based upon analysis of acceptable fidelity, which in this work comes from POST. Design space interrogation can be achieved with surrogate modeling, a parametric, polynomial equation representing a tool. A surrogate model must be informed by data from the tool with enough points to represent the solution space for the chosen number of variables with an acceptable level of error. Therefore, Design Of Experiments (DOE) is used to select points within the design space to maximize information gained on the design space while minimizing number of data points required. To represent a design space with a non-trivial number of variable parameters the number of points required still represent an amount of work which would take an inordinate amount of time via the current paradigm of manual analysis, and so an automated method was developed. The best practices of expert trajectory analysts working within NASA Marshall's Advanced Concepts Office (ACO) were implemented within a tool called multiPOST. These practices include how to use the output data from a previous run of POST to inform the next, determining whether a trajectory solution is feasible from a real-world perspective, and how to handle program execution errors. The tool was then augmented with multiprocessing capability to enable analysis on multiple trajectories simultaneously, allowing throughput to scale with available computational resources. In this update to the previous work the authors discuss issues with the method and solutions.

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

The Developmental Sequence of Social-Communicative Skills in Young Children with Autism: A Longitudinal Study

ERIC Educational Resources Information Center

Wu, Chin-Chin; Chiang, Chung-Hsin

2014-01-01

To explore the different developmental trajectories of social-communicative skills in children with autism and typically developing infants, two longitudinal studies were conducted. In Study 1, we examined the developmental sequence of social-communicative skills in 26 typically developing infants when they were 9 months old and reexamined them…

Change Trajectories for Parent-Child Interaction Sequences during Parent-Child Interaction Therapy for Child Physical Abuse

ERIC Educational Resources Information Center

Hakman, Melissa; Chaffin, Mark; Funderburk, Beverly; Silovsky, Jane F.

2009-01-01

Objective: Parent-child interaction therapy (PCIT) has been found to reduce future child abuse reports among physically abusive parents. Reductions in observed negative parenting behaviors mediated this benefit. The current study examined session-by-session interaction sequences in order to identify when during treatment these changes occur and…

Trajectories of marital, parent-child, and sibling conflict during pediatric cancer treatment.

PubMed

Katz, Lynn Fainsilber; Fladeboe, Kaitlyn; Lavi, Iris; King, Kevin; Kawamura, Joy; Friedman, Debra; Compas, Bruce; Breiger, David; Lengua, Liliana; Gurtovenko, Kyrill; Stettler, Nicole

2018-05-28

The stress of having a child with cancer can impact the quality of relationships within the family. The current study describes the longitudinal trajectory of marital, parent-child, and sibling conflict beginning around the time of diagnosis through the first year of treatment. We examined the average level of marital, parent-child, and sibling conflict at each monthly time point in the first year of treatment; the proportion of families that fall into the distressed range of marital, parent-child, and sibling conflict at each time point; the typical trajectory of conflict during the first year of treatment and whether there are differences in trajectories across families. A total of 160 families of children newly diagnosed with cancer (Mage = 5.6 years; range = 2-18 years) participated in a short-term prospective longitudinal study. Primary caregivers provided monthly reports of marital, parent-child, and sibling conflict. Using multilevel modeling (MLM), most families showed stability in quality of family relationships, although considerable between-family variability was observed. For married couples, 25-36% of couples were in the distressed range at one time point over the first year of treatment. For married couples, more distress occurred at earlier months, particularly month 3. For parent-child and sibling dyads, the most difficult time periods were during later months. Implications for development of interventions that target at-risk family relationships are discussed. Identifying processes that predict between-family variability in trajectories of family relationships is an important next step, particularly for the marital relationship. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

From medico-administrative databases analysis to care trajectories analytics: an example with the French SNDS.

PubMed

Drezen, Erwan; Guyet, Thomas; Happe, André

2018-02-01

Medico-administrative data like SNDS (Système National de Données de Santé) are not collected initially for epidemiological purposes. Moreover, the data model and the tools proposed to SNDS users make their in-depth exploitation difficult. We propose a data model, called the ePEPS model, based on healthcare trajectories to provide a medical view of raw data. A data abstraction process enables the clinician to have an intuitive medical view of raw data and to design a study-specific view. This view is based on a generic model of care trajectory, that is a sequence of time stamped medical events for a given patient. This model is combined with tools to manipulate care trajectories efficiently. © 2017 Société Française de Pharmacologie et de Thérapeutique.

OSIRIS-REx Touch-And-Go (TAG) Navigation Performance

NASA Technical Reports Server (NTRS)

Berry, Kevin; Antreasian, Peter; Moreau, Michael C.; May, Alex; Sutter, Brian

2015-01-01

The Origins Spectral Interpretation Resource identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the near-Earth asteroid (101955) Bennu in late 2018. Following an extensive campaign of proximity operations activities to characterize the properties of Bennu and select a suitable sample site, OSIRIES-REx will fly a Touch-And-Go (TAG) trajectory to the asteroid's surface to obtain a regolith sample. The paper summarizes the mission design of the TAG sequence, the propulsive required to achieve the trajectory, and the sequence of events leading up to the TAG event. The paper will summarize the Monte-Carlo simulation of the TAG sequence and present analysis results that demonstrate the ability to conduct the TAG within 25 meters of the selected sample site and +-2 cms of the targeted contact velocity. The paper will describe some of the challenges associated with conducting precision navigation operations and ultimately contacting a very small asteroid.

OSIRI-REx Touch and Go (TAG) Navigation Performance

NASA Technical Reports Server (NTRS)

Berry, Kevin; Antreasian, Peter; Moreau, Michael C.; May, Alex; Sutter, Brian

2015-01-01

The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the near-Earth asteroid (101955) Bennu in late 2018. Following an extensive campaign of proximity operations activities to characterize the properties of Bennu and select a suitable sample site, OSIRIS-REx will fly a Touch-And-Go (TAG) trajectory to the asteroid's surface to obtain a regolith sample. The paper summarizes the mission design of the TAG sequence, the propulsive maneuvers required to achieve the trajectory, and the sequence of events leading up to the TAG event. The paper also summarizes the Monte-Carlo simulation of the TAG sequence and presents analysis results that demonstrate the ability to conduct the TAG within 25 meters of the selected sample site and 2 cm/s of the targeted contact velocity. The paper describes some of the challenges associated with conducting precision navigation operations and ultimately contacting a very small asteroid.

Feedback Implementation of Zermelo's Optimal Control by Sugeno Approximation

NASA Technical Reports Server (NTRS)

Clifton, C.; Homaifax, A.; Bikdash, M.

1997-01-01

This paper proposes an approach to implement optimal control laws of nonlinear systems in real time. Our methodology does not require solving two-point boundary value problems online and may not require it off-line either. The optimal control law is learned using the original Sugeno controller (OSC) from a family of optimal trajectories. We compare the trajectories generated by the OSC and the trajectories yielded by the optimal feedback control law when applied to Zermelo's ship steering problem.

Calculation of double-lunar swingby trajectories: Part 2: Numerical solutions in the restricted problem of three bodies

NASA Technical Reports Server (NTRS)

Stalos, S.

1990-01-01

The double-lunar swingby trajectory is a method for maintaining alignment of an Earth satellite's line of apsides with the Sun-Earth line. From a Keplerian point of view, successive close encounters with the Moon cause discrete, instantaneous changes in the satellite's eccentricity and semimajor axis. Numerical solutions to the planar, restricted problem of three bodies as double-lunar swingby trajectories are identified. The method of solution is described and the results compared to the Keplerian formulation.

Numerical analysis of the asymptotic two-point boundary value solution for N-body trajectories.

NASA Technical Reports Server (NTRS)

Lancaster, J. E.; Allemann, R. A.

1972-01-01

Previously published asymptotic solutions for lunar and interplanetary trajectories have been modified and combined to formulate a general analytical boundary value solution applicable to a broad class of trajectory problems. In addition, the earlier first-order solutions have been extended to second-order to determine if improved accuracy is possible. Comparisons between the asymptotic solution and numerical integration for several lunar and interplanetary trajectories show that the asymptotic solution is generally quite accurate. Also, since no iterations are required, a solution to the boundary value problem is obtained in a fraction of the time required for numerically integrated solutions.

Computer coordination of limb motion for a three-legged walking robot

NASA Technical Reports Server (NTRS)

Klein, C. A.; Patterson, M. R.

1980-01-01

Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.

Non-musicians also have a piano in the head: evidence for spatial-musical associations from line bisection tracking.

PubMed

Hartmann, Matthias

2017-02-01

The spatial representation of ordinal sequences (numbers, time, tones) seems to be a fundamental cognitive property. While an automatic association between horizontal space and pitch height (left-low pitch, right-high pitch) is constantly reported in musicians, the evidence for such an association in non-musicians is mixed. In this study, 20 non-musicians performed a line bisection task while listening to irrelevant high- and low-pitched tones and white noise (control condition). While pitch height had no influence on the final bisection point, participants' movement trajectories showed systematic biases: When approaching the line and touching the line for the first time (initial bisection point), the mouse cursor was directed more rightward for high-pitched tones compared to low-pitched tones and noise. These results show that non-musicians also have a subtle but nevertheless automatic association between pitch height and the horizontal space. This suggests that spatial-musical associations do not necessarily depend on constant sensorimotor experiences (as it is the case for musicians) but rather reflect the seemingly inescapable tendency to represent ordinal information on a horizontal line.

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.

Extended hamiltonian formalism and Lorentz-violating lagrangians

NASA Astrophysics Data System (ADS)

Colladay, Don

2017-09-01

A new perspective on the classical mechanical formulation of particle trajectories in Lorentz-violating theories is presented. Using the extended hamiltonian formalism, a Legendre Transformation between the associated covariant lagrangian and hamiltonian varieties is constructed. This approach enables calculation of trajectories using Hamilton's equations in momentum space and the Euler-Lagrange equations in velocity space away from certain singular points that arise in the theory. Singular points are naturally de-singularized by requiring the trajectories to be smooth functions of both velocity and momentum variables. In addition, it is possible to identify specific sheets of the dispersion relations that correspond to specific solutions for the lagrangian. Examples corresponding to bipartite Finsler functions are computed in detail. A direct connection between the lagrangians and the field-theoretic solutions to the Dirac equation is also established for a special case.

Reconstruction of equilibrium trajectories during whole-body movements.

PubMed

Domen, K; Latash, M L; Zatsiorsky, V M

1999-03-01

The framework of the equilibrium-point hypothesis was used to reconstruct equilibrium trajectories (ETs) of the ankle, hip and body center of mass during quick voluntary hip flexions ('Japanese courtesy bow') by standing subjects. Different spring loads applied to the subject's back were used to introduce smooth perturbations that are necessary to reconstruct ETs based on a series of trials at the same task. Time patterns of muscle torques were calculated using inverse dynamics techniques. A second-order linear model was employed to calculate the instantaneous position of the spring-like joint or center of mass characteristic at different times during the movement. ETs of the joints and of the center of mass had significantly different shapes from the actual trajectories. Integral measures of electromyographic bursts of activity in postural muscles demonstrated a relation to muscle length corresponding to the equilibrium-point hypothesis.

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

Collision avoidance for aircraft in abort landing

NASA Astrophysics Data System (ADS)

Mathwig, Jarret

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

Atlas instrumentation guided by the medial edge of the posterior arch: An anatomic and radiologic study.

PubMed

Al-Habib, Amro F; Al-Rabie, Abdulkarim; Aleissa, Sami; Albakr, Abdulrahman; Abobotain, Abdulaziz

2017-01-01

This was an interventional human cadaver study and radiological study. Atlas instrumentation is frequently involved in fusion procedures involving the craniocervical junction area. Identification of the entry point at the center of atlas lateral mass (ALM) is challenging because of its rounded posterior surface and the surrounding venous plexus. This report examines using the medial edge of atlas posterior arch (MEC1) as a fixed and reliable anatomic reference to guide the entry point of ALM screws. Fifty, normal, cervical spine computed tomography studies were reviewed. ALM screw trajectories were planned at one point along MEC1 and another point 2 mm lateral to MEC1. Free-hand ALM instrumentation was performed in ten fresh human cadavers using the 2 mm entry point, with a sagittal trajectory parallel to atlas inferior arch (IAC1); three-dimensional imaging was then performed to confirm instrumentation accuracy. The average ALM diameter was 12.35 mm. Inserting a screw using the entry point 2 mm lateral to MEC1 was closer to ALM midpoint than using the entry point along MEC1 ( P < 0.0001). Twenty ALM screws were successfully inserted in the ten cadavers. No encroachments into the spinal canal or foramen transversarium occurred. However, two screws were superiorly directed and violated the occipitocervical joint; they were not parallel to IAC1. MEC1 provides a fixed and reliable landmark for ALM instrumentation. An entry point 2 mm point lateral to MEC1 is close to ALM midpoint. IAC1 also provides a guide for the sagittal trajectory. Attention to anatomic landmarks may help reduce complications associated with atlas instrumentation but should be verified in future clinical studies.

Design space pruning heuristics and global optimization method for conceptual design of low-thrust asteroid tour missions

NASA Astrophysics Data System (ADS)

Alemany, Kristina

Electric propulsion has recently become a viable technology for spacecraft, enabling shorter flight times, fewer required planetary gravity assists, larger payloads, and/or smaller launch vehicles. With the maturation of this technology, however, comes a new set of challenges in the area of trajectory design. Because low-thrust trajectory optimization has historically required long run-times and significant user-manipulation, mission design has relied on expert-based knowledge for selecting departure and arrival dates, times of flight, and/or target bodies and gravitational swing-bys. These choices are generally based on known configurations that have worked well in previous analyses or simply on trial and error. At the conceptual design level, however, the ability to explore the full extent of the design space is imperative to locating the best solutions in terms of mass and/or flight times. Beginning in 2005, the Global Trajectory Optimization Competition posed a series of difficult mission design problems, all requiring low-thrust propulsion and visiting one or more asteroids. These problems all had large ranges on the continuous variables---launch date, time of flight, and asteroid stay times (when applicable)---as well as being characterized by millions or even billions of possible asteroid sequences. Even with recent advances in low-thrust trajectory optimization, full enumeration of these problems was not possible within the stringent time limits of the competition. This investigation develops a systematic methodology for determining a broad suite of good solutions to the combinatorial, low-thrust, asteroid tour problem. The target application is for conceptual design, where broad exploration of the design space is critical, with the goal being to rapidly identify a reasonable number of promising solutions for future analysis. The proposed methodology has two steps. The first step applies a three-level heuristic sequence developed from the physics of the problem, which allows for efficient pruning of the design space. The second phase applies a global optimization scheme to locate a broad suite of good solutions to the reduced problem. The global optimization scheme developed combines a novel branch-and-bound algorithm with a genetic algorithm and an industry-standard low-thrust trajectory optimization program to solve for the following design variables: asteroid sequence, launch date, times of flight, and asteroid stay times. The methodology is developed based on a small sample problem, which is enumerated and solved so that all possible discretized solutions are known. The methodology is then validated by applying it to a larger intermediate sample problem, which also has a known solution. Next, the methodology is applied to several larger combinatorial asteroid rendezvous problems, using previously identified good solutions as validation benchmarks. These problems include the 2nd and 3rd Global Trajectory Optimization Competition problems. The methodology is shown to be capable of achieving a reduction in the number of asteroid sequences of 6-7 orders of magnitude, in terms of the number of sequences that require low-thrust optimization as compared to the number of sequences in the original problem. More than 70% of the previously known good solutions are identified, along with several new solutions that were not previously reported by any of the competitors. Overall, the methodology developed in this investigation provides an organized search technique for the low-thrust mission design of asteroid rendezvous problems.

First-pass myocardial perfusion imaging with whole-heart coverage using L1-SPIRiT accelerated variable density spiral trajectories.

PubMed

Yang, Yang; Kramer, Christopher M; Shaw, Peter W; Meyer, Craig H; Salerno, Michael

2016-11-01

To design and evaluate two-dimensional (2D) L1-SPIRiT accelerated spiral pulse sequences for first-pass myocardial perfusion imaging with whole heart coverage capable of measuring eight slices at 2 mm in-plane resolution at heart rates up to 125 beats per minute (BPM). Combinations of five different spiral trajectories and four k-t sampling patterns were retrospectively simulated in 25 fully sampled datasets and reconstructed with L1-SPIRiT to determine the best combination of parameters. Two candidate sequences were prospectively evaluated in 34 human subjects to assess in vivo performance. A dual density broad transition spiral trajectory with either angularly uniform or golden angle in time k-t sampling pattern had the largest structural similarity and smallest root mean square error from the retrospective simulation, and the L1-SPIRiT reconstruction had well-preserved temporal dynamics. In vivo data demonstrated that both of the sampling patterns could produce high quality perfusion images with whole-heart coverage. First-pass myocardial perfusion imaging using accelerated spirals with optimized trajectory and k-t sampling pattern can produce high quality 2D perfusion images with whole-heart coverage at the heart rates up to 125 BPM. Magn Reson Med 76:1375-1387, 2016. © 2015 International Society for Magnetic Resonance in Medicine. © 2015 International Society for Magnetic Resonance in Medicine.

Effectiveness of whole-exome sequencing and costs of the traditional diagnostic trajectory in children with intellectual disability.

PubMed

Monroe, Glen R; Frederix, Gerardus W; Savelberg, Sanne M C; de Vries, Tamar I; Duran, Karen J; van der Smagt, Jasper J; Terhal, Paulien A; van Hasselt, Peter M; Kroes, Hester Y; Verhoeven-Duif, Nanda M; Nijman, Isaäc J; Carbo, Ellen C; van Gassen, Koen L; Knoers, Nine V; Hövels, Anke M; van Haelst, Mieke M; Visser, Gepke; van Haaften, Gijs

2016-09-01

This study investigated whole-exome sequencing (WES) yield in a subset of intellectually disabled patients referred to our clinical diagnostic center and calculated the total costs of these patients' diagnostic trajectory in order to evaluate early WES implementation. We compared 17 patients' trio-WES yield with the retrospective costs of diagnostic procedures by comprehensively examining patient records and collecting resource use information for each patient, beginning with patient admittance and concluding with WES initiation. We calculated cost savings using scenario analyses to evaluate the costs replaced by WES when used as a first diagnostic tool. WES resulted in diagnostically useful outcomes in 29.4% of patients. The entire traditional diagnostic trajectory average cost was $16,409 per patient, substantially higher than the $3,972 trio-WES cost. WES resulted in average cost savings of $3,547 for genetic and metabolic investigations in diagnosed patients and $1,727 for genetic investigations in undiagnosed patients. The increased causal variant detection yield by WES and the relatively high costs of the entire traditional diagnostic trajectory suggest that early implementation of WES is a relevant and cost-efficient option in patient diagnostics. This information is crucial for centers considering implementation of WES and serves as input for future value-based research into diagnostics.Genet Med 18 9, 949-956.

Trajectory phase transitions and dynamical Lee-Yang zeros of the Glauber-Ising chain.

PubMed

Hickey, James M; Flindt, Christian; Garrahan, Juan P

2013-07-01

We examine the generating function of the time-integrated energy for the one-dimensional Glauber-Ising model. At long times, the generating function takes on a large-deviation form and the associated cumulant generating function has singularities corresponding to continuous trajectory (or "space-time") phase transitions between paramagnetic trajectories and ferromagnetically or antiferromagnetically ordered trajectories. In the thermodynamic limit, the singularities make up a whole curve of critical points in the complex plane of the counting field. We evaluate analytically the generating function by mapping the generator of the biased dynamics to a non-Hermitian Hamiltonian of an associated quantum spin chain. We relate the trajectory phase transitions to the high-order cumulants of the time-integrated energy which we use to extract the dynamical Lee-Yang zeros of the generating function. This approach offers the possibility to detect continuous trajectory phase transitions from the finite-time behavior of measurable quantities.

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

NASA Technical Reports Server (NTRS)

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

1974-01-01

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

Trajectories of attachment in older age: interpersonal trauma and its consequences.

PubMed

Bachem, Rahel; Levin, Yafit; Solomon, Zahava

2018-06-04

Previous studies suggest that attachment insecurities may increase after trauma exposure, an effect documented only at a group level. This study explores the heterogeneity of changes over time and examines the associations of the nature of the traumatic event (interpersonal and nonpersonal), and its consequences (posttraumatic stress disorder [PTSD] and loneliness) with attachment trajectories. Two groups of Israeli veterans participated: 164 former prisoners-of-war and 185 combat veterans. Attachment was assessed at four points (1991-2015). Risk factors were evaluated in 1991. Using latent growth mixture modeling, trajectories of attachment insecurities were explored. Three avoidance trajectories (stability, decrease, inverse u-shaped) and two anxiety trajectories (stability, decrease) were identified. The inverse u-shaped avoidance trajectory was associated with captivity, humiliation, loneliness, and PTSD, and stable avoidance was associated with loneliness. Stable anxiety was associated with captivity and loneliness. Attachment insecurities can change during aging and persist decades after a trauma. Trauma-related risk factors are related to more deleterious trajectories.

Design of fast earth-return trajectories from a lunar base

NASA Astrophysics Data System (ADS)

Anhorn, Walter

1991-09-01

The Apollo Lunar Program utilized efficient transearth trajectories which employed parking orbits in order to minimize energy requirements. This thesis concentrates on a different type of transearth trajectory. These are direct-ascent, hyperbolic trajectories which omit the parking orbits in order to achieve short flight times to and from a future lunar base. The object of the thesis is the development of a three-dimensional transearth trajectory model and associated computer program for exploring trade-offs between flight-time and energy, given various mission constraints. The program also targets the Moon with a hyperbolic trajectory, which can be used for targeting Earth impact points. The first-order model is based on an Earth-centered conic and a massless spherical Moon, using MathCAD version 3.0. This model is intended as the basis for future patched-conic formulations for the design of fast Earth-return trajectories. Applications include placing nuclear deterrent arsenals on the Moon, various space support related activities, and finally protection against Earth-threatening asteroids and comets using lunar bases.

A Cosmic Dust Sensor Based on an Array of Grid Electrodes

NASA Astrophysics Data System (ADS)

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

2014-04-01

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

Pre-natal and post-natal growth trajectories and childhood cognitive ability and mental health.

PubMed

Yang, Seungmi; Tilling, Kate; Martin, Richard; Davies, Neil; Ben-Shlomo, Yoav; Kramer, Michael S

2011-10-01

Most studies of the associations between pre-natal or post-natal growth and cognitive ability have been based on children with pathologically slow growth measured between two time points only, rather than children with normal growth trajectories estimated from multiple measures of growth. We investigated the associations of pre-natal and post-natal trajectories in both weight and length/height through the first 5 years of life with cognitive ability and mental health at 6.5 years of age among healthy children. Our study is based on 11 899 children who were born healthy at ≥37 completed weeks with birth weight ≥2500 g and had up to 13 measures of weight and length/height from birth to age 5 years and cognitive ability and behaviour measured at 6.5 years. Using a linear spline random-effects model with 2 knots at 3 and 12 months, we estimated growth trajectories for each child from birth to age 5 years in weight and length/height in four periods: gestational age-specific birth weight and length (pre-natal 'growth'), early infancy (0-3 months), late infancy (3-12 months) and early childhood (1-5 years). We used generalized estimating equations to estimate mean differences in IQ and mental health according to pre-natal and post-natal growth trajectory. IQ was measured using the Wechsler Abbreviated Scales of Intelligence, and mental health was assessed using the Strengths and Difficulties Questionnaire. A 1 standard deviation (SD) in birth weight was positively associated with cognitive ability (0.82 IQ points, 95% CI: 0.54-1.10) after adjusting for confounders. For post-natal weight gain trajectories, a 1 SD faster weight gain was associated with an increase of 0.77 (95% CI: 0.42-1.11) IQ points for early infancy, 0.30 (95% CI: 0.02-0.58) points for late infancy, and 0.40 (95% CI: 0.04-0.76) for early childhood after adjusting for confounders and for earlier growth. For length/height trajectories, the magnitudes of increase in cognitive ability were similar to each other (~0.6 points) across the four periods. Pre-natal and infancy growth, but not early childhood growth, were associated with reduced externalising behaviours. Although the effect sizes are small and residual confounding cannot be excluded, our results suggest that among healthy children, faster growth from the pre-natal period through age 5 years is positively associated with cognitive ability, whereas faster growth in the pre-natal period and infancy is positively associated with mental health at early school age.

Steady States of the Parametric Rotator and Pendulum

ERIC Educational Resources Information Center

Bouzas, Antonio O.

2010-01-01

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

Causal Inferences with Group Based Trajectory Models

ERIC Educational Resources Information Center

Haviland, Amelia M.; Nagin, Daniel S.

2005-01-01

A central theme of research on human development and psychopathology is whether a therapeutic intervention or a turning-point event, such as a family break-up, alters the trajectory of the behavior under study. This paper lays out and applies a method for using observational longitudinal data to make more confident causal inferences about the…

Trajectories of Problem Behaviors from 4 to 23 Years in Former Preterm Infants

ERIC Educational Resources Information Center

Scott, Allie; Winchester, Suzy Barcelos; Sullivan, Mary C.

2018-01-01

Premature infants have significant risk for later behavior problems. This study examined growth trajectories of three problem behaviors across five developmental age points from preschool to early adulthood in a well-characterized sample of premature infants. The effects of neonatal risk, gender, and socioeconomic context were modeled on these…

Interruptions and Failure in Higher Education: Evidence from ISEG-UTL

ERIC Educational Resources Information Center

Chagas, Margarida; Fernandaes, Graca Leao

2011-01-01

Failure in higher education (HE) is the outcome of multiple time-dependent determinants. Interruptions in students' individual school trajectories are one of them, and that is why research on this topic has been attracting much attention these days. From an individual point of view, it is expected that interruptions in school trajectory, whatever…

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.

Mission design for a halo orbiter of the earth

NASA Technical Reports Server (NTRS)

Farquhar, R. W.; Muhonen, D. P.; Richardson, D. L.

1976-01-01

The International Sun-Earth Explorer (ISEE) scientific satellite to be stationed in 1978 in the vicinity of the sun-earth interior libration point to continuously monitor the space between the sun and the earth, including the distant geomagnetic tail is described. Orbit selection considerations for the ISEE-C are discussed along with stationkeeping requirements and fuel-optimal trajectories. Due to the alignment of the interior libration point with the sun as viewed from the earth, it will be necessary to place the satellite into a 'halo orbit' around the libration point, in order to eliminate solar interference with down-link telemetry. Parametric data for transfer trajectories between an earth parking orbit (altitude about 185 km) and a libration-point orbit are presented. It is shown that the insertion magnitude required for placing a satellite into an acceptable halo orbit is rather modest.

Fast Simulation of Dynamic Ultrasound Images Using the GPU.

PubMed

Storve, Sigurd; Torp, Hans

2017-10-01

Simulated ultrasound data is a valuable tool for development and validation of quantitative image analysis methods in echocardiography. Unfortunately, simulation time can become prohibitive for phantoms consisting of a large number of point scatterers. The COLE algorithm by Gao et al. is a fast convolution-based simulator that trades simulation accuracy for improved speed. We present highly efficient parallelized CPU and GPU implementations of the COLE algorithm with an emphasis on dynamic simulations involving moving point scatterers. We argue that it is crucial to minimize the amount of data transfers from the CPU to achieve good performance on the GPU. We achieve this by storing the complete trajectories of the dynamic point scatterers as spline curves in the GPU memory. This leads to good efficiency when simulating sequences consisting of a large number of frames, such as B-mode and tissue Doppler data for a full cardiac cycle. In addition, we propose a phase-based subsample delay technique that efficiently eliminates flickering artifacts seen in B-mode sequences when COLE is used without enough temporal oversampling. To assess the performance, we used a laptop computer and a desktop computer, each equipped with a multicore Intel CPU and an NVIDIA GPU. Running the simulator on a high-end TITAN X GPU, we observed two orders of magnitude speedup compared to the parallel CPU version, three orders of magnitude speedup compared to simulation times reported by Gao et al. in their paper on COLE, and a speedup of 27000 times compared to the multithreaded version of Field II, using numbers reported in a paper by Jensen. We hope that by releasing the simulator as an open-source project we will encourage its use and further development.

Accuracy of a Real-Time, Computerized, Binocular, Three-Dimensional Trajectory-Tracking Device for Recording Functional Mandibular Movements

PubMed Central

Zhao, Tian; Yang, Huifang; Sui, Huaxin; Salvi, Satyajeet Sudhir; Wang, Yong; Sun, Yuchun

2016-01-01

Objective Developments in digital technology have permitted researchers to study mandibular movements. Here, the accuracy of a real-time, computerized, binocular, three-dimensional (3D) trajectory-tracking device for recording functional mandibular movements was evaluated. Methods An occlusal splint without the occlusal region was created based on a plaster cast of the lower dentition. The splint was rigidly connected with a target on its labial side and seated on the cast. The cast was then rigidly attached to the stage of a high-precision triaxial electronic translator, which was used to move the target-cast-stage complex. Half-circular movements (5.00-mm radius) in three planes (XOY, XOZ, YOZ) and linear movements along the x-axis were performed at 5.00 mm/s. All trajectory points were recorded with the binocular 3D trajectory-tracking device and fitted to arcs or lines, respectively, with the Imageware software. To analyze the accuracy of the trajectory-tracking device, the mean distances between the trajectory points and the fitted arcs or lines were measured, and the mean differences between the lengths of the fitted arcs’ radii and a set value (5.00 mm) were then calculated. A one-way analysis of variance was used to evaluate the spatial consistency of the recording accuracy in three different planes. Results The mean distances between the trajectory points and fitted arcs or lines were 0.076 ± 0.033 mm or 0.089 ± 0.014 mm. The mean difference between the lengths of the fitted arcs’ radii and the set value (5.00 mm) was 0.025 ± 0.071 mm. A one-way ANOVA showed that the recording errors in three different planes were not statistically significant. Conclusion These results suggest that the device can record certain movements at 5.00 mm/s, which is similar to the speed of functional mandibular movements. In addition, the recordings had an error of <0.1 mm and good spatial consistency. Thus, the device meets some of the requirements necessary for recording human mandibular movements. PMID:27701462

Integrated use of spatial and semantic relationships for extracting road networks from floating car data

NASA Astrophysics Data System (ADS)

Li, Jun; Qin, Qiming; Xie, Chao; Zhao, Yue

2012-10-01

The update frequency of digital road maps influences the quality of road-dependent services. However, digital road maps surveyed by probe vehicles or extracted from remotely sensed images still have a long updating circle and their cost remain high. With GPS technology and wireless communication technology maturing and their cost decreasing, floating car technology has been used in traffic monitoring and management, and the dynamic positioning data from floating cars become a new data source for updating road maps. In this paper, we aim to update digital road maps using the floating car data from China's National Commercial Vehicle Monitoring Platform, and present an incremental road network extraction method suitable for the platform's GPS data whose sampling frequency is low and which cover a large area. Based on both spatial and semantic relationships between a trajectory point and its associated road segment, the method classifies each trajectory point, and then merges every trajectory point into the candidate road network through the adding or modifying process according to its type. The road network is gradually updated until all trajectories have been processed. Finally, this method is applied in the updating process of major roads in North China and the experimental results reveal that it can accurately derive geometric information of roads under various scenes. This paper provides a highly-efficient, low-cost approach to update digital road maps.

Libration Orbit Mission Design: Applications of Numerical & Dynamical Methods

NASA Technical Reports Server (NTRS)

Bauer, Frank (Technical Monitor); Folta, David; Beckman, Mark

2002-01-01

Sun-Earth libration point orbits serve as excellent locations for scientific investigations. These orbits are often selected to minimize environmental disturbances and maximize observing efficiency. Trajectory design in support of libration orbits is ever more challenging as more complex missions are envisioned in the next decade. Trajectory design software must be further enabled to incorporate better understanding of the libration orbit solution space and thus improve the efficiency and expand the capabilities of current approaches. The Goddard Space Flight Center (GSFC) is currently supporting multiple libration missions. This end-to-end support consists of mission operations, trajectory design, and control. It also includes algorithm and software development. The recently launched Microwave Anisotropy Probe (MAP) and upcoming James Webb Space Telescope (JWST) and Constellation-X missions are examples of the use of improved numerical methods for attaining constrained orbital parameters and controlling their dynamical evolution at the collinear libration points. This paper presents a history of libration point missions, a brief description of the numerical and dynamical design techniques including software used, and a sample of future GSFC mission designs.

Dynamic characteristics of a pump-turbine during hydraulic transients of a model pumped-storage system: 3D CFD simulation

NASA Astrophysics Data System (ADS)

Zhang, X. X.; Cheng, Y. G.; Xia, L. S.; Yang, J. D.

2014-03-01

The runaway process in a model pumped-storage system was simulated for analyzing the dynamic characteristics of a pump-turbine. The simulation was adopted by coupling 1D (One Dimensional) pipeline MOC (Method of Characteristics) equations with a 3D (Three Dimensional) pump-turbine CFD (Computational Fluid Dynamics) model, in which the water hammer wave in the 3D zone was defined by giving a pressure dependent density. We found from the results that the dynamic performances of the pump-turbine do not coincide with the static operating points, especially in the S-shaped characteristics region, where the dynamic trajectories follow ring-shaped curves. Specifically, the transient operating points with the same Q11 and M11 in different moving directions of the dynamic trajectories give different n11. The main reason of this phenomenon is that the transient flow patterns inside the pump-turbine are influenced by the ones in the previous time step, which leads to different flow patterns between the points with the same Q11 and M11 in different moving directions of the dynamic trajectories.

Indoor Modelling from Slam-Based Laser Scanner: Door Detection to Envelope Reconstruction

NASA Astrophysics Data System (ADS)

Díaz-Vilariño, L.; Verbree, E.; Zlatanova, S.; Diakité, A.

2017-09-01

Updated and detailed indoor models are being increasingly demanded for various applications such as emergency management or navigational assistance. The consolidation of new portable and mobile acquisition systems has led to a higher availability of 3D point cloud data from indoors. In this work, we explore the combined use of point clouds and trajectories from SLAM-based laser scanner to automate the reconstruction of building indoors. The methodology starts by door detection, since doors represent transitions from one indoor space to other, which constitutes an initial approach about the global configuration of the point cloud into building rooms. For this purpose, the trajectory is used to create a vertical point cloud profile in which doors are detected as local minimum of vertical distances. As point cloud and trajectory are related by time stamp, this feature is used to subdivide the point cloud into subspaces according to the location of the doors. The correspondence between subspaces and building rooms is not unambiguous. One subspace always corresponds to one room, but one room is not necessarily depicted by just one subspace, for example, in case of a room containing several doors and in which the acquisition is performed in a discontinue way. The labelling problem is formulated as combinatorial approach solved as a minimum energy optimization. Once the point cloud is subdivided into building rooms, envelop (conformed by walls, ceilings and floors) is reconstructed for each space. The connectivity between spaces is included by adding the previously detected doors to the reconstructed model. The methodology is tested in a real case study.

Trajectories of depressive symptoms among high risk African-American adolescents.

PubMed

Repetto, Paula B; Caldwell, Cleopatra H; Zimmerman, Marc A

2004-12-01

To examine the trajectories of depressive symptoms among African-American youth and the psychosocial factors associated with these trajectories. The sample included 579 African-American adolescents who were at risk of dropping out of school, interviewed annually starting from ninth grade for 4 years. The measures included depressive symptoms, anxiety symptoms, self-esteem, stress, and active coping; all self-reported. We used cluster analysis to develop longitudinal trajectories of depression in our sample. Four different trajectories of depressive symptoms were found that represented the changes in depressive symptoms among the participants. These trajectories are: consistently high (15.9%), consistently low (21.1%), decreasing (41.8%), and increasing (21.2%) depressive symptoms. The results from the comparisons of the trajectories indicated that adolescents who presented consistently high levels of depressive symptoms were more likely to be female, reported more anxiety symptoms, lower self-esteem, higher stress, and lower grade point average (GPA) compared with adolescent members of the other trajectories. Depressive symptoms may be manifested in different ways according to the patterns of change. Different correlates are associated with these trajectories of depressive symptoms and provide insights about the antecedents and consequences of the patterns of change in depressive symptoms.

The design of transfer trajectory for Ivar asteroid exploration mission

NASA Astrophysics Data System (ADS)

Qiao, Dong; Cui, Hutao; Cui, Pingyuan

2009-12-01

An impending demand for exploring the small bodies, such as the comets and the asteroids, envisioned the Chinese Deep Space exploration mission to the Near Earth asteroid Ivar. A design and optimal method of transfer trajectory for asteroid Ivar is discussed in this paper. The transfer trajectory for rendezvous with asteroid Ivar is designed by means of Earth gravity assist with deep space maneuver (Delta-VEGA) technology. A Delta-VEGA transfer trajectory is realized by several trajectory segments, which connect the deep space maneuver and swingby point. Each trajectory segment is found by solving Lambert problem. Through adjusting deep maneuver and arrival time, the match condition of swingby is satisfied. To reduce the total mission velocity increments further, a procedure is developed which minimizes total velocity increments for this scheme of transfer trajectory for asteroid Ivar. The trajectory optimization problem is solved with a quasi-Newton algorithm utilizing analytic first derivatives, which are derived from the transversality conditions associated with the optimization formulation and primer vector theory. The simulation results show the scheme for transfer trajectory causes C3 and total velocity increments decrease of 48.80% and 13.20%, respectively.

Significance of specific force models in two applications: Solar sails to sun-earth L4/L5 and grail data analysis suggesting lava tubes and buried craters on the moon

NASA Astrophysics Data System (ADS)

Sood, Rohan

In the trajectory design process, gravitational interaction between the bodies of interest plays a key role in developing the over-arching force model. However, non-gravitational forces, such as solar radiation pressure (SRP), can significantly influence the motion of a spacecraft. Incorporating SRP within the dynamical model can assist in estimating the trajectory of a spacecraft with greater precision, in particular, for a spacecraft with a large area-to-mass ratio, i.e., solar sails. Subsequently, in the trajectory design process, solar radiation pressure can be leveraged to maneuver the sail-based spacecraft. First, to construct low energy transfers, the invariant manifolds are explored that form an important tool in the computation and design of complex trajectories. The focus is the investigation of trajectory design options, incorporating solar sail dynamics, from the Earth parking orbit to the vicinity of triangular Lagrange points. Thereafter, an optimization scheme assisted in investigating the ?V requirement to depart from the Earth parking orbit. Harnessing the solar radiation pressure, the spacecraft is delivered to the vicinity of the displaced Lagrange point and maintains a trajectory close to the artificial libration point with the help of the solar sail. However, these trajectories are converged in a model formulated as a three-body problem with additional acceleration from solar radiation pressure. Thus, the trajectories are transitioned to higher fidelity ephemeris model to account for additional perturbing accelerations that may dominate the sail-craft dynamics and improve upon the trajectory design process. Alternatively, precise knowledge of the motion of a spacecraft about a central body and the contribution of the SRP can assist in deriving a highly accurate gravity field model. The high resolution gravity data can potentially assist in exploring the surface and subsurface properties of a particular body. With the goal of expanding human presence beyond Earth, sub-surface empty lava tubes on other worlds form ideal candidates for creating a permanent habitation environment safe from cosmic radiation, micrometeorite impacts and temperature extremes. In addition, gravitational analysis has also revealed large buried craters under thick piles of mare basalt, shedding light on Moon's dynamic and hostile past. In this work, gravity mapping observations from NASA's Gravity Recovery and Interior Laboratory (GRAIL) are employed to detect the presence of potential empty lava tubes and large impact craters buried beneath the lunar maria.

Interplanetary Program to Optimize Simulated Trajectories (IPOST). Volume 1: User's guide

NASA Technical Reports Server (NTRS)

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

1992-01-01

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 fo trajectory events, and selects which parameters are independent (controls) and dependent (targets), as well as other constraints and the coat function. Targeting and optimization is performed using the Stanford NPSOL algorithm. 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.

Departure Trajectory Synthesis and the Intercept Problem

NASA Technical Reports Server (NTRS)

Bolender, Michael A.; Slater, G. L.

1997-01-01

Two areas of the departure problem in air traffic control are discussed. The first topic is the generation of climb-out trajectories to a fix. The trajectories would be utilized by a scheduling algorithm to allocate runways, sequence the proposed departures, and assign a departure time. The second area is concerned with finding horizontal trajectories to merge aircraft from the TRACON to an open slot in the en-route environment. Solutions are presented for the intercept problem for two cases: (1) the aircraft is traveling at the speed of the aircraft in the jetway; (2) the merging aircraft has to accelerate to reach the speed of the aircraft in the en-route stream. An algorithm is given regarding the computation of a solution for the latter case. For the former, a set of equations is given that allows us to numerically solve for the coordinate where the merge will occur.

Impact of depressive symptoms, self-esteem and neuroticism on trajectories of overgeneral autobiographical memory over repeated trials.

PubMed

Kashdan, Todd B; Roberts, John E; Carlos, Erica L

2006-04-01

The present study examined trajectories of change in the frequency of overgeneral autobiographical memory (OGM) over the course of repeated trials, and tested whether particular dimensions of depressive symptomatology (somatic and cognitive-affective distress), self-esteem, and neuroticism account for individual differences in these trajectories. Given that depression is associated with impairments in effortful processing, we predicted that over repeated trials depression would be associated with increasingly OGM. Generalised Linear Mixed Models with Penalised Quasi-Likelihood demonstrated significant linear and quadratic trends in OGM over repeated trials, and somatic distress and self-esteem moderated these slopes. The form of these interactions suggested that somatic distress and low self-esteem primarily contribute to OGM during the second half of the trial sequence. The present findings demonstrate the value of a novel analytical approach to OGM that estimates individual trajectories of change over repeated trials.

Motion transitions of falling plates via quasisteady aerodynamics.

PubMed

Hu, Ruifeng; Wang, Lifeng

2014-07-01

In this paper, we study the dynamics of freely falling plates based on the Kirchhoff equation and the quasisteady aerodynamic model. Motion transitions among fluttering, tumbling along a cusp-like trajectory, irregular, and tumbling along a straight trajectory are obtained by solving the dynamical equations. Phase diagrams spanning between the nondimensional moment of inertia and aerodynamic coefficients or aspect ratio are built to identify regimes for these falling styles. We also investigate the stability of fixed points and bifurcation scenarios. It is found that the transitions are all heteroclinic bifurcations and the influence of the fixed-point stability is local.

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.

Association of Impaired Linear Growth and Worse Neurodevelopmental Outcome in Infants with Single Ventricle Physiology: A Report from the Pediatric Heart Network Infant Single Ventricle Trial

PubMed Central

Ravishankar, Chitra; Zak, Victor; Williams, Ismee A.; Bellinger, David C.; Gaynor, J. William; Ghanayem, Nancy S.; Krawczeski, Catherine D.; Licht, Daniel J.; Mahony, Lynn; Newburger, Jane W.; Pemberton, Victoria L.; Williams, Richard V.; Sananes, Renee; Cook, Amanda L.; Atz, Teresa; Khaikin, Svetlana; Hsu, Daphne T.

2012-01-01

Objectives To describe neurodevelopmental outcomes in infants with single ventricle (SV) physiology and determine factors associated with worse outcomes. Study design Neurodevelopmental outcomes for infants with SV enrolled in a multicenter drug trial were assessed at 14 months of age using the Bayley Scales of Infant Development-II. Multivariable regression analysis was used to identify factors associated with worse outcomes. Results Neurodevelopmental testing was performed at 14±1 months in 170/185 subjects in the trial. Hypoplastic left heart syndrome was present in 59% and 75% had undergone the Norwood operation. Mean psychomotor (PDI) and mental developmental indices (MDI) were 80±18 and 96±14 respectively (normal 100±15, P<0.001 for each). Group-based trajectory analysis provided a two-group model (high” and “low”) for height z-score trajectory and brain type natriuretic peptide (BNP) trajectory. The predicted PDI scores were 15 points higher in the “high” height z-score trajectory compared with the “low” cluster (P<.001). A higher number of serious adverse events during the trial was associated with lower PDI scores (P=.02). The predicted MDI scores were 13–17 points lower in “low height trajectory- high BNP trajectory” group compared with the other three groups (P<.001). MDI scores were also lower in subjects who required extracorporeal membrane oxygenation during the neonatal hospitalization (P=.01) or supplemental oxygen at discharge (P=.01). Conclusions Neurodevelopmental outcome at 14 months of age is impaired in infants with SV physiology. Low height trajectory and high BNP trajectory were associated with worse neurodevelopmental outcomes. Efforts to improve nutritional status alone may not improve neurodevelopmental outcomes. PMID:22939929

Cognitive Trajectory Changes Over 20 Years Before Dementia Diagnosis: A Large Cohort Study.

PubMed

Li, Ge; Larson, Eric B; Shofer, Jane B; Crane, Paul K; Gibbons, Laura E; McCormick, Wayne; Bowen, James D; Thompson, Mary Lou

2017-12-01

Longitudinal studies have shown an increase in cognitive decline many years before clinical diagnosis of dementia. We sought to estimate changes, relative to "normal" aging, in the trajectory of scores on a global cognitive function test-the Cognitive Abilities Screening Instrument (CASI). A prospective cohort study. Community-dwelling members of a U.S. health maintenance organization. Individuals aged 65 and older who had no dementia diagnosis at baseline and had at least two visits with valid CASI test score (N = 4,315). Average longitudinal trajectories, including changes in trajectory before clinical diagnosis in those who would be diagnosed with dementia, were estimated for CASI item response theory (IRT) scores. The impact of sex, education level, and APOE genotype on cognitive trajectories was assessed. Increased cognitive decline relative to "normal" aging was evident in CASI IRT at least 10 years before clinical diagnosis. Male gender, lower education, and presence of ≥1 APOE ε4 alleles were associated with lower average IRT scores. In those who would be diagnosed with dementia, a trajectory change point was estimated at an average of 3.1 years (95% confidence interval 3.0-3.2) before clinical diagnosis, after which cognitive decline appeared to accelerate. The change point did not differ by sex, education level, or APOE ε4 genotype. There were subtle differences in trajectory slopes by sex and APOE ε4 genotype, but not by education. Decline in average global cognitive function was evident at least 10 years before clinical diagnosis of dementia. The decline accelerated about 3 years before clinical diagnosis. © 2017, Copyright the Authors Journal compilation © 2017, The American Geriatrics Society.

Eye-hand coupling during closed-loop drawing: evidence of shared motor planning?

PubMed

Reina, G Anthony; Schwartz, Andrew B

2003-04-01

Previous paradigms have used reaching movements to study coupling of eye-hand kinematics. In the present study, we investigated eye-hand kinematics as curved trajectories were drawn at normal speeds. Eye and hand movements were tracked as a monkey traced ellipses and circles with the hand in free space while viewing the hand's position on a computer monitor. The results demonstrate that the movement of the hand was smooth and obeyed the 2/3 power law. Eye position, however, was restricted to 2-3 clusters along the hand's trajectory and fixed approximately 80% of the time in one of these clusters. The eye remained stationary as the hand moved away from the fixation for up to 200 ms and saccaded ahead of the hand position to the next fixation along the trajectory. The movement from one fixation cluster to another consistently occurred just after the tangential hand velocity had reached a local minimum, but before the next segment of the hand's trajectory began. The next fixation point was close to an area of high curvature along the hand's trajectory even though the hand had not reached that point along the path. A visuo-motor illusion of hand movement demonstrated that the eye movement was influenced by hand movement and not simply by visual input. During the task, neural activity of pre-motor cortex (area F4) was recorded using extracellular electrodes and used to construct a population vector of the hand's trajectory. The results suggest that the saccade onset is correlated in time with maximum curvature in the population vector trajectory for the hand movement. We hypothesize that eye and arm movements may have common, or shared, information in forming their motor plans.

Trajectory and Breakup of Cryogenic Jets in Crossflow

NASA Astrophysics Data System (ADS)

Richards, William

This study investigated the breakup processes of subcritical cryogenic jets injected in to subsonic crossflows of heated air. The crossflow speed, temperature, and jet velocity were varied to demonstrate the effect of thermal differences on a jet in crossflow. High speed back-lit photography and Mie scattering were used to examine the primary breakup regimes, trajectory, and breakup points. The breakup regimes show little change from jets in crossflow near thermodynamic equilibrium. Penetration of the jet increased with an increase in crossflow temperature. The breakup points in the streamwise direction followed trends previously observed for conventional jets. While the height of column fracture did not increase with momentum flux ratio as much as would be expected, its dependence matched that of the trajectory correlation. It is hypothesized that the observed differences are due to the development of a sheath of evaporated fluid around the main liquid core of the jet.

Chance Encounter with a Stratospheric Kerosene Rocket Plume From Russia Over California

NASA Technical Reports Server (NTRS)

Newman, P. A.; Wilson, J. C.; Ross, M. N.; Brock, C. A.; Sheridan, P. J.; Schoeberl, M. R.; Lait, L. R.; Bui, T. P.; Loewenstein, M.; Podolske, J. R.;

Using simplified Chaos Theory to manage nursing services.

PubMed

Haigh, Carol A

2008-04-01

The purpose of this study was to evaluate the part simplified chaos theory could play in the management of nursing services. As nursing care becomes more complex, practitioners need to become familiar with business planning and objective time management. There are many time-limited methods that facilitate this type of planning but few that can help practitioners to forecast the end-point outcome of the service they deliver. A growth model was applied to a specialist service to plot service trajectory. Components of chaos theory can play a role in forecasting service outcomes and consequently the impact upon the management of such services. The ability to (1) track the trajectory of a service and (2) manipulate that trajectory by introducing new variables can allow managers to forward plan for service development and to evaluate the effectiveness of a service by plotting its end-point state.

Higgsing the stringy higher spin symmetry

DOE PAGES

Gaberdiel, Matthias R.; Peng, Cheng; Zadeh, Ida G.

2015-10-01

It has recently been argued that the symmetric orbifold theory of T 4 is dual to string theory on AdS 3 × S 3 × T 4 at the tensionless point. At this point in moduli space, the theory possesses a very large symmetry algebra that includes, in particular, a W ∞ algebra capturing the gauge fields of a dual higher spin theory. Using conformal perturbation theory, we study the behaviour of the symmetry generators of the symmetric orbifold theory under the deformation that corresponds to switching on the string tension. We show that the generators fall nicely into Reggemore » trajectories, with the higher spin fields corresponding to the leading Regge trajectory. We also estimate the form of the Regge trajectories for large spin, and find evidence for the familiar logarithmic behaviour, thereby suggesting that the symmetric orbifold theory is dual to an AdS background with pure RR flux.« less

14 CFR 431.25 - Application requirements for policy review.

Code of Federal Regulations, 2011 CFR

2011-01-01

... site(s), including planned contingency abort locations, if any; (2) Flight trajectories, reentry... abort profiles, if any; (3) Sequence of planned events or maneuvers during the mission; and for an...

14 CFR 431.25 - Application requirements for policy review.

Code of Federal Regulations, 2012 CFR

2012-01-01

... site(s), including planned contingency abort locations, if any; (2) Flight trajectories, reentry... abort profiles, if any; (3) Sequence of planned events or maneuvers during the mission; and for an...

14 CFR 431.25 - Application requirements for policy review.

Code of Federal Regulations, 2013 CFR

2013-01-01

... site(s), including planned contingency abort locations, if any; (2) Flight trajectories, reentry... abort profiles, if any; (3) Sequence of planned events or maneuvers during the mission; and for an...

14 CFR 431.25 - Application requirements for policy review.

Code of Federal Regulations, 2014 CFR

2014-01-01

... site(s), including planned contingency abort locations, if any; (2) Flight trajectories, reentry... abort profiles, if any; (3) Sequence of planned events or maneuvers during the mission; and for an...

Launch mission summary: INTELSAT 5 (F4) ATLAS/CENTAUR-58

NASA Technical Reports Server (NTRS)

1982-01-01

The launch vehicle, spacecraft, and mission are described. Information relative to launch windows, flight plan, trajectory, and radar and telemetry coverage are included with brief sequence of flight events.

Multibody Parachute Flight Simulations for Planetary Entry Trajectories Using "Equilibrium Points"

NASA Technical Reports Server (NTRS)

Raiszadeh, Ben

2003-01-01

A method has been developed to reduce numerical stiffness and computer CPU requirements of high fidelity multibody flight simulations involving parachutes for planetary entry trajectories. Typical parachute entry configurations consist of entry bodies suspended from a parachute, connected by flexible lines. To accurately calculate line forces and moments, the simulations need to keep track of the point where the flexible lines meet (confluence point). In previous multibody parachute flight simulations, the confluence point has been modeled as a point mass. Using a point mass for the confluence point tends to make the simulation numerically stiff, because its mass is typically much less that than the main rigid body masses. One solution for stiff differential equations is to use a very small integration time step. However, this results in large computer CPU requirements. In the method described in the paper, the need for using a mass as the confluence point has been eliminated. Instead, the confluence point is modeled using an "equilibrium point". This point is calculated at every integration step as the point at which sum of all line forces is zero (static equilibrium). The use of this "equilibrium point" has the advantage of both reducing the numerical stiffness of the simulations, and eliminating the dynamical equations associated with vibration of a lumped mass on a high-tension string.

Space shuttle launch vehicle performance trajectory, exchange ratios, and dispersion analysis

NASA Technical Reports Server (NTRS)

Toelle, R. G.; Blackwell, D. L.; Lott, L. N.

1973-01-01

A baseline space shuttle performance trajectory for Mission 3A launched from WTR has been generated. Design constraints of maximum dynamic pressure, longitudinal acceleration, and delivered payload were satisfied. Payload exchange ratios are presented with explanation on use. Design envelopes of dynamic pressure, SRB staging point, aerodynamic heating and flight performance reserves are calculated and included.

The Trajectory of Popularity Goal during the Transition to Middle School

ERIC Educational Resources Information Center

Dawes, Molly; Xie, Hongling

2017-01-01

The trajectory of early adolescents' popularity goal during the transition to middle school was examined in a diverse sample of 401 students. Popularity goal was assessed at five time points from the spring semester of fifth grade through the spring semester of seventh grade with the transition to middle school occurring between the fifth and…

Prediction of the Aerothermodynamic Environment of the Huygens Probe

NASA Technical Reports Server (NTRS)

Hollis, Brian R.; Striepe, Scott A.; Wright, Michael J.; Bose, Deepak; Sutton, Kenneth; Takashima, Naruhisa

2005-01-01

An investigation of the aerothermodynamic environment of the Huygens entry probe has been conducted. A Monte Carlo simulation of the trajectory of the probe during entry into Titan's atmosphere was performed to identify a worst-case heating rate trajectory. Flowfield and radiation transport computations were performed at points along this trajectory to obtain convective and radiative heat-transfer distributions on the probe's heat shield. This investigation identified important physical and numerical factors, including atmospheric CH4 concentration, transition to turbulence, numerical diffusion modeling, and radiation modeling, which strongly influenced the aerothermodynamic environment.

Minimum impulse three-body trajectories.

NASA Technical Reports Server (NTRS)

D'Amario, L.; Edelbaum, T. N.

1973-01-01

A rapid and accurate method of calculating optimal impulsive transfers in the restricted problem of three bodies has been developed. The technique combines a multi-conic method of trajectory integration with primer vector theory and an accelerated gradient method of trajectory optimization. A unique feature is that the state transition matrix and the primer vector are found analytical without additional integrations or differentiations. The method has been applied to the determination of optimal two and three impulse transfers between the L2 libration point and circular orbits about both the earth and the moon.

A trajectory modeling investigation of the biomass burning-tropical ozone relationship

NASA Technical Reports Server (NTRS)

Pickering, Kenneth E.; Thompson, Anne M.; Mcnamara, Donna P.; Schoeberl, Mark R.; Lait, Leslie R.; Newman, Paul A.; Justice, Christopher O.; Kendall, Jacqueline D.

1994-01-01

The hypothesis that tropical total O3 maxima seen by the TOMS satellite derive from African biomass burning has been tested using isentropic trajectory analyses with global meteorological data fields. Two case studies from the 1989 biomass burning season demonstrate that a large fraction of the air arriving at the location of TOMS O3 maxima passed over regions of intense burning. Other trajectories initiated at a series of points over Africa and the Atlantic suggest flight strategies for field studies to be conducted in September 1992.

Class Identification Efficacy in Piecewise GMM with Unknown Turning Points

ERIC Educational Resources Information Center

Ning, Ling; Luo, Wen

2018-01-01

Piecewise GMM with unknown turning points is a new procedure to investigate heterogeneous subpopulations' growth trajectories consisting of distinct developmental phases. Unlike the conventional PGMM, which relies on theory or experiment design to specify turning points a priori, the new procedure allows for an optimal location of turning points…

A genetic technique for planning a control sequence to navigate the state space with a quasi-minimum-cost output trajectory for a non-linear multi-dimnensional system

NASA Technical Reports Server (NTRS)

Hein, C.; Meystel, A.

1994-01-01

There are many multi-stage optimization problems that are not easily solved through any known direct method when the stages are coupled. For instance, we have investigated the problem of planning a vehicle's control sequence to negotiate obstacles and reach a goal in minimum time. The vehicle has a known mass, and the controlling forces have finite limits. We have developed a technique that finds admissible control trajectories which tend to minimize the vehicle's transit time through the obstacle field. The immediate applications is that of a space robot which must rapidly traverse around 2-or-3 dimensional structures via application of a rotating thruster or non-rotating on-off for such vehicles is located at the Marshall Space Flight Center in Huntsville Alabama. However, it appears that the development method is applicable to a general set of optimization problems in which the cost function and the multi-dimensional multi-state system can be any nonlinear functions, which are continuous in the operating regions. Other applications included the planning of optimal navigation pathways through a transversability graph; the planning of control input for under-water maneuvering vehicles which have complex control state-space relationships; the planning of control sequences for milling and manufacturing robots; the planning of control and trajectories for automated delivery vehicles; and the optimization and athletic training in slalom sports.

Attitude Determination and Control Subsystem (ADCS) Preparations for the EPOXI Flyby of Comet Hartley 2

NASA Technical Reports Server (NTRS)

Luna, Michael E.; Collins, Steven M.

2011-01-01

On November 4, 2010 the former "Deep Impact" spacecraft, renamed "EPOXI" for its extended mission, flew within 700km of comet 103P/Hartley 2. In July 2005, the spacecraft had previously imaged a probe impact of comet Tempel 1. The EPOXI flyby was the fifth close encounter of a spacecraft with a comet nucleus and marked the first time in history that two comet nuclei were imaged at close range with the same suite of onboard science instruments. This challenging objective made the function of the attitude determination and control subsystem (ADCS) critical to the successful execution of the EPOXI flyby.As part of the spacecraft flyby preparations, the ADCS operations team had to perform meticulous sequence reviews, implement complex spacecraft engineering and science activities and perform numerous onboard calibrations. ADCS contributions included design and execution of 10 trajectory correction maneuvers, the science calibration of the two telescopic instruments, an in-flight demonstration of high-rate turns between Earth and comet point, and an ongoing assessment of reaction wheel health. The ADCS team was also responsible for command sequences that included updates to the onboard ephemeris and sun sensor coefficients and implementation of reaction wheel assembly (RWA) de-saturations.

Attitude Determination and Control Subsystem (ADCS) Preparations for the EPOXI Flyby of Comet Haley 2

NASA Technical Reports Server (NTRS)

Luna, Michael E.; Collins, Stephen M.

2011-01-01

On November 4, 2010 the already "in-flight" Deep Impact spacecraft flew within 700km of comet 103P/Hartley 2 as part of its extended mission EPOXI, the 5th time to date any spacecraft visited a comet. In 2005, the spacecraft had previously imaged a probe impact comet Tempel 1. The EPOXI flyby marked the first time in history that two comets were explored with the same instruments on a re-used spacecraft-with hardware and software originally designed and optimized for a different mission. This made the function of the attitude determination and control subsystem (ADCS) critical to the successful execution of the EPOXI flyby. As part of the spacecraft team preparations, the ADCS team had to perform thorough sequence reviews, key spacecraft activities and onboard calibrations. These activities included: review of background sequences for the initial conditions vector, sun sensor coefficients, and reaction wheel assembly (RWA) de-saturations; design and execution of 10 trajectory correction maneuvers; science calibration of the two telescope instruments; a flight demonstration of the fastest turns conducted by the spacecraft between Earth and comet point; and assessment of RWA health (given RWA problems on other spacecraft).

Capturing Complexities of Relationship-Level Family Planning Trajectories in Malawi.

PubMed

Furnas, Hannah E

2016-09-01

In a transitioning fertility climate, preferences and decisions surrounding family planning are constantly in flux. Malawi provides an ideal case study of family planning complexities as fertility preferences are flexible, the relationship context is unstable, and childbearing begins early. I use intensive longitudinal data from Tsogolo la Thanzi-a research project in Malawi that follows young adults in romantic partnerships through the course of their relationship. I examine two questions: (1) What are the typical patterns of family planning as young adults transition through a relationship? (2) How are family planning trajectories related to individual and relationship-level characteristics? I use sequence analysis to order family planning across time and to contextualize it within each relationship. I generate and cluster the family planning trajectories and find six distinct groups of young adults who engage in family planning in similar ways. I find that family planning is complex, dynamic, and unique to each relationship. I argue that (a) family planning research should use the relationship as the unit of analysis and (b) family planning behaviors and preferences should be sequenced over time for a better understanding of key concepts, such as unmet need. © 2016 The Population Council, Inc.

Capturing Complexities of Relationship-Level Family Planning Trajectories in Malawi

PubMed Central

Furnas, Hannah E.

2017-01-01

In a transitioning fertility climate, preferences and decisions surrounding family planning are constantly in flux. Malawi provides an ideal case study of family planning complexities as fertility preferences are flexible, the relationship context is unstable, and childbearing begins early. I use intensive longitudinal data from Tsogolo la Thanzi—a research project in Malawi that follows young adults in romantic partnerships through the course of their relationship and allows me to ask two questions: (1) What are the typical patterns of family planning as young adults transition through a relationship? (2) How are family planning trajectories related to individual and relationship-level characteristics? I use sequence analysis to order family planning across time and to contextualize it within each relationship. I generate and cluster the family planning trajectories and find six distinct groups of young adults who engage in family planning in similar ways. I find that family planning is complex, dynamic, and unique to each relationship. I argue that (a) family planning research should use the relationship as the unit of analysis and (b) family planning behaviors and preferences should be sequenced over time for a better understanding of key concepts, such as unmet need. PMID:27517867

Optimal integration of gravity in trajectory planning of vertical pointing movements.

PubMed

Crevecoeur, Frédéric; Thonnard, Jean-Louis; Lefèvre, Philippe

2009-08-01

The planning and control of motor actions requires knowledge of the dynamics of the controlled limb to generate the appropriate muscular commands and achieve the desired goal. Such planning and control imply that the CNS must be able to deal with forces and constraints acting on the limb, such as the omnipresent force of gravity. The present study investigates the effect of hypergravity induced by parabolic flights on the trajectory of vertical pointing movements to test the hypothesis that motor commands are optimized with respect to the effect of gravity on the limb. Subjects performed vertical pointing movements in normal gravity and hypergravity. We use a model based on optimal control to identify the role played by gravity in the optimal arm trajectory with minimal motor costs. First, the simulations in normal gravity reproduce the asymmetry in the velocity profiles (the velocity reaches its maximum before half of the movement duration), which typically characterizes the vertical pointing movements performed on Earth, whereas the horizontal movements present symmetrical velocity profiles. Second, according to the simulations, the optimal trajectory in hypergravity should present an increase in the peak acceleration and peak velocity despite the increase in the arm weight. In agreement with these predictions, the subjects performed faster movements in hypergravity with significant increases in the peak acceleration and peak velocity, which were accompanied by a significant decrease in the movement duration. This suggests that movement kinematics change in response to an increase in gravity, which is consistent with the hypothesis that motor commands are optimized and the action of gravity on the limb is taken into account. The results provide evidence for an internal representation of gravity in the central planning process and further suggest that an adaptation to altered dynamics can be understood as a reoptimization process.

Trend-Residual Dual Modeling for Detection of Outliers in Low-Cost GPS Trajectories.

PubMed

Chen, Xiaojian; Cui, Tingting; Fu, Jianhong; Peng, Jianwei; Shan, Jie

2016-12-01

Low-cost GPS (receiver) has become a ubiquitous and integral part of our daily life. Despite noticeable advantages such as being cheap, small, light, and easy to use, its limited positioning accuracy devalues and hampers its wide applications for reliable mapping and analysis. Two conventional techniques to remove outliers in a GPS trajectory are thresholding and Kalman-based methods, which are difficult in selecting appropriate thresholds and modeling the trajectories. Moreover, they are insensitive to medium and small outliers, especially for low-sample-rate trajectories. This paper proposes a model-based GPS trajectory cleaner. Rather than examining speed and acceleration or assuming a pre-determined trajectory model, we first use cubic smooth spline to adaptively model the trend of the trajectory. The residuals, i.e., the differences between the trend and GPS measurements, are then further modeled by time series method. Outliers are detected by scoring the residuals at every GPS trajectory point. Comparing to the conventional procedures, the trend-residual dual modeling approach has the following features: (a) it is able to model trajectories and detect outliers adaptively; (b) only one critical value for outlier scores needs to be set; (c) it is able to robustly detect unapparent outliers; and (d) it is effective in cleaning outliers for GPS trajectories with low sample rates. Tests are carried out on three real-world GPS trajectories datasets. The evaluation demonstrates an average of 9.27 times better performance in outlier detection for GPS trajectories than thresholding and Kalman-based techniques.

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.

Trajectory NG: portable, compressed, general molecular dynamics trajectories.

PubMed

Spångberg, Daniel; Larsson, Daniel S D; van der Spoel, David

2011-10-01

We present general algorithms for the compression of molecular dynamics trajectories. The standard ways to store MD trajectories as text or as raw binary floating point numbers result in very large files when efficient simulation programs are used on supercomputers. Our algorithms are based on the observation that differences in atomic coordinates/velocities, in either time or space, are generally smaller than the absolute values of the coordinates/velocities. Also, it is often possible to store values at a lower precision. We apply several compression schemes to compress the resulting differences further. The most efficient algorithms developed here use a block sorting algorithm in combination with Huffman coding. Depending on the frequency of storage of frames in the trajectory, either space, time, or combinations of space and time differences are usually the most efficient. We compare the efficiency of our algorithms with each other and with other algorithms present in the literature for various systems: liquid argon, water, a virus capsid solvated in 15 mM aqueous NaCl, and solid magnesium oxide. We perform tests to determine how much precision is necessary to obtain accurate structural and dynamic properties, as well as benchmark a parallelized implementation of the algorithms. We obtain compression ratios (compared to single precision floating point) of 1:3.3-1:35 depending on the frequency of storage of frames and the system studied.

Dehydration and Lagrangian Cold Point in the extratropical Tropopause region

NASA Astrophysics Data System (ADS)

Hoor, P.; Wernli, H.

2012-04-01

The tropopause region of the tropics and extratropics is sensitive to modifications of the radiation budget through changes of radiatively active substances like ozone and water vapour. Both may also modify the temperature structure and the strengths of the tropopause inversion layer (TIL). Stratospheric water vapour is mainly controlled by dehydration in the tropics. Ascending air masses encounter their minimum temperature in the TTL region (tropical tropopause layer) which determines the water vapour fraction which enters the stratosphere. In the lowermost stratosphere of the extratropics however, the tropical signal might be lost due to mixing with airmasses which crossed the tropopause (TST: troposphere to stratosphere) at higher temperatures, therefore carrying more water vapour to the extratropical stratosphere. We investigate statistical 90 day backward trajectories to investigate the role of dehydration at the extratropical tropopause for the water vapour budget at the tropopause at mid and high latitudes. We use a set of 800000 trajectories for summer and winter, respectively, on the basis of ECMWF-T799L91 operational data (kinematic wind fields). We analyze the trajectories for the time and locations of their cold point and TST. Our results indicate that : 1) TST and dehydration occur at different locations 2) Dehydration occurs in general before trajectories enter the stratosphere 3) Dehydration of TST trajectories can occur in northern winter after TST in the region of high tropopauses over Siberia

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

NASA Technical Reports Server (NTRS)

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

1974-01-01

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

Trajectories of Resilience, Resistance, and Distress During Ongoing Terrorism: The Case of Jews and Arabs in Israel

PubMed Central

Hobfoll, Stevan E.; Palmieri, Patrick A.; Johnson, Robert J.; Canetti-Nisim, Daphna; Hall, Brian J.; Galea, Sandro

2010-01-01

This is the 1st longitudinal examination of trajectories of resilience and resistance (rather than ill-being) among a national sample under ongoing threat of mass casualty. The authors interviewed a nationally representative sample of Jews and Arabs in Israel (N = 709) at 2 times during a period of terrorist and rocket attacks (2004–2005). The resistance trajectory, exhibiting few or no symptoms of traumatic stress and depression at both time points, was substantially less common (22.1%) than has previously been documented in studies following single mass casualty events. The resilience trajectory, exhibiting initial symptoms and becoming relatively nonsymptomatic, was evidenced by 13.5% of interviewees. The chronic distress trajectory was documented among a majority of participants (54.0%), and a small proportion of persons were initially relatively symptom-free but became distressed (termed delayed distress trajectory; 10.3%). Less psychosocial resource loss and majority status (Jewish) were the most consistent predictors of resistance and resilience trajectories, followed by greater socioeconomic status, greater support from friends, and less report of posttraumatic growth. PMID:19170460

JacksonBot - Design, Simulation and Optimal Control of an Action Painting Robot

NASA Astrophysics Data System (ADS)

Raschke, Michael; Mombaur, Katja; Schubert, Alexander

We present the robotics platform JacksonBot which is capable to produce paintings inspired by the Action Painting style of Jackson Pollock. A dynamically moving robot arm splashes color from a container at the end effector on the canvas. The paintings produced by this platform rely on a combination of the algorithmic generation of robot arm motions with random effects of the splashing color. The robot can be considered as a complex and powerful tool to generate art works programmed by a user. Desired end effector motions can be prescribed either by mathematical functions, by point sequences or by data glove motions. We have evaluated the effect of different shapes of input motions on the resulting painting. In order to compute the robot joint trajectories necessary to move along a desired end effector path, we use an optimal control based approach to solve the inverse kinematics problem.

Tidal disruptions by supermassive black holes - Hydrodynamic evolution of stars on a Schwarzschild background

NASA Technical Reports Server (NTRS)

Laguna, Pablo; Miller, Warner A.; Zurek, Wojciech H.; Davies, Melvyn B.

1993-01-01

We present a three-dimensional numerical study of tidal disruption of a main-sequence star by a supermassive black hole. The simulations include general relativistic effects which are important in this regime. We analyze stars in a marginally bound orbit around the black hole with pericentric separation of a few Schwarzschild radii. We show that during a close passage, as a result of relativistic effects analogous to the perihelion shift, the trajectories of the debris of the star fan out into a crescent-like shape centered on the black hole. We also discuss the increase of the central density of the star as it approaches pericentric distance, the fraction of the debris accreted by the hole, its accretion rate, the distribution of debris orbits bound to the hole, and the velocity of unbound ejected material. We compare these results with the disruption of the star by a Newtonian point mass.

Primeval substance delivery from Phobos to the Earth—the Phobos-Soil project: Ballistics, navigation, and flight control

NASA Astrophysics Data System (ADS)

Akim, E. L.; Zaslavsky, G. S.; Morskoy, I. M.; Ruzsky, E. G.; Stepaniants, V. A.; Tuchin, A. G.

2010-02-01

This paper is concerned with the problems of ballistics, navigation, and flight control of the space craft (SC) in the Phobos-Grunt mission. We consider an insertion into the Earth-Mars transfer trajectory, the Earth-Mars transfer, the strategy of corrections, and the accuracy of the insertion of the SC into Martian orbit. During the orbital maneuvering stage in the sphere of influence of Mars, we set up a scheme that allows for the insertion of the SC, with the prescribed accuracy, into a point 80-km above the Phobos surface over the theoretical landing area. We specify the sequence for a controlled landing and provide methods for solving the problems of navigation and control during a self-c ontained landing. We also consider the liftoff from Phobos, insertion into the parking orbit, and the Mars-Earth transfer.

Towards predictive molecular dynamics simulations of DNA: electrostatics and solution/crystal environments

NASA Astrophysics Data System (ADS)

Babin, Volodymr; Baucom, Jason; Darden, Thomas; Sagui, Celeste

2006-03-01

We have investigated to what extend molecular dynamics (MD) simulatons can reproduce DNA sequence-specific features, given different electrostatic descriptions and different cell environments. For this purpose, we have carried out multiple unrestrained MD simulations of the duplex d(CCAACGTTGG)2. With respect to the electrostatic descriptions, two different force fields were studied: a traditional description based on atomic point charges and a polarizable force field. With respect to the cell environment, the difference between crystal and solution environments is emphasized, as well as the structural importance of divalent ions. By imposing the correct experimental unit cell environment, an initial configuration with two ideal B-DNA duplexes in the unit cell is shown to converge to the crystallographic structure. To the best of our knowledge, this provides the first example of a multiple nanosecond MD trajectory that shows and ideal structure converging to an experimental one, with a significant decay of the RMSD.

Social communication in children with autism: the relationship between theory of mind and discourse development.

PubMed

Hale, Courtney M; Tager-Flusberg, Helen

2005-05-01

This longitudinal study investigated the developmental trajectory of discourse skills and theory of mind in 57 children with autism. Children were tested at two time points spaced 1 year apart. Each year they provided a natural language sample while interacting with one parent, and were given standardized vocabulary measures and a developmentally sequenced battery of theory of mind tasks. The language samples were coded for conversational skills, specifically the child's use of topic-related contingent utterances. Children with autism made significant gains over 1 year in the ability to maintain a topic of discourse. Hierarchical regression analyses demonstrated that theory of mind skills contributed unique variance to individual differences in contingent discourse ability and vice versa, when measured concurrently; however, they did not predict longitudinal changes. The findings offer some empirical support for the hypothesis that theory of mind is linked to communicative competence in children with autism.

Solar Electric Propulsion Triple-Satellite-Aided Capture With Mars Flyby

NASA Astrophysics Data System (ADS)

Patrick, Sean

Triple-Satellite-aided-capture sequences use gravity-assists at three of Jupiter's four massive Galilean moons to reduce the DeltaV required to enter into Jupiter orbit. A triple-satellite-aided capture at Callisto, Ganymede, and Io is proposed to capture a SEP spacecraft into Jupiter orbit from an interplanetary Earth-Jupiter trajectory that employs low-thrust maneuvers. The principal advantage of this method is that it combines the ISP efficiency of ion propulsion with nearly impulsive but propellant-free gravity assists. For this thesis, two main chapters are devoted to the exploration of low-thrust triple-flyby capture trajectories. Specifically, the design and optimization of these trajectories are explored heavily. The first chapter explores the design of two solar electric propulsion (SEP), low-thrust trajectories developed using the JPL's MALTO software. The two trajectories combined represent a full Earth to Jupiter capture split into a heliocentric Earth to Jupiter Sphere of Influence (SOI) trajectory and a Joviocentric capture trajectory. The Joviocentric trajectory makes use of gravity assist flybys of Callisto, Ganymede, and Io to capture into Jupiter orbit with a period of 106.3 days. Following this, in chapter two, three more SEP low-thrust trajectories were developed based upon those in chapter one. These trajectories, devised using the high-fidelity Mystic software, also developed by JPL, improve upon the original trajectories developed in chapter one. Here, the developed trajectories are each three separate, full Earth to Jupiter capture orbits. As in chapter one, a Mars gravity assist is used to augment the heliocentric trajectories. Gravity-assist flybys of Callisto, Ganymede, and Io or Europa are used to capture into Jupiter Orbit. With between 89.8 and 137.2-day periods, the orbits developed in chapters one and two are shorter than most Jupiter capture orbits achieved using low-thrust propulsion techniques. Finally, chapter 3 presents an original trajectory design for a Very-Long-Baseline Interferometry (VLBI) satellite constellation. The design was created for the 8th Global Trajectory Optimization Competition (GTOC8) in which participants are tasked with creating and optimizing low-thrust trajectories to place a series of three space craft into formation to map given radio sources.

Robot acting on moving bodies (RAMBO): Preliminary results

NASA Technical Reports Server (NTRS)

Davis, Larry S.; Dementhon, Daniel; Bestul, Thor; Ziavras, Sotirios; Srinivasan, H. V.; Siddalingaiah, Madju; Harwood, David

1989-01-01

A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Maternal posttraumatic stress disorder symptom trajectories following Hurricane Katrina: An initial examination of the impact of maternal trajectories on the well-being of disaster-exposed youth.

PubMed

Self-Brown, Shannon; Lai, Betty S; Harbin, Shannon; Kelley, Mary Lou

2014-12-01

This study examined trajectories of posttraumatic stress disorder symptoms in impoverished mothers impacted by Hurricane Katrina, as well as how predictive the maternal trajectories were for youth posttraumatic stress symptoms 2 years post-Katrina. 360 mother participants displaced by Hurricane Katrina completed self-report measures across four time points related to Hurricane exposure, trauma history, and posttraumatic stress symptoms. Additionally, the youth offspring completed a self-report measure of posttraumatic stress symptoms. Latent Class Growth Analysis demonstrated three primary trajectories emerged among females impacted by Katrina, namely, (1) chronic (4 %), (2) recovering (30 %), and (3) resilient (66 %), respectively. These trajectories were significantly impacted by prior trauma history, but not hurricane exposure. Additionally, data indicated that children whose parents fell into the chronic PTS trajectory also reported high levels of PTS symptoms. This study identified three main trajectories typical of female PTS symptoms following disaster and was the first known study to document associations between PTS outcomes among adults and their offspring impacted by a large natural disaster. Future research is warranted and should explore additional risk and protective factors that impact both the parental and child outcomes.

Practice reduces task relevant variance modulation and forms nominal trajectory

NASA Astrophysics Data System (ADS)

Osu, Rieko; Morishige, Ken-Ichi; Nakanishi, Jun; Miyamoto, Hiroyuki; Kawato, Mitsuo

2015-12-01

Humans are capable of achieving complex tasks with redundant degrees of freedom. Much attention has been paid to task relevant variance modulation as an indication of online feedback control strategies to cope with motor variability. Meanwhile, it has been discussed that the brain learns internal models of environments to realize feedforward control with nominal trajectories. Here we examined trajectory variance in both spatial and temporal domains to elucidate the relative contribution of these control schemas. We asked subjects to learn reaching movements with multiple via-points, and found that hand trajectories converged to stereotyped trajectories with the reduction of task relevant variance modulation as learning proceeded. Furthermore, variance reduction was not always associated with task constraints but was highly correlated with the velocity profile. A model assuming noise both on the nominal trajectory and motor command was able to reproduce the observed variance modulation, supporting an expression of nominal trajectories in the brain. The learning-related decrease in task-relevant modulation revealed a reduction in the influence of optimal feedback around the task constraints. After practice, the major part of computation seems to be taken over by the feedforward controller around the nominal trajectory with feedback added only when it becomes necessary.

Child personality facets and overreactive parenting as predictors of aggression and rule-breaking trajectories from childhood to adolescence.

PubMed

Becht, Andrik I; Prinzie, Peter; Deković, Maja; van den Akker, Alithe L; Shiner, Rebecca L

2016-05-01

This study examined trajectories of aggression and rule breaking during the transition from childhood to adolescence (ages 9-15), and determined whether these trajectories were predicted by lower order personality facets, overreactive parenting, and their interaction. At three time points separated by 2-year intervals, mothers and fathers reported on their children's aggression and rule breaking (N = 290, M age = 8.8 years at Time 1). At Time 1, parents reported on their children's personality traits and their own overreactivity. Growth mixture modeling identified three aggression trajectories (low decreasing, high decreasing, and high increasing) and two rule-breaking trajectories (low and high). Lower optimism and compliance and higher energy predicted trajectories for both aggression and rule breaking, whereas higher expressiveness and irritability and lower orderliness and perseverance were unique risk factors for increasing aggression into adolescence. Lower concentration was a unique risk factor for increasing rule breaking. Parental overreactivity predicted higher trajectories of aggression but not rule breaking. Only two Trait × Overreactivity interactions were found. Our results indicate that personality facets could differentiate children at risk for different developmental trajectories of aggression and rule breaking.

SU-E-J-11: A New Optical Method to Register Patient External Motion

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

Barbes, B; Azcona, J; Moreno, M

2014-06-01

Purpose: To devise and implement a new system to measure and register the patient motion during radiotherapy treatments. Methods: The system can obtain the position of several points in the 3D-space, through their projections in the 2D-images recorded by two cameras. The algorithm needs a series of constants, that are obtained using the images of a calibrated phantom.To test the system, some adhesive labels were placed on the surface of an object. Two cameras recorded the moving object over time. An in-house developed software localized the labels in each image. In the first pair of images, the program used amore » first approximation given by the user. In the subsequent images, it used the last position as an approximate location. The final exact coordinates of the point were obtained in a two-step process using the contrast of the images. From the 2D-positions of the point in each frame, the 3D-trajectories of each of these marks were obtained.The system was tested with linear displacements, oscillations of a mechanical oscillator, circular trajectories of a rotating disk, and with respiratory motion of a volunteer. Results: Trajectories of several points were reproduced with sub-millimeter accuracy in the three directions of the space. The system was able to follow periodic motion with amplitudes lower than 0.5mm; and trajectories of rotating points at speeds up to 200mm/s. The software could also track accurately the respiration motion of a person. Conclusion: A new, inexpensive optical tracking system for patient motion has been demonstrated. The system detects motion with high accuracy. Installation and calibration of the system is simple and quick. Data collection is not expected to involve any discomfort for the patient, nor any delay for the treatment. The system could be also used as a method of warning for patient movements, and for gating. We acknowledge financial support from Fundacion Mutua Madrilena, Madrid, Spain.« less

Straight trajectory planning for keyhole neurosurgery in sheep with automatic brain structures segmentation

NASA Astrophysics Data System (ADS)

Favaro, Alberto; Lad, Akash; Formenti, Davide; Zani, Davide Danilo; De Momi, Elena

2017-03-01

In a translational neuroscience/neurosurgery perspective, sheep are considered good candidates to study because of the similarity between their brain and the human one. Automatic planning systems for safe keyhole neurosurgery maximize the probe/catheter distance from vessels and risky structures. This work consists in the development of a trajectories planner for straight catheters placement intended to be used for investigating the drug diffusivity mechanisms in sheep brain. Automatic brain segmentation of gray matter, white matter and cerebrospinal fluid is achieved using an online available sheep atlas. Ventricles, midbrain and cerebellum segmentation have been also carried out. The veterinary surgeon is asked to select a target point within the white matter to be reached by the probe and to define an entry area on the brain cortex. To mitigate the risk of hemorrhage during the insertion process, which can prevent the success of the insertion procedure, the trajectory planner performs a curvature analysis of the brain cortex and wipes out from the poll of possible entry points the sulci, as part of brain cortex where superficial blood vessels are naturally located. A limited set of trajectories is then computed and presented to the surgeon, satisfying an optimality criteria based on a cost function which considers the distance from critical brain areas and the whole trajectory length. The planner proved to be effective in defining rectilinear trajectories accounting for the safety constraints determined by the brain morphology. It also demonstrated a short computational time and good capability in segmenting gyri and sulci surfaces.

Social adversity in pregnancy and trajectories of women's depressive symptoms: A longitudinal study.

PubMed

Kingsbury, Ann M; Plotnikova, Maria; Clavarino, Alexandra; Mamun, Abullah; Najman, Jake M

2018-02-01

Sound evidence has linked the experience of adversity with depression. Less is known about this association over time. The aim of this study is to determine whether or not social adversity experienced by pregnant women is associated with their patterns of depressive symptoms over their reproductive life course. Data were obtained from a cohort of women collected at their first obstetrical clinic visit of an index pregnancy (time-point 1) and at a further six time-points to 27 years following the birth. Latent Class Growth Modelling was used to estimate trajectories of women's depressive symptoms over this time period. Logistic regression modelling determined the prospective association between measures of adversity in pregnancy and 27-year postpartum depression trajectories, controlling for potential confounders. Experiencing financial problems, housing problems, serious disagreements with partners and with others, and experiencing serious health problems in pregnancy were associated with membership of high and middle depression trajectories over the 27 years. Having someone close die or have a serious illness was associated with the high depression trajectory only. Younger maternal age and low family-income at first clinic visit were also associated with an increased risk of women's membership of both high and middle depression trajectories. Experiencing adversity during pregnancy predicts subsequent patterns of maternal depression over an extended period of women's reproductive life course. It is not clear whether women's experiences of adversity during pregnancy were causally associated with subsequent depression or whether there are other explanations of the observed association. Copyright © 2017 Australian College of Midwives. Published by Elsevier Ltd. All rights reserved.

Trajectories of substance use among young American Indian adolescents: patterns and predictors.

PubMed

Whitesell, Nancy Rumbaugh; Asdigian, Nancy L; Kaufman, Carol E; Big Crow, Cecelia; Shangreau, Carly; Keane, Ellen M; Mousseau, Alicia C; Mitchell, Christina M

2014-03-01

Substance use often begins earlier among American Indians compared to the rest of the United States, a troubling reality that puts Native youth at risk for escalating and problematic use. We need to understand more fully patterns of emergent substance use among young American Indian adolescents, risk factors associated with escalating use trajectories, and protective factors that can be parlayed into robust prevention strategies. We used growth mixture modeling with longitudinal data from middle-school students on a Northern Plains reservation (Wave 1 N = 381, M age at baseline = 12.77, 45.6% female) to identify subgroups exhibiting different trajectories of cigarette, alcohol, and marijuana use. We explored how both risk (e.g., exposure to stressful events, deviant peers) and protective (e.g., positive parent-child relationships, cultural identity) factors were related to these trajectories. For all substances, most youth showed trajectories characterized by low rates of substance use (nonuser classes), but many also showed patterns characterized by high and/or escalating use. Across substances, exposure to stress, early puberty, and deviant peer relationships were associated with the more problematic patterns, while strong relationships with parents and prosocial peers were associated with nonuser classes. Our measures of emergent cultural identity were generally unrelated to substance use trajectory classes among these young adolescents. The findings point to the importance of early substance use prevention programs for American Indian youth that attenuate the impact of exposure to stressful events, redirect peer relationships, and foster positive parent influences. They also point to the need to explore more fully how cultural influences can be captured.

Trajectories of psychological distress among low-income, female survivors of Hurricane Katrina.

PubMed

Lowe, Sarah R; Rhodes, Jean E

2013-01-01

The purpose of this study was to investigate trajectories of psychological distress among low-income, primarily unmarried and African American women who survived Hurricane Katrina (N = 386). Data were collected in the year prior to the hurricane as well as approximately 1 and 3 years thereafter. Using Latent Class Growth Analysis (LCGA), we detected 6 distinct trajectory groups. Over half of the participants fit into a trajectory consistent with resilience; that is, they maintained low levels of psychological distress over the course of the study, but experienced an elevation in symptoms at the first predisaster time point followed by a return to predisaster levels. The other trajectories reflected a range of psychological responses to disasters and indicated that predisaster functioning had a major influence on postdisaster psychological outcomes. Degree of exposure to hurricane-related stressors, experiences of human and pet bereavement, perceived social support, and socioeconomic status were significant predictors of trajectory group membership. Implications for research and policy are discussed. © 2013 American Orthopsychiatric Association.

PANTHER. Trajectory Analysis

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

Rintoul, Mark Daniel; Wilson, Andrew T.; Valicka, Christopher G.

We want to organize a body of trajectories in order to identify, search for, classify and predict behavior among objects such as aircraft and ships. Existing compari- son functions such as the Fr'echet distance are computationally expensive and yield counterintuitive results in some cases. We propose an approach using feature vectors whose components represent succinctly the salient information in trajectories. These features incorporate basic information such as total distance traveled and distance be- tween start/stop points as well as geometric features related to the properties of the convex hull, trajectory curvature and general distance geometry. Additionally, these features can generallymore » be mapped easily to behaviors of interest to humans that are searching large databases. Most of these geometric features are invariant under rigid transformation. We demonstrate the use of different subsets of these features to iden- tify trajectories similar to an exemplar, cluster a database of several hundred thousand trajectories, predict destination and apply unsupervised machine learning algorithms.« less

Trajectory analysis via a geometric feature space approach

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

Rintoul, Mark D.; Wilson, Andrew T.

This study aimed to organize a body of trajectories in order to identify, search for and classify both common and uncommon behaviors among objects such as aircraft and ships. Existing comparison functions such as the Fréchet distance are computationally expensive and yield counterintuitive results in some cases. We propose an approach using feature vectors whose components represent succinctly the salient information in trajectories. These features incorporate basic information such as the total distance traveled and the distance between start/stop points as well as geometric features related to the properties of the convex hull, trajectory curvature and general distance geometry. Additionally,more » these features can generally be mapped easily to behaviors of interest to humans who are searching large databases. Most of these geometric features are invariant under rigid transformation. Furthermore, we demonstrate the use of different subsets of these features to identify trajectories similar to an exemplar, cluster a database of several hundred thousand trajectories and identify outliers.« less

Essential dynamics/factor analysis for the interpretation of molecular dynamics trajectories

NASA Astrophysics Data System (ADS)

Kaźmierkiewicz, R.; Czaplewski, C.; Lammek, B.; Ciarkowski, J.

1999-01-01

Subject of this work is the analysis of molecular dynamics (MD) trajectories of neurophysins I (NPI) and II (NPII) and their complexes with the neurophyseal nonapeptide hormones oxytocin (OT) and vasopresssin (VP), respectively, simulated in water. NPs serve in the neurosecretory granules as carrier proteins for the hormones before their release to the blood. The starting data consisted of two pairs of different trajectories for each of the (NPII/VP)2 and (NPI/OT)2 heterotetramers and two more trajectories for the NPII2 and NPI2 homodimers (six trajectories in total). Using essential dynamics which, to our judgement, is equivalent to factor analysis, we found that only about 10 degrees of freedom per trajectory are necessary and sufficient to describe in full the motions relevant for the function of the protein. This is consistent with these motions to explain about 90% of the total variance of the system. These principal degrees of freedom represent slow anharmonic motional modes, clearly pointing at distinguished mobility of the atoms involved in the protein's functionality.

Trajectory analysis via a geometric feature space approach

DOE PAGES

Rintoul, Mark D.; Wilson, Andrew T.

2015-10-05

This study aimed to organize a body of trajectories in order to identify, search for and classify both common and uncommon behaviors among objects such as aircraft and ships. Existing comparison functions such as the Fréchet distance are computationally expensive and yield counterintuitive results in some cases. We propose an approach using feature vectors whose components represent succinctly the salient information in trajectories. These features incorporate basic information such as the total distance traveled and the distance between start/stop points as well as geometric features related to the properties of the convex hull, trajectory curvature and general distance geometry. Additionally,more » these features can generally be mapped easily to behaviors of interest to humans who are searching large databases. Most of these geometric features are invariant under rigid transformation. Furthermore, we demonstrate the use of different subsets of these features to identify trajectories similar to an exemplar, cluster a database of several hundred thousand trajectories and identify outliers.« less

Spatiotemporal topology and temporal sequence identification with an adaptive time-delay neural network

NASA Astrophysics Data System (ADS)

Lin, Daw-Tung; Ligomenides, Panos A.; Dayhoff, Judith E.

1993-08-01

Inspired from the time delays that occur in neurobiological signal transmission, we describe an adaptive time delay neural network (ATNN) which is a powerful dynamic learning technique for spatiotemporal pattern transformation and temporal sequence identification. The dynamic properties of this network are formulated through the adaptation of time-delays and synapse weights, which are adjusted on-line based on gradient descent rules according to the evolution of observed inputs and outputs. We have applied the ATNN to examples that possess spatiotemporal complexity, with temporal sequences that are completed by the network. The ATNN is able to be applied to pattern completion. Simulation results show that the ATNN learns the topology of a circular and figure eight trajectories within 500 on-line training iterations, and reproduces the trajectory dynamically with very high accuracy. The ATNN was also trained to model the Fourier series expansion of the sum of different odd harmonics. The resulting network provides more flexibility and efficiency than the TDNN and allows the network to seek optimal values for time-delays as well as optimal synapse weights.

Blind retrospective motion correction of MR images.

PubMed

Loktyushin, Alexander; Nickisch, Hannes; Pohmann, Rolf; Schölkopf, Bernhard

2013-12-01

Subject motion can severely degrade MR images. A retrospective motion correction algorithm, Gradient-based motion correction, which significantly reduces ghosting and blurring artifacts due to subject motion was proposed. The technique uses the raw data of standard imaging sequences; no sequence modifications or additional equipment such as tracking devices are required. Rigid motion is assumed. The approach iteratively searches for the motion trajectory yielding the sharpest image as measured by the entropy of spatial gradients. The vast space of motion parameters is efficiently explored by gradient-based optimization with a convergence guarantee. The method has been evaluated on both synthetic and real data in two and three dimensions using standard imaging techniques. MR images are consistently improved over different kinds of motion trajectories. Using a graphics processing unit implementation, computation times are in the order of a few minutes for a full three-dimensional volume. The presented technique can be an alternative or a complement to prospective motion correction methods and is able to improve images with strong motion artifacts from standard imaging sequences without requiring additional data. Copyright © 2013 Wiley Periodicals, Inc., a Wiley company.

Hydrodynamic interaction of two particles in confined linear shear flow at finite Reynolds number

NASA Astrophysics Data System (ADS)

Yan, Yiguang; Morris, Jeffrey F.; Koplik, Joel

2007-11-01

We discuss the hydrodynamic interactions of two solid bodies placed in linear shear flow between parallel plane walls in a periodic geometry at finite Reynolds number. The computations are based on the lattice Boltzmann method for particulate flow, validated here by comparison to previous results for a single particle. Most of our results pertain to cylinders in two dimensions but some examples are given for spheres in three dimensions. Either one mobile and one fixed particle or else two mobile particles are studied. The motion of a mobile particle is qualitatively similar in both cases at early times, exhibiting either trajectory reversal or bypass, depending upon the initial vector separation of the pair. At longer times, if a mobile particle does not approach a periodic image of the second, its trajectory tends to a stable limit point on the symmetry axis. The effect of interactions with periodic images is to produce nonconstant asymptotic long-time trajectories. For one free particle interacting with a fixed second particle within the unit cell, the free particle may either move to a fixed point or take up a limit cycle. Pairs of mobile particles starting from symmetric initial conditions are shown to asymptotically reach either fixed points, or mirror image limit cycles within the unit cell, or to bypass one another (and periodic images) indefinitely on a streamwise periodic trajectory. The limit cycle possibility requires finite Reynolds number and arises as a consequence of streamwise periodicity when the system length is sufficiently short.

Understanding How Lifelong Learning Shapes the Career Trajectories of Women with STEM Doctorates: The Life Experiences and Role Negotiations (LEARN) Model

ERIC Educational Resources Information Center

Jaeger, Audrey J.; Hudson, Tara D.; Pasque, Penny A.; Ampaw, Frim D.

2017-01-01

We developed the Life Experiences and Role Negotiations (LEARN) Model of the Career Trajectories of Women STEM Doctorates to shift the current research paradigm on women in STEM from explaining gender differences in career/educational outcomes and decisions at particular points to understanding how cumulative learning shapes career decisions…

Combining Group-Based Trajectory Modeling and Propensity Score Matching for Causal Inferences in Nonexperimental Longitudinal Data

ERIC Educational Resources Information Center

Haviland, Amelia; Nagin, Daniel S.; Rosenbaum, Paul R.; Tremblay, Richard E.

2008-01-01

A central theme of research on human development and psychopathology is whether a therapeutic intervention or a turning-point event, such as a family break-up, alters the trajectory of the behavior under study. This article describes and applies a method for using observational longitudinal data to make more transparent causal inferences about the…

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?

Time and Energy, Exploring Trajectory Options Between Nodes in Earth-Moon Space

NASA Technical Reports Server (NTRS)

Martinez, Roland; Condon, Gerald; Williams, Jacob

2012-01-01

The Global Exploration Roadmap (GER) was released by the International Space Exploration Coordination Group (ISECG) in September of 2011. It describes mission scenarios that begin with the International Space Station and utilize it to demonstrate necessary technologies and capabilities prior to deployment of systems into Earth-Moon space. Deployment of these systems is an intermediate step in preparation for more complex deep space missions to near-Earth asteroids and eventually Mars. In one of the scenarios described in the GER, "Asteroid Next", there are activities that occur in Earth-Moon space at one of the Earth-Moon Lagrange (libration) points. In this regard, the authors examine the possible role of an intermediate staging point in an effort to illuminate potential trajectory options for conducting missions in Earth-Moon space of increasing duration, ultimately leading to deep space missions. This paper will describe several options for transits between Low Earth Orbit (LEO) and the libration points, transits between libration points, and transits between the libration points and interplanetary trajectories. The solution space provided will be constrained by selected orbital mechanics design techniques and physical characteristics of hardware to be used in both crewed missions and uncrewed missions. The relationships between time and energy required to transfer hardware between these locations will provide a better understanding of the potential trade-offs mission planners could consider in the development of capabilities, individual missions, and mission series in the context of the ISECG GER.

Using learned under-sampling pattern for increasing speed of cardiac cine MRI based on compressive sensing principles

NASA Astrophysics Data System (ADS)

Zamani, Pooria; Kayvanrad, Mohammad; Soltanian-Zadeh, Hamid

2012-12-01

This article presents a compressive sensing approach for reducing data acquisition time in cardiac cine magnetic resonance imaging (MRI). In cardiac cine MRI, several images are acquired throughout the cardiac cycle, each of which is reconstructed from the raw data acquired in the Fourier transform domain, traditionally called k-space. In the proposed approach, a majority, e.g., 62.5%, of the k-space lines (trajectories) are acquired at the odd time points and a minority, e.g., 37.5%, of the k-space lines are acquired at the even time points of the cardiac cycle. Optimal data acquisition at the even time points is learned from the data acquired at the odd time points. To this end, statistical features of the k-space data at the odd time points are clustered by fuzzy c-means and the results are considered as the states of Markov chains. The resulting data is used to train hidden Markov models and find their transition matrices. Then, the trajectories corresponding to transition matrices far from an identity matrix are selected for data acquisition. At the end, an iterative thresholding algorithm is used to reconstruct the images from the under-sampled k-space datasets. The proposed approaches for selecting the k-space trajectories and reconstructing the images generate more accurate images compared to alternative methods. The proposed under-sampling approach achieves an acceleration factor of 2 for cardiac cine MRI.

Using ToxCast data to reconstruct dynamic cell state trajectories and estimate toxicological points of departure.

EPA Pesticide Factsheets

Background: High-content imaging (HCI) allows simultaneous measurement of multiple cellular phenotypic changes and is an important tool for evaluating the biological activity of chemicals.Objectives: Our goal was to analyze dynamic cellular changes using HCI to identify the ??tipping point?? at which the cells did not show recovery towards a normal phenotypic state.Methods: HCI was used to evaluate the effects of 967 chemicals (in concentrations ranging from 0.4 to 200 03bcM) on HepG2 cells over a 72-hr exposure period. The HCI end points included p53, c-Jun, histone H2A.x, 03b1-tubulin, histone H3, alpha tubulin, mitochondrial membrane potential, mitochondrial mass, cell cycle arrest, nuclear size, and cell number. A computational model was developed to interpret HCI responses as cell-state trajectories.Results: Analysis of cell-state trajectories showed that 336 chemicals produced tipping points and that HepG2 cells were resilient to the effects of 334 chemicals up to the highest concentration (200 03bcM) and duration (72 hr) tested. Tipping points were identified as concentration-dependent transitions in system recovery, and the corresponding critical concentrations were generally between 5 and 15 times (25th and 75th percentiles, respectively) lower than the concentration that produced any significant effect on HepG2 cells. The remaining 297 chemicals require more data before they can be placed in either of these categories.Conclusions: These findings show t

Application of a Two Camera Video Imaging System to Three-Dimensional Vortex Tracking in the 80- by 120-Foot Wind Tunnel

NASA Technical Reports Server (NTRS)

Meyn, Larry A.; Bennett, Mark S.

1993-01-01

A description is presented of two enhancements for a two-camera, video imaging system that increase the accuracy and efficiency of the system when applied to the determination of three-dimensional locations of points along a continuous line. These enhancements increase the utility of the system when extracting quantitative data from surface and off-body flow visualizations. The first enhancement utilizes epipolar geometry to resolve the stereo "correspondence" problem. This is the problem of determining, unambiguously, corresponding points in the stereo images of objects that do not have visible reference points. The second enhancement, is a method to automatically identify and trace the core of a vortex in a digital image. This is accomplished by means of an adaptive template matching algorithm. The system was used to determine the trajectory of a vortex generated by the Leading-Edge eXtension (LEX) of a full-scale F/A-18 aircraft tested in the NASA Ames 80- by 120-Foot Wind Tunnel. The system accuracy for resolving the vortex trajectories is estimated to be +/-2 inches over distance of 60 feet. Stereo images of some of the vortex trajectories are presented. The system was also used to determine the point where the LEX vortex "bursts". The vortex burst point locations are compared with those measured in small-scale tests and in flight and found to be in good agreement.

Navigation of the autonomous vehicle reverse movement

NASA Astrophysics Data System (ADS)

Rachkov, M.; Petukhov, S.

2018-02-01

The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

Advances in locally constrained k-space-based parallel MRI.

PubMed

Samsonov, Alexey A; Block, Walter F; Arunachalam, Arjun; Field, Aaron S

2006-02-01

In this article, several theoretical and methodological developments regarding k-space-based, locally constrained parallel MRI (pMRI) reconstruction are presented. A connection between Parallel MRI with Adaptive Radius in k-Space (PARS) and GRAPPA methods is demonstrated. The analysis provides a basis for unified treatment of both methods. Additionally, a weighted PARS reconstruction is proposed, which may absorb different weighting strategies for improved image reconstruction. Next, a fast and efficient method for pMRI reconstruction of data sampled on non-Cartesian trajectories is described. In the new technique, the computational burden associated with the numerous matrix inversions in the original PARS method is drastically reduced by limiting direct calculation of reconstruction coefficients to only a few reference points. The rest of the coefficients are found by interpolating between the reference sets, which is possible due to the similar configuration of points participating in reconstruction for highly symmetric trajectories, such as radial and spirals. As a result, the time requirements are drastically reduced, which makes it practical to use pMRI with non-Cartesian trajectories in many applications. The new technique was demonstrated with simulated and actual data sampled on radial trajectories. Copyright 2006 Wiley-Liss, Inc.

In Vitro Validation of a Sector-Switching HIFU Device for Accelerated Treatment

NASA Astrophysics Data System (ADS)

Petrusca, Lorena; Brasset, Lucie; Cotton, Francois; Salomir, Rares; Chapelon, Jean-Yves

2009-04-01

A sector-switching method that increases the HIFU sequence duty-cycle and reduces the equivalent treatment time was tested in vitro. The MR-compatible HIFU device used consisted of 2 symmetric sectors arranged on a truncated spherical cap (focus = 45 mm, long diameter = 57.5 mm, short diameter = 35 mm). A MR-compatible, 2D positioning system provided 0.5 mm accuracy. Two sonication sequences were considered, each with the same pattern for the focal point trajectory and with identical on-state power. First, both sectors radiated simultaneously, with a power duty cycle of 60%. Second, the sectors radiated separately with balanced temporally-interleaved sonication and a power duty cycle of 87.5%. Numerical simulations were performed to predict the shape of the lesion for a given set of sequence parameters, according to a theoretical model. Fast MR thermometry (voxel size: 0.85×0.85×4.25 mm3; temporal resolution: 2 sec) was performed in two orthogonal planes (sagittal and transverse) while the 2D sonication pattern was contained in the coronal plane. Fresh samples of degassed porcine liver were used, and the macroscopic lesions were measured after HIFU. The 14400 s equivalent thermal dose isolevel was compared respectively for the two sonication sequences, both with numerical simulations and experimental MR data. No susceptibility or RF artifacts could be detected on MR data. The lesion's size ratio between reference versus the sector-switched sequence was 1.12 from simulations and 1.25 (±3.2%) from MRI derived TD. Switching the device sectors reduced the treatment time by 20% while the shape and size of the lesions were maintained. In vivo studies are required for pre-clinical validation.

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.

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.

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

PubMed

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

2015-01-01

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

Comparison of Multiple Molecular Dynamics Trajectories Calculated for the Drug-Resistant HIV-1 Integrase T66I/M154I Catalytic Domain

PubMed Central

Brigo, Alessandro; Lee, Keun Woo; Iurcu Mustata, Gabriela; Briggs, James M.

2005-01-01

HIV-1 integrase (IN) is an essential enzyme for the viral replication and an interesting target for the design of new pharmaceuticals for multidrug therapy of AIDS. Single and multiple mutations of IN at residues T66, S153, or M154 confer degrees of resistance to several inhibitors that prevent the enzyme from performing its normal strand transfer activity. Four different conformations of IN were chosen from a prior molecular dynamics (MD) simulation on the modeled IN T66I/M154I catalytic core domain as starting points for additional MD studies. The aim of this article is to understand the dynamic features that may play roles in the catalytic activity of the double mutant enzyme in the absence of any inhibitor. Moreover, we want to verify the influence of using different starting points on the MD trajectories and associated dynamical properties. By comparison of the trajectories obtained from these MD simulations we have demonstrated that the starting point does not affect the conformational space explored by this protein and that the time of the simulation is long enough to achieve convergence for this system. PMID:15764656

Career inflection points of women who successfully achieved the hospital CEO position.

PubMed

Sexton, Donald W; Lemak, Christy Harris; Wainio, Joyce Anne

2014-01-01

Women are significantly underrepresented in hospital CEO positions, and this gender disparity has changed little over the past few decades. The purpose of this study was to analyze the career trajectories of successful female healthcare executives to determine factors that generated inflections in their careers. Using qualitative research methodology, we studied the career trajectories of 20 women who successfully ascended into a hospital CEO position. Our findings revealed 25 inflection points related to education and training, experience, career management, family, networking, and mentorship and sponsorship. We found substantial differences in the career inflection points by functional background. Inflections were more pronounced early in the careers of women in healthcare management, while clinical and administrative support executives experienced more inflections later as they took on responsibilities outside of their professional roles. Only two inflections were common among all the executives: completing a graduate degree and obtaining experience as a chief operating officer. More importantly, our findings show that organizational support factors are critical for the career advancement of women. We conclude with recommendations for individuals in an effort to enhance their career trajectories. We also provide recommended activities for organizations to support the careers of women in healthcare leadership.

Iliac screw fixation using computer-assisted computer tomographic image guidance: technical note.

PubMed

Shin, John H; Hoh, Daniel J; Kalfas, Iain H

2012-03-01

Iliac screw fixation is a powerful tool used by spine surgeons to achieve fusion across the lumbosacral junction for a number of indications, including deformity, tumor, and pseudarthrosis. Complications associated with screw placement are related to blind trajectory selection and excessive soft tissue dissection. To describe the technique of iliac screw fixation using computed tomographic (CT)-based image guidance. Intraoperative registration and verification of anatomic landmarks are performed with the use of a preoperatively acquired CT of the lumbosacral spine. With the navigation probe, the ideal starting point for screw placement is selected while visualizing the intended trajectory and target on a computer screen. Once the starting point is selected and marked with a burr, a drill guide is docked within this point and the navigation probe re-inserted, confirming the trajectory. The probe is then removed and the high-speed drill reinserted within the drill guide. Drilling is performed to a depth measured on the computer screen and a screw is placed. Confirmation of accurate placement of iliac screws can be performed with standard radiographs. CT-guided navigation allows for 3-dimensional visualization of the pelvis and minimizes complications associated with soft-tissue dissection and breach of the ilium during screw placement.

Parental Child-Rearing Conflicts Through Adolescence: Trajectories and Associations With Child Characteristics and Externalizing Patterns.

PubMed

Helland, Maren S; Kjeldsen, Anne; von Soest, Tilmann; Røysamb, Espen; Gustavson, Kristin; Nilsen, Wendy

2017-06-01

Research on longitudinal interparental conflict patterns and offspring development is scarce. The population-based TOPP study (N = 459) was used to investigate (1) child-rearing conflict trajectories through four time points during childhood and adolescence (ages 8-16), and (2) associations between conflict trajectories and child characteristics (i.e., birth order, gender, externalizing patterns from early childhood). Latent profile analysis identified six distinct trajectories. Conflict levels decreased for most respondents over the adolescent offspring period, but offspring's birth order and externalizing problems were related to less typical trajectories and higher levels of conflict. Onset of externalizing problems was of additional importance for the course of parental child-rearing conflicts. The results highlight the perception of the whole family as an interwoven system. © 2017 The Authors. Journal of Research on Adolescence © 2017 Society for Research on Adolescence.

The effects of police contact on trajectories of violence: a group-based, propensity score matching analysis.

PubMed

Ward, Jeffrey T; Krohn, Marvin D; Gibson, Chris L

2014-02-01

This study uses a life course framework to investigate how police contacts may serve as a potential turning point in a violent crime trajectory. Drawing on the central ideas from deterrence and labeling theories, we determine whether individuals on different violent offending trajectories increase or decrease their offending following a police contact. Analyzing nine waves of data from the Rochester Youth Development Study, an integrated propensity score matching and latent class growth model was used. First, three violent trajectory groups emerged including high offenders, non-offenders, and low offenders. Second, after accounting for selection bias using propensity score matching procedures, experiencing a police contact increased the likelihood of future violent offending for the entire sample and for those who were on a low violent-offending trajectory specifically. These findings are interpreted as partial support for labeling theory. Limitations of the study and directions for future research are discussed.

Transitions in young adulthood: Exploring trajectories of parent-child conflict during college.

PubMed

Nelson, Sarah C; Bahrassa, Nazneen F; Syed, Moin; Lee, Richard M

2015-07-01

This longitudinal study examined trajectories of parent-child conflict from the perspective of young adults during their college years. Using group-based trajectory modeling, self-report data from 3 time points were analyzed and 4 conflict trajectories emerged. The largest group of students (65%) had low, stable levels of parent-child conflict. Ten percent of the sample reported increases in parent-child conflict, and the remainder (25%) reported 1 of 2 patterns of decreasing parent-child conflict. Students with at least 1 immigrant parent were more likely to experience changes in parent-child conflict in contrast to peers with no immigrant parents. Contrary to our hypotheses, individuals in the groups in which conflict was decreasing were more likely to experience psychological distress. Results are discussed in terms of implications for the heterogeneity of conflict trajectories over time, particularly considering the contextual influence of immigrant family status. (c) 2015 APA, all rights reserved).

Mixed Pattern Matching-Based Traffic Abnormal Behavior Recognition

PubMed Central

Cui, Zhiming; Zhao, Pengpeng

2014-01-01

A motion trajectory is an intuitive representation form in time-space domain for a micromotion behavior of moving target. Trajectory analysis is an important approach to recognize abnormal behaviors of moving targets. Against the complexity of vehicle trajectories, this paper first proposed a trajectory pattern learning method based on dynamic time warping (DTW) and spectral clustering. It introduced the DTW distance to measure the distances between vehicle trajectories and determined the number of clusters automatically by a spectral clustering algorithm based on the distance matrix. Then, it clusters sample data points into different clusters. After the spatial patterns and direction patterns learned from the clusters, a recognition method for detecting vehicle abnormal behaviors based on mixed pattern matching was proposed. The experimental results show that the proposed technical scheme can recognize main types of traffic abnormal behaviors effectively and has good robustness. The real-world application verified its feasibility and the validity. PMID:24605045

Dynamical singularities for complex initial conditions and the motion at a real separatrix.

PubMed

Shnerb, Tamar; Kay, K G

2006-04-01

This work investigates singularities occurring at finite real times in the classical dynamics of one-dimensional double-well systems with complex initial conditions. The objective is to understand the relationship between these singularities and the behavior of the systems for real initial conditions. An analytical treatment establishes that the dynamics of a quartic double well system possesses a doubly infinite sequence of singularities. These are associated with initial conditions that converge to those for the real separatrix as the singularity time becomes infinite. This confluence of singularities is shown to lead to the unstable behavior that characterizes the real motion at the separatrix. Numerical calculations confirm the existence of a large number of singularities converging to the separatrix for this and two additional double-well systems. The approach of singularities to the real axis is of particular interest since such behavior has been related to the formation of chaos in nonintegrable systems. The properties of the singular trajectories which cause this convergence to the separatrix are identified. The hyperbolic fixed point corresponding to the potential energy maximum, responsible for the characteristic motion at a separatrix, also plays a critical role in the formation of the complex singularities by delaying trajectories and then deflecting them into asymptotic regions of space from where they are directly repelled to infinity in a finite time.

Spatio-Temporal Constrained Human Trajectory Generation from the PIR Motion Detector Sensor Network Data: A Geometric Algebra Approach

PubMed Central

Yu, Zhaoyuan; Yuan, Linwang; Luo, Wen; Feng, Linyao; Lv, Guonian

2015-01-01

Passive infrared (PIR) motion detectors, which can support long-term continuous observation, are widely used for human motion analysis. Extracting all possible trajectories from the PIR sensor networks is important. Because the PIR sensor does not log location and individual information, none of the existing methods can generate all possible human motion trajectories that satisfy various spatio-temporal constraints from the sensor activation log data. In this paper, a geometric algebra (GA)-based approach is developed to generate all possible human trajectories from the PIR sensor network data. Firstly, the representation of the geographical network, sensor activation response sequences and the human motion are represented as algebraic elements using GA. The human motion status of each sensor activation are labeled using the GA-based trajectory tracking. Then, a matrix multiplication approach is developed to dynamically generate the human trajectories according to the sensor activation log and the spatio-temporal constraints. The method is tested with the MERL motion database. Experiments show that our method can flexibly extract the major statistical pattern of the human motion. Compared with direct statistical analysis and tracklet graph method, our method can effectively extract all possible trajectories of the human motion, which makes it more accurate. Our method is also likely to provides a new way to filter other passive sensor log data in sensor networks. PMID:26729123

Spatio-Temporal Constrained Human Trajectory Generation from the PIR Motion Detector Sensor Network Data: A Geometric Algebra Approach.

PubMed

Yu, Zhaoyuan; Yuan, Linwang; Luo, Wen; Feng, Linyao; Lv, Guonian

2015-12-30

Passive infrared (PIR) motion detectors, which can support long-term continuous observation, are widely used for human motion analysis. Extracting all possible trajectories from the PIR sensor networks is important. Because the PIR sensor does not log location and individual information, none of the existing methods can generate all possible human motion trajectories that satisfy various spatio-temporal constraints from the sensor activation log data. In this paper, a geometric algebra (GA)-based approach is developed to generate all possible human trajectories from the PIR sensor network data. Firstly, the representation of the geographical network, sensor activation response sequences and the human motion are represented as algebraic elements using GA. The human motion status of each sensor activation are labeled using the GA-based trajectory tracking. Then, a matrix multiplication approach is developed to dynamically generate the human trajectories according to the sensor activation log and the spatio-temporal constraints. The method is tested with the MERL motion database. Experiments show that our method can flexibly extract the major statistical pattern of the human motion. Compared with direct statistical analysis and tracklet graph method, our method can effectively extract all possible trajectories of the human motion, which makes it more accurate. Our method is also likely to provides a new way to filter other passive sensor log data in sensor networks.

Optimal trajectories of aircraft and spacecraft

NASA Technical Reports Server (NTRS)

Miele, A.

1990-01-01

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

Trajectory-Based Loads for the Ares I-X Test Flight Vehicle

NASA Technical Reports Server (NTRS)

Vause, Roland F.; Starr, Brett R.

2011-01-01

In trajectory-based loads, the structural engineer treats each point on the trajectory as a load case. Distributed aero, inertial, and propulsion forces are developed for the structural model which are equivalent to the integrated values of the trajectory model. Free-body diagrams are then used to solve for the internal forces, or loads, that keep the applied aero, inertial, and propulsion forces in dynamic equilibrium. There are several advantages to using trajectory-based loads. First, consistency is maintained between the integrated equilibrium equations of the trajectory analysis and the distributed equilibrium equations of the structural analysis. Second, the structural loads equations are tied to the uncertainty model for the trajectory systems analysis model. Atmosphere, aero, propulsion, mass property, and controls uncertainty models all feed into the dispersions that are generated for the trajectory systems analysis model. Changes in any of these input models will affect structural loads response. The trajectory systems model manages these inputs as well as the output from the structural model over thousands of dispersed cases. Large structural models with hundreds of thousands of degrees of freedom would execute too slowly to be an efficient part of several thousand system analyses. Trajectory-based loads provide a means for the structures discipline to be included in the integrated systems analysis. Successful applications of trajectory-based loads methods for the Ares I-X vehicle are covered in this paper. Preliminary design loads were based on 2000 trajectories using Monte Carlo dispersions. Range safety loads were tied to 8423 malfunction turn trajectories. In addition, active control system loads were based on 2000 preflight trajectories using Monte Carlo dispersions.

A Framework for Validating Traffic Simulation Models at the Vehicle Trajectory Level

DOT National Transportation Integrated Search

2017-03-01

Based on current practices, traffic simulation models are calibrated and validated using macroscopic measures such as 15-minute averages of traffic counts or average point-to-point travel times. For an emerging number of applications, including conne...

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

NASA Astrophysics Data System (ADS)

Mishra, Anuj; Chakraborty, Subenoy

2018-05-01

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

The flight of Newton's cannonball

NASA Astrophysics Data System (ADS)

Pesnell, W. Dean

2018-05-01

Newton's Cannon is a thought experiment used to motivate orbital motion. Cannonballs were fired from a high mountain at increasing muzzle velocity until they orbit the Earth. We will use the trajectories of these cannonballs to describe the shape of orbital tunnels that allow a cannonball fired from a high mountain to pass through the Earth. A sphere of constant density is used as the model of the Earth to take advantage of the analytic solutions for the interior trajectories that exist for that model. For the example shown, the cannonball trajectories that pass through the Earth intersect near the antipodal point of the cannon.

Prediction during statistical learning, and implications for the implicit/explicit divide

PubMed Central

Dale, Rick; Duran, Nicholas D.; Morehead, J. Ryan

2012-01-01

Accounts of statistical learning, both implicit and explicit, often invoke predictive processes as central to learning, yet practically all experiments employ non-predictive measures during training. We argue that the common theoretical assumption of anticipation and prediction needs clearer, more direct evidence for it during learning. We offer a novel experimental context to explore prediction, and report results from a simple sequential learning task designed to promote predictive behaviors in participants as they responded to a short sequence of simple stimulus events. Predictive tendencies in participants were measured using their computer mouse, the trajectories of which served as a means of tapping into predictive behavior while participants were exposed to very short and simple sequences of events. A total of 143 participants were randomly assigned to stimulus sequences along a continuum of regularity. Analysis of computer-mouse trajectories revealed that (a) participants almost always anticipate events in some manner, (b) participants exhibit two stable patterns of behavior, either reacting to vs. predicting future events, (c) the extent to which participants predict relates to performance on a recall test, and (d) explicit reports of perceiving patterns in the brief sequence correlates with extent of prediction. We end with a discussion of implicit and explicit statistical learning and of the role prediction may play in both kinds of learning. PMID:22723817

Launch mission summary: Intelsat 5 (F3) Atlas/Centaur-55

NASA Technical Reports Server (NTRS)

1981-01-01

Intelsat 5 (F3) spacecraft, launch vehicle, and mission are described. Information relative to launch windows, flight plan, radar and telemetry coverage, selected trajectory information, and a brief sequence of flight events is provided.

Trend-Residual Dual Modeling for Detection of Outliers in Low-Cost GPS Trajectories

PubMed Central

Chen, Xiaojian; Cui, Tingting; Fu, Jianhong; Peng, Jianwei; Shan, Jie

2016-01-01

Low-cost GPS (receiver) has become a ubiquitous and integral part of our daily life. Despite noticeable advantages such as being cheap, small, light, and easy to use, its limited positioning accuracy devalues and hampers its wide applications for reliable mapping and analysis. Two conventional techniques to remove outliers in a GPS trajectory are thresholding and Kalman-based methods, which are difficult in selecting appropriate thresholds and modeling the trajectories. Moreover, they are insensitive to medium and small outliers, especially for low-sample-rate trajectories. This paper proposes a model-based GPS trajectory cleaner. Rather than examining speed and acceleration or assuming a pre-determined trajectory model, we first use cubic smooth spline to adaptively model the trend of the trajectory. The residuals, i.e., the differences between the trend and GPS measurements, are then further modeled by time series method. Outliers are detected by scoring the residuals at every GPS trajectory point. Comparing to the conventional procedures, the trend-residual dual modeling approach has the following features: (a) it is able to model trajectories and detect outliers adaptively; (b) only one critical value for outlier scores needs to be set; (c) it is able to robustly detect unapparent outliers; and (d) it is effective in cleaning outliers for GPS trajectories with low sample rates. Tests are carried out on three real-world GPS trajectories datasets. The evaluation demonstrates an average of 9.27 times better performance in outlier detection for GPS trajectories than thresholding and Kalman-based techniques. PMID:27916944

Lifecourse Childhood Adiposity Trajectories Associated With Adolescent Insulin Resistance

PubMed Central

Huang, Rae-Chi; de Klerk, Nicholas H.; Smith, Anne; Kendall, Garth E.; Landau, Louis I.; Mori, Trevor A.; Newnham, John P.; Stanley, Fiona J.; Oddy, Wendy H.; Hands, Beth; Beilin, Lawrence J.

2011-01-01

OBJECTIVE In light of the obesity epidemic, we aimed to characterize novel childhood adiposity trajectories from birth to age 14 years and to determine their relation to adolescent insulin resistance. RESEARCH DESIGN AND METHODS A total of 1,197 Australian children with cardiovascular/metabolic profiling at age 14 years were studied serially from birth to age 14 years. Semiparametric mixture modeling was applied to anthropometric data over eight time points to generate adiposity trajectories of z scores (weight-for-height and BMI). Fasting insulin and homeostasis model assessment of insulin resistance (HOMA-IR) were compared at age 14 years between adiposity trajectories. RESULTS Seven adiposity trajectories were identified. Three (two rising and one chronic high adiposity) trajectories comprised 32% of the population and were associated with significantly higher fasting insulin and HOMA-IR compared with a reference trajectory group (with longitudinal adiposity z scores of approximately zero). There was a significant sex by trajectory group interaction (P < 0.001). Girls within a rising trajectory from low to moderate adiposity did not show increased insulin resistance. Maternal obesity, excessive weight gain during pregnancy, and gestational diabetes were more prevalent in the chronic high adiposity trajectory. CONCLUSIONS A range of childhood adiposity trajectories exist. The greatest insulin resistance at age 14 years is seen in those with increasing trajectories regardless of birth weight and in high birth weight infants whose adiposity remains high. Public health professionals should urgently target both excessive weight gain in early childhood across all birth weights and maternal obesity and excessive weight gain during pregnancy. PMID:21378216

Improvement of Automated POST Case Success Rate Using Support Vector Machines

NASA Technical Reports Server (NTRS)

Zwack, Matthew R.; Dees, Patrick D.

2017-01-01

During early conceptual design of complex systems, concept down selection can have a large impact upon program life-cycle cost. Therefore, any concepts selected during early design will inherently commit program costs and affect the overall probability of program success. For this reason it is important to consider as large a design space as possible in order to better inform the down selection process. For conceptual design of launch vehicles, trajectory analysis and optimization often presents the largest obstacle to evaluating large trade spaces. This is due to the sensitivity of the trajectory discipline to changes in all other aspects of the vehicle design. Small deltas in the performance of other subsystems can result in relatively large fluctuations in the ascent trajectory because the solution space is non-linear and multi-modal [1]. In order to help capture large design spaces for new launch vehicles, the authors have performed previous work seeking to automate the execution of the industry standard tool, Program to Optimize Simulated Trajectories (POST). This work initially focused on implementation of analyst heuristics to enable closure of cases in an automated fashion, with the goal of applying the concepts of design of experiments (DOE) and surrogate modeling to enable near instantaneous throughput of vehicle cases [2]. Additional work was then completed to improve the DOE process by utilizing a graph theory based approach to connect similar design points [3]. The conclusion of the previous work illustrated the utility of the graph theory approach for completing a DOE through POST. However, this approach was still dependent upon the use of random repetitions to generate seed points for the graph. As noted in [3], only 8% of these random repetitions resulted in converged trajectories. This ultimately affects the ability of the random reps method to confidently approach the global optima for a given vehicle case in a reasonable amount of time. With only an 8% pass rate, tens or hundreds of thousands of reps may be needed to be confident that the best repetition is at least close to the global optima. However, typical design study time constraints require that fewer repetitions be attempted, sometimes resulting in seed points that have only a handful of successful completions. If a small number of successful repetitions are used to generate a seed point, the graph method may inherit some inaccuracies as it chains DOE cases from the non-global-optimal seed points. This creates inherent noise in the graph data, which can limit the accuracy of the resulting surrogate models. For this reason, the goal of this work is to improve the seed point generation method and ultimately the accuracy of the resulting POST surrogate model. The work focuses on increasing the case pass rate for seed point generation.

Trajectory Recognition as the Basis for Object Individuation: A Functional Model of Object File Instantiation and Object-Token Encoding

PubMed Central

Fields, Chris

2011-01-01

The perception of persisting visual objects is mediated by transient intermediate representations, object files, that are instantiated in response to some, but not all, visual trajectories. The standard object file concept does not, however, provide a mechanism sufficient to account for all experimental data on visual object persistence, object tracking, and the ability to perceive spatially disconnected stimuli as continuously existing objects. Based on relevant anatomical, functional, and developmental data, a functional model is constructed that bases visual object individuation on the recognition of temporal sequences of apparent center-of-mass positions that are specifically identified as trajectories by dedicated “trajectory recognition networks” downstream of the medial–temporal motion-detection area. This model is shown to account for a wide range of data, and to generate a variety of testable predictions. Individual differences in the recognition, abstraction, and encoding of trajectory information are expected to generate distinct object persistence judgments and object recognition abilities. Dominance of trajectory information over feature information in stored object tokens during early infancy, in particular, is expected to disrupt the ability to re-identify human and other individuals across perceptual episodes, and lead to developmental outcomes with characteristics of autism spectrum disorders. PMID:21716599

Urban Growth Detection Using Filtered Landsat Dense Time Trajectory in an Arid City

NASA Astrophysics Data System (ADS)

Ye, Z.; Schneider, A.

2014-12-01

Among all remote sensing environment monitoring techniques, time series analysis of biophysical index is drawing increasing attention. Although many of them studied forest disturbance and land cover change detection, few focused on urban growth mapping at medium spatial resolution. As Landsat archive becomes open accessible, methods using Landsat time-series imagery to detect urban growth is possible. It is found that a time trajectory from a newly developed urban area shows a dramatic drop of vegetation index. This enable the utilization of time trajectory analysis to distinguish impervious surface and crop land that has a different temporal biophysical pattern. Also, the time of change can be estimated, yet many challenges remain. Landsat data has lower temporal resolution, which may be worse when cloud-contaminated pixels and SLC-off effect exist. It is difficult to tease apart intra-annual, inter-annual, and land cover difference in a time series. Here, several methods of time trajectory analysis are utilized and compared to find a computationally efficient and accurate way on urban growth detection. A case study city, Ankara, Turkey is chosen for its arid climate and various landscape distributions. For preliminary research, Landsat TM and ETM+ scenes from 1998 to 2002 are chosen. NDVI, EVI, and SAVI are selected as research biophysical indices. The procedure starts with a seasonality filtering. Only areas with seasonality need to be filtered so as to decompose seasonality and extract overall trend. Harmonic transform, wavelet transform, and a pre-defined bell shape filter are used to estimate the overall trend in the time trajectory for each pixel. The point with significant drop in the trajectory is tagged as change point. After an urban change is detected, forward and backward checking is undertaken to make sure it is really new urban expansion other than short time crop fallow or forest disturbance. The method proposed here can capture most of the urban growth during research time period, although the accuracy of time point determination is a bit lower than this. Results from several biophysical indices and filtering methods are similar. Some fallows and bare lands in arid area are easily confused with urban impervious surface.

Optimal transfers between libration-point orbits in the elliptic restricted three-body problem

NASA Astrophysics Data System (ADS)

Hiday, Lisa Ann

1992-09-01

A strategy is formulated to design optimal impulsive transfers between three-dimensional libration-point orbits in the vicinity of the interior L(1) libration point of the Sun-Earth/Moon barycenter system. Two methods of constructing nominal transfers, for which the fuel cost is to be minimized, are developed; both inferior and superior transfers between two halo orbits are considered. The necessary conditions for an optimal transfer trajectory are stated in terms of the primer vector. The adjoint equation relating reference and perturbed trajectories in this formulation of the elliptic restricted three-body problem is shown to be distinctly different from that obtained in the analysis of trajectories in the two-body problem. Criteria are established whereby the cost on a nominal transfer can be improved by the addition of an interior impulse or by the implementation of coastal arcs in the initial and final orbits. The necessary conditions for the local optimality of a time-fixed transfer trajectory possessing additional impulses are satisfied by requiring continuity of the Hamiltonian and the derivative of the primer vector at all interior impulses. The optimality of a time-free transfer containing coastal arcs is surmised by examination of the slopes at the endpoints of a plot of the magnitude of the primer vector over the duration of the transfer path. If the initial and final slopes of the primer magnitude are zero, the transfer trajectory is optimal; otherwise, the execution of coasts is warranted. The position and timing of each interior impulse applied to a time-fixed transfer as well as the direction and length of coastal periods implemented on a time-free transfer are specified by the unconstrained minimization of the appropriate variation in cost utilizing a multivariable search technique. Although optimal solutions in some instances are elusive, the time-fixed and time-free optimization algorithms prove to be very successful in diminishing costs on nominal transfer trajectories. The inclusion of coastal arcs on time-free superior and inferior transfers results in significant modification of the transfer time of flight caused by shifts in departure and arrival locations on the halo orbits.

Algorithm research for user trajectory matching across social media networks based on paragraph2vec

NASA Astrophysics Data System (ADS)

Xu, Qian; Chen, Hongchang; Zhi, Hongxin; Wang, Yanchuan

2018-04-01

Identifying users across different social media networks (SMN) is to link accounts of the same user that belong to the same individual across SMNs. The problem is fundamental and important, and its results can benefit many applications such as cross SMN user modeling and recommendation. With the development of GPS technology and mobile communication, more and more social networks provide location services. This provides a new opportunity for cross SMN user identification. In this paper, we solve cross SMN user identification problem in an unsupervised manner by utilizing user trajectory data in SMNs. A paragraph2vec based algorithm is proposed in which location sequence feature of user trajectory is captured in temporal and spatial dimensions. Our experimental results validate the effectiveness and efficiency of our algorithm.

Mining continuous activity patterns from animal trajectory data

USGS Publications Warehouse

Wang, Y.; Luo, Ze; Baoping, Yan; Takekawa, John Y.; Prosser, Diann J.; Newman, Scott H.

2014-01-01

The increasing availability of animal tracking data brings us opportunities and challenges to intuitively understand the mechanisms of animal activities. In this paper, we aim to discover animal movement patterns from animal trajectory data. In particular, we propose a notion of continuous activity pattern as the concise representation of underlying similar spatio-temporal movements, and develop an extension and refinement framework to discover the patterns. We first preprocess the trajectories into significant semantic locations with time property. Then, we apply a projection-based approach to generate candidate patterns and refine them to generate true patterns. A sequence graph structure and a simple and effective processing strategy is further developed to reduce the computational overhead. The proposed approaches are extensively validated on both real GPS datasets and large synthetic datasets.

Path planning in GPS-denied environments via collective intelligence of distributed sensor networks

NASA Astrophysics Data System (ADS)

Jha, Devesh K.; Chattopadhyay, Pritthi; Sarkar, Soumik; Ray, Asok

2016-05-01

This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot.

On the origin of reproducible sequential activity in neural circuits

NASA Astrophysics Data System (ADS)

Afraimovich, V. S.; Zhigulin, V. P.; Rabinovich, M. I.

2004-12-01

Robustness and reproducibility of sequential spatio-temporal responses is an essential feature of many neural circuits in sensory and motor systems of animals. The most common mathematical images of dynamical regimes in neural systems are fixed points, limit cycles, chaotic attractors, and continuous attractors (attractive manifolds of neutrally stable fixed points). These are not suitable for the description of reproducible transient sequential neural dynamics. In this paper we present the concept of a stable heteroclinic sequence (SHS), which is not an attractor. SHS opens the way for understanding and modeling of transient sequential activity in neural circuits. We show that this new mathematical object can be used to describe robust and reproducible sequential neural dynamics. Using the framework of a generalized high-dimensional Lotka-Volterra model, that describes the dynamics of firing rates in an inhibitory network, we present analytical results on the existence of the SHS in the phase space of the network. With the help of numerical simulations we confirm its robustness in presence of noise in spite of the transient nature of the corresponding trajectories. Finally, by referring to several recent neurobiological experiments, we discuss possible applications of this new concept to several problems in neuroscience.

On the origin of reproducible sequential activity in neural circuits.

PubMed

Afraimovich, V S; Zhigulin, V P; Rabinovich, M I

2004-12-01

Robustness and reproducibility of sequential spatio-temporal responses is an essential feature of many neural circuits in sensory and motor systems of animals. The most common mathematical images of dynamical regimes in neural systems are fixed points, limit cycles, chaotic attractors, and continuous attractors (attractive manifolds of neutrally stable fixed points). These are not suitable for the description of reproducible transient sequential neural dynamics. In this paper we present the concept of a stable heteroclinic sequence (SHS), which is not an attractor. SHS opens the way for understanding and modeling of transient sequential activity in neural circuits. We show that this new mathematical object can be used to describe robust and reproducible sequential neural dynamics. Using the framework of a generalized high-dimensional Lotka-Volterra model, that describes the dynamics of firing rates in an inhibitory network, we present analytical results on the existence of the SHS in the phase space of the network. With the help of numerical simulations we confirm its robustness in presence of noise in spite of the transient nature of the corresponding trajectories. Finally, by referring to several recent neurobiological experiments, we discuss possible applications of this new concept to several problems in neuroscience.

Proof of Concept for the Trajectory-Level Validation Framework for Traffic Simulation Models

DOT National Transportation Integrated Search

2017-10-30

Based on current practices, traffic simulation models are calibrated and validated using macroscopic measures such as 15-minute averages of traffic counts or average point-to-point travel times. For an emerging number of applications, including conne...

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.

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.

Automatic trajectory measurement of large numbers of crowded objects

NASA Astrophysics Data System (ADS)

Li, Hui; Liu, Ye; Chen, Yan Qiu

2013-06-01

Complex motion patterns of natural systems, such as fish schools, bird flocks, and cell groups, have attracted great attention from scientists for years. Trajectory measurement of individuals is vital for quantitative and high-throughput study of their collective behaviors. However, such data are rare mainly due to the challenges of detection and tracking of large numbers of objects with similar visual features and frequent occlusions. We present an automatic and effective framework to measure trajectories of large numbers of crowded oval-shaped objects, such as fish and cells. We first use a novel dual ellipse locator to detect the coarse position of each individual and then propose a variance minimization active contour method to obtain the optimal segmentation results. For tracking, cost matrix of assignment between consecutive frames is trainable via a random forest classifier with many spatial, texture, and shape features. The optimal trajectories are found for the whole image sequence by solving two linear assignment problems. We evaluate the proposed method on many challenging data sets.

Study of talcum charging status in parallel plate electrostatic separator based on particle trajectory analysis

NASA Astrophysics Data System (ADS)

Yunxiao, CAO; Zhiqiang, WANG; Jinjun, WANG; Guofeng, LI

2018-05-01

Electrostatic separation has been extensively used in mineral processing, and has the potential to separate gangue minerals from raw talcum ore. As for electrostatic separation, the particle charging status is one of important influence factors. To describe the talcum particle charging status in a parallel plate electrostatic separator accurately, this paper proposes a modern images processing method. Based on the actual trajectories obtained from sequence images of particle movement and the analysis of physical forces applied on a charged particle, a numerical model is built, which could calculate the charge-to-mass ratios represented as the charging status of particle and simulate the particle trajectories. The simulated trajectories agree well with the experimental results obtained by images processing. In addition, chemical composition analysis is employed to reveal the relationship between ferrum gangue mineral content and charge-to-mass ratios. Research results show that the proposed method is effective for describing the particle charging status in electrostatic separation.

Diminishing-returns epistasis decreases adaptability along an evolutionary trajectory.

PubMed

Wünsche, Andrea; Dinh, Duy M; Satterwhite, Rebecca S; Arenas, Carolina Diaz; Stoebel, Daniel M; Cooper, Tim F

2017-03-01

Populations evolving in constant environments exhibit declining adaptability. Understanding the basis of this pattern could reveal underlying processes determining the repeatability of evolutionary outcomes. In principle, declining adaptability can be due to a decrease in the effect size of beneficial mutations, a decrease in the rate at which they occur, or some combination of both. By evolving Escherichia coli populations started from different steps along a single evolutionary trajectory, we show that declining adaptability is best explained by a decrease in the size of available beneficial mutations. This pattern reflected the dominant influence of negative genetic interactions that caused new beneficial mutations to confer smaller benefits in fitter genotypes. Genome sequencing revealed that starting genotypes that were more similar to one another did not exhibit greater similarity in terms of new beneficial mutations, supporting the view that epistasis acts globally, having a greater influence on the effect than on the identity of available mutations along an adaptive trajectory. Our findings provide support for a general mechanism that leads to predictable phenotypic evolutionary trajectories.

The Valec fireball and predicted meteorite fall

NASA Technical Reports Server (NTRS)

Ceplecha, Z.; Spurny, P.

1987-01-01

A fireball was photographed with a luminous trajectory below a height of 20 km. On Aug. 3, 1984, seven stations photographed this slow moving fireball, which traversed 94 km of luminous trajectory in 9.2 sec and terminated its visible flight at a height of 19.1 km. The computed dark flight trajectory intersected the surface close to Valec, a small village 40 km west of Brno. The Valec fireball was the lowest photographed fireball ever. The Valec fireball was photographed by fish eye cameras. The positional precision of all the records were within the range of 1 to 2 minutes of arc. All computations were done using the FIRBAL program, a set of almost 4000 Fortran statements run on EC 1040 computer. The average computed mass at the terminal point, i.e., the predicted mass of the biggest meteorite, was 16 kg. This number is based on the dynamical data at the terminal point solely. Visual data was also collected from occasional observers. This observed phenomenon is discussed.

Regular and Random Components in Aiming-Point Trajectory During Rifle Aiming and Shooting

PubMed Central

Goodman, Simon; Haufler, Amy; Shim, Jae Kun; Hatfield, Bradley

2009-01-01

The authors examined the kinematic qualities of the aiming trajectory as related to expertise. In all, 2 phases of the trajectory were discriminated. The first phase was regular approximation to the target accompanied by substantial fluctuations obeying the Weber–Fechner law. During the first phase, shooters did not initiate the triggering despite any random closeness of the aiming point (AP) to the target. In the second phase, beginning at 0.6–0.8 s before the trigger pull, shooters applied a different control strategy: They waited until the following random fluctuation brought the AP closer to the target and then initiated triggering. This strategy is tenable when sensitivity of perception is greater than precision of the motor action, and could be considered a case of stochastic resonance. The strategies that novices and experts used distinguished only in the values of parameters. The authors present an analytical model explaining the main properties of shooting. PMID:19508963

Spline Trajectory Algorithm Development: Bezier Curve Control Point Generation for UAVs

NASA Technical Reports Server (NTRS)

Howell, Lauren R.; Allen, B. Danette

2016-01-01

A greater need for sophisticated autonomous piloting systems has risen in direct correlation with the ubiquity of Unmanned Aerial Vehicle (UAV) technology. Whether surveying unknown or unexplored areas of the world, collecting scientific data from regions in which humans are typically incapable of entering, locating lost or wanted persons, or delivering emergency supplies, an unmanned vehicle moving in close proximity to people and other vehicles, should fly smoothly and predictably. The mathematical application of spline interpolation can play an important role in autopilots' on-board trajectory planning. Spline interpolation allows for the connection of Three-Dimensional Euclidean Space coordinates through a continuous set of smooth curves. This paper explores the motivation, application, and methodology used to compute the spline control points, which shape the curves in such a way that the autopilot trajectory is able to meet vehicle-dynamics limitations. The spline algorithms developed used to generate these curves supply autopilots with the information necessary to compute vehicle paths through a set of coordinate waypoints.

Guidance and control of swarms of spacecraft

NASA Astrophysics Data System (ADS)

Morgan, Daniel James

There has been considerable interest in formation flying spacecraft due to their potential to perform certain tasks at a cheaper cost than monolithic spacecraft. Formation flying enables the use of smaller, cheaper spacecraft that distribute the risk of the mission. Recently, the ideas of formation flying have been extended to spacecraft swarms made up of hundreds to thousands of 100-gram-class spacecraft known as femtosatellites. The large number of spacecraft and limited capabilities of each individual spacecraft present a significant challenge in guidance, navigation, and control. This dissertation deals with the guidance and control algorithms required to enable the flight of spacecraft swarms. The algorithms developed in this dissertation are focused on achieving two main goals: swarm keeping and swarm reconfiguration. The objectives of swarm keeping are to maintain bounded relative distances between spacecraft, prevent collisions between spacecraft, and minimize the propellant used by each spacecraft. Swarm reconfiguration requires the transfer of the swarm to a specific shape. Like with swarm keeping, minimizing the propellant used and preventing collisions are the main objectives. Additionally, the algorithms required for swarm keeping and swarm reconfiguration should be decentralized with respect to communication and computation so that they can be implemented on femtosats, which have limited hardware capabilities. The algorithms developed in this dissertation are concerned with swarms located in low Earth orbit. In these orbits, Earth oblateness and atmospheric drag have a significant effect on the relative motion of the swarm. The complicated dynamic environment of low Earth orbits further complicates the swarm-keeping and swarm-reconfiguration problems. To better develop and test these algorithms, a nonlinear, relative dynamic model with J2 and drag perturbations is developed. This model is used throughout this dissertation to validate the algorithms using computer simulations. The swarm-keeping problem can be solved by placing the spacecraft on J2-invariant relative orbits, which prevent collisions and minimize the drift of the swarm over hundreds of orbits using a single burn. These orbits are achieved by energy matching the spacecraft to the reference orbit. Additionally, these conditions can be repeatedly applied to minimize the drift of the swarm when atmospheric drag has a large effect (orbits with an altitude under 500 km). The swarm reconfiguration is achieved using two steps: trajectory optimization and assignment. The trajectory optimization problem can be written as a nonlinear, optimal control problem. This optimal control problem is discretized, decoupled, and convexified so that the individual femtosats can efficiently solve the optimization. Sequential convex programming is used to generate the control sequences and trajectories required to safely and efficiently transfer a spacecraft from one position to another. The sequence of trajectories is shown to converge to a Karush-Kuhn-Tucker point of the nonconvex problem. In the case where many of the spacecraft are interchangeable, a variable-swarm, distributed auction algorithm is used to determine the assignment of spacecraft to target positions. This auction algorithm requires only local communication and all of the bidding parameters are stored locally. The assignment generated using this auction algorithm is shown to be near optimal and to converge in a finite number of bids. Additionally, the bidding process is used to modify the number of targets used in the assignment so that the reconfiguration can be achieved even when there is a disconnected communication network or a significant loss of agents. Once the assignment is achieved, the trajectory optimization can be run using the terminal positions determined by the auction algorithm. To implement these algorithms in real time a model predictive control formulation is used. Model predictive control uses a finite horizon to apply the most up-to-date control sequence while simultaneously calculating a new assignment and trajectory based on updated state information. Using a finite horizon allows collisions to only be considered between spacecraft that are near each other at the current time. This relaxes the all-to-all communication assumption so that only neighboring agents need to communicate. Experimental validation is done using the formation flying testbed. The swarm-reconfiguration algorithms are tested using multiple quadrotors. Experiments have been performed using sequential convex programming for offline trajectory planning, model predictive control and sequential convex programming for real-time trajectory generation, and the variable-swarm, distributed auction algorithm for optimal assignment. These experiments show that the swarm-reconfiguration algorithms can be implemented in real time using actual hardware. In general, this dissertation presents guidance and control algorithms that maintain and reconfigure swarms of spacecraft while maintaining the shape of the swarm, preventing collisions between the spacecraft, and minimizing the amount of propellant used.

Physics of knuckleballs

NASA Astrophysics Data System (ADS)

Darbois Texier, Baptiste; Cohen, Caroline; Quéré, David; Clanet, Christophe

2016-07-01

Zigzag paths in sports ball trajectories are exceptional events. They have been reported in baseball (from where the word knuckleball comes from), in volleyball and in soccer. Such trajectories are associated with intermittent breaking of the lateral symmetry in the surrounding flow. The different scenarios proposed in the literature (such as the effect of seams in baseball) are first discussed and compared to existing data. We then perform experiments on zigzag trajectories and propose a new explanation based on unsteady lift forces. In a second step, we exploit wind tunnel measurements of these unsteady lift forces to solve the equations of motion for various sports and deduce the characteristics of the zigzags, pointing out the role of the drag crisis. Finally, the conditions for the observation of such trajectories in sports are discussed.

A SPACE TRAJECTORY RADIATION EXPOSURE PROCEDURE FOR CISLUNAR MISSIONS

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

Cranford, W.; Falkenbury, R.F.; Miller, R.A.

1962-07-31

The Space Trajectory Radiation Exposure Procedure (STREP) is designed for use in computing the timeintegrated spectra for any specified trajectory in cislunar space for any combination of the several components of space radiations. These components include Van Allen protons and electrons; solar-flare protons, electrons, heavy particles, and gamma radiation; cosmic protons and heavy particles; albedo neutrons, and aurora borealis gamma radiation. The program can also be used to calculate the accumulated dose behind a thin vehicle skin at any time after the start of the mission. The technique of interpolation for intermediate points along the prescribed space trajectory is describedmore » in detail. The method of representation of the space radiation data as input for the calculation of the dose and time-integrated spectra is discussed. (auth)« less

Full scale visualization of the wing tip vortices generated by a typical agricultural aircraft

NASA Technical Reports Server (NTRS)

Cross, E. J., Jr.; Bridges, P.; Brownlee, J. A.; Liningston, W. W.

1980-01-01

The trajectories of the wing tip vortices of a typical agricultural aircraft were experimentally determined by flight test. A flow visualization method, similar to the vapor screen method used in wind tunnels, was used to obtain trajectory data for a range of flight speeds, airplane configurations, and wing loadings. Detailed measurements of the spanwise surface pressure distribution were made for all test points. Further, a powered 1/8 scale model of the aircraft was designed, built, and used to obtain tip vortex trajectory data under conditions similar to that of the full-scale test. The effects of light wind on the vortices were demonstrated, and the interaction of the flap vortex and the tip vortex was clearly shown in photographs and plotted trajectory data.

Robot trajectory tracking with self-tuning predicted control

NASA Technical Reports Server (NTRS)

Cui, Xianzhong; Shin, Kang G.

1988-01-01

A controller that combines self-tuning prediction and control is proposed for robot trajectory tracking. The controller has two feedback loops: one is used to minimize the prediction error, and the other is designed to make the system output track the set point input. Because the velocity and position along the desired trajectory are given and the future output of the system is predictable, a feedforward loop can be designed for robot trajectory tracking with self-tuning predicted control (STPC). Parameters are estimated online to account for the model uncertainty and the time-varying property of the system. The authors describe the principle of STPC, analyze the system performance, and discuss the simplification of the robot dynamic equations. To demonstrate its utility and power, the controller is simulated for a Stanford arm.

Real-time control of optimal low-thrust transfer to the Sun-Earth L 1 halo orbit in the bicircular four-body problem

NASA Astrophysics Data System (ADS)

Salmani, Majid; Büskens, Christof

2011-11-01

In this article, after describing a procedure to construct trajectories for a spacecraft in the four-body model, a method to correct the trajectory violations is presented. To construct the trajectories, periodic orbits as the solutions of the three-body problem are used. On the other hand, the bicircular model based on the Sun-Earth rotating frame governs the dynamics of the spacecraft and other bodies. A periodic orbit around the first libration-point L1 is the destination of the mission which is one of the equilibrium points in the Sun-Earth/Moon three-body problem. In the way to reach such a far destination, there are a lot of disturbances such as solar radiation and winds that make the plans untrustworthy. However, the solar radiation pressure is considered in the system dynamics. To prevail over these difficulties, considering the whole transfer problem as an optimal control problem makes the designer to be able to correct the unavoidable violations from the pre-designed trajectory and strategies. The optimal control problem is solved by a direct method, transcribing it into a nonlinear programming problem. This transcription gives an unperturbed optimal trajectory and its sensitivities with respect perturbations. Modeling these perturbations as parameters embedded in a parametric optimal control problem, one can take advantage of the parametric sensitivity analysis of nonlinear programming problem to recalculate the optimal trajectory with a very smaller amount of computation costs. This is obtained by evaluating a first-order Taylor expansion of the perturbed solution in an iterative process which is aimed to achieve an admissible solution. At the end, the numerical results show the applicability of the presented method.

You Can't Think and Hit at the Same Time: Neural Correlates of Baseball Pitch Classification.

PubMed

Sherwin, Jason; Muraskin, Jordan; Sajda, Paul

2012-01-01

Hitting a baseball is often described as the most difficult thing to do in sports. A key aptitude of a good hitter is the ability to determine which pitch is coming. This rapid decision requires the batter to make a judgment in a fraction of a second based largely on the trajectory and spin of the ball. When does this decision occur relative to the ball's trajectory and is it possible to identify neural correlates that represent how the decision evolves over a split second? Using single-trial analysis of electroencephalography (EEG) we address this question within the context of subjects discriminating three types of pitches (fastball, curveball, slider) based on pitch trajectories. We find clear neural signatures of pitch classification and, using signal detection theory, we identify the times of discrimination on a trial-to-trial basis. Based on these neural signatures we estimate neural discrimination distributions as a function of the distance the ball is from the plate. We find all three pitches yield unique distributions, namely the timing of the discriminating neural signatures relative to the position of the ball in its trajectory. For instance, fastballs are discriminated at the earliest points in their trajectory, relative to the two other pitches, which is consistent with the need for some constant time to generate and execute the motor plan for the swing (or inhibition of the swing). We also find incorrect discrimination of a pitch (errors) yields neural sources in Brodmann Area 10, which has been implicated in prospective memory, recall, and task difficulty. In summary, we show that single-trial analysis of EEG yields informative distributions of the relative point in a baseball's trajectory when the batter makes a decision on which pitch is coming.

The dynamics and control of solar-sail spacecraft in displaced lunar orbits

NASA Astrophysics Data System (ADS)

Wawrzyniak, Geoffrey George

Trajectory generation for any spacecraft mission application typically involves either well-developed analytical approximations or a linearization with respect to a known solution. Such approximations are based on the well-understood dynamics of behavior in the system. However, when two or more large bodies (e.g., the Earth and the Moon or the Sun, the Earth and the Moon) are present, trajectories in the multi-body gravitational field can evolve chaotically. The problem is further complicated when an additional force from a solar sail is included. Solar sail trajectories are often developed in a Sun-centered reference frame in which the sunlight direction is fixed. New challenges arise when modeling a solar-sail trajectory in a reference frame attached to the Earth and the Moon (a frame that rotates in inertial space). Advantages accrue from geometry and symmetry properties that are available in this Earth--Moon reference frame, but the Sun location and the sunlight direction change with time. Current trajectory design tools can reveal many solutions within these regimes. Recent work using numerical boundary value problem (BVP) solvers has demonstrated great promise for uncovering additional and, sometimes, "better" solutions to problems in spacecraft trajectory design involving solar sails. One such approach to solving BVPs is the finite-difference method. Derivatives that appear in the differential equations are replaced with their respective finite differences and evaluated at node points along the trajectory. The solution process is iterative. A candidate solution, such as an offset circle or a point, is discretized into nodes, and the equations that represent the relationships at the nodes are solved simultaneously. Finite-difference methods (FDMs) exploit coarse initial approximations and, with the system constraints (such as the continuous visibility of the spacecraft from a point on the lunar surface), to develop orbital solutions in regions where the structure of the solution space is not well known. Because of their simplicity and speed, the FDM is used to populate a survey to assist in the understanding of the available design space. Trajectories generated by FDMs can also be used to initialize other nonlinear BVP solvers. Any solution is only as accurate as the model used to generate it, especially when the trajectory is dynamically unstable, certainly the case when an orbit is purposefully offset from the Moon. Perturbations, such as unmodeled gravitational forces, variations in the solar flux, as well as mis-modeling of the sail and bus properties, all shift the spacecraft off the reference trajectory and, potentially, into a regime from which the vehicle is unrecoverable. Therefore, some type of flight-path control is required to maintain the vehicle near the reference path. Reference trajectories, supplied by FDMs, are used to develop guidance algorithms based on other, more accurate, numerical procedures, such as multiple shooting. The primary motivation of this investigation is to determine what level of technology is required to displace a solar sail spacecraft sufficiently such that a vehicle equipped with a sail supplies a continuous relay between the Earth and an outpost at the lunar south pole. To accomplish this objective, numerical methods to generate reference orbits that meet mission constraints are examined, as well as flight-path control strategies to ensure that a sailcraft follows those reference trajectories. A survey of the design space is also performed to highlight vehicle-performance and ground-based metrics critical to a mission that monitors the lunar south pole at all times. Finally, observations about the underlying dynamical structure of solar sail motion in a multi-body system are summarized.

The Impact of Parental Posttraumatic Stress Disorder Symptom Trajectories on the Long-Term Outcomes of Youth Following Hurricane Katrina

PubMed Central

Self-Brown, Shannon; Lai, Betty; Harbin, Shannon; Kelley, Mary Lou

2014-01-01

Objectives This study examined trajectories of posttraumatic stress disorder symptoms in impoverished mothers impacted by Hurricane Katrina, as well as how predictive the maternal trajectories were for youth posttraumatic stress symptoms 2 years post-Katrina. Method 360 mother participants displaced by Hurricane Katrina completed self-report measures across 4 time-points related to Hurricane exposure, trauma history, and posttraumatic stress symptoms. Additionally, the youth offspring completed a self-report measure of posttraumatic stress symptoms. Results Latent Class Growth Analysis demonstrated three primary trajectories emerged among females impacted by Katrina, namely, 1) Chronic (4%), 2) Recovering (30%), and 3) Resilient (66%), respectively. These trajectories were significantly impacted by prior trauma history, but not hurricane exposure. Additionally, data indicated that children whose parents fell into the Chronic PTS trajectory also reported high levels of PTS symptoms. Conclusions This study identified 3 main trajectories typical of female PTS symptoms following disaster and was the first known study to document associations between PTS outcomes among adults and their offspring impacted by a large natural disaster. Future research is warranted and should explore additional risk and protective factors that impact both the parental and child outcomes. PMID:25255912

An Imaging And Graphics Workstation For Image Sequence Analysis

NASA Astrophysics Data System (ADS)

Mostafavi, Hassan

1990-01-01

This paper describes an application-specific engineering workstation designed and developed to analyze imagery sequences from a variety of sources. The system combines the software and hardware environment of the modern graphic-oriented workstations with the digital image acquisition, processing and display techniques. The objective is to achieve automation and high throughput for many data reduction tasks involving metric studies of image sequences. The applications of such an automated data reduction tool include analysis of the trajectory and attitude of aircraft, missile, stores and other flying objects in various flight regimes including launch and separation as well as regular flight maneuvers. The workstation can also be used in an on-line or off-line mode to study three-dimensional motion of aircraft models in simulated flight conditions such as wind tunnels. The system's key features are: 1) Acquisition and storage of image sequences by digitizing real-time video or frames from a film strip; 2) computer-controlled movie loop playback, slow motion and freeze frame display combined with digital image sharpening, noise reduction, contrast enhancement and interactive image magnification; 3) multiple leading edge tracking in addition to object centroids at up to 60 fields per second from both live input video or a stored image sequence; 4) automatic and manual field-of-view and spatial calibration; 5) image sequence data base generation and management, including the measurement data products; 6) off-line analysis software for trajectory plotting and statistical analysis; 7) model-based estimation and tracking of object attitude angles; and 8) interface to a variety of video players and film transport sub-systems.

Trajectories of Depressive Symptoms in Older Adults and Risk of Dementia

PubMed Central

Kaup, Allison R.; Byers, Amy L.; Falvey, Cherie; Simonsick, Eleanor M.; Satterfield, Suzanne; Ayonayon, Hilsa N.; Smagula, Stephen F.; Rubin, Susan M.; Yaffe, Kristine

2016-01-01

IMPORTANCE Depression has been identified as a risk factor for dementia. However, most studies have measured depressive symptoms at only one time point, and older adults may show different patterns of depressive symptoms over time. OBJECTIVE To investigate the association between trajectories of depressive symptoms and risk of dementia in older adults. DESIGN, SETTING, AND PARTICIPANTS This was a prospective cohort investigation of black and white community-dwelling older adults in the Health, Aging, and Body Composition study. Participants were enrolled between May 1997 and June 1998 and followed up through 2001–2002. The dates of this analysis were September 2014 to December 2015. The setting was community research centers in Memphis, Tennessee, and Pittsburgh, Pennsylvania. Trajectories of depressive symptoms were assessed from baseline to year 5. Symptoms were measured with the Center for Epidemiologic Studies Depression Scale Short Form, and trajectories were calculated using latent class growth curve analysis. MAIN OUTCOMES AND MEASURES Incident dementia through year 11, determined by dementia medication use, hospital records, or significant cognitive decline (≥1.5 SD race-specific decline on the Modified Mini-Mental State Examination). We examined the association between depressive symptom trajectories and dementia incidence using Cox proportional hazards regression models adjusted for demographics, health factors that differed between groups, and cognition during the depressive symptom assessment period (baseline to year 5). RESULTS The analytic cohort included 2488 black and white older adults with repeated depressive symptom assessments from baseline to year 5 who were free of dementia throughout that period. Their mean (SD) age at baseline was 74.0 (2.8) years, and 53.1% (n = 1322) were female. The following 3 depressive symptom trajectories were identified: consistently minimal symptoms (62.0% [n = 1542] of participants), moderate and increasing symptoms (32.2%[n = 801] of participants), and high and increasing symptoms (5.8% [n = 145] of participants). Compared with the consistently minimal trajectory, having a high and increasing depressive symptom trajectory was associated with significantly increased risk of dementia (fully adjusted hazard ratio, 1.94; 95% CI, 1.30–2.90), while the moderate and increasing trajectory was not associated with risk of dementia after full adjustment. Sensitivity analyses indicated that the high and increasing trajectory was associated with dementia incidence, while depressive symptoms at individual time points were not. CONCLUSIONS AND RELEVANCE Older adults with a longitudinal pattern of high and increasing depressive symptoms are at high risk for dementia. Individuals’ trajectory of depressive symptoms may inform dementia risk more accurately than one-time assessment of depressive symptoms. PMID:26982217

Trajectories of Depressive Symptoms in Older Adults and Risk of Dementia.

PubMed

Kaup, Allison R; Byers, Amy L; Falvey, Cherie; Simonsick, Eleanor M; Satterfield, Suzanne; Ayonayon, Hilsa N; Smagula, Stephen F; Rubin, Susan M; Yaffe, Kristine

2016-05-01

Depression has been identified as a risk factor for dementia. However, most studies have measured depressive symptoms at only one time point, and older adults may show different patterns of depressive symptoms over time. To investigate the association between trajectories of depressive symptoms and risk of dementia in older adults. This was a prospective cohort investigation of black and white community-dwelling older adults in the Health, Aging, and Body Composition study. Participants were enrolled between May 1997 and June 1998 and followed up through 2001-2002. The dates of this analysis were September 2014 to December 2015. The setting was community research centers in Memphis, Tennessee, and Pittsburgh, Pennsylvania. Trajectories of depressive symptoms were assessed from baseline to year 5. Symptoms were measured with the Center for Epidemiologic Studies Depression Scale Short Form, and trajectories were calculated using latent class growth curve analysis. Incident dementia through year 11, determined by dementia medication use, hospital records, or significant cognitive decline (≥1.5 SD race-specific decline on the Modified Mini-Mental State Examination). We examined the association between depressive symptom trajectories and dementia incidence using Cox proportional hazards regression models adjusted for demographics, health factors that differed between groups, and cognition during the depressive symptom assessment period (baseline to year 5). The analytic cohort included 2488 black and white older adults with repeated depressive symptom assessments from baseline to year 5 who were free of dementia throughout that period. Their mean (SD) age at baseline was 74.0 (2.8) years, and 53.1% (n = 1322) were female. The following 3 depressive symptom trajectories were identified: consistently minimal symptoms (62.0% [n = 1542] of participants), moderate and increasing symptoms (32.2% [n = 801] of participants), and high and increasing symptoms (5.8% [n = 145] of participants). Compared with the consistently minimal trajectory, having a high and increasing depressive symptom trajectory was associated with significantly increased risk of dementia (fully adjusted hazard ratio, 1.94; 95% CI, 1.30-2.90), while the moderate and increasing trajectory was not associated with risk of dementia after full adjustment. Sensitivity analyses indicated that the high and increasing trajectory was associated with dementia incidence, while depressive symptoms at individual time points were not. Older adults with a longitudinal pattern of high and increasing depressive symptoms are at high risk for dementia. Individuals' trajectory of depressive symptoms may inform dementia risk more accurately than one-time assessment of depressive symptoms.

A modular approach to intensity-modulated arc therapy optimization with noncoplanar trajectories

NASA Astrophysics Data System (ADS)

Papp, Dávid; Bortfeld, Thomas; Unkelbach, Jan

2015-07-01

Utilizing noncoplanar beam angles in volumetric modulated arc therapy (VMAT) has the potential to combine the benefits of arc therapy, such as short treatment times, with the benefits of noncoplanar intensity modulated radiotherapy (IMRT) plans, such as improved organ sparing. Recently, vendors introduced treatment machines that allow for simultaneous couch and gantry motion during beam delivery to make noncoplanar VMAT treatments possible. Our aim is to provide a reliable optimization method for noncoplanar isocentric arc therapy plan optimization. The proposed solution is modular in the sense that it can incorporate different existing beam angle selection and coplanar arc therapy optimization methods. Treatment planning is performed in three steps. First, a number of promising noncoplanar beam directions are selected using an iterative beam selection heuristic; these beams serve as anchor points of the arc therapy trajectory. In the second step, continuous gantry/couch angle trajectories are optimized using a simple combinatorial optimization model to define a beam trajectory that efficiently visits each of the anchor points. Treatment time is controlled by limiting the time the beam needs to trace the prescribed trajectory. In the third and final step, an optimal arc therapy plan is found along the prescribed beam trajectory. In principle any existing arc therapy optimization method could be incorporated into this step; for this work we use a sliding window VMAT algorithm. The approach is demonstrated using two particularly challenging cases. The first one is a lung SBRT patient whose planning goals could not be satisfied with fewer than nine noncoplanar IMRT fields when the patient was treated in the clinic. The second one is a brain tumor patient, where the target volume overlaps with the optic nerves and the chiasm and it is directly adjacent to the brainstem. Both cases illustrate that the large number of angles utilized by isocentric noncoplanar VMAT plans can help improve dose conformity, homogeneity, and organ sparing simultaneously using the same beam trajectory length and delivery time as a coplanar VMAT plan.

Stability and chaos in Kustaanheimo-Stiefel space induced by the Hopf fibration

NASA Astrophysics Data System (ADS)

Roa, Javier; Urrutxua, Hodei; Peláez, Jesús

2016-07-01

The need for the extra dimension in Kustaanheimo-Stiefel (KS) regularization is explained by the topology of the Hopf fibration, which defines the geometry and structure of KS space. A trajectory in Cartesian space is represented by a four-dimensional manifold called the fundamental manifold. Based on geometric and topological aspects classical concepts of stability are translated to KS language. The separation between manifolds of solutions generalizes the concept of Lyapunov stability. The dimension-raising nature of the fibration transforms fixed points, limit cycles, attractive sets, and Poincaré sections to higher dimensional subspaces. From these concepts chaotic systems are studied. In strongly perturbed problems, the numerical error can break the topological structure of KS space: points in a fibre are no longer transformed to the same point in Cartesian space. An observer in three dimensions will see orbits departing from the same initial conditions but diverging in time. This apparent randomness of the integration can only be understood in four dimensions. The concept of topological stability results in a simple method for estimating the time-scale in which numerical simulations can be trusted. Ideally, all trajectories departing from the same fibre should be KS transformed to a unique trajectory in three-dimensional space, because the fundamental manifold that they constitute is unique. By monitoring how trajectories departing from one fibre separate from the fundamental manifold a critical time, equivalent to the Lyapunov time, is estimated. These concepts are tested on N-body examples: the Pythagorean problem, and an example of field stars interacting with a binary.

Reactive Searching and Infotaxis in Odor Source Localization

PubMed Central

Voges, Nicole; Chaffiol, Antoine; Lucas, Philippe; Martinez, Dominique

2014-01-01

Male moths aiming to locate pheromone-releasing females rely on stimulus-adapted search maneuvers complicated by a discontinuous distribution of pheromone patches. They alternate sequences of upwind surge when perceiving the pheromone and cross- or downwind casting when the odor is lost. We compare four search strategies: three reactive versus one cognitive. The former consist of pre-programmed movement sequences triggered by pheromone detections while the latter uses Bayesian inference to build spatial probability maps. Based on the analysis of triphasic responses of antennal lobe neurons (On, inhibition, Off), we propose three reactive strategies. One combines upwind surge (representing the On response to a pheromone detection) and spiral casting, only. The other two additionally include crosswind (zigzag) casting representing the Off phase. As cognitive strategy we use the infotaxis algorithm which was developed for searching in a turbulent medium. Detection events in the electroantennogram of a moth attached to a robot indirectly control this cyborg, depending on the strategy in use. The recorded trajectories are analyzed with regard to success rates, efficiency, and other features. In addition, we qualitatively compare our robotic trajectories to behavioral search paths. Reactive searching is more efficient (yielding shorter trajectories) for higher pheromone doses whereas cognitive searching works better for lower doses. With respect to our experimental conditions (2 m from starting position to pheromone source), reactive searching with crosswind zigzag yields the shortest trajectories (for comparable success rates). Assuming that the neuronal Off response represents a short-term memory, zigzagging is an efficient movement to relocate a recently lost pheromone plume. Accordingly, such reactive strategies offer an interesting alternative to complex cognitive searching. PMID:25330317

Reactive searching and infotaxis in odor source localization.

PubMed

Voges, Nicole; Chaffiol, Antoine; Lucas, Philippe; Martinez, Dominique

2014-10-01

Male moths aiming to locate pheromone-releasing females rely on stimulus-adapted search maneuvers complicated by a discontinuous distribution of pheromone patches. They alternate sequences of upwind surge when perceiving the pheromone and cross- or downwind casting when the odor is lost. We compare four search strategies: three reactive versus one cognitive. The former consist of pre-programmed movement sequences triggered by pheromone detections while the latter uses Bayesian inference to build spatial probability maps. Based on the analysis of triphasic responses of antennal lobe neurons (On, inhibition, Off), we propose three reactive strategies. One combines upwind surge (representing the On response to a pheromone detection) and spiral casting, only. The other two additionally include crosswind (zigzag) casting representing the Off phase. As cognitive strategy we use the infotaxis algorithm which was developed for searching in a turbulent medium. Detection events in the electroantennogram of a moth attached to a robot indirectly control this cyborg, depending on the strategy in use. The recorded trajectories are analyzed with regard to success rates, efficiency, and other features. In addition, we qualitatively compare our robotic trajectories to behavioral search paths. Reactive searching is more efficient (yielding shorter trajectories) for higher pheromone doses whereas cognitive searching works better for lower doses. With respect to our experimental conditions (2 m from starting position to pheromone source), reactive searching with crosswind zigzag yields the shortest trajectories (for comparable success rates). Assuming that the neuronal Off response represents a short-term memory, zigzagging is an efficient movement to relocate a recently lost pheromone plume. Accordingly, such reactive strategies offer an interesting alternative to complex cognitive searching.

Conformational flexibility of two RNA trimers explored by computational tools and database search.

PubMed

Fadrná, Eva; Koca, Jaroslav

2003-04-01

Two RNA sequences, AAA and AUG, were studied by the conformational search program CICADA and by molecular dynamics (MD) in the framework of the AMBER force field, and also via thorough PDB database search. CICADA was used to provide detailed information about conformers and conformational interconversions on the energy surfaces of the above molecules. Several conformational families were found for both sequences. Analysis of the results shows differences, especially between the energy of the single families, and also in flexibility and concerted conformational movement. Therefore, several MD trajectories (altogether 16 ns) were run to obtain more details about both the stability of conformers belonging to different conformational families and about the dynamics of the two systems. Results show that the trajectories strongly depend on the starting structure. When the MD start from the global minimum found by CICADA, they provide a stable run, while MD starting from another conformational family generates a trajectory where several different conformational families are visited. The results obtained by theoretical methods are compared with the thorough database search data. It is concluded that all except for the highest energy conformational families found in theoretical result also appear in experimental data. Registry numbers: adenylyl-(3' --> 5')-adenylyl-(3' --> 5')-adenosine [917-44-2] adenylyl-(3' --> 5')-uridylyl-(3' --> 5')-guanosine [3494-35-7].

SU-E-T-436: Fluence-Based Trajectory Optimization for Non-Coplanar VMAT

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

Smyth, G; Bamber, JC; Bedford, JL

2015-06-15

Purpose: To investigate a fluence-based trajectory optimization technique for non-coplanar VMAT for brain cancer. Methods: Single-arc non-coplanar VMAT trajectories were determined using a heuristic technique for five patients. Organ at risk (OAR) volume intersected during raytracing was minimized for two cases: absolute volume and the sum of relative volumes weighted by OAR importance. These trajectories and coplanar VMAT formed starting points for the fluence-based optimization method. Iterative least squares optimization was performed on control points 24° apart in gantry rotation. Optimization minimized the root-mean-square (RMS) deviation of PTV dose from the prescription (relative importance 100), maximum dose to the brainstemmore » (10), optic chiasm (5), globes (5) and optic nerves (5), plus mean dose to the lenses (5), hippocampi (3), temporal lobes (2), cochleae (1) and brain excluding other regions of interest (1). Control point couch rotations were varied in steps of up to 10° and accepted if the cost function improved. Final treatment plans were optimized with the same objectives in an in-house planning system and evaluated using a composite metric - the sum of optimization metrics weighted by importance. Results: The composite metric decreased with fluence-based optimization in 14 of the 15 plans. In the remaining case its overall value, and the PTV and OAR components, were unchanged but the balance of OAR sparing differed. PTV RMS deviation was improved in 13 cases and unchanged in two. The OAR component was reduced in 13 plans. In one case the OAR component increased but the composite metric decreased - a 4 Gy increase in OAR metrics was balanced by a reduction in PTV RMS deviation from 2.8% to 2.6%. Conclusion: Fluence-based trajectory optimization improved plan quality as defined by the composite metric. While dose differences were case specific, fluence-based optimization improved both PTV and OAR dosimetry in 80% of cases.« less

Automated Point Cloud Correspondence Detection for Underwater Mapping Using AUVs

NASA Technical Reports Server (NTRS)

Hammond, Marcus; Clark, Ashley; Mahajan, Aditya; Sharma, Sumant; Rock, Stephen

2015-01-01

An algorithm for automating correspondence detection between point clouds composed of multibeam sonar data is presented. This allows accurate initialization for point cloud alignment techniques even in cases where accurate inertial navigation is not available, such as iceberg profiling or vehicles with low-grade inertial navigation systems. Techniques from computer vision literature are used to extract, label, and match keypoints between "pseudo-images" generated from these point clouds. Image matches are refined using RANSAC and information about the vehicle trajectory. The resulting correspondences can be used to initialize an iterative closest point (ICP) registration algorithm to estimate accumulated navigation error and aid in the creation of accurate, self-consistent maps. The results presented use multibeam sonar data obtained from multiple overlapping passes of an underwater canyon in Monterey Bay, California. Using strict matching criteria, the method detects 23 between-swath correspondence events in a set of 155 pseudo-images with zero false positives. Using less conservative matching criteria doubles the number of matches but introduces several false positive matches as well. Heuristics based on known vehicle trajectory information are used to eliminate these.

Image sequence analysis workstation for multipoint motion analysis

NASA Astrophysics Data System (ADS)

Mostafavi, Hassan

1990-08-01

This paper describes an application-specific engineering workstation designed and developed to analyze motion of objects from video sequences. The system combines the software and hardware environment of a modem graphic-oriented workstation with the digital image acquisition, processing and display techniques. In addition to automation and Increase In throughput of data reduction tasks, the objective of the system Is to provide less invasive methods of measurement by offering the ability to track objects that are more complex than reflective markers. Grey level Image processing and spatial/temporal adaptation of the processing parameters is used for location and tracking of more complex features of objects under uncontrolled lighting and background conditions. The applications of such an automated and noninvasive measurement tool include analysis of the trajectory and attitude of rigid bodies such as human limbs, robots, aircraft in flight, etc. The system's key features are: 1) Acquisition and storage of Image sequences by digitizing and storing real-time video; 2) computer-controlled movie loop playback, freeze frame display, and digital Image enhancement; 3) multiple leading edge tracking in addition to object centroids at up to 60 fields per second from both live input video or a stored Image sequence; 4) model-based estimation and tracking of the six degrees of freedom of a rigid body: 5) field-of-view and spatial calibration: 6) Image sequence and measurement data base management; and 7) offline analysis software for trajectory plotting and statistical analysis.

Time-based collision risk modeling for air traffic management

NASA Astrophysics Data System (ADS)

Bell, Alan E.

Since the emergence of commercial aviation in the early part of last century, economic forces have driven a steadily increasing demand for air transportation. Increasing density of aircraft operating in a finite volume of airspace is accompanied by a corresponding increase in the risk of collision, and in response to a growing number of incidents and accidents involving collisions between aircraft, governments worldwide have developed air traffic control systems and procedures to mitigate this risk. The objective of any collision risk management system is to project conflicts and provide operators with sufficient opportunity to recognize potential collisions and take necessary actions to avoid them. It is therefore the assertion of this research that the currency of collision risk management is time. Future Air Traffic Management Systems are being designed around the foundational principle of four dimensional trajectory based operations, a method that replaces legacy first-come, first-served sequencing priorities with time-based reservations throughout the airspace system. This research will demonstrate that if aircraft are to be sequenced in four dimensions, they must also be separated in four dimensions. In order to separate aircraft in four dimensions, time must emerge as the primary tool by which air traffic is managed. A functional relationship exists between the time-based performance of aircraft, the interval between aircraft scheduled to cross some three dimensional point in space, and the risk of collision. This research models that relationship and presents two key findings. First, a method is developed by which the ability of an aircraft to meet a required time of arrival may be expressed as a robust standard for both industry and operations. Second, a method by which airspace system capacity may be increased while maintaining an acceptable level of collision risk is presented and demonstrated for the purpose of formulating recommendations for procedures regulating air traffic management methods and industry standards governing performance requirements for avionics designed to support trajectory based operations.

Automatic detection of a hand-held needle in ultrasound via phased-based analysis of the tremor motion

NASA Astrophysics Data System (ADS)

Beigi, Parmida; Salcudean, Septimiu E.; Rohling, Robert; Ng, Gary C.

2016-03-01

This paper presents an automatic localization method for a standard hand-held needle in ultrasound based on temporal motion analysis of spatially decomposed data. Subtle displacement arising from tremor motion has a periodic pattern which is usually imperceptible in the intensity image but may convey information in the phase image. Our method aims to detect such periodic motion of a hand-held needle and distinguish it from intrinsic tissue motion, using a technique inspired by video magnification. Complex steerable pyramids allow specific design of the wavelets' orientations according to the insertion angle as well as the measurement of the local phase. We therefore use steerable pairs of even and odd Gabor wavelets to decompose the ultrasound B-mode sequence into various spatial frequency bands. Variations of the local phase measurements in the spatially decomposed input data is then temporally analyzed using a finite impulse response bandpass filter to detect regions with a tremor motion pattern. Results obtained from different pyramid levels are then combined and thresholded to generate the binary mask input for the Hough transform, which determines an estimate of the direction angle and discards some of the outliers. Polynomial fitting is used at the final stage to remove any remaining outliers and improve the trajectory detection. The detected needle is finally added back to the input sequence as an overlay of a cloud of points. We demonstrate the efficiency of our approach to detect the needle using subtle tremor motion in an agar phantom and in-vivo porcine cases where intrinsic motion is also present. The localization accuracy was calculated by comparing to expert manual segmentation, and presented in (mean, standard deviation and root-mean-square error) of (0.93°, 1.26° and 0.87°) and (1.53 mm, 1.02 mm and 1.82 mm) for the trajectory and the tip, respectively.

A open loop guidance architecture for navigationally robust on-orbit docking

NASA Technical Reports Server (NTRS)

Chern, Hung-Sheng

1995-01-01

The development of an open-hop guidance architecture is outlined for autonomous rendezvous and docking (AR&D) missions to determine whether the Global Positioning System (GPS) can be used in place of optical sensors for relative initial position determination of the chase vehicle. Feasible command trajectories for one, two, and three impulse AR&D maneuvers are determined using constrained trajectory optimization. Early AR&D command trajectory results suggest that docking accuracies are most sensitive to vertical position errors at the initial conduction of the chase vehicle. Thus, a feasible command trajectory is based on maximizing the size of the locus of initial vertical positions for which a fixed sequence of impulses will translate the chase vehicle into the target while satisfying docking accuracy requirements. Documented accuracies are used to determine whether relative GPS can achieve the vertical position error requirements of the impulsive command trajectories. Preliminary development of a thruster management system for the Cargo Transfer Vehicle (CTV) based on optimal throttle settings is presented to complete the guidance architecture. Results show that a guidance architecture based on a two impulse maneuvers generated the best performance in terms of initial position error and total velocity change for the chase vehicle.

Comment on "Spontaneous liquid-liquid phase separation of water".

PubMed

Limmer, David T; Chandler, David

2015-01-01

Yagasaki et al. [Phys. Rev. E 89, 020301 (2014)] present results from a molecular dynamics trajectory illustrating coarsening of ice, which they interpret as evidence of transient coexistence between two distinct supercooled phases of liquid water. We point out that neither two distinct liquids nor criticality are demonstrated in this simulation study. Instead, the illustrated trajectory is consistent with coarsening behaviors analyzed and predicted in earlier work by others.

Investigation of abort procedures for space shuttle-type vehicles

NASA Technical Reports Server (NTRS)

Powell, R. W.; Eide, D. G.

1974-01-01

An investigation has been made of abort procedures for space shuttle-type vehicles using a point mass trajectory optimization program known as POST. This study determined the minimum time gap between immediate and once-around safe return to the launch site from a baseline due-East launch trajectory for an alternate space shuttle concept which experiences an instantaneous loss of 25 percent of the total main engine thrust.

System Identification and Automatic Mass Balancing of Ground-Based Three-Axis Spacecraft Simulator

DTIC Science & Technology

2006-08-01

commanded torque to move away from these singularity points. The introduction of this error may not degrade the performance for large slew angle ...trajectory has been generated and quaternion feedback control has been implemented for reference trajectory tracking. The testbed was reasonably well...System Identification and Automatic Mass Balancing of Ground-Based Three-Axis Spacecraft Simulator Jae-Jun Kim∗ and Brij N. Agrawal † Department of

Reframing Research on Informal Teaching and Learning in Science: Comments and Commentary at the Heart of a New Vision for the Field

ERIC Educational Resources Information Center

Rahm, Jrène

2014-01-01

Informal science education is a broad field of research marked by fuzzy boundaries, tensions, and muddles among many disciplines, making for an unclear future trajectory (or trajectories) for the field of study. In this commentary, I unpack some of the hidden dimensions, tensions and challenges the five articles raise or point to implicitly in…

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.

Learning State Space Dynamics in Recurrent Networks

NASA Astrophysics Data System (ADS)

Simard, Patrice Yvon

Fully recurrent (asymmetrical) networks can be used to learn temporal trajectories. The network is unfolded in time, and backpropagation is used to train the weights. The presence of recurrent connections creates internal states in the system which vary as a function of time. The resulting dynamics can provide interesting additional computing power but learning is made more difficult by the existence of internal memories. This study first exhibits the properties of recurrent networks in terms of convergence when the internal states of the system are unknown. A new energy functional is provided to change the weights of the units in order to the control the stability of the fixed points of the network's dynamics. The power of the resultant algorithm is illustrated with the simulation of a content addressable memory. Next, the more general case of time trajectories on a recurrent network is studied. An application is proposed in which trajectories are generated to draw letters as a function of an input. In another application of recurrent systems, a neural network certain temporal properties observed in human callosally sectioned brains. Finally the proposed algorithm for stabilizing dynamics around fixed points is extended to one for stabilizing dynamics around time trajectories. Its effects are illustrated on a network which generates Lisajous curves.

Understanding transient uncoupling induced synchronization through modified dynamic coupling

NASA Astrophysics Data System (ADS)

Ghosh, Anupam; Godara, Prakhar; Chakraborty, Sagar

2018-05-01

An important aspect of the recently introduced transient uncoupling scheme is that it induces synchronization for large values of coupling strength at which the coupled chaotic systems resist synchronization when continuously coupled. However, why this is so is an open problem? To answer this question, we recall the conventional wisdom that the eigenvalues of the Jacobian of the transverse dynamics measure whether a trajectory at a phase point is locally contracting or diverging with respect to another nearby trajectory. Subsequently, we go on to highlight a lesser appreciated fact that even when, under the corresponding linearised flow, the nearby trajectory asymptotically diverges away, its distance from the reference trajectory may still be contracting for some intermediate period. We term this phenomenon transient decay in line with the phenomenon of the transient growth. Using these facts, we show that an optimal coupling region, i.e., a region of the phase space where coupling is on, should ideally be such that at any of the constituent phase point either the maximum of the real parts of the eigenvalues is negative or the magnitude of the positive maximum is lesser than that of the negative minimum. We also invent and employ a modified dynamics coupling scheme—a significant improvement over the well-known dynamic coupling scheme—as a decisive tool to justify our results.

The influence of computer-generated path on the robot’s effector stability of motion

NASA Astrophysics Data System (ADS)

Foit, K.; Banaś, W.; Gwiazda, A.; Ćwikła, G.

2017-08-01

The off-line trajectory planning is often carried out due to economical and practical reasons: the robot is not excluded from the production process and the operator could benefit from testing programs in the virtual environment. On the other hand, the dedicated off-line programming and simulation software is often limited in features and is intended to roughly check the program. It should be expected that the arm of the real robot’s manipulator will realize the trajectory in different manner: the acceleration and deceleration phases may trigger the vibrations of the kinematic chain that could affect the precision of effector positioning and degrade the quality of process realized by the robot. The purpose of this work is the analysis of the selected cases, when the robot’s effector has been moved along the programmed path. The off-line generated, test trajectories have different arrangement of points: such approach has allowed evaluating the time needed to complete the each of the tasks, as well as measuring the level of the vibration of the robot’s wrist. All tests were performed without the load. The conclusions of the experiment may be useful during the trajectory planning in order to avoid the critical configuration of points.

Monte-Carlo Method Application for Precising Meteor Velocity from TV Observations

NASA Astrophysics Data System (ADS)

Kozak, P.

2014-12-01

Monte-Carlo method (method of statistical trials) as an application for meteor observations processing was developed in author's Ph.D. thesis in 2005 and first used in his works in 2008. The idea of using the method consists in that if we generate random values of input data - equatorial coordinates of the meteor head in a sequence of TV frames - in accordance with their statistical distributions we get a possibility to plot the probability density distributions for all its kinematical parameters, and to obtain their mean values and dispersions. At that the theoretical possibility appears to precise the most important parameter - geocentric velocity of a meteor - which has the highest influence onto precision of meteor heliocentric orbit elements calculation. In classical approach the velocity vector was calculated in two stages: first we calculate the vector direction as a vector multiplication of vectors of poles of meteor trajectory big circles, calculated from two observational points. Then we calculated the absolute value of velocity independently from each observational point selecting any of them from some reasons as a final parameter. In the given method we propose to obtain a statistical distribution of velocity absolute value as an intersection of two distributions corresponding to velocity values obtained from different points. We suppose that such an approach has to substantially increase the precision of meteor velocity calculation and remove any subjective inaccuracies.

The Relationship Between Emissions and Economic Growth for SO2, CO2, and BC

NASA Astrophysics Data System (ADS)

Ru, M.; Shindell, D. T.; Tao, S.; Zhong, Q.; Seltzer, K.

2017-12-01

We characterize the relationship between per person emissions of SO2, CO2, and black carbon (BC) and income using a global country-level emission inventory. Pollutant emissions of SO2 and BC from the power, industry, and transportation sectors largely follow an Environmental Kuznets Curve (EKC) pattern with peak emissions at income levels between 10,000 and 100,000 USD per capita. However, for CO2, any estimated turnover income is extremely high and unlikely to be reached in the near future in power, industry, and transportation. Residential emissions show a negatively sloped linear relationship for BC, a small positive slope for CO2, and a fairly flat trajectory for SO2. For the EKC-like trajectories, "turning point" incomes for each sector and pollutant are related to technological advances and the effectiveness of emission controls. These results suggest that policy targeting technological advances and emission controls could change future pathways by affecting the "turning point" incomes. For the linear trajectories in the residential sector, we show that transitions from biomass fuel to coal in low-income countries and from coal to natural gas in middle and high-income countries, in concert with electrification levels, are the main factors governing slopes. Thus, the three pollutants show different income-emission trajectories based on the sum of the four major sectors, and the residential sector in particular has a unique relationship with income growth. As one of the first studies to analyze historical emission trajectories of BC, we find that BC differs from SO2 and CO2 because of its significantly earlier turnover in the power and industry sectors due to control policies. Total BC emissions trajectories follow a unique shape due to the combination of linearly decreasing residential emissions with EKC-like patterns in industry and transportation. We compare these trajectories to those in three Integrated Assessment Models (IAMs), GCAM, AIM, and MESSAGE, finding large differences for residential sector trajectories and earlier estimations of turnover incomes in the IAMs. Users of IAMs should consider the assumptions underlying projected emissions in light of this historical analysis, especially the apparently optimistic turnover incomes and residential sector emissions.

Techniques for Updating Pedestrian Network Data Including Facilities and Obstructions Information for Transportation of Vulnerable People

PubMed Central

Park, Seula; Bang, Yoonsik; Yu, Kiyun

2015-01-01

Demand for a Pedestrian Navigation Service (PNS) is on the rise. To provide a PNS for the transportation of vulnerable people, more detailed information of pedestrian facilities and obstructions should be included in Pedestrian Network Data (PND) used for PNS. Such data can be constructed efficiently by collecting GPS trajectories and integrating them with the existing PND. However, these two kinds of data have geometric differences and topological inconsistencies that need to be addressed. In this paper, we provide a methodology for integrating pedestrian facilities and obstructions information with an existing PND. At first we extracted the significant points from user-collected GPS trajectory by identifying the geometric difference index and attributes of each point. Then the extracted points were used to make an initial solution of the matching between the trajectory and the PND. Two geometrical algorithms were proposed and applied to reduce two kinds of errors in the matching: on dual lines and on intersections. Using the final solution for the matching, we reconstructed the node/link structure of PND including the facilities and obstructions information. Finally, performance was assessed with a test site and 79.2% of the collected data were correctly integrated with the PND. PMID:26404307

Research in the Restricted Problems of Three and Four Bodies Final Scientific Report

NASA Technical Reports Server (NTRS)

Richards, Paul B.; Bernstein, Irwin S.; Chai, Winchung A.; Cronin, Jane; Ellis, Jordan; Fine, William E.; Kass, Sheldon; Musa, Samuel A.; Russell, Lawrence H.

1968-01-01

Seven studies have been conducted on research in the existence and nature of solutions of the restricted problems of three and four bodies. The details and results of five of these research investigations have already been published, and the latest two studies will be published shortly. A complete bibliography of publications is included in this report. This research has been primarily qualitative and has yielded new information on the behavior of trajectories near the libration points in the Earth-Moon-Sun and Sun-Jupiter-Saturn systems, and on the existence of periodic trajectories about the libration points of the circular and elliptical restricted four-body models. We have also implemented Birkhoff's normalization process for conservative and nonconservative Hamiltonian systems with equilibrium points. This makes available a technique for analyzing stability properties of certain nonlinear dynamical systems, and we have applied this technique to the circular and elliptical restricted three-body models. A related study was also conducted to determine the feasibility of using cislunar periodic trajectories for various space missions. Preliminary results suggest that this concept is attractive for space flight safety operations in cislunar space. Results of this research will be of interest to mathematicians, particularly those working in ordinary differential equations, dynamical systems and celestial mechanics; to astronomers; and to space guidance and mission analysts.

Toxicological Tipping Points: Learning Boolean Networks from High-Content Imaging Data. (BOSC meeting)

EPA Science Inventory

The objective of this work is to elucidate biological networks underlying cellular tipping points using time-course data. We discretized the high-content imaging (HCI) data and inferred Boolean networks (BNs) that could accurately predict dynamic cellular trajectories. We found t...

Evolutionary trend toward kinetic stability in the folding trajectory of RNases H

PubMed Central

Lim, Shion A.; Hart, Kathryn M.; Marqusee, Susan

2016-01-01

Proper folding of proteins is critical to producing the biological machinery essential for cellular function. The rates and energetics of a protein’s folding process, which is described by its energy landscape, are encoded in the amino acid sequence. Over the course of evolution, this landscape must be maintained such that the protein folds and remains folded over a biologically relevant time scale. How exactly a protein’s energy landscape is maintained or altered throughout evolution is unclear. To study how a protein’s energy landscape changed over time, we characterized the folding trajectories of ancestral proteins of the ribonuclease H (RNase H) family using ancestral sequence reconstruction to access the evolutionary history between RNases H from mesophilic and thermophilic bacteria. We found that despite large sequence divergence, the overall folding pathway is conserved over billions of years of evolution. There are robust trends in the rates of protein folding and unfolding; both modern RNases H evolved to be more kinetically stable than their most recent common ancestor. Finally, our study demonstrates how a partially folded intermediate provides a readily adaptable folding landscape by allowing the independent tuning of kinetics and thermodynamics. PMID:27799545

A systematic analysis of the Braitenberg vehicle 2b for point-like stimulus sources.

PubMed

Rañó, Iñaki

2012-09-01

Braitenberg vehicles have been used experimentally for decades in robotics with limited empirical understanding. This paper presents the first mathematical model of the vehicle 2b, displaying so-called aggression behaviour, and analyses the possible trajectories for point-like smooth stimulus sources. This sensory-motor steering control mechanism is used to implement biologically grounded target approach, target-seeking or obstacle-avoidance behaviour. However, the analysis of the resulting model reveals that complex and unexpected trajectories can result even for point-like stimuli. We also prove how the implementation of the controller and the vehicle morphology interact to affect the behaviour of the vehicle. This work provides a better understanding of Braitenberg vehicle 2b, explains experimental results and paves the way for a formally grounded application on robotics as well as for a new way of understanding target seeking in biology.

Particle trajectory computation on a 3-dimensional engine inlet. Final Report Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Kim, J. J.

1986-01-01

A 3-dimensional particle trajectory computer code was developed to compute the distribution of water droplet impingement efficiency on a 3-dimensional engine inlet. The computed results provide the essential droplet impingement data required for the engine inlet anti-icing system design and analysis. The droplet trajectories are obtained by solving the trajectory equation using the fourth order Runge-Kutta and Adams predictor-corrector schemes. A compressible 3-D full potential flow code is employed to obtain a cylindrical grid definition of the flowfield on and about the engine inlet. The inlet surface is defined mathematically through a system of bi-cubic parametric patches in order to compute the droplet impingement points accurately. Analysis results of the 3-D trajectory code obtained for an axisymmetric droplet impingement problem are in good agreement with NACA experimental data. Experimental data are not yet available for the engine inlet impingement problem analyzed. Applicability of the method to solid particle impingement problems, such as engine sand ingestion, is also demonstrated.

Bulk hydrodynamic stability and turbulent saturation in compressing hot spots

NASA Astrophysics Data System (ADS)

Davidovits, Seth; Fisch, Nathaniel J.

2018-04-01

For hot spots compressed at constant velocity, we give a hydrodynamic stability criterion that describes the expected energy behavior of non-radial hydrodynamic motion for different classes of trajectories (in ρR — T space). For a given compression velocity, this criterion depends on ρR, T, and d T /d (ρR ) (the trajectory slope) and applies point-wise so that the expected behavior can be determined instantaneously along the trajectory. Among the classes of trajectories are those where the hydromotion is guaranteed to decrease and those where the hydromotion is bounded by a saturated value. We calculate this saturated value and find the compression velocities for which hydromotion may be a substantial fraction of hot-spot energy at burn time. The Lindl (Phys. Plasmas 2, 3933 (1995)] "attractor" trajectory is shown to experience non-radial hydrodynamic energy that grows towards this saturated state. Comparing the saturation value with the available detailed 3D simulation results, we find that the fluctuating velocities in these simulations reach substantial fractions of the saturated value.

Trajectory Design for the Microwave Anisotropy Probe (MAP)

NASA Technical Reports Server (NTRS)

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

2001-01-01

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

Optimal bounds and extremal trajectories for time averages in dynamical systems

NASA Astrophysics Data System (ADS)

Tobasco, Ian; Goluskin, David; Doering, Charles

2017-11-01

For systems governed by differential equations it is natural to seek extremal solution trajectories, maximizing or minimizing the long-time average of a given quantity of interest. A priori bounds on optima can be proved by constructing auxiliary functions satisfying certain point-wise inequalities, the verification of which does not require solving the underlying equations. We prove that for any bounded autonomous ODE, the problems of finding extremal trajectories on the one hand and optimal auxiliary functions on the other are strongly dual in the sense of convex duality. As a result, auxiliary functions provide arbitrarily sharp bounds on optimal time averages. Furthermore, nearly optimal auxiliary functions provide volumes in phase space where maximal and nearly maximal trajectories must lie. For polynomial systems, such functions can be constructed by semidefinite programming. We illustrate these ideas using the Lorenz system, producing explicit volumes in phase space where extremal trajectories are guaranteed to reside. Supported by NSF Award DMS-1515161, Van Loo Postdoctoral Fellowships, and the John Simon Guggenheim Foundation.

Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles

NASA Astrophysics Data System (ADS)

Li, Xiaohui; Sun, Zhenping; Cao, Dongpu; Liu, Daxue; He, Hangen

2017-03-01

This study proposes a novel integrated local trajectory planning and tracking control (ILTPTC) framework for autonomous vehicles driving along a reference path with obstacles avoidance. For this ILTPTC framework, an efficient state-space sampling-based trajectory planning scheme is employed to smoothly follow the reference path. A model-based predictive path generation algorithm is applied to produce a set of smooth and kinematically-feasible paths connecting the initial state with the sampling terminal states. A velocity control law is then designed to assign a speed value at each of the points along the generated paths. An objective function considering both safety and comfort performance is carefully formulated for assessing the generated trajectories and selecting the optimal one. For accurately tracking the optimal trajectory while overcoming external disturbances and model uncertainties, a combined feedforward and feedback controller is developed. Both simulation analyses and vehicle testing are performed to verify the effectiveness of the proposed ILTPTC framework, and future research is also briefly discussed.

Trajectory-based heating analysis for the European Space Agency/Rosetta Earth Return Vehicle

NASA Technical Reports Server (NTRS)

Henline, William D.; Tauber, Michael E.

1994-01-01

A coupled, trajectory-based flowfield and material thermal-response analysis is presented for the European Space Agency proposed Rosetta comet nucleus sample return vehicle. The probe returns to earth along a hyperbolic trajectory with an entry velocity of 16.5 km/s and requires an ablative heat shield on the forebody. Combined radiative and convective ablating flowfield analyses were performed for the significant heating portion of the shallow ballistic entry trajectory. Both quasisteady ablation and fully transient analyses were performed for a heat shield composed of carbon-phenolic ablative material. Quasisteady analysis was performed using the two-dimensional axisymmetric codes RASLE and BLIMPK. Transient computational results were obtained from the one-dimensional ablation/conduction code CMA. Results are presented for heating, temperature, and ablation rate distributions over the probe forebody for various trajectory points. Comparison of transient and quasisteady results indicates that, for the heating pulse encountered by this probe, the quasisteady approach is conservative from the standpoint of predicted surface recession.

A study on a robot arm driven by three-dimensional trajectories predicted from non-invasive neural signals.

PubMed

Kim, Yoon Jae; Park, Sung Woo; Yeom, Hong Gi; Bang, Moon Suk; Kim, June Sic; Chung, Chun Kee; Kim, Sungwan

2015-08-20

A brain-machine interface (BMI) should be able to help people with disabilities by replacing their lost motor functions. To replace lost functions, robot arms have been developed that are controlled by invasive neural signals. Although invasive neural signals have a high spatial resolution, non-invasive neural signals are valuable because they provide an interface without surgery. Thus, various researchers have developed robot arms driven by non-invasive neural signals. However, robot arm control based on the imagined trajectory of a human hand can be more intuitive for patients. In this study, therefore, an integrated robot arm-gripper system (IRAGS) that is driven by three-dimensional (3D) hand trajectories predicted from non-invasive neural signals was developed and verified. The IRAGS was developed by integrating a six-degree of freedom robot arm and adaptive robot gripper. The system was used to perform reaching and grasping motions for verification. The non-invasive neural signals, magnetoencephalography (MEG) and electroencephalography (EEG), were obtained to control the system. The 3D trajectories were predicted by multiple linear regressions. A target sphere was placed at the terminal point of the real trajectories, and the system was commanded to grasp the target at the terminal point of the predicted trajectories. The average correlation coefficient between the predicted and real trajectories in the MEG case was [Formula: see text] ([Formula: see text]). In the EEG case, it was [Formula: see text] ([Formula: see text]). The success rates in grasping the target plastic sphere were 18.75 and 7.50 % with MEG and EEG, respectively. The success rates of touching the target were 52.50 and 58.75 % respectively. A robot arm driven by 3D trajectories predicted from non-invasive neural signals was implemented, and reaching and grasping motions were performed. In most cases, the robot closely approached the target, but the success rate was not very high because the non-invasive neural signal is less accurate. However the success rate could be sufficiently improved for practical applications by using additional sensors. Robot arm control based on hand trajectories predicted from EEG would allow for portability, and the performance with EEG was comparable to that with MEG.

How should Fitts' Law be applied to human-computer interaction?

NASA Technical Reports Server (NTRS)

Gillan, D. J.; Holden, K.; Adam, S.; Rudisill, M.; Magee, L.

1992-01-01

The paper challenges the notion that any Fitts' Law model can be applied generally to human-computer interaction, and proposes instead that applying Fitts' Law requires knowledge of the users' sequence of movements, direction of movement, and typical movement amplitudes as well as target sizes. Two experiments examined a text selection task with sequences of controlled movements (point-click and point-drag). For the point-click sequence, a Fitts' Law model that used the diagonal across the text object in the direction of pointing (rather than the horizontal extent of the text object) as the target size provided the best fit for the pointing time data, whereas for the point-drag sequence, a Fitts' Law model that used the vertical size of the text object as the target size gave the best fit. Dragging times were fitted well by Fitts' Law models that used either the vertical or horizontal size of the terminal character in the text object. Additional results of note were that pointing in the point-click sequence was consistently faster than in the point-drag sequence, and that pointing in either sequence was consistently faster than dragging. The discussion centres around the need to define task characteristics before applying Fitts' Law to an interface design or analysis, analyses of pointing and of dragging, and implications for interface design.

Photogrammetry and ballistic analysis of a high-flying projectile in the STS-124 space shuttle launch

NASA Astrophysics Data System (ADS)

Metzger, Philip T.; Lane, John E.; Carilli, Robert A.; Long, Jason M.; Shawn, Kathy L.

2010-07-01

A method combining photogrammetry with ballistic analysis is demonstrated to identify flying debris in a rocket launch environment. Debris traveling near the STS-124 Space Shuttle was captured on cameras viewing the launch pad within the first few seconds after launch. One particular piece of debris caught the attention of investigators studying the release of flame trench fire bricks because its high trajectory could indicate a flight risk to the Space Shuttle. Digitized images from two pad perimeter high-speed 16-mm film cameras were processed using photogrammetry software based on a multi-parameter optimization technique. Reference points in the image were found from 3D CAD models of the launch pad and from surveyed points on the pad. The three-dimensional reference points were matched to the equivalent two-dimensional camera projections by optimizing the camera model parameters using a gradient search optimization technique. Using this method of solving the triangulation problem, the xyz position of the object's path relative to the reference point coordinate system was found for every set of synchronized images. This trajectory was then compared to a predicted trajectory while performing regression analysis on the ballistic coefficient and other parameters. This identified, with a high degree of confidence, the object's material density and thus its probable origin within the launch pad environment. Future extensions of this methodology may make it possible to diagnose the underlying causes of debris-releasing events in near-real time, thus improving flight safety.

Orbit Determination Error Analysis Results for the Triana Sun-Earth L2 Libration Point Mission

NASA Technical Reports Server (NTRS)

Marr, G.

2003-01-01

Using the NASA Goddard Space Flight Center's Orbit Determination Error Analysis System (ODEAS), orbit determination error analysis results are presented for all phases of the Triana Sun-Earth L1 libration point mission and for the science data collection phase of a future Sun-Earth L2 libration point mission. The Triana spacecraft was nominally to be released by the Space Shuttle in a low Earth orbit, and this analysis focuses on that scenario. From the release orbit a transfer trajectory insertion (TTI) maneuver performed using a solid stage would increase the velocity be approximately 3.1 km/sec sending Triana on a direct trajectory to its mission orbit. The Triana mission orbit is a Sun-Earth L1 Lissajous orbit with a Sun-Earth-vehicle (SEV) angle between 4.0 and 15.0 degrees, which would be achieved after a Lissajous orbit insertion (LOI) maneuver at approximately launch plus 6 months. Because Triana was to be launched by the Space Shuttle, TTI could potentially occur over a 16 orbit range from low Earth orbit. This analysis was performed assuming TTI was performed from a low Earth orbit with an inclination of 28.5 degrees and assuming support from a combination of three Deep Space Network (DSN) stations, Goldstone, Canberra, and Madrid and four commercial Universal Space Network (USN) stations, Alaska, Hawaii, Perth, and Santiago. These ground stations would provide coherent two-way range and range rate tracking data usable for orbit determination. Larger range and range rate errors were assumed for the USN stations. Nominally, DSN support would end at TTI+144 hours assuming there were no USN problems. Post-TTI coverage for a range of TTI longitudes for a given nominal trajectory case were analyzed. The orbit determination error analysis after the first correction maneuver would be generally applicable to any libration point mission utilizing a direct trajectory.

Trajectory design strategies that incorporate invariant manifolds and swingby

NASA Technical Reports Server (NTRS)

Guzman, J. J.; Cooley, D. S.; Howell, K. C.; Folta, D. C.

1998-01-01

Libration point orbits serve as excellent platforms for scientific investigations involving the Sun as well as planetary environments. Trajectory design in support of such missions is increasingly challenging as more complex missions are envisioned in the next few decades. Software tools for trajectory design in this regime must be further developed to incorporate better understanding of the solution space and, thus, improve the efficiency and expand the capabilities of current approaches. Only recently applied to trajectory design, dynamical systems theory now offers new insights into the natural dynamics associated with the multi-body problem. The goal of this effort is the blending of analysis from dynamical systems theory with the well established NASA Goddard software program SWINGBY to enhance and expand the capabilities for mission design. Basic knowledge concerning the solution space is improved as well.

On Choosing a Rational Flight Trajectory to the Moon

NASA Astrophysics Data System (ADS)

Gordienko, E. S.; Khudorozhkov, P. A.

2017-12-01

The algorithm for choosing a trajectory of spacecraft flight to the Moon is discussed. The characteristic velocity values needed for correcting the flight trajectory and a braking maneuver are estimated using the Monte Carlo method. The profile of insertion and flight to a near-circular polar orbit with an altitude of 100 km of an artificial lunar satellite (ALS) is given. The case of two corrections applied during the flight and braking phases is considered. The flight to an ALS orbit is modeled in the geocentric geoequatorial nonrotating coordinate system with the influence of perturbations from the Earth, the Sun, and the Moon factored in. The characteristic correction costs corresponding to corrections performed at different time points are examined. Insertion phase errors, the errors of performing the needed corrections, and the errors of determining the flight trajectory parameters are taken into account.

Model for the anisotropic reentry of albedo

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

Koenig, P.J.

1981-02-01

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

Enabling Parametric Optimal Ascent Trajectory Modeling During Early Phases of Design

NASA Technical Reports Server (NTRS)

Holt, James B.; Dees, Patrick D.; Diaz, Manuel J.

2015-01-01

During the early phases of engineering design, the costs committed are high, costs incurred are low, and the design freedom is high. It is well documented that decisions made in these early design phases drive the entire design's life cycle. In a traditional paradigm, key design decisions are made when little is known about the design. As the design matures, design changes become more difficult -- in both cost and schedule -- to enact. Indeed, the current capability-based paradigm that has emerged because of the constrained economic environment calls for the infusion of knowledge acquired during later design phases into earlier design phases, i.e. bring knowledge acquired during preliminary and detailed design into pre-conceptual and conceptual design. An area of critical importance to launch vehicle design is the optimization of its ascent trajectory, as the optimal trajectory will be able to take full advantage of the launch vehicle's capability to deliver a maximum amount of payload into orbit. Hence, the optimal ascent trajectory plays an important role in the vehicle's affordability posture as the need for more economically viable access to space solutions are needed in today's constrained economic environment. The problem of ascent trajectory optimization is not a new one. There are several programs that are widely used in industry that allows trajectory analysts to, based on detailed vehicle and insertion orbit parameters, determine the optimal ascent trajectory. Yet, little information is known about the launch vehicle early in the design phase - information that is required of many different disciplines in order to successfully optimize the ascent trajectory. Thus, the current paradigm of optimizing ascent trajectories involves generating point solutions for every change in a vehicle's design parameters. This is often a very tedious, manual, and time-consuming task for the analysts. Moreover, the trajectory design space is highly non-linear and multi-modal due to the interaction of various constraints. Additionally, when these obstacles are coupled with The Program to Optimize Simulated Trajectories [1] (POST), an industry standard program to optimize ascent trajectories that is difficult to use, it requires expert trajectory analysts to effectively optimize a vehicle's ascent trajectory. As it has been pointed out, the paradigm of trajectory optimization is still a very manual one because using modern computational resources on POST is still a challenging problem. The nuances and difficulties involved in correctly utilizing, and therefore automating, the program presents a large problem. In order to address these issues, the authors will discuss a methodology that has been developed. The methodology is two-fold: first, a set of heuristics will be introduced and discussed that were captured while working with expert analysts to replicate the current state-of-the-art; secondly, leveraging the power of modern computing to evaluate multiple trajectories simultaneously, and therefore, enable the exploration of the trajectory's design space early during the pre-conceptual and conceptual phases of design. When this methodology is coupled with design of experiments in order to train surrogate models, the authors were able to visualize the trajectory design space, enabling parametric optimal ascent trajectory information to be introduced with other pre-conceptual and conceptual design tools. The potential impact of this methodology's success would be a fully automated POST evaluation suite for the purpose of conceptual and preliminary design trade studies. This will enable engineers to characterize the ascent trajectory's sensitivity to design changes in an arbitrary number of dimensions and for finding settings for trajectory specific variables, which result in optimal performance for a "dialed-in" launch vehicle design. The effort described in this paper was developed for the Advanced Concepts Office [2] at NASA Marshall Space Flight Center

Simultaneous Multi-Slice fMRI using Spiral Trajectories

PubMed Central

Zahneisen, Benjamin; Poser, Benedikt A.; Ernst, Thomas; Stenger, V. Andrew

2014-01-01

Parallel imaging methods using multi-coil receiver arrays have been shown to be effective for increasing MRI acquisition speed. However parallel imaging methods for fMRI with 2D sequences show only limited improvements in temporal resolution because of the long echo times needed for BOLD contrast. Recently, Simultaneous Multi-Slice (SMS) imaging techniques have been shown to increase fMRI temporal resolution by factors of four and higher. In SMS fMRI multiple slices can be acquired simultaneously using Echo Planar Imaging (EPI) and the overlapping slices are un-aliased using a parallel imaging reconstruction with multiple receivers. The slice separation can be further improved using the “blipped-CAIPI” EPI sequence that provides a more efficient sampling of the SMS 3D k-space. In this paper a blipped-spiral SMS sequence for ultra-fast fMRI is presented. The blipped-spiral sequence combines the sampling efficiency of spiral trajectories with the SMS encoding concept used in blipped-CAIPI EPI. We show that blipped spiral acquisition can achieve almost whole brain coverage at 3 mm isotropic resolution in 168 ms. It is also demonstrated that the high temporal resolution allows for dynamic BOLD lag time measurement using visual/motor and retinotopic mapping paradigms. The local BOLD lag time within the visual cortex following the retinotopic mapping stimulation of expanding flickering rings is directly measured and easily translated into an eccentricity map of the cortex. PMID:24518259

Molecular Dynamics Simulations of the 136 Unique Tetranucleotide Sequences of DNA Oligonucleotides. I. Research Design and Results on d(CpG) Steps

PubMed Central

Beveridge, David L.; Barreiro, Gabriela; Byun, K. Suzie; Case, David A.; Cheatham, Thomas E.; Dixit, Surjit B.; Giudice, Emmanuel; Lankas, Filip; Lavery, Richard; Maddocks, John H.; Osman, Roman; Seibert, Eleanore; Sklenar, Heinz; Stoll, Gautier; Thayer, Kelly M.; Varnai, Péter; Young, Matthew A.

2004-01-01

We describe herein a computationally intensive project aimed at carrying out molecular dynamics (MD) simulations including water and counterions on B-DNA oligomers containing all 136 unique tetranucleotide base sequences. This initiative was undertaken by an international collaborative effort involving nine research groups, the “Ascona B-DNA Consortium” (ABC). Calculations were carried out on the 136 cases imbedded in 39 DNA oligomers with repeating tetranucleotide sequences, capped on both ends by GC pairs and each having a total length of 15 nucleotide pairs. All MD simulations were carried out using a well-defined protocol, the AMBER suite of programs, and the parm94 force field. Phase I of the ABC project involves a total of ∼0.6 μs of simulation for systems containing ∼24,000 atoms. The resulting trajectories involve 600,000 coordinate sets and represent ∼400 gigabytes of data. In this article, the research design, details of the simulation protocol, informatics issues, and the organization of the results into a web-accessible database are described. Preliminary results from 15-ns MD trajectories are presented for the d(CpG) step in its 10 unique sequence contexts, and issues of stability and convergence, the extent of quasiergodic problems, and the possibility of long-lived conformational substates are discussed. PMID:15326025

Greenhouse gas control strategies : a review of "before-and-after" studies

DOT National Transportation Integrated Search

1971-08-15

Aerial photographs are useful in various studies of highway traffic behavior. From a timed sequence of aerial photographs of a fixed highway area, one can find for each vehicle crossing the area data on position, velocity, trajectory (i.e., entrancin...

Launch mission summary: INTELSAT 5(F1) ATLAS/CENTAUR-56

NASA Technical Reports Server (NTRS)

1981-01-01

The technology and capability of the INTELSAT 5 series satellites and the Atlas-Centaur launch vehicle are described. Data relative to launch windows, flight plans, radar, and telemetry are included along with selected trajectory information and a sequence of flight events.

Analysis of Suborbital Launch Trajectories for Satellite Delivery

DTIC Science & Technology

1991-12-01

4 3. Specialty areas related to trajectory ition ............... 6 I 4. Comparison of a two stage launch vehicle versus a SSTO ...the point where a Single-Stage-To- Orbit ( SSTO ) vehicle may be practical. The flight characteristics of a hypersonic SSTO vehicle would allow a...a two stage launch vehicle versus a SSTO vehicle to de-3 termine the ideal staging velocity (14:4-5). 3 Several studies have been presented that

Trajectory controllability of semilinear systems with multiple variable delays in control

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

Klamka, Jerzy, E-mail: Jerzy.Klamka@polsl.pl, E-mail: Michal.Niezabitowski@polsl.pl; Niezabitowski, Michał, E-mail: Jerzy.Klamka@polsl.pl, E-mail: Michal.Niezabitowski@polsl.pl

In this paper, finite-dimensional dynamical control system described by semilinear differential state equation with multiple variable delays in control are considered. The concept of controllability we extend on trajectory controllability for systems with multiple point delays in control. Moreover, remarks and comments on the relationships between different concepts of controllability are presented. Finally, simple numerical example, which illustrates theoretical considerations is also given. The possible extensions are also proposed.

SAR Ambiguity Study for the Cassini Radar

NASA Technical Reports Server (NTRS)

Hensley, Scott; Im, Eastwood; Johnson, William T. K.

1993-01-01

The Cassini Radar's synthetic aperture radar (SAR) ambiguity analysis is unique with respect to other spaceborne SAR ambiguity analyses owing to the non-orbiting spacecraft trajectory, asymmetric antenna pattern, and burst mode of data collection. By properly varying the pointing, burst mode timing, and radar parameters along the trajectory this study shows that the signal-to-ambiguity ratio of better than 15 dB can be achieved for all images obtained by the Cassini Radar.

Reduced aliasing artifacts using shaking projection k-space sampling trajectory

NASA Astrophysics Data System (ADS)

Zhu, Yan-Chun; Du, Jiang; Yang, Wen-Chao; Duan, Chai-Jie; Wang, Hao-Yu; Gao, Song; Bao, Shang-Lian

2014-03-01

Radial imaging techniques, such as projection-reconstruction (PR), are used in magnetic resonance imaging (MRI) for dynamic imaging, angiography, and short-T2 imaging. They are less sensitive to flow and motion artifacts, and support fast imaging with short echo times. However, aliasing and streaking artifacts are two main sources which degrade radial imaging quality. For a given fixed number of k-space projections, data distributions along radial and angular directions will influence the level of aliasing and streaking artifacts. Conventional radial k-space sampling trajectory introduces an aliasing artifact at the first principal ring of point spread function (PSF). In this paper, a shaking projection (SP) k-space sampling trajectory was proposed to reduce aliasing artifacts in MR images. SP sampling trajectory shifts the projection alternately along the k-space center, which separates k-space data in the azimuthal direction. Simulations based on conventional and SP sampling trajectories were compared with the same number projections. A significant reduction of aliasing artifacts was observed using the SP sampling trajectory. These two trajectories were also compared with different sampling frequencies. A SP trajectory has the same aliasing character when using half sampling frequency (or half data) for reconstruction. SNR comparisons with different white noise levels show that these two trajectories have the same SNR character. In conclusion, the SP trajectory can reduce the aliasing artifact without decreasing SNR and also provide a way for undersampling reconstruction. Furthermore, this method can be applied to three-dimensional (3D) hybrid or spherical radial k-space sampling for a more efficient reduction of aliasing artifacts.

Virtual trajectories, joint stiffness, and changes in the limb natural frequency during single-joint oscillatory movements.

PubMed

Latash, M L

1992-07-01

In the framework of the equilibrium-point hypothesis, virtual trajectories and patterns of joint stiffness were reconstructed during voluntary single-joint oscillatory movements in the elbow joint at a variety of frequencies and against two inertial loads. At low frequencies, virtual trajectories were in-phase with the actual joint trajectories. Joint stiffness changed at a doubled frequency. An increase in movement frequency and/or inertial load led to an increase in the difference between the peaks of the actual and virtual trajectories and in both peak and averaged values of joint stiffness. At a certain, critical frequency, virtual trajectory was nearly flat. Further increase in movement frequency led to a 180 degree phase shift between the actual and virtual trajectories. The assessed values of the natural frequency of the system "limb + manipulandum" were close to the critical frequencies for both low and high inertial loads. Peak levels and integrals of the electromyograms of two flexor and two extensor muscles changed monotonically with movement frequency without any special behavior at the critical frequencies. Nearly flat virtual trajectories at the natural frequency make physical sense as hypothetical control signals, unlike the electromyographic recordings, since a system at its natural frequency requires minimal central interference. Modulation of joint stiffness is assumed to be an important adaptive mechanism attenuating difference between the system's natural frequency and desired movement frequency. Virtual trajectory is considered a behavioral observable. Phase transitions between the virtual and actual trajectories are illustrations of behavioral discontinuities introduced by slow changes in a higher level control parameter, movement frequency. Relative phase shift between these two trajectories may be considered an order parameter.

Crossing the dividing surface of transition state theory. III. Once and only once. Selecting reactive trajectories

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

Lorquet, J. C., E-mail: jc.lorquet@ulg.ac.be

2015-09-14

The purpose of the present work is to determine initial conditions that generate reacting, recrossing-free trajectories that cross the conventional dividing surface of transition state theory (i.e., the plane in configuration space passing through a saddle point of the potential energy surface and perpendicular to the reaction coordinate) without ever returning to it. Local analytical equations of motion valid in the neighborhood of this planar surface have been derived as an expansion in Poisson brackets. We show that the mere presence of a saddle point implies that reactivity criteria can be quite simply formulated in terms of elements of thismore » series, irrespective of the shape of the potential energy function. Some of these elements are demonstrated to be equal to a sum of squares and thus to be necessarily positive, which has a profound impact on the dynamics. The method is then applied to a three-dimensional model describing an atom-diatom interaction. A particular relation between initial conditions is shown to generate a bundle of reactive trajectories that form reactive cylinders (or conduits) in phase space. This relation considerably reduces the phase space volume of initial conditions that generate recrossing-free trajectories. Loci in phase space of reactive initial conditions are presented. Reactivity is influenced by symmetry, as shown by a comparative study of collinear and bent transition states. Finally, it is argued that the rules that have been derived to generate reactive trajectories in classical mechanics are also useful to build up a reactive wave packet.« less

Relationship of clinical and quality of life trajectories following the onset of seizures: findings from the UK MESS Study.

PubMed

Jacoby, Ann; Lane, Steven; Marson, Anthony; Baker, Gus A

2011-05-01

We defined a series of clinical trajectories represented among adult patients with new-onset seizures across a 4-year follow-up period; and linked these clinical trajectories to the quality of life (QOL) profiles and trajectories of those experiencing them. We examined both between- and within-group differences. Analyses were based on 253 individuals completing QOL questionnaires at baseline and 2 and 4 years subsequently. Based on patient self-report, we defined five "clinical trajectory" groups: individuals experiencing a single seizure only; individuals entering early remission; individuals experiencing late remission; individuals initially becoming seizure-free but subsequently relapsing; individuals with seizures persisting throughout follow-up. QOL profiles at each time point were compared using a validated QOL battery, NEWQOL. Even at baseline, there were significant between-group differences, with patients experiencing a single seizure only reporting the best QOL profile and those with seizures subsequently persisting across all time points reporting the worst. By 2 years, the QOL profiles of individuals experiencing early remission were similar to those of single seizure patients, as were those for late remission and relapse patients. A consistent pattern was seen, with "single seizure" individuals doing best and individuals with persistent seizures doing worst. Of particular concern is that even at baseline, individuals whose seizures persisted were doing poorly for QOL, suggesting the possibility that underlying neurobiologic mechanisms were operating. In contrast, our findings support previous reports of only short-lived and small QOL decrements for individuals experiencing a single or few seizures. Wiley Periodicals, Inc. © 2011 International League Against Epilepsy.

Extended ellipse-line-ellipse trajectory for long-object cone-beam imaging with a mounted C-arm system

NASA Astrophysics Data System (ADS)

Yu, Zhicong; Lauritsch, Günter; Dennerlein, Frank; Mao, Yanfei; Hornegger, Joachim; Noo, Frédéric

2016-02-01

Recent reports show that three-dimensional cone-beam (CB) imaging with a floor-mounted (or ceiling-mounted) C-arm system has become a valuable tool in interventional radiology. Currently, a circular short scan is used for data acquisition, which inevitably yields CB artifacts and a short coverage in the direction of the patient table. To overcome these two limitations, a more sophisticated data acquisition geometry is needed. This geometry should be complete in terms of Tuy’s condition and should allow continuous scanning, while being compatible with the mechanical constraints of mounted C-arm systems. Additionally, the geometry should allow accurate image reconstruction from truncated data. One way to ensure such a feature is to adopt a trajectory that provides full R-line coverage within the field-of-view (FOV). An R-line is any segment of line that connects two points on a source trajectory, and the R-line coverage is the set of points that belong to an R-line. In this work, we propose a novel geometry called the extended ellipse-line-ellipse (ELE) for long-object imaging with a mounted C-arm system. This trajectory is built from modules consisting of two elliptical arcs connected by a line. We demonstrate that the extended ELE can be configured in many ways so that full R-line coverage is guaranteed. Both tight and relaxed parametric settings are presented. All results are supported by extensive mathematical proofs provided in appendices. Our findings make the extended ELE trajectory attractive for axially-extended FOV imaging in interventional radiology.

Analysis of Spatio-Temporal Traffic Patterns Based on Pedestrian Trajectories

NASA Astrophysics Data System (ADS)

Busch, S.; Schindler, T.; Klinger, T.; Brenner, C.

2016-06-01

For driver assistance and autonomous driving systems, it is essential to predict the behaviour of other traffic participants. Usually, standard filter approaches are used to this end, however, in many cases, these are not sufficient. For example, pedestrians are able to change their speed or direction instantly. Also, there may be not enough observation data to determine the state of an object reliably, e.g. in case of occlusions. In those cases, it is very useful if a prior model exists, which suggests certain outcomes. For example, it is useful to know that pedestrians are usually crossing the road at a certain location and at certain times. This information can then be stored in a map which then can be used as a prior in scene analysis, or in practical terms to reduce the speed of a vehicle in advance in order to minimize critical situations. In this paper, we present an approach to derive such a spatio-temporal map automatically from the observed behaviour of traffic participants in everyday traffic situations. In our experiments, we use one stationary camera to observe a complex junction, where cars, public transportation and pedestrians interact. We concentrate on the pedestrians trajectories to map traffic patterns. In the first step, we extract trajectory segments from the video data. These segments are then clustered in order to derive a spatial model of the scene, in terms of a spatially embedded graph. In the second step, we analyse the temporal patterns of pedestrian movement on this graph. We are able to derive traffic light sequences as well as the timetables of nearby public transportation. To evaluate our approach, we used a 4 hour video sequence. We show that we are able to derive traffic light sequences as well as time tables of nearby public transportation.

Optimized x-ray source scanning trajectories for iterative reconstruction in high cone-angle tomography

NASA Astrophysics Data System (ADS)

Kingston, Andrew M.; Myers, Glenn R.; Latham, Shane J.; Li, Heyang; Veldkamp, Jan P.; Sheppard, Adrian P.

2016-10-01

With the GPU computing becoming main-stream, iterative tomographic reconstruction (IR) is becoming a com- putationally viable alternative to traditional single-shot analytical methods such as filtered back-projection. IR liberates one from the continuous X-ray source trajectories required for analytical reconstruction. We present a family of novel X-ray source trajectories for large-angle CBCT. These discrete (sparsely sampled) trajectories optimally fill the space of possible source locations by maximising the degree of mutually independent information. They satisfy a discrete equivalent of Tuy's sufficiency condition and allow high cone-angle (high-flux) tomog- raphy. The highly isotropic nature of the trajectory has several advantages: (1) The average source distance is approximately constant throughout the reconstruction volume, thus avoiding the differential-magnification artefacts that plague high cone-angle helical computed tomography; (2) Reduced streaking artifacts due to e.g. X-ray beam-hardening; (3) Misalignment and component motion manifests as blur in the tomogram rather than double-edges, which is easier to automatically correct; (4) An approximately shift-invariant point-spread-function which enables filtering as a pre-conditioner to speed IR convergence. We describe these space-filling trajectories and demonstrate their above-mentioned properties compared with a traditional helical trajectories.

Developmental trajectories of anxious and depressive problems during the transition from childhood to adolescence: personality × parenting interactions.

PubMed

Prinzie, Peter; van Harten, Leanthe V; Deković, Maja; van den Akker, Alithe L; Shiner, Rebecca L

2014-11-01

This study examined separate developmental trajectories of anxious and depressive symptoms from childhood to adolescence (9-15 years) in a community-based sample (N = 290). At three measurement points, mothers and fathers reported on their children's anxious and depressive symptoms, and at Time 1 they reported on lower order child personality facets and on their parenting. By means of growth mixture modeling, three developmental trajectories were identified for anxious symptoms: steady low (82%), moderate increasing-decreasing (5.9%), and high declining groups (12.1%). For depressive symptoms, two developmental trajectories were found: steady low (94.1%) and moderate increasing groups (5.9%). Higher shyness, irritability, and altruism predicted membership in more problematic anxious and depressive groups. The personality facets energy, optimism, compliance, and anxiety were unique predictors for class membership for anxious symptoms, and the effects of shyness, irritability, and compliance were moderated by overreactive parenting. Shyness and irritability increased the probability of following the moderate increasing-decreasing anxiety trajectory, but only in the context of high or average levels of overreactive parenting. Compliance increased the probability of following the moderate increasing-decreasing and high decreasing trajectories in the context of high overreactive parenting. Our results indicate that childhood personality facets differentiate trajectories of anxious and depressive symptoms in theoretically compelling ways.

Spatial-temporal travel pattern mining using massive taxi trajectory data

NASA Astrophysics Data System (ADS)

Zheng, Linjiang; Xia, Dong; Zhao, Xin; Tan, Longyou; Li, Hang; Chen, Li; Liu, Weining

2018-07-01

Deep understanding of residents' travel patterns would provide helpful insights into the mechanisms of many socioeconomic phenomena. With the rapid development of location-aware computing technologies, researchers have easy access to large quantities of travel data. As an important data source, taxi trajectory data are featured by their high quality, good continuity and wide distribution, making it suitable for travel pattern mining. In this paper, we use taxi trajectory data to study spatial-temporal characterization of urban residents' travel patterns from two aspects: attractive areas and hot paths. Firstly, a framework of trajectory preprocessing, including data cleaning and extracting the taxi passenger pick-up/drop-off points, is presented to reduce the noise and redundancy in raw trajectory data. Then, a grid density based clustering algorithm is proposed to discover travel attractive areas in different periods of a day. On this basis, we put forward a spatial-temporal trajectory clustering method to discover hot paths among travel attractive areas. Compared with previous algorithms, which only consider the spatial constraint between trajectories, temporal constraint is also considered in our method. Through the experiments, we discuss how to determine the optimal parameters of the two clustering algorithms and verify the effectiveness of the algorithms using real data. Furthermore, we analyze spatial-temporal characterization of Chongqing residents' travel pattern.

Trajectory Calculations for Spherical Geodesic Grids in Cartesian Space

DTIC Science & Technology

1999-07-01

2 Dtu , t). By applying a rotation transformation as in McDonald and Bates (1989), we get the arrival points in the rotated space l9 5 arctan[cosu sin...see Ritchie (1987)] are required to converge to the solution at which point, the departure point is calcu- lated by Dt x 5 x 2 Dtu x , t 1 .D A M1 22

Halo-orbit and lunar-swingby missions of the 1990's

NASA Technical Reports Server (NTRS)

Farquhar, Robert W.

1990-01-01

A significant number of spacecraft are planning to use halo orbits and lunar-swingby trajectories in the next decade. Four spacecraft will be placed into halo orbits around the earth's sunward libration point, while two others will be stationed near the sun-earth L2 libration point in the distant geomagnetic tail. Six spacecraft, including two of the aforementioned halo orbiters, will make use of lunar-swingby maneuvers to fulfill their mission objectives. Thus, a total of ten spacecraft, five from the Soviet Union, two from Japan, two from the United States, and one from the European Space Agency, will employ halo orbits and/or lunar-swingby trajectories in the 1990's. Pertinent facts are presented for each of these missions.

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.

EDIN design study alternate space shuttle booster replacement concepts. Volume 2: Design simulation results

NASA Technical Reports Server (NTRS)

Demakes, P. T.; Hirsch, G. N.; Stewart, W. A.; Glatt, C. R.

1976-01-01

Historical weight estimating relationships were developed for the liquid rocket booster (LRB) using Saturn technology, and modified as required to support the EDIN05 study. Mission performance was computed using February 1975 shuttle configuration groundrules to allow reasonable comparison of the existing shuttle with the EDIN05 designs. The launch trajectory was constrained to pass through both the RTLS/AOA and main engine cut-off points. Performance analysis was based on a point design trajectory model which optimized initial tilt rate and exo-atmospheric pitch profile. A gravity turn was employed during the boost phase in place of the shuttle angle-of-attack profile. Engine throttling add/or shutdown was used to constrain dynamic pressure and/or longitudinal acceleration where necessary.