ALBERT

Description: This viewgraph presentation covers the following topics. Construction activities envisioned for the assembly of large platforms in space (as well as interplanetary spacecraft and bases on extraterrestrial surfaces) require computational tools that exceed the capability of conventional construction management programs. The Center for Space Construction is investigating the requirements for new computational tools and, at the same time, suggesting the expansion of graduate and undergraduate curricula to include proficiency in Computer Aided Engineering (CAE) though design courses and individual or team projects in advanced space systems design. In the center's research, special emphasis is placed on problems of constructability and of the interruptability of planned activity sequences to be carried out by crews operating under hostile environmental conditions. The departure point for the planned work is the acquisition of the MCAE I-DEAS software, developed by the Structural Dynamics Research Corporation (SDRC), and its expansion to the level of capability denoted by the acronym IDEAS**2 currently used for configuration maintenance on Space Station Freedom. In addition to improving proficiency in the use of I-DEAS and IDEAS**2, it is contemplated that new software modules will be developed to expand the architecture of IDEAS**2. Such modules will deal with those analyses that require the integration of a space platform's configuration with a breakdown of planned construction activities and with a failure modes analysis to support computer aided system engineering (CASE) applied to space construction.

Description: In June 1978, the Seasat satellite was launched carrying, among other instruments, the Seasat-A scatterometer system (SASS), which produced ambiguous wind speed and direction data at the ocean surface. A fifteen day subset of dealiased wind vector data with the inherent ambiguities removed was produced for the period of September 6-20, 1978. On September 8, SASS began to observe a development of frontal cyclogenesis in the South Pacific off the east coast of New Zealand, in an area of few surface observations. A large mature cyclone contained weak warm and cold fronts and an occlusion with a strong horizontal wind shear. Satellite imagery shows that a strong upper-level jet streak was moving rapidly over the area of the surface frontal occlusion and as the jet passed over this area a new vortex formed. This cyclogenesis event was studied using 50-km resolution scatterometer surface wind data. High-resolution fields of wind vectors, divergence and vorticity are computed and plotted from the scatterometer data to study the structure and development of the newly formed cyclonic vortex, not otherwise possible using conventional observations.

Description: The NASA scatterometer (NSCAT) is a spaceborne scatterometer scheduled to be deployed in the mid-1990s. An analysis of the wind retrieval error distribution for wind estimates based on backscatter measurements made by the NSCAT instrument is presented. The results are based on an end-to-end simulation of the scatterometer instrument and data processing. In general, the distribution of the wind speed error, when normalized, is independent of the true wind speed and direction. The wind speed error can be characterized by a normal distribution. The wind direction error is independent of the true wind speed, but depends on the true wind direction. Details for wind vectors with true wind speeds from 3 m/s to 33 m/s and true wind directions from 0 to 360 deg are presented.

Description: Modulation of a rain wave pattern by longer waves has been studied. An analytical model taking into account capillarity effects and obliquity of short waves has been developed. Modulation rates in wave number and amplitude have been computed. Experiments were carried out in a wave tank. First results agree with theoretical models, but higher values of modulation rates are measured. These results could be taken into account for understanding the radar response from the sea surface during rain.

Description: Rainfall modification of directional scatterometer response from the sea surface was simulated in wind-wave tank experiments. Data show that for the range of conditions in laboratory experiments, rain enhances radar cross section for all azimuthal angles relative to wind direction. This result broadens previous measurements, which showed that scatterometer response increases with increasing rainfall for radars pointing upwind. But more to the point, the data also show that the directional dynamic-range of scatterometry diminishes rapidly as rainfall rate increases. Thus, while it may be possible to determine wind speed and direction during rain, it will require adequate system sensitivity.

Description: An account of the construction of surface pressure fields from Seasat-A satellite scatterometer (SASS) winds as carried out by different methods, and the comparison of these pressure fields with those derived from in situ ship observations is presented. On the assumption that the pressure adjusts itself instantaneously to the motion field, it may be computed by various methods. One of these makes use of planetary boundary theory, and of the possible techniques in this category a two-layer iterative scheme admitting of the parametrization of diabatic and baroclinic effects and of secondary flow was chosen. A second method involves the assumption of zero two-dimensional divergence, leading to a Laplace's equation (the balance equation) in pressure, with the wind field serving as a forcing function. This method does not accommodate adiabatic or baroclinic effects, and requires a knowledge of the pressure at all boundary points. Two comparison fields are used for validation: the conventional operational analyses of the US National Meteorological Center (NMC), and the special analyses of the Gulf of Alaska Experiment (GOASEX), which were done by hand. The results of the computations were as follows: (1) The pressure fields, as computed from the SASS winds alone, closely approximated the NMC fields in regions where reasonable in situ coverage was available (typically, one or two mb differences over most of the chart, three to four mb in extreme cases); (2) In some cases the SASS-derived pressure fields displayed high-resolution phenomena not detected by the NMC fields, but evident in the GOASEX data; and, (3) As expected, the pressure fields derived from the balance equation were much smoother and less well resolved than the SASS-derived or NMC fields. The divergence as measured from the SASS winds is smaller than, but of the same order of magnitude as, the vorticity.

Description: The accuracy of temperature, pressure, potential temperature, and horizontal wind measurements is discussed in connection with the use of Meteorological Measurement System data in the AAOE. The vertical distribution of temperature measurements and latitudinal variations of the zonal wind for 12 flights over Antarctica during the 1987 AAOE campaign are summarized. Model atmospheres from 0 to 32 km at 70 deg and 55 deg S for the August-September period are constructed. Above the 420 K isentropic surface, the polar vortex remains strong throughout August and September of 1987.

Description: The formulation and evolution of polar stratospheric ice clouds are simulated using a one-dimensional model of cloud microphysics. It is found that the optical thickness and particle size of ice clouds depend on the cooling rate of the air in which the cloud formed. It is necessary that there be an energy barrier to ice nucleation upon the preexisting aerosols in order to account for the cooling rate dependence of the cloud properties.

Description: The history of minimum temperatures at 50 and 70 mb is examined from NMC, UK Met O and ECMWF analyses. MSU channel 24 data are similarly inspected. South Pole sonde data are used to calculate saturation humidity mixing ratio as a function of altitude and time throughout 1987. Saturation with respect to ice could be maintained for water mixing ratios of 3.5 ppmv for a period of about 80 days from mid-June to mid-September. Dehydration to mixing ratios of 1 ppmv or less was possible sporadically. Data from the ER-2 flights between 53 S and 72 S are used in conjunction with particle size measurements and air parcel trajectories to demonstrate the dehydration occurring over Antarctica. Water mixing ratios at the latitude of Punta Arens (53 S), in conjunction with tracer measurements and trajectory analysis, show that at potential temperatures from about 325 to 400 K, the dryness (less than 3 ppmv) had its origin over Antarctica rather than in the tropics. Water mixing ratios within the Antarctic vortex varied from 1.5 to 3.8 ppmv, with a strong isentropic gradient being evident in the region of high potential vorticity gradients.

Description: Measurements of total reactive nitrogen, NOy, total water vapor, and aerosols were made as part of the Airborne Antarctic Ozone Experiment. The measurements were made using instruments located onboard the NASA ER-2 aircrafts which conducted twelve flights over the Antarctic continent reaching altitudes of 18 km at 72 S latitude. Each instrument utilized an ambient air sample and provided a measurement up to 1 Hz or every 200 m of flight path. The data presented focus on the flights of Aug. 17th and 18th during which Polar Stratospheric Clouds (PSCs) were encountered containing concentrations of 0.5 to 1.0 micron diameter aerosols greater than 1 cm/cu. The temperature pressure during these events ranged as low as 184 K near 75 mb pressure, with water values near 3.5 ppm by volume (ppmv). With the exception of two short periods, the PSC activity was observed at temperatures above the frost point of water over ice. The data gathered during these flights are analyzed and presented.

Description: A multichannel statistical approach is used to retrieve rainfall rates from the brightness temperature T(B) observed by passive microwave radiometers flown on a high-altitude NASA aircraft. T(B) statistics are based upon data generated by a cloud radiative model. This model simulates variabilities in the underlying geophysical parameters of interest, and computes their associated T(B) in each of the available channels. By further imposing the requirement that the observed T(B) agree with the T(B) values corresponding to the retrieved parameters through the cloud radiative transfer model, the results can be made to agree quite well with coincident radar-derived rainfall rates. Some information regarding the cloud vertical structure is also obtained by such an added requirement. The applicability of this technique to satellite retrievals is also investigated. Data which might be observed by satellite-borne radiometers, including the effects of nonuniformly filled footprints, are simulated by the cloud radiative model for this purpose.

Description: This paper presents the results of a field program using a ground-based Raman lidar system to observe changes in moisture profiles as a cold and a warm front passed over the NASA/Goddard Space Flight Center in Greenbelt, Maryland. The lidar operating only during darkness is capable of providing continuous high vertical resolution profiles of water vapor mixing ratio and aerosol scattering ratio from near the surface to about 7 km altitude. The lidar data acquired on three consecutive nights from shortly after sunset to shortly before sunrise, along with upper air data from specially launched rawinsondes, have provided a unique visualization of the detailed structure of the two fronts.

Description: The authors describe an intelligent tool designed to aid managers of software development projects in planning, managing, and controlling the development process of medium- to large-scale software projects. Its purpose is to reduce uncertainties in the budget, personnel, and schedule planning of software development projects. It is based on dynamic model for the software development and maintenance life-cycle process. This dynamic process is composed of a number of time-varying, interacting developmental phases, each characterized by its intended functions and requirements. System dynamics is used as a modeling methodology. The resulting Software LIfe-Cycle Simulator (SLICS) and the hybrid expert simulation system of which it is a subsystem are described.

Description: An improved version of the GISS Model II cumulus parameterization designed for long-term climate integrations is used to study the effects of entrainment and multiple cloud types on the January climate simulation. Instead of prescribing convective mass as a fixed fraction of the cloud base grid-box mass, it is calculated based on the closure assumption that the cumulus convection restores the atmosphere to a neutral moist convective state at cloud base. This change alone significantly improves the distribution of precipitation, convective mass exchanges, and frequencies in the January climate. The vertical structure of the tropical atmosphere exhibits quasi-equilibrium behavior when this closure is used, even though there is no explicit constraint applied above cloud base.

Description: The joint frequency distribution technique was used to analyze buoyancy fluxes in the marine atmospheric boundary layer (MABL) for the cloud street regime noted during the Genesis of Atlantic Lows Experiment. It is found that for the lower half of the MABL, the buoyancy flux is mainly generated by the rising thermals and the sinking compensating ambient air, and is mainly consumed by the entrainment and detrainment of thermals, penetrative convection, and the entrainment from the MABL top. If the buoyancy flux is primarily driven by the temperature flux, these buoyancy-flux generating processes should be the same for the lower boundary layers over land and ocean. The results of the scale analysis of the buoyancy flux agree well with those obtained for mesoscale cellular convection during the Air-Mass Transformation Experiment.

Description: Results are presented on numerical experiments that were carried out to investigate the mechanisms of the observed variabilities in wind and convection associated with supercloud clusters (SCCs), westerly wind bursts, and 30-60 day oscillations in the western Pacific region. It is shown that the generation of a 30-60 day eastward propagating precipitation pattern in the Lau and Peng (1987) model, which can be identified as SCC, is accompanied by convective clusters coming in opposite direction to that of the SCC itself. The results suggest that the westward propagating cloud clusters are produced at the initial stage of the 30-60 day disturbance due to mutual adjustment of the large-scale flow and heating.

Description: The inherent strong seriality of closely coupled systems is circumvented by defining a family of permutations for reordering equation sets whose matrix of coefficients is Hermitian block tridiagonal. The authors show how these permutations can be used to achieve relatively high concurrency in the Cholesky factorization of banded systems at the expense of introducing limited extra computations due to fill-in terms in the factors. Directed graphs are developed for the concurrent factorization of the transformed matrix of coefficients by the Cholesky algorithm. Expressions for speedup and efficiency are derived in terms of parameters of the permutation, set of equations, and machine architecture.

Description: The development history and characteristics of the interactive trajectory-optimization programs MOSES (D'Amario et al., 1981) and PLATO (D'Amario et al., 1982) are briefly reviewed, with an emphasis on their application to the Galileo mission. The requirements imposed by a mission involving flybys of several planetary satellites or planets are discussed; the formulation of the parameter-optimization problem is outlined; and particular attention is given to the use of multiconic methods to model the gravitational attraction of Jupiter in MOSES. Diagrams and tables of numerical data are included.

Description: Multidecadal time series of surface winds from central tropical Pacific islands are used to compute trends in the trade winds between the end of WWII and 1985. Over this period, averaged over the whole region, there is no statistically significant trend in speed or zonal or meridional wind (or pseudostress). However, there is some tendency, within a few degrees of the equator, toward weakening of the easterlies and increased meridional flow toward the equator. Anomalous conditions subsequent to the 1972-73 ENSO event make a considerable contribution to the long-term trends. The period 1974-80 has been noted previously to have been anomalous, and trends over that period are sharply greater than those over the longer records.

Description: NASA-Lewis has developed a public-domain computer program, designated 'Ceramic Analysis and Reliability Evaluation of Structures' (CARES) for calculating the fast-fracture reliability of macroscopically isotropic ceramic components subjected to the complex thermomechanical loadings typical of heat engines. The design methodology employed by CARES encompasses linear elastic fracture mechanics theory, extreme value statistics, and material microstructures; component integrity is conceived as a function of the entire field solution of the stresses, rather than being based solely on the most highly stressed point.

Description: Algorithms for geometrically nonlinear finite element analysis are presented which exploit the vector processing capability of the VPS-32, which is closely related to the CYBER 205. By manipulating vectors (which are long lists of numbers) rather than individual numbers, very high processing speeds are obtained. Long vector lengths are obtained without extensive replication or reordering by storage of intermediate results in strategic patterns at all stages of the computations. Comparisons of execution times with those from programs using either scalar or other vector programming techniques indicate that the algorithms presented are quite efficient.

Description: This paper presents an analysis of the uncertainties expected in vertical velocities using a vertically pointing airborne Doppler radar which has a nadir or zenith-pointing beam. To examine the expected uncertainty, the Doppler velocity equation for a moving platform is derived and it is applied to cases of nadir-fixed and stabilized beams. The main emphasis of the paper is on the effect of platform stability on the deduced vertical air motions and it is shown that the antenna must be stabilized to obtain desired accuracy in the vertical velocity measurements.

Description: Monthly fields of shortwave radiation (SR) and latent heat flux (LE) over the central and eastern tropical Pacific between 1980 and 1983 have been computed using satellite data. They are the dominant variable components of surface thermal forcing on the ocean in this time scale. During the 1982-1983 ENSO episode, surface-wind convergence and cloudiness associated with the displacement of equatorial organized convection caused a reduction in both the SR into the ocean and the LE out of the ocean. The lag-correlation coefficients between the forcing (SR-LE) and the sea surface temperature are found to be significantly high outside the equatorial region, showing that surface thermal forcing is the dominant factor in sea surface temperature change. In the narrow equatorial wave guide, ocean dynamics play a more important role, and surface heat flux is a consequence rather than the cause of sea surface temperature change.

Description: An aircraft experiment has been conducted with a dual-frequency (10 GHz and 35 GHz) radar/radiometer system and an 18-GHz radiometer to test various rain-rate retrieval algorithms from space. In the experiment, which took place in the fall of 1988 at the NASA Wallops Flight Facility, VA, both stratiform and convective storms were observed. A ground-based radar and rain gauges were also used to obtain truth data. An external radar calibration is made with rain gauge data, thereby enabling quantitative reflectivity measurements. Comparisons between path attenuations derived from the surface return and from the radar reflectivity profile are made to test the feasibility of a technique to estimate the raindrop size distribution from simultaneous radar and path-attenuation measurements.

Description: Azimuthal response of a scatterometer to radiation scattered by the sea surface was studied in a wind-wave tank. The variation of the normalized radar cross section with the azimuth angle is fitted by a three-term series. Results show that the upwind-downwind asymmetry decreases as the wind speed increases. The crosswind modulation depends on the wind velocity. The results show that the evolution of the long-wind-crosswind ratio evolves with wind speed in a manner similar to the evolution of the isotropy of short capillary-gravity waves. The maximum of the isotropy of the short wind waves is obtained for wind velocities close to 4 m/s. For the same value of the velocity, the variations of radar response between long-wind and crosswind directions is minimum. For lower or higher values of wind velocities the directional accuracy of the radar increases, since the wind-wave field tends to align in the wind direction.

Description: The present interpretation of the radar cross section sigma exp 0 measured by satellite altimeters implies that the rms wave slope gamma is controlled solely by the local wind. However, parameters of wave spectra, including the exponent in the power law for the equilibrium range, depend on sea maturity. The latter is characterized by the nondimensional fetch, x = gX/U-squared. Consequently, gamma and sigma exp 0 are controlled by both U and the wind fetch X. Geosat data for one year are used jointly with in-situ wind and wave observations to assess the fetch-related error trend in altimeter wind speeds. This trend results in overestimated winds in the regions and seasons characterized by a high x, and vice versa. A procedure for wind speed retrieval based on processing sigma exp 0 jointly with the significant wave height information contained in the altimeter wave forms is proposed.

Description: Seasat scatterometer data over the Arabian Sea are used to build wind-stress fields during July and August 1978. They are first compared with 3-day wind analyses from ship data along the Somali coast. Seasat scatterometer specifications of 2-m/s and 20-deg accuracy are fulfilled in almost all cases. The exceptions are for winds stronger than 14 m/s, which are underestimated by the scatterometer by 15 percent. Wind stress is derived from these wind data using a bulk formula with a drag coefficient depending on the wind intensity. A successive-correction objective analysis is used to build the wind-stress field over the Arabian Sea with 2 x 2-deg and 6-day resolution. The final wind-stress fields are not significantly dependent on the objective analysis because of the dense coverage of the scatterometer. The combination of scatterometer and coastal ship data gives the best coverage to resolve monsoon wind structures even close to the coast. The final wind stress fields show wind features consistent with other monthly mean wind stress field. However, a high variability is observed on the 6-day time scale.

Description: Cumulus processes involved in the interaction and merging of clouds under the influence of different imposed conditions (including large-scale lifting forcing, environmental wind shear, and cloud microphysical processes) were studied using simulations with a three-dimensional model. The design of the study was to generate several convective clouds randomly inside the model domain, and then to observe and analyze the interactions and merging between the simulated clouds. Ten merged clouds were identified. Seven of these, each involving two previously separated clouds, generally lie along a line parallel to the initial environmental wind shear vector, while one (also a two-cloud system) lies along a line perpendicular to the wind shear vector prior to merging. The remaining two merging systems involve three parent clouds each; they are a combination of parallel and perpendicular cells. The merging mechanisms associated with three-cloud merging cases are studied by examining the temperature, pressure, and wind fields prior to, during, and following the merging.

Description: The possibility of initiating the growth of ice sheets by solar insolation variations is examined. The study is conducted using a climate model with three different orbital configurations corresponding to 116,000 and 106,000 yr before the present and a modified insolation field with greater reductions in summer insolation at high northern latitudes. Despite the reduced summer and fall insolation, the model fails to maintain snow cover through the summer at locations of suspected ice sheet initiation. The results suggest that there is a discrepancy between the model's response to Milankovitch perturbations and the geophysical evidence of ice sheet initiation. If the model results are correct, the growth of ice shown by geophysical evidence would have occurred in an extremely ablative environment, demanding a complicated strategy.

Description: Thirty-three Landsat TM scenes of California stratocumulus cloud fields were acquired as part of the FIRE Marine Stratocumulus Intensive Field Observations in July 1987. They exhibit a wide variety of stratocumulus structures. Analysis has so far focused upon the July 7 scene, in which aircraft from NASA, NCAR, and the British Meteorological Office repeatedly gathered data across a stratocumulus-fair weather cumulus transition. The aircraft soundings validate the cloud base temperature threshold determined by spatial coherence analysis of the TM thermal band. Brightness variations in the stratocumulus region exhibit a -5/3 power-law decrease of the wavenumber spectra for scales larger than the cloud thickness, about 200 m, changing to a -3 power at smaller scales. Observations by an upward-looking three-channel microwave radiometer on San Nicolas Island also show the -5/3 power-law in total integrated liquid water, suggesting that the largest-scale TM brightness variations are primarily due to variations in the liquid water. The Kolmogorov 5/3 power suggests that for some purposes liquid water in turbulent stratocumulus clouds may be treated as a passive scalar, simply reflecting variations in vertical velocity. This may be tested using the velocities measured by the aircraft.

Description: New nonlinear partial differential equations containing terrain curvature and its rate of change are derived that describe the flow of an atmospheric density current. Unlike the classical hydraulic-type equations for density currents, the new equations are valid for two-dimensional, gradually varied flow over highly curved terrain, hence suitable for computing unsteady (or steady) flows over arbitrary mountain/valley profiles. The model assumes the atmosphere above the density current exerts a known arbitrary variable pressure upon the unknown interface. Later this is specialized to the varying hydrostatic pressure of the atmosphere above. The new equations yield the variable velocity distribution, the interface position, and the pressure distribution that contains a centrifugal component, often significantly larger than its hydrostatic component. These partial differential equations are hyperbolic, and the characteristic equations and characteristic directions are derived. Using these to form a characteristic mesh, a hypothetical unsteady curved-flow problem is calculated, not based upon observed data, merely as an example to illustrate the simplicity of their application to unsteady flows over mountains.

Description: The sources of sub-Saharan precipitation are studied using diagnostic procedures integrated into the code of the GISS climate model. Water vapor evaporating from defined source regions is 'tagged', allowing the determination of the relative contributions of each evaporative source to the simulated July rainfall in the Sahel. Two June-July simulations are studied to compare the moisture sources, moisture convergence patterns and the spatial variations of precipitation for rainy and drought conditions. Results for this case study indicate that patterns of moisture convergence and divergence over northern Africa had a stronger influence on model rainfall over the sub-Sahara than did evaporation rates over the adjacent oceans or moisture advection from ocean to continent. While local continental evaporation contributed significant amounts of water to Sahelian precipitation in the'rainy' simulation, moisture from the Indian Ocean did not precipitate over the Sahel in either case.

Description: The long-term climatic evolution of the earth has been studied on the basis of one-dimensional, globally-averaged climate models yielding only a qualitative understanding of climatic history, and in any case proceeding under a series of potentially invalid assumptions. One such major assumption, which invites comparison with a three-dimensional GCM, is that of fixed relative humidity. A GCM may also be used to study the problem of water loss from both the earth and Venus.

Description: The acceptance test errors of a computer software project to determine if the errors could be detected or avoided in earlier phases of development. GROAGSS (Gamma Ray Observatory Attitude Ground Support System) was selected as the software project to be examined. The development of the software followed the standard Flight Dynamics Software Development methods. GROAGSS was developed between August 1985 and April 1989. The project is approximately 250,000 lines of code of which approximately 43,000 lines are reused from previous projects. GROAGSS had a total of 1715 Change Report Forms (CRFs) submitted during the entire development and testing. These changes contained 936 errors. Of these 936 errors, 374 were found during the acceptance testing. These acceptance test errors were first categorized into methods of avoidance including: more clearly written requirements; detail review; code reading; structural unit testing; and functional system integration testing. The errors were later broken down in terms of effort to detect and correct, class of error, and probability that the prescribed detection method would be successful. These determinations were based on Software Engineering Laboratory (SEL) documents and interviews with the project programmers. A summary of the results of the categorizations is presented. The number of programming errors at the beginning of acceptance testing can be significantly reduced. The results of the existing development methodology are examined for ways of improvements. A basis is provided for the definition is a new development/testing paradigm. Monitoring of the new scheme will objectively determine its effectiveness on avoiding and detecting errors.

Description: In space teleoperation additional problems arise, including signal transmission time delays. These can greatly reduce operator performance. Recent advances in graphics open new possibilities for addressing these and other problems. Currently a multi-camera system with normal 3-D TV and video graphics capabilities is being developed. Trained and untrained operators will be tested for high precision performance using two force reflecting hand controllers and a voice recognition system to control two robot arms and up to 5 movable stereo or non-stereo TV cameras. A number of new techniques of integrating TV and video graphics displays to improve operator training and performance in teleoperation and supervised automation are evaluated.

Description: Geometric uncertainty may cause various failures during the execution of a robot control program. Avoiding such failures makes it necessary to reason about the effects of uncertainty in order to implement robust strategies. Researchers first point out that a manipulation program has to be faced with two types of uncertainty: those that might be locally processed using appropriate sensor based motions, and those that require a more global processing leading to insert new sensing operations. Then, they briefly describe how they solved the two related problems in the SHARP system: how to automatically synthesize a fine motion strategy allowing the robot to progressively achieve a given assembly relation despite position uncertainty, and how to represent uncertainty and to determine the points where a given manipulation program might fail.

Description: An analysis of the relationship between the IMF section boundary crossing, solar flares, the sunspot 11 year cycle variation and the thunderstorm index is given, using the superposition epoch method, for data from more than 13,000 thunderstorms from 10 meteorological stations in the Beijing area and the Northeast region during 1957 to 1978. The results show that for some years a correlation exists between the thunderstorm index and the positive IMF section boundary crossing. The thunderstorm index increases obviously within three days near the crossing and on the seventh day after the crossing. The influence of the crossing on thunderstorms is stronger in the first half year than the latter half year. For different classes of solar flares, the influences are not equally obvious. The solar flares which appeared on the west side, especially in the western region (from 0 to 30 deg) have the most obvious influence. There is no discernible correlation between the thunderstorm index and the sunspot eleven-year cycle.

Description: The possibility that solar variations associated with the 11-year solar cycle may be the cause of the changes in tropospheric weather and climate has been the subject to scientific investigation for several decades. Meteorologists are greatly concerned with the changes in tropospheric phenomena. An attempt was made to find solar activity related changes in tropospheric weather, by the modulation of the quasi-biennial oscillation (QBO) of zonal wind at 50 mb. Rainfall and surface temperature data for a period of about three solar cycles, 1953 to 1988, from various stations in the Indian subcontinent were utilized. By extension, a possible teleconnection was looked for between the temperature changes in middle atmospheric levels and surface temperature when the data are stratified according to east or west phase of the QBO. The temperature data were averaged for January and February to represent the winter temperature and for July and August to represent the summer temperature.

Description: The part of energy of the planetary waves which enters the stratosphere depends on conditions of planetary wave generation and propagation through the tropopause, and the part of planetary wave energy which enters the mesosphere depends on conditions of planetary wave propagation through the stratopause. An attempt is made to estimate connections between extratropical middle atmosphere temperature long term variations and portions of energy of planetary waves which enter the mesosphere and stratosphere during winter seasons in Northern and Southern Hemispheres. Interannual variations of temperatures at the 30 km and 70 km levels are investigated for the central winter months of the period 1970 to 1986. This period includes the descending branch of the 20th solar cycle and the whole 21st cycle. Calculations are made on the basis of measurements at Heiss Island and Molodezhnaya.

Description: The direct modulation of temperature of the mid-latitude mesosphere by the solar-cycle EUV variation, which leads to greater heat input at higher solar activity, is well established. Middle atmosphere temperature modulation by the solar cycle is independently confirmed by the variation of reflection heights of low frequency radio waves in the lower ionosphere, which are regularly monitored over about 30 years. As explained elsewhere in detail, these reflection heights depend on the geometric altitude of a certain isobaric surface (near 80 k), and on the solar ionizing Lyman-alpha radiation flux. Knowing the solar cycle variation of Lyman-alpha how much the measured reflection heights would be lowered with the transition from solar minimum to maximum can be calculated, if the vertical baric structure of the neutral atmosphere would remain unchanged. An discrepancy between expected and observed height change must be explained by an uplifting of the isobaric level from solar minimum to maximum, caused by the temperature rise in the mesosphere. By integrating the solar cycle temperature changes over the height region of the middle atmosphere, and assuming that the lower boundary (tropopause) has no solar cycle variation, the magnitude of this uplifting can be estimated. It is given for the Lidar-derived and for the rocket-measured temperature variations. Comparison suggests that the real amplitude of the solar cycle temperature variation in the mesosphere is underestimated when using the rocket data, but probably overestimated with the Lidar data.

Description: Before the introduction of the Quasi Biennial Oscillation (Q.B.O.) in the study of the solar atmosphere relationship by Labitzke (1987) and Labitzke and Van Loon (1988), the only region of the atmosphere where an effect of a change in solar activity was generally admitted was the mesosphere. The response of the mesosphere, in phase with the solar activity, was found to be about one order of magnitude above model expectancy (around 10 to 20 Kelvin). It was observed independently of the season and maximized around 70 km (Chanin et al. 1987). However, from the same study, it was shown that the response of the stratosphere of opposite sign, clearly seen during winter and autumn, was at the threshold of detection in spring and summer. In the stratosphere, it was shown later that the separation of the data taking into account the sign of the Q.B.O. amplifies the negative correlation of the stratospheric temperature with solar activity in winter; it then becomes more significantly negative for the East phase of the Q.B.O. than when the data are all mixed (Labitzke and Chanin 1988). The studies of the seasonal response of the atmosphere to solar effect is crucial to understand the possible mechanism responsible of such a solar activity Q.B.O. relationship, knowing that the global dynamic circulation is quite different according to the seasons. The question is examined as to whether such separation of the data according to the phase of the Q.B.O. has any impact on the solar response of the middle atmosphere for seasons other than winter.

Description: There is no doubt that the antropogenic effect play an important role in the effects of corpuscular radiation on weather and climate. The task, however, is to distinguish between antropogenic effect in the atmosphere due to human activities and natural climatic fluctuations influencing biological systems. The increase in global temperature during the past 100 years is in relatively good coincidence with the increase in geomagnetic (corpuscular) activity. It is concluded that it could have been the increase in temperature on the Northern Hemisphere, due to the processes occurring in the auroral oval under enhanced corpuscular radiation which led to an increased atmospheric concentration of CO2 in the past. Both processes, i.e., antropogenic and solar activity effects, should be therefore intensively studied due to their important role for elucidating the past and present global change mainly in temperature, climate and biological systems.

Description: Many lobbyists in Washington have argued that artificial intelligence (AI) is an alternative to manned space activity. In actuality, this is the opposite of the truth, especially as regards artificial neural networks (ANNs), that form of AI which has the greatest hope of mimicking human abilities in learning, ability to interface with sensors and actuators, flexibility and balanced judgement. ANNs and their relation to expert systems (the more traditional form of AI), and the limitations of both technologies are briefly reviewed. A Few highlights of recent work on ANNs, including an NSF-sponsored workshop on ANNs for control applications are given. Current thinking on ANNs for use in certain key areas (the National Aerospace Plane, teleoperation, the control of large structures, fault diagnostics, and docking) which may be crucial to the long term future of man in space is discussed.

Description: An approach is presented to the integrated design problem for actively controlled large, flexible mechanical systems for which Control Structure Interaction (CSI) problems are of concern. The two coupled design problems were identified as the optimal Structural Design problem the optimal Controller Design problem. These two problems can be addressed within a decision making loop that would consider each separately, and then sequentially analyze the effects of one on the other. Embedded in such a loop would be the simulation and coordination tasks as part of the decision tools required in a total (software) package. All of the above are compute-intensive tasks. In any such task, possible decompositions and gains due to the inherent parallelism have to be exploited. The problems under consideration, as applied to large flexible mechanical structures, are particularly suited to be mapped onto multicomputer systems in a hypercube topology.

Description: A parallel processing scheme for a single chain robot arm is presented for high speed computation on a shared memory multiprocessor. A recursive formulation that is derived from a virtual work form of the d'Alembert equations of motion is utilized for robot arm dynamics. A joint drive system that consists of a motor rotor and gears is included in the arm dynamics model, in order to take into account gyroscopic effects due to the spinning of the rotor. The fine grain parallelism of mechanical and control subsystem models is exploited, based on independent computation associated with bodies, joint drive systems, and controllers. Efficiency and effectiveness of the parallel scheme are demonstrated through simulations of a telerobotic manipulator arm. Two different mechanical subsystem models, i.e., with and without gyroscopic effects, are compared, to show the trade-off between efficiency and accuracy.

Description: A blocking pattern which formed over eastern North America following the landfall of Hurricane Juan during November 1985 was investigated. It is hypothesize that latent heat released in the Hurricane's rainfall was either directly or indirectly responsible for the large observed 500 mb height rises over eastern Canada during the formation of this block. This idea is evaluated with a diagnostic model for the height tendency field which includes latent heat release as a forcing function. The total column heating is calculated using satellite-derived precipitation estimates. These estimates are qualitatively congruent with observations, but overestimate light rainfall and underestimate heavy rainfall. The calculations reveal that the direct contribution of the heating to the 500 mb height tendency field is small relative to the quasigeostrophic forcing. However, maxima in heating coincide with regions where anticyclonic potential vorticity is generated. Once such region is just upstream of the location of large 500 mb height rises in the incipient block. An indirect role is proposed for the heating in this case. Specifically, anticyclonic potential vorticity is generated near the heating maxima; this vorticity is then advected downstream, forcing the 500 mb heights to rise and the block to develop.

Description: Simple models are being developed to simulate interaction of planetary and synoptic-scale waves incorporating the effects of large-scale topography; eddy heat and momentum fluxes (or nonlinear dynamics); radiative heating/cooling; and latent heat release (precipitation) in synoptic-scale waves. The importance of latent heat release is determined in oceanic storm tracks for temporal variability and time-mean behavior of planetary waves. The model results were compared with available observations of planetary and synoptic-scale wave variability and time-mean circulation. The usefulness of monitoring precipitation in oceanic storm tracks by satellite observing systems was ascertained. The modeling effort includes two different low-order quasi-geostrophic models-time-dependent version and climatological mean version. The modeling also includes a low-order primitive equation model. A time-dependent, multi-level version will be used to validate the two-level Q-G models and examine effects of spherical geometry.

Description: Finding the weight distributions of block codes is a problem of theoretical and practical interest. Yet the weight distributions of most block codes are still unknown except for a few classes of block codes. Here, by using the inclusion and exclusion principle, an explicit formula is derived which enumerates the complete weight distribution of an (n,k,d) linear code using a partially known weight distribution. This expression is analogous to the Pless power-moment identities - a system of equations relating the weight distribution of a linear code to the weight distribution of its dual code. Also, an approximate formula for the weight distribution of most linear (n,k,d) codes is derived. It is shown that for a given linear (n,k,d) code over GF(q), the ratio of the number of codewords of weight u to the number of words of weight u approaches the constant Q = q(-)(n-k) as u becomes large. A relationship between the randomness of a linear block code and the minimum distance of its dual code is given, and it is shown that most linear block codes with rigid algebraic and combinatorial structure also display certain random properties which make them similar to random codes with no structure at all.

Description: A decoding method for a (23,12) Golay code is extended to the important 1/2-rate (24,12) Golay code so that three errors can be corrected and four errors can be detected. It is shown that the method can be extended to any decoding method which can correct three errors in the (23,12) Golay code.

Description: A software package enabling engineers to conduct experiments to determine the actual performance of long constraint-length convolutional codes over the Voyager 1 communication link directly from the Jet Propulsion Laboratory (JPL) has been developed. Using this software, engineers are able to enter test data from the Laboratory in Pasadena, California. The software encodes the data and then sends the encoded data to a personal computer (PC) at the Goldstone Deep Space Complex (GDSC) over telephone lines. The encoded data are sent to the transmitter by the PC at GDSC. The received data, after being echoed back by Voyager 1, are first sent to the PC at GDSC, and then are sent back to the PC at the Laboratory over telephone lines for decoding and further analysis. All of these operations are fully integrated and are completely automatic. Engineers can control the entire software system from the Laboratory. The software encoder and the hardware decoder interface were developed for other applications, and have been modified appropriately for integration into the system so that their existence is transparent to the users. This software provides: (1) data entry facilities, (2) communication protocol for telephone links, (3) data displaying facilities, (4) integration with the software encoder and the hardware decoder, and (5) control functions.

Description: AUTOCON is an automated computer-aided design tool for the synthesis and optimization of linear multivariable control systems based upon user-defined control parameter optimization. Violations in stability and performance requirements are computed from constraints on Single Input/Single Output (SISO) open- and closed-loop transfer function frequency responses, and from constraints on the singular-value frequency responses of Multiple Input/Multiple Output (MIMO) transfer functions, for all critical plant variations. Optimum nonlinear programming algorithms are used in the search for local constrained solutions in which violations in stability and performance are caused either to vanish or be minimized for a proper selection of the control parameters. Classical control system stability and performance design can, in this way, be combined with modern multivariable robustness methods to offer general frequency response loop-shaping via a computer-aided design tool. Complete Nichols, Nyquist, Bode, singular-value Bode magnitude and transient response plots are produced, including user-defined boundary responses. AUTOCON is used to synthesize and optimize the lateral/directional flight control system for a typical high-performance aircraft.

Description: Estimation of the sensitivity of problem functions with respect to problem variables forms the basis for many of our modern day algorithms for engineering optimization. The most common application of problem sensitivities has been in the calculation of objective function and constraint partial derivatives for determining search directions and optimality conditions. A second form of sensitivity analysis, parameter sensitivity, has also become an important topic in recent years. By parameter sensitivity, researchers refer to the estimation of changes in the modeling functions and current design point due to small changes in the fixed parameters of the formulation. Methods for calculating these derivatives have been proposed by several authors (Armacost and Fiacco 1974, Sobieski et al 1981, Schmit and Chang 1984, and Vanderplaats and Yoshida 1985). Two drawbacks to estimating parameter sensitivities by current methods have been: (1) the need for second order information about the Lagrangian at the current point, and (2) the estimates assume no change in the active set of constraints. The first of these two problems is addressed here and a new algorithm is proposed that does not require explicit calculation of second order information.

Description: The nonlinear mathematical programming method (formal optimization) has had many applications in engineering design. A figure illustrates the use of optimization techniques in the design process. The design process begins with the design problem, such as the classic example of the two-bar truss designed for minimum weight as seen in the leftmost part of the figure. If formal optimization is to be applied, the design problem must be recast in the form of an optimization problem consisting of an objective function, design variables, and constraint function relations. The middle part of the figure shows the two-bar truss design posed as an optimization problem. The total truss weight is the objective function, the tube diameter and truss height are design variables, with stress and Euler buckling considered as constraint function relations. Lastly, the designer develops or obtains analysis software containing a mathematical model of the object being optimized, and then interfaces the analysis routine with existing optimization software such as CONMIN, ADS, or NPSOL. This final state of software development can be both tedious and error-prone. The Sizing and Optimization Language (SOL), a special-purpose computer language whose goal is to make the software implementation phase of optimum design easier and less error-prone, is presented.

Description: The Computerized Design Synthesis (CDS) system under development at McDonnell Douglas Helicopter Company (MDHC) is targeted to make revolutionary improvements in both response time and resource efficiency in the conceptual and preliminary design of rotorcraft systems. It makes the accumulated design database and supporting technology analysis results readily available to designers and analysts of technology, systems, and production, and makes powerful design synthesis software available in a user friendly format.

Description: Applications of mesosphere stratosphere troposphere radar to mesoscale meteorology are discussed. The applications include using the radar either as a research tool to improve our understanding of certain dynamical systems or as part of a network used to provide input data for weather forecasting. The workhorse of the operational observing network is the radiosonde balloon which provides measurements of pressure, temperature, humidity, and winds up to heights of 16 to 20 km. Horizontal and vertical measurement capabilities, reflectivity data, derivable quantities and parameters, and special operational requirements are surveyed.

Description: An in-depth kinematic analysis of a three degree of freedom fully-parallel robotic shoulder module is presented. The major goal of the analysis is to determine appropriate link dimensions which will provide a maximized workspace along with desirable input to output velocity and torque amplification. First order kinematic influence coefficients which describe the output velocity properties in terms of actuator motions provide a means to determine suitable geometric dimensions for the device. Through the use of computer simulation, optimal or near optimal link dimensions based on predetermined design criteria are provided for two different structural designs of the mechanism. The first uses three rotational inputs to control the output motion. The second design involves the use of four inputs, actuating any three inputs for a given position of the output link. Alternative actuator placements are examined to determine the most effective approach to control the output motion.

Description: A teleoperated robot was used to assemble the Experimental Assembly of Structures in Extra-vehicular activity (EASE) space structure under neutral buoyancy conditions, simulating a telerobot performing structural assembly in the zero gravity of space. This previous work used a manually controlled teleoperator as a test bed for system performance evaluations. From these results several Artificial Intelligence options were proposed. One of these was further developed into a real time assembly planner. The interface for this system is effective in assembling EASE structures using windowed graphics and a set of networked menus. As the problem space becomes more complex and hence the set of control options increases, a natural language interface may prove to be beneficial to supplement the menu based control strategy. This strategy can be beneficial in situations such as: describing the local environment, maintaining a data base of task event histories, modifying a plan or a heuristic dynamically, summarizing a task in English, or operating in a novel situation.

Description: The applicability of conjugate gradient algorithms for computation of the manipulator forward dynamics is investigated. The redundancies in the previously proposed conjugate gradient algorithm are analyzed. A new version is developed which, by avoiding these redundancies, achieves a significantly greater efficiency. A preconditioned conjugate gradient algorithm is also presented. A diagonal matrix whose elements are the diagonal elements of the inertia matrix is proposed as the preconditioner. In order to increase the computational efficiency, an algorithm is developed which exploits the synergism between the computation of the diagonal elements of the inertia matrix and that required by the conjugate gradient algorithm.

Description: Some authors take a classical approach to the simultaneous structure/control optimization by attempting to simultaneously minimize the weighted sum of the total mass and a quadratic form, subject to all of the structural and control constraints. Here, the optimization will be based on the dynamic response of a structure to an external unknown stochastic disturbance environment. Such a response to excitation approach is common to both the structural and control design phases, and hence represents a more natural control/structure optimization strategy than relying on artificial and vague control penalties. The design objective is to find the structure and controller of minimum mass such that all the prescribed constraints are satisfied. Two alternative solution algorithms are presented which have been applied to this problem. Each algorithm handles the optimization strategy and the imposition of the nonlinear constraints in a different manner. Two controller methodologies, and their effect on the solution algorithm, will be considered. These are full state feedback and direct output feedback, although the problem formulation is not restricted solely to these forms of controller. In fact, although full state feedback is a popular choice among researchers in this field (for reasons that will become apparent), its practical application is severely limited. The controller/structure interaction is inserted by the imposition of appropriate closed-loop constraints, such as closed-loop output response and control effort constraints. Numerical results will be obtained for a representative flexible structure model to illustrate the effectiveness of the solution algorithms.

Description: A technique for control design and simulation using the ADAMS software and a control design software package is presented. For design of control systems ADAMS generates a minimum realization linear time invariant (LTI), state space representation of multi-body models. This LTI representation can be produced in formats for input to several commercial control design packages. The user can exercise various design strategies in the control design software to arrive at a suitable compensator. The resulting closed loop model can then be simulated using ADAMS. This procedure is illustrated with two examples.

Description: The structured singular value, U, is an important linear algebra tool to study a class of matrix perturbation problems. It is useful for analyzing the robustness of stability and performance of uncertain, (nominally) linear systems. Computation of (M) is difficult, and usually, upper and lower bounds are all that can be reliably computed. Upper bounds give conservative estimates of the sizes of allowable perturbations. The maximum singular value of a matrix M is an upper bound for (M). As an upper bound, it can be improved by finding a transformations to the data (i.e. M) which do not change the structured singular value, but do reduce the maximum singular value. Typically, upper bound algorithms involve searches over sets of transformations to yield the tightest bound. Lower bound algorithms are intelligent searches for minimum-norm solutions to multivariable polynomial equations, and are based on various optimality conditions that hold at the global (and, unfortunately, some local) minima. The current methods to compute both of these types of bounds are reviewed. Theoretical justification and extensive numerical experience with the various algorithms are covered.

Description: Some key results in the literature in the area of robustness analysis for linear feedback systems with structured model uncertainty are reviewed. Some new results are given. Model uncertainty is described as a combination of real uncertain parameters and norm bounded unmodeled dynamics. Here the focus is on the case of parametric uncertainty. An elementary and unified derivation of the celebrated theorem of Kharitonov and the Edge Theorem is presented. Next, an algorithmic approach for robustness analysis in the cases of multilinear and polynomic parametric uncertainty (i.e., the closed loop characteristic polynomial depends multilinearly and polynomially respectively on the parameters) is given. The latter cases are most important from practical considerations. Some novel modifications in this algorithm which result in a procedure of polynomial time behavior in the number of uncertain parameters is outlined. Finally, it is shown how the more general problem of robustness analysis for combined parametric and dynamic (i.e., unmodeled dynamics) uncertainty can be reduced to the case of polynomic parametric uncertainty, and thus be solved by means of the algorithm.

Description: Multibody system equations can be generated in various forms. All of these may be interpreted as results of two basic approaches, the augmentation- and the elimination-method. The former method yields the descriptor form of the system motion, a set of differential-algebraic equations (DAE), and the latter the state space representation, a minimal set of ordinary differential equations (ODE). Both of these methods are surveyed. Particular emphasis is on the discussion of recursive computational schemes, generating the equations of motion with a number of operations, which is proportional to the number N of system bodies (O(N)-formulations). For simulation purposes one would like to create that set of system equations, which can be generated most efficiently and for which the most efficient and reliable solution techniques are available. Numerical solution techniques for ODE have been studied in great detail and they are well-developed. By contrast, DAE have not been investigated for such a long time. In view of new developments in the latter field the generation of all the equations required for an efficient and reliable solution of DAE describing multibody system motion is discussed. These methods, i.e., an O(N)-formulation and new techniques for solving DAE, are implemented in the SIMPACK code. Its capabilities are illustrated by simulation of multibody robot models.

Description: The formulation of an Order (n) algorithm for DISCOS (Dynamics Interaction Simulation of Controls and Structures), which is an industry-standard software package for simulation and analysis of flexible multibody systems is presented. For systems involving many bodies, the new Order (n) version of DISCOS is much faster than the current version. Results of the experimental validation of the dynamics software are also presented. The experiment is carried out on a seven-joint robot arm at NASA's Goddard Space Flight Center. The algorithm used in the current version of DISCOS requires the inverse of a matrix whose dimension is equal to the number of constraints in the system. Generally, the number of constraints in a system is roughly proportional to the number of bodies in the system, and matrix inversion requires O(p exp 3) operations, where p is the dimension of the matrix. The current version of DISCOS is therefore considered an Order (n exp 3) algorithm. In contrast, the Order (n) algorithm requires inversion of matrices which are small, and the number of matrices to be inverted increases only linearly with the number of bodies. The newly-developed Order (n) DISCOS is currently capable of handling chain and tree topologies as well as multiple closed loops. Continuing development will extend the capability of the software to deal with typical robotics applications such as put-and-place, multi-arm hand-off and surface sliding.

Description: Computer graphics can now expand its new subset, wide-angle projection, to be as significant a generic capability as computer graphics itself. Some prior work in computer graphics is presented which leads to an attractive further subset of wide-angle projection, called hemispheric projection, to be a major communication media. Hemispheric film systems have long been present and such computer graphics systems are in use in simulators. This is the leading edge of capabilities which should ultimately be as ubiquitous as CRTs (cathode-ray tubes). These assertions are not from degrees in science or only from a degree in graphic design, but in a history of computer graphics innovations, laying groundwork by demonstration. The author believes that it is timely to look at several development strategies, since hemispheric projection is now at a point comparable to the early stages of computer graphics, requiring similar patterns of development again.

Description: To carry out unanticipated operations with resources already in space is part of the rationale for a permanently manned space station in Earth orbit. The astronauts aboard a space station will require an on-board, spatial display tool to assist the planning and rehearsal of upcoming operations. Such a tool can also help astronauts to monitor and control such operations as they occur, especially in cases where first-hand visibility is not possible. A computer graphics visualization system designed for such an application and currently implemented as part of a ground-based simulation is described. The visualization system presents to the user the spatial information available in the spacecraft's computers by drawing a dynamic picture containing the planet Earth, the Sun, a star field, and up to two spacecraft. The point of view within the picture can be controlled by the user to obtain a number of specific visualization functions. The elements of the display, the methods used to control the display's point of view, and some of the ways in which the system can be used are described.

Description: Recent advances in optimal control have brought design techniques based on optimization of H(2) and H(infinity) norm criteria, closer to be attractive alternatives to single-loop design methods for linear time-variant systems. Significant steps forward in this technology are the deeper understanding of performance and robustness issues of these design procedures and means to perform design trade-offs. However acceptance of the technology is hindered by the lack of convenient design tools to exercise these powerful multivariable techniques, while still allowing single-loop design formulation. Presented is a unique computer tool for designing arbitrary low-order linear time-invarient controllers than encompasses both performance and robustness issues via the familiar H(2) and H(infinity) norm optimization. Application to disturbance rejection design for a commercial transport is demonstrated.

Description: An understanding is being developed for processes which may be important in the atmosphere, and the definition and analysis of baroclinic experiments utilizing the geophysical fluid flow cells (GFFC) apparatus in microgravity space flights. Included are studies using numerical codes, theoretical models, and terrestrial laboratory experiments. The numerical modeling is performed in three stages: calculation of steady axisymmetric flow, calculation of fastest-growing linear eigenmodes, and nonlinear effects (first, wave-mean flow interactions, then wave-wave interactions). The code can accommodate cylindrical, spherical, or channel geometry. It uses finite differences in the vertical and meridional directions, and is spectral in the azimuthal. The theoretical work was mostly in the area of effects of topography upon the baroclinic instability problem. The laboratory experiments are performed in a cylindrical annulus which has a temperture gradient imposed upon the lower surface and an approximately isothermal outer wall, with the upper and inner surfaces being nominally thermally insulating.

Description: The existing q-Markov COVER realization theory does not take into account the problems of arithmetic errors due to both the quantization of states and coefficients of the reduced order model. All q-Markov COVERs allow some freedom in the choice of parameters. Here, researchers exploit this freedom in the existing theory to optimize the models with respect to these finite wordlength effects.

Description: Competitive leadership in the international marketplace, superiority in national defense, excellence in productivity, and safety of both private and public systems are all national defense goals which are dependent on superior engineering design. In recent years, it has become more evident that early design decisions are critical, and when only based on performance often result in products which are too expensive, hard to manufacture, or unsupportable. Better use of computer-aided design tools and information-based technologies is required to produce better quality United States products. A program is outlined here to explore the use of knowledge based expert systems coupled with numerical optimization, database management techniques, and designer interface methods in a networked design environment to improve and assess design changes due to changing emphasis or requirements. The initial structural design of a tiltrotor aircraft wing is used as a representative example to demonstrate the approach being followed.

Description: Computational aspects are addressed which impact the requirements for developing a next generation software system for flexible multibody dynamics simulation which include: criteria for selecting candidate formulation, pairing of formulations with appropriate solution procedures, need for concurrent algorithms to utilize computer hardware advances, and provisions for allowing open-ended yet modular analysis modules.

Description: Taking pictures with a camera that uses a digital recording medium instead of film has the advantage of recording and transmitting images without the use of a darkroom or a courier. However, high-resolution images contain an enormous amount of information and strain data-storage systems. Image compression will allow multiple images to be stored in the High-Resolution Electronic Still Camera. The camera is under development at Johnson Space Center. Fidelity of the reproduced image and compression speed are of tantamount importance. Lossless compression algorithms are fast and faithfully reproduce the image, but their compression ratios will be unacceptably low due to noise in the front end of the camera. Future efforts will include exploring methods that will reduce the noise in the image and increase the compression ratio.

Description: The current Life Sciences Laboratory Equipment (LSLE) microcomputer for life sciences experiment data acquisition is now obsolete. Among the weaknesses of the current microcomputer are small memory size, relatively slow analog data sampling rates, and the lack of a bulk data storage device. While life science investigators normally prefer data to be transmitted to Earth as it is taken, this is not always possible. No down-link exists for experiments performed in the Shuttle middeck region. One important aspect of a replacement microcomputer is provision for in-flight storage of experimental data. The Write Once, Read Many (WORM) optical disk was studied because of its high storage density, data integrity, and the availability of a space-qualified unit. In keeping with the goals for a replacement microcomputer based upon commercially available components and standard interfaces, the system studied includes a Small Computer System Interface (SCSI) for interfacing the WORM drive. The system itself is designed around the STD bus, using readily available boards. Configurations examined were: (1) master processor board and slave processor board with the SCSI interface; (2) master processor with SCSI interface; (3) master processor with SCSI and Direct Memory Access (DMA); (4) master processor controlling a separate STD bus SCSI board; and (5) master processor controlling a separate STD bus SCSI board with DMA.

Description: Advanced methods were developed to determine time varying winds and turbulence from digital flight data recorders carried aboard modern airliners. Analysis of several cases involving severe clear air turbulence encounters at cruise altitudes has shown that the aircraft encountered vortex arrays generated by destabilized wind shear layers above mountains or thunderstorms. A model was developed to identify the strength, size, and spacing of vortex arrays. This model is used to study the effects of severe wind hazards on operational safety for different types of aircraft. It is demonstrated that small remotely piloted vehicles and executive aircraft exhibit more violent behavior than do large airliners during encounters with high-altitude vortices. Analysis of digital flight data from the accident at Dallas/Ft. Worth in 1985 indicates that the aircraft encountered a microburst with rapidly changing winds embedded in a strong outflow near the ground. A multiple-vortex-ring model was developed to represent the microburst wind pattern. This model can be used in flight simulators to better understand the control problems in severe microburst encounters.

Description: NASA programs for manned space flight are in their 27th year. Scientists and engineers who worked continuously on the development of aerospace technology during that period are approaching retirement. The resulting loss to the organization will be considerable. Although this problem is general to the NASA community, the problem was explored in terms of the institutional memory and technical expertise of a single individual in the Man-Systems division. The main domain of the expert was spacecraft lighting, which became the subject area for analysis in these studies. The report starts with an analysis of the cumulative expertise and institutional memory of technical employees of organizations such as NASA. A set of solutions to this problem are examined and found inadequate. Two solutions were investigated at length: hypertext and expert systems. Illustrative examples were provided of hypertext and expert system representation of spacecraft lighting. These computer technologies can be used to ameliorate the problem of the loss of invaluable personnel.

Description: Integrated Services Digital Network (ISDN); coding for color TV, video conferencing, video conferencing/telephone, and still color images; ISO color image coding standard; and ISO still picture standard are briefly discussed. This presentation is represented by viewgraphs only.

Description: The need to increase the information return from space-borne imaging systems has increased in the past decade. The use of multi-spectral data has resulted in the need for finer spatial resolution and greater spectral coverage. Onboard signal processing will be necessary in order to utilize the available Tracking and Data Relay Satellite System (TDRSS) communication channel at high efficiency. A generally recognized approach to the increased efficiency of channel usage is through data compression techniques. The compression technique implemented is a differential pulse code modulation (DPCM) scheme with a non-uniform quantizer. The need to advance the state-of-the-art of onboard processing was recognized and a GaAs integrated circuit technology was chosen. An Adaptive Programmable Processor (APP) chip set was developed which is based on an 8-bit slice general processor. The reason for choosing the compression technique for the Multi-spectral Linear Array (MLA) instrument is described. Also a description is given of the GaAs integrated circuit chip set which will demonstrate that data compression can be performed onboard in real time at data rate in the order of 500 Mb/s.

Description: Adaptive data compression techniques can be viewed as consisting of a model specified by a database common to the encoder and decoder, an encoding rule and a rule for updating the model to ensure that the encoder and decoder always agree on the interpretation of the next transmission. The techniques which fit this framework range from run-length coding, to adaptive Huffman and arithmetic coding, to the string-matching techniques of Lempel and Ziv. The compression obtained by arithmetic coding is dependent on the generality of the source model. For many sources, an independent-letter model is clearly insufficient. Unfortunately, a straightforward implementation of a Markov model requires an amount of space exponential in the number of letters remembered. The Directed Acyclic Word Graph (DAWG) can be constructed in time and space proportional to the text encoded, and can be used to estimate the probabilities required for arithmetic coding based on an amount of memory which varies naturally depending on the encoded text. The tail of that portion of the text which was encoded is the longest suffix that has occurred previously. The frequencies of letters following these previous occurrences can be used to estimate the probability distribution of the next letter. Experimental results indicate that compression is often far better than that obtained using independent-letter models, and sometimes also significantly better than other non-independent techniques.

Description: The noiseless data-compression algorithms introduced by Lempel and Ziv (LZ) parse an input data string into successive substrings each consisting of two parts: The citation, which is the longest prefix that has appeared earlier in the input, and the innovation, which is the symbol immediately following the citation. In extremal versions of the LZ algorithm the citation may have begun anywhere in the input; in incremental versions it must have begun at a previous parse position. Originally the citation and the innovation were encoded, either individually or jointly, into an output word to be transmitted or stored. Subsequently, it was speculated that the cost of this encoding may be excessively high because the innovation contributes roughly 1g(A) bits, where A is the size of the input alphabet, regardless of the compressibility of the source. To remedy this excess, it was suggested to store the parsed substring as usual, but encoding for output only the citation, leaving the innovation to be encoded as the first symbol of the next substring. Being thus included in the next substring, the innovation can participate in whatever compression that substring enjoys. This strategy is called deferred innovation. It is exemplified in the algorithm described by Welch and implemented in the C program compress that has widely displaced adaptive Huffman coding (compact) as a UNIX system utility. The excessive expansion is explained, an implicit warning is given against using the deferred innovation compressors on nearly incompressible data.

Description: Fractals are geometric or data structures which do not simplify under magnification. Fractal Image Compression is a technique which associates a fractal to an image. On the one hand, the fractal can be described in terms of a few succinct rules, while on the other, the fractal contains much or all of the image information. Since the rules are described with less bits of data than the image, compression results. Data compression with fractals is an approach to reach high compression ratios for large data streams related to images. The high compression ratios are attained at a cost of large amounts of computation. Both lossless and lossy modes are supported by the technique. The technique is stable in that small errors in codes lead to small errors in image data. Applications to the NASA mission are discussed.

Description: Vector Quantization (VQ) is fast becoming an accepted, if not preferred method for image compression. The VQ performs well when compressing all types of imagery including Video, Electro-Optical (EO), Infrared (IR), Synthetic Aperture Radar (SAR), Multi-Spectral (MS), and digital map data. The only requirement is to change the codebook to switch the compressor from one image sensor to another. There are several approaches for designing codebooks for a vector quantizer. Adaptive Vector Quantization is a procedure that simultaneously designs codebooks as the data is being encoded or quantized. This is done by computing the centroid as a recursive moving average where the centroids move after every vector is encoded. When computing the centroid of a fixed set of vectors the resultant centroid is identical to the previous centroid calculation. This method of centroid calculation can be easily combined with VQ encoding techniques. The defined quantizer changes after every encoded vector by recursively updating the centroid of minimum distance which is the selected by the encoder. Since the quantizer is changing definition or states after every encoded vector, the decoder must now receive updates to the codebook. This is done as side information by multiplexing bits into the compressed source data.

Description: The objective of preprocessing for machine vision is to extract intrinsic target properties. The most important properties ordinarily are structure and reflectance. Illumination in space, however, is a significant problem as the extreme range of light intensity, stretching from deep shadow to highly reflective surfaces in direct sunlight, impairs the effectiveness of standard approaches to machine vision. To overcome this critical constraint, an image coding scheme is being investigated which combines local intensity adaptivity, image enhancement, and data compression. It is very effective under the highly variant illumination that can exist within a single frame or field of view, and it is very robust to noise at low illuminations. Some of the theory and salient features of the coding scheme are reviewed. Its performance is characterized in a simulated space application, the research and development activities are described.

Description: Improvements to the XTRAN3S computer program are summarized. Work on this code, for steady and unsteady aerodynamic and aeroelastic analysis in the transonic flow regime has concentrated on the following areas: (1) Maintenance of the XTRAN3S code, including correction of errors, enhancement of operational capability, and installation on the Cray X-MP system; (2) Extension of the vectorization concepts in XTRAN3S to include additional areas of the code for improved execution speed; (3) Modification of the XTRAN3S algorithm for improved numerical stability for swept, tapered wing cases and improved computational efficiency; and (4) Extension of the wing-only version of XTRAN3S to include pylon and nacelle or external store capability.

Description: THREAD programming language, which was developed to meet the needs of researchers in developing robotics applications that perform such tasks as grasp, trajectory design, sensor data analysis, and interfacing with external subsystems in order to perform servo-level control of manipulators and real time sensing is discussed. The philosophy behind THREAD, the issues which entered into its design, and the features of the language are discussed from the viewpoint of researchers who want to develop algorithms in a simulation environment, and from those who want to implement physical robotics systems. The detailed functions of the many complex robotics algorithms and tools which are part of the language are not explained, but an overall impression of their capability is given.

Description: A fast 3-D object recognition algorithm that can be used as a quick-look subsystem to the vision system for the Special-Purpose Dexterous Manipulator (SPDM) is described. Global features that can be easily computed from range data are used to characterize the images of a viewer-centered model of an object. This algorithm will speed up the processing by eliminating the low level processing whenever possible. It may identify the object, reject a set of bad data in the early stage, or create a better environment for a more powerful algorithm to carry the work further.

Description: Robotics is a promising technology for assembly, servicing, and maintenance of platforms in space. Several aspects of planning and guidance for telesupervised and fully autonomous robotic servicers are investigated. Guidance algorithms for proximity operation of a free flyer are described. Numeric trajectory optimization is combined with artificial intelligence based obstacle avoidance. An initial algorithm and the results of its simulating platform servicing scenario are discussed. A second algorithm experiment is then proposed.

Description: An essential component in global climate research is accurate cloud cover and type determination. Of the two approaches to texture-based classification (statistical and textural), only the former is effective in the classification of natural scenes such as land, ocean, and atmosphere. In the statistical approach that was adopted, parameters characterizing the stochastic properties of the spatial distribution of grey levels in an image are estimated and then used as features for cloud classification. Two types of textural measures were used. One is based on the distribution of the grey level difference vector (GLDV), and the other on a set of textural features derived from the MaxMin cooccurrence matrix (MMCM). The GLDV method looks at the difference D of grey levels at pixels separated by a horizontal distance d and computes several statistics based on this distribution. These are then used as features in subsequent classification. The MaxMin tectural features on the other hand are based on the MMCM, a matrix whose (I,J)th entry give the relative frequency of occurrences of the grey level pair (I,J) that are consecutive and thresholded local extremes separated by a given pixel distance d. Textural measures are then computed based on this matrix in much the same manner as is done in texture computation using the grey level cooccurrence matrix. The database consists of 37 cloud field scenes from LANDSAT imagery using a near IR visible channel. The classification algorithm used is the well known Stepwise Discriminant Analysis. The overall accuracy was estimated by the percentage or correct classifications in each case. It turns out that both types of classifiers, at their best combination of features, and at any given spatial resolution give approximately the same classification accuracy. A neural network based classifier with a feed forward architecture and a back propagation training algorithm is used to increase the classification accuracy, using these two classes of features. Preliminary results based on the GLDV textural features alone look promising.

Description: A facility was established that uses collected data and feeds it into mathematical models that generate improved data arrays by correcting for various losses, base line drift, and conversion to unity scaling. These developed data arrays have headers and other identifying information affixed and are subsequently stored in a Laser Materials and Characteristics data base which is accessible to various users. The two part data base: absorption - emission spectra and tabulated data, is developed around twelve laser models. The tabulated section of the data base is divided into several parts: crystalline, optical, mechanical, and thermal properties; aborption and emission spectra information; chemical name and formulas; and miscellaneous. A menu-driven, language-free graphing program will reduce and/or remove the requirement that users become competent FORTRAN programmers and the concomitant requirement that they also spend several days to a few weeks becoming conversant with the GEOGRAF library and sequence of calls and the continual refreshers of both. The work included becoming thoroughly conversant with or at least very familiar with GEOGRAF by GEOCOMP Corp. The development of the graphing program involved trial runs of the various callable library routines on dummy data in order to become familiar with actual implementation and sequencing. This was followed by trial runs with actual data base files and some additional data from current research that was not in the data base but currently needed graphs. After successful runs, with dummy and real data, using actual FORTRAN instructions steps were undertaken to develop the menu-driven language-free implementation of a program which would require the user only know how to use microcomputers. The user would simply be responding to items displayed on the video screen. To assist the user in arriving at the optimum values needed for a specific graph, a paper, and pencil check list was made available to use on the trial runs.

Description: Program EAGLE (Eglin Arbitrary Geometry Implicit Euler) Numerical Grid Generation System is a composite (multi-block) algebraic or elliptic grid generation system designed to discretize the domain in and/or around any arbitrarily shaped three dimensional regions. This system combines a boundary conforming surface generation scheme and includes plotting routines designed to take full advantage of the DISSPLA Graphics Package (Version 9.0). Program EAGLE is written to compile and execute efficiently on any Cray machine with or without solid state disk (SSD) devices. Also, the code uses namelist inputs which are supported by all Cray machines using the FORTRAN compiler CFT77. The namelist inputs makes it easier for the user to understand the inputs and operation of Program EAGLE. EAGLE's numerical grid generator is constructed in the following form: main program, EGG (executive routine); subroutine SURFAC (surface generation routine); subroutine GRID (grid generation routine); and subroutine GRDPLOT (grid plotting routines). The EAGLE code was modified to use on the NASA-LaRC SNS computer (Cray 2S) system. During the modification a conversion program was developed for the output data of EAGLE's subroutine GRID to permit the data to be graphically displayed by IRIS workstations, using Plot3D. The code of program EAGLE was modified to make operational subroutine GRDPLOT (using DI-3000 Graphics Software Packages) on the NASA-LaRC SNS Computer System. How to implement graphically, the output data of subroutine GRID was determined on any NASA-LaRC graphics terminal that has access to the SNS Computer System DI-300 Graphics Software Packages. A Quick Reference User Guide was developed for the use of program EAGLE on the NASA-LaRC SNS Computer System. One or more application program(s) was illustrated using program EAGLE on the NASA LaRC SNS Computer System, with emphasis on graphics illustrations.

Description: Low-altitude microburst wind shear encounters can significantly affect aircraft performance during approach or takeoff. Over the past 25 years, hazardous wind shear was a contributing factor in over two dozen commercial airline accidents in which there were over 500 fatalities. NASA, the FAA, and the National Center for Atmospheric Research were involved in the design and testing of various sensors to detect the hazard. Among the sensors being tested are the ground-based Terminal Doppler Weather Radar (TDWR) and airborne Doppler radar and LIDAR systems. While these sensor systems do measure horizontal wind shear, they do not adequately account for the vertical wind, which is a key component of the microburst hazard to the aircraft. A technique is defined to estimate aircraft hazard from the combined effects of horizontal and vertical winds, given only horizontal wind information.

Description: Ultra network is a recently installed very high speed graphic hardware at NASA Langley Research Center. The Ultra Network interfaced to Voyager through its HSX channel is capable of transmitting up to 800 million bits of information per second. It is capable of displaying fifteen to twenty frames of precomputed images of size 1024 x 2368 with 24 bits of color information per pixel per second. Modeling and rendering techniques are being developed in computer graphics and implemented on Ultra hardware. A ray tracer is being developed for use at the Flight Software and Graphic branch. Changes were made to make the ray tracer compatible with Voyager.

Description: Analysis of the postbuckling behavior of composite shell structures pose many difficult and challenging problems in the field of structural mechanics. Current analysis methods perform well for most cases in predicting the postbuckling response of undamaged components. To predict component behavior accurately at higher load levels, the analysis must include the effects of local material failures. The CSM testbed software system is a highly modular structural analysis system currently under development at Langley Research Center. One of the primary goals of the CSM testbed is to provide a software environment for the development of advanced structural analysis methods and modern numerical methods which will exploit advanced computer architecture such as parallel-vector processors. Development of a progressive failure analysis method consists of the design and implementation of a processor which will perform the ply-level progressive failure analysis and the development of a geometrically nonlinear analysis procedure which incorporates the progressive failure processor. Regarding the development of the progressive failure processor, two components are required: failure criteria and a degradation model. For the initial implementation, the failure criteria of Hashin will be used. For a matrix failure which typically indicates the development of transverse matrix cracks, the ply properties will be degraded. Work to date includes the design of the progressive failure analysis processor and initial plans for the controlling geometrically nonlinear analysis procedure. The implementation of the progressive failure analysis has begun. Access to the model database and the Hashin failure criteria are completed. Work is in progress on the input/output operations for the processor related data and the finite element model updating procedures. In total the progressive failure processor is approximately one-third complete.

Description: A multibody dynamics verification library, that maintains and manages test and validation data is proposed, based on RRC Robot arm and CASE backhoe validation and a comparitive study of DADS, DISCOS, and CONTOPS that are existing public domain and commercial multibody dynamic simulation programs. Using simple representative problems, simulation results from each program are cross checked, and the validation results are presented. Functionalities of the verification library are defined, in order to automate validation procedure.

Description: DART is a multibody dynamics code developed by Photon Research Associates for the Air Force Astronautics Laboratory (AFAL). The code is intended primarily to simulate the dynamics of large space structures, particularly during the deployment phase of their missions. DART integrates nonlinear equations of motion numerically. The number of bodies in the system being simulated is arbitrary. The bodies' interconnection joints can have an arbitrary number of degrees of freedom between 0 and 6. Motions across the joints can be large. Provision for simulating on-board control systems is provided. Conservation of energy and momentum, when applicable, are used to evaluate DART's performance. After a brief description of DART, studies made to test the program prior to its delivery to AFAL are described. The first is a large angle reorientating of a flexible spacecraft consisting of a rigid central hub and four flexible booms. Reorientation was accomplished by a single-cycle sine wave shape torque input. In the second study, an appendage, mounted on a spacecraft, was slewed through a large angle. Four closed-loop control systems provided control of this appendage and of the spacecraft's attitude. The third study simulated the deployment of the rim of a bicycle wheel configuration large space structure. This system contained 18 bodies. An interesting and unexpected feature of the dynamics was a pulsing phenomena experienced by the stays whole playout was used to control the deployment. A short description of the current status of DART is given.

Description: Powell's nonlinear programming code, VF02AD, was used to generate approximate minimum-time tip trajectories for 2-link semi-rigid and flexible manipulator movements in the horizontal plane. The manipulator is modeled with an efficient finite-element scheme for an n-link, m-joint system with horizontal-plane bending only. Constraints on the trajectory include boundary conditions on position and energy for a rest-to-rest maneuver, straight-line tracking between boundary positions, and motor torque limits. Trajectory comparisons utilize a change in the link stiffness, EI, to transition from the semi-rigid to flexible case. Results show the level of compliance necessary to excite significant modal behavior. Quiescence of the final configuration is examined with the finite-element model.

Description: The Robust-Control Toolbox is a collection of 40 M-files which extend the capability of PC/PRO-MATLAB to do modern multivariable robust control system design. Included are robust analysis tools like singular values and structured singular values, robust synthesis tools like continuous/discrete H(exp 2)/H infinity synthesis and Linear Quadratic Gaussian Loop Transfer Recovery methods and a variety of robust model reduction tools such as Hankel approximation, balanced truncation and balanced stochastic truncation, etc. The capabilities of the toolbox are described and illustated with examples to show how easily they can be used in practice. Examples include structured singular value analysis, H infinity loop-shaping and large space structure model reduction.

Description: A total Lagrangian finite element formulation for the deformable bodies in multibody mechanical systems that undergo finite relative rotations is developed. The deformable bodies are discretized using finite element methods. The shape functions that are used to describe the displacement field are required to include the rigid body modes that describe only large translational displacements. This does not impose any limitations on the technique because most commonly used shape functions satisfy this requirement. The configuration of an element is defined using four sets of coordinate systems: Body, Element, Intermediate element, Global. The body coordinate system serves as a unique standard for the assembly of the elements forming the deformable body. The element coordinate system is rigidly attached to the element and therefore it translates and rotates with the element. The intermediate element coordinate system, whose axes are initially parallel to the element axes, has an origin which is rigidly attached to the origin of the body coordinate system and is used to conveniently describe the configuration of the element in undeformed state with respect to the body coordinate system.

Description: The focus is on a flexible structure experiment developed at the California Institute of Technology. The main thrust of the experiment is to address the identification and robust control issues associated with large space structures by capturing their characteristics in the laboratory. The design, modeling, identification and control objectives will be discussed. Also, the subject of uncertainty in structural plant models and the frequency shaping of performance objectives will be expounded upon. Theoretical and experimental results of control laws designed using the identified model and uncertainty descriptions will be presented.

Description: Stability margin for multiloop flight control systems has become a critical issue, especially in highly maneuverable aircraft designs where there are inherent strong cross-couplings between the various feedback control loops. To cope with this issue, we have developed computer algorithms based on non-differentiable optimization theory. These algorithms have been developed for computing the Multivariable Stability Margin (MSM). The MSM of a dynamical system is the size of the smallest structured perturbation in component dynamics that will destabilize the system. These algorithms have been coded and appear to be reliable. As illustrated by examples, they provide the basis for evaluating the robustness and performance of flight control systems.