Frame Shift/warp Compensation for the ARID Robot System

The Automatic Radiator Inspection Device (ARID) is a system aimed at automating the tedious task of inspecting orbiter radiator panels. The ARID must have the ability to aim a camera accurately at the desired inspection points, which are in the order of 13,000. The ideal inspection points are known; however, the panel may be relocated due to inaccurate parking and warpage. A method of determining the mathematical description of a translated as well as a warped surface by accurate measurement of only a few points on this surface is developed here. The method uses a linear warp model whose effect is superimposed on the rigid body translation. Due to the angles involved, small angle approximations are possible, which greatly reduces the computational complexity. Given an accurate linear warp model, all the desired translation and warp parameters can be obtained by knowledge of the ideal locations of four fiducial points and the corresponding measurements of these points on the actual radiator surface. The method uses three of the fiducials to define a plane and the fourth to define the warp. Given this information, it is possible to determine a transformation that will enable the ARID system to translate any desired inspection point on the ideal surface to its corresponding value on the actual surface

Stochastic Data Clustering

In 1961 Herbert Simon and Albert Ando published the theory behind the long-term behavior of a dynamical system that can be described by a nearly uncoupled matrix. Over the past fifty years this theory has been used in a variety of contexts, including queueing theory, brain organization, and ecology. In all these applications, the structure of the system is known and the point of interest is the various stages the system passes through on its way to some long-term equilibrium. This paper looks at this problem from the other direction. That is, we develop a technique for using the evolution of the system to tell us about its initial structure, and we use this technique to develop a new algorithm for data clustering.Comment: 23 page

Redundant drive current imbalance problem of the Automatic Radiator Inspection Device (ARID)

The Automatic Radiator Inspection Device (ARID) is a 4 Degree of Freedom (DOF) robot with redundant drive motors at each joint. The device is intended to automate the labor intensive task of space shuttle radiator inspection. For safety and redundancy, each joint is driven by two independent motor systems. Motors driving the same joint, however, draw vastly different currents. The concern was that the robot joints could be subjected to undue stress. It was the objective of this summer's project to determine the cause of this current imbalance. In addition it was to determine, in a quantitative manner, what was the cause, how serious the problem was in terms of damage or undue wear to the robot and find solutions if possible. It was concluded that most problems could be resolved with a better motor control design. This document discusses problems encountered and possible solutions

A nonequilibrium model for a moderate pressure hydrogen microwave discharge plasma

This document describes a simple nonequilibrium energy exchange and chemical reaction model to be used in a computational fluid dynamics calculation for a hydrogen plasma excited by microwaves. The model takes into account the exchange between the electrons and excited states of molecular and atomic hydrogen. Specifically, electron-translation, electron-vibration, translation-vibration, ionization, and dissociation are included. The model assumes three temperatures, translational/rotational, vibrational, and electron, each describing a Boltzmann distribution for its respective energy mode. The energy from the microwave source is coupled to the energy equation via a source term that depends on an effective electric field which must be calculated outside the present model. This electric field must be found by coupling the results of the fluid dynamics and kinetics solution with a solution to Maxwell's equations that includes the effects of the plasma permittivity. The solution to Maxwell's equations is not within the scope of this present paper

Measuring the Weibull modulus of microscope slides

The objectives are that students will understand why a three-point bending test is used for ceramic specimens, learn how Weibull statistics are used to measure the strength of brittle materials, and appreciate the amount of variation in the strength of brittle materials with low Weibull modulus. They will understand how the modulus of rupture is used to represent the strength of specimens in a three-point bend test. In addition, students will learn that a logarithmic transformation can be used to convert an exponent into the slope of a straight line. The experimental procedures are explained

Reverse mathematics and properties of finite character

We study the reverse mathematics of the principle stating that, for every property of finite character, every set has a maximal subset satisfying the property. In the context of set theory, this variant of Tukey's lemma is equivalent to the axiom of choice. We study its behavior in the context of second-order arithmetic, where it applies to sets of natural numbers only, and give a full characterization of its strength in terms of the quantifier structure of the formula defining the property. We then study the interaction between properties of finite character and finitary closure operators, and the interaction between these properties and a class of nondeterministic closure operators.Comment: This paper corresponds to section 4 of arXiv:1009.3242, "Reverse mathematics and equivalents of the axiom of choice", which has been abbreviated and divided into two pieces for publicatio

Reverse mathematics and equivalents of the axiom of choice

We study the reverse mathematics of countable analogues of several maximality principles that are equivalent to the axiom of choice in set theory. Among these are the principle asserting that every family of sets has a $\subseteq$-maximal subfamily with the finite intersection property and the principle asserting that if $P$ is a property of finite character then every set has a $\subseteq$-maximal subset of which $P$ holds. We show that these principles and their variations have a wide range of strengths in the context of second-order arithmetic, from being equivalent to $\mathsf{Z}_2$ to being weaker than $\mathsf{ACA}_0$ and incomparable with $\mathsf{WKL}_0$. In particular, we identify a choice principle that, modulo $\Sigma^0_2$ induction, lies strictly below the atomic model theorem principle $\mathsf{AMT}$ and implies the omitting partial types principle $\mathsf{OPT}$