ALBERT

Description: In controller design for flexible structures, certain system modes are extremely important for the overall performance of the structure. A reduced-order model (ROM) based control focuses on these modes, providing a viable, active control algorithm for large systems. Unfortunately, unmodeled structure dynamics can interact with the ROM controller (CSI) and cause crippling deterioration of system performance, possibly to the point that system stability is lost. A residual model filter (RMF) eliminates one channel of control structure interaction (CSI), while adding only a simple, second-order filter to the control loop. Thus, the ROM controller can be designed independently, based strictly on performance criteria, and residual mode filters can then be selected to compensate for CSI. A flexible robot manipulator is used for preliminary experimentation with the ROM/RMF design methodology. Since the controller was to be implemented both with, and without compensation for CSI, the ROM control gains are carefully chosen such that closed loop stability is never compromised. In this way, RMF effectiveness is easily evaluated in terms of the improvement in system performance resulting from CSI compensation.

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: 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: A generalized methodology to predict the fatigue life and reliability of a rotating disk such as used for aircraft engine turbines and compressors is advanced. The approach incorporates the computed life of elemental stress volumes to predict system life and reliability. Disk speed and thermal gradients as well as design varibles such as disk diameter and thickness and bolt hole size, number and location are considered.

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: 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: 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: A dynamic analysis of a 2240-kW (3000-hp) helicopter planetary system is presented. Results from both analytical and experimental studies show good correlation in gear-tooth loads. A parametric study indicates that the mesh damping ratio has a significant effect on maximum gear tooth load, stress, and vibration. Correlation with experimental results indicates that the Sun-planet mesh damping ratio can significantly differ from the planet ring mesh damping ratio. A numerical fast Fourier transform (FFT) procedure was applied to examine the mesh load components in the frequency domain and the magnitudes of multiple tooth pass frequencies excited by nonsynchronous meshing of the planets. Effects of tooth-spacing errors and tooth-profile modifications with tip relief are examined. A general discussion of results and correlation with the experimental study are also presented.

Description: This paper describes the process for manufacturing high-quality test specimens for uses in evaluations of interlaminar tensile strength of laminated composites. The chosen specimen configuration is a curved beam which experiences interlaminar tension in the region of greatest curvature when the beam is subjected to 'opening' forces. The manufacturing process uses a lock-mold tooling approach, the principle of which relies upon the difference in coefficients of thermal expansion between the internal rubber mandrel and the surrounding steel female mold. With this method, compaction pressures above those provided by a typical autoclave can be achieved.

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: 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: 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: An approach is described to modeling the flexibility effects in spatial mechanisms and manipulator systems. The method is based on finite element representations of the individual links in the system. However, it should be noted that conventional finite element methods and software packages will not handle the highly nonlinear dynamic behavior of these systems which results form their changing geometry. In order to design high-performance lightweight systems and their control systems, good models of their dynamic behavior which include the effects of flexibility are required.

Description: Experiences of several organizations using worm gearing for spacecraft are discussed. Practical aspects and subtleties of using worm gearing for design and operation is included. Knowledge gained from these applications is analyzed, and guidelines for usage are proposed.

Description: Problems and challenges of designing flight telerobot mechanisms are discussed. Specific experiences are drawn from the following system developments: (1) the Force Reflecting Hand Controller, (2) the Smart End Effector, (3) the force-torque sensor, and a generic multi-degrees-of-freedom manipulator.

Description: The development of a mechanism for instrumentation and solar-array deployment is discussed. One part of the technology consists of a smart motor which can operate in either an analog mode to provide high speed and torque, or in the stepper mode to provide accurate positioning. The second technology consists of a coilable lattice mast which is deployed and rotated about its axis with a common drive system. A review of the design and function of the system is presented. Structural and thermal test data are included.

Description: The NASA Stabilized Payload Deployment System (SPDS) is discussed. The lightweight and heavy-duty system rolls payloads over the orbiter's side rather than ejecting them upward. The system will enhance the orbiter capability of carrying larger and heavier payloads. The design, function, and analysis of a new three-pin double swivel toggle release mechanism which is crucial to the successful deployment of the SPDS are described.

Description: The status of recently completed and already ongoing technology developments, as well as some of the most important future developments of the European Space Agency are discussed. Among the subjects considered are Scientific Satellites, Columbus space station development, applications spacecraft for communications, Earth observation and meteorology, and the Ariane V and Hermes space transportation systems.

Description: It is essential that high-performance centrifugal compressors be free of subsynchronous vibrations. A new high-performance centrifugal compressor has been developed by applying the latest rotordynamics knowledge and design techniques: (1) To improve the system damping, a specially designed oil film seal was developed. This seal attained a damping ratio three times that of the conventional design. The oil film seal contains a special damper ring in the seal cartridge. (2) To reduce the destabilizing effect of the labyrinth seal, a special swirl canceler (anti-swirl nozzle) was applied to the balance piston seal. (3) To confirm the system damping margin, the dynamic simulation rotor model test and the full load test applied the vibration exciting test in actual load conditions.

Description: New methods are presented that allow straightforward application of complex nonlinearities to finite element based rotor dynamic analyses. The key features are: (1) the methods can be implemented with existing finite element or dynamic simulation programs, (2) formulation is general for simple application to a wide range of problems, and (3) implementation is simplified because nonlinear aspects are separated from the linear part of the model. The new techniques are illustrated with examples of inertial nonlinearity and torquewhirl which can be important in rubbing turbomachinery. The sample analyses provide new understanding of these nonlinearities which are discussed.

Description: The stability of a high pressure compressor is investigated with special regard to the self-exciting effects in oil seals and labyrinths. It is shown how to stabilize a rotor in spite of these effects and even increase its stability with increasing pressure.

Description: The recent studies of the dynamic stiffness properties of fluid lubricated bearing and seals by the authors have yielded most of the generalized characteristics discussed and used in this paper. They include bearing and seal nonlinear fluid film properties associated with stiffness, damping, and fluid average circumferential velocity ratio. Analytical relationships yield the rotor system's dynamic stiffness characteristics. This paper shows the combination of these data to provide the fluid-induced rotor stability equations.

Description: A new type of electromagnetic bearing was built and tested. It consists of fixed AC-electromagnets in a star formation surrounding a conducting rotor. The bearing works by repulsion due to eddy-currents induced in the rotor. A single bearing is able to fully support a short rotor. The rotor support is inherently stable in all five degrees of freedom. No feedback control is needed. The bearing is also able to accelerate the rotor up to speed and decelerate the rotor back to standstill. The bearing design and the experimentation to verify its capabilities are described.

Description: Methods for including the effects of general race and housing compliance and outer race-to-housing deadband (clearance) in rolling element bearing mechanics analysis is presented. It is shown that these effects can cause significant changes in bearing stiffness characteristics, which are of major importance in rotordynamic response of turbomachinery and other rotating systems. Preloading analysis is demonstrated with the finite element/contact mechanics hybrid method applied to a 45 mm angular contact ball bearing.

Description: Active magnetic bearings can be implemented with frequency band-reject filtering that decreases the bearing stiffness and damping at a small bandwidth around a chosen frequency. The control scheme was used for reducing a rotor dynamic force, such as an imbalance force, transmitted to the bearing stator. The scheme creates additional system vibration modes at the same frequency. It also shows that the amount of force reduction is limited by the stability requirement of these modes.

Description: Many rotating machines such as compressors, turbines and pumps have long thin shafts with resulting vibration problems, and would benefit from additional damping near the center of the shaft. Magnetic dampers have the potential to be employed in these machines because they can operate in the working fluid environment unlike conventional bearings. An experimental test rig is described which was set up with a long thin shaft and several masses to represent a flexible shaft machine. An active magnetic damper was placed in three locations: near the midspan, near one end disk, and close to the bearing. With typical control parameter settings, the midspan location reduced the first mode vibration 82 percent, the disk location reduced it 75 percent and the bearing location attained a 74 percent reduction. Magnetic damper stiffness and damping values used to obtain these reductions were only a few percent of the bearing stiffness and damping values. A theoretical model of both the rotor and the damper was developed and compared to the measured results. The agreement was good.

Description: The fluid forces on a centrifugal impeller rotating and whirling in a vaned diffuser are analyzed on the assumption that the number of impeller and diffuser vanes is so large that the flows are perfectly guided by the vanes. The flow is taken to be two dimensional, inviscid, and incompressible, but the effects of impeller and diffuser losses are taken into account. It is shown that the interaction with the vaned diffuser may cause destabilizing fluid forces. From these discussions, it is found that the whirling forces are closely related to the steady head-capacity characteristics of the impeller. This physical understanding of the whirling forces can be applied also to the cases with volute casings. At partial capacities, it is shown that the impeller forces change greatly when the flow rate and whirl velocity are near to the impeller or vaned diffuser attributed rotating stall onset capacity, and the stall propagation velocity, respectively. In such cases the impeller forces may become destabilizing for impeller whirl.

Description: The shrouded-impeller leakage path forces calculated by Childs (1987) have been analyzed to answer two questions. First, because of certain characteristics of the results of Childs, the forces could not be modeled with traditional approaches. Therefore, an approach has been devised to include the forces in conventional rotordynamic analyses. The forces were approximated by traditional stiffness, damping and inertia coefficients with the addition of whirl-frequency-dependent direct and cross-coupled stiffness terms. The forces were found to be well-modeled with this approach. Finally, the effect these forces had on a simple rotor-bearing system was analyzed, and, therefore, they, in addition to seal forces, were applied to a Jeffcott rotor. The traditional methods of dynamic system analysis were modified to incorporate the impeller forces and yielded results for the eigenproblem, frequency response, critical speed, transient response and an iterative technique for finding the frequency of free vibration as well as system stability. All results lead to the conclusion that the forces have little influence on natural frequency but can have appreciable effects on system stability. Specifically, at higher values of fluid swirl at the leakage path entrance, relative stability is reduced. The only unexpected response characteristics that occurred are attributed to the nonlinearity of the model.

Description: The dynamic coefficients of seals are calculated for shaft movements around an eccentric position. The turbulent flow is described by the Navier-Stokes equations in connection with a turbulence model. The equations are solved by a finite-difference procedure.

Description: Lateral fluid forces on two-dimensional centrifugal impellers, which whirl on a circular orbit in a vaneless diffuser, were reported. Experiments were further conducted for the cases in which a three-dimensional centrifugal impeller, a model of the boiler feed pump, whirls in vaneless and vaned diffusers. The influence of the clearance configuration between the casing and front shroud of the impeller was also investigated. The result indicated that the fluid dynamic interaction between the impeller and the guide vanes induces quite strong fluctuating fluid forces to the impeller, but nevertheless its influence on radial and tangential force components averaged over a whirling orbit is relatively small.

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 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: An articulated structure is defined as an assembly of flexible bodies that may be coupled by kinematic connections and force elements that permit large relative displacement and rotation. Kinematics of such systems is defined using one reference frame for each body in the system and deformation modal coordinates that define displacement fields within flexible bodies. Deformation kinematics are defined by both elastic vibration and static correction deformation modes. Linear elastic deformation is presumed; i.e., a linear stress-strain relation is valid and relative displacements within each elastic component are small enough so that the theory of linear elasticity applies. Coupling of reference and modal coordinates leads to a system of nonlinear equations of motion. Methods of automatically generating and solving these equations of motion are outlined.

Description: The performance of dry-lubricated, angular contact ball bearings in vacuum at a temperature of 20 degrees K has been investigated, and is compared with the in-vacuo performance at room temperatures. Bearings were lubricated using dry-lubricant techniques which have been previously established for space applications involving operations at or near room temperature. Comparative tests were undertaken using three lubricants: molybdenum disulphide, lead, and PTFE. Results obtained using the three lubricants are presented.

Description: The development of an approach to the visual perception of object surface information using laser range data in support of robotic grasping is discussed. This is a very important problem area in that a robot such as the EVAR must be able to formulate a grasping strategy on the basis of its knowledge of the surface structure of the object. A description of the problem domain is given as well as a formulation of an algorithm which derives an object surface description adequate to support robotic grasping. The algorithm is based upon concepts of differential geometry namely, Gaussian and mean curvature.

Description: The current state of development of the NASA/GSFC (Goddard Space Flight Center) Split-Rail Parallel Gripper (SRPG) is described. The SPRG has been shown to be a high performance gripper for industrial robots. It has a precise wide throw and at the same time, it is light, simple, compact, rugged, and jam-proof against side loads. Originated at the National Bureau of Standards (NBS), this gripper is undergoing further development at NASA/GSFC in pursuit of two goals: as a potential gripper for robots in space and as the basis for sensory-interactive industrial gripper as part of NASA's technology utilization program. The gripper design features, its principles of operation and how it is constructed are described. Test results are included.

Description: The NASA Goddard telerobotic program is structured to increase the scope and efficiency of what man can accomplish in space through the use of robotics. The main focus is to service Space Station Freedom and its payloads, but robotic assembly of Space Station Freedom and platforms is also anticipated. The approach being taken to achieve this by telerobotics, where manipulators can be controlled by human operators or computer programs. The Goddard Space Flight Center (GSFC) has the responsability to develop the Flight Telerobotic Servicer (FTS) for Space Station Freedom. The current plan at GSFC in support of telerobotics for Space Station Freedom and the in-orbit servicing of platforms are reviewed. Plans for ground demonstrations involving the use of an engineering test bed and an operational facility are discussed.

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: The Manipulator Emulator Testbed (MET) is to provide a facility capable of hosting the simulation of various manipulator configurations to support concept studies, evaluation, and other engineering development activities. Specifically, the testbed is intended to support development of the Space Station Remote Manipulator System (SSRMS) and related systems. The objective of this study is to evaluate the math models developed for the MET simulation of a manipulator's rigid body dynamics and the servo systems for each of the driven manipulator joints. Specifically, the math models are examined with regard to their amenability to pipeline and parallel processing. Based on this evaluation and the project objectives, a set of prioritized recommendations are offered for future work.

Description: A test apparatus was constructed and was applied to investigate static and dynamic characteristics of annular seals for turbopumps. The fluid forces acting on the seals were measured for various parameters such as the preswirl velocity, the pressure difference between the inlet and outlet of the seal, the whirling amplitude, and the ratio of whirling speed to spinning speed of the rotor. Influence of these parameters on the static and dynamic characteristics was investigated from the experimental results. As a result, preswirl affects the dynamic characteristics strongly. Especially, the preswirl opposing the rotating direction has a stabilizing role on the rotor system.

Description: A new seal test facility for measuring high-pressure seal rotor-dynamic characteristics has recently been made operational at Case Western Reserve University (CWRU). This work is being sponsored by the Electric Power Research Institute (EPRI). The fundamental concept embodied in this test apparatus is a double-spool-shaft spindle which permits independent control over the spin speed and the frequency of an adjustable circular vibration orbit for both forward and backward whirl. Also, the static eccentricity between the rotating and non-rotating test seal parts is easily adjustable to desired values. By accurately measuring both dynamic radial displacement and dynamic radial force signals, over a wide range of circular orbit frequency, one is able to solve for the full linear-anisotropic model's 12 coefficients rather than the 6 coefficients of the more restrictive isotropic linear model. Of course, one may also impose the isotropic assumption in reducing test data, thereby providing a valid qualification of which seal configurations are well represented by the isotropic model and which are not. In fact, as argued in reference (1), the requirement for maintaining a symmetric total system mass matrix means that the resulting isotropic model needs 5 coefficients and the anisotropic model needs 11 coefficients.

Description: One of the main problems in designing a centrifugal pump is to achieve a good efficiency while not neglecting the dynamic performance of the machine. The first aspect leads to the design of grooved seals in order to minimize the leakage flow. But the influence of these grooves to the dynamic behavior is not well known. Experimental and theoretical results of the rotordynamic coefficients for different groove shapes and depths in seals is presented. In addition, the coefficients are applied to a simple pump model.

Description: A method to calculate the dynamic coefficients of seals with arbitrary geometry is presented. The Navier-Stokes equations are used in conjunction with the k-e turbulence model to describe the turbulent flow. These equations are solved by a full 3-dimensional finite-difference procedure instead of the normally used perturbation analysis. The time dependence of the equations is introduced by working with a coordinate system rotating with the precession frequency of the shaft. The results of this theory are compared with coefficients calculated by a perturbation analysis and with experimental results.

Description: The compressible, turbulent, time dependent and three dimensional flow in a labyrinth seal can be described by the Navier-Stokes equations in conjunction with a turbulence model. Additionally, equations for mass and energy conservation and an equation of state are required. To solve these equations, a perturbation analysis is performed yielding zeroth order equations for centric shaft position and first order equations describing the flow field for small motions around the seal center. For numerical solution a finite difference method is applied to the zeroth and first order equations resulting in leakage and dynamic seal coefficients respectively.

Description: The basic equations are derived for compressible flow in a stepped labyrinth gas seal. The flow is assumed to be completely turbulent in the circumferential direction where the friction factor is determined by the Blasius relation. Linearized zeroth and first-order perturbation equations are developed for small motion about a centered position by an expansion in the eccentricity ratio. The zeroth-order pressure distribution is found by satisfying the leakage equation while the circumferential velocity distribution is determined by satisfying the momentum equations. The first order equations are solved by a separation of variables solution. Integration of the resultant pressure distribution along and around the seal defines the reaction force developed by the seal and the corresponding dynamic coefficients. The results of this analysis are presented in the form of a parametric study, since there are no known experimental data for the rotordynamic coefficients of stepped labyrinth gas seals. The parametric study investigates the relative rotordynamic stability of convergent, straight and divergent stepped labyrinth gas seals. The results show that, generally, the divergent seal is more stable, rotordynamically, than the straight or convergent seals. The results also show that the teeth-on-stator seals are not always more stable, rotordynamically, then the teeth-on-rotor seals as was shown by experiment by Childs and Scharrer (1986b) for a 15 tooth seal.

Description: A new type of vibration damper for rotor systems was developed and tested. The damper contains electroviscous fluid which solidifies and provides Coulomb damping when an electric voltage is imposed across the fluid. The damping capacity is controlled by the voltage. The damper was incorporated in a flexible rotor system and found to be able to damp out high levels of unbalanced excitation. Other proven advantages include controllability, simplicity, and no requirement for oil supply. Still unconfirmed are the capabilities to eliminate critical speeds and to suppress rotor instabilities.

Description: High speed motion pictures have revealed several operating regimes in a squeeze film damper. Pressure measurements corresponding to these distinct regimes were made to examine their effect on the performance of such dampers. Visual observation also revealed the means by which the pressure in the feed groove showed higher amplitudes than the theory predicts. Comparison between vapor and gaseous cavitation are made based on their characteristic pressure wave, and the effect this has on the total force and its phase.

Description: The active control of rotordynamic vibrations and stability by magnetic bearings and electromagnetic shakers was discussed extensively in the literature. These devices, though effective, are usually large in volume and add significant weight to the stator. The use of piezoelectric pushers may provide similar degrees of effectiveness in light, compact packages. Analyses are contained which extend quadratic regulator, pole placement and derivative feedback control methods to the prescribed displacement character of piezoelectric pushers. The structural stiffness of the pusher is also included in the theory. Tests are currently being conducted at NASA Lewis Research Center with piezoelectric pusher-based active vibration control. Results performed on the NASA test rig as preliminary verification of the related theory are presented.

Description: A 21 MW electric power generating unit comprises a gas turbine, a planetary gear, and a generator connected together by gear couplings. For simplicity of the design and high performance the pinion of the gear has no bearing. It is centered by the planet wheels only. The original design showed a strong instability and a natural frequency increasing with the load between 2 and 6.5 MW. In this operating range the natural frequency was below the operating speed of the gas turbine, n sub PT = 7729 RPM. By shortening the pinion shaft and reduction of its moment of inertia the unstable natural frequency was shifted well above the operating speed. With that measure the unit now operates with stability in the entire load range.

Description: Some problems associated with non-synchronous vibrations are analyzed by describing three cases experienced with fairly large rotating machines in operating conditions. In each case, a brief description is first given of the machine and of the instrumentation used. The experimental results are then presented, with reference to time or frequency domain recordings. The lines followed in diagnosis are then discussed and, lastly, the corrective action undertaken is presented.

Description: Aero-engine structures have very low inherent damping and so artificial damping is often introduced by pumping oil into annular gaps between the casings and the outer races of some or all of the rolling-element bearings supporting the rotors. The thin oil films so formed are called squeeze film dampers and they can be beneficial in reducing rotor vibration due to unbalance and keeping to reasonable limits the forces transmitted to the engine casing. However, squeeze-film dampers are notoriously non-linear and as a result can introduce into the assembly such phenomena as subharmonic oscillations, jumps and combination frequencies. The purpose of the research is to investigate such phenomena both theoretically and experimentally on a test facility reproducing the essential features of a medium-size aero engine. The forerunner of this work was published. It was concerned with the examination of a squeeze-film damper in series with housing flexibility when supporting a rotor. The structure represented to a limited extent the essentials of the projected Rolls Royce RB401 engine. That research demonstrated the ability to calculate the oil-film forces arising from the squeeze film from known motions of the bearing components and showed that the dynamics of a shaft fitted with a squeeze film bearing can be predicted reasonably accurately. An aero-engine will normally have at least two shafts and so in addition to the excitation forces which are synchronous with the rotation of one shaft, there will also be forces at other frequencies from other shafts operating on the squeeze-film damper. Theoretical and experimental work to consider severe loading of squeeze-film dampers and to include these additional effects are examined.

Description: A lot of large chemical fertilizer plants producing 1000 ton NH3/day and 1700 ton urea/day were constructed in the 1970's in China. During operation, subsynchronous vibration takes place occasionally in some of the large turbine-compressor sets and has resulted in heavy economic losses. Two cases of subsynchronous vibration are described: Self-excited vibration of the low-pressure (LP) cylinder of one kind of N2-H2 multistage compressor; and Forced subsynchronous vibration of the high-pressure (HP) cylinder of the CO2 compressor.

Description: The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability.

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: 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: There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.

Description: For future in-space construction facility, one or more space cranes capable of manipulating and positioning large and massive spacecraft components will be needed. Inverse dynamics was extensively studied as a basis for trajectory generation and control of robot manipulators. The focus here is on trajectory generation in the gross-motion phase of space crane operation. Inverse dynamics of the flexible crane body is much more complex and intricate as compared with rigid robot link. To model and solve the space crane's inverse dynamics problem, LATDYN program which employs a three-dimensional finite element formulation for the multibody truss-type structures will be used. The formulation is oriented toward a joint dominated structure which is suitable for the proposed space crane concept. To track a planned trajectory, procedures will be developed to obtain the actuation profile and dynamics envelope which are pertinent to the design and performance requirements of the space crane concept.

Description: The prescribed tasks in high speed robotic systems are severely deteriorated because of their manipulator dynamic deflections. On the other hand conventional dynamic modeling techniques fail to reveal appropriate control forces in flexible systems. The conventional dynamic equations of motion for systems subject to kinematical constraints are modified by a new concept of control force representation. The directions of the control forces are selected such that they correspond to the joint degrees of freedom. Then the joint control forces and torques that yield unperturbed prescribed motions are solved simultaneously with the system motion. A flexible manipulator is presented to illustrate the methods proposed.

Description: In general, work has continued on developing and evaluating algorithms designed to manage the Laser Atmospheric Wind Sounder (LAWS) lidar pulses and to compute the horizontal wind vectors from the line-of-sight (LOS) measurements. These efforts fall into three categories: Improvements to the shot management and multi-pair algorithms (SMA/MPA); observing system simulation experiments; and ground-based simulations of LAWS.

Description: Optimized Royal Signals and Radar Establishment (RSRE), Laser True Airspeed System (LATAS) algorithm for low backscatter conditions was developed. The algorithm converts backscatter intensity measurements from focused continuous-wave (CW) airborne Doppler lidar into backscatter coefficients. The performance of optimized algorithm under marginal backscatter signal conditions was evaluated. The 10.6 micron CO2 aerosol backscatter climatologies were statistically analyzed. Climatologies reveal clean background aerosol mode near 10(exp -10)/kg/sq m/sr (mixing ratio units) through middle and upper troposhere, convective mode associated with planetary boundary layer convective activity, and stratospheric mode associated with volcanically-generated aerosols. Properties of clean background mode are critical to design and simulation studies of Laser Atmospheric Wind Sounder (LAWS), a MSFC facility Instrument on the Earth Observing System (Eos). Previous intercomparisons suggested correlation between aerosol backscatter at CO2 wavelength and water vapor. Field measurements of backscatter profiles with MSFC ground-based Doppler lidar system (GBDLS) were initiated in late FY-88 to coincide with independent program of local rawinsonde releases and overflights by Multi-spectral Atmospheric Mapping Sensor (MAMS), a multi-channel infrared radiometer capable of measuring horizontal and vertical moisture distributions. Design and performance simulation studies for LAWS would benefit from the existence of a relationship between backscatter and water vapor.

Description: The orographic flow data set was obtained from a flight program to measure the influence of orographic features on turbulence momentum, heat, and moisture fluxes. The NASA B-57 aircraft instrumented with probes for measuring the three fluctuating wind speed components, temperature, and humidity was the primary measuring vehicle. Ancillary measurements were made with several ground-based sensors. These include the NOAA radar wind profilers, the Boulder wind network, the PROFS mesoscale surface network, the Boulder Atmospheric Observatory 300 m tower, special rawinsonde observations, and the NOAA/WPL Doppler lidar. The major objective of the flight program was to provide planetary boundary layer parameter information for new and current general circulation computer models. A numerical code, WINDER, based on a discrete element technique was run to numerically model the water tunnel simulated flow. Comparison of the analytical model with the experimental results is very good. Physical fluid dynamic principles embedded in the computational model and visual and hot wire anemometer measurements from the simulation are being rationalized to develop a physical understanding of the vortex flow. The results will be interpreted as they pertain to full scale atmospheric flows.

Description: Significant accomplishments during 1987 to 1988 are summarized with regard to each of the major project components. Model 1 requires satisfaction of two nonlinear horizontal momentum equations, the integrated continuity equation, and the hydrostatic equation. Model 2 requires satisfaction of model 1 plus the thermodynamic equation for a dry atmosphere. Model 3 requires satisfaction of model 2 plus the radiative transfer equation. Model 4 requires satisfaction of model 3 plus a moisture conservation equation and a parameterization for moist processes.

Description: Theoretical studies of low frequency and seasonal weather variability; dynamical properties of observational and general circulation model (GCM)-generated records; effects of the hydrologic cycle and latent heat release on extratropical weather; and Earth-system science studies are summarized.

Description: Research efforts during FY-88 have focused on completion of several projects relating to analysis of FGGE data during SOP-1 and on expanded studies of global atmospheric moisture. In particular, a revised paper on the relationship between diabatic heating and baroclinicity in the South Pacific Convergence Zone (SPCZ) was submitted. A summary of completed studies on diagnostic convective parameterization was presented at the Satellite Meteorology and Oceanography Convergence last February. These investigations of diabatic heating in the SPCZ have demonstrated the requirement for a more quantitative description of atmospheric moisture. As a result, efforts were directed toward use of passive remote microwave measurements from the Nimbus-7 SMMR and the DOD's Special Sensor Microwave Imager (SSMI/I) as critical sources of moisture data. Activities this year are summarized.

Description: The focus was on the development of a blocking anticyclone that formed over the North Atlantic in January 1979 and a marine cyclone that deepened explosively prior to the onset of the block. The extended height tendency equation was used as the primary diagnostic tool. Focusing on the domain encompassing the migrating ridge that eventually formed the block, it was found that vorticity advection played the dominant role in the development of the ridge and the formation of the block. Also of interest was an attempt to evaluate the relative importance of synoptic-scale, planetary-scale, and synoptic/planetary-scale interactions as the block developed. To accomplish this, all data fields were partitioned into synoptic and planetary-scale components using a Barnes-type filter. Finally, the cyclone was diagnosed by examining the low level static stability fields associated with the cyclone's development.

Description: A description of each of the criteria used to decide where to locate the Atmospheric Visibility Monitoring (AVM) telescope systems is given, along with a weighting factor for each of them. These criteria include low probability of clouds, fog, smog, haze, low scattering, low turbulence, availability of security and maintenance, and suitability of a site for a potential optical reception station. They will be used to determine which three of several sites under consideration will be used for monitoring visibility through the atmosphere as it applies to an optical ground-based receiving network as may be used in NASA space missions in decades to come.

Description: A mechanism which meets the requirements of a teleoperated manipulator and those of an autonomous robot is discussed. The mechanism is a traction-drive differential that uses variable preload mechanisms. The differential provides compact design, with dextrous motion range and torque density similar to geared systems. The traction drive offers high stiffness to backlash for good robotic performance. The variable-loading mechanism (VLM) minimizes the drive-train friction for improved teleoperation. This combination provides a mechanism to allow advanced manipulation with either teleoperated control or autonomous robotic operation. The design principles of both major components of the joint mechanism are described.

Description: The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.

Description: Three questions are addressed: what mission must a cryogenic seal perform; what are the contrasts between desirable and available seal materials; and how realistic must test conditions be. The question of how to quantify the response of a material subject to large strains and which is susceptible to memory effects leads to a discussion of theoretical issues. Accordingly, the report summarizes some ideas from the rational mechanics of materials. The report ends with a list of recommendations and a conclusion.

Description: Background information on the rocket-triggered lightning project at Kennedy Space Center (KSC), a summary of the forecasting problem there, the facilities and equipment available for undertaking field experiments at KSC, previous research activity performed, a description of the atmospheric science field laboratory near Mosquito Lagoon on the KSC complex, methods of data acquisition, and present results are discussed. New sources of data for the 1989 field experiment include measuring the electric field in the lower few thousand feet of the atmosphere by suspending field measuring devices below a tethered balloon. Problems encountered during the 1989 field experiment are discussed. Future prospects for both triggered lightning and lightning-kindled forest fire research at KSC are listed.

Description: The research carried out in the past year dealt with nonlinear baroclinic wave dynamics. The model consisted of an Eady baroclinic basic state and uneven Elkman dissipation at the top and bottom boundaries with/without slopes. The method of solution used a truncated spectral expansion with three zonal waves and one or two meridional modes. Numerical experiments were performed on synoptic scale waves or planetary scale waves with/without wave-wave interaction.