Development of a computational aero/fluids analysis system

The Computational Aero/Fluids Analysis System (AFAS) provides the analytical capability to perform state-of-the-art computational analyses in two difficult fluid dynamics disciplines associated with the Space Shuttle program. This system provides the analysis tools and techniques for rapidly and efficiently accessing, analyzing, and reformulating the large and expanding external aerodynamic data base while also providing tools for complex fluid flow analyses of the SSME engine components. Both of these fluid flow disciplines, external aerodynamics and internal gasdynamics, required this capability to ensure that MSFC can respond in a timely manner as problems are encountered and operational changes are made in the Space Shuttle

Supermarket Selection by Singles in the Midwest

This study focused on the attributes singles aged 25 to 39 want in stores. Young single without children were mailed a survey about their supermarket attribute preferences and shopping and eating habits. Most of their preferences were similar to national averages. However, some common preconceptions were not supported.Supermarket customers, Market segmentation, Consumer/Household Economics,

Planning 3-D collision-free paths using spheres

A scheme for the representation of objects, the Successive Spherical Approximation (SSA), facilitates the rapid planning of collision-free paths in a 3-D, dynamic environment. The hierarchical nature of the SSA allows collision-free paths to be determined efficiently while still providing for the exact representation of dynamic objects. The concept of a freespace cell is introduced to allow human 3-D conceptual knowledge to be used in facilitating satisfying choices for paths. Collisions can be detected at a rate better than 1 second per environment object per path. This speed enables the path planning process to apply a hierarchy of rules to create a heuristically satisfying collision-free path

Vision-guided gripping of a cylinder

The motivation for vision-guided servoing is taken from tasks in automated or telerobotic space assembly and construction. Vision-guided servoing requires the ability to perform rapid pose estimates and provide predictive feature tracking. Monocular information from a gripper-mounted camera is used to servo the gripper to grasp a cylinder. The procedure is divided into recognition and servo phases. The recognition stage verifies the presence of a cylinder in the camera field of view. Then an initial pose estimate is computed and uncluttered scan regions are selected. The servo phase processes only the selected scan regions of the image. Given the knowledge, from the recognition phase, that there is a cylinder in the image and knowing the radius of the cylinder, 4 of the 6 pose parameters can be estimated with minimal computation. The relative motion of the cylinder is obtained by using the current pose and prior pose estimates. The motion information is then used to generate a predictive feature-based trajectory for the path of the gripper

Transpiration Cooling - Its Theory and Application

Transpiration cooling of turbulent boundary layers - theory and applicatio

Efficient visual grasping alignment for cylinders

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available

Reliable vision-guided grasping

Automated assembly of truss structures in space requires vision-guided servoing for grasping a strut when its position and orientation are uncertain. This paper presents a methodology for efficient and robust vision-guided robot grasping alignment. The vision-guided grasping problem is related to vision-guided 'docking' problems. It differs from other hand-in-eye visual servoing problems, such as tracking, in that the distance from the target is a relevant servo parameter. The methodology described in this paper is hierarchy of levels in which the vision/robot interface is decreasingly 'intelligent,' and increasingly fast. Speed is achieved primarily by information reduction. This reduction exploits the use of region-of-interest windows in the image plane and feature motion prediction. These reductions invariably require stringent assumptions about the image. Therefore, at a higher level, these assumptions are verified using slower, more reliable methods. This hierarchy provides for robust error recovery in that when a lower-level routine fails, the next-higher routine will be called and so on. A working system is described which visually aligns a robot to grasp a cylindrical strut. The system uses a single camera mounted on the end effector of a robot and requires only crude calibration parameters. The grasping procedure is fast and reliable, with a multi-level error recovery system

Utilizing semantic networks to database and retrieve generalized stochastic colored Petri nets

Previous work has introduced the Planning Coordinator (PCOORD), a coordinator functioning within the hierarchy of the Intelligent Machine Mode. Within the structure of the Planning Coordinator resides the Primitive Structure Database (PSDB) functioning to provide the primitive structures utilized by the Planning Coordinator in the establishing of error recovery or on-line path plans. This report further explores the Primitive Structure Database and establishes the potential of utilizing semantic networks as a means of efficiently storing and retrieving the Generalized Stochastic Colored Petri Nets from which the error recovery plans are derived

Convergence Rates for Newton’s Method at Singular Points

If Newton’s method is employed to find a root of a map from a Banach space into itself and the derivative is singular at that root, the convergence of the Newton iterates to the root is linear rather than quadratic. In this paper we give a detailed analysis of the linear convergence rates for several types of singular problems. For some of these problems we describe modifications of Newton’s method which will restore quadratic convergence

Testing the binary hypothesis: pulsar timing constraints on supermassive black hole binary candidates

The advent of time domain astronomy is revolutionizing our understanding of the Universe. Programs such as the Catalina Real-time Transient Survey (CRTS) or the Palomar Transient Factory (PTF) surveyed millions of objects for several years, allowing variability studies on large statistical samples. The inspection of $\approx$250k quasars in CRTS resulted in a catalogue of 111 potentially periodic sources, put forward as supermassive black hole binary (SMBHB) candidates. A similar investigation on PTF data yielded 33 candidates from a sample of $\approx$35k quasars. Working under the SMBHB hypothesis, we compute the implied SMBHB merger rate and we use it to construct the expected gravitational wave background (GWB) at nano-Hz frequencies, probed by pulsar timing arrays (PTAs). After correcting for incompleteness and assuming virial mass estimates, we find that the GWB implied by the CRTS sample exceeds the current most stringent PTA upper limits by almost an order of magnitude. After further correcting for the implicit bias in virial mass measurements, the implied GWB drops significantly but is still in tension with the most stringent PTA upper limits. Similar results hold for the PTF sample. Bayesian model selection shows that the null hypothesis (whereby the candidates are false positives) is preferred over the binary hypothesis at about $2.3\sigma$ and $3.6\sigma$ for the CRTS and PTF samples respectively. Although not decisive, our analysis highlights the potential of PTAs as astrophysical probes of individual SMBHB candidates and indicates that the CRTS and PTF samples are likely contaminated by several false positives.Comment: 14 pages, 11 figures, 3 tables. Resubmitted to the Astrophysical Journal after some major revision of the results including a proper estimate of the intrinsic mass of the binary candidate