Simulaser, a graphical laser simulator based on Matlab Simulink

CSIR Research Space (South Africa)

Jacobs, Cobus

2016-07-01

Full Text Available We present a single-element plane-wave laser rate equation model and its implementation as a graphical laser simulation library using Matlab Simulink. Simulink’s graphical interface and vector capabilities provide a unique layer of abstraction...

Pilot-plant development of a Rover waste calcination flowsheet

International Nuclear Information System (INIS)

Birrer, S.A.

1978-04-01

Results of eight runs, six using the 10-cm dia and two using the 30-cm dia pilot-plant calciners, in which simulated first-cycle Rover waste was calcined, are described. Results of the tests showed that a feed blend consisting of one volume simulated first-cycle Rover waste and one or two volumes simulated first-cycle zirconium waste could not be successfully calcined. 5 figs., 8 tables

Computer Graphics Simulations of Sampling Distributions.

Science.gov (United States)

Gordon, Florence S.; Gordon, Sheldon P.

1989-01-01

Describes the use of computer graphics simulations to enhance student understanding of sampling distributions that arise in introductory statistics. Highlights include the distribution of sample proportions, the distribution of the difference of sample means, the distribution of the difference of sample proportions, and the distribution of sample…

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

Lee, J. Y.; Kim, S. H.; Song, T. K.; Park, B. S.; Yoon, J. S.

2002-01-01

To handle the high level radioactive materials such as spent fuels remotely, the master-slave manipulator is generally used as a remote handling equipment in the hot cell. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual work cell is implemented in the graphical environment which is the same as the real environment and the path planning method using the function of the collision detection for a manipulator are proposed. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management

Harvesting graphics power for MD simulations

NARCIS (Netherlands)

van Meel, J.A.; Arnold, A.; Frenkel, D.; Portegies Zwart, S.F.; Belleman, R.G.

2008-01-01

We discuss an implementation of molecular dynamics (MD) simulations on a graphic processing unit (GPU) in the NVIDIA CUDA language. We tested our code on a modern GPU, the NVIDIA GeForce 8800 GTX. Results for two MD algorithms suitable for short-ranged and long-ranged interactions, and a

Harvesting graphics power for MD simulations

NARCIS (Netherlands)

Meel, J.A. van; Arnold, A.; Frenkel, D.; Portegies Zwart, S.F.; Belleman, R.G.

We discuss an implementation of molecular dynamics (MD) simulations on a graphic processing unit (GPU) in the NVIDIA CUDA language. We tested our code on a modern GPU, the NVIDIA GeForce 8800 GTX. Results for two MD algorithms suitable for short-ranged and long-ranged interactions, and a

Simulation of Robot Kinematics Using Interactive Computer Graphics.

Science.gov (United States)

Leu, M. C.; Mahajan, R.

1984-01-01

Development of a robot simulation program based on geometric transformation softwares available in most computer graphics systems and program features are described. The program can be extended to simulate robots coordinating with external devices (such as tools, fixtures, conveyors) using geometric transformations to describe the…

Rover Technologies

Data.gov (United States)

National Aeronautics and Space Administration — Develop and mature rover technologies supporting robotic exploration including rover design, controlling rovers over time delay and for exploring . Technology...

Development of the graphic design and control system based on a graphic simulator for the spent fuel dismantling equipment

Energy Technology Data Exchange (ETDEWEB)

Lee, J. Y.; Kim, S. H.; Song, T. G.; Yoon, J. S

2000-06-01

In this study, the graphic design system is developed for designing the spent fuel rod consolidation and the dismantling processes. This system is used throughout the design stages from the conceptual design to the motion analysis. Also, the real-time control system of the rod extracting equipment is developed. This system utilizes the graphic simulator which simulates the motion of the equipment in real time by synchronously connecting the control PC with the graphic server through the TCP/IP network. The developed system is expected to be used as an effective tool in designing the process equipment for the spent fuel management. And the real-time graphic control system can be effectively used to enhance the reliability and safety of the spent fuel handling process by providing the remote monitoring function of the process.

Development of the graphic design and control system based on a graphic simulator for the spent fuel dismantling equipment

International Nuclear Information System (INIS)

Lee, J. Y.; Kim, S. H.; Song, T. G.; Yoon, J. S.

2000-06-01

In this study, the graphic design system is developed for designing the spent fuel rod consolidation and the dismantling processes. This system is used throughout the design stages from the conceptual design to the motion analysis. Also, the real-time control system of the rod extracting equipment is developed. This system utilizes the graphic simulator which simulates the motion of the equipment in real time by synchronously connecting the control PC with the graphic server through the TCP/IP network. The developed system is expected to be used as an effective tool in designing the process equipment for the spent fuel management. And the real-time graphic control system can be effectively used to enhance the reliability and safety of the spent fuel handling process by providing the remote monitoring function of the process

MathModelica - An Extensible Modeling and Simulation Environment with Integrated Graphics and Literate Programming

OpenAIRE

Fritzson, Peter; Gunnarsson, Johan; Jirstrand, Mats

2002-01-01

MathModelica is an integrated interactive development environment for advanced system modeling and simulation. The environment integrates Modelica-based modeling and simulation with graphic design, advanced scripting facilities, integration of program code, test cases, graphics, documentation, mathematical type setting, and symbolic formula manipulation provided via Mathematica. The user interface consists of a graphical Model Editor and Notebooks. The Model Editor is a graphical user interfa...

Interactive simulation of nuclear power systems using a dedicated minicomputer - computer graphics facility

International Nuclear Information System (INIS)

Tye, C.; Sezgen, A.O.

1980-01-01

The design of control systems and operational procedures for large scale nuclear power plant poses a difficult optimization problem requiring a lot of computational effort. Plant dynamic simulation using digital minicomputers offers the prospect of relatively low cost computing and when combined with graphical input/output provides a powerful tool for studying such problems. The paper discusses the results obtained from a simulation study carried out at the Computer Graphics Unit of the University of Manchester using a typical station control model for an Advanced Gas Cooled reactor. Particular reference is placed on the use of computer graphics for information display, parameter and control system optimization and techniques for using graphical input for defining and/or modifying the control system topology. Experience gained from this study has shown that a relatively modest minicomputer system can be used for simulating large scale dynamic systems and that highly interactive computer graphics can be used to advantage to relieve the designer of many of the tedious aspects of simulation leaving him free to concentrate on the more creative aspects of his work. (author)

Use of computer graphics simulation for teaching of flexible sigmoidoscopy.

Science.gov (United States)

Baillie, J; Jowell, P; Evangelou, H; Bickel, W; Cotton, P

1991-05-01

The concept of simulation training in endoscopy is now well-established. The systems currently under development employ either computer graphics simulation or interactive video technology; each has its strengths and weaknesses. A flexible sigmoidoscopy training device has been designed which uses graphic routines--such as object oriented programming and double buffering--in entirely new ways. These programming techniques compensate for the limitations of currently available desk-top microcomputers. By boosting existing computer 'horsepower' with next generation coprocessors and sophisticated graphics tools such as intensity interpolation (Gouraud shading), the realism of computer simulation of flexible sigmoidoscopy is being greatly enhanced. The computer program has teaching and scoring capabilities, making it a truly interactive system. Use has been made of this ability to record, grade and store each trainee encounter in computer memory as part of a multi-center, prospective trial of simulation training being conducted currently in the USA. A new input device, a dummy endoscope, has been designed that allows application of variable resistance to the insertion tube. This greatly enhances tactile feedback, such as resistance during looping. If carefully designed trials show that computer simulation is an attractive and effective training tool, it is expected that this technology will evolve rapidly and be made widely available to trainee endoscopists.

Neurosurgical simulation by interactive computer graphics on iPad.

Science.gov (United States)

Maruyama, Keisuke; Kin, Taichi; Saito, Toki; Suematsu, Shinya; Gomyo, Miho; Noguchi, Akio; Nagane, Motoo; Shiokawa, Yoshiaki

2014-11-01

Presurgical simulation before complicated neurosurgery is a state-of-the-art technique, and its usefulness has recently become well known. However, simulation requires complex image processing, which hinders its widespread application. We explored handling the results of interactive computer graphics on the iPad tablet, which can easily be controlled anywhere. Data from preneurosurgical simulations from 12 patients (4 men, 8 women) who underwent complex brain surgery were loaded onto an iPad. First, DICOM data were loaded using Amira visualization software to create interactive computer graphics, and ParaView, another free visualization software package, was used to convert the results of the simulation to be loaded using the free iPad software KiwiViewer. The interactive computer graphics created prior to neurosurgery were successfully displayed and smoothly controlled on the iPad in all patients. The number of elements ranged from 3 to 13 (mean 7). The mean original data size was 233 MB, which was reduced to 10.4 MB (4.4% of original size) after image processing by ParaView. This was increased to 46.6 MB (19.9%) after decompression in KiwiViewer. Controlling the magnification, transfer, rotation, and selection of translucence in 10 levels of each element were smoothly and easily performed using one or two fingers. The requisite skill to smoothly control the iPad software was acquired within 1.8 trials on average in 12 medical students and 6 neurosurgical residents. Using an iPad to handle the result of preneurosurgical simulation was extremely useful because it could easily be handled anywhere.

Design of Mobility System for Ground Model of Planetary Exploration Rover

Directory of Open Access Journals (Sweden)

Younkyu Kim

2012-12-01

Full Text Available In recent years, a number of missions have been planned and conducted worldwide on the planets such as Mars, which involves the unmanned robotic exploration with the use of rover. The rover is an important system for unmanned planetary exploration, performing the locomotion and sample collection and analysis at the exploration target of the planetary surface designated by the operator. This study investigates the development of mobility system for the rover ground model necessary to the planetary surface exploration for the benefit of future planetary exploration mission in Korea. First, the requirements for the rover mobility system are summarized and a new mechanism is proposed for a stable performance on rough terrain which consists of the passive suspension system with 8 wheeled double 4-bar linkage (DFBL, followed by the performance evaluation for the mechanism of the mobility system based on the shape design and simulation. The proposed mobility system DFBL was compared with the Rocker-Bogie suspension system of US space agency National Aeronautics and Space Administration and 8 wheeled mobility system CRAB8 developed in Switzerland, using the simulation to demonstrate the superiority with respect to the stability of locomotion. On the basis of the simulation results, a general system configuration was proposed and designed for the rover manufacture.

Comparative Field Tests of Pressurised Rover Prototypes

Science.gov (United States)

Mann, G. A.; Wood, N. B.; Clarke, J. D.; Piechochinski, S.; Bamsey, M.; Laing, J. H.

The conceptual designs, interior layouts and operational performances of three pressurised rover prototypes - Aonia, ARES and Everest - were field tested during a recent simulation at the Mars Desert Research Station in Utah. A human factors experiment, in which the same crew of three executed the same simulated science mission in each of the three vehicles, yielded comparative data on the capacity of each vehicle to safely and comfortably carry explorers away from the main base, enter and exit the vehicle in spacesuits, perform science tasks in the field, and manage geological and biological samples. As well as offering recommendations for design improvements for specific vehicles, the results suggest that a conventional Sports Utility Vehicle (SUV) would not be suitable for analog field work; that a pressurised docking tunnel to the main habitat is essential; that better provisions for spacesuit storage are required; and that a crew consisting of one driver/navigator and two field science crew specialists may be optimal. From a field operations viewpoint, a recurring conflict between rover and habitat crews at the time of return to the habitat was observed. An analysis of these incidents leads to proposed refinements of operational protocols, specific crew training for rover returns and again points to the need for a pressurised docking tunnel. Sound field testing, circulating of results, and building the lessons learned into new vehicles is advocated as a way of producing ever higher fidelity rover analogues.

Micromagnetic simulations using Graphics Processing Units

International Nuclear Information System (INIS)

Lopez-Diaz, L; Aurelio, D; Torres, L; Martinez, E; Hernandez-Lopez, M A; Gomez, J; Alejos, O; Carpentieri, M; Finocchio, G; Consolo, G

2012-01-01

The methodology for adapting a standard micromagnetic code to run on graphics processing units (GPUs) and exploit the potential for parallel calculations of this platform is discussed. GPMagnet, a general purpose finite-difference GPU-based micromagnetic tool, is used as an example. Speed-up factors of two orders of magnitude can be achieved with GPMagnet with respect to a serial code. This allows for running extensive simulations, nearly inaccessible with a standard micromagnetic solver, at reasonable computational times. (topical review)

Methodology for the interactive graphic simulator construction

International Nuclear Information System (INIS)

Milian S, Idalmis; Rodriguez M, Lazaro; Lopez V, Miguel A.

1997-01-01

The PC-supported Interactive Graphic Simulators (IGS) have successfully been used for industrial training programs in many countries. This paper is intended to illustrate the general methodology applied by our research team for the construction of this kind of conceptual or small scale simulators. The information and tools available to achieve this goal are also described. The applicability of the present methodology was confirmed with the construction of a set of IGS for nuclear power plants operators training programs in Cuba. One of them, relating reactor kinetics, is shown and briefly described in this paper. (author). 11 refs., 3 figs

Graphics in DAQSIM

International Nuclear Information System (INIS)

Wang, C.C.; Booth, A.W.; Chen, Y.M.; Botlo, M.

1993-06-01

At the Superconducting Super Collider Laboratory (SSCL) a tool called DAQSIM has been developed to study the behavior of Data Acquisition (DAQ) systems. This paper reports and discusses the graphics used in DAQSIM. DAQSIM graphics includes graphical user interface (GUI), animation, debugging, and control facilities. DAQSIM graphics not only provides a convenient DAQ simulation environment, it also serves as an efficient manager in simulation development and verification

Interactive virtual simulation using a 3D computer graphics model for microvascular decompression surgery.

Science.gov (United States)

Oishi, Makoto; Fukuda, Masafumi; Hiraishi, Tetsuya; Yajima, Naoki; Sato, Yosuke; Fujii, Yukihiko

2012-09-01

The purpose of this paper is to report on the authors' advanced presurgical interactive virtual simulation technique using a 3D computer graphics model for microvascular decompression (MVD) surgery. The authors performed interactive virtual simulation prior to surgery in 26 patients with trigeminal neuralgia or hemifacial spasm. The 3D computer graphics models for interactive virtual simulation were composed of the brainstem, cerebellum, cranial nerves, vessels, and skull individually created by the image analysis, including segmentation, surface rendering, and data fusion for data collected by 3-T MRI and 64-row multidetector CT systems. Interactive virtual simulation was performed by employing novel computer-aided design software with manipulation of a haptic device to imitate the surgical procedures of bone drilling and retraction of the cerebellum. The findings were compared with intraoperative findings. In all patients, interactive virtual simulation provided detailed and realistic surgical perspectives, of sufficient quality, representing the lateral suboccipital route. The causes of trigeminal neuralgia or hemifacial spasm determined by observing 3D computer graphics models were concordant with those identified intraoperatively in 25 (96%) of 26 patients, which was a significantly higher rate than the 73% concordance rate (concordance in 19 of 26 patients) obtained by review of 2D images only (p computer graphics model provided a realistic environment for performing virtual simulations prior to MVD surgery and enabled us to ascertain complex microsurgical anatomy.

The Communicability of Graphical Alternatives to Tabular Displays of Statistical Simulation Studies

Science.gov (United States)

Cook, Alex R.; Teo, Shanice W. L.

2011-01-01

Simulation studies are often used to assess the frequency properties and optimality of statistical methods. They are typically reported in tables, which may contain hundreds of figures to be contrasted over multiple dimensions. To assess the degree to which these tables are fit for purpose, we performed a randomised cross-over experiment in which statisticians were asked to extract information from (i) such a table sourced from the literature and (ii) a graphical adaptation designed by the authors, and were timed and assessed for accuracy. We developed hierarchical models accounting for differences between individuals of different experience levels (under- and post-graduate), within experience levels, and between different table-graph pairs. In our experiment, information could be extracted quicker and, for less experienced participants, more accurately from graphical presentations than tabular displays. We also performed a literature review to assess the prevalence of hard-to-interpret design features in tables of simulation studies in three popular statistics journals, finding that many are presented innumerately. We recommend simulation studies be presented in graphical form. PMID:22132184

A graphical simulator for active learning of MRI basics

DEFF Research Database (Denmark)

Wilhjelm, Jens E.; Duun-Henriksen, Jonas; Hanson, Lars G.

2014-01-01

This paper presents a MATLAB-based graphical user interface (GUI) for simulation of a simple magnetic resonance imaging (MRI) scanner that the student can operate and obtain results with. It is intended for the students in an introductory course in medical imaging and provides the students with a...

Three Dimensional Computer Graphics Federates for the 2012 Smackdown Simulation

Science.gov (United States)

Fordyce, Crystal; Govindaiah, Swetha; Muratet, Sean; O'Neil, Daniel A.; Schricker, Bradley C.

2012-01-01

The Simulation Interoperability Standards Organization (SISO) Smackdown is a two-year old annual event held at the 2012 Spring Simulation Interoperability Workshop (SIW). A primary objective of the Smackdown event is to provide college students with hands-on experience in developing distributed simulations using High Level Architecture (HLA). Participating for the second time, the University of Alabama in Huntsville (UAHuntsville) deployed four federates, two federates simulated a communications server and a lunar communications satellite with a radio. The other two federates generated 3D computer graphics displays for the communication satellite constellation and for the surface based lunar resupply mission. Using the Light-Weight Java Graphics Library, the satellite display federate presented a lunar-texture mapped sphere of the moon and four Telemetry Data Relay Satellites (TDRS), which received object attributes from the lunar communications satellite federate to drive their motion. The surface mission display federate was an enhanced version of the federate developed by ForwardSim, Inc. for the 2011 Smackdown simulation. Enhancements included a dead-reckoning algorithm and a visual indication of which communication satellite was in line of sight of Hadley Rille. This paper concentrates on these two federates by describing the functions, algorithms, HLA object attributes received from other federates, development experiences and recommendations for future, participating Smackdown teams.

MuSim, a Graphical User Interface for Multiple Simulation Programs

Energy Technology Data Exchange (ETDEWEB)

Roberts, Thomas [MUONS Inc., Batavia; Cummings, Mary Anne [MUONS Inc., Batavia; Johnson, Rolland [MUONS Inc., Batavia; Neuffer, David [Fermilab

2016-06-01

MuSim is a new user-friendly program designed to interface to many different particle simulation codes, regardless of their data formats or geometry descriptions. It presents the user with a compelling graphical user interface that includes a flexible 3-D view of the simulated world plus powerful editing and drag-and-drop capabilities. All aspects of the design can be parametrized so that parameter scans and optimizations are easy. It is simple to create plots and display events in the 3-D viewer (with a slider to vary the transparency of solids), allowing for an effortless comparison of different simulation codes. Simulation codes: G4beamline, MAD-X, and MCNP; more coming. Many accelerator design tools and beam optics codes were written long ago, with primitive user interfaces by today's standards. MuSim is specifically designed to make it easy to interface to such codes, providing a common user experience for all, and permitting the construction and exploration of models with very little overhead. For today's technology-driven students, graphical interfaces meet their expectations far better than text-based tools, and education in accelerator physics is one of our primary goals.

Advanced graphical user interface for multi-physics simulations using AMST

Science.gov (United States)

Hoffmann, Florian; Vogel, Frank

2017-07-01

Numerical modelling of particulate matter has gained much popularity in recent decades. Advanced Multi-physics Simulation Technology (AMST) is a state-of-the-art three dimensional numerical modelling technique combining the eX-tended Discrete Element Method (XDEM) with Computational Fluid Dynamics (CFD) and Finite Element Analysis (FEA) [1]. One major limitation of this code is the lack of a graphical user interface (GUI) meaning that all pre-processing has to be made directly in a HDF5-file. This contribution presents the first graphical pre-processor developed for AMST.

Graphical user interface for wireless sensor networks simulator

Science.gov (United States)

Paczesny, Tomasz; Paczesny, Daniel; Weremczuk, Jerzy

2008-01-01

Wireless Sensor Networks (WSN) are currently very popular area of development. It can be suited in many applications form military through environment monitoring, healthcare, home automation and others. Those networks, when working in dynamic, ad-hoc model, need effective protocols which must differ from common computer networks algorithms. Research on those protocols would be difficult without simulation tool, because real applications often use many nodes and tests on such a big networks take much effort and costs. The paper presents Graphical User Interface (GUI) for simulator which is dedicated for WSN studies, especially in routing and data link protocols evaluation.

WinGraphics: An optimized windowing environment for interactive real-time simulations

International Nuclear Information System (INIS)

Verboncoeur, J.P.; Vahedi, V.

1989-01-01

We have developed a customized windowing environment, Win Graphics, which provides particle simulation codes with an interactive user interface. The environment supports real-time animation of the simulation, displaying multiple diagnostics as they evolve in time. In addition, keyboard and printer (PostScript and dot matrix) support is provided. This paper describes this environment

Outline of the Desktop Severe Accident Graphic Simulator Module for OPR-1000

International Nuclear Information System (INIS)

Park, S. Y.; Ahn, K. I.

2015-01-01

This paper introduce the desktop severe accident graphic simulator module (VMAAP) which is a window-based severe accident simulator using MAAP as its engine. The VMAAP is one of the submodules in SAMEX system (Severe Accident Management Support Expert System) which is a decision support system for use in a severe accident management following an incident at a nuclear power plant. The SAMEX system consists of four major modules as sub-systems: (a) Severe accident risk data base module (SARDB): stores the data of integrated severe accident analysis code results like MAAP and MELCOR for hundreds of high frequency scenarios for the reference plant; (b) Risk-informed severe accident risk data base management module (RI-SARD): provides a platform to identify the initiating event, determine plant status and equipment availability, diagnoses the status of the reactor core, reactor vessel and containment building, and predicts the plant behaviors; (c) Severe accident management simulator module (VMAAP): runs the MAAP4 code with user friendly graphic interface for input deck and output display; (d) On-line severe accident management guidance module (On-line SAMG); provides available accident management strategies with an electronic format. The role of VMAAP in SAMEX can be described as followings. SARDB contains the most of high frequency scenarios based on a level 2 probabilistic safety analysis. Therefore, there is good chance that a real accident sequence is similar to one of the data base cases. In such a case, RI-SARD can predict an accident progression by a scenario-base or symptom-base search depends on the available plant parameter information. Nevertheless, there still may be deviations or variations between the actual scenario and the data base scenario. The deviations can be decreased by using a real-time graphic accident simulator, VMAAP.. VMAAP is a MAAP4-based severe accident simulation model for OPR-1000 plant. It can simulate spectrum of physical processes

Outline of the Desktop Severe Accident Graphic Simulator Module for OPR-1000

Energy Technology Data Exchange (ETDEWEB)

Park, S. Y.; Ahn, K. I. [KAERI, Daejeon (Korea, Republic of)

2015-05-15

This paper introduce the desktop severe accident graphic simulator module (VMAAP) which is a window-based severe accident simulator using MAAP as its engine. The VMAAP is one of the submodules in SAMEX system (Severe Accident Management Support Expert System) which is a decision support system for use in a severe accident management following an incident at a nuclear power plant. The SAMEX system consists of four major modules as sub-systems: (a) Severe accident risk data base module (SARDB): stores the data of integrated severe accident analysis code results like MAAP and MELCOR for hundreds of high frequency scenarios for the reference plant; (b) Risk-informed severe accident risk data base management module (RI-SARD): provides a platform to identify the initiating event, determine plant status and equipment availability, diagnoses the status of the reactor core, reactor vessel and containment building, and predicts the plant behaviors; (c) Severe accident management simulator module (VMAAP): runs the MAAP4 code with user friendly graphic interface for input deck and output display; (d) On-line severe accident management guidance module (On-line SAMG); provides available accident management strategies with an electronic format. The role of VMAAP in SAMEX can be described as followings. SARDB contains the most of high frequency scenarios based on a level 2 probabilistic safety analysis. Therefore, there is good chance that a real accident sequence is similar to one of the data base cases. In such a case, RI-SARD can predict an accident progression by a scenario-base or symptom-base search depends on the available plant parameter information. Nevertheless, there still may be deviations or variations between the actual scenario and the data base scenario. The deviations can be decreased by using a real-time graphic accident simulator, VMAAP.. VMAAP is a MAAP4-based severe accident simulation model for OPR-1000 plant. It can simulate spectrum of physical processes

Real-time graphics for the Space Station Freedom cupola, developed in the Systems Engineering Simulator

Science.gov (United States)

Red, Michael T.; Hess, Philip W.

1989-01-01

Among the Lyndon B. Johnson Space Center's responsibilities for Space Station Freedom is the cupola. Attached to the resource node, the cupola is a windowed structure that will serve as the space station's secondary control center. From the cupola, operations involving the mobile service center and orbital maneuvering vehicle will be conducted. The Systems Engineering Simulator (SES), located in building 16, activated a real-time man-in-the-loop cupola simulator in November 1987. The SES cupola is an engineering tool with the flexibility to evolve in both hardware and software as the final cupola design matures. Two workstations are simulated with closed-circuit television monitors, rotational and translational hand controllers, programmable display pushbuttons, and graphics display with trackball and keyboard. The displays and controls of the SES cupola are driven by a Silicon Graphics Integrated Raster Imaging System (IRIS) 4D/70 GT computer. Through the use of an interactive display builder program, SES, cupola display pages consisting of two dimensional and three dimensional graphics are constructed. These display pages interact with the SES via the IRIS real-time graphics interface. The focus is on the real-time graphics interface applications software developed on the IRIS.

An Analog Rover Exploration Mission for Education and Outreach

Science.gov (United States)

Moores, John; Campbell, Charissa L.; Smith, Christina L.; Cooper, Brittney A.

2017-10-01

This abstract describes an analog rover exploration mission designed as an outreach program for high school and undergraduate students. This program is used to teach them about basic mission control operations, how to manage a rover as if it were on another planetary body, and employing the rover remotely to complete mission objectives. One iteration of this program has been completed and another is underway. In both trials, participants were shown the different operation processes involved in a real-life mission. Modifications were made to these processes to decrease complexity and better simulate a mission control environment in a short time period (three 20-minute-long mission “days”). In the first run of the program, participants selected a landing site, what instruments would be on the rover - subject to cost, size, and weight limitations - and were randomly assigned one of six different mission operations roles, each with specific responsibilities. For example, a Science Planner/Integrator (SPI) would plan science activities whilst a Rover Engineer (RE) would keep on top of rover constraints. Planning consisted of a series of four meetings to develop and verify the current plan, pre-plan the next day's activities and uplink the activities to the “rover” (a human colleague). Participants were required to attend certain meetings depending upon their assigned role. To conclude the mission, students viewed the site to understand any differences between remote viewing and reality in relation to the rover. Another mission is currently in progress with revisions from the earlier run to improve the experience. This includes broader roles and meetings and pre-selecting the landing site and rover. The new roles are: Mission Lead, Rover Engineer and Science Planner. The SPI role was previously popular so most of the students were placed in this category. The meetings were reduced to three but extended in length. We are also planning to integrate this program

Structure Analysis of the Graphic Simulator for the PRIDE Equipment

International Nuclear Information System (INIS)

Kim, Chang Hoi; Kim, Seong Hyun; Park, Byung Suk; Lee, Jong Kwang; Lee, Hyo Jik; Kim, Ki Ho

2010-12-01

Simulation technology based on the computer graphics is able to minimize the trial and error and reduce the development cost and period dramatically at the design stage of the pyroprocessing facility construction and the equipment development. For this purpose, the 3D graphic simulation program named HotCell has been developed. HotCell has continuously updated for the functional addition and the bug fix, and now it reaches version third. The Digital mockup of PRIDE is furnished with the MSM(matster-slave manipulator), BDSM(bridge transported dual arm servo manipulator) and Crane in order to remote handling the processing equipment. HotCell program can be interface with the 3D mouse, the haptic device and the joystick for the realistic operation of above device. The posture of MSM can be recorded with the simple keyboard operation in order to reproduce the behavior of the MSM

Smoldyn on graphics processing units: massively parallel Brownian dynamics simulations.

Science.gov (United States)

Dematté, Lorenzo

2012-01-01

Space is a very important aspect in the simulation of biochemical systems; recently, the need for simulation algorithms able to cope with space is becoming more and more compelling. Complex and detailed models of biochemical systems need to deal with the movement of single molecules and particles, taking into consideration localized fluctuations, transportation phenomena, and diffusion. A common drawback of spatial models lies in their complexity: models can become very large, and their simulation could be time consuming, especially if we want to capture the systems behavior in a reliable way using stochastic methods in conjunction with a high spatial resolution. In order to deliver the promise done by systems biology to be able to understand a system as whole, we need to scale up the size of models we are able to simulate, moving from sequential to parallel simulation algorithms. In this paper, we analyze Smoldyn, a widely diffused algorithm for stochastic simulation of chemical reactions with spatial resolution and single molecule detail, and we propose an alternative, innovative implementation that exploits the parallelism of Graphics Processing Units (GPUs). The implementation executes the most computational demanding steps (computation of diffusion, unimolecular, and bimolecular reaction, as well as the most common cases of molecule-surface interaction) on the GPU, computing them in parallel on each molecule of the system. The implementation offers good speed-ups and real time, high quality graphics output

Development of automation and robotics for space via computer graphic simulation methods

Science.gov (United States)

Fernandez, Ken

1988-01-01

A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

A computer-controlled conformal radiotherapy system. III: graphical simulation and monitoring of treatment delivery

International Nuclear Information System (INIS)

Kessler, Marc L.; McShan, Daniel L.; Fraass, Benedick A.

1995-01-01

Purpose: Safe and efficient delivery of radiotherapy using computer-controlled machines requires new procedures to design and verify the actual delivery of these treatments. Graphical simulation and monitoring techniques for treatment delivery have been developed for this purpose. Methods and Materials: A graphics-based simulator of the treatment machine and a set of procedures for creating and manipulating treatment delivery scripts are used to simulate machine motions, detect collisions, and monitor machine positions during treatment. The treatment delivery simulator is composed of four components: a three-dimensional dynamic model of the treatment machine; a motion simulation and collision detection algorithm, user-interface widgets that mimic the treatment machine's control and readout devices; and an icon-based interface for creating and manipulating treatment delivery scripts. These components are used in a stand-alone fashion for interactive treatment delivery planning and integrated with a machine control system for treatment implementation and monitoring. Results: A graphics-based treatment delivery simulator and a set of procedures for planning and monitoring computer-controlled treatment delivery have been developed and implemented as part of a comprehensive computer-controlled conformal radiotherapy system. To date, these techniques have been used to design and help monitor computer-controlled treatments on a radiotherapy machine for more than 200 patients. Examples using these techniques for treatment delivery planning and on-line monitoring of machine motions during therapy are described. Conclusion: A system that provides interactive graphics-based tools for defining the sequence of machine motions, simulating treatment delivery including collision detection, and presenting the therapists with continual visual feedback from the treatment machine has been successfully implemented for routine clinical use as part of an overall system for computer

Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

Science.gov (United States)

Trease, Brian; Arvidson, Raymond; Lindemann, Randel; Bennett, Keith; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine; Van Dyke, Lauren

2011-01-01

To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

Simulating Sand Behavior through Terrain Subdivision and Particle Refinement

Science.gov (United States)

Clothier, M.

2013-12-01

Advances in computer graphics, GPUs, and parallel processing hardware have provided researchers with new methods to visualize scientific data. In fact, these advances have spurred new research opportunities between computer graphics and other disciplines, such as Earth sciences. Through collaboration, Earth and planetary scientists have benefited by using these advances in hardware technology to process large amounts of data for visualization and analysis. At Oregon State University, we are collaborating with the Oregon Space Grant and IGERT Ecosystem Informatics programs to investigate techniques for simulating the behavior of sand. In addition, we have also been collaborating with the Jet Propulsion Laboratory's DARTS Lab to exchange ideas on our research. The DARTS Lab specializes in the simulation of planetary vehicles, such as the Mars rovers. One aspect of their work is testing these vehicles in a virtual "sand box" to test their performance in different environments. Our research builds upon this idea to create a sand simulation framework to allow for more complex and diverse environments. As a basis for our framework, we have focused on planetary environments, such as the harsh, sandy regions on Mars. To evaluate our framework, we have used simulated planetary vehicles, such as a rover, to gain insight into the performance and interaction between the surface sand and the vehicle. Unfortunately, simulating the vast number of individual sand particles and their interaction with each other has been a computationally complex problem in the past. However, through the use of high-performance computing, we have developed a technique to subdivide physically active terrain regions across a large landscape. To achieve this, we only subdivide terrain regions where sand particles are actively participating with another object or force, such as a rover wheel. This is similar to a Level of Detail (LOD) technique, except that the density of subdivisions are determined by

Simulation of the GCR spectrum in the Mars curiosity rover's RAD detector using MCNP6

Science.gov (United States)

Ratliff, Hunter N.; Smith, Michael B. R.; Heilbronn, Lawrence

2017-08-01

The paper presents results from MCNP6 simulations of galactic cosmic ray (GCR) propagation down through the Martian atmosphere to the surface and comparison with RAD measurements made there. This effort is part of a collaborative modeling workshop for space radiation hosted by Southwest Research Institute (SwRI). All modeling teams were tasked with simulating the galactic cosmic ray (GCR) spectrum through the Martian atmosphere and the Radiation Assessment Detector (RAD) on-board the Curiosity rover. The detector had two separate particle acceptance angles, 4π and 30 ° off zenith. All ions with Z = 1 through Z = 28 were tracked in both scenarios while some additional secondary particles were only tracked in the 4π cases. The MCNP6 4π absorbed dose rate was 307.3 ± 1.3 μGy/day while RAD measured 233 μGy/day. Using the ICRP-60 dose equivalent conversion factors built into MCNP6, the simulated 4π dose equivalent rate was found to be 473.1 ± 2.4 μSv/day while RAD reported 710 μSv/day.

Lamb wave propagation modelling and simulation using parallel processing architecture and graphical cards

International Nuclear Information System (INIS)

Paćko, P; Bielak, T; Staszewski, W J; Uhl, T; Spencer, A B; Worden, K

2012-01-01

This paper demonstrates new parallel computation technology and an implementation for Lamb wave propagation modelling in complex structures. A graphical processing unit (GPU) and computer unified device architecture (CUDA), available in low-cost graphical cards in standard PCs, are used for Lamb wave propagation numerical simulations. The local interaction simulation approach (LISA) wave propagation algorithm has been implemented as an example. Other algorithms suitable for parallel discretization can also be used in practice. The method is illustrated using examples related to damage detection. The results demonstrate good accuracy and effective computational performance of very large models. The wave propagation modelling presented in the paper can be used in many practical applications of science and engineering. (paper)

The interactive graphic simulator (IGS): A helpful tool for an efficient training

International Nuclear Information System (INIS)

Santiago Lucas, A.

1996-01-01

The IGS is a natural response, in the training area, to the high technological advances in the computer disciplines for the graphic representations and advanced process models with a high level of reliability and friendliness. Tecnatom has integrated a representation of advanced models in several workstations which permits, through its high resolution colour screens, the visualization of all the information available in control room with graphical representation of NPP's system. Simultaneously with this, the IGS permits to operate any component in order to change its status, in the same way that operations upon the panels. Through the flexibility of the software for graphic representations and the advanced models. Tecnatom has generated, based in the use of IGS, several training courses which have provided a tutorial worth, to understand complex phenomena, with a man-machine interface more friendly than the full scope simulator. Therefore, the IGS appears as an important flexible tool which can adapt itself to the training of several collectives in a NPP, and it has a special importance for those which the ignorance of panels interferes with the training in a full scope simulator. (author)

Light & Skin Interactions Simulations for Computer Graphics Applications

CERN Document Server

Baranoski, Gladimir V G

2010-01-01

Light and Skin Interactions immerses you in one of the most fascinating application areas of computer graphics: appearance simulation. The book first illuminates the fundamental biophysical processes that affect skin appearance, and reviews seminal related works aimed at applications in life and health sciences. It then examines four exemplary modeling approaches as well as definitive algorithms that can be used to generate realistic images depicting skin appearance. An accompanying companion site also includes complete code and data sources for the BioSpec model, which is considered to be the

Dual-EKF-Based Real-Time Celestial Navigation for Lunar Rover

Directory of Open Access Journals (Sweden)

Li Xie

2012-01-01

Full Text Available A key requirement of lunar rover autonomous navigation is to acquire state information accurately in real-time during its motion and set up a gradual parameter-based nonlinear kinematics model for the rover. In this paper, we propose a dual-extended-Kalman-filter- (dual-EKF- based real-time celestial navigation (RCN method. The proposed method considers the rover position and velocity on the lunar surface as the system parameters and establishes a constant velocity (CV model. In addition, the attitude quaternion is considered as the system state, and the quaternion differential equation is established as the state equation, which incorporates the output of angular rate gyroscope. Therefore, the measurement equation can be established with sun direction vector from the sun sensor and speed observation from the speedometer. The gyro continuous output ensures the algorithm real-time operation. Finally, we use the dual-EKF method to solve the system equations. Simulation results show that the proposed method can acquire the rover position and heading information in real time and greatly improve the navigation accuracy. Our method overcomes the disadvantage of the cumulative error in inertial navigation.

Augmenting Sand Simulation Environments through Subdivision and Particle Refinement

Science.gov (United States)

Clothier, M.; Bailey, M.

2012-12-01

Recent advances in computer graphics and parallel processing hardware have provided disciplines with new methods to evaluate and visualize data. These advances have proven useful for earth and planetary scientists as many researchers are using this hardware to process large amounts of data for analysis. As such, this has provided opportunities for collaboration between computer graphics and the earth sciences. Through collaboration with the Oregon Space Grant and IGERT Ecosystem Informatics programs, we are investigating techniques for simulating the behavior of sand. We are also collaborating with the Jet Propulsion Laboratory's (JPL) DARTS Lab to exchange ideas and gain feedback on our research. The DARTS Lab specializes in simulation of planetary vehicles, such as the Mars rovers. Their simulations utilize a virtual "sand box" to test how a planetary vehicle responds to different environments. Our research builds upon this idea to create a sand simulation framework so that planetary environments, such as the harsh, sandy regions on Mars, are more fully realized. More specifically, we are focusing our research on the interaction between a planetary vehicle, such as a rover, and the sand beneath it, providing further insight into its performance. Unfortunately, this can be a computationally complex problem, especially if trying to represent the enormous quantities of sand particles interacting with each other. However, through the use of high-performance computing, we have developed a technique to subdivide areas of actively participating sand regions across a large landscape. Similar to a Level of Detail (LOD) technique, we only subdivide regions of a landscape where sand particles are actively participating with another object. While the sand is within this subdivision window and moves closer to the surface of the interacting object, the sand region subdivides into smaller regions until individual sand particles are left at the surface. As an example, let's say

Planetary rovers robotic exploration of the solar system

CERN Document Server

Ellery, Alex

2016-01-01

The increasing adoption of terrain mobility – planetary rovers – for the investigation of planetary surfaces emphasises their central importance in space exploration. This imposes a completely new set of technologies and methodologies to the design of such spacecraft – and planetary rovers are indeed, first and foremost, spacecraft. This introduces vehicle engineering, mechatronics, robotics, artificial intelligence and associated technologies to the spacecraft engineer’s repertoire of skills. Planetary Rovers is the only book that comprehensively covers these aspects of planetary rover engineering and more. The book: • discusses relevant planetary environments to rover missions, stressing the Moon and Mars; • includes a brief survey of previous rover missions; • covers rover mobility, traction and control systems; • stresses the importance of robotic vision in rovers for both navigation and science; • comprehensively covers autonomous navigation, path planning and multi-rover formations on ...

GPU Boosted CNN Simulator Library for Graphical Flow-Based Programmability

Directory of Open Access Journals (Sweden)

Balázs Gergely Soós

2009-01-01

Full Text Available A graphical environment for CNN algorithm development is presented. The new generation of graphical cards with many general purpose processing units introduces the massively parallel computing into PC environment. Universal Machine on Flows- (UMF like notation, highlighting image flows and operations, is a useful tool to describe image processing algorithms. This documentation step can be turned into modeling using our framework backed with MATLAB Simulink and the power of a video card. This latter relatively cheap extension enables a convenient and fast analysis of CNN dynamics and complex algorithms. Comparison with other PC solutions is also presented. For single template execution, our approach yields run times 40x faster than that of the widely used Candy simulator. In the case of simpler algorithms, real-time execution is also possible.

The new V8-Diesel engine for Land Rover; Der neue V8-Dieselmotor fuer Land Rover

Energy Technology Data Exchange (ETDEWEB)

Ernst, Roland [Ford Sued-Amerika (Brazil); Gruenert, Thomas; Turner, Paul [Ford Motor Company, Dagenham (United Kingdom)

2007-04-15

After the launch of the 2.7-l TDV6 diesel engine for Jaguar, Land Rover and PSA in the spring of 2004, here is a new member of the engine family. The new 3.6-l TDV8 Diesel engine was developed for Land Rover's Range Rover and Range Rover Sport models. The premium market segment positioning demands the best possible attributes from the engine, particularly torque as well as engine acoustics. According to the Land Rover specific requirements, the engine is fully off road capable and can be used in all world markets. The engine fulfills the Euro 4 emissions requirements and will be available with a regulated particle filter. (orig.)

Development the interface system of master-slave manipulator and external input device on the graphic simulator

International Nuclear Information System (INIS)

Song, T. J.; Lee, J. Y.; Kim, S. H.; Yoon, J. S.

2002-01-01

The master-slave manipulator is the generally used as remote handling device in the hot cell, in which the high level radioactive materials such as spent fuels are handled. To analyze the motion of remote handling device and to simulate the remote handling operation task in the hot cell, the 3D graphic simulator which has been installed the master-slave manipulator is established. Also the interface program of external input device with 6 DOF(degree of Freedom) is developed and connected to graphic simulator with LLTI(Low Level Tele-operation Interface) which provides a uniquely optimized, high speed, bidirectional communication interface to one or more of system and processes

Preliminary Dynamic Feasibility and Analysis of a Spherical, Wind-Driven (Tumbleweed), Martian Rover

Science.gov (United States)

Flick, John J.; Toniolo, Matthew D.

2005-01-01

The process and findings are presented from a preliminary feasibility study examining the dynamics characteristics of a spherical wind-driven (or Tumbleweed) rover, which is intended for exploration of the Martian surface. The results of an initial feasibility study involving several worst-case mobility situations that a Tumbleweed rover might encounter on the surface of Mars are discussed. Additional topics include the evaluation of several commercially available analysis software packages that were examined as possible platforms for the development of a Monte Carlo Tumbleweed mission simulation tool. This evaluation lead to the development of the Mars Tumbleweed Monte Carlo Simulator (or Tumbleweed Simulator) using the Vortex physics software package from CM-Labs, Inc. Discussions regarding the development and evaluation of the Tumbleweed Simulator, as well as the results of a preliminary analysis using the tool are also presented. Finally, a brief conclusions section is presented.

Fault-Tolerant Control Strategy for Steering Failures in Wheeled Planetary Rovers

Directory of Open Access Journals (Sweden)

Alexandre Carvalho Leite

2012-01-01

Full Text Available Fault-tolerant control design of wheeled planetary rovers is described. This paper covers all steps of the design process, from modeling/simulation to experimentation. A simplified contact model is used with a multibody simulation model and tuned to fit the experimental data. The nominal mode controller is designed to be stable and has its parameters optimized to improve tracking performance and cope with physical boundaries and actuator saturations. This controller was implemented in the real rover and validated experimentally. An impact analysis defines the repertory of faults to be handled. Failures in steering joints are chosen as fault modes; they combined six fault modes and a total of 63 possible configurations of these faults. The fault-tolerant controller is designed as a two-step procedure to provide alternative steering and reuse the nominal controller in a way that resembles a crab-like driving mode. Three fault modes are injected (one, two, and three failed steering joints in the real rover to evaluate the response of the nonreconfigured and reconfigured control systems in face of these faults. The experimental results justify our proposed fault-tolerant controller very satisfactorily. Additional concluding comments and an outlook summarize the lessons learned during the whole design process and foresee the next steps of the research.

Simulation Control Graphical User Interface Logging Report

Science.gov (United States)

Hewling, Karl B., Jr.

2012-01-01

One of the many tasks of my project was to revise the code of the Simulation Control Graphical User Interface (SIM GUI) to enable logging functionality to a file. I was also tasked with developing a script that directed the startup and initialization flow of the various LCS software components. This makes sure that a software component will not spin up until all the appropriate dependencies have been configured properly. Also I was able to assist hardware modelers in verifying the configuration of models after they have been upgraded to a new software version. I developed some code that analyzes the MDL files to determine if any error were generated due to the upgrade process. Another one of the projects assigned to me was supporting the End-to-End Hardware/Software Daily Tag-up meeting.

Simulation of the GCR spectrum in the Mars curiosity rover's RAD detector using MCNP6.

Science.gov (United States)

Ratliff, Hunter N; Smith, Michael B R; Heilbronn, Lawrence

2017-08-01

The paper presents results from MCNP6 simulations of galactic cosmic ray (GCR) propagation down through the Martian atmosphere to the surface and comparison with RAD measurements made there. This effort is part of a collaborative modeling workshop for space radiation hosted by Southwest Research Institute (SwRI). All modeling teams were tasked with simulating the galactic cosmic ray (GCR) spectrum through the Martian atmosphere and the Radiation Assessment Detector (RAD) on-board the Curiosity rover. The detector had two separate particle acceptance angles, 4π and 30 ° off zenith. All ions with Z = 1 through Z = 28 were tracked in both scenarios while some additional secondary particles were only tracked in the 4π cases. The MCNP6 4π absorbed dose rate was 307.3 ± 1.3 µGy/day while RAD measured 233 µGy/day. Using the ICRP-60 dose equivalent conversion factors built into MCNP6, the simulated 4π dose equivalent rate was found to be 473.1 ± 2.4 µSv/day while RAD reported 710 µSv/day. Copyright © 2017 The Committee on Space Research (COSPAR). Published by Elsevier Ltd. All rights reserved.

Circolo enogastronomico "Della Rovere" = The Della Rovere Club

Index Scriptorium Estoniae

2012-01-01

Della Rovere Klubist, mis on Itaalia Önogastronoomiliste Ühenduste Föderatsiooni ja Euroopa Önogastronoomia Vennaskondade Nõukogu liige ja mille missiooniks on kohalike traditsioonide säilitamine, erinevate toiduainete omaduste tutvustamine, veinikultuuri õpetamine jne

Graphics interfaces and numerical simulations: Mexican Virtual Solar Observatory

Science.gov (United States)

Hernández, L.; González, A.; Salas, G.; Santillán, A.

2007-08-01

Preliminary results associated to the computational development and creation of the Mexican Virtual Solar Observatory (MVSO) are presented. Basically, the MVSO prototype consists of two parts: the first, related to observations that have been made during the past ten years at the Solar Observation Station (EOS) and at the Carl Sagan Observatory (OCS) of the Universidad de Sonora in Mexico. The second part is associated to the creation and manipulation of a database produced by numerical simulations related to solar phenomena, we are using the MHD ZEUS-3D code. The development of this prototype was made using mysql, apache, java and VSO 1.2. based GNU and `open source philosophy'. A graphic user interface (GUI) was created in order to make web-based, remote numerical simulations. For this purpose, Mono was used, because it is provides the necessary software to develop and run .NET client and server applications on Linux. Although this project is still under development, we hope to have access, by means of this portal, to other virtual solar observatories and to be able to count on a database created through numerical simulations or, given the case, perform simulations associated to solar phenomena.

Rover deployment system for lunar landing mission

Science.gov (United States)

Sutoh, Masataku; Hoshino, Takeshi; Wakabayashi, Sachiko

2017-09-01

For lunar surface exploration, a deployment system is necessary to allow a rover to leave the lander. The system should be as lightweight as possible and stored retracted when launched. In this paper, two types of retractable deployment systems for lunar landing missions, telescopic- and fold-type ramps, are discussed. In the telescopic-type system, a ramp is stored with the sections overlapping and slides out during deployment. In the fold-type system, it is stored folded and unfolds for the deployment. For the development of these ramps, a design concept study and structural analysis were conducted first. Subsequently, ramp deployment and rover release tests were performed using the developed ramp prototypes. Through these tests, the validity of their design concepts and functions have been confirmed. In the rover release test, it was observed that the developed lightweight ramp was sufficiently strong for a 50-kg rover to descend. This result suggests that this ramp system is suitable for the deployment of a 300-kg-class rover on the Moon, where the gravity is about one-sixth that on Earth. The lightweight and sturdy ramp developed in this study will contribute to both safe rover deployment and increase of lander/rover payload.

Easy GROMACS: A Graphical User Interface for GROMACS Molecular Dynamics Simulation Package

Science.gov (United States)

Dizkirici, Ayten; Tekpinar, Mustafa

2015-03-01

GROMACS is a widely used molecular dynamics simulation package. Since it is a command driven program, it is difficult to use this program for molecular biologists, biochemists, new graduate students and undergraduate researchers who are interested in molecular dynamics simulations. To alleviate the problem for those researchers, we wrote a graphical user interface that simplifies protein preparation for a classical molecular dynamics simulation. Our program can work with various GROMACS versions and it can perform essential analyses of GROMACS trajectories as well as protein preparation. We named our open source program `Easy GROMACS'. Easy GROMACS can give researchers more time for scientific research instead of dealing with technical intricacies.

What you see is what you feel : on the simulation of touch in graphical user interfaces

NARCIS (Netherlands)

Mensvoort, van K.M.

2009-01-01

This study introduces a novel method of simulating touch with merely visual means. Interactive animations are used to create an optical illusion that evokes haptic percepts like stickiness, stiffness and mass, within a standard graphical user interface. The technique, called optically simulated

Bringing Terramechanics to bear on Planetary Rover Design

Science.gov (United States)

Richter, L.

2007-08-01

Thus far, planetary rovers have been successfully operated on the Earth's moon and on Mars. In particular, the two NASA Mars Exploration Rovers (MERs) ,Spirit' and ,Opportunity' are still in sustained daily operations at two sites on Mars more than 3 years after landing there. Currently, several new planetary rover missions are in development targeting Mars (the US Mars Science Lab vehicle for launch in 2009 and ESA's ExoMars rover for launch in 2013), with lunar rover missions under study by China and Japan for launches around 2012. Moreover, the US Constellation program is preparing pre-development of lunar rovers for initially unmanned and, subsequently, human missions to the Moon with a corresponding team dedicated to mobility system development having been set up at the NASA Glenn Research Center. Given this dynamic environment, it was found timely to establish an expert group on off-the-road mobility as relevant for robotic vehicles that would involve individuals representing the various on-going efforts on the different continents. This was realized through the International Society of Terrain-Vehicle Systems (ISTVS), a research organisation devoted to terramechanics and to the ,science' of off-the-road vehicle development which as a result is just now establishing a Technical Group on Terrestrial and Planetary Rovers. Members represent space-related as well as military research institutes and universities from the US, Germany, Italy, and Japan. The group's charter for 2007 is to define its objectives, functions, organizational structure and recommended research objectives to support planetary rover design and development. Expected areas of activity of the ISTVS-sponsored group include: the problem of terrain specification for planetary rovers; identification of limitations in modelling of rover mobility; a survey of existing rover mobility testbeds; the consolidation of mobility predictive models and their state of validation; sensing and real

Cerebellum Augmented Rover Development

Science.gov (United States)

King, Matthew

2005-01-01

Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

Graphical programming at Sandia National Laboratories

International Nuclear Information System (INIS)

McDonald, M.J.; Palmquist, R.D.; Desjarlais, L.

1993-09-01

Sandia has developed an advanced operational control system approach, called Graphical Programming, to design, program, and operate robotic systems. The Graphical Programming approach produces robot systems that are faster to develop and use, safer in operation, and cheaper overall than altemative teleoperation or autonomous robot control systems. Graphical Programming also provides an efficient and easy-to-use interface to traditional robot systems for use in setup and programming tasks. This paper provides an overview of the Graphical Programming approach and lists key features of Graphical Programming systems. Graphical Programming uses 3-D visualization and simulation software with intuitive operator interfaces for the programming and control of complex robotic systems. Graphical Programming Supervisor software modules allow an operator to command and simulate complex tasks in a graphic preview mode and, when acceptable, command the actual robots and monitor their motions with the graphic system. Graphical Programming Supervisors maintain registration with the real world and allow the robot to perform tasks that cannot be accurately represented with models alone by using a combination of model and sensor-based control

International testing of a Mars rover prototype

Science.gov (United States)

Kemurjian, Alexsandr Leonovich; Linkin, V.; Friedman, L.

1993-03-01

Tests on a prototype engineering model of the Russian Mars 96 Rover were conducted by an international team in and near Death Valley in the United States in late May, 1992. These tests were part of a comprehensive design and testing program initiated by the three Russian groups responsible for the rover development. The specific objectives of the May tests were: (1) evaluate rover performance over different Mars-like terrains; (2) evaluate state-of-the-art teleoperation and autonomy development for Mars rover command, control and navigation; and (3) organize an international team to contribute expertise and capability on the rover development for the flight project. The range and performance that can be planned for the Mars mission is dependent on the degree of autonomy that will be possible to implement on the mission. Current plans are for limited autonomy, with Earth-based teleoperation for the nominal navigation system. Several types of television systems are being investigated for inclusion in the navigation system including panoramic camera, stereo, and framing cameras. The tests used each of these in teleoperation experiments. Experiments were included to consider use of such TV data in autonomy algorithms. Image processing and some aspects of closed-loop control software were also tested. A micro-rover was tested to help consider the value of such a device as a payload supplement to the main rover. The concept is for the micro-rover to serve like a mobile hand, with its own sensors including a television camera.

Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

Science.gov (United States)

Estlin, Tara A.; Gaines, Daniel M.; Chouinard, Caroline M.; Fisher, Forest W.; Castano, Rebecca; Judd, Michele J.; Nesnas, Issa A.

2006-01-01

With each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase raises not only the opportunities for science data collection, but also amplifies the amount of environment and rover state uncertainty that must be handled in rover operations. This paper describes how planning, scheduling and execution techniques can be used onboard a rover to autonomously generate and execute rover activities and in particular to handle new science opportunities that have been identified dynamically. We also discuss some of the particular challenges we face in supporting autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations. Finally, we describe our experiences in testing this work using several Mars rover prototypes in a realistic environment.

Exomars 2018 Rover Pasteur Payload

Science.gov (United States)

Debus, Andre; Bacher, M.; Ball, A.; Barcos, O.; Bethge, B.; Gaubert, F.; Haldemann, A.; Lindner, R.; Pacros, A.; Trautner, R.; Vag, J.

ars programme is a joint ESA-NASA program having exobiology as one of the key science objectives. It is divided into 2 missions: the first mission is ESA-led with an ESA orbiter and an ESA Entry, Descent and Landing (EDL) demonstrator, launched in 2016 by NASA, and the second mission is NASA-led, launched in 2018 by NASA carrying an ESA rover and a NASA rover both deployed by a single NASA EDL system. For ESA, the ExoMars programme will demonstrate key flight and in situ enabling technologies in support of the European ambitions for future exploration missions, as outlined in the Aurora Declaration. While the ExoMars 2016 mission will accomplish a technological objective (Entry, Descent and Landing of a payload on the surface) and a Scientific objective (investigation of Martian atmospheric trace gases and their sources, focussing particularly on methane), the ExoMars 2018 ESA Rover will carry a comprehensive and coherent suite of analytical instruments dedicated to exobiology and geology research: the Pasteur Payload (PPL). This payload includes a selection of complementary instruments, having the following goals: to search for signs of past and present life on Mars and to investigate the water/geochemical environment as a function of depth in the shallow subsurface. The ExoMars Rover includes a drill for accessing underground materials, and a Sample Preparation and Distribution System. The Rover will travel several kilometres looking for sites warranting further investigation, where it will collect and analyse samples from within outcrops and from the subsurface for traces of complex organic molecules. In addition to further details on this Exomars 2018 rover mission, this presentation will focus on the scientific objectives and the instruments needed to achieve them, including details of how the Pasteur Payload as a whole addresses Mars research objectives.

Accelerating cardiac bidomain simulations using graphics processing units.

Science.gov (United States)

Neic, A; Liebmann, M; Hoetzl, E; Mitchell, L; Vigmond, E J; Haase, G; Plank, G

2012-08-01

Anatomically realistic and biophysically detailed multiscale computer models of the heart are playing an increasingly important role in advancing our understanding of integrated cardiac function in health and disease. Such detailed simulations, however, are computationally vastly demanding, which is a limiting factor for a wider adoption of in-silico modeling. While current trends in high-performance computing (HPC) hardware promise to alleviate this problem, exploiting the potential of such architectures remains challenging since strongly scalable algorithms are necessitated to reduce execution times. Alternatively, acceleration technologies such as graphics processing units (GPUs) are being considered. While the potential of GPUs has been demonstrated in various applications, benefits in the context of bidomain simulations where large sparse linear systems have to be solved in parallel with advanced numerical techniques are less clear. In this study, the feasibility of multi-GPU bidomain simulations is demonstrated by running strong scalability benchmarks using a state-of-the-art model of rabbit ventricles. The model is spatially discretized using the finite element methods (FEM) on fully unstructured grids. The GPU code is directly derived from a large pre-existing code, the Cardiac Arrhythmia Research Package (CARP), with very minor perturbation of the code base. Overall, bidomain simulations were sped up by a factor of 11.8 to 16.3 in benchmarks running on 6-20 GPUs compared to the same number of CPU cores. To match the fastest GPU simulation which engaged 20 GPUs, 476 CPU cores were required on a national supercomputing facility.

a Performance Comparison of Feature Detectors for Planetary Rover Mapping and Localization

Science.gov (United States)

Wan, W.; Peng, M.; Xing, Y.; Wang, Y.; Liu, Z.; Di, K.; Teng, B.; Mao, X.; Zhao, Q.; Xin, X.; Jia, M.

2017-07-01

Feature detection and matching are key techniques in computer vision and robotics, and have been successfully implemented in many fields. So far there is no performance comparison of feature detectors and matching methods for planetary mapping and rover localization using rover stereo images. In this research, we present a comprehensive evaluation and comparison of six feature detectors, including Moravec, Förstner, Harris, FAST, SIFT and SURF, aiming for optimal implementation of feature-based matching in planetary surface environment. To facilitate quantitative analysis, a series of evaluation criteria, including distribution evenness of matched points, coverage of detected points, and feature matching accuracy, are developed in the research. In order to perform exhaustive evaluation, stereo images, simulated under different baseline, pitch angle, and interval of adjacent rover locations, are taken as experimental data source. The comparison results show that SIFT offers the best overall performance, especially it is less sensitive to changes of image taken at adjacent locations.

A PERFORMANCE COMPARISON OF FEATURE DETECTORS FOR PLANETARY ROVER MAPPING AND LOCALIZATION

Directory of Open Access Journals (Sweden)

W. Wan

2017-07-01

Full Text Available Feature detection and matching are key techniques in computer vision and robotics, and have been successfully implemented in many fields. So far there is no performance comparison of feature detectors and matching methods for planetary mapping and rover localization using rover stereo images. In this research, we present a comprehensive evaluation and comparison of six feature detectors, including Moravec, Förstner, Harris, FAST, SIFT and SURF, aiming for optimal implementation of feature-based matching in planetary surface environment. To facilitate quantitative analysis, a series of evaluation criteria, including distribution evenness of matched points, coverage of detected points, and feature matching accuracy, are developed in the research. In order to perform exhaustive evaluation, stereo images, simulated under different baseline, pitch angle, and interval of adjacent rover locations, are taken as experimental data source. The comparison results show that SIFT offers the best overall performance, especially it is less sensitive to changes of image taken at adjacent locations.

Applying FastSLAM to Articulated Rovers

Science.gov (United States)

Hewitt, Robert Alexander

This thesis presents the navigation algorithms designed for use on Kapvik, a 30 kg planetary micro-rover built for the Canadian Space Agency; the simulations used to test the algorithm; and novel techniques for terrain classification using Kapvik's LIDAR (Light Detection And Ranging) sensor. Kapvik implements a six-wheeled, skid-steered, rocker-bogie mobility system. This warrants a more complicated kinematic model for navigation than a typical 4-wheel differential drive system. The design of a 3D navigation algorithm is presented that includes nonlinear Kalman filtering and Simultaneous Localization and Mapping (SLAM). A neural network for terrain classification is used to improve navigation performance. Simulation is used to train the neural network and validate the navigation algorithms. Real world tests of the terrain classification algorithm validate the use of simulation for training and the improvement to SLAM through the reduction of extraneous LIDAR measurements in each scan.

Rover waste assay system

International Nuclear Information System (INIS)

Akers, D.W.; Stoots, C.M.; Kraft, N.C.; Marts, D.J.

1997-01-01

The Rover Waste Assay System (RWAS) is a nondestructive assay system designed for the rapid assay of highly-enriched 235 U contaminated piping, tank sections, and debris from the Rover nuclear rocket fuel processing facility at the Idaho Chemical Processing Plant. A scanning system translates a NaI(Tl) detector/collimator system over the structural components where both relative and calibrated measurements for 137 Cs are made. Uranium-235 concentrations are in operation and is sufficiently automated that most functions are performed by the computer system. These functions include system calibration, problem identification, collimator control, data analysis, and reporting. Calibration of the system was done through a combination of measurements on calibration standards and benchmarked modeling. A description of the system is presented along with the methods and uncertainties associated with the calibration and analysis of the system for components from the Rover facility. 4 refs., 2 figs., 4 tabs

Efficient particle-in-cell simulation of auroral plasma phenomena using a CUDA enabled graphics processing unit

Science.gov (United States)

Sewell, Stephen

This thesis introduces a software framework that effectively utilizes low-cost commercially available Graphic Processing Units (GPUs) to simulate complex scientific plasma phenomena that are modeled using the Particle-In-Cell (PIC) paradigm. The software framework that was developed conforms to the Compute Unified Device Architecture (CUDA), a standard for general purpose graphic processing that was introduced by NVIDIA Corporation. This framework has been verified for correctness and applied to advance the state of understanding of the electromagnetic aspects of the development of the Aurora Borealis and Aurora Australis. For each phase of the PIC methodology, this research has identified one or more methods to exploit the problem's natural parallelism and effectively map it for execution on the graphic processing unit and its host processor. The sources of overhead that can reduce the effectiveness of parallelization for each of these methods have also been identified. One of the novel aspects of this research was the utilization of particle sorting during the grid interpolation phase. The final representation resulted in simulations that executed about 38 times faster than simulations that were run on a single-core general-purpose processing system. The scalability of this framework to larger problem sizes and future generation systems has also been investigated.

Rover waste assay system

Energy Technology Data Exchange (ETDEWEB)

Akers, D.W.; Stoots, C.M.; Kraft, N.C.; Marts, D.J. [Idaho National Engineering Lab., Idaho Falls, ID (United States)

1997-11-01

The Rover Waste Assay System (RWAS) is a nondestructive assay system designed for the rapid assay of highly-enriched {sup 235}U contaminated piping, tank sections, and debris from the Rover nuclear rocket fuel processing facility at the Idaho Chemical Processing Plant. A scanning system translates a NaI(Tl) detector/collimator system over the structural components where both relative and calibrated measurements for {sup 137}Cs are made. Uranium-235 concentrations are in operation and is sufficiently automated that most functions are performed by the computer system. These functions include system calibration, problem identification, collimator control, data analysis, and reporting. Calibration of the system was done through a combination of measurements on calibration standards and benchmarked modeling. A description of the system is presented along with the methods and uncertainties associated with the calibration and analysis of the system for components from the Rover facility. 4 refs., 2 figs., 4 tabs.

CDP a graphic system for the interactive simulation and the dynamic analysis of continuous systems

International Nuclear Information System (INIS)

Ricci, A.; Teolis, A.

1973-01-01

An IBM 2250 graphic system for the interactive simulation of continuous sytems is illustrated. Time dependent quantities can be plotted or an animated, real or schematic, representation of the system being studied can be given

Mars rover local navigation and hazard avoidance

Science.gov (United States)

Wilcox, B. H.; Gennery, D. B.; Mishkin, A. H.

1989-01-01

A Mars rover sample return mission has been proposed for the late 1990's. Due to the long speed-of-light delays between earth and Mars, some autonomy on the rover is highly desirable. JPL has been conducting research in two possible modes of rover operation, Computer-Aided Remote Driving and Semiautonomous Navigation. A recently-completed research program used a half-scale testbed vehicle to explore several of the concepts in semiautonomous navigation. A new, full-scale vehicle with all computational and power resources on-board will be used in the coming year to demonstrate relatively fast semiautonomous navigation. The computational and power requirements for Mars rover local navigation and hazard avoidance are discussed.

Graphical models for simulation and control of robotic systems for waste handling

International Nuclear Information System (INIS)

Drotning, W.D.; Bennett, P.C.

1992-01-01

This paper discusses detailed geometric models which have been used within a graphical simulation environment to study transportation cask facility design and to perform design and analyses of robotic systems for handling of nuclear waste. The models form the basis for a robot control environment which provides safety, flexibility, and reliability for operations which span the spectrum from autonomous control to tasks requiring direct human intervention

Scout Rover Applications for Forward Acquisition of Soil and Terrain Data

Science.gov (United States)

Sonsalla, R.; Ahmed, M.; Fritsche, M.; Akpo, J.; Voegele, T.

2014-04-01

As opposed to the present mars exploration missions future mission concepts ask for a fast and safe traverse through vast and varied expanses of terrain. As seen during the Mars Exploration Rover (MER) mission the rovers suffered a lack of detailed soil and terrain information which caused Spirit to get permanently stuck in soft soil. The goal of the FASTER1 EU-FP7 project is to improve the mission safety and the effective traverse speed for planetary rover exploration by determining the traversability of the terrain and lowering the risk to enter hazardous areas. To achieve these goals, a scout rover will be used for soil and terrain sensing ahead of the main rover. This paper describes a highly mobile, and versatile micro scout rover that is used for soil and terrain sensing and is able to co-operate with a primary rover as part of the FASTER approach. The general reference mission idea and concept is addressed within this paper along with top-level requirements derived from the proposed ESA/NASA Mars Sample Return mission (MSR) [4]. Following the mission concept and requirements [3], a concept study for scout rover design and operations has been performed [5]. Based on this study the baseline for the Coyote II rover was designed and built as shown in Figure 1. Coyote II is equipped with a novel locomotion concept, providing high all terrain mobility and allowing to perform side-to-side steering maneuvers which reduce the soil disturbance as compared to common skid steering [6]. The rover serves as test platform for various scout rover application tests ranging from locomotion testing to dual rover operations. From the lessons learned from Coyote II and for an enhanced design, a second generation rover (namely Coyote III) as shown in Figure 2 is being built. This rover serves as scout rover platform for the envisaged FASTER proof of concept field trials. The rover design is based on the test results gained by the Coyote II trials. Coyote III is equipped with two

Hybrid Aerial/Rover Vehicle

Science.gov (United States)

Bachelder, Aaron

2003-01-01

A proposed instrumented robotic vehicle called an "aerover" would fly, roll along the ground, and/or float on bodies of liquid, as needed. The aerover would combine features of an aerobot (a robotic lighter-than-air balloon) and a wheeled robot of the "rover" class. An aerover would also look very much like a variant of the "beach-ball" rovers. Although the aerover was conceived for use in scientific exploration of Titan (the largest moon of the planet Saturn), the aerover concept could readily be adapted to similar uses on Earth.

A graphics-card implementation of Monte-Carlo simulations for cosmic-ray transport

Science.gov (United States)

Tautz, R. C.

2016-05-01

A graphics card implementation of a test-particle simulation code is presented that is based on the CUDA extension of the C/C++ programming language. The original CPU version has been developed for the calculation of cosmic-ray diffusion coefficients in artificial Kolmogorov-type turbulence. In the new implementation, the magnetic turbulence generation, which is the most time-consuming part, is separated from the particle transport and is performed on a graphics card. In this article, the modification of the basic approach of integrating test particle trajectories to employ the SIMD (single instruction, multiple data) model is presented and verified. The efficiency of the new code is tested and several language-specific accelerating factors are discussed. For the example of isotropic magnetostatic turbulence, sample results are shown and a comparison to the results of the CPU implementation is performed.

Computer graphics testbed to simulate and test vision systems for space applications

Science.gov (United States)

Cheatham, John B.

1991-01-01

Artificial intelligence concepts are applied to robotics. Artificial neural networks, expert systems and laser imaging techniques for autonomous space robots are being studied. A computer graphics laser range finder simulator developed by Wu has been used by Weiland and Norwood to study use of artificial neural networks for path planning and obstacle avoidance. Interest is expressed in applications of CLIPS, NETS, and Fuzzy Control. These applications are applied to robot navigation.

Positive-Buoyancy Rover for Under Ice Mobility

Science.gov (United States)

Leichty, John M.; Klesh, Andrew T.; Berisford, Daniel F.; Matthews, Jaret B.; Hand, Kevin P.

2013-01-01

A buoyant rover has been developed to traverse the underside of ice-covered lakes and seas. The rover operates at the ice/water interface and permits direct observation and measurement of processes affecting freeze- over and thaw events in lake and marine environments. Operating along the 2- D ice-water interface simplifies many aspects of underwater exploration, especially when compared to submersibles, which have difficulty in station-keeping and precision mobility. The buoyant rover consists of an all aluminum body with two aluminum sawtooth wheels. The two independent body segments are sandwiched between four actuators that permit isolation of wheel movement from movement of the central tether spool. For normal operations, the wheels move while the tether spool feeds out line and the cameras on each segment maintain a user-controlled fixed position. Typically one camera targets the ice/water interface and one camera looks down to the lake floor to identify seep sources. Each wheel can be operated independently for precision turning and adjustments. The rover is controlled by a touch- tablet interface and wireless goggles enable real-time viewing of video streamed from the rover cameras. The buoyant rover was successfully deployed and tested during an October 2012 field campaign to investigate methane trapped in ice in lakes along the North Slope of Alaska.

Multi-rover navigation on the lunar surface

Science.gov (United States)

Dabrowski, Borys; Banaszkiewicz, Marek

2008-07-01

The paper presents a method of determination an accurate position of a target (rover, immobile sensor, astronaut) on surface of the Moon or other celestial body devoid of navigation infrastructure (like Global Positioning System), by using a group of self-calibrating rovers, which serves as mobile reference points. The rovers are equipped with low-precision clocks synchronized by external broadcasting signal, to measure the moments of receiving radio signals sent by localized target. Based on the registered times, distances between transmitter and receivers installed on beacons are calculated. Each rover determines and corrects its own absolute position and orientation by using odometry navigation and measurements of relative distances and angles to other mobile reference points. Accuracy of navigation has been improved by the use of a calibration algorithm based on the extended Kalman filter, which uses internal encoder readings as inputs and relative measurements of distances and orientations between beacons as feedback information. The key idea in obtaining reliable values of absolute position and orientation of beacons is to first calibrate one of the rovers, using the remaining ones as reference points and then allow the whole group to move together and calibrate all the rovers in-motion. We consider a number of cases, in which basic modeling parameters such as terrain roughness, formation size and shape as well as availability of distance and angle measurements are varied.

Martian Surface Mineralogy from Rovers with Spirit, Opportunity, and Curiosity

Science.gov (United States)

Morris, Richard V.

2016-01-01

Beginning in 2004, NASA has landed three well-instrumented rovers on the equatorial martian surface. The Spirit rover landed in Gusev crater in early January, 2004, and the Opportunity rover landed on the opposite side of Mars at Meridian Planum 21 days later. The Curiosity rover landed in Gale crater to the west of Gusev crater in August, 2012. Both Opportunity and Curiosity are currently operational. The twin rovers Spirit and Opportunity carried Mossbauer spectrometers to determine the oxidation state of iron and its mineralogical composition. The Curiosity rover has an X-ray diffraction instrument for identification and quantification of crystalline materials including clay minerals. Instrument suites on all three rovers are capable of distinguishing primary rock-forming minerals like olivine, pyroxene and magnetite and products of aqueous alteration in including amorphous iron oxides, hematite, goethite, sulfates, and clay minerals. The oxidation state of iron ranges from that typical for unweathered rocks and soils to nearly completely oxidized (weathered) rocks and soils as products of aqueous and acid-sulfate alteration. The in situ rover mineralogy also serves as ground-truth for orbital observations, and orbital mineralogical inferences are used for evaluating and planning rover exploration.

High speed finite element simulations on the graphics card

Energy Technology Data Exchange (ETDEWEB)

Huthwaite, P.; Lowe, M. J. S. [Department of Mechanical Engineering, Imperial College, London, SW7 2AZ (United Kingdom)

2014-02-18

A software package is developed to perform explicit time domain finite element simulations of ultrasonic propagation on the graphical processing unit, using Nvidia’s CUDA. Of critical importance for this problem is the arrangement of nodes in memory, allowing data to be loaded efficiently and minimising communication between the independently executed blocks of threads. The initial stage of memory arrangement is partitioning the mesh; both a well established ‘greedy’ partitioner and a new, more efficient ‘aligned’ partitioner are investigated. A method is then developed to efficiently arrange the memory within each partition. The technique is compared to a commercial CPU equivalent, demonstrating an overall speedup of at least 100 for a non-destructive testing weld model.

High speed finite element simulations on the graphics card

International Nuclear Information System (INIS)

Huthwaite, P.; Lowe, M. J. S.

2014-01-01

A software package is developed to perform explicit time domain finite element simulations of ultrasonic propagation on the graphical processing unit, using Nvidia’s CUDA. Of critical importance for this problem is the arrangement of nodes in memory, allowing data to be loaded efficiently and minimising communication between the independently executed blocks of threads. The initial stage of memory arrangement is partitioning the mesh; both a well established ‘greedy’ partitioner and a new, more efficient ‘aligned’ partitioner are investigated. A method is then developed to efficiently arrange the memory within each partition. The technique is compared to a commercial CPU equivalent, demonstrating an overall speedup of at least 100 for a non-destructive testing weld model

Software Design for Interactive Graphic Radiation Treatment Simulation Systems*

Science.gov (United States)

Kalet, Ira J.; Sweeney, Christine; Jacky, Jonathan

1990-01-01

We examine issues in the design of interactive computer graphic simulation programs for radiation treatment planning (RTP), as well as expert system programs that automate parts of the RTP process, in light of ten years of experience at designing, building and using such programs. An experiment in object-oriented design using standard Pascal shows that while some advantage is gained from the design, it is still difficult to achieve modularity and to integrate expert system components. A new design based on the Common LISP Object System (CLOS) is described. This series of designs for RTP software shows that this application benefits in specific ways from object-oriented design methods and appropriate languages and tools.

Night Rover Challenge

Data.gov (United States)

National Aeronautics and Space Administration — The objective of the Night Rover Challenge was to foster innovations in energy storage technology. Specifically, this challenge asked competitors to create an energy...

A Modular Re-configurable Rover System

Science.gov (United States)

Bouloubasis, A.; McKee, G.; Active Robotics Lab

In this paper we present the novel concepts incorporated in a planetary surface exploration rover design that is currently under development. The Multitasking Rover (MTR) aims to demonstrate functionality that will cover many of the current and future needs such as rough-terrain mobility, modularity and upgradeability [1]. The rover system has enhanced mobility characteristics. It operates in conjunction with Science Packs (SPs) and Tool Packs (TPs) - modules attached to the main frame of the rover, which are either special tools or science instruments and alter the operation capabilities of the system. To date, each rover system design is very much task driven for example, the scenario of cooperative transportation of extended payloads [2], comprises two rovers each equipped with a manipulator dedicated to the task [3]. The MTR approach focuses mostly on modularity and upgradeability presenting at the same time a fair amount of internal re-configurability for the sake of rough terrain stability. The rover itself does not carry any scientific instruments or tools. To carry out the scenario mentioned above, the MTR would have to locate and pick-up a TP with the associated manipulator. After the completion of the task the TP could be put away to a storage location enabling the rover to utilize a different Pack. The rover will not only offer mobility to these modules, but also use them as tools, transforming its role and functionality. The advantage of this approach is that instead of sending a large number of rovers to perform a variety of tasks, a smaller number of MTRs could be deployed with a large number of SPs/TPs, offering multiples of the functionality at a reduced payload. Two SPs or TPs (or a combination of) can be carried and deployed. One of the key elements in the design of the four wheeled rover, lies within its suspension system. It comprises a linear actuator located within each leg and also an active differential linking the two shoulders. This novel

CRAFT: Collaborative Rover and Astronauts Future Technology

Science.gov (United States)

Da-Poian, V. D. P.; Koryanov, V. V. K.

2018-02-01

Our project is focusing on the relationship between astronauts and rovers to best work together during surface explorations. Robots will help and assist astronauts, and will also work autonomously. Our project is to develop this type of rover.

Rough surface scattering simulations using graphics cards

International Nuclear Information System (INIS)

Klapetek, Petr; Valtr, Miroslav; Poruba, Ales; Necas, David; Ohlidal, Miloslav

2010-01-01

In this article we present results of rough surface scattering calculations using a graphical processing unit implementation of the Finite Difference in Time Domain algorithm. Numerical results are compared to real measurements and computational performance is compared to computer processor implementation of the same algorithm. As a basis for computations, atomic force microscope measurements of surface morphology are used. It is shown that the graphical processing unit capabilities can be used to speedup presented computationally demanding algorithms without loss of precision.

Major accomplishments of America's nuclear rocket program (ROVER)

International Nuclear Information System (INIS)

Finseth, J.L.

1991-01-01

The United States embarked on a program to develop nuclear rocket engines in 1955. This program was known as project Rover. Initially nuclear rockets were considered as a potential backup for intercontinental ballistic missile propulsion but later proposed applications included both a lunar second stage as well as use in manned-Mars flights. Under the Rover program, 19 different reactors were built and tested during the period of 1959-1969. Additionally, several cold flow (non-fuelled) reactors were tested as well as a nuclear fuels test cell. The Rover program was terminated in 1973, due to budget constraints and an evolving political climate. The Rover program would have led to the development of a flight engine had the program continued through a logical continuation. The Rover program was responsible for a number of technological achievements. The successful operation of nuclear rocket engines on a system level represents the pinnacle of accomplishment. This paper will discuss the engine test program as well as several subsystems

Automated Planning and Scheduling for Planetary Rover Distributed Operations

Science.gov (United States)

Backes, Paul G.; Rabideau, Gregg; Tso, Kam S.; Chien, Steve

1999-01-01

Automated planning and Scheduling, including automated path planning, has been integrated with an Internet-based distributed operations system for planetary rover operations. The resulting prototype system enables faster generation of valid rover command sequences by a distributed planetary rover operations team. The Web Interface for Telescience (WITS) provides Internet-based distributed collaboration, the Automated Scheduling and Planning Environment (ASPEN) provides automated planning and scheduling, and an automated path planner provided path planning. The system was demonstrated on the Rocky 7 research rover at JPL.

Pseudo-random number generators for Monte Carlo simulations on ATI Graphics Processing Units

Science.gov (United States)

Demchik, Vadim

2011-03-01

Basic uniform pseudo-random number generators are implemented on ATI Graphics Processing Units (GPU). The performance results of the realized generators (multiplicative linear congruential (GGL), XOR-shift (XOR128), RANECU, RANMAR, RANLUX and Mersenne Twister (MT19937)) on CPU and GPU are discussed. The obtained speed up factor is hundreds of times in comparison with CPU. RANLUX generator is found to be the most appropriate for using on GPU in Monte Carlo simulations. The brief review of the pseudo-random number generators used in modern software packages for Monte Carlo simulations in high-energy physics is presented.

Conceptual Design and Dynamics Testing and Modeling of a Mars Tumbleweed Rover

Science.gov (United States)

Calhoun Philip C.; Harris, Steven B.; Raiszadeh, Behzad; Zaleski, Kristina D.

2005-01-01

The NASA Langley Research Center has been developing a novel concept for a Mars planetary rover called the Mars Tumbleweed. This concept utilizes the wind to propel the rover along the Mars surface, bringing it the potential to cover vast distances not possible with current Mars rover technology. This vehicle, in its deployed configuration, must be large and lightweight to provide the ratio of drag force to rolling resistance necessary to initiate motion from rest on the Mars surface. One Tumbleweed design concept that satisfies these considerations is called the Eggbeater-Dandelion. This paper describes the basic design considerations and a proposed dynamics model of the concept for use in simulation studies. It includes a summary of rolling/bouncing dynamics tests that used videogrammetry to better understand, characterize, and validate the dynamics model assumptions, especially the effective rolling resistance in bouncing/rolling dynamic conditions. The dynamics test used cameras to capture the motion of 32 targets affixed to a test article s outer structure. Proper placement of the cameras and alignment of their respective fields of view provided adequate image resolution of multiple targets along the trajectory as the test article proceeded down the ramp. Image processing of the frames from multiple cameras was used to determine the target positions. Position data from a set of these test runs was compared with results of a three dimensional, flexible dynamics model. Model input parameters were adjusted to match the test data for runs conducted. This process presented herein provided the means to characterize the dynamics and validate the simulation of the Eggbeater-Dandelion concept. The simulation model was used to demonstrate full scale Tumbleweed motion from a stationary condition on a flat-sloped terrain using representative Mars environment parameters.

Using Multi-Core Systems for Rover Autonomy

Science.gov (United States)

Clement, Brad; Estlin, Tara; Bornstein, Benjamin; Springer, Paul; Anderson, Robert C.

2010-01-01

Task Objectives are: (1) Develop and demonstrate key capabilities for rover long-range science operations using multi-core computing, (a) Adapt three rover technologies to execute on SOA multi-core processor (b) Illustrate performance improvements achieved (c) Demonstrate adapted capabilities with rover hardware, (2) Targeting three high-level autonomy technologies (a) Two for onboard data analysis (b) One for onboard command sequencing/planning, (3) Technologies identified as enabling for future missions, (4)Benefits will be measured along several metrics: (a) Execution time / Power requirements (b) Number of data products processed per unit time (c) Solution quality

NASA Mars 2020 Rover Mission: New Frontiers in Science

Science.gov (United States)

Calle, Carlos I.

2014-01-01

The Mars 2020 rover mission is the next step in NASAs robotic exploration of the red planet. The rover, based on the Mars Science Laboratory Curiosity rover now on Mars, will address key questions about the potential for life on Mars. The mission would also provide opportunities to gather knowledge and demonstrate technologies that address the challenges of future human expeditions to Mars.Like the Mars Science Laboratory rover, which has been exploring Mars since 2012, the Mars 2020 spacecraft will use a guided entry, descent, and landing system which includes a parachute, descent vehicle, and, during the provides the ability to land a very large, heavy rover on the surface of Mars in a more precise landing area. The Mars 2020 mission is designed to accomplish several high-priority planetary science goals and will be an important step toward meeting NASAs challenge to send humans to Mars in the 2030s. The mission will conduct geological assessments of the rover's landing site, determine the habitability of the environment, search for signs of ancient Martian life, and assess natural resources and hazards for future human explorers. The science instruments aboard the rover also will enable scientists to identify and select a collection of rock and soil samples that will be stored for potential return to Earth in the future. The rover also may help designers of a human expedition understand the hazards posed by Martian dust and demonstrate how to collect carbon dioxide from the atmosphere, which could be a valuable resource for producing oxygen and rocket fuel.

The effect of a graphical interpretation of a statistic trend indicator (Trigg's Tracking Variable) on the detection of simulated changes.

Science.gov (United States)

Kennedy, R R; Merry, A F

2011-09-01

Anaesthesia involves processing large amounts of information over time. One task of the anaesthetist is to detect substantive changes in physiological variables promptly and reliably. It has been previously demonstrated that a graphical trend display of historical data leads to more rapid detection of such changes. We examined the effect of a graphical indication of the magnitude of Trigg's Tracking Variable, a simple statistically based trend detection algorithm, on the accuracy and latency of the detection of changes in a micro-simulation. Ten anaesthetists each viewed 20 simulations with four variables displayed as the current value with a simple graphical trend display. Values for these variables were generated by a computer model, and updated every second; after a period of stability a change occurred to a new random value at least 10 units from baseline. In 50% of the simulations an indication of the rate of change was given by a five level graphical representation of the value of Trigg's Tracking Variable. Participants were asked to indicate when they thought a change was occurring. Changes were detected 10.9% faster with the trend indicator present (mean 13.1 [SD 3.1] cycles vs 14.6 [SD 3.4] cycles, 95% confidence interval 0.4 to 2.5 cycles, P = 0.013. There was no difference in accuracy of detection (median with trend detection 97% [interquartile range 95 to 100%], without trend detection 100% [98 to 100%]), P = 0.8. We conclude that simple statistical trend detection may speed detection of changes during routine anaesthesia, even when a graphical trend display is present.

Recent Accomplishments in Mars Exploration: The Rover Perspective

Science.gov (United States)

McLennan, S. M.; McSween, H. Y.

2018-04-01

Mobile rovers have revolutionized our understanding of Mars geology by identifying habitable environments and addressing critical questions related to Mars science. Both the advances and limitations of rovers set the scene for Mars Sample Return.

Curiosity rover LEGO® version could land soon

Science.gov (United States)

Showstack, Randy

2012-09-01

Now that NASA's Curiosity rover has landed on Mars, a smaller LEGO® plastic brick construction version could be landing in toy stores. Less than 2 weeks after Curiosity set down on 5 August, a LEGO® set concept model designed by a mechanical and aerospace engineer who worked on the real rover garnered its 10,000th supporter on the Web site of CUUSOO, a Japanese partner of the LEGO® group. That milestone triggered a company review that began in September 2012 to test the model's “playability, safety, and ft with the LEGO® brand,” according to a congratulatory statement from the company to designer Stephen Pakbaz. Pakbaz told Eos that he has been an avid LEGO® and space exploration fan for most of his life. “For me, creating a LEGO® model of Curiosity using my firsthand knowledge of the rover was inevitable. What I enjoyed most was being able to faithfully replicate and subsequently demonstrate the rocker-bogie suspension system to friends, family, and coworkers,” he noted, referring to the suspension system that allows the rover to climb over obstacles while keeping its wheels on the ground. Pakbaz, who is currently with Orbital Sciences Corporation, was involved with aspects of the rover while working at the Jet Propulsion Laboratory from 2007 to 2011 as a mechanical engineer.

Computer graphics and research projects

International Nuclear Information System (INIS)

Ingtrakul, P.

1994-01-01

This report was prepared as an account of scientific visualization tools and application tools for scientists and engineers. It is provided a set of tools to create pictures and to interact with them in natural ways. It applied many techniques of computer graphics and computer animation through a number of full-color presentations as computer animated commercials, 3D computer graphics, dynamic and environmental simulations, scientific modeling and visualization, physically based modelling, and beavioral, skelatal, dynamics, and particle animation. It took in depth at original hardware and limitations of existing PC graphics adapters contain syste m performance, especially with graphics intensive application programs and user interfaces

Risk-Aware Planetary Rover Operation: Autonomous Terrain Classification and Path Planning

Science.gov (United States)

Ono, Masahiro; Fuchs, Thoams J.; Steffy, Amanda; Maimone, Mark; Yen, Jeng

2015-01-01

Identifying and avoiding terrain hazards (e.g., soft soil and pointy embedded rocks) are crucial for the safety of planetary rovers. This paper presents a newly developed groundbased Mars rover operation tool that mitigates risks from terrain by automatically identifying hazards on the terrain, evaluating their risks, and suggesting operators safe paths options that avoids potential risks while achieving specified goals. The tool will bring benefits to rover operations by reducing operation cost, by reducing cognitive load of rover operators, by preventing human errors, and most importantly, by significantly reducing the risk of the loss of rovers.

Mission-directed path planning for planetary rover exploration

Science.gov (United States)

Tompkins, Paul

2005-07-01

. Simulations exhibit that the new methodology succeeds where conventional path planners would fail. Three planetary-relevant field experiments demonstrate the power of mission-directed path planning in directing actual exploration robots. Offline mission-directed planning sustained a solar-powered rover in a 24-hour sun-synchronous traverse. Online planning and re-planning enabled full navigational autonomy of over 1 kilometer, and supported the execution of science activities distributed over hundreds of meters.

Criticality safety for deactivation of the Rover dry headend process

International Nuclear Information System (INIS)

Henrikson, D.J.

1995-01-01

The Rover dry headend process combusted Rover graphite fuels in preparation for dissolution and solvent extraction for the recovery of 235 U. At the end of the Rover processing campaign, significant quantities of 235 U were left in the dry system. The Rover Dry Headend Process Deactivation Project goal is to remove the remaining uranium bearing material (UBM) from the dry system and then decontaminate the cells. Criticality safety issues associated with the Rover Deactivation Project have been influenced by project design refinement and schedule acceleration initiatives. The uranium ash composition used for calculations must envelope a wide range of material compositions, and yet result in cost effective final packaging and storage. Innovative thinking must be used to provide a timely safety authorization basis while the project design continues to be refined

High performance direct gravitational N-body simulations on graphics processing units II: An implementation in CUDA

NARCIS (Netherlands)

Belleman, R.G.; Bédorf, J.; Portegies Zwart, S.F.

2008-01-01

We present the results of gravitational direct N-body simulations using the graphics processing unit (GPU) on a commercial NVIDIA GeForce 8800GTX designed for gaming computers. The force evaluation of the N-body problem is implemented in "Compute Unified Device Architecture" (CUDA) using the GPU to

Planetary rover robotics experiment in education: carbonate rock collecting experiment of the Husar-5 rover

Science.gov (United States)

Szalay, Kristóf; Lang, Ágota; Horváth, Tamás; Prajczer, Péter; Bérczi, Szaniszló

2013-04-01

Introduction: The new experiment for the Husar-5 educational space probe rover consists of steps of the technology of procedure of finding carbonate speci-mens among the rocks on the field. 3 main steps were robotized: 1) identification of carbonate by acid test, 2) measuring the gases liberated by acid, and 3) magnetic test. Construction of the experiment: The basis of the robotic realization of the experiment is a romote-controlled rover which can move on the field. Onto this rover the mechanism of the experiments were built from Technics LEGO elements and we used LEGO-motors for making move these experiments. The operation was coordinated by an NXT-brick which was suitable to programming. Fort he acetic-test the drops should be passed to the selected area. Passing a drop to a locality: From the small holder of the acid using densified gas we pump some drop onto the selected rock. We promote this process by pumpig the atmospheric gas into another small gas-container, so we have another higher pressure gas there. This is pumped into the acid-holder. The effect of the reaction is observed by a wireless onboard camera In the next step we can identify the the liberated gas by the gas sensor. Using it we can confirm the liberation of the CO2 gas without outer observer. The third step is the controll of the paramagnetic properties.. In measuring this feature a LEGO-compass is our instrumentation. We use a electric current gener-ated magnet. During the measurements both the coil and the gas-sensor should be positioned to be near to the surface. This means, that a lowering and an uplifting machinery should be constructed. Summary: The sequence of the measurement is the following. 1) the camera - after giving panorama images - turns toward the soil surface, 2) the dropping onto the rock surface 3) at the same time the gas-sensor starts to move down above the rock 4) the compass sensor also moves down on the arm which holds both the gas-sensor and the compass-sensor 5

Performance of the Mechanically Pumped Fluid Loop Rover Heat Rejection System Used for Thermal Control of the Mars Science Laboratory Curiosity Rover on the Surface of Mars

Science.gov (United States)

Bhandari, Pradeep; Birur, Gajanana; Bame, David; Mastropietro, A. J.; Miller, Jennifer; Karlmann, Paul; Liu, Yuanming; Anderson, Kevin

2013-01-01

The challenging range of landing sites for which the Mars Science Laboratory Rover was designed, required a rover thermal management system that is capable of keeping temperatures controlled across a wide variety of environmental conditions. On the Martian surface where temperatures can be as cold as -123 C and as warm as 38 C, the Rover relies upon a Mechanically Pumped Fluid Loop (MPFL) Rover Heat Rejection System (RHRS) and external radiators to maintain the temperature of sensitive electronics and science instruments within a -40 C to +50 C range. The RHRS harnesses some of the waste heat generated from the Rover power source, known as the Multi Mission Radioisotope Thermoelectric Generator (MMRTG), for use as survival heat for the rover during cold conditions. The MMRTG produces 110 Watts of electrical power while generating waste heat equivalent to approximately 2000 Watts. Heat exchanger plates (hot plates) positioned close to the MMRTG pick up this survival heat from it by radiative heat transfer and supply it to the rover. This design is the first instance of use of a RHRS for thermal control of a rover or lander on the surface of a planet. After an extremely successful landing on Mars (August 5), the rover and the RHRS have performed flawlessly for close to an earth year (half the nominal mission life). This paper will share the performance of the RHRS on the Martian surface as well as compare it to its predictions.

Autonomous navigation and control of a Mars rover

Science.gov (United States)

Miller, D. P.; Atkinson, D. J.; Wilcox, B. H.; Mishkin, A. H.

1990-01-01

A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

Light reflection models for computer graphics.

Science.gov (United States)

Greenberg, D P

1989-04-14

During the past 20 years, computer graphic techniques for simulating the reflection of light have progressed so that today images of photorealistic quality can be produced. Early algorithms considered direct lighting only, but global illumination phenomena with indirect lighting, surface interreflections, and shadows can now be modeled with ray tracing, radiosity, and Monte Carlo simulations. This article describes the historical development of computer graphic algorithms for light reflection and pictorially illustrates what will be commonly available in the near future.

Constructing an Educational Mars Simulation

Science.gov (United States)

Henke, Stephen A.

2004-01-01

January 14th 2004, President George Bush announces his plans to catalyst the space program into a new era of space exploration and discovery. His vision encompasses a robotics program to explore our solar system, a return to the moon, the human exploration of Mars, and to promote international prosperity towards our endeavors. We at NASA now have the task of constructing this vision in a very real timeframe. I have been chosen to begin phase 1 of making this vision a reality. I will be working on creating an Educational Mars Simulation of human exploration of Mars to stimulate interest and involvement with the project from investors and the community. GRC s Computer Services Division (CSD) in collaboration with the Office of Education Programs will be designing models, constructing terrain, and programming this simulation to create a realistic portrayal of human exploration on mars. With recent and past technological breakthroughs in computing, my primary goal can be accomplished with only the aid of 3-4 software packages. Lightwave 3D is the modeling package we have selected to use for the creation of our digital objects. This includes a Mars pressurized rover, rover cockpit, landscape/terrain, and habitat. Once we have the models completed they need textured so Photoshop and Macromedia Fireworks are handy for bringing these objects to life. Before directly importing all of this data into a simulation environment, it is necessary to first render a stunning animation of the desired final product. This animation with represent what we hope to capture out of the simulation and it will include all of the accessories like ray-tracing, fog effects, shadows, anti-aliasing, particle effects, volumetric lighting, and lens flares. Adobe Premier will more than likely be used for video editing and adding ambient noises and music. Lastly, V-Tree is the real-time 3D graphics engine which will facilitate our realistic simulation. Additional information is included in the

Use of a graphical user interface approach for digital and physical simulation in power systems control education

International Nuclear Information System (INIS)

Shoults, R.R.; Barrera-Cardiel, E.

1992-01-01

This paper presents the design of a laboratory with software and hardware structures for digital and physical simulation in the area of Power Systems Control Education. The hardware structure includes a special man-machine interface designed with a graphical user interface approach. This interface allows the user full control over the simulation and provides facilities for the study of the response of the simulated system. This approach is illustrated with the design of a control system for a physically based HVDC transmission system model

Implementation of the ALEPH detector simulation code using UNIX with on-line graphics display

International Nuclear Information System (INIS)

Corden, M.J.; Georgiopoulos, C.H.; Mermikides, M.E.; Streets, J.

1989-01-01

GALEPH, the detector simulation program of the ALEPH detector was ported to an ETA10 running under ATandT UNIX System 5. The program on the ETA10 can be driven using standard UNIX socket connections between the ETA and a Silicon Graphics Iris-3020 workstation. The simulated data on the ETA are transferred, using the machine independent binary format EPIO, and displayed on the workstation using a locally developed software package for the visualization of the ALEPH detector. The client (Iris-3020) can also pass parameters to the server (ETA10) and thus interactively change the type of events produced using the same socket connection. (orig.)

Exomars 2018 Rover Pasteur Payload Sample Analysis

Science.gov (United States)

Debus, Andre; Bacher, M.; Ball, A.; Barcos, O.; Bethge, B.; Gaubert, F.; Haldemann, A.; Kminek, G.; Lindner, R.; Pacros, A.; Rohr, T.; Trautner, R.; Vago, J.

The ExoMars programme is a joint ESA-NASA program having exobiology as one of the key science objectives. It is divided into 2 missions: the first mission is ESA-led with an ESA orbiter and an ESA Entry, Descent and Landing (EDL) demonstrator, launched in 2016 by NASA, and the second mission is NASA-led, launched in 2018 by NASA including an ESA rover and a NASA rover both deployed by a single NASA EDL system. For ESA, the ExoMars programme will demonstrate key flight and in situ enabling technologies in support of the European ambitions for future exploration missions, as outlined in the Aurora Declaration. The ExoMars 2018 ESA Rover will carry a comprehensive and coherent suite of analytical instruments dedicated to exobiology and geology research: the Pasteur Payload (PPL). This payload includes a selection of complementary instruments, having the following goals: to search for signs of past and present life on Mars and to investigate the water/geochemical environment as a function of depth in the shallow subsurface. The ExoMars Rover will travel several kilometres searching for sites warranting further investigation. The Rover includes a drill and a Sample Preparation and Distribution System which will be used to collect and analyse samples from within outcrops and from the subsurface. The Rover systems and instruments, in particular those located inside the Analytical Laboratory Drawer must meet many stringent requirements to be compatible with exobiologic investigations: the samples must be maintained in a cold and uncontaminated environment, requiring sterile and ultraclean preparation of the instruments, to preserve volatile materials and to avoid false positive results. The value of the coordinated observations suggests that a significant return on investment is to be expected from this complex development. We will present the challenges facing the ExoMars PPL, and the plans for sending a robust exobiology laboratory to Mars in 2018.

Simulation of Specular Surface Imaging Based on Computer Graphics: Application on a Vision Inspection System

Directory of Open Access Journals (Sweden)

Seulin Ralph

2002-01-01

Full Text Available This work aims at detecting surface defects on reflecting industrial parts. A machine vision system, performing the detection of geometric aspect surface defects, is completely described. The revealing of defects is realized by a particular lighting device. It has been carefully designed to ensure the imaging of defects. The lighting system simplifies a lot the image processing for defect segmentation and so a real-time inspection of reflective products is possible. To bring help in the conception of imaging conditions, a complete simulation is proposed. The simulation, based on computer graphics, enables the rendering of realistic images. Simulation provides here a very efficient way to perform tests compared to the numerous attempts of manual experiments.

Real‐Time Measurement of Wheel Performance on a Rover

Data.gov (United States)

National Aeronautics and Space Administration — Wind-blown sand on Mars produces a high risk of entrapment for Mars rovers. This was evident when the Mars Exploration Rover Spirit was immobilized in a wind blown...

Red rover: inside the story of robotic space exploration, from genesis to the mars rover curiosity

CERN Document Server

Wiens, Roger

2013-01-01

In its eerie likeness to Earth, Mars has long captured our imaginations—both as a destination for humankind and as a possible home to extraterrestrial life. It is our twenty-first century New World; its explorers robots, shipped 350 million miles from Earth to uncover the distant planet’s secrets.Its most recent scout is Curiosity—a one-ton, Jeep-sized nuclear-powered space laboratory—which is now roving the Martian surface to determine whether the red planet has ever been physically capable of supporting life. In Red Rover, geochemist Roger Wiens, the principal investigator for the ChemCam laser instrument on the rover and veteran of numerous robotic NASA missions, tells the unlikely story of his involvement in sending sophisticated hardware into space, culminating in the Curiosity rover's amazing journey to Mars.In so doing, Wiens paints the portrait of one of the most exciting scientific stories of our time: the new era of robotic space exploration. Starting with NASA’s introduction of the Discovery...

User Manual for Graphical User Interface Version 2.4 with Fire and Smoke Simulation Model (FSSIM) Version 1.2

National Research Council Canada - National Science Library

Haupt, Tomasz A; Henley, Greg; Sura, Bhargavi; Kirkland, Robert; Floyd, Jason; Scheffey, Joseph; Tatem, Patricia A; Williams, Frederick W

2006-01-01

The collaborative work of Hughes Associates, Inc., the Naval Research Laboratory, and a group at Mississippi State University resulted in development of a simulation system including a Graphical User Interface (GUI...

Modeling And Simulation As The Basis For Hybridity In The Graphic Discipline Learning/Teaching Area

Directory of Open Access Journals (Sweden)

Jana Žiljak Vujić

2009-01-01

Full Text Available Only some fifteen years have passed since the scientific graphics discipline was established. In the transition period from the College of Graphics to «Integrated Graphic Technology Studies» to the contemporary Faculty of Graphics Arts with the University in Zagreb, three main periods of development can be noted: digital printing, computer prepress and automatic procedures in postpress packaging production. Computer technology has enabled a change in the methodology of teaching graphics technology and studying it on the level of secondary and higher education. The task has been set to create tools for simulating printing processes in order to master the program through a hybrid system consisting of methods that are separate in relation to one another: learning with the help of digital models and checking in the actual real system. We are setting a hybrid project for teaching because the overall acquired knowledge is the result of completely different methods. The first method is on the free programs level functioning without consequences. Everything remains as a record in the knowledge database that can be analyzed, statistically processed and repeated with new parameter values of the system being researched. The second method uses the actual real system where the results are in proving the value of new knowledge and this is something that encourages and stimulates new cycles of hybrid behavior in mastering programs. This is the area where individual learning incurs. The hybrid method allows the possibility of studying actual situations on a computer model, proving it on an actual real model and entering the area of learning envisaging future development.

Modeling and Simulation as the Basis for Hybridity in the Graphic Discipline Learning/Teaching Area

Directory of Open Access Journals (Sweden)

Vilko Ziljak

2009-11-01

Full Text Available Only some fifteen years have passed since the scientific graphics discipline was established. In the transition period from the College of Graphics to «Integrated Graphic Technology Studies» to the contemporary Faculty of Graphics Arts with the University in Zagreb, three main periods of development can be noted: digital printing, computer prepress and automatic procedures in postpress packaging production. Computer technology has enabled a change in the methodology of teaching graphics technology and studying it on the level of secondary and higher education. The task has been set to create tools for simulating printing processes in order to master the program through a hybrid system consisting of methods that are separate in relation to one another: learning with the help of digital models and checking in the actual real system.  We are setting a hybrid project for teaching because the overall acquired knowledge is the result of completely different methods. The first method is on the free programs level functioning without consequences. Everything remains as a record in the knowledge database that can be analyzed, statistically processed and repeated with new parameter values of the system being researched. The second method uses the actual real system where the results are in proving the value of new knowledge and this is something that encourages and stimulates new cycles of hybrid behavior in mastering programs. This is the area where individual learning incurs. The hybrid method allows the possibility of studying actual situations on a computer model, proving it on an actual real model and entering the area of learning envisaging future development.

Discrete-Event Execution Alternatives on General Purpose Graphical Processing Units

International Nuclear Information System (INIS)

Perumalla, Kalyan S.

2006-01-01

Graphics cards, traditionally designed as accelerators for computer graphics, have evolved to support more general-purpose computation. General Purpose Graphical Processing Units (GPGPUs) are now being used as highly efficient, cost-effective platforms for executing certain simulation applications. While most of these applications belong to the category of time-stepped simulations, little is known about the applicability of GPGPUs to discrete event simulation (DES). Here, we identify some of the issues and challenges that the GPGPU stream-based interface raises for DES, and present some possible approaches to moving DES to GPGPUs. Initial performance results on simulation of a diffusion process show that DES-style execution on GPGPU runs faster than DES on CPU and also significantly faster than time-stepped simulations on either CPU or GPGPU.

Simbuca, using a graphics card to simulate Coulomb interactions in a penning trap

CERN Document Server

Van Gorp, S; Friedag, P; De Leebeeck, V; Tandecki, M; Weinheimer, C; Breitenfeldt, M; Traykov, E; Severijn, N; Mader, J; Soti, G; Iitaka, T; Herlert, A; Wauters, F; Zakoucky, D; Kozlov, V; Roccia, S

2011-01-01

In almost all cases, N-body simulations are limited by the computation time available. Coulomb interaction calculations scale with O(N(2)) with N the number of particles. Approximation methods exist already to reduce the computation time to O(NlogN) although calculating the interaction still dominates the total simulation time. We present Simbuca, a simulation package for thousands of ions moving in a Penning trap which will be applied for the WITCH experiment. Simbuca uses the output of the Cunbody-1 library, which calculates the gravitational interaction between entities on a graphics card, and adapts it for Coulomb calculations. Furthermore the program incorporates three realistic buffer gas models, the possibility of importing realistic electric and magnetic fieldmaps and different order integrators with adaptive step size and error control. The software is released under the GNU General Public License and free for use. Crown Copyright (C) 2010 Published by Elsevier B.V. All rights reserved.

Stereoscopic 3D graphics generation

Science.gov (United States)

Li, Zhi; Liu, Jianping; Zan, Y.

1997-05-01

Stereoscopic display technology is one of the key techniques of areas such as simulation, multimedia, entertainment, virtual reality, and so on. Moreover, stereoscopic 3D graphics generation is an important part of stereoscopic 3D display system. In this paper, at first, we describe the principle of stereoscopic display and summarize some methods to generate stereoscopic 3D graphics. Secondly, to overcome the problems which came from the methods of user defined models (such as inconvenience, long modifying period and so on), we put forward the vector graphics files defined method. Thus we can design more directly; modify the model simply and easily; generate more conveniently; furthermore, we can make full use of graphics accelerator card and so on. Finally, we discuss the problem of how to speed up the generation.

Graphics and Visualization: Breaking New Frontiers (Introduction to the Special Theme Section on "Computer Graphics and Visualization")

OpenAIRE

O'Sullivan, Carol; Scopigno, Roberto

2001-01-01

From the early graphical applications such as flight simulators, to today's stunning special effects in movies, computer graphics have had a significant impact upon the way computers have been used to represent and visualize the world. There are many big problems left to be solved, some of which are reflected in the following pages of this issue.

Development of "Remotely Operated Vehicles for Education and Research" (ROVERs)

Science.gov (United States)

Gaines, J. E.; Bland, G.; Bydlowski, D.

2017-12-01

The University of South Florida is a team member for the AREN project which develops educational technologies for data acquisition. "Remotely Operated Vehicles for Education and Research" (ROVERs) are floatable data acquisition systems used for Earth science measurements. The USF partnership was productive in the first year, resulting in new autonomous ROVER platforms being developed and used during a 5 week STEM summer camp by middle school youth. ROVERs were outfitted with GPS and temperature sensors and programmed to move forward, backwards, and to turn autonomously using the National Instruments myRIO embedded system. GLOBE protocols were used to collect data. The outreach program's structure lended itself to accomplishing an essential development effort for the AREN project towards the use of the ROVER platform in informal educational settings. A primary objective of the partnership is curriculum development to integrate GLOBE protocols and NASA technology and hardware/ROVER development wher new ROVER platforms are explored. The USF partnership resulted in two design prototypes for ROVERs, both of which can be created from recyclable materials for flotation and either 3D printed or laser cut components. In addition, both use the National Instruments myRIO for autonomous control. We will present two prototypes designed for use during the USF outreach program, the structure of the program, and details on the fabrication of prototype Z during the program by middle school students. Considering the 5-year objective of the AREN project is to "develop approaches, learning plans, and specific tools that can be affordably implemented nationwide (globally)", the USF partnership is key as it contributes to each part of the objective in a unique and impactful way.

The Challenges in Applying Magnetroesistive Sensors on the 'Curiosity' Rover

Science.gov (United States)

Johnson, Michael R.

2013-01-01

Magnetoresistive Sensors were selected for use on the motor encoders throughout the Curiosity Rover for motor position feedback devices. The Rover contains 28 acuators with a corresponding number of encoder assemblies. The environment on Mars provides opportunities for challenges to any hardware design. The encoder assemblies presented several barriers that had to be vaulted in order to say the rover was ready to fly. The environment and encoder specific design features provided challenges that had to be solved in time to fly.

2D/3D Visual Tracker for Rover Mast

Science.gov (United States)

Bajracharya, Max; Madison, Richard W.; Nesnas, Issa A.; Bandari, Esfandiar; Kunz, Clayton; Deans, Matt; Bualat, Maria

2006-01-01

A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles. Several prior visual-tracker programs have been tested on rover platforms; most require very small and well-estimated motion between consecutive image frames a requirement that is not realistic for a rover on rough terrain. The present visual-tracker program is designed to handle large image motions that lead to significant changes in feature geometry and photometry between frames. When a point is selected in one of the images acquired from stereoscopic cameras on the mast, a stereo triangulation algorithm computes a three-dimensional (3D) location for the target. As the rover moves, its body-mounted cameras feed images to a visual-odometry algorithm, which tracks two-dimensional (2D) corner features and computes their old and new 3D locations. The algorithm rejects points, the 3D motions of which are inconsistent with a rigid-world constraint, and then computes the apparent change in the rover pose (i.e., translation and rotation). The mast pan and tilt angles needed to keep the target centered in the field-of-view of the cameras (thereby minimizing the area over which the 2D-tracking algorithm must operate) are computed from the estimated change in the rover pose, the 3D position of the target feature, and a model of kinematics of the mast. If the motion between the consecutive frames is still large (i.e., 3D tracking was unsuccessful), an adaptive view-based matching technique is applied to the new image. This technique uses correlation-based template matching, in which a feature template is scaled by the ratio between the depth in the original template and the depth of pixels in the new image. This is repeated over the entire search window and the best correlation results indicate the appropriate match. The program could be a core for building application programs for systems

Multidisciplinary Simulation Acceleration using Multiple Shared-Memory Graphical Processing Units

Science.gov (United States)

Kemal, Jonathan Yashar

For purposes of optimizing and analyzing turbomachinery and other designs, the unsteady Favre-averaged flow-field differential equations for an ideal compressible gas can be solved in conjunction with the heat conduction equation. We solve all equations using the finite-volume multiple-grid numerical technique, with the dual time-step scheme used for unsteady simulations. Our numerical solver code targets CUDA-capable Graphical Processing Units (GPUs) produced by NVIDIA. Making use of MPI, our solver can run across networked compute notes, where each MPI process can use either a GPU or a Central Processing Unit (CPU) core for primary solver calculations. We use NVIDIA Tesla C2050/C2070 GPUs based on the Fermi architecture, and compare our resulting performance against Intel Zeon X5690 CPUs. Solver routines converted to CUDA typically run about 10 times faster on a GPU for sufficiently dense computational grids. We used a conjugate cylinder computational grid and ran a turbulent steady flow simulation using 4 increasingly dense computational grids. Our densest computational grid is divided into 13 blocks each containing 1033x1033 grid points, for a total of 13.87 million grid points or 1.07 million grid points per domain block. To obtain overall speedups, we compare the execution time of the solver's iteration loop, including all resource intensive GPU-related memory copies. Comparing the performance of 8 GPUs to that of 8 CPUs, we obtain an overall speedup of about 6.0 when using our densest computational grid. This amounts to an 8-GPU simulation running about 39.5 times faster than running than a single-CPU simulation.

Data Management for Mars Exploration Rovers

Science.gov (United States)

Snyder, Joseph F.; Smyth, David E.

2004-01-01

Data Management for the Mars Exploration Rovers (MER) project is a comprehensive system addressing the needs of development, test, and operations phases of the mission. During development of flight software, including the science software, the data management system can be simulated using any POSIX file system. During testing, the on-board file system can be bit compared with files on the ground to verify proper behavior and end-to-end data flows. During mission operations, end-to-end accountability of data products is supported, from science observation concept to data products within the permanent ground repository. Automated and human-in-the-loop ground tools allow decisions regarding retransmitting, re-prioritizing, and deleting data products to be made using higher level information than is available to a protocol-stack approach such as the CCSDS File Delivery Protocol (CFDP).

Development of a new graphical interface for the LABIHS simulator using LABVIEW

Energy Technology Data Exchange (ETDEWEB)

Augusto, Silas C.; Jaime, Guilherme D.; Farias, Marcos S., E-mail: silas@ien.gov.br, E-mail: gdjaime@ien.gov.br, E-mail: msantana@ien.gov.br [Instituto de Engenharia Nuclear (IEN/CNEN/RJ), Rio de Janeiro, RJ (Brazil)

2017-07-01

The LABIHS (Human-System Interfaces Laboratory) compact nuclear power plant (NPP) simulator is, since 2002, operating at the Nuclear Engineering Institute (IEN), Brazil. Due to the processing power required by the simulator software and the hardware available at the time, the simulator was developed under a PA-RISC architecture server (HPC3700), using the HP-UX operating system. All mathematical modeling components were written using the HP Fortran-77 programming language with a shared memory to exchange data from/to all simulator modules. In 2008, this hardware/software framework was discontinued, with customer support ceasing in 2013, what makes it difficult to maintain and expand. On the other hand, technological progress during this period enabled cheaper and more accessible computers, such as the PC (Personal Computer) architecture, to have enough processing power to run the simulator framework. It turns out that the PA-RISC computer architecture is incompatible with the PC one. Thus, our work group has been working, for some years, to port the simulator to the PC architecture. Part of this effort includes completely rebuilding all the MMI (Man- Machine Interface) using modern software tools and programming languages which are compatible with the PC architecture. In this work, we present two important steps for the NPP simulator migration from the obsolete architecture to the PC one. Firstly, we provide a new inter-process communication library which allows the data exchange between the NPP simulator currently running at the old PA-RISC architecture and other software running on modern PCs. This step is important because it allows to work on the new Graphical Interface while the older NPP simulator is still operating. Secondly, we present the all-new MMI for the LABIHS simulator, currently under development using LabVIEW software suit. We then provide a comparison between the original and the proposed MMI development process. (author)

Development of a new graphical interface for the LABIHS simulator using LABVIEW

International Nuclear Information System (INIS)

Augusto, Silas C.; Jaime, Guilherme D.; Farias, Marcos S.

2017-01-01

The LABIHS (Human-System Interfaces Laboratory) compact nuclear power plant (NPP) simulator is, since 2002, operating at the Nuclear Engineering Institute (IEN), Brazil. Due to the processing power required by the simulator software and the hardware available at the time, the simulator was developed under a PA-RISC architecture server (HPC3700), using the HP-UX operating system. All mathematical modeling components were written using the HP Fortran-77 programming language with a shared memory to exchange data from/to all simulator modules. In 2008, this hardware/software framework was discontinued, with customer support ceasing in 2013, what makes it difficult to maintain and expand. On the other hand, technological progress during this period enabled cheaper and more accessible computers, such as the PC (Personal Computer) architecture, to have enough processing power to run the simulator framework. It turns out that the PA-RISC computer architecture is incompatible with the PC one. Thus, our work group has been working, for some years, to port the simulator to the PC architecture. Part of this effort includes completely rebuilding all the MMI (Man- Machine Interface) using modern software tools and programming languages which are compatible with the PC architecture. In this work, we present two important steps for the NPP simulator migration from the obsolete architecture to the PC one. Firstly, we provide a new inter-process communication library which allows the data exchange between the NPP simulator currently running at the old PA-RISC architecture and other software running on modern PCs. This step is important because it allows to work on the new Graphical Interface while the older NPP simulator is still operating. Secondly, we present the all-new MMI for the LABIHS simulator, currently under development using LabVIEW software suit. We then provide a comparison between the original and the proposed MMI development process. (author)

A graphics based remote handling control system

International Nuclear Information System (INIS)

Leinemann, K.

1984-08-01

A control and simulation system with an interactive graphic man-machine interface is proposed for the articulated boom in JET. The system shall support 1. the study of boom movements in the planning phase, 2. the training of operators by appropriate simulations, 3. the programming of boom movements, and 4. the on-line control of the boom. A combination of computer graphic display and TV-images is proposed for providing optimum recognition of the actual situation and for echoing to the operator actions. (orig.) [de

Wide-angle display developments by computer graphics

Science.gov (United States)

Fetter, William A.

1989-01-01

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.

Random Number Simulations Reveal How Random Noise Affects the Measurements and Graphical Portrayals of Self-Assessed Competency

Directory of Open Access Journals (Sweden)

Edward Nuhfer

2016-01-01

Full Text Available Self-assessment measures of competency are blends of an authentic self-assessment signal that researchers seek to measure and random disorder or "noise" that accompanies that signal. In this study, we use random number simulations to explore how random noise affects critical aspects of self-assessment investigations: reliability, correlation, critical sample size, and the graphical representations of self-assessment data. We show that graphical conventions common in the self-assessment literature introduce artifacts that invite misinterpretation. Troublesome conventions include: (y minus x vs. (x scatterplots; (y minus x vs. (x column graphs aggregated as quantiles; line charts that display data aggregated as quantiles; and some histograms. Graphical conventions that generate minimal artifacts include scatterplots with a best-fit line that depict (y vs. (x measures (self-assessed competence vs. measured competence plotted by individual participant scores, and (y vs. (x scatterplots of collective average measures of all participants plotted item-by-item. This last graphic convention attenuates noise and improves the definition of the signal. To provide relevant comparisons across varied graphical conventions, we use a single dataset derived from paired measures of 1154 participants' self-assessed competence and demonstrated competence in science literacy. Our results show that different numerical approaches employed in investigating and describing self-assessment accuracy are not equally valid. By modeling this dataset with random numbers, we show how recognizing the varied expressions of randomness in self-assessment data can improve the validity of numeracy-based descriptions of self-assessment.

Mars Exploration Rover Heat Shield Recontact Analysis

Science.gov (United States)

Raiszadeh, Behzad; Desai, Prasun N.; Michelltree, Robert

2011-01-01

The twin Mars Exploration Rover missions landed successfully on Mars surface in January of 2004. Both missions used a parachute system to slow the rover s descent rate from supersonic to subsonic speeds. Shortly after parachute deployment, the heat shield, which protected the rover during the hypersonic entry phase of the mission, was jettisoned using push-off springs. Mission designers were concerned about the heat shield recontacting the lander after separation, so a separation analysis was conducted to quantify risks. This analysis was used to choose a proper heat shield ballast mass to ensure successful separation with low probability of recontact. This paper presents the details of such an analysis, its assumptions, and the results. During both landings, the radar was able to lock on to the heat shield, measuring its distance, as it descended away from the lander. This data is presented and is used to validate the heat shield separation/recontact analysis.

Lunar Surface Scenarios: Habitation and Life Support Systems for a Pressurized Rover

Science.gov (United States)

Anderson, Molly; Hanford, Anthony; Howard, Robert; Toups, Larry

2006-01-01

Pressurized rovers will be a critical component of successful lunar exploration to enable safe investigation of sites distant from the outpost location. A pressurized rover is a complex system with the same functions as any other crewed vehicle. Designs for a pressurized rover need to take into account significant constraints, a multitude of tasks to be performed inside and out, and the complexity of life support systems to support the crew. In future studies, pressurized rovers should be given the same level of consideration as any other vehicle occupied by the crew.

Mars 2020 Rover SHERLOC Calibration Target

Science.gov (United States)

Graff, Trevor; Fries, Marc; Burton, Aaron; Ross, Amy; Larson, Kristine; Garrison, Dan; Calaway, Mike; Tran, Vinh; Bhartia, Roh; Beegle, Luther

2016-01-01

The Scanning Habitable Environments with Raman & Luminescence for Organics & Chemicals (SHERLOC) instrument is a deep ultraviolet (UV) Raman Fluorescence instrument selected as part of the Mars 2020 rover instrument suite. SHERLOC will be mounted on the rover arm and its primary role is to identify carbonaceous species in martian samples. The SHERLOC instrument requires a calibration target which is being designed and fabricated at JSC as part of our continued science participation in Mars robotic missions. The SHERLOC calibration target will address a wide range of NASA goals to include basic science of interest to both the Science Mission Directorate and Human Exploration and Operations Mission Directorate.

Autonomously Generating Operations Sequences for a Mars Rover Using Artificial Intelligence-Based Planning

Science.gov (United States)

Sherwood, R.; Mutz, D.; Estlin, T.; Chien, S.; Backes, P.; Norris, J.; Tran, D.; Cooper, B.; Rabideau, G.; Mishkin, A.; Maxwell, S.

2001-07-01

This article discusses a proof-of-concept prototype for ground-based automatic generation of validated rover command sequences from high-level science and engineering activities. This prototype is based on ASPEN, the Automated Scheduling and Planning Environment. This artificial intelligence (AI)-based planning and scheduling system will automatically generate a command sequence that will execute within resource constraints and satisfy flight rules. An automated planning and scheduling system encodes rover design knowledge and uses search and reasoning techniques to automatically generate low-level command sequences while respecting rover operability constraints, science and engineering preferences, environmental predictions, and also adhering to hard temporal constraints. This prototype planning system has been field-tested using the Rocky 7 rover at JPL and will be field-tested on more complex rovers to prove its effectiveness before transferring the technology to flight operations for an upcoming NASA mission. Enabling goal-driven commanding of planetary rovers greatly reduces the requirements for highly skilled rover engineering personnel. This in turn greatly reduces mission operations costs. In addition, goal-driven commanding permits a faster response to changes in rover state (e.g., faults) or science discoveries by removing the time-consuming manual sequence validation process, allowing rapid "what-if" analyses, and thus reducing overall cycle times.

Conceptual Design and Architecture of Mars Exploration Rover (MER) for Seismic Experiments Over Martian Surfaces

Science.gov (United States)

Garg, Akshay; Singh, Amit

2012-07-01

Keywords: MER, Mars, Rover, Seismometer Mars has been a subject of human interest for exploration missions for quite some time now. Both rover as well as orbiter missions have been employed to suit mission objectives. Rovers have been preferentially deployed for close range reconnaissance and detailed experimentation with highest accuracy. However, it is essential to strike a balance between the chosen science objectives and the rover operations as a whole. The objective of this proposed mechanism is to design a vehicle (MER) to carry out seismic studies over Martian surface. The conceptual design consists of three units i.e. Mother Rover as a Surrogate (Carrier) and Baby Rovers (two) as seeders for several MEMS-based accelerometer / seismometer units (Nodes). Mother Rover can carry these Baby Rovers, having individual power supply with solar cells and with individual data transmission capabilities, to suitable sites such as Chasma associated with Valles Marineris, Craters or Sand Dunes. Mother rover deploys these rovers in two opposite direction and these rovers follow a triangulation pattern to study shock waves generated through firing tungsten carbide shells into the ground. Till the time of active experiments Mother Rover would act as a guiding unit to control spatial spread of detection instruments. After active shock experimentation, the babies can still act as passive seismometer units to study and record passive shocks from thermal quakes, impact cratering & landslides. Further other experiments / payloads (XPS / GAP / APXS) can also be carried by Mother Rover. Secondary power system consisting of batteries can also be utilized for carrying out further experiments over shallow valley surfaces. The whole arrangement is conceptually expected to increase the accuracy of measurements (through concurrent readings) and prolong life cycle of overall experimentation. The proposed rover can be customised according to the associated scientific objectives and further

The Athena Mars Rover Science Payload

Science.gov (United States)

Squyes, S. W.; Arvidson, R.; Bell, J. F., III; Carr, M.; Christensen, P.; DesMarais, D.; Economou, T.; Gorevan, S.; Klingelhoefer, G.; Haskin, L.

1998-01-01

The Mars Surveyor missions that will be launched in April of 2001 will include a highly capable rover that is a successor to the Mars Pathfinder mission's Sojourner rover. The design goals for this rover are a total traverse distance of at least 10 km and a total lifetime of at least one Earth year. The rover's job will be to explore a site in Mars' ancient terrain, searching for materials likely to preserve a record of ancient martian water, climate, and possibly biology. The rover will collect rock and soil samples, and will store them for return to Earth by a subsequent Mars Surveyor mission in 2005. The Athena Mars rover science payload is the suite of scientific instruments and sample collection tools that will be used to perform this job. The specific science objectives that NASA has identified for the '01 rover payload are to: (1) Provide color stereo imaging of martian surface environments, and remotely-sensed point discrimination of mineralogical composition. (2) Determine the elemental and mineralogical composition of martian surface materials. (3) Determine the fine-scale textural properties of these materials. (4) Collect and store samples. The Athena payload has been designed to meet these objectives. The focus of the design is on field operations: making sure the rover can locate, characterize, and collect scientifically important samples in a dusty, dirty, real-world environment. The topography, morphology, and mineralogy of the scene around the rover will be revealed by Pancam/Mini-TES, an integrated imager and IR spectrometer. Pancam views the surface around the rover in stereo and color. It uses two high-resolution cameras that are identical in most respects to the rover's navigation cameras. The detectors are low-power, low-mass active pixel sensors with on-chip 12-bit analog-to-digital conversion. Filters provide 8-12 color spectral bandpasses over the spectral region from 0.4 to 1.1 micron Narrow-angle optics provide an angular resolution of 0

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

Science.gov (United States)

Felder, Michael; Nesnas, Issa A.; Pivtoraiko, Mihail; Kelly, Alonzo; Volpe, Richard

2011-01-01

Exploring planetary surfaces typically involves traversing challenging and unknown terrain and acquiring in-situ measurements at designated locations using arm-mounted instruments. We present field results for a new implementation of an autonomous capability that enables a rover to traverse and precisely place an arm-mounted instrument on remote targets. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover's mast cameras. The rover then autonomously traverse the rocky terrain for a distance of 10 - 15 m, tracks the target(s) of interest during the traverse, positions itself for approaching the target, and then precisely places an arm-mounted instrument within 2-3 cm from the originally designated target. The rover proceeds to acquire science measurements with the instrument. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight thread-the-needle maneuvers. We integrated these algorithms on the newly refurbished Athena Mars research rover and fielded them in the JPL Mars Yard. We conducted 43 runs with targets at distances ranging from 5 m to 15 m and achieved a success rate of 93% for placement of the instrument within 2-3 cm.

Glenn Heat Transfer Simulation and Solver Graphical User Interface: Development and Testing

Science.gov (United States)

Kardamis, Joseph R.

2004-01-01

In the Tui ine Branch of the Turbomachinery and Propulsion Systems Division, researching and developing efficient turbine aerothermodynamics technologies is the main objective. Creating effective turbines for jet engines is a process which, if based purely on physical experimental testing, would be extremely expensive. It is for this reason, and also for the reasons of speed and ease, that the Turbine Branch spends a large amount of effort working with simulations of turbines. Specifically, they focus their work on two main fields: Computational Field Dynamics (CFD), and Experimental data analysis. The experimental field involves comparing experimental results to simulated results, whereas the CFD field involves running these simulations. The simulations are applied to aerodynamics and heat transfer cases, for both steady and unsteady flow conditions. By and large this work is applied to the domain of flow and heat transfer in axial turbines. The main application used to run these heat flow simulations is GlennHT. This program, recently rewritten in FORTRAN 90, allows the user to input a job file which specifies all the necessary parameters needed to simulate flow through a user-defined grid. There are several other executables used as well, ranging in application from converting grid files to and from particular formats, to merging blocks in a connectivity file, to converting connectivity files to a GlennHT compatible format. All of these executables are run from the command line in a terminal; some of them have interactive prompts where the user must specify the files to be manipulated after the program starts, while others take all of their parameters from the command line. With this amount of variation comes a good deal of commands and formats to memorize, which can cause slower and less efficient work, as users may forget how to execute a certain program, or not remember the pathnames of the files they wish to use. Two years ago, steps were made to expedite

Mars Tumbleweed Simulation Using Singular Perturbation Theory

Science.gov (United States)

Raiszadeh, Behzad; Calhoun, Phillip

2005-01-01

The Mars Tumbleweed is a new surface rover concept that utilizes Martian winds as the primary source of mobility. Several designs have been proposed for the Mars Tumbleweed, all using aerodynamic drag to generate force for traveling about the surface. The Mars Tumbleweed, in its deployed configuration, must be large and lightweight to provide the ratio of drag force to rolling resistance necessary to initiate motion from the Martian surface. This paper discusses the dynamic simulation details of a candidate Tumbleweed design. The dynamic simulation model must properly evaluate and characterize the motion of the tumbleweed rover to support proper selection of system design parameters. Several factors, such as model flexibility, simulation run times, and model accuracy needed to be considered in modeling assumptions. The simulation was required to address the flexibility of the rover and its interaction with the ground, and properly evaluate its mobility. Proper assumptions needed to be made such that the simulated dynamic motion is accurate and realistic while not overly burdened by long simulation run times. This paper also shows results that provided reasonable correlation between the simulation and a drop/roll test of a tumbleweed prototype.

Absolute Navigation Information Estimation for Micro Planetary Rovers

Directory of Open Access Journals (Sweden)

Muhammad Ilyas

2016-03-01

Full Text Available This paper provides algorithms to estimate absolute navigation information, e.g., absolute attitude and position, by using low power, weight and volume Microelectromechanical Systems-type (MEMS sensors that are suitable for micro planetary rovers. Planetary rovers appear to be easily navigable robots due to their extreme slow speed and rotation but, unfortunately, the sensor suites available for terrestrial robots are not always available for planetary rover navigation. This makes them difficult to navigate in a completely unexplored, harsh and complex environment. Whereas the relative attitude and position can be tracked in a similar way as for ground robots, absolute navigation information, unlike in terrestrial applications, is difficult to obtain for a remote celestial body, such as Mars or the Moon. In this paper, an algorithm called the EASI algorithm (Estimation of Attitude using Sun sensor and Inclinometer is presented to estimate the absolute attitude using a MEMS-type sun sensor and inclinometer, only. Moreover, the output of the EASI algorithm is fused with MEMS gyros to produce more accurate and reliable attitude estimates. An absolute position estimation algorithm has also been presented based on these on-board sensors. Experimental results demonstrate the viability of the proposed algorithms and the sensor suite for low-cost and low-weight micro planetary rovers.

Printer Graphics Package

Science.gov (United States)

Blanchard, D. C.

1986-01-01

Printer Graphics Package (PGP) is tool for making two-dimensional symbolic plots on line printer. PGP created to support development of Heads-Up Display (HUD) simulation. Standard symbols defined with HUD in mind. Available symbols include circle, triangle, quadrangle, window, line, numbers, and text. Additional symbols easily added or built up from available symbols.

HIV Therapy Simulator: a graphical user interface for comparing the effectiveness of novel therapy regimens.

Science.gov (United States)

Lim, Huat Chye; Curlin, Marcel E; Mittler, John E

2011-11-01

Computer simulation models can be useful in exploring the efficacy of HIV therapy regimens in preventing the evolution of drug-resistant viruses. Current modeling programs, however, were designed by researchers with expertise in computational biology, limiting their accessibility to those who might lack such a background. We have developed a user-friendly graphical program, HIV Therapy Simulator (HIVSIM), that is accessible to non-technical users. The program allows clinicians and researchers to explore the effectiveness of various therapeutic strategies, such as structured treatment interruptions, booster therapies and induction-maintenance therapies. We anticipate that HIVSIM will be useful for evaluating novel drug-based treatment concepts in clinical research, and as an educational tool. HIV Therapy Simulator is freely available for Mac OS and Windows at http://sites.google.com/site/hivsimulator/. jmittler@uw.edu. Supplementary data are available at Bioinformatics online.

First results from the Mojave Volatiles Prospector (MVP) Field Campaign, a Lunar Polar Rover Mission Analog

Science.gov (United States)

Heldmann, J. L.; Colaprete, A.; Cook, A.; Deans, M. C.; Elphic, R. C.; Lim, D. S. S.; Skok, J. R.

2014-12-01

The Mojave Volatiles Prospector (MVP) project is a science-driven field program with the goal to produce critical knowledge for conducting robotic exploration of the Moon. MVP will feed science, payload, and operational lessons learned to the development of a real-time, short-duration lunar polar volatiles prospecting mission. MVP achieves these goals through a simulated lunar rover mission to investigate the composition and distribution of surface and subsurface volatiles in a natural and a priori unknown environment within the Mojave Desert, improving our understanding of how to find, characterize, and access volatiles on the Moon. The MVP field site is the Mojave Desert, selected for its low, naturally occurring water abundance. The Mojave typically has on the order of 2-6% water, making it a suitable lunar analog for this field test. MVP uses the Near Infrared and Visible Spectrometer Subsystem (NIRVSS), Neutron Spectrometer Subsystem (NSS), and a downward facing GroundCam camera on the KREX-2 rover to investigate the relationship between the distribution of volatiles and soil crust variation. Through this investigation, we mature robotic in situ instruments and concepts of instrument operations, improve ground software tools for real time science, and carry out publishable research on the water cycle and its connection to geomorphology and mineralogy in desert environments. A lunar polar rover mission is unlike prior space missions and requires a new concept of operations. The rover must navigate 3-5 km of terrain and examine multiple sites in in just ~6 days. Operational decisions must be made in real time, requiring constant situational awareness, data analysis and rapid turnaround decision support tools. This presentation will focus on the first science results and operational architecture findings from the MVP field deployment relevant to a lunar polar rover mission.

Archiving Data From the 2003 Mars Exploration Rover Mission

Science.gov (United States)

Arvidson, R. E.

2002-12-01

The two Mars Exploration Rovers will touch down on the red planet in January 2004 and each will operate for at least 90 sols, traversing hundreds of meters across the surface and acquiring data from the Athena Science Payload (mast-based multi-spectral, stereo-imaging data and emission spectra; arm-based in-situ Alpha Particle X-Ray (APXS) and Mössbauer Spectroscopy, microscopic imaging, coupled with use of a rock abrasion tool) at a number of locations. In addition, the rovers will acquire science and engineering data along traverses to characterize terrain properties and perhaps be used to dig trenches. An "Analyst's Notebook" concept has been developed to capture, organize, archive and distribute raw and derived data sets and documentation (http://wufs.wustl.edu/rover). The Notebooks will be implemented in ways that will allow users to "playback" the mission, using executed commands to drive animated views of rover activities, and pop-up windows to show why particular observations were acquired, along with displays of raw and derived data products. In addition, the archive will include standard Planetary Data System files and software for processing to higher-level products. The Notebooks will exist both as an online system and as a set of distributable Digital Video Discs or other appropriate media. The Notebooks will be made available through the Planetary Data System within six months after the end of observations for the relevant rovers.

Graphical representation of covariant-contravariant modal formulae

Directory of Open Access Journals (Sweden)

Miguel Palomino

2011-08-01

Full Text Available Covariant-contravariant simulation is a combination of standard (covariant simulation, its contravariant counterpart and bisimulation. We have previously studied its logical characterization by means of the covariant-contravariant modal logic. Moreover, we have investigated the relationships between this model and that of modal transition systems, where two kinds of transitions (the so-called may and must transitions were combined in order to obtain a simple framework to express a notion of refinement over state-transition models. In a classic paper, Boudol and Larsen established a precise connection between the graphical approach, by means of modal transition systems, and the logical approach, based on Hennessy-Milner logic without negation, to system specification. They obtained a (graphical representation theorem proving that a formula can be represented by a term if, and only if, it is consistent and prime. We show in this paper that the formulae from the covariant-contravariant modal logic that admit a "graphical" representation by means of processes, modulo the covariant-contravariant simulation preorder, are also the consistent and prime ones. In order to obtain the desired graphical representation result, we first restrict ourselves to the case of covariant-contravariant systems without bivariant actions. Bivariant actions can be incorporated later by means of an encoding that splits each bivariant action into its covariant and its contravariant parts.

Alignment verification in stereotactic radiosurgery with use of graphic arts film

International Nuclear Information System (INIS)

Sweet, J.; Lamba, M.

1990-01-01

This paper evaluates the use of graphic arts film for field alignment verification of linear accelerator-based stereotactic radiosurgery. The characteristic curve was generated for Fuji RO-100 graphic arts film in a standard leaded radiation therapy cassette at 6 MV. The linear portion of the curve and the film contrast are presented and their clinical advantages discussed. The high contrast of this graphic arts film improves visualization of the 5-mm ball bearing (simulated target) in small, circular treatment fields. Comparison with standard port film demonstrates the large linear range of the graphic arts film, which proved useful in visualization of the simulated target within the small, circular treatment field

Markov chain Monte Carlo methods in directed graphical models

DEFF Research Database (Denmark)

Højbjerre, Malene

Directed graphical models present data possessing a complex dependence structure, and MCMC methods are computer-intensive simulation techniques to approximate high-dimensional intractable integrals, which emerge in such models with incomplete data. MCMC computations in directed graphical models h...

Development of a graphical animation interactive feature to assess MAAP-CANDU simulation results

Energy Technology Data Exchange (ETDEWEB)

Petoukhov, S.M., E-mail: sergei.petoukhov@cnl.ca [Canadian Nuclear Laboratories, Chalk River, ON (Canada); Karancevic, N., E-mail: karancevic@fauske.com [Fauske and Associates Inc. (FAI), Burr Ridge, IL (United States); Morreale, A.C., E-mail: andrew.morreale@cnl.ca [Canadian Nuclear Laboratories, Chalk River, ON (Canada); Paik, C.Y., E-mail: paik@fauske.com [Fauske and Associates Inc., Burr Ridge, IL (United States); Brown, M.J., E-mail: morgan.brown@cnl.ca [Canadian Nuclear Laboratories, Chalk River, ON (Canada); Cole, C., E-mail: christopher.cole@cnsc-ccsn.gc.ca [Canadian Nuclear Safety Commission, Ottawa, ON (Canada)

2015-07-01

MAAP-CANDU is an integrated severe accident analysis code for CANDU plant simulations that necessitates the assessment and post-processing of extensive amounts of information obtained from code run results. The MAAP-CANDU GRaphical Animation Package Extension (GRAPE) is a flexible, efficient, interactive and integrated visualization tool for analyzing plant behaviour during postulated accidents including accident management actions for single and multi-unit CANDU plants. GRAPE was developed by FAI in consultation with CNL (AECL) and CNSC from the FAI MAAP-GRAAPH code used in MAAP (LWR version). CNSC plans to use MAAP-CANDU and GRAPE as one of the tools in their Emergency Operations Centre.(author)

Development of a graphical animation interactive feature to assess MAAP-CANDU simulation results

International Nuclear Information System (INIS)

Petoukhov, S.M.; Karancevic, N.; Morreale, A.C.; Paik, C.Y.; Brown, M.J.; Cole, C.

2015-01-01

MAAP-CANDU is an integrated severe accident analysis code for CANDU plant simulations that necessitates the assessment and post-processing of extensive amounts of information obtained from code run results. The MAAP-CANDU GRaphical Animation Package Extension (GRAPE) is a flexible, efficient, interactive and integrated visualization tool for analyzing plant behaviour during postulated accidents including accident management actions for single and multi-unit CANDU plants. GRAPE was developed by FAI in consultation with CNL (AECL) and CNSC from the FAI MAAP-GRAAPH code used in MAAP (LWR version). CNSC plans to use MAAP-CANDU and GRAPE as one of the tools in their Emergency Operations Centre.(author)

Computer graphics in reactor safety analysis

International Nuclear Information System (INIS)

Fiala, C.; Kulak, R.F.

1989-01-01

This paper describes a family of three computer graphics codes designed to assist the analyst in three areas: the modelling of complex three-dimensional finite element models of reactor structures; the interpretation of computational results; and the reporting of the results of numerical simulations. The purpose and key features of each code are presented. The graphics output used in actual safety analysis are used to illustrate the capabilities of each code. 5 refs., 10 figs

The University Rover Challenge: A competition highlighting Human and Robotic partnerships for exploration

Science.gov (United States)

Smith, Heather; Duncan, Andrew

2016-07-01

The University Rover Challenge began in 2006 with 4 American college teams competing, now in it's 10th year there are 63 teams from 12 countries registered to compete for the top rover designed to assist humans in the exploration of Mars. The Rovers compete aided by the University teams in four tasks (3 engineering and 1 science) in the Mars analog environment of the Utah Southern Desert in the United States. In this presentation we show amazing rover designs with videos demonstrating the incredible ingenuity, skill and determination of the world's most talented college students. We describe the purpose and results of each of the tasks: Astronaut Assistant, Rover Dexterity, Terrain maneuvering, and Science. We explain the evolution of the competition and common challenges faced by the robotic explorers

Printing--Graphic Arts--Graphic Communications

Science.gov (United States)

Hauenstein, A. Dean

1975-01-01

Recently, "graphic arts" has shifted from printing skills to a conceptual approach of production processes. "Graphic communications" must embrace the total system of communication through graphic media, to serve broad career education purposes; students taught concepts and principles can be flexible and adaptive. The author…

AN APPROACH TO EFFICIENT FEM SIMULATIONS ON GRAPHICS PROCESSING UNITS USING CUDA

Directory of Open Access Journals (Sweden)

Björn Nutti

2014-04-01

Full Text Available The paper presents a highly efficient way of simulating the dynamic behavior of deformable objects by means of the finite element method (FEM with computations performed on Graphics Processing Units (GPU. The presented implementation reduces bottlenecks related to memory accesses by grouping the necessary data per node pairs, in contrast to the classical way done per element. This strategy reduces the memory access patterns that are not suitable for the GPU memory architecture. Furthermore, the presented implementation takes advantage of the underlying sparse-block-matrix structure, and it has been demonstrated how to avoid potential bottlenecks in the algorithm. To achieve plausible deformational behavior for large local rotations, the objects are modeled by means of a simplified co-rotational FEM formulation.

(abstract) Telecommunications for Mars Rovers and Robotic Missions

Science.gov (United States)

Cesarone, Robert J.; Hastrup, Rolf C.; Horne, William; McOmber, Robert

1997-01-01

Telecommunications plays a key role in all rover and robotic missions to Mars both as a conduit for command information to the mission and for scientific data from the mission. Telecommunications to the Earth may be accomplished using direct-to-Earth links via the Deep Space Network (DSN) or by relay links supported by other missions at Mars. This paper reviews current plans for missions to Mars through the 2005 launch opportunity and their capabilities in support of rover and robotic telecommunications.

Nuclear thermal rocket workshop reference system Rover/NERVA

International Nuclear Information System (INIS)

Borowski, S.K.

1991-01-01

The Rover/NERVA engine system is to be used as a reference, against which each of the other concepts presented in the workshop will be compared. The following topics are reviewed: the operational characteristics of the nuclear thermal rocket (NTR); the accomplishments of the Rover/NERVA programs; and performance characteristics of the NERVA-type systems for both Mars and lunar mission applications. Also, the issues of ground testing, NTR safety, NASA's nuclear propulsion project plans, and NTR development cost estimates are briefly discussed

Design of a nuclear-powered rover for lunar or Martian exploration

International Nuclear Information System (INIS)

Trellue, H.R.; Trautner, R.; Houts, M.G.; Poston, D.I.; Giovig, K.; Baca, J.A.; Lipinski, R.J.

1998-08-01

To perform more advanced studies on the surface of the moon or Mars, a rover must provide long-term power (≥10 kW e ). However, a majority of rovers in the past have been designed for much lower power levels (i.e., on the order of watts) or for shorter operating periods using stored power. Thus, more advanced systems are required to generate additional power. One possible design for a more highly powered rover involves using a nuclear reactor to supply energy to the rover and material from the surface of the moon or Mars to shield the electronics from high neutron fluxes and gamma doses. Typically, one of the main disadvantages of using a nuclear-powered rover is that the required shielding would be heavy and expensive to include as part of the payload on a mission. Obtaining most of the required shielding material from the surface of the moon or Mars would reduce the cost of the mission and still provide the necessary power. This paper describes the basic design of a rover that uses the Heatpipe Power System (HPS) as an energy source, including the shielding and reactor control issues associated with the design. It also discusses briefly the amount of power that can be produced by other power methods (solar/photovoltaic cells, radioisotope power supplies, dynamic radioisotope power systems, and the production of methane or acetylene fuel from the surface of Mars) as a comparison to the HPS

Interface and integration of a silicon graphics UNIX computer with the Encore based SCE SONGS 2/3 simulator

International Nuclear Information System (INIS)

Olmos, J.; Lio, P.; Chan, K.S.

1991-01-01

The SONGS Unit 2/3 simulator was originally implemented in 1983 on a Master/Slave 32/7780 Encore MPX platform by the Singer-Link Company. In 1986, a 32/9780 MPX Encore computer was incorporated into the simulator computer system to provide the additional CPU processing needed to install the PACE plant monitoring system and to enable the upgrade of the NSSS Simulation to the advanced RETACT/STK models. Since the spring of 1990, the SCE SONGS Nuclear Training Division simulator technical staff, in cooperation with Micro Simulation Inc., has undertaken a project to integrate a Silicon Graphics UNIX based computer with the Encore MPX SONGS 2/3 simulation computer system. In this paper the authors review the objectives, advantages to be gained, software and hardware approaches utilized, and the results so far achieved by the authors' project

Electrostatic Spectrometer for Mars Rover Wheel

Data.gov (United States)

National Aeronautics and Space Administration — Develop a simple electrostatic spectrometer that can be mounted on the wheels of a Mars rover to continuously and unobtrusively determine the mineral composition and...

A Battery Health Monitoring Framework for Planetary Rovers

Science.gov (United States)

Daigle, Matthew J.; Kulkarni, Chetan Shrikant

2014-01-01

Batteries have seen an increased use in electric ground and air vehicles for commercial, military, and space applications as the primary energy source. An important aspect of using batteries in such contexts is battery health monitoring. Batteries must be carefully monitored such that the battery health can be determined, and end of discharge and end of usable life events may be accurately predicted. For planetary rovers, battery health estimation and prediction is critical to mission planning and decision-making. We develop a model-based approach utilizing computaitonally efficient and accurate electrochemistry models of batteries. An unscented Kalman filter yields state estimates, which are then used to predict the future behavior of the batteries and, specifically, end of discharge. The prediction algorithm accounts for possible future power demands on the rover batteries in order to provide meaningful results and an accurate representation of prediction uncertainty. The framework is demonstrated on a set of lithium-ion batteries powering a rover at NASA.

Graphic-Card Cluster for Astrophysics (GraCCA) -- Performance Tests

OpenAIRE

Schive, Hsi-Yu; Chien, Chia-Hung; Wong, Shing-Kwong; Tsai, Yu-Chih; Chiueh, Tzihong

2007-01-01

In this paper, we describe the architecture and performance of the GraCCA system, a Graphic-Card Cluster for Astrophysics simulations. It consists of 16 nodes, with each node equipped with 2 modern graphic cards, the NVIDIA GeForce 8800 GTX. This computing cluster provides a theoretical performance of 16.2 TFLOPS. To demonstrate its performance in astrophysics computation, we have implemented a parallel direct N-body simulation program with shared time-step algorithm in this system. Our syste...

Neurosurgical simulation and navigation with three-dimensional computer graphics.

Science.gov (United States)

Hayashi, N; Endo, S; Shibata, T; Ikeda, H; Takaku, A

1999-01-01

We developed a pre-operative simulation and intra-operative navigation system with three-dimensional computer graphics (3D-CG). Because the 3D-CG created by the present system enables visualization of lesions via semitransparent imaging of the scalp surface and brain, the expected operative field could be visualized on the computer display pre-operatively. We used two different configurative navigators. One is assembled by an arciform arm and a laser pointer. The arciform arm consists of 3 joints mounted with rotary encoders forming an iso-center system. The distal end of the arm has a laser pointer, which has a CCD for measurement of the distance between the outlet of the laser beam, and the position illuminated by the laser pointer. Using this navigator, surgeons could accurately estimate the trajectory to the target lesion, and the boundaries of the lesion. Because the other navigator has six degrees of freedom and an interchangeable probe shaped like a bayonet on its tip, it can be used in deep structures through narrow openings. Our system proved efficient and yielded an unobstructed view of deep structures during microscopic neurosurgical procedures.

EPRI compact analyzer: A compact, interactive and color-graphics based simulator for power plant analysis

International Nuclear Information System (INIS)

Ipakchi, A.; Khadem, M.; Chen, H.; Colley, R.W.

1986-01-01

This paper presents the results of an EPRI sponsored project (RP2395-2) for design and development of an interactive, and color graphics based simulator for power plant analysis. The system is called Compact Analyzer and can be applied to engineering and training applications in the utility industry. The Compact Analyzer's software and system design are described. Results of two demonstration system for a nuclear plant, and a fossil plant are presented, and the applications of the Compact Analyzer to operating procedures evaluation are discussed

Development of the spent fuel disassembling process by utilizing the 3D graphic design technology

International Nuclear Information System (INIS)

Song, T. K.; Lee, J. Y.; Kim, S. H.; Yun, J. S.

2001-01-01

For developing the spent fuel disassembling process, the 3D graphic simulation has been established by utilizing the 3D graphic design technology which is widely used in the industry. The spent fuel disassembling process consists of a downender, a rod extraction device, a rod cutting device, a pellet extracting device and a skeleton compaction device. In this study, the 3D graphical design model of these devices is implemented by conceptual design and established the virtual workcell within kinematics to motion of each device. By implementing this graphic simulation, all the unit process involved in the spent fuel disassembling processes are analyzed and optimized. The 3D graphical model and the 3D graphic simulation can be effectively used for designing the process equipment, as well as the optimized process and maintenance process

Reconfigurable Autonomy for Future Planetary Rovers

Science.gov (United States)

Burroughes, Guy

Extra-terrestrial Planetary rover systems are uniquely remote, placing constraints in regard to communication, environmental uncertainty, and limited physical resources, and requiring a high level of fault tolerance and resistance to hardware degradation. This thesis presents a novel self-reconfiguring autonomous software architecture designed to meet the needs of extraterrestrial planetary environments. At runtime it can safely reconfigure low-level control systems, high-level decisional autonomy systems, and managed software architecture. The architecture can perform automatic Verification and Validation of self-reconfiguration at run-time, and enables a system to be self-optimising, self-protecting, and self-healing. A novel self-monitoring system, which is non-invasive, efficient, tunable, and autonomously deploying, is also presented. The architecture was validated through the use-case of a highly autonomous extra-terrestrial planetary exploration rover. Three major forms of reconfiguration were demonstrated and tested: first, high level adjustment of system internal architecture and goal; second, software module modification; and third, low level alteration of hardware control in response to degradation of hardware and environmental change. The architecture was demonstrated to be robust and effective in a Mars sample return mission use-case testing the operational aspects of a novel, reconfigurable guidance, navigation, and control system for a planetary rover, all operating in concert through a scenario that required reconfiguration of all elements of the system.

Three Dimensional Simulation of Ion Thruster Plume-Spacecraft Interaction Based on a Graphic Processor Unit

International Nuclear Information System (INIS)

Ren Junxue; Xie Kan; Qiu Qian; Tang Haibin; Li Juan; Tian Huabing

2013-01-01

Based on the three-dimensional particle-in-cell (PIC) method and Compute Unified Device Architecture (CUDA), a parallel particle simulation code combined with a graphic processor unit (GPU) has been developed for the simulation of charge-exchange (CEX) xenon ions in the plume of an ion thruster. Using the proposed technique, the potential and CEX plasma distribution are calculated for the ion thruster plume surrounding the DS1 spacecraft at different thrust levels. The simulation results are in good agreement with measured CEX ion parameters reported in literature, and the GPU's results are equal to a CPU's. Compared with a single CPU Intel Core 2 E6300, 16-processor GPU NVIDIA GeForce 9400 GT indicates a speedup factor of 3.6 when the total macro particle number is 1.1×10 6 . The simulation results also reveal how the back flow CEX plasma affects the spacecraft floating potential, which indicates that the plume of the ion thruster is indeed able to alleviate the extreme negative floating potentials of spacecraft in geosynchronous orbit

Frost on Mars Rover Opportunity

Science.gov (United States)

2004-01-01

Frost can form on surfaces if enough water is present and the temperature is sufficiently low. On each of NASA's Mars Exploration Rovers, the calibration target for the panoramic camera provides a good place to look for such events. A thin frost was observed by Opportunity's panoramic camera on the rover's 257th sol (Oct. 13, 2004) 11 minutes after sunrise (left image). The presence of the frost is most clearly seen on the post in the center of the target, particularly when compared with the unsegmented outer ring of the target, which is white. The post is normally black. For comparison, note the difference in appearance in the image on the right, taken about three hours later, after the frost had dissipated. Frost has not been observed at Spirit, where the amount of atmospheric water vapor is observed to be appreciably lower. Both images were taken through a filter centered at a wavelength of 440 nanometers (blue).

A Raman Spectrometer for the ExoMars 2020 Rover

Science.gov (United States)

Moral, A. G.; Rull, F.; Maurice, S.; Hutchinson, I.; Canora, C. P.; Seoane, L.; Rodríguez, P.; Canchal, R.; Gallego, P.; Ramos, G.; López, G.; Prieto, J. A. R.; Santiago, A.; Santamaría, P.; Colombo, M.; Belenguer, T.; Forni, O.

2017-09-01

The Raman project is devoted to the development of a Raman spectrometer and the support science associated for the rover EXOMARS mission to be launched in 2020. ExoMars is a double mission with two different launch opportunities, first one launched in March 2016 allowed to put in orbit the TGO with the communication system for the next mission. And the second one in 2020, deploying a rover which includes for the first time in the robotic exploration of Mars, a drill capable to obtain samples from the subsurface up to 2 meters depth. These samples will be crushed into a fine powder and delivered to the analytical instruments suite inside the rover by means of a dosing station. The EQM has been already qualified under a very demanding thermo mechanical environment, and under EMC tests, finally achieving required scientific performances. The RLS Engineering and Qualification Model has been manufactured and is expected to be delivered by May 2017, after a full qualification testing campaign developed during 2016 Q4, and 2017 Q1. It will finally delivered to ESA, by July 2017. December 2017 at TAS-I premises will do RLS FM delivery to ESA, for its final integration on the ExoMars 2020 Rover.

A computer graphics pilot project - Spacecraft mission support with an interactive graphics workstation

Science.gov (United States)

Hagedorn, John; Ehrner, Marie-Jacqueline; Reese, Jodi; Chang, Kan; Tseng, Irene

1986-01-01

The NASA Computer Graphics Pilot Project was undertaken to enhance the quality control, productivity and efficiency of mission support operations at the Goddard Operations Support Computing Facility. The Project evolved into a set of demonstration programs for graphics intensive simulated control room operations, particularly in connection with the complex space missions that began in the 1980s. Complex mission mean more data. Graphic displays are a means to reduce the probabilities of operator errors. Workstations were selected with 1024 x 768 pixel color displays controlled by a custom VLSI chip coupled to an MC68010 chip running UNIX within a shell that permits operations through the medium of mouse-accessed pulldown window menus. The distributed workstations run off a host NAS 8040 computer. Applications of the system for tracking spacecraft orbits and monitoring Shuttle payload handling illustrate the system capabilities, noting the built-in capabilities of shifting the point of view and rotating and zooming in on three-dimensional views of spacecraft.

Propulsive maneuver design for the Mars Exploration Rover mission

Science.gov (United States)

Potts, Christopher L.; Kangas, Julie A.; Raofi, Behzad

2006-01-01

Starting from approximately 150 candidate Martian landing sites, two distinct sites have been selected for further investigation by sophisticated rovers. The two rovers, named 'Spirit' and 'Opportunity', begin the surface mission respectively to Gusec Crater and Meridiani Planum in January 2004. the rovers are essentially robotic geologists, sent on a mission to research for evidence in the rocks and soil pertaining to the historical presence of water and the ability to possibly sustain life. Before this scientific search can commence, precise trajectory targeting and control is necessary to achieve the entry requirements for the selected landing sites within the constraints of the flight system. The maneuver design challenge is to meet or exceed these requirements while maintaining the necessary design flexibility to accommodate additional project concerns. Opportunities to improve performance and reduce risk based on trajectory control characteristics are also evaluated.

Visualisation of very high resolution Martian topographic data and its application on landing site selection and rover route navigation

Science.gov (United States)

Kim, J.; Lin, S.; Hong, J.; Park, D.; Yoon, S.; Kim, Y.

2010-12-01

High resolution satellite imagery acquired from orbiters are able to provide detailed topographic information and therefore are recognised as an important tool for investigating planetary and terrestrial topography. The heritage of in-orbit high resolution imaging technology is now implemented in a series of Martian Missions, such as HiRISE (High Resolution Imaging Science Experiment) and CTX (Context Camera) onboard the MRO (Mars Reconnaissance Orbiter). In order to fully utilise the data derived from image systems carried on various Mars orbiters, the generalised algorithms of image processing and photogrammetric Mars DTM extraction have been developed and implemented by Kim and Muller (2009), in which non-rigorous sensor model and hierarchical geomatics control were employed. Due to the successful “from medium to high” control strategy performed during processing, stable horizontal and vertical photogrammetric accuracy of resultant Mars DTM was achievable when compared with MOLA (Mars Obiter Laser Altimeter) DTM. Recently, the algorithms developed in Kim and Muller (2009) were further updated by employing advanced image matcher and improved sensor model. As the photogrammetric qualities of the updated topographic products are verified and the spatial solution can be up to sub-meter scale, they are of great value to be exploited for Martian rover landing site selection and rover route navigation. To this purpose, the DTMs and ortho-rectified imagery obtained from CTX and HiRISE covering potential future rovers and existing MER (Mars Exploration Rover) landing sites were firstly processed. For landing site selection, the engineering constraints such as slope and surface roughness were computed from DTMs. In addition, the combination of virtual topography and the estimated rover location was able to produce a sophisticated environment simulation of rover’s landing site. Regarding the rover navigation, the orbital DTMs and the images taken from cameras

Discrete Discriminant analysis based on tree-structured graphical models

DEFF Research Database (Denmark)

Perez de la Cruz, Gonzalo; Eslava, Guillermina

The purpose of this paper is to illustrate the potential use of discriminant analysis based on tree{structured graphical models for discrete variables. This is done by comparing its empirical performance using estimated error rates for real and simulated data. The results show that discriminant a...... analysis based on tree{structured graphical models is a simple nonlinear method competitive with, and sometimes superior to, other well{known linear methods like those assuming mutual independence between variables and linear logistic regression.......The purpose of this paper is to illustrate the potential use of discriminant analysis based on tree{structured graphical models for discrete variables. This is done by comparing its empirical performance using estimated error rates for real and simulated data. The results show that discriminant...

Practical training in the operation of nuclear power plants with Interactive Graphic Simulator of Zorita

International Nuclear Information System (INIS)

Cuervo, D.; Garcia-Herranz, N.; Garcia, S.; Davila, R.; Ahnert, C.; Aragones, J. M.; Cabellos, O.; Gallego, E.; Lorente, A.; Minguez, E.; Rebollo, L.; Blanco, J.

2010-01-01

In April 2008 a collaboration agreement was signed between Gas Natural Union Fenosa and the Universad Politecnica de Madrid for the creation of the Aula Jose Cabrera dedicated to train professionals in the field of nuclear technology. The Classroom located in the Department of Nuclear Engineering, has been equipped with the Interactive Graphic Simulator of Zorita (SGIZ). The use of the simulator intended to improve the quality of teaching in the area of Nuclear Engineering. It integrates in the teachings of Industrial Engineering degree and the Master of Nuclear Science and Technology. Different manuals are under preparation to make it a suitable tool for teaching purpose. These manuals will guide the student so that learning takes place both through the guidance of the teacher as independently. (Author) 3 refs.

Accessing Information on the Mars Exploration Rovers Mission

Science.gov (United States)

Walton, J. D.; Schreiner, J. A.

2005-12-01

In January 2004, the Mars Exploration Rovers (MER) mission successfully deployed two robotic geologists - Spirit and Opportunity - to opposite sides of the red planet. Onboard each rover is an array of cameras and scientific instruments that send data back to Earth, where ground-based systems process and store the information. During the height of the mission, a team of about 250 scientists and engineers worked around the clock to analyze the collected data, determine a strategy and activities for the next day and then carefully compose the command sequences that would instruct the rovers in how to perform their tasks. The scientists and engineers had to work closely together to balance the science objectives with the engineering constraints so that the mission achieved its goals safely and quickly. To accomplish this coordinated effort, they adhered to a tightly orchestrated schedule of meetings and processes. To keep on time, it was critical that all team members were aware of what was happening, knew how much time they had to complete their tasks, and could easily access the information they need to do their jobs. Computer scientists and software engineers at NASA Ames Research Center worked closely with the mission managers at the Jet Propulsion Laboratory (JPL) to create applications that support the mission. One such application, the Collaborative Information Portal (CIP), helps mission personnel perform their daily tasks, whether they work inside mission control or the science areas at JPL, or in their homes, schools, or offices. With a three-tiered, service-oriented architecture (SOA) - client, middleware, and data repository - built using Java and commercial software, CIP provides secure access to mission schedules and to data and images transmitted from the Mars rovers. This services-based approach proved highly effective for building distributed, flexible applications, and is forming the basis for the design of future mission software systems. Almost two

Designing a Distributed Space Systems Simulation in Accordance with the Simulation Interoperability Standards Organization (SISO)

Science.gov (United States)

Cowen, Benjamin

2011-01-01

Simulations are essential for engineering design. These virtual realities provide characteristic data to scientists and engineers in order to understand the details and complications of the desired mission. A standard development simulation package known as Trick is used in developing a source code to model a component (federate in HLA terms). The runtime executive is integrated into an HLA based distributed simulation. TrickHLA is used to extend a Trick simulation for a federation execution, develop a source code for communication between federates, as well as foster data input and output. The project incorporates international cooperation along with team collaboration. Interactions among federates occur throughout the simulation, thereby relying on simulation interoperability. Communication through the semester went on between participants to figure out how to create this data exchange. The NASA intern team is designing a Lunar Rover federate and a Lunar Shuttle federate. The Lunar Rover federate supports transportation across the lunar surface and is essential for fostering interactions with other federates on the lunar surface (Lunar Shuttle, Lunar Base Supply Depot and Mobile ISRU Plant) as well as transporting materials to the desired locations. The Lunar Shuttle federate transports materials to and from lunar orbit. Materials that it takes to the supply depot include fuel and cargo necessary to continue moon-base operations. This project analyzes modeling and simulation technologies as well as simulation interoperability. Each team from participating universities will work on and engineer their own federate(s) to participate in the SISO Spring 2011 Workshop SIW Smackdown in Boston, Massachusetts. This paper will focus on the Lunar Rover federate.

A MATLAB based Distributed Real-time Simulation of Lander-Orbiter-Earth Communication for Lunar Missions

Science.gov (United States)

Choudhury, Diptyajit; Angeloski, Aleksandar; Ziah, Haseeb; Buchholz, Hilmar; Landsman, Andre; Gupta, Amitava; Mitra, Tiyasa

Lunar explorations often involve use of a lunar lander , a rover [1],[2] and an orbiter which rotates around the moon with a fixed radius. The orbiters are usually lunar satellites orbiting along a polar orbit to ensure visibility with respect to the rover and the Earth Station although with varying latency. Communication in such deep space missions is usually done using a specialized protocol like Proximity-1[3]. MATLAB simulation of Proximity-1 have been attempted by some contemporary researchers[4] to simulate all features like transmission control, delay etc. In this paper it is attempted to simulate, in real time, the communication between a tracking station on earth (earth station), a lunar orbiter and a lunar rover using concepts of Distributed Real-time Simulation(DRTS).The objective of the simulation is to simulate, in real-time, the time varying communication delays associated with the communicating elements with a facility to integrate specific simulation modules to study different aspects e.g. response due to a specific control command from the earth station to be executed by the rover. The hardware platform comprises four single board computers operating as stand-alone real time systems (developed by MATLAB xPC target and inter-networked using UDP-IP protocol). A time triggered DRTS approach is adopted. The earth station, the orbiter and the rover are programmed as three standalone real-time processes representing the communicating elements in the system. Communication from one communicating element to another constitutes an event which passes a state message from one element to another, augmenting the state of the latter. These events are handled by an event scheduler which is the fourth real-time process. The event scheduler simulates the delay in space communication taking into consideration the distance between the communicating elements. A unique time synchronization algorithm is developed which takes into account the large latencies in space

Mars Exploration Rover Spirit End of Mission Report

Science.gov (United States)

Callas, John L.

2015-01-01

The Mars Exploration Rover (MER) Spirit landed in Gusev crater on Mars on January 4, 2004, for a prime mission designed to last three months (90 sols). After more than six years operating on the surface of Mars, the last communication received from Spirit occurred on Sol 2210 (March 22, 2010). Following the loss of signal, the Mars Exploration Rover Project radiated over 1400 commands to Mars in an attempt to elicit a response from the rover. Attempts were made utilizing Deep Space Network X-Band and UHF relay via both Mars Odyssey and the Mars Reconnaissance Orbiter. Search and recovery efforts concluded on July 13, 2011. It is the MER project's assessment that Spirit succumbed to the extreme environmental conditions experienced during its fourth winter on Mars. Focusing on the time period from the end of the third Martian winter through the fourth winter and end of recovery activities, this report describes possible explanations for the loss of the vehicle and the extent of recovery efforts that were performed. It offers lessons learned and provides an overall mission summary.

Teaching Photovoltaic Array Modelling and Characterization Using a Graphical User Interface and a Flash Solar Simulator

DEFF Research Database (Denmark)

Spataru, Sergiu; Sera, Dezso; Kerekes, Tamas

2012-01-01

This paper presents a set of laboratory tools aimed to support students with various backgrounds (no programming) to understand photovoltaic array modelling and characterization techniques. A graphical user interface (GUI) has been developed in Matlab, for modelling PV arrays and characterizing...... the effect of different types of parameters and operating conditions, on the current-voltage and power-voltage curves. The GUI is supported by experimental investigation and validation on PV module level, with the help of an indoor flash solar simulator....

Estimation and Control for Autonomous Coring from a Rover Manipulator

Science.gov (United States)

Hudson, Nicolas; Backes, Paul; DiCicco, Matt; Bajracharya, Max

2010-01-01

A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

Requirements and Designs for Mars Rover RTGs

Energy Technology Data Exchange (ETDEWEB)

Schock, Alfred; Shirbacheh, M; Sankarankandath, V

2012-01-19

The current-generation RTGs (both GPHS and MOD) are designed for operation in a vacuum environment. The multifoil thermal insulation used in those RTGs only functions well in a good vacuum. Current RTGs are designed to operate with an inert cover gas before launch, and to be vented to space vacuum after launch. Both RTGs are sealed with a large number of metallic C-rings. Those seals are adequate for retaining the inert-gas overpressure during short-term launch operations, but would not be adequate to prevent intrusion of the Martian atmospheric gases during long-term operations there. Therefore, for the Mars Rover application, those RTGs just be modified to prevent the buildup of significant pressures of Mars atmosphere or of helium (from alpha decay of the fuel). In addition, a Mars Rover RTG needs to withstand a long-term dynamic environment that is much more severe than that seen by an RTG on an orbiting spacecraft or on a stationary planetary lander. This paper describes a typical Rover mission, its requirements, the environment it imposes on the RTG, and a design approach for making the RTG operable in such an environment. Specific RTG designs for various thermoelectric element alternatives are presented.; Reference CID #9268 and CID #9276.

GIS Methodology for Planning Planetary-Rover Operations

Science.gov (United States)

Powell, Mark; Norris, Jeffrey; Fox, Jason; Rabe, Kenneth; Shu, I-Hsiang

2007-01-01

A document describes a methodology for utilizing image data downlinked from cameras aboard a robotic ground vehicle (rover) on a remote planet for analyzing and planning operations of the vehicle and of any associated spacecraft. Traditionally, the cataloging and presentation of large numbers of downlinked planetary-exploration images have been done by use of two organizational methods: temporal organization and correlation between activity plans and images. In contrast, the present methodology involves spatial indexing of image data by use of the computational discipline of geographic information systems (GIS), which has been maturing in terrestrial applications for decades, but, until now, has not been widely used in support of exploration of remote planets. The use of GIS to catalog data products for analysis is intended to increase efficiency and effectiveness in planning rover operations, just as GIS has proven to be a source of powerful computational tools in such terrestrial endeavors as law enforcement, military strategic planning, surveying, political science, and epidemiology. The use of GIS also satisfies the need for a map-based user interface that is intuitive to rover-activity planners, many of whom are deeply familiar with maps and know how to use them effectively in field geology.

Mission Operations of the Mars Exploration Rovers

Science.gov (United States)

Bass, Deborah; Lauback, Sharon; Mishkin, Andrew; Limonadi, Daniel

2007-01-01

A document describes a system of processes involved in planning, commanding, and monitoring operations of the rovers Spirit and Opportunity of the Mars Exploration Rover mission. The system is designed to minimize command turnaround time, given that inherent uncertainties in terrain conditions and in successful completion of planned landed spacecraft motions preclude planning of some spacecraft activities until the results of prior activities are known by the ground-based operations team. The processes are partitioned into those (designated as tactical) that must be tied to the Martian clock and those (designated strategic) that can, without loss, be completed in a more leisurely fashion. The tactical processes include assessment of downlinked data, refinement and validation of activity plans, sequencing of commands, and integration and validation of sequences. Strategic processes include communications planning and generation of long-term activity plans. The primary benefit of this partition is to enable the tactical portion of the team to focus solely on tasks that contribute directly to meeting the deadlines for commanding the rover s each sol (1 sol = 1 Martian day) - achieving a turnaround time of 18 hours or less, while facilitating strategic team interactions with other organizations that do not work on a Mars time schedule.

A Rover Mobility Platform with Autonomous Capability to Enable Mars Sample Return

Science.gov (United States)

Fulford, P.; Langley, C.; Shaw, A.

2018-04-01

The next step in understanding Mars is sample return. In Fall 2016, the CSA conducted an analogue deployment using the Mars Exploration Science Rover. An objective was to demonstrate the maturity of the rover's guidance, navigation, and control.

Soft-Robotic Rover with Electrodynamic Power Scavenging

Data.gov (United States)

National Aeronautics and Space Administration — We propose a rover architecture for Europa and other planetary environments where soft robotics enables scientific investigation or human-precursor missions that...

Engineering graphics data entry for space station data base

Science.gov (United States)

Lacovara, R. C.

1986-01-01

The entry of graphical engineering data into the Space Station Data Base was examined. Discussed were: representation of graphics objects; representation of connectivity data; graphics capture hardware; graphics display hardware; site-wide distribution of graphics, and consolidation of tools and hardware. A fundamental assumption was that existing equipment such as IBM based graphics capture software and VAX networked facilities would be exploited. Defensible conclusions reached after study and simulations of use of these systems at the engineering level are: (1) existing IBM based graphics capture software is an adequate and economical means of entry of schematic and block diagram data for present and anticipated electronic systems for Space Station; (2) connectivity data from the aforementioned system may be incorporated into the envisioned Space Station Data Base with modest effort; (3) graphics and connectivity data captured on the IBM based system may be exported to the VAX network in a simple and direct fashion; (4) graphics data may be displayed site-wide on VT-125 terminals and lookalikes; (5) graphics hard-copy may be produced site-wide on various dot-matrix printers; and (6) the system may provide integrated engineering services at both the engineering and engineering management level.

An Object-Oriented Graphical User Interface for a Reusable Rocket Engine Intelligent Control System

Science.gov (United States)

Litt, Jonathan S.; Musgrave, Jeffrey L.; Guo, Ten-Huei; Paxson, Daniel E.; Wong, Edmond; Saus, Joseph R.; Merrill, Walter C.

1994-01-01

An intelligent control system for reusable rocket engines under development at NASA Lewis Research Center requires a graphical user interface to allow observation of the closed-loop system in operation. The simulation testbed consists of a real-time engine simulation computer, a controls computer, and several auxiliary computers for diagnostics and coordination. The system is set up so that the simulation computer could be replaced by the real engine and the change would be transparent to the control system. Because of the hard real-time requirement of the control computer, putting a graphical user interface on it was not an option. Thus, a separate computer used strictly for the graphical user interface was warranted. An object-oriented LISP-based graphical user interface has been developed on a Texas Instruments Explorer 2+ to indicate the condition of the engine to the observer through plots, animation, interactive graphics, and text.

Swarmie User Manual: A Rover Used for Multi-agent Swarm Research

Science.gov (United States)

Montague, Gilbert

2014-01-01

The ability to create multiple functional yet cost effective robots is crucial for conducting swarming robotics research. The Center Innovation Fund (CIF) swarming robotics project is a collaboration among the KSC Granular Mechanics and Regolith Operations (GMRO) group, the University of New Mexico Biological Computation Lab, and the NASA Ames Intelligent Robotics Group (IRG) that uses rovers, dubbed "Swarmies", as test platforms for genetic search algorithms. This fall, I assisted in the development of the software modules used on the Swarmies and created this guide to provide thorough instructions on how to configure your workspace to operate a Swarmie both in simulation and out in the field.

A Four-Wheel-Rhombus-Arranged Mobility System for a New Lunar Robotic Rover

Directory of Open Access Journals (Sweden)

Guilin Wen

2013-10-01

Full Text Available Different from traditional ground vehicles, planetary robotic rovers with limited weight and power need to travel in unfamiliar and extremely arduous environments. In this paper, a newly developed four-wheel-rhombus-arranged (FWRA mobility system is presented as a lunar robotic rover with high mobility and a low-weight structure. The mobility system integrates independent active suspensions with a passive rotary link structure. The active suspension with swing arms improves the rover's capacity to escape from a trapped environment whereas the passive rotary link structure guarantees continuous contact between the four wheels and the terrain. The four-wheel-three-axis rhombus configuration of the mobility system gives a high degree of lightweight structure because it has a simple mechanism with the minimum number of wheels among wheeled rovers with three-axis off-road mobility. The performance evaluation of the lightweight nature of the structure, manoeuvrability and the mobility required in a planetary exploring environment are illustrated by theoretical analysis and partly shown by experiments on the developed rover prototype.

Design and construction of a graphical interface for automatic generation of simulation code GEANT4

International Nuclear Information System (INIS)

Driss, Mozher; Bouzaine Ismail

2007-01-01

This work is set in the context of the engineering studies final project; it is accomplished in the center of nuclear sciences and technologies in Sidi Thabet. This project is about conceiving and developing a system based on graphical user interface which allows an automatic codes generation for simulation under the GEANT4 engine. This system aims to facilitate the use of GEANT4 by scientific not necessary expert in this engine and to be used in different areas: research, industry and education. The implementation of this project uses Root library and several programming languages such as XML and XSL. (Author). 5 refs

User's manual for the two-dimensional transputer graphics toolkit

Science.gov (United States)

Ellis, Graham K.

1988-01-01

The user manual for the 2-D graphics toolkit for a transputer based parallel processor is presented. The toolkit consists of a package of 2-D display routines that can be used for the simulation visualizations. It supports multiple windows, double buffered screens for animations, and simple graphics transformations such as translation, rotation, and scaling. The display routines are written in occam to take advantage of the multiprocessing features available on transputers. The package is designed to run on a transputer separate from the graphics board.

The real-time control of planetary rovers through behavior modification

Science.gov (United States)

Miller, David P.

1991-01-01

It is not yet clear of what type, and how much, intelligence is needed for a planetary rover to function semi-autonomously on a planetary surface. Current designs assume an advanced AI system that maintains a detailed map of its journeys and the surroundings, and that carefully calculates and tests every move in advance. To achieve these abilities, and because of the limitations of space-qualified electronics, the supporting rover is quite sizable, massing a large fraction of a ton, and requiring technology advances in everything from power to ground operations. An alternative approach is to use a behavior driven control scheme. Recent research has shown that many complex tasks may be achieved by programming a robot with a set of behaviors and activation or deactivating a subset of those behaviors as required by the specific situation in which the robot finds itself. Behavior control requires much less computation than is required by tradition AI planning techniques. The reduced computation requirements allows the entire rover to be scaled down as appropriate (only down-link communications and payload do not scale under these circumstances). The missions that can be handled by the real-time control and operation of a set of small, semi-autonomous, interacting, behavior-controlled planetary rovers are discussed.

A Graphics Design Framework to Visualize Multi-Dimensional Economic Datasets

Science.gov (United States)

Chandramouli, Magesh; Narayanan, Badri; Bertoline, Gary R.

2013-01-01

This study implements a prototype graphics visualization framework to visualize multidimensional data. This graphics design framework serves as a "visual analytical database" for visualization and simulation of economic models. One of the primary goals of any kind of visualization is to extract useful information from colossal volumes of…

Efficient molecular dynamics simulations with many-body potentials on graphics processing units

Science.gov (United States)

Fan, Zheyong; Chen, Wei; Vierimaa, Ville; Harju, Ari

2017-09-01

Graphics processing units have been extensively used to accelerate classical molecular dynamics simulations. However, there is much less progress on the acceleration of force evaluations for many-body potentials compared to pairwise ones. In the conventional force evaluation algorithm for many-body potentials, the force, virial stress, and heat current for a given atom are accumulated within different loops, which could result in write conflict between different threads in a CUDA kernel. In this work, we provide a new force evaluation algorithm, which is based on an explicit pairwise force expression for many-body potentials derived recently (Fan et al., 2015). In our algorithm, the force, virial stress, and heat current for a given atom can be accumulated within a single thread and is free of write conflicts. We discuss the formulations and algorithms and evaluate their performance. A new open-source code, GPUMD, is developed based on the proposed formulations. For the Tersoff many-body potential, the double precision performance of GPUMD using a Tesla K40 card is equivalent to that of the LAMMPS (Large-scale Atomic/Molecular Massively Parallel Simulator) molecular dynamics code running with about 100 CPU cores (Intel Xeon CPU X5670 @ 2.93 GHz).

Onboard autonomous mineral detectors for Mars rovers

Science.gov (United States)

Gilmore, M. S.; Bornstein, B.; Castano, R.; Merrill, M.; Greenwood, J.

2005-12-01

Mars rovers and orbiters currently collect far more data than can be downlinked to Earth, which reduces mission science return; this problem will be exacerbated by future rovers of enhanced capabilities and lifetimes. We are developing onboard intelligence sufficient to extract geologically meaningful data from spectrometer measurements of soil and rock samples, and thus to guide the selection, measurement and return of these data from significant targets at Mars. Here we report on techniques to construct mineral detectors capable of running on current and future rover and orbital hardware. We focus on carbonate and sulfate minerals which are of particular geologic importance because they can signal the presence of water and possibly life. Sulfates have also been discovered at the Eagle and Endurance craters in Meridiani Planum by the Mars Exploration Rover (MER) Opportunity and at other regions on Mars by the OMEGA instrument aboard Mars Express. We have developed highly accurate artificial neural network (ANN) and Support Vector Machine (SVM) based detectors capable of identifying calcite (CaCO3) and jarosite (KFe3(SO4)2(OH)6) in the visible/NIR (350-2500 nm) spectra of both laboratory specimens and rocks in Mars analogue field environments. To train the detectors, we used a generative model to create 1000s of linear mixtures of library end-member spectra in geologically realistic percentages. We have also augmented the model to include nonlinear mixing based on Hapke's models of bidirectional reflectance spectroscopy. Both detectors perform well on the spectra of real rocks that contain intimate mixtures of minerals, rocks in natural field environments, calcite covered by Mars analogue dust, and AVIRIS hyperspectral cubes. We will discuss the comparison of ANN and SVM classifiers for this task, technical challenges (weathering rinds, atmospheric compositions, and computational complexity), and plans for integration of these detectors into both the Coupled Layer

Stochastic Analysis of a Queue Length Model Using a Graphics Processing Unit

Czech Academy of Sciences Publication Activity Database

Přikryl, Jan; Kocijan, J.

2012-01-01

Roč. 5, č. 2 (2012), s. 55-62 ISSN 1802-971X R&D Projects: GA MŠk(CZ) MEB091015 Institutional support: RVO:67985556 Keywords : graphics processing unit * GPU * Monte Carlo simulation * computer simulation * modeling Subject RIV: BC - Control Systems Theory http://library.utia.cas.cz/separaty/2012/AS/prikryl-stochastic analysis of a queue length model using a graphics processing unit.pdf

Industrial application of a graphics computer-based training system

International Nuclear Information System (INIS)

Klemm, R.W.

1985-01-01

Graphics Computer Based Training (GCBT) roles include drilling, tutoring, simulation and problem solving. Of these, Commonwealth Edison uses mainly tutoring, simulation and problem solving. These roles are not separate in any particular program. They are integrated to provide tutoring and part-task simulation, part-task simulation and problem solving, or problem solving tutoring. Commonwealth's Graphics Computer Based Training program was a result of over a year's worth of research and planning. The keys to the program are it's flexibility and control. Flexibility is maintained through stand alone units capable of program authoring and modification for plant/site specific users. Yet, the system has the capability to support up to 31 terminals with a 40 mb hard disk drive. Control of the GCBT program is accomplished through establishment of development priorities and a central development facility (Commonwealth Edison's Production Training Center)

Development of a graphical user interface allowing use of the SASSYS LMR systems analysis code as an EBR-II interactive simulator

International Nuclear Information System (INIS)

Garner, P.L.; Briggs, L.L.; Gross, K.C.; Ku, J.Y.; Staffon, J.D.

1994-01-01

The SASSYS computer program for safety analyses of liquid-metal- cooled fast reactors has been adapted for use as the simulation engine under the graphical user interface provided by the GRAFUN and HIST programs and the Data Views software package under the X Window System on UNIX-based computer workstations to provide a high fidelity, real-time, interactive simulator of the Experimental Breeder Reactor Number II (EBR-II) plant. In addition to providing analysts with an interactive way of performing safety case studies, the simulator can be used to investigate new control room technologies and to supplement current operator training

An interactive graphic simulator for garona nuclear power plant: development and applications

International Nuclear Information System (INIS)

Corcuera, P.; Garces, M.; Melara, J.; Gonzalez, J.; Lopez, J.V.

1999-01-01

As a result of a R and D project jointly undertaken by Nuclenor S.A. and the University of Cantabria, since the beginning of 1995 Santa Maria de Garona NPP holds its own plant transient and accident simulator for the training of its operators on Emergency Procedures Guides (EPG's). This paper describes the process followed in its development and the derived projects. This interactive graphic simulator is based on the MAAP computer code with an interface developed with DataViews software for X-Window terminals running under UNIX on a Hewlet Packard series 9000/712 workstation. The themarhydraulical code MAAP, with modifications to include all the controls and systems of the plant was chosen due to its capability to simulate primary system, containment and reactor building behavior during transients and accidents of any kind, including those beyond the design basis and also severe accidents. Besides, this code is currently being used for the PSA of the plant. The current configuration consists of several monitors that displays the systems and components situation and the safety parameters through the SPDS (Safety Parameter Display System) displays. With this design the simulator has fulfilled its initial main purpose of training operators on abnormal and emergency procedure guides, revealing as a very efficient and cost effective tool to accomplish this task. Furthermore it has been improved to visualize the real time plant data through the simulator displays. It is also possible to distribute the simulated data to any computer connected to the local area network (LAN). This feature has been applied successfully in the last emergency drills. Other benefits are derived from the fact that the same code is used for training and for the PSA. As an example of its flexibility, the simulator is now being used to validate the new SPDS displays designed to improve the man-machine interface and then it will serve to train the operators on them before their installation at the

Measuring Soil Moisture in Skeletal Soils Using a COSMOS Rover

Science.gov (United States)

Medina, C.; Neely, H.; Desilets, D.; Mohanty, B.; Moore, G. W.

2017-12-01

The presence of coarse fragments directly influences the volumetric water content of the soil. Current surface soil moisture sensors often do not account for the presence of coarse fragments, and little research has been done to calibrate these sensors under such conditions. The cosmic-ray soil moisture observation system (COSMOS) rover is a passive, non-invasive surface soil moisture sensor with a footprint greater than 100 m. Despite its potential, the COSMOS rover has yet to be validated in skeletal soils. The goal of this study was to validate measurements of surface soil moisture as taken by a COSMOS rover on a Texas skeletal soil. Data was collected for two soils, a Marfla clay loam and Chinati-Boracho-Berrend association, in West Texas. Three levels of data were collected: 1) COSMOS surveys at three different soil moistures, 2) electrical conductivity surveys within those COSMOS surveys, and 3) ground-truth measurements. Surveys with the COSMOS rover covered an 8000-h area and were taken both after large rain events (>2") and a long dry period. Within the COSMOS surveys, the EM38-MK2 was used to estimate the spatial distribution of coarse fragments in the soil around two COSMOS points. Ground truth measurements included coarse fragment mass and volume, bulk density, and water content at 3 locations within each EM38 survey. Ground-truth measurements were weighted using EM38 data, and COSMOS measurements were validated by their distance from the samples. There was a decrease in water content as the percent volume of coarse fragment increased. COSMOS estimations responded to both changes in coarse fragment percent volume and the ground-truth volumetric water content. Further research will focus on creating digital soil maps using landform data and water content estimations from the COSMOS rover.

Using Wind Driven Tumbleweed Rovers to Explore Martian Gully Features

Science.gov (United States)

Antol, Jeffrey; Woodard, Stanley E.; Hajos, Gregory A.; Heldmann, Jennifer L.; Taylor, Bryant D.

2005-01-01

Gully features have been observed on the slopes of numerous Martian crater walls, valleys, pits, and graben. Several mechanisms for gully formation have been proposed, including: liquid water aquifers (shallow and deep), melting ground ice, snow melt, CO2 aquifers, and dry debris flow. Remote sensing observations indicate that the most likely erosional agent is liquid water. Debate concerns the source of this water. Observations favor a liquid water aquifer as the primary candidate. The current strategy in the search for life on Mars is to "follow the water." A new vehicle known as a Tumbleweed rover may be able to conduct in-situ investigations in the gullies, which are currently inaccessible by conventional rovers. Deriving mobility through use of the surface winds on Mars, Tumbleweed rovers would be lightweight and relatively inexpensive thus allowing multiple rovers to be deployed in a single mission to survey areas for future exploration. NASA Langley Research Center (LaRC) is developing deployable structure Tumbleweed concepts. An extremely lightweight measurement acquisition system and sensors are proposed for the Tumbleweed rover that greatly increases the number of measurements performed while having negligible mass increase. The key to this method is the use of magnetic field response sensors designed as passive inductor-capacitor circuits that produce magnetic field responses whose attributes correspond to values of physical properties for which the sensors measure. The sensors do not need a physical connection to a power source or to data acquisition equipment resulting in additional weight reduction. Many of the sensors and interrogating antennae can be directly placed on the Tumbleweed using film deposition methods such as photolithography thus providing further weight reduction. Concepts are presented herein for methods to measure subsurface water, subsurface metals, planetary winds and environmental gases.

Phast4Windows: A 3D graphical user interface for the reactive-transport simulator PHAST

Science.gov (United States)

Charlton, Scott R.; Parkhurst, David L.

2013-01-01

Phast4Windows is a Windows® program for developing and running groundwater-flow and reactive-transport models with the PHAST simulator. This graphical user interface allows definition of grid-independent spatial distributions of model properties—the porous media properties, the initial head and chemistry conditions, boundary conditions, and locations of wells, rivers, drains, and accounting zones—and other parameters necessary for a simulation. Spatial data can be defined without reference to a grid by drawing, by point-by-point definitions, or by importing files, including ArcInfo® shape and raster files. All definitions can be inspected, edited, deleted, moved, copied, and switched from hidden to visible through the data tree of the interface. Model features are visualized in the main panel of the interface, so that it is possible to zoom, pan, and rotate features in three dimensions (3D). PHAST simulates single phase, constant density, saturated groundwater flow under confined or unconfined conditions. Reactions among multiple solutes include mineral equilibria, cation exchange, surface complexation, solid solutions, and general kinetic reactions. The interface can be used to develop and run simple or complex models, and is ideal for use in the classroom, for analysis of laboratory column experiments, and for development of field-scale simulations of geochemical processes and contaminant transport.

Molecular Monte Carlo Simulations Using Graphics Processing Units: To Waste Recycle or Not?

Science.gov (United States)

Kim, Jihan; Rodgers, Jocelyn M; Athènes, Manuel; Smit, Berend

2011-10-11

In the waste recycling Monte Carlo (WRMC) algorithm, (1) multiple trial states may be simultaneously generated and utilized during Monte Carlo moves to improve the statistical accuracy of the simulations, suggesting that such an algorithm may be well posed for implementation in parallel on graphics processing units (GPUs). In this paper, we implement two waste recycling Monte Carlo algorithms in CUDA (Compute Unified Device Architecture) using uniformly distributed random trial states and trial states based on displacement random-walk steps, and we test the methods on a methane-zeolite MFI framework system to evaluate their utility. We discuss the specific implementation details of the waste recycling GPU algorithm and compare the methods to other parallel algorithms optimized for the framework system. We analyze the relationship between the statistical accuracy of our simulations and the CUDA block size to determine the efficient allocation of the GPU hardware resources. We make comparisons between the GPU and the serial CPU Monte Carlo implementations to assess speedup over conventional microprocessors. Finally, we apply our optimized GPU algorithms to the important problem of determining free energy landscapes, in this case for molecular motion through the zeolite LTA.

Laser-powered Martian rover

Science.gov (United States)

Harries, W. L.; Meador, W. E.; Miner, G. A.; Schuster, Gregory L.; Walker, G. H.; Williams, M. D.

1989-01-01

Two rover concepts were considered: an unpressurized skeleton vehicle having available 4.5 kW of electrical power and limited to a range of about 10 km from a temporary Martian base and a much larger surface exploration vehicle (SEV) operating on a maximum 75-kW power level and essentially unrestricted in range or mission. The only baseline reference system was a battery-operated skeleton vehicle with very limited mission capability and range and which would repeatedly return to its temporary base for battery recharging. It was quickly concluded that laser powering would be an uneconomical overkill for this concept. The SEV, on the other hand, is a new rover concept that is especially suited for powering by orbiting solar or electrically pumped lasers. Such vehicles are visualized as mobile habitats with full life-support systems onboard, having unlimited range over the Martian surface, and having extensive mission capability (e.g., core drilling and sampling, construction of shelters for protection from solar flares and dust storms, etc.). Laser power beaming to SEV's was shown to have the following advantages: (1) continuous energy supply by three orbiting lasers at 2000 km (no storage requirements as during Martian night with direct solar powering); (2) long-term supply without replacement; (3) very high power available (MW level possible); and (4) greatly enhanced mission enabling capability beyond anything currently conceived.

Sop-GPU: accelerating biomolecular simulations in the centisecond timescale using graphics processors.

Science.gov (United States)

Zhmurov, A; Dima, R I; Kholodov, Y; Barsegov, V

2010-11-01

Theoretical exploration of fundamental biological processes involving the forced unraveling of multimeric proteins, the sliding motion in protein fibers and the mechanical deformation of biomolecular assemblies under physiological force loads is challenging even for distributed computing systems. Using a C(α)-based coarse-grained self organized polymer (SOP) model, we implemented the Langevin simulations of proteins on graphics processing units (SOP-GPU program). We assessed the computational performance of an end-to-end application of the program, where all the steps of the algorithm are running on a GPU, by profiling the simulation time and memory usage for a number of test systems. The ∼90-fold computational speedup on a GPU, compared with an optimized central processing unit program, enabled us to follow the dynamics in the centisecond timescale, and to obtain the force-extension profiles using experimental pulling speeds (v(f) = 1-10 μm/s) employed in atomic force microscopy and in optical tweezers-based dynamic force spectroscopy. We found that the mechanical molecular response critically depends on the conditions of force application and that the kinetics and pathways for unfolding change drastically even upon a modest 10-fold increase in v(f). This implies that, to resolve accurately the free energy landscape and to relate the results of single-molecule experiments in vitro and in silico, molecular simulations should be carried out under the experimentally relevant force loads. This can be accomplished in reasonable wall-clock time for biomolecules of size as large as 10(5) residues using the SOP-GPU package. © 2010 Wiley-Liss, Inc.

The Mars Astrobiology Explorer-Cacher (MAX-C): a potential rover mission for 2018. Final report of the Mars Mid-Range Rover Science Analysis Group (MRR-SAG) October 14, 2009.

Science.gov (United States)

2010-03-01

This report documents the work of the Mid-Range Rover Science Analysis Group (MRR-SAG), which was assigned to formulate a concept for a potential rover mission that could be launched to Mars in 2018. Based on programmatic and engineering considerations as of April 2009, our deliberations assumed that the potential mission would use the Mars Science Laboratory (MSL) sky-crane landing system and include a single solar-powered rover. The mission would also have a targeting accuracy of approximately 7 km (semimajor axis landing ellipse), a mobility range of at least 10 km, and a lifetime on the martian surface of at least 1 Earth year. An additional key consideration, given recently declining budgets and cost growth issues with MSL, is that the proposed rover must have lower cost and cost risk than those of MSL--this is an essential consideration for the Mars Exploration Program Analysis Group (MEPAG). The MRR-SAG was asked to formulate a mission concept that would address two general objectives: (1) conduct high priority in situ science and (2) make concrete steps toward the potential return of samples to Earth. The proposed means of achieving these two goals while balancing the trade-offs between them are described here in detail. We propose the name Mars Astrobiology Explorer-Cacher(MAX-C) to reflect the dual purpose of this potential 2018 rover mission.

A fast band–Krylov eigensolver for macromolecular functional motion simulation on multicore architectures and graphics processors

Energy Technology Data Exchange (ETDEWEB)

Aliaga, José I., E-mail: aliaga@uji.es [Depto. Ingeniería y Ciencia de Computadores, Universitat Jaume I, Castellón (Spain); Alonso, Pedro [Departamento de Sistemas Informáticos y Computación, Universitat Politècnica de València (Spain); Badía, José M. [Depto. Ingeniería y Ciencia de Computadores, Universitat Jaume I, Castellón (Spain); Chacón, Pablo [Dept. Biological Chemical Physics, Rocasolano Physics and Chemistry Institute, CSIC, Madrid (Spain); Davidović, Davor [Rudjer Bošković Institute, Centar za Informatiku i Računarstvo – CIR, Zagreb (Croatia); López-Blanco, José R. [Dept. Biological Chemical Physics, Rocasolano Physics and Chemistry Institute, CSIC, Madrid (Spain); Quintana-Ortí, Enrique S. [Depto. Ingeniería y Ciencia de Computadores, Universitat Jaume I, Castellón (Spain)

2016-03-15

We introduce a new iterative Krylov subspace-based eigensolver for the simulation of macromolecular motions on desktop multithreaded platforms equipped with multicore processors and, possibly, a graphics accelerator (GPU). The method consists of two stages, with the original problem first reduced into a simpler band-structured form by means of a high-performance compute-intensive procedure. This is followed by a memory-intensive but low-cost Krylov iteration, which is off-loaded to be computed on the GPU by means of an efficient data-parallel kernel. The experimental results reveal the performance of the new eigensolver. Concretely, when applied to the simulation of macromolecules with a few thousands degrees of freedom and the number of eigenpairs to be computed is small to moderate, the new solver outperforms other methods implemented as part of high-performance numerical linear algebra packages for multithreaded architectures.

A fast band–Krylov eigensolver for macromolecular functional motion simulation on multicore architectures and graphics processors

International Nuclear Information System (INIS)

Aliaga, José I.; Alonso, Pedro; Badía, José M.; Chacón, Pablo; Davidović, Davor; López-Blanco, José R.; Quintana-Ortí, Enrique S.

2016-01-01

We introduce a new iterative Krylov subspace-based eigensolver for the simulation of macromolecular motions on desktop multithreaded platforms equipped with multicore processors and, possibly, a graphics accelerator (GPU). The method consists of two stages, with the original problem first reduced into a simpler band-structured form by means of a high-performance compute-intensive procedure. This is followed by a memory-intensive but low-cost Krylov iteration, which is off-loaded to be computed on the GPU by means of an efficient data-parallel kernel. The experimental results reveal the performance of the new eigensolver. Concretely, when applied to the simulation of macromolecules with a few thousands degrees of freedom and the number of eigenpairs to be computed is small to moderate, the new solver outperforms other methods implemented as part of high-performance numerical linear algebra packages for multithreaded architectures.

Review of Virtual Simulators for AUVs

CSIR Research Space (South Africa)

Matsebe, O

2008-04-01

Full Text Available This paper overviews graphical simulators used for Autonomous Underwater Vehicles (AUVs) development. Graphical simulators allow researchers to develop autonomous software without the need for the actual vehicle. There are many graphical simulators...

Ambler - An autonomous rover for planetary exploration

Science.gov (United States)

Bares, John; Hebert, Martial; Kanade, Takeo; Krotkov, Eric; Mitchell, Tom

1989-01-01

The authors are building a prototype legged rover, called the Ambler (loosely an acronym for autonomous mobile exploration robot) and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface. They present an overview of their research program, focusing on locomotion, perception, planning, and control. They summarize some of the most important goals and requirements of a rover design and describe how locomotion, perception, and planning systems can satisfy these requirements. Since the program is relatively young (one year old at the time of writing) they identify issues and approaches and describe work in progress rather than report results. It is expected that many of the technologies developed will be applicable to other planetary bodies and to terrestrial concerns such as hazardous waste assessment and remediation, ocean floor exploration, and mining.

Accelerating Monte Carlo simulations of photon transport in a voxelized geometry using a massively parallel graphics processing unit

International Nuclear Information System (INIS)

Badal, Andreu; Badano, Aldo

2009-01-01

Purpose: It is a known fact that Monte Carlo simulations of radiation transport are computationally intensive and may require long computing times. The authors introduce a new paradigm for the acceleration of Monte Carlo simulations: The use of a graphics processing unit (GPU) as the main computing device instead of a central processing unit (CPU). Methods: A GPU-based Monte Carlo code that simulates photon transport in a voxelized geometry with the accurate physics models from PENELOPE has been developed using the CUDA programming model (NVIDIA Corporation, Santa Clara, CA). Results: An outline of the new code and a sample x-ray imaging simulation with an anthropomorphic phantom are presented. A remarkable 27-fold speed up factor was obtained using a GPU compared to a single core CPU. Conclusions: The reported results show that GPUs are currently a good alternative to CPUs for the simulation of radiation transport. Since the performance of GPUs is currently increasing at a faster pace than that of CPUs, the advantages of GPU-based software are likely to be more pronounced in the future.

Accelerating Monte Carlo simulations of photon transport in a voxelized geometry using a massively parallel graphics processing unit

Energy Technology Data Exchange (ETDEWEB)

Badal, Andreu; Badano, Aldo [Division of Imaging and Applied Mathematics, OSEL, CDRH, U.S. Food and Drug Administration, Silver Spring, Maryland 20993-0002 (United States)

2009-11-15

Purpose: It is a known fact that Monte Carlo simulations of radiation transport are computationally intensive and may require long computing times. The authors introduce a new paradigm for the acceleration of Monte Carlo simulations: The use of a graphics processing unit (GPU) as the main computing device instead of a central processing unit (CPU). Methods: A GPU-based Monte Carlo code that simulates photon transport in a voxelized geometry with the accurate physics models from PENELOPE has been developed using the CUDA programming model (NVIDIA Corporation, Santa Clara, CA). Results: An outline of the new code and a sample x-ray imaging simulation with an anthropomorphic phantom are presented. A remarkable 27-fold speed up factor was obtained using a GPU compared to a single core CPU. Conclusions: The reported results show that GPUs are currently a good alternative to CPUs for the simulation of radiation transport. Since the performance of GPUs is currently increasing at a faster pace than that of CPUs, the advantages of GPU-based software are likely to be more pronounced in the future.

Accelerating Monte Carlo simulations of photon transport in a voxelized geometry using a massively parallel graphics processing unit.

Science.gov (United States)

Badal, Andreu; Badano, Aldo

2009-11-01

It is a known fact that Monte Carlo simulations of radiation transport are computationally intensive and may require long computing times. The authors introduce a new paradigm for the acceleration of Monte Carlo simulations: The use of a graphics processing unit (GPU) as the main computing device instead of a central processing unit (CPU). A GPU-based Monte Carlo code that simulates photon transport in a voxelized geometry with the accurate physics models from PENELOPE has been developed using the CUDATM programming model (NVIDIA Corporation, Santa Clara, CA). An outline of the new code and a sample x-ray imaging simulation with an anthropomorphic phantom are presented. A remarkable 27-fold speed up factor was obtained using a GPU compared to a single core CPU. The reported results show that GPUs are currently a good alternative to CPUs for the simulation of radiation transport. Since the performance of GPUs is currently increasing at a faster pace than that of CPUs, the advantages of GPU-based software are likely to be more pronounced in the future.

Accelerating Molecular Dynamic Simulation on Graphics Processing Units

Science.gov (United States)

Friedrichs, Mark S.; Eastman, Peter; Vaidyanathan, Vishal; Houston, Mike; Legrand, Scott; Beberg, Adam L.; Ensign, Daniel L.; Bruns, Christopher M.; Pande, Vijay S.

2009-01-01

We describe a complete implementation of all-atom protein molecular dynamics running entirely on a graphics processing unit (GPU), including all standard force field terms, integration, constraints, and implicit solvent. We discuss the design of our algorithms and important optimizations needed to fully take advantage of a GPU. We evaluate its performance, and show that it can be more than 700 times faster than a conventional implementation running on a single CPU core. PMID:19191337

Realtime graphics support for remote handling operations in complex working environments within the framework of a control, simulation and off-line programming system

International Nuclear Information System (INIS)

Kuehnapfel, U.

1992-05-01

The application independent simulation system KISMET was developed. This tool gives a different approach compared to previously existing robot simulators. A hierarchical data structure approach is used for the definition of workcell geometry, assembly topology and mechanism kinematics. This database structure allows for presentation of interactively selectable levels of detail and is, therefore, especially useful for real-time rigid body simulation of complex RH-scenarios. With KISMET, assembly structures can be modelled in any number of detail levels. Workcell geometry, assembly topology and mechanisms can be defined interactively by means of the integrated modeller. The mechanism simulation allows for kinematical tree structures with any number of joints, planar closed chains, and interconnections between joints. Examples of novel simulation methods, data structures, and algorithms are presented for selected examples: the hidden surface problem, graphical presentation techniques, collision testing, and control of scene cameras (image simulation, fast positioning and tracking). Special attention is paid to the real-time problem. The way this system was realized within the UNIX world is shown as an example for geometric and kinematic modelling techniques that grant for the optimum use of the capabilities of high-performance graphics workstations. A further chapter is focussing on the use of standard interfaces for CAD model transfer (CAD * I, STEP) and robot programming (IRDATA). Examples of practical KISMET applications for remote handling in fusion reactors, in a nuclear fuel element reprocessing cell and in sensor based robotics are used to present the developed methods. (orig.) [de

Individual Stochastic Screening for the Development of Computer Graphics

Directory of Open Access Journals (Sweden)

Maja Turčić¹*

2012-12-01

Full Text Available With the emergence of new tools and media, art and design have developed into digital computer-generated works. This article presents a sequence of creating art graphics because their original authors have not published the procedures. The goal is to discover the mathematics of an image and the programming libretto with the purpose of organizing a structural base of computer graphics. We will elaborate the procedures used to produce graphics known throughout the history of art, but that are nowadays also found in design and security graphics. The results are closely related graphics obtained by changing parameters that initiate them. The aim is to control the graphics, i.e. to use controlled stochastic to achieve desired solutions. Since the artists from the past have never published the procedures of screening methods, their ideas have remained “only” the works of art. In this article we will present the development of the algorithm that, more or less successfully, simulates those screening solutions. It has been proven that mathematically defined graphical elements serve as screening elements. New technological and mathematical solutions are introduced in the reproduction with individual screening elements to be used in printing.

R graphics

CERN Document Server

Murrell, Paul

2005-01-01

R is revolutionizing the world of statistical computing. Powerful, flexible, and best of all free, R is now the program of choice for tens of thousands of statisticians. Destined to become an instant classic, R Graphics presents the first complete, authoritative exposition on the R graphical system. Paul Murrell, widely known as the leading expert on R graphics, has developed an in-depth resource that takes nothing for granted and helps both neophyte and seasoned users master the intricacies of R graphics. After an introductory overview of R graphics facilities, the presentation first focuses

Rendering Falling Leaves on Graphics Hardware

OpenAIRE

Marcos Balsa; Pere-Pau Vázquez

2008-01-01

There is a growing interest in simulating natural phenomena in computer graphics applications. Animating natural scenes in real time is one of the most challenging problems due to the inherent complexity of their structure, formed by millions of geometric entities, and the interactions that happen within. An example of natural scenario that is needed for games or simulation programs are forests. Forests are difficult to render because the huge amount of geometric entities and the large amount...

Pancam and microscopic imager observations of dust on the Spirit Rovers

DEFF Research Database (Denmark)

Vaughan....[], Alicia F.; Johnson, Jeffrey R.; Walter, Goetz

2010-01-01

This work describes dust deposits on the Spirit Rover over 2000 sols through examination of Pancam and Microscopic Imager observations of specific locations on the rover body, including portions of the solar array, Pancam and Mini-TES calibration targets, and the magnets. This data set reveals...... the three "cleaning events" experienced by Spirit to date, the spectral properties of dust, and the tendency of dust particles to form aggregates 100 um and larger...

Researches on hazard avoidance cameras calibration of Lunar Rover

Science.gov (United States)

Li, Chunyan; Wang, Li; Lu, Xin; Chen, Jihua; Fan, Shenghong

2017-11-01

Lunar Lander and Rover of China will be launched in 2013. It will finish the mission targets of lunar soft landing and patrol exploration. Lunar Rover has forward facing stereo camera pair (Hazcams) for hazard avoidance. Hazcams calibration is essential for stereo vision. The Hazcam optics are f-theta fish-eye lenses with a 120°×120° horizontal/vertical field of view (FOV) and a 170° diagonal FOV. They introduce significant distortion in images and the acquired images are quite warped, which makes conventional camera calibration algorithms no longer work well. A photogrammetric calibration method of geometric model for the type of optical fish-eye constructions is investigated in this paper. In the method, Hazcams model is represented by collinearity equations with interior orientation and exterior orientation parameters [1] [2]. For high-precision applications, the accurate calibration model is formulated with the radial symmetric distortion and the decentering distortion as well as parameters to model affinity and shear based on the fisheye deformation model [3] [4]. The proposed method has been applied to the stereo camera calibration system for Lunar Rover.

Mars Exploration Rovers Propulsive Maneuver Design

Science.gov (United States)

Potts, Christopher L.; Raofi, Behzad; Kangas, Julie A.

2004-01-01

The Mars Exploration Rovers Spirit and Opportunity successfully landed respectively at Gusev Crater and Meridiani Planum in January 2004. The rovers are essentially robotic geologists, sent on a mission to search for evidence in the rocks and soil pertaining to the historical presence of water and the ability to possibly sustain life. In order to conduct NASA's 'follow the water' strategy on opposite sides of the planet Mars, an interplanetary journey of over 300 million miles culminated with historic navigation precision. Rigorous trajectory targeting and control was necessary to achieve the atmospheric entry requirements for the selected landing sites. The propulsive maneuver design challenge was to meet or exceed these requirements while preserving the necessary design margin to accommodate additional project concerns. Landing site flexibility was maintained for both missions after launch, and even after the first trajectory correction maneuver for Spirit. The final targeting strategy was modified to improve delivery performance and reduce risk after revealing constraining trajectory control characteristics. Flight results are examined and summarized for the six trajectory correction maneuvers that were planned for each mission.

A Polar Rover for Large-Scale Scientific Surveys: Design, Implementation and Field Test Results

Directory of Open Access Journals (Sweden)

Yuqing He

2015-10-01

Full Text Available Exploration of polar regions is of great importance to scientific research. Unfortunately, due to the harsh environment, most of the regions on the Antarctic continent are still unreachable for humankind. Therefore, in 2011, the Chinese National Antarctic Research Expedition (CHINARE launched a project to design a rover to conduct large-scale scientific surveys on the Antarctic. The main challenges for the rover are twofold: one is the mobility, i.e., how to make a rover that could survive the harsh environment and safely move on the uneven, icy and snowy terrain; the other is the autonomy, in that the robot should be able to move at a relatively high speed with little or no human intervention so that it can explore a large region in a limit time interval under the communication constraints. In this paper, the corresponding techniques, especially the polar rover's design and autonomous navigation algorithms, are introduced in detail. Subsequently, an experimental report of the fields tests on the Antarctic is given to show some preliminary evaluation of the rover. Finally, experiences and existing challenging problems are summarized.

Can we be more Graphic about Graphic Design?

OpenAIRE

Vienne, Véronique

2012-01-01

Can you objectify a subjective notion? This is the question graphic designers must face when they talk about their work. Even though graphic design artifacts are omnipresent in our culture, graphic design is still an exceptionally ill-defined profession. This is one of the reasons design criticism is still a rudimentary discipline. No one knows for sure what is this thing we sometimes call “graphic communication” for lack of a better word–a technique my Webster’s dictionary describes as “the ...

An update on Lab Rover: A hospital material transporter

Science.gov (United States)

Mattaboni, Paul

1994-01-01

The development of a hospital material transporter, 'Lab Rover', is described. Conventional material transport now utilizes people power, push carts, pneumatic tubes and tracked vehicles. Hospitals are faced with enormous pressure to reduce operating costs. Cyberotics, Inc. developed an Autonomous Intelligent Vehicle (AIV). This battery operated service robot was designed specifically for health care institutions. Applications for the AIV include distribution of clinical lab samples, pharmacy drugs, administrative records, x-ray distribution, meal tray delivery, and certain emergency room applications. The first AIV was installed at Lahey Clinic in Burlington, Mass. Lab Rover was beta tested for one year and has been 'on line' for an additional 2 years.

The Preparation for and Execution of Engineering Operations for the Mars Curiosity Rover Mission

Science.gov (United States)

Samuels, Jessica A.

2013-01-01

The Mars Science Laboratory Curiosity Rover mission is the most complex and scientifically packed rover that has ever been operated on the surface of Mars. The preparation leading up to the surface mission involved various tests, contingency planning and integration of plans between various teams and scientists for determining how operation of the spacecraft (s/c) would be facilitated. In addition, a focused set of initial set of health checks needed to be defined and created in order to ensure successful operation of rover subsystems before embarking on a two year science journey. This paper will define the role and responsibilities of the Engineering Operations team, the process involved in preparing the team for rover surface operations, the predefined engineering activities performed during the early portion of the mission, and the evaluation process used for initial and day to day spacecraft operational assessment.

Graphics processing unit accelerated three-dimensional model for the simulation of pulsed low-temperature plasmas

Energy Technology Data Exchange (ETDEWEB)

Fierro, Andrew, E-mail: andrew.fierro@ttu.edu; Dickens, James; Neuber, Andreas [Center for Pulsed Power and Power Electronics, Department of Electrical and Computer Engineering, Texas Tech University, Lubbock, Texas 79409 (United States)

2014-12-15

A 3-dimensional particle-in-cell/Monte Carlo collision simulation that is fully implemented on a graphics processing unit (GPU) is described and used to determine low-temperature plasma characteristics at high reduced electric field, E/n, in nitrogen gas. Details of implementation on the GPU using the NVIDIA Compute Unified Device Architecture framework are discussed with respect to efficient code execution. The software is capable of tracking around 10 × 10{sup 6} particles with dynamic weighting and a total mesh size larger than 10{sup 8} cells. Verification of the simulation is performed by comparing the electron energy distribution function and plasma transport parameters to known Boltzmann Equation (BE) solvers. Under the assumption of a uniform electric field and neglecting the build-up of positive ion space charge, the simulation agrees well with the BE solvers. The model is utilized to calculate plasma characteristics of a pulsed, parallel plate discharge. A photoionization model provides the simulation with additional electrons after the initial seeded electron density has drifted towards the anode. Comparison of the performance benefits between the GPU-implementation versus a CPU-implementation is considered, and a speed-up factor of 13 for a 3D relaxation Poisson solver is obtained. Furthermore, a factor 60 speed-up is realized for parallelization of the electron processes.

Mars Exploration Rover Terminal Descent Mission Modeling and Simulation

Science.gov (United States)

Raiszadeh, Behzad; Queen, Eric M.

2004-01-01

Because of NASA's added reliance on simulation for successful interplanetary missions, the MER mission has developed a detailed EDL trajectory modeling and simulation. This paper summarizes how the MER EDL sequence of events are modeled, verification of the methods used, and the inputs. This simulation is built upon a multibody parachute trajectory simulation tool that has been developed in POST I1 that accurately simulates the trajectory of multiple vehicles in flight with interacting forces. In this model the parachute and the suspended bodies are treated as 6 Degree-of-Freedom (6 DOF) bodies. The terminal descent phase of the mission consists of several Entry, Descent, Landing (EDL) events, such as parachute deployment, heatshield separation, deployment of the lander from the backshell, deployment of the airbags, RAD firings, TIRS firings, etc. For an accurate, reliable simulation these events need to be modeled seamlessly and robustly so that the simulations will remain numerically stable during Monte-Carlo simulations. This paper also summarizes how the events have been modeled, the numerical issues, and modeling challenges.

Computer-graphic visualization of dynamics

International Nuclear Information System (INIS)

Stewart, H.B.

1986-01-01

As engineered systems become increasingly sophisticated and complex, questions of efficiency, reliability, and safety demand the application of more powerful methods of analysis. One indication of this is the accelerating trend away from purely static or quasi-steady system modeling toward models that include essentially dynamic behavior. It is here that the qualitative ideas of nonlinear dynamics, dealing as they do with the most typical behavior in real dynamical systems, can be expected to play an increasingly prominent role. As part of a continuing investigation of the most important low-order differential equations, an interactive computer graphics environment has been created for the study of systems in three-dimensional phase space. This environment makes available the basic control of both numerical simulation and graphic visualization by a specially designed menu system. A key ingredient in this environment is the possibility of graphic communication not only from machine to man, but also from man to machine. Thus to specify the starting point for a numerical integration, for example, the user points to a location in phase space on the screen of the graphics terminal (using crosshairs or a mouse and cursor), bypassing the necessity to give numerical values of the phase-space coordinates. By devising a flexible computer interface which implements conceptual approaches to phase-space analysis of dynamical systems, significant advances in understanding of prototypical differential equations have been achieved

Pressurized Lunar Rover (PLR)

Science.gov (United States)

Creel, Kenneth; Frampton, Jeffrey; Honaker, David; McClure, Kerry; Zeinali, Mazyar; Bhardwaj, Manoj; Bulsara, Vatsal; Kokan, David; Shariff, Shaun; Svarverud, Eric

The objective of this project was to design a manned pressurized lunar rover (PLR) for long-range transportation and for exploration of the lunar surface. The vehicle must be capable of operating on a 14-day mission, traveling within a radius of 500 km during a lunar day or within a 50-km radius during a lunar night. The vehicle must accommodate a nominal crew of four, support two 28-hour EVA's, and in case of emergency, support a crew of six when near the lunar base. A nominal speed of ten km/hr and capability of towing a trailer with a mass of two mt are required. Two preliminary designs have been developed by two independent student teams. The PLR 1 design proposes a seven meter long cylindrical main vehicle and a trailer which houses the power and heat rejection systems. The main vehicle carries the astronauts, life support systems, navigation and communication systems, lighting, robotic arms, tools, and equipment for exploratory experiments. The rover uses a simple mobility system with six wheels on the main vehicle and two on the trailer. The nonpressurized trailer contains a modular radioisotope thermoelectric generator (RTG) supplying 6.5 kW continuous power. A secondary energy storage for short-term peak power needs is provided by a bank of lithium-sulfur dioxide batteries. The life support system is partly a regenerative system with air and hygiene water being recycled. A layer of water inside the composite shell surrounds the command center allowing the center to be used as a safe haven during solar flares. The PLR 1 has a total mass of 6197 kg. It has a top speed of 18 km/hr and is capable of towing three metric tons, in addition to the RTG trailer. The PLR 2 configuration consists of two four-meter diameter, cylindrical hulls which are passively connected by a flexible passageway, resulting in the overall vehicle length of 11 m. The vehicle is driven by eight independently suspended wheels. The dual-cylinder concept allows articulated as well as double

Quantitative analysis of digital outcrop data obtained from stereo-imagery using an emulator for the PanCam camera system for the ExoMars 2020 rover

Science.gov (United States)

Barnes, Robert; Gupta, Sanjeev; Gunn, Matt; Paar, Gerhard; Balme, Matt; Huber, Ben; Bauer, Arnold; Furya, Komyo; Caballo-Perucha, Maria del Pilar; Traxler, Chris; Hesina, Gerd; Ortner, Thomas; Banham, Steven; Harris, Jennifer; Muller, Jan-Peter; Tao, Yu

2017-04-01

A key focus of planetary rover missions is to use panoramic camera systems to image outcrops along rover traverses, in order to characterise their geology in search of ancient life. This data can be processed to create 3D point clouds of rock outcrops to be quantitatively analysed. The Mars Utah Rover Field Investigation (MURFI 2016) is a Mars Rover field analogue mission run by the UK Space Agency (UKSA) in collaboration with the Canadian Space Agency (CSA). It took place between 22nd October and 13th November 2016 and consisted of a science team based in Harwell, UK, and a field team including an instrumented Rover platform at the field site near Hanksville (Utah, USA). The Aberystwyth University PanCam Emulator 3 (AUPE3) camera system was used to collect stereo panoramas of the terrain the rover encountered during the field trials. Stereo-imagery processed in PRoViP is rendered as Ordered Point Clouds (OPCs) in PRo3D, enabling the user to zoom, rotate and translate the 3D outcrop model. Interpretations can be digitised directly onto the 3D surface, and simple measurements can be taken of the dimensions of the outcrop and sedimentary features, including grain size. Dip and strike of bedding planes, stratigraphic and sedimentological boundaries and fractures is calculated within PRo3D from mapped bedding contacts and fracture traces. Merging of rover-derived imagery with UAV and orbital datasets, to build semi-regional multi-resolution 3D models of the area of operations for immersive analysis and contextual understanding. In-simulation, AUPE3 was mounted onto the rover mast, collecting 16 stereo panoramas over 9 'sols'. 5 out-of-simulation datasets were collected in the Hanksville-Burpee Quarry. Stereo panoramas were processed using an automated pipeline and data transfer through an ftp server. PRo3D has been used for visualisation and analysis of this stereo data. Features of interest in the area could be annotated, and their distances between to the rover

Fast Optical Hazard Detection for Planetary Rovers Using Multiple Spot Laser Triangulation

Science.gov (United States)

Matthies, L.; Balch, T.; Wilcox, B.

1997-01-01

A new laser-based optical sensor system that provides hazard detection for planetary rovers is presented. It is anticipated that the sensor can support safe travel at speeds up to 6cm/second for large (1m) rovers in full sunlight on Earth or Mars. The system overcomes limitations in an older design that require image differencing ot detect a laser stripe in full sun.

SimLabel: a graphical user interface to simulate continuous wave EPR spectra from site-directed spin labeling experiments.

Science.gov (United States)

Etienne, E; Le Breton, N; Martinho, M; Mileo, E; Belle, V

2017-08-01

Site-directed spin labeling (SDSL) combined with continuous wave electron paramagnetic resonance (cw EPR) spectroscopy is a powerful technique to reveal, at the residue level, structural transitions in proteins. SDSL-EPR is based on the selective grafting of a paramagnetic label on the protein under study, followed by cw EPR analysis. To extract valuable quantitative information from SDSL-EPR spectra and thus give reliable interpretation on biological system dynamics, numerical simulations of the spectra are required. Such spectral simulations can be carried out by coding in MATLAB using functions from the EasySpin toolbox. For non-expert users of MATLAB, this could be a complex task or even impede the use of such simulation tool. We developed a graphical user interface called SimLabel dedicated to run cw EPR spectra simulations particularly coming from SDSL-EPR experiments. Simlabel provides an intuitive way to visualize, simulate, and fit such cw EPR spectra. An example of SDSL-EPR spectra simulation concerning the study of an intrinsically disordered region undergoing a local induced folding is described and discussed. We believe that this new tool will help the users to rapidly obtain reliable simulated spectra and hence facilitate the interpretation of their results. Copyright © 2017 John Wiley & Sons, Ltd. Copyright © 2017 John Wiley & Sons, Ltd.

Real-Time Science Operations to Support a Lunar Polar Volatiles Rover Mission

Science.gov (United States)

Heldmann, Jennifer L.; Colaprete, Anthony; Elphic, Richard C.; Mattes, Greg; Ennico, Kimberly; Fritzler, Erin; Marinova, Margarita M.; McMurray, Robert; Morse, Stephanie; Roush, Ted L.;

A vision system for a Mars rover

Science.gov (United States)

Wilcox, Brian H.; Gennery, Donald B.; Mishkin, Andrew H.; Cooper, Brian K.; Lawton, Teri B.; Lay, N. Keith; Katzmann, Steven P.

1988-01-01

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

A Parallel Implementation of a Smoothed Particle Hydrodynamics Method on Graphics Hardware Using the Compute Unified Device Architecture

International Nuclear Information System (INIS)

Wong Unhong; Wong Honcheng; Tang Zesheng

2010-01-01

The smoothed particle hydrodynamics (SPH), which is a class of meshfree particle methods (MPMs), has a wide range of applications from micro-scale to macro-scale as well as from discrete systems to continuum systems. Graphics hardware, originally designed for computer graphics, now provide unprecedented computational power for scientific computation. Particle system needs a huge amount of computations in physical simulation. In this paper, an efficient parallel implementation of a SPH method on graphics hardware using the Compute Unified Device Architecture is developed for fluid simulation. Comparing to the corresponding CPU implementation, our experimental results show that the new approach allows significant speedups of fluid simulation through handling huge amount of computations in parallel on graphics hardware.

A graphical user interface for diagnostic radiology dosimetry using Monte Carlo (MCNP) simulation

International Nuclear Information System (INIS)

Collins, P.J.; Gorbatkov, D.; Schultz, F.W.

2000-01-01

Monte Carlo methods (for example, MCNP, EGGS4) are the 'gold standard' for both external and internal dosimetry in humans. These powerful simulation tools are, however, general-purpose codes and consequently do not provide a simple user interface for specific dosimetry tasks. We have developed a graphical user interface, for external radiation dosimetry (diagnostic radiology) using MCNP and an anthropomorphic mathematical phantom (Adam/Eva), which enables convenient modification and processing of the MCNP input and output files. The input form displays a colour coded, 3D representation of the phantom with a superimposed 'beam' for the required x-ray projection. The phantom can be rotated through 360 degrees and a transverse section at the level of the mid-point of the beam is also displayed. Text fields enable entry of input data (beam dimensions, source position, kVp, total filtration, focus-to-skin distance). A pull-down menu enables the user to select from 22 standard radiographic views. A standard projection can be modified, or new projection data entered if required. The input program modifies the MCNP input file and initiates processing. An output form displays the organ doses, normalised to unit skin entrance dose (with backscatter) (SED). The user can also enter the SED (calculated or measured) for a particular machine, to obtain the effective dose. To validate the program, the results for a PA Chest study (80 kVp, 2.5 mm Al total filtration) were compared with NRPB data (Jones and Wall, 1985). In conclusion, a convenient and reliable graphical user interface has been developed for MCNP, which enables dosimetry calculation for a full range of diagnostic radiological studies. (author)

A development of user-friendly graphical interface for a blanket simulator

International Nuclear Information System (INIS)

Lee, Young-Seok; Yoon, Seok-Heun; Han, Jung-Hoon

2010-01-01

A web-based user-friendly graphical interface (GUI) system, named GUMBIS (Graphical User-friendly Monte-Carlo-Application Blanket-Design Interface System), was developed to cut down the efforts of the researchers and practitioners who study tokamak blanket designs with the Monte Carlo MCNP/MCNPX codes. GUMBIS was also aimed at supporting them to use the codes for their study without having through understanding on the complex menus and commands of the codes. Developed on the web-based environment, GUMBIS provides task sharing capability on a network. GUMBIS, applicable for both blanket design and neutronics analysis, could facilitate not only advanced blanket R and D but also the education and training of the researchers in the R and D.

Panoramic 3d Vision on the ExoMars Rover

Science.gov (United States)

Paar, G.; Griffiths, A. D.; Barnes, D. P.; Coates, A. J.; Jaumann, R.; Oberst, J.; Gao, Y.; Ellery, A.; Li, R.

The Pasteur payload on the ESA ExoMars Rover 2011/2013 is designed to search for evidence of extant or extinct life either on or up to ˜2 m below the surface of Mars. The rover will be equipped by a panoramic imaging system to be developed by a UK, German, Austrian, Swiss, Italian and French team for visual characterization of the rover's surroundings and (in conjunction with an infrared imaging spectrometer) remote detection of potential sample sites. The Panoramic Camera system consists of a wide angle multispectral stereo pair with 65° field-of-view (WAC; 1.1 mrad/pixel) and a high resolution monoscopic camera (HRC; current design having 59.7 µrad/pixel with 3.5° field-of-view) . Its scientific goals and operational requirements can be summarized as follows: • Determination of objects to be investigated in situ by other instruments for operations planning • Backup and Support for the rover visual navigation system (path planning, determination of subsequent rover positions and orientation/tilt within the 3d environment), and localization of the landing site (by stellar navigation or by combination of orbiter and ground panoramic images) • Geological characterization (using narrow band geology filters) and cartography of the local environments (local Digital Terrain Model or DTM). • Study of atmospheric properties and variable phenomena near the Martian surface (e.g. aerosol opacity, water vapour column density, clouds, dust devils, meteors, surface frosts,) 1 • Geodetic studies (observations of Sun, bright stars, Phobos/Deimos). The performance of 3d data processing is a key element of mission planning and scientific data analysis. The 3d Vision Team within the Panoramic Camera development Consortium reports on the current status of development, consisting of the following items: • Hardware Layout & Engineering: The geometric setup of the system (location on the mast & viewing angles, mutual mounting between WAC and HRC) needs to be optimized w

Phast4Windows: a 3D graphical user interface for the reactive-transport simulator PHAST.

Science.gov (United States)

Charlton, Scott R; Parkhurst, David L

2013-01-01

Phast4Windows is a Windows® program for developing and running groundwater-flow and reactive-transport models with the PHAST simulator. This graphical user interface allows definition of grid-independent spatial distributions of model properties-the porous media properties, the initial head and chemistry conditions, boundary conditions, and locations of wells, rivers, drains, and accounting zones-and other parameters necessary for a simulation. Spatial data can be defined without reference to a grid by drawing, by point-by-point definitions, or by importing files, including ArcInfo® shape and raster files. All definitions can be inspected, edited, deleted, moved, copied, and switched from hidden to visible through the data tree of the interface. Model features are visualized in the main panel of the interface, so that it is possible to zoom, pan, and rotate features in three dimensions (3D). PHAST simulates single phase, constant density, saturated groundwater flow under confined or unconfined conditions. Reactions among multiple solutes include mineral equilibria, cation exchange, surface complexation, solid solutions, and general kinetic reactions. The interface can be used to develop and run simple or complex models, and is ideal for use in the classroom, for analysis of laboratory column experiments, and for development of field-scale simulations of geochemical processes and contaminant transport. Published 2012. This article is a U.S. Government work and is in the public domain in the USA.

Fast analytical scatter estimation using graphics processing units.

Science.gov (United States)

Ingleby, Harry; Lippuner, Jonas; Rickey, Daniel W; Li, Yue; Elbakri, Idris

2015-01-01

To develop a fast patient-specific analytical estimator of first-order Compton and Rayleigh scatter in cone-beam computed tomography, implemented using graphics processing units. The authors developed an analytical estimator for first-order Compton and Rayleigh scatter in a cone-beam computed tomography geometry. The estimator was coded using NVIDIA's CUDA environment for execution on an NVIDIA graphics processing unit. Performance of the analytical estimator was validated by comparison with high-count Monte Carlo simulations for two different numerical phantoms. Monoenergetic analytical simulations were compared with monoenergetic and polyenergetic Monte Carlo simulations. Analytical and Monte Carlo scatter estimates were compared both qualitatively, from visual inspection of images and profiles, and quantitatively, using a scaled root-mean-square difference metric. Reconstruction of simulated cone-beam projection data of an anthropomorphic breast phantom illustrated the potential of this method as a component of a scatter correction algorithm. The monoenergetic analytical and Monte Carlo scatter estimates showed very good agreement. The monoenergetic analytical estimates showed good agreement for Compton single scatter and reasonable agreement for Rayleigh single scatter when compared with polyenergetic Monte Carlo estimates. For a voxelized phantom with dimensions 128 × 128 × 128 voxels and a detector with 256 × 256 pixels, the analytical estimator required 669 seconds for a single projection, using a single NVIDIA 9800 GX2 video card. Accounting for first order scatter in cone-beam image reconstruction improves the contrast to noise ratio of the reconstructed images. The analytical scatter estimator, implemented using graphics processing units, provides rapid and accurate estimates of single scatter and with further acceleration and a method to account for multiple scatter may be useful for practical scatter correction schemes.

Microbiological cleanliness of the Mars Exploration Rover spacecraft

Science.gov (United States)

Newlin, L.; Barengoltz, J.; Chung, S.; Kirschner, L.; Koukol, R.; Morales, F.

2002-01-01

Planetary protection for Mars missions is described, and the approach being taken by the Mars Exploration Rover Project is discussed. Specific topics include alcohol wiping, dry heat microbial reduction, microbiological assays, and the Kennedy Space center's PHSF clean room.

Critical frameworks for graphic design: graphic design and visual culture

OpenAIRE

Dauppe, Michele-Anne

2011-01-01

The paper considers an approach to the study of graphic design which addresses the expanding nature of graphic design in the 21st century and the purposeful application of theory to the subject of graphic design. In recent years graphic design has expanded its domain from the world of print culture (e.g. books, posters) into what is sometimes called screen culture. Everything from a mobile phone to a display in an airport lounge to the A.T.M. carries graphic design. It has become ever more ub...

Development of a graphic interface for the Ramona-3B code

International Nuclear Information System (INIS)

Maldonado D, D.; Santos O, M.A.

2003-01-01

In this work a graphic interface that interprets the data of the Ramona-3B code is presented. The Ramona-3B code it is a computer program, that it uses text files as input and its generate output also of this type. The quantity of generated information is so big that always it is necessary to process this information with graphic tools to be able to analyze the results of the simulations of nuclear centrals with boiling water reactors. When having a modern tool that it translates text in graphics in an automatic way and that it is of great versatility, one can obtain a graphic interface that facilitates the interpretation of how a BWR nuclear plant behaves. To achieve this tool the key it has been a program that it reads chains of previously indicated characters that keeps the data in a file for later to manipulate them in the creation of the graphic interface. It is used a software of easy access that resists the processing of a great one quantity of data and that later its have been able to graph. Another important function of this interface it is allowing the modification of the input file for Ramona using graphic unfolding and helps in it lines without necessarily to go to the file with input data. For the design of graphic interface it was decided first to show the more representative variables of a BWR type nuclear plant. It is used Mat lab as platform on several options, as PHP, Lab view or C ' . The obtained graphs allow monitoring the plant and to have the control of selected variables. For the graphic interface only is necessary to indicate it the variable to simulate for to be able to interpret graphically the behavior of the BWR type nuclear plant. This tool is of great utility for the teaching of students that they are interested in this type of nuclear topics. (Author)

High definition graphics application in fluid flow simulations

International Nuclear Information System (INIS)

Bancroft, G.; Merritt, F.; Buning, P.; Watson, V.

1987-01-01

NASA Ames is using high spatial/color-resolution computer graphics to interactively visualize flow fields generated by supercomputer solutions for the flow about such vehicles as the Space Shuttle. The scientist's viewing position in three-dimensional space can be interactively changed while the fluid flow is either frozen or moving in time. Animated sequences can then be made for workstation viewing with the aid of specialized software that allows easy editing and automatic tweening of the sequences. Attention is presently given to the software generating the three-dimensional flow field displays, as well as that for creating the animation sequences

Interactive computer graphics applications for compressible aerodynamics

Science.gov (United States)

Benson, Thomas J.

1994-01-01

Three computer applications have been developed to solve inviscid compressible fluids problems using interactive computer graphics. The first application is a compressible flow calculator which solves for isentropic flow, normal shocks, and oblique shocks or centered expansions produced by two dimensional ramps. The second application couples the solutions generated by the first application to a more graphical presentation of the results to produce a desk top simulator of three compressible flow problems: 1) flow past a single compression ramp; 2) flow past two ramps in series; and 3) flow past two opposed ramps. The third application extends the results of the second to produce a design tool which solves for the flow through supersonic external or mixed compression inlets. The applications were originally developed to run on SGI or IBM workstations running GL graphics. They are currently being extended to solve additional types of flow problems and modified to operate on any X-based workstation.

RAT magnet experiment on the Mars Exploration Rovers: Spirit and Opportunity beyond sol 500

DEFF Research Database (Denmark)

Leer, Kristoffer; Goetz, Walter; Chan, Marjorie A.

2011-01-01

The Rock Abrasion Tool (RAT) magnet experiment on the Mars Exploration Rovers was designed to collect dust from rocks ground by the RAT of the two rovers on the surface of Mars. The dust collected on the magnets is now a mixture of dust from many grindings. Here the new data from the experiment...

Graphics gems II

CERN Document Server

Arvo, James

1991-01-01

Graphics Gems II is a collection of articles shared by a diverse group of people that reflect ideas and approaches in graphics programming which can benefit other computer graphics programmers.This volume presents techniques for doing well-known graphics operations faster or easier. The book contains chapters devoted to topics on two-dimensional and three-dimensional geometry and algorithms, image processing, frame buffer techniques, and ray tracing techniques. The radiosity approach, matrix techniques, and numerical and programming techniques are likewise discussed.Graphics artists and comput

Development of Disk Rover, wall-climbing robot using permanent magnet disk

International Nuclear Information System (INIS)

Hirose, Shigeo; Tsutsumitake; Hiroshi; Toyama, Ryousei; Kobayashi, Kengo.

1992-01-01

A new type of wall climbing robot, named Disk Rover, using permanent magnet disks are developed. The newly introduced permanent magnet disk is to rotate the magnet disk on the surface of wall with partly contacted posture. It allows to produce high magnetic attraction force compared with conventional permanent wheel which utilizes only a small portion of the magnet installed around the wheel. The optimum design of the magnetic wheel is done by using finit element method and it is shown that the magnetic attraction force vs. weight ratio can be designed about three times higher than conventional type magnet wheel. The developed Disk Rover is 25 kg in weight including controller and battery, about 685 mm in diameter, 239 mm in height and has a pair of permanent magnet disks. It is demonstrated by the experiments that the Disk Rover can move around on the surface of the wall quite smoothly by radio control and has payload of about its own weight. Several considerations are also done in order to surmount bead weld. (author)

Lunar ground penetrating radar: Minimizing potential data artifacts caused by signal interaction with a rover body

Science.gov (United States)

Angelopoulos, Michael; Redman, David; Pollard, Wayne H.; Haltigin, Timothy W.; Dietrich, Peter

2014-11-01

Ground-penetrating radar (GPR) is the leading geophysical candidate technology for future lunar missions aimed at mapping shallow stratigraphy (lunar materials, as well as its small size and lightweight components, make it a very attractive option from both a scientific and engineering perspective. However, the interaction between a GPR signal and the rover body is poorly understood and must be investigated prior to a space mission. In doing so, engineering and survey design strategies should be developed to enhance GPR performance in the context of the scientific question being asked. This paper explores the effects of a rover (simulated with a vertical metal plate) on GPR results for a range of heights above the surface and antenna configurations at two sites: (i) a standard GPR testing site with targets of known position, size, and material properties, and; (ii) a frozen lake for surface reflectivity experiments. Our results demonstrate that the GPR antenna configuration is a key variable dictating instrument design, with the XX polarization considered optimal for minimizing data artifact generation. These findings could thus be used to help guide design requirements for an eventual flight instrument.

The joint graphical lasso for inverse covariance estimation across multiple classes.

Science.gov (United States)

Danaher, Patrick; Wang, Pei; Witten, Daniela M

2014-03-01

We consider the problem of estimating multiple related Gaussian graphical models from a high-dimensional data set with observations belonging to distinct classes. We propose the joint graphical lasso , which borrows strength across the classes in order to estimate multiple graphical models that share certain characteristics, such as the locations or weights of nonzero edges. Our approach is based upon maximizing a penalized log likelihood. We employ generalized fused lasso or group lasso penalties, and implement a fast ADMM algorithm to solve the corresponding convex optimization problems. The performance of the proposed method is illustrated through simulated and real data examples.

Topographic Digital Raster Graphics - USGS DIGITAL RASTER GRAPHICS

Data.gov (United States)

NSGIC Local Govt | GIS Inventory — USGS Topographic Digital Raster Graphics downloaded from LABINS (http://data.labins.org/2003/MappingData/drg/drg_stpl83.cfm). A digital raster graphic (DRG) is a...

The Curiosity Mars Rover's Fault Protection Engine

Science.gov (United States)

Benowitz, Ed

2014-01-01

The Curiosity Rover, currently operating on Mars, contains flight software onboard to autonomously handle aspects of system fault protection. Over 1000 monitors and 39 responses are present in the flight software. Orchestrating these behaviors is the flight software's fault protection engine. In this paper, we discuss the engine's design, responsibilities, and present some lessons learned for future missions.

Measuring Cognitive Load in Test Items: Static Graphics versus Animated Graphics

Science.gov (United States)

Dindar, M.; Kabakçi Yurdakul, I.; Inan Dönmez, F.

2015-01-01

The majority of multimedia learning studies focus on the use of graphics in learning process but very few of them examine the role of graphics in testing students' knowledge. This study investigates the use of static graphics versus animated graphics in a computer-based English achievement test from a cognitive load theory perspective. Three…

Implementing the lattice Boltzmann model on commodity graphics hardware

International Nuclear Information System (INIS)

Kaufman, Arie; Fan, Zhe; Petkov, Kaloian

2009-01-01

Modern graphics processing units (GPUs) can perform general-purpose computations in addition to the native specialized graphics operations. Due to the highly parallel nature of graphics processing, the GPU has evolved into a many-core coprocessor that supports high data parallelism. Its performance has been growing at a rate of squared Moore's law, and its peak floating point performance exceeds that of the CPU by an order of magnitude. Therefore, it is a viable platform for time-sensitive and computationally intensive applications. The lattice Boltzmann model (LBM) computations are carried out via linear operations at discrete lattice sites, which can be implemented efficiently using a GPU-based architecture. Our simulations produce results comparable to the CPU version while improving performance by an order of magnitude. We have demonstrated that the GPU is well suited for interactive simulations in many applications, including simulating fire, smoke, lightweight objects in wind, jellyfish swimming in water, and heat shimmering and mirage (using the hybrid thermal LBM). We further advocate the use of a GPU cluster for large scale LBM simulations and for high performance computing. The Stony Brook Visual Computing Cluster has been the platform for several applications, including simulations of real-time plume dispersion in complex urban environments and thermal fluid dynamics in a pressurized water reactor. Major GPU vendors have been targeting the high performance computing market with GPU hardware implementations. Software toolkits such as NVIDIA CUDA provide a convenient development platform that abstracts the GPU and allows access to its underlying stream computing architecture. However, software programming for a GPU cluster remains a challenging task. We have therefore developed the Zippy framework to simplify GPU cluster programming. Zippy is based on global arrays combined with the stream programming model and it hides the low-level details of the

Graphical interface for the physics-based generation of inputs to 3D MEEC SGEMP and SREMP simulations

International Nuclear Information System (INIS)

Bland, M; Walters, D; Wondra, J

1999-01-01

A graphical user interface (GUI) is under development for the MEEC family of SGEMP and SREMP simulation codes [1,2]. These codes are ''workhorse'' legacy codes that have been in use for nearly two decades, with modifications and enhanced physics models added throughout the years. The MEEC codes are currently being evaluated for use by the DOE in the Dual Revalidation Program and experiments at NIF. The new GUI makes the codes more accessible and less prone to input errors by automatically generating the parameters and grids that previously had to be designed ''by hand''. Physics-based algorithms define the simulation volume with expanding meshes. Users are able to specify objects, materials, and emission surfaces through dialogs and input boxes. 3D and orthographic views are available to view objects in the volume. Zone slice views are available for stepping through the overlay of objects on the mesh in planes aligned with the primary axes

Measuring planetary field parameters by scattered "SSSS" from the Husar-5 Rover

Science.gov (United States)

Lang, A.; Kocsis, A.; Balaskó, D.; Csóka, B.; Molnar, B.; Sztojka, A.; Bejó, M.; Joób, Z.

2017-09-01

HUSAR-5 Rover reloaded: 2 years ago the Hunveyor-Husar Team in our school made yet a similar project. The ground idea was, we try to keep step with the main trends in the space research, in our recent case with the so called MSSM (Micro Sized Space- Mothership) and NPSDR (Nano, Pico Space Devices and Robots). [1]Of course, we do not want to scatter the smaller probe-cubes from a mothership, but from the Husar rover, and to do it on the planetary surface after landing. We have fabricated the rover with the ejecting tower and we have shown it on the EPSC 2015.The word "reloaded" means not only a new shape of the bullets, but a new mission with a new team. There are more pupils working in this project. The new bullets "SSSS" will be printed by a 3D printer.The microcontroller in bullets can be programmed with Arduino, so the "new generation" is able to do it.

The Athena Science Payload for the 2003 Mars Exploration Rovers

Science.gov (United States)

Squyres, S. W.; Arvidson, R. E.; Bell, J. F., III; Carr, M.; Christensen, P.; DesMarais, D.; Economou, T.; Gorevan, S.; Haskin, L.; Herkenhoff, K.

2001-01-01

The Athena Mars rover payload is a suite of scientific instruments and tools for geologic exploration of the martian surface. It is designed to: (1) Provide color stereo imaging of martian surface environments, and remotely-sensed point discrimination of mineralogical composition. (2) Determine the elemental and mineralogical composition of martian surface materials, including soils, rock surfaces, and rock interiors. (3) Determine the fine-scale textural properties of these materials. Two identical copies of the Athena payload will be flown in 2003 on the two Mars Exploration Rovers. The payload is at a high state of maturity, and first copies of several of the instruments have already been built and tested for flight.

Development of a graphical interface computer code for reactor fuel reloading optimization

International Nuclear Information System (INIS)

Do Quang Binh; Nguyen Phuoc Lan; Bui Xuan Huy

2007-01-01

This report represents the results of the project performed in 2007. The aim of this project is to develop a graphical interface computer code that allows refueling engineers to design fuel reloading patterns for research reactor using simulated graphical model of reactor core. Besides, this code can perform refueling optimization calculations based on genetic algorithms as well as simulated annealing. The computer code was verified based on a sample problem, which relies on operational and experimental data of Dalat research reactor. This code can play a significant role in in-core fuel management practice at nuclear research reactor centers and in training. (author)

Designer: A Knowledge-Based Graphic Design Assistant.

Science.gov (United States)

1986-07-01

pro- pulsion. The system consists of a color graphics interface to a mathematical simulation. One can view and manipulate this simulation at a number of...valve vaive graph 50- mufi -plot graph 100 4 0 80 6.. 30 60 4 20 .... 40 2 10 V 20 0 2 4 6 8 10 0 20 40 60 80 100 FIGURE 4. Icon Sampler. This view...in Computing Systems. New York: ACM, 1983. 8306. Paul Smolensky. Harmony Theory: A Mathematical Framework for Stochastic Parallel Pro- cessing

Implementation of Sample Graphic Patterns on Derived Scientific/Technologic Documentary Figures

Institute of Scientific and Technical Information of China (English)

MENG Xiang-bao; WANG Xiao-yu; WANG Lei

2013-01-01

The presenting work deals with implementation of sample graphic patterns derived from published scientific/technologic documentation figures on numeric simulation of multiphase flow and FEM analysis of thin walled mechanical structures. First, geometric plane patterns in rectangular/circular form were demonstrated in contrast to gradual change style in color and graphic configuration. Next, selected artistic/graphic sample patterns were implemented in logo conceptual design and visual innovation storming. The way in editing the above original figures is 2D symmetry, rectangular array geometrically, and converting them in inverse color in software like PS. The objective of this work is to cultivate, explore and discipline trainees’ visual ability in artistic/aesthetic appreciation, graphic communication and industrial design and application, thus laying ties closely among comprehensive university students from different majors on science, engineering, arts and humanity.

Graphical programming interface: A development environment for MRI methods.

Science.gov (United States)

Zwart, Nicholas R; Pipe, James G

2015-11-01

To introduce a multiplatform, Python language-based, development environment called graphical programming interface for prototyping MRI techniques. The interface allows developers to interact with their scientific algorithm prototypes visually in an event-driven environment making tasks such as parameterization, algorithm testing, data manipulation, and visualization an integrated part of the work-flow. Algorithm developers extend the built-in functionality through simple code interfaces designed to facilitate rapid implementation. This article shows several examples of algorithms developed in graphical programming interface including the non-Cartesian MR reconstruction algorithms for PROPELLER and spiral as well as spin simulation and trajectory visualization of a FLORET example. The graphical programming interface framework is shown to be a versatile prototyping environment for developing numeric algorithms used in the latest MR techniques. © 2014 Wiley Periodicals, Inc.

The Traverse Planning Process for the Drats 2010 Analog Field Simulations

Science.gov (United States)

Horz, Friedrich; Gruener, John; Lofgren, Gary; Skinner, James A., Jr.; Graf, Jodi; Seibert, Marc

2011-01-01

Traverse planning concentrates on optimizing the science return within the overall objectives of planetary surface missions or their analog field simulations. Such simulations were conducted in the San Francisco Volcanic Field, northern Arizona, from Aug. 26 to Sept 17, 2010 and involved some 200 individuals in the field, with some 40 geoscientists composing the science team. The purpose of these Desert Research and Technology Studies (DRATS) is to exercise and evaluate developmental hardware, software and operational concepts in a mission-like, fully-integrated, setting under the direction of an onsite Mobile Mission Control Center(MMCC). DRATS 2010 focused on the simultaneous operation of 2 rovers, a historic first. Each vehicle was manned by an astronaut-commander and an experienced field geologist. Having 2 rovers and crews in the field mandated substantially more complex science and mission control operations compared to the single rover DRATS tests of 2008 and 2009, or the Apollo lunar missions. For instance, the science support function was distributed over 2 "back rooms", one for each rover, with both "tactical" teams operating independently and simultaneously during the actual traverses. Synthesis and integration of the daily findings and forward planning for the next day(s) was accomplished overnight by yet another "strategic" science team.

Infrared Spectrometer for ExoMars: A Mast-Mounted Instrument for the Rover

Science.gov (United States)

Korablev, Oleg I.; Dobrolensky, Yurii; Evdokimova, Nadezhda; Fedorova, Anna A.; Kuzmin, Ruslan O.; Mantsevich, Sergei N.; Cloutis, Edward A.; Carter, John; Poulet, Francois; Flahaut, Jessica; Griffiths, Andrew; Gunn, Matthew; Schmitz, Nicole; Martín-Torres, Javier; Zorzano, Maria-Paz; Rodionov, Daniil S.; Vago, Jorge L.; Stepanov, Alexander V.; Titov, Andrei Yu.; Vyazovetsky, Nikita A.; Trokhimovskiy, Alexander Yu.; Sapgir, Alexander G.; Kalinnikov, Yurii K.; Ivanov, Yurii S.; Shapkin, Alexei A.; Ivanov, Andrei Yu.

2017-07-01

ISEM (Infrared Spectrometer for ExoMars) is a pencil-beam infrared spectrometer that will measure reflected solar radiation in the near infrared range for context assessment of the surface mineralogy in the vicinity of the ExoMars rover. The instrument will be accommodated on the mast of the rover and will be operated together with the panoramic camera (PanCam), high-resolution camera (HRC). ISEM will study the mineralogical and petrographic composition of the martian surface in the vicinity of the rover, and in combination with the other remote sensing instruments, it will aid in the selection of potential targets for close-up investigations and drilling sites. Of particular scientific interest are water-bearing minerals, such as phyllosilicates, sulfates, carbonates, and minerals indicative of astrobiological potential, such as borates, nitrates, and ammonium-bearing minerals. The instrument has an ˜1° field of view and covers the spectral range between 1.15 and 3.30 μm with a spectral resolution varying from 3.3 nm at 1.15 μm to 28 nm at 3.30 μm. The ISEM optical head is mounted on the mast, and its electronics box is located inside the rover's body. The spectrometer uses an acousto-optic tunable filter and a Peltier-cooled InAs detector. The mass of ISEM is 1.74 kg, including the electronics and harness. The science objectives of the experiment, the instrument design, and operational scenarios are described.

A new strategic neurosurgical planning tool for brainstem cavernous malformations using interactive computer graphics with multimodal fusion images.

Science.gov (United States)

Kin, Taichi; Nakatomi, Hirofumi; Shojima, Masaaki; Tanaka, Minoru; Ino, Kenji; Mori, Harushi; Kunimatsu, Akira; Oyama, Hiroshi; Saito, Nobuhito

2012-07-01

In this study, the authors used preoperative simulation employing 3D computer graphics (interactive computer graphics) to fuse all imaging data for brainstem cavernous malformations. The authors evaluated whether interactive computer graphics or 2D imaging correlated better with the actual operative field, particularly in identifying a developmental venous anomaly (DVA). The study population consisted of 10 patients scheduled for surgical treatment of brainstem cavernous malformations. Data from preoperative imaging (MRI, CT, and 3D rotational angiography) were automatically fused using a normalized mutual information method, and then reconstructed by a hybrid method combining surface rendering and volume rendering methods. With surface rendering, multimodality and multithreshold techniques for 1 tissue were applied. The completed interactive computer graphics were used for simulation of surgical approaches and assumed surgical fields. Preoperative diagnostic rates for a DVA associated with brainstem cavernous malformation were compared between conventional 2D imaging and interactive computer graphics employing receiver operating characteristic (ROC) analysis. The time required for reconstruction of 3D images was 3-6 hours for interactive computer graphics. Observation in interactive mode required approximately 15 minutes. Detailed anatomical information for operative procedures, from the craniotomy to microsurgical operations, could be visualized and simulated three-dimensionally as 1 computer graphic using interactive computer graphics. Virtual surgical views were consistent with actual operative views. This technique was very useful for examining various surgical approaches. Mean (±SEM) area under the ROC curve for rate of DVA diagnosis was significantly better for interactive computer graphics (1.000±0.000) than for 2D imaging (0.766±0.091; pcomputer graphics than with 2D images. Interactive computer graphics was also useful in helping to plan the surgical

Intranet Delivery of Simulation-Centered Tutoring

National Research Council Canada - National Science Library

Munro, Allen

2003-01-01

.... Java programs that implement a simulation delivery system work in concern with authored graphics and behavioral specifications to provide interactive graphical simulations with training for distance learners...

Reflectance conversion methods for the VIS/NIR imaging spectrometer aboard the Chang'E-3 lunar rover: based on ground validation experiment data

International Nuclear Information System (INIS)

Liu Bin; Liu Jian-Zhong; Zhang Guang-Liang; Zou Yong-Liao; Ling Zong-Cheng; Zhang Jiang; He Zhi-Ping; Yang Ben-Yong

2013-01-01

The second phase of the Chang'E Program (also named Chang'E-3) has the goal to land and perform in-situ detection on the lunar surface. A VIS/NIR imaging spectrometer (VNIS) will be carried on the Chang'E-3 lunar rover to detect the distribution of lunar minerals and resources. VNIS is the first mission in history to perform in-situ spectral measurement on the surface of the Moon, the reflectance data of which are fundamental for interpretation of lunar composition, whose quality would greatly affect the accuracy of lunar element and mineral determination. Until now, in-situ detection by imaging spectrometers was only performed by rovers on Mars. We firstly review reflectance conversion methods for rovers on Mars (Viking landers, Pathfinder and Mars Exploration rovers, etc). Secondly, we discuss whether these conversion methods used on Mars can be applied to lunar in-situ detection. We also applied data from a laboratory bidirectional reflectance distribution function (BRDF) using simulated lunar soil to test the availability of this method. Finally, we modify reflectance conversion methods used on Mars by considering differences between environments on the Moon and Mars and apply the methods to experimental data obtained from the ground validation of VNIS. These results were obtained by comparing reflectance data from the VNIS measured in the laboratory with those from a standard spectrometer obtained at the same time and under the same observing conditions. The shape and amplitude of the spectrum fits well, and the spectral uncertainty parameters for most samples are within 8%, except for the ilmenite sample which has a low albedo. In conclusion, our reflectance conversion method is suitable for lunar in-situ detection.

Walking Wheel Design for Lunar Rove-Rand and Its Application Simulation Based on Virtual Lunar Environment

Directory of Open Access Journals (Sweden)

Zhao Yibing

2014-05-01

Full Text Available The lunar rover design is the key problem of planet exploration. It is extraordinarily important for researchers to fully understand the lunar terrain and propose the reasonable lunar rover. In this paper, one new type of walking wheel modeled on impeller is presented based on vehicle terramechanics. The passive earth pressure of soil mechanics put forward by C. A. Coulomb is employed to obtain the wheel traction force. Some kinematics simulations are conducted for lunar rover model. Besides, this paper presents how to model lunar landing terrain containing typical statistic characteristic including craters and boulders; then, the second step is to construct basal lunar surface by using Brown Fractal Motion and the next is to add craters and boulders by means of known diameter algorithm and Random-create Diameter Algorithm. By means of importing 2D plain of lunar surface into UG, 3D parasolid is modeled and finally imported to ADAMS, which is available for lunar rover kinematics and dynamics simulation. Lastly, based on power spectrum curve of lunar terrain, the spectral characteristic of three different lunar terrain roughness is educed by using reverse engineering algorithm. Simulation results demonstrated the frequency of vibration mechanics properties of different roughness surfaces.

Bayesian Graphical Models

DEFF Research Database (Denmark)

Jensen, Finn Verner; Nielsen, Thomas Dyhre

2016-01-01

Mathematically, a Bayesian graphical model is a compact representation of the joint probability distribution for a set of variables. The most frequently used type of Bayesian graphical models are Bayesian networks. The structural part of a Bayesian graphical model is a graph consisting of nodes...

Graphics workflow optimization when editing standard tasks using modern graphics editing programs

OpenAIRE

Khabirova, Maja

2012-01-01

This work focuses on the description and characteristics of common problems which graphic designers face daily when working for advertising agencies. This work describes tasks and organises them according to the type of graphic being processed and the types of output. In addition, this work describes the ways these common tasks can be completed using modern graphics editing software. It also provides a practical definition of a graphic designer and graphic agency. The aim of this work is to m...

PC Graphic file programing

International Nuclear Information System (INIS)

Yang, Jin Seok

1993-04-01

This book gives description of basic of graphic knowledge and understanding and realization of graphic file form. The first part deals with graphic with graphic data, store of graphic data and compress of data, programing language such as assembling, stack, compile and link of program and practice and debugging. The next part mentions graphic file form such as Mac paint file, GEM/IMG file, PCX file, GIF file, and TIFF file, consideration of hardware like mono screen driver and color screen driver in high speed, basic conception of dithering and conversion of formality.

NGLview-interactive molecular graphics for Jupyter notebooks.

Science.gov (United States)

Nguyen, Hai; Case, David A; Rose, Alexander S

2018-04-01

NGLview is a Jupyter/IPython widget to interactively view molecular structures as well as trajectories from molecular dynamics simulations. Fast and scalable molecular graphics are provided through the NGL Viewer. The widget supports showing data from the file-system, online data bases and from objects of many popular analysis libraries including mdanalysis, mdtraj, pytraj, rdkit and more. The source code is freely available under the MIT license at https://github.com/arose/nglview. Python packages are available from PyPI and bioconda. NGLview uses Python on the server-side and JavaScript on the client. The integration with Jupyter is done through the ipywidgets package. The NGL Viewer is embedded client-side to provide WebGL accelerated molecular graphics. asr.moin@gmail.com.

FIRINPC and FIRACPC graphics post-processor support user's guide and programmer's reference

International Nuclear Information System (INIS)

Hensel, E.

1992-03-01

FIRIN is a computer program used by DOE fire protection engineers to simulate hypothetical fire accidents in compartments at DOE facilities. The FIRIN code is typically used in conjunction with a ventilation system code such as FIRAC, which models the impact of the fire compartment upon the rest of the system. The code described here, FIRINPC is a PC based implementation of the full mainframe code FIRIN. In addition, FIRINPC contains graphics support for monitoring the progress of the simulation during execution and for reviewing the complete results of the simulation upon completion of the run. This document describes how to install, test, and subsequently use the code FIRINPC, and addresses differences in usage between the PC version of the code and its mainframe predecessor. The PC version contains all of the modeling capabilities of the earlier version, with additional graphics support. This user's guide is a supplement to the original FIRIN report published by the NRC. FIRAC is a computer program used by DOE fire protection engineers to simulate the transient response of complete ventilation system to fire induced transients. FIRAC has the ability to use the FIRIN code as the driving function or source term for the ventilation system response. The current version of FIRAC does not contain interactive graphics capabilities. A third program, called POST, is made available for reviewing the results of a previous FIRIN or FIRAC simulation, without having to recompute the numerical simulation. POST uses the output data files created by FIRINPC and FIRACPC to avoid recomputation

Visualized simulation of buildings, a graphic model editor with SimuVis; Visualisierte Gebaeudesimulation, ein grafischer Modelleditor mit SimuVis

Energy Technology Data Exchange (ETDEWEB)

Waldhoff, C.; Raedler, J. [dezentral gbr, Berlin (Germany); Gerber, A.; Metin, E. [FH Biberach, Fachbereich Architektur und Gebaeudeklimatik (Germany)

2003-07-01

A software package for the visualisation of results from thermal building simulation is presented. The software is based on SimuVis and allows the results to be shown inside the three-dimensional building view. The model parameters are defined and configured by clicking on sensitive building elements in the scene view and changing the settings in the dialogs. This easy-to-use graphical user interface enables even beginners to perform thermal building simulations. The simulation model is based on the simulation environment SMILE and its multizone building model. A first application of this software is the education of architects and engineers. It is used in the educational network 'Multimediales Lernnetz Bauphysik' for the simulation of cooling loads. This application was developed by dezentral in cooperation with the University for Applied Sciences Biberach. Other modules of the network like material and weather databases are integrated and used in the application. The design is based on a client/server architecture with load balancing and a high level of modularisation. Open internet standards like XML and XMLRPC are used for communication and data storage, which allow the extension and coupling of the application with other software. Some planned extensions are the integration of solar thermal heating and other HVAC components. (orig.)

Autonomous navigation and mobility for a planetary rover

Science.gov (United States)

Miller, David P.; Mishkin, Andrew H.; Lambert, Kenneth E.; Bickler, Donald; Bernard, Douglas E.

1989-01-01

This paper presents an overview of the onboard subsystems that will be used in guiding a planetary rover. Particular emphasis is placed on the planning and sensing systems and their associated costs, particularly in computation. Issues that will be used in evaluating trades between the navigation system and mobility system are also presented.

Automation Rover for Extreme Environments

Science.gov (United States)

Sauder, Jonathan; Hilgemann, Evan; Johnson, Michael; Parness, Aaron; Hall, Jeffrey; Kawata, Jessie; Stack, Kathryn

2017-01-01

Almost 2,300 years ago the ancient Greeks built the Antikythera automaton. This purely mechanical computer accurately predicted past and future astronomical events long before electronics existed1. Automata have been credibly used for hundreds of years as computers, art pieces, and clocks. However, in the past several decades automata have become less popular as the capabilities of electronics increased, leaving them an unexplored solution for robotic spacecraft. The Automaton Rover for Extreme Environments (AREE) proposes an exciting paradigm shift from electronics to a fully mechanical system, enabling longitudinal exploration of the most extreme environments within the solar system.

NASA Curiosity rover hits organic pay dirt on Mars

Science.gov (United States)

Voosen, Paul

2018-06-01

Since NASA's Curiosity rover landed on Mars in 2012, it has sifted samples of soil and ground-up rock for signs of organic molecules—the complex carbon chains that on Earth form the building blocks of life. Past detections have been so faint that they could be just contamination. Now, samples taken from two different drill sites on an ancient lakebed have yielded complex organic macromolecules that look strikingly similar to kerogen, the goopy fossilized building blocks of oil and gas on Earth. At a few dozen parts per million, the detected levels are 100 times higher than previous finds, but scientists still cannot say whether they have origins in biology or geology. The discovery positions scientists to begin searching for direct evidence of past life on Mars and bolsters the case for returning rock samples from the planet, an effort that begins with the Mars 2020 rover.

Using R and RStudio for data management, statistical analysis and graphics

CERN Document Server

Horton, Nicholas J

2015-01-01

This is the second edition of the popular book on using R for statistical analysis and graphics. The authors, who run a popular blog supplementing their books, have focused on adding many new examples to this new edition. These examples are presented primarily in new chapters based on the following themes: simulation, probability, statistics, mathematics/computing, and graphics. The authors have also added many other updates, including a discussion of RStudio-a very popular development environment for R.

SWATMOD-PREP: Graphical user interface for preparing coupled SWAT-modflow simulations

Science.gov (United States)

This paper presents SWATMOD-Prep, a graphical user interface that couples a SWAT watershed model with a MODFLOW groundwater flow model. The interface is based on a recently published SWAT-MODFLOW code that couples the models via mapping schemes. The spatial layout of SWATMOD-Prep guides the user t...

Study on efficiency of time computation in x-ray imaging simulation base on Monte Carlo algorithm using graphics processing unit

International Nuclear Information System (INIS)

Setiani, Tia Dwi; Suprijadi; Haryanto, Freddy

2016-01-01

Monte Carlo (MC) is one of the powerful techniques for simulation in x-ray imaging. MC method can simulate the radiation transport within matter with high accuracy and provides a natural way to simulate radiation transport in complex systems. One of the codes based on MC algorithm that are widely used for radiographic images simulation is MC-GPU, a codes developed by Andrea Basal. This study was aimed to investigate the time computation of x-ray imaging simulation in GPU (Graphics Processing Unit) compared to a standard CPU (Central Processing Unit). Furthermore, the effect of physical parameters to the quality of radiographic images and the comparison of image quality resulted from simulation in the GPU and CPU are evaluated in this paper. The simulations were run in CPU which was simulated in serial condition, and in two GPU with 384 cores and 2304 cores. In simulation using GPU, each cores calculates one photon, so, a large number of photon were calculated simultaneously. Results show that the time simulations on GPU were significantly accelerated compared to CPU. The simulations on the 2304 core of GPU were performed about 64 -114 times faster than on CPU, while the simulation on the 384 core of GPU were performed about 20 – 31 times faster than in a single core of CPU. Another result shows that optimum quality of images from the simulation was gained at the history start from 10"8 and the energy from 60 Kev to 90 Kev. Analyzed by statistical approach, the quality of GPU and CPU images are relatively the same.

Study on efficiency of time computation in x-ray imaging simulation base on Monte Carlo algorithm using graphics processing unit

Energy Technology Data Exchange (ETDEWEB)

Setiani, Tia Dwi, E-mail: tiadwisetiani@gmail.com [Computational Science, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung Jalan Ganesha 10 Bandung, 40132 (Indonesia); Suprijadi [Computational Science, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung Jalan Ganesha 10 Bandung, 40132 (Indonesia); Nuclear Physics and Biophysics Reaserch Division, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung Jalan Ganesha 10 Bandung, 40132 (Indonesia); Haryanto, Freddy [Nuclear Physics and Biophysics Reaserch Division, Faculty of Mathematics and Natural Sciences, Institut Teknologi Bandung Jalan Ganesha 10 Bandung, 40132 (Indonesia)

2016-03-11

Monte Carlo (MC) is one of the powerful techniques for simulation in x-ray imaging. MC method can simulate the radiation transport within matter with high accuracy and provides a natural way to simulate radiation transport in complex systems. One of the codes based on MC algorithm that are widely used for radiographic images simulation is MC-GPU, a codes developed by Andrea Basal. This study was aimed to investigate the time computation of x-ray imaging simulation in GPU (Graphics Processing Unit) compared to a standard CPU (Central Processing Unit). Furthermore, the effect of physical parameters to the quality of radiographic images and the comparison of image quality resulted from simulation in the GPU and CPU are evaluated in this paper. The simulations were run in CPU which was simulated in serial condition, and in two GPU with 384 cores and 2304 cores. In simulation using GPU, each cores calculates one photon, so, a large number of photon were calculated simultaneously. Results show that the time simulations on GPU were significantly accelerated compared to CPU. The simulations on the 2304 core of GPU were performed about 64 -114 times faster than on CPU, while the simulation on the 384 core of GPU were performed about 20 – 31 times faster than in a single core of CPU. Another result shows that optimum quality of images from the simulation was gained at the history start from 10{sup 8} and the energy from 60 Kev to 90 Kev. Analyzed by statistical approach, the quality of GPU and CPU images are relatively the same.

3D Computer graphics simulation to obtain optimal surgical exposure during microvascular decompression of the glossopharyngeal nerve.

Science.gov (United States)

Hiraishi, Tetsuya; Matsushima, Toshio; Kawashima, Masatou; Nakahara, Yukiko; Takahashi, Yuichi; Ito, Hiroshi; Oishi, Makoto; Fujii, Yukihiko

2013-10-01

The affected artery in glossopharyngeal neuralgia (GPN) is most often the posterior inferior cerebellar artery (PICA) from the caudal side or the anterior inferior cerebellar artery (AICA) from the rostral side. This technical report describes two representative cases of GPN, one with PICA as the affected artery and the other with AICA, and demonstrates the optimal approach for each affected artery. We used 3D computer graphics (3D CG) simulation to consider the ideal transposition of the affected artery in any position and approach. Subsequently, we performed microvascular decompression (MVD) surgery based on this simulation. For PICA, we used the transcondylar fossa approach in the lateral recumbent position, very close to the prone position, with the patient's head tilted anteriorly for caudal transposition of PICA. In contrast, for AICA, we adopted a lateral suboccipital approach with opening of the lateral cerebellomedullary fissure, to visualize better the root entry zone of the glossopharyngeal nerve and to obtain a wide working space in the cerebellomedullary cistern, for rostral transposition of AICA. Both procedures were performed successfully. The best surgical approach for MVD in patients with GPN is contingent on the affected artery--PICA or AICA. 3D CG simulation provides tailored approach for MVD of the glossopharyngeal nerve, thereby ensuring optimal surgical exposure.

A New Capability for Automated Target Selection and Sampling for use with Remote Sensing Instruments on the MER Rovers

Science.gov (United States)

Castano, R.; Estlin, T.; Anderson, R. C.; Gaines, D.; Bornstein, B.; de Granville, C.; Tang, B.; Thompson, D.; Judd, M.

2008-12-01

The Onboard Autonomous Science Investigation System (OASIS) evaluates geologic data gathered by a planetary rover. The system is designed to operate onboard a rover identifying and reacting to serendipitous science opportunities, such as rocks with novel properties. OASIS operates by analyzing data the rover gathers, and then using machine learning techniques, prioritizing the data based on criteria set by the science team. This prioritization can be used to organize data for transmission back to Earth and it can be used to search for specific targets it has been told to find by the science team. If one of these targets is found, it is identified as a new science opportunity and a "science alert" is sent to a planning and scheduling system. After reviewing the rover's current operational status to ensure that it has enough resources to complete its traverse and act on the new science opportunity, OASIS can change the command sequence of the rover in order to obtain additional science measurements. Currently, OASIS is being applied on a new front. OASIS is providing a new rover mission technology that enables targeted remote-sensing science in an automated fashion during or after rover traverses. Currently, targets for remote sensing instruments, especially narrow field-of-view instruments (such as the MER Mini- TES spectrometer or the 2009 MSL ChemCam spectrometer) must be selected manually based on imagery already on the ground with the operations team. OASIS will enable the rover flight software to analyze imagery onboard in order to autonomously select and sequence targeted remote-sensing observations in an opportunistic fashion. We are in the process of scheduling an onboard MER experiment to demonstrate the OASIS capability in early 2009.

APXS on board Chandrayaan-2 Rover

Science.gov (United States)

Shanmugam, M.; Sripada, V. S. Murty; Acharya, Y. B.; Goyal, S. K.

2012-07-01

Alpha Particle X-ray Spectrometer (APXS) is a well proven instrument for quantitative in situ elemental analysis of the planetary surfaces and has been successfully employed for Mars surface exploration. Chandrayaan-2, ISRO's second lunar mission having an Orbiter, Lander and Rover has provided an opportunity to explore the lunar surface with superior detectors such as Silicon Drift Detector (SDD) with energy resolution of about 150eV @ 5.9keV. The objective of the APXS instrument is to analyse several soil/rock samples along the rover traverse for the major elements with characteristic X-rays in 1 to 25keV range. The working principle of APXS involves measuring the intensity of characteristic X-rays emitted from the sample due to Alpha Particle Induced X-ray Emission (PIXE) and X-ray florescence (XRF) processes using suitable radioactive sources, allowing the determination of elements from Na to Br, spanning the energy range of 0.9 to 16keV. For this experiment ^{244}Cm radioactive source has been chosen which emits both Alpha particles (5.8MeV) and X-rays (14.1keV, 18keV). APXS uses six Alpha sources, each about 5mCi activity. Unlike Mars, lunar environment poses additional challenges due to the regolith and extreme surface temperature changes, to operate the APXS. Our APXS instrument consists of two packages namely APXS sensor head and APXS signal electronics. The sensor head assembly contains SDD, six alpha sources and front end electronic circuits such as preamplifier and shaper circuits and will be mounted on a robotic arm which on command brings the sensor head close to the lunar surface at a height of 35±10mm. SDD module to be used in the experiment has 30mm ^{2} active detector area with in-built peltier cooler and heat sink to maintain the detector at about -35°C. The detector is covered with 8 micron thick Be window which results in the low energy threshold of about 1keV. The size of the APXS sensor head is 70x70x70mm ^{3} (approx). APXS signal

Recent advances in transient imaging: A computer graphics and vision perspective

Directory of Open Access Journals (Sweden)

Adrian Jarabo

2017-03-01

Full Text Available Transient imaging has recently made a huge impact in the computer graphics and computer vision fields. By capturing, reconstructing, or simulating light transport at extreme temporal resolutions, researchers have proposed novel techniques to show movies of light in motion, see around corners, detect objects in highly-scattering media, or infer material properties from a distance, to name a few. The key idea is to leverage the wealth of information in the temporal domain at the pico or nanosecond resolution, information usually lost during the capture-time temporal integration. This paper presents recent advances in this field of transient imaging from a graphics and vision perspective, including capture techniques, analysis, applications and simulation. Keywords: Transient imaging, Ultrafast imaging, Time-of-flight

Mars Exploration Rovers Launch Performance and TCM-1 Maneuver Design

Science.gov (United States)

Kangas, Julie A.; Potts, Christopher L.; Raofi, Behzad

2004-01-01

The Mars Exploration Rover (MER) project successfully landed two identical rovers on Mars in order to remotely conduct geologic investigations, including characterization of rocks and soils that may hold clues to past water activity. Two landing sites, Gusev crater and Meridiani Planum, were selected out of nearly 200 candidate sites after balancing science returns and flight system engineering and safety. Precise trajectory targeting and control was necessary to achieve the atmospheric entry requirements for the selected landing sites within the flight system constraints. This paper discusses the expected and achieved launch vehicle performance and the impacts of that performance on the first Trajectory Correction Maneuver (TCM-1) while maintaining targeting flexibility in accommodating additional project concerns about landing site safety and possible in-flight retargeting to alternate landing sites.

Electromagnetic Simulations of Ground-Penetrating Radar Propagation near Lunar Pits and Lava Tubes

Science.gov (United States)

Zimmerman, M. I.; Carter, L. M.; Farrell, W. M.; Bleacher, J. E.; Petro, N. E.

2013-01-01

Placing an Orion capsule at the Earth-Moon L2 point (EML2) would potentially enable telerobotic operation of a rover on the lunar surface. The Human Exploration Virtual Institute (HEVI) is proposing that rover operations be carried out near one of the recently discovered lunar pits, which may provide radiation shielding for long duration human stays as well as a cross-disciplinary, science-rich target for nearer-term telerobotic exploration. Ground penetrating radar (GPR) instrumentation included onboard a rover has the potential to reveal many details of underground geologic structures near a pit, as well as characteristics of the pit itself. In the present work we employ the full-wave electromagnetic code MEEP to simulate such GPR reflections from a lunar pit and other subsurface features including lava tubes. These simulations will feed forward to mission concepts requiring knowledge of where to hide from harmful radiation and other environmental hazards such as plama charging and extreme diurnal temperatures.

78 FR 19742 - Centennial Challenges: 2014 Night Rover Challenge

Science.gov (United States)

2013-04-02

... NATIONAL AERONAUTICS AND SPACE ADMINISTRATION [Notice 13-032] Centennial Challenges: 2014 Night... Centennial Challenges 2014 Night Rover Challenge. SUMMARY: This notice is issued in accordance with 51 U.S.C.... Centennial Challenges is a program of prize competitions to stimulate innovation in technologies of interest...

On the Role of Computer Graphics in Engineering Design Graphics Courses.

Science.gov (United States)

Pleck, Michael H.

The implementation of two- and three-dimensional computer graphics in a freshmen engineering design course at the university level is described. An assessment of the capabilities and limitations of computer graphics is made, along with a presentation of the fundamental role which computer graphics plays in engineering design instruction.…

Rover-Based Instrumentation and Scientific Investigations During the 2012 Analog Field Test on Mauna Kea Volcano, Hawaii

Science.gov (United States)

Graham, L. D.; Graff, T. G.

2013-01-01

Rover-based 2012 Moon and Mars Analog Mission Activities (MMAMA) were recently completed on Mauna Kea Volcano, Hawaii. Scientific investigations, scientific input, and operational constraints were tested in the context of existing project and protocols for the field activities designed to help NASA achieve the Vision for Space Exploration [1]. Several investigations were conducted by the rover mounted instruments to determine key geophysical and geochemical properties of the site, as well as capture the geological context of the area and the samples investigated. The rover traverse and associated science investigations were conducted over a three day period on the southeast flank of the Mauna Kea Volcano, Hawaii. The test area was at an elevation of 11,500 feet and is known as "Apollo Valley" (Fig. 1). Here we report the integration and operation of the rover-mounted instruments, as well as the scientific investigations that were conducted.

The PC graphics handbook

CERN Document Server

Sanchez, Julio

2003-01-01

Part I - Graphics Fundamentals PC GRAPHICS OVERVIEW History and Evolution Short History of PC Video PS/2 Video Systems SuperVGA Graphics Coprocessors and Accelerators Graphics Applications State-of-the-Art in PC Graphics 3D Application Programming Interfaces POLYGONAL MODELING Vector and Raster Data Coordinate Systems Modeling with Polygons IMAGE TRANSFORMATIONS Matrix-based Representations Matrix Arithmetic 3D Transformations PROGRAMMING MATRIX TRANSFORMATIONS Numeric Data in Matrix Form Array Processing PROJECTIONS AND RENDERING Perspective The Rendering Pipeline LIGHTING AND SHADING Lightin

Electrical power technology for robotic planetary rovers

Science.gov (United States)

Bankston, C. P.; Shirbacheh, M.; Bents, D. J.; Bozek, J. M.

1993-01-01

Power technologies which will enable a range of robotic rover vehicle missions by the end of the 1990s and beyond are discussed. The electrical power system is the most critical system for reliability and life, since all other on board functions (mobility, navigation, command and data, communications, and the scientific payload instruments) require electrical power. The following are discussed: power generation, energy storage, power management and distribution, and thermal management.

Autonomous Warplanes: NASA Rovers Lead the Way

Science.gov (United States)

2016-04-01

Warplanes NASA Rovers Lead the Way Michael R. Schroer Major, Air National Guard Wright Flyer No. 54 Air University Press Air Force Research Institute...between most airports across the continent proved an excellent further education in aviation. Piloting a business jet on a weeklong, 11- hop trek across...Research con- ducted by the National Aeronautics and Space Administration ( NASA ) offers useful lessons for the development of future military RPAs

Short report on the evaluation of a graphical user interface for radiation therapy planning systems

International Nuclear Information System (INIS)

Martin, M.B.

1993-01-01

Since their introduction graphical user interfaces for computing applications have generally appealed more to users than command-line or menu interfaces. Benefits from using a graphical interface include ease-of-use, ease-of-under-standing and increased productivity. For a radiation therapy planning application, an additional potential benefit is that the user regards the planning activity as a closer simulation of the real world situation. A prototype radiation therapy planning system incorporating a graphical user interface was developed on an Apple Macintosh microcomputer. Its graphic interface was then evaluated by twenty-six participants. The results showed markedly that the features associated with a graphic user interface were preferred. 6 refs., 3 figs., 1 tab

Search for life on Mars in surface samples: Lessons from the 1999 Marsokhod rover field experiment

Science.gov (United States)

Newsom, Horton E.; Bishop, J.L.; Cockell, C.; Roush, T.L.; Johnson, J. R.

2001-01-01

The Marsokhod 1999 field experiment in the Mojave Desert included a simulation of a rover-based sample selection mission. As part of this mission, a test was made of strategies and analytical techniques for identifying past or present life in environments expected to be present on Mars. A combination of visual clues from high-resolution images and the detection of an important biomolecule (chlorophyll) with visible/near-infrared (NIR) spectroscopy led to the successful identification of a rock with evidence of cryptoendolithic organisms. The sample was identified in high-resolution images (3 times the resolution of the Imager for Mars Pathfinder camera) on the basis of a green tinge and textural information suggesting the presence of a thin, partially missing exfoliating layer revealing the organisms. The presence of chlorophyll bands in similar samples was observed in visible/NIR spectra of samples in the field and later confirmed in the laboratory using the same spectrometer. Raman spectroscopy in the laboratory, simulating a remote measurement technique, also detected evidence of carotenoids in samples from the same area. Laboratory analysis confirmed that the subsurface layer of the rock is inhabited by a community of coccoid Chroococcidioposis cyanobacteria. The identification of minerals in the field, including carbonates and serpentine, that are associated with aqueous processes was also demonstrated using the visible/NIR spectrometer. Other lessons learned that are applicable to future rover missions include the benefits of web-based programs for target selection and for daily mission planning and the need for involvement of the science team in optimizing image compression schemes based on the retention of visual signature characteristics. Copyright 2000 by the American Geophysical Union.

Microbial Ecology of a Crewed Rover Traverse in the Arctic: Low Microbial Dispersal and Implications for Planetary Protection on Human Mars Missions.

Science.gov (United States)

Schuerger, Andrew C; Lee, Pascal

2015-06-01

Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (-20°C to -1°C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12-18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle.

Microbial Ecology of a Crewed Rover Traverse in the Arctic: Low Microbial Dispersal and Implications for Planetary Protection on Human Mars Missions

Science.gov (United States)

Schuerger, Andrew C.; Lee, Pascal

2015-01-01

Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (-20C to -1C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12-18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle. Key Words: Planetary protection-Contamination-Habitability-Haughton Crater-Mars. Astrobiology

Comparing orbiter and rover image-based mapping of an ancient sedimentary environment, Aeolis Palus, Gale crater, Mars

Science.gov (United States)

Stack, Kathryn M.; Edwards, Christopher; Grotzinger, J. P.; Gupta, S.; Sumner, D.; Edgar, Lauren; Fraeman, A.; Jacob, S.; LeDeit, L.; Lewis, K.W.; Rice, M.S.; Rubin, D.; Calef, F.; Edgett, K.; Williams, R.M.E.; Williford, K.H.

2016-01-01

This study provides the first systematic comparison of orbital facies maps with detailed ground-based geology observations from the Mars Science Laboratory (MSL) Curiosity rover to examine the validity of geologic interpretations derived from orbital image data. Orbital facies maps were constructed for the Darwin, Cooperstown, and Kimberley waypoints visited by the Curiosity rover using High Resolution Imaging Science Experiment (HiRISE) images. These maps, which represent the most detailed orbital analysis of these areas to date, were compared with rover image-based geologic maps and stratigraphic columns derived from Curiosity’s Mast Camera (Mastcam) and Mars Hand Lens Imager (MAHLI). Results show that bedrock outcrops can generally be distinguished from unconsolidated surficial deposits in high-resolution orbital images and that orbital facies mapping can be used to recognize geologic contacts between well-exposed bedrock units. However, process-based interpretations derived from orbital image mapping are difficult to infer without known regional context or observable paleogeomorphic indicators, and layer-cake models of stratigraphy derived from orbital maps oversimplify depositional relationships as revealed from a rover perspective. This study also shows that fine-scale orbital image-based mapping of current and future Mars landing sites is essential for optimizing the efficiency and science return of rover surface operations.

Graphics and control for in-reactor operations

International Nuclear Information System (INIS)

Smith, A.L.

1996-01-01

A wide range of manipulator systems has been developed to carry out remotely operated inspection, repair and maintenance tasks at the Magnox reactors in the United Kingdom. A key factor in the improvement of these systems in recent years has been the extensive use of computer graphics as a real-time aid to the manipulator operator. This is exemplified by the reactor pressure vessel inspection work at the Bradwell reactor which is described in detail. The graphics sub-system of the control system for the manipulator plays a unique and wide-ranging role. The 3D modelling and simulation capability of the IGRIP software has contributed to the conceptual design, detailed path planning, rehearsal support, public relations, real-time manipulator display, post inspection documentation and quality assurance. (UK)

Graphical Models with R

DEFF Research Database (Denmark)

Højsgaard, Søren; Edwards, David; Lauritzen, Steffen

Graphical models in their modern form have been around since the late 1970s and appear today in many areas of the sciences. Along with the ongoing developments of graphical models, a number of different graphical modeling software programs have been written over the years. In recent years many...... of these software developments have taken place within the R community, either in the form of new packages or by providing an R ingerface to existing software. This book attempts to give the reader a gentle introduction to graphical modeling using R and the main features of some of these packages. In addition......, the book provides examples of how more advanced aspects of graphical modeling can be represented and handled within R. Topics covered in the seven chapters include graphical models for contingency tables, Gaussian and mixed graphical models, Bayesian networks and modeling high dimensional data...

In-motion initial alignment and positioning with INS/CNS/ODO integrated navigation system for lunar rovers

Science.gov (United States)

Lu, Jiazhen; Lei, Chaohua; Yang, Yanqiang; Liu, Ming

2017-06-01

Many countries have been paying great attention to space exploration, especially about the Moon and the Mars. Autonomous and high-accuracy navigation systems are needed for probers and rovers to accomplish missions. Inertial navigation system (INS)/celestial navigation system (CNS) based navigation system has been used widely on the lunar rovers. Initialization is a particularly important step for navigation. This paper presents an in-motion alignment and positioning method for lunar rovers by INS/CNS/odometer integrated navigation. The method can estimate not only the position and attitude errors, but also the biases of the accelerometers and gyros using the standard Kalman filter. The differences between the platform star azimuth, elevation angles and the computed star azimuth, elevation angles, and the difference between the velocity measured by odometer and the velocity measured by inertial sensors are taken as measurements. The semi-physical experiments are implemented to demonstrate that the position error can reduce to 10 m and attitude error is within 2″ during 5 min. The experiment results prove that it is an effective and attractive initialization approach for lunar rovers.

Construction of a graphic interface for a nuclear reactor modelling and simulation

International Nuclear Information System (INIS)

Cadrdenas C, Carlos Roberto; Riquelme R, Raul Antonio.

1995-01-01

A graphic interface is presented for real time transient analysis under reactivity insertion, reactor operators training, and the RECH-1 reactor licensing, using the Paret (Program for Analysis of Reactor Transients) computer code. 17 refs., 29 figs

Exploiting current-generation graphics hardware for synthetic-scene generation

Science.gov (United States)

Tanner, Michael A.; Keen, Wayne A.

2010-04-01

Increasing seeker frame rate and pixel count, as well as the demand for higher levels of scene fidelity, have driven scene generation software for hardware-in-the-loop (HWIL) and software-in-the-loop (SWIL) testing to higher levels of parallelization. Because modern PC graphics cards provide multiple computational cores (240 shader cores for a current NVIDIA Corporation GeForce and Quadro cards), implementation of phenomenology codes on graphics processing units (GPUs) offers significant potential for simultaneous enhancement of simulation frame rate and fidelity. To take advantage of this potential requires algorithm implementation that is structured to minimize data transfers between the central processing unit (CPU) and the GPU. In this paper, preliminary methodologies developed at the Kinetic Hardware In-The-Loop Simulator (KHILS) will be presented. Included in this paper will be various language tradeoffs between conventional shader programming, Compute Unified Device Architecture (CUDA) and Open Computing Language (OpenCL), including performance trades and possible pathways for future tool development.

Nomad rover field experiment, Atacama Desert, Chile 1. Science results overview

Science.gov (United States)

Cabrol, N. A.; Thomas, G.; Witzke, B.

2001-04-01

Nomad was deployed for a 45 day traverse in the Atacama Desert, Chile, during the summer of 1997. During this traverse, 1 week was devoted to science experiments. The goal of the science experiments was to test different planetary surface exploration strategies that included (1) a Mars mission simulation, (2) a science on the fly experiment, where the rover was kept moving 75% of the operation time. (The goal of this operation was to determine whether or not successful interpretation of the environment is related to the time spent on a target. The role of mobility in helping the interpretation was also assessed.) (3) a meteorite search using visual and instrumental methods to remotely identify meteorites in extreme environments, and (4) a time-delay experiment with and without using the panospheric camera. The results were as follow: the remote science team positively identified the main characteristics of the test site geological environment. The science on the fly experiment showed that the selection of appropriate targets might be even more critical than the time spent on a study area to reconstruct the history of a site. During the same operation the science team members identified and sampled a rock from a Jurassic outcrop that they proposed to be a fossil. The presence of paleolife indicators in this rock was confirmed later by laboratory analysis. Both visual and instrumental modes demonstrated the feasibility, in at least some conditions, of carrying out a field search for meteorites by using remote-controlled vehicles. Finally, metrics collected from the observation of the science team operations, and the use team members made of mission data, provided critical information on what operation sequences could be automated on board rovers in future planetary surface explorations.

The Design of Two Nano-Rovers for Lunar Surface Exploration in the Context of the Google Lunar X Prize

Science.gov (United States)

Gill, E.; Honfi Camilo, L.; Kuystermans, P.; Maas, A. S. B. B.; Buutfeld, B. A. M.; van der Pols, R. H.

2008-09-01

This paper summarizes a study performed by ten students at the Delft University of Technology on a lunar exploration vehicle suited for competing in the Google Lunar X Prize1. The design philosophy aimed at a quick and simple design process, to comply with the mission constraints. This is achieved by using conventional technology and performing the mission with two identical rovers, increasing reliability and simplicity of systems. Both rovers are however capable of operating independently. The required subsystems have been designed for survival and operation on the lunar surface for an estimated mission lifetime of five days. This preliminary study shows that it is possible for two nano-rovers to perform the basic exploration tasks. The mission has been devised such that after launch the rovers endure a 160 hour voyage to the Moon after which they will land on Sinus Medii with a dedicated lunar transfer/lander vehicle. The mission outline itself has the two nano-rovers travelling in the same direction, moving simultaneously. This mission characteristic allows a quick take-over of the required tasks by the second rover in case of one rover breakdown. The main structure of the rovers will consist of Aluminium 2219 T851, due to its good thermal properties and high hardness. Because of the small dimensions of the rovers, the vehicles will use rigid caterpillar tracks as locomotion system. The track systems are sealed from lunar dust using closed track to prevent interference with the mechanisms. This also prevents any damage to the electronics inside the tracks. For the movement speed a velocity of 0.055 m/s has been determined. This is about 90% of the maximum rover velocity, allowing direct control from Earth. The rovers are operated by a direct control loop, involving the mission control center. In order to direct the rovers safely, a continuous video link with the Earth is necessary to assess its immediate surroundings. Two forward pointing navigational cameras

ElectroEncephaloGraphics: Making waves in computer graphics research.

Science.gov (United States)

Mustafa, Maryam; Magnor, Marcus

2014-01-01

Electroencephalography (EEG) is a novel modality for investigating perceptual graphics problems. Until recently, EEG has predominantly been used for clinical diagnosis, in psychology, and by the brain-computer-interface community. Researchers are extending it to help understand the perception of visual output from graphics applications and to create approaches based on direct neural feedback. Researchers have applied EEG to graphics to determine perceived image and video quality by detecting typical rendering artifacts, to evaluate visualization effectiveness by calculating the cognitive load, and to automatically optimize rendering parameters for images and videos on the basis of implicit neural feedback.

MSR Fetch Rover Capability Development at the Canadian Space Agency

Science.gov (United States)

Picard, M.; Hipkin, V.; Gingras, D.; Allard, P.; Lamarche, T.; Rocheleau, S. G.; Gemme, S.

2018-04-01

Describes Fetch Rover technology testing during CSA's 2016 Mars Sample Return Analogue Deployment which demonstrated autonomous navigation to 'cache depots' of M-2020-like sample tubes, acquisition of six such tubes, and transfer to a MAV mock up.

Nuclear reactors; graphical symbols

International Nuclear Information System (INIS)

1987-11-01

This standard contains graphical symbols that reveal the type of nuclear reactor and is used to design graphical and technical presentations. Distinguishing features for nuclear reactors are laid down in graphical symbols. (orig.) [de

An Overview of Wind-Driven Rovers for Planetary Exploration

Science.gov (United States)

Hajos, Gregory A.; Jones, Jack A.; Behar, Alberto; Dodd, Micheal

2005-01-01

The use of in-situ propulsion is considered enabling technology for long duration planetary surface missions. Most studies have focused on stored energy from chemicals extracted from the soil or the use of soil chemicals to produce photovoltaic arrays. An older form of in-situ propulsion is the use of wind power. Recent studies have shown potential for wind driven craft for exploration of Mars, Titan and Venus. The power of the wind, used for centuries to power wind mills and sailing ships, is now being applied to modern land craft. Efforts are now underway to use the wind to push exploration vehicles on other planets and moons in extended survey missions. Tumbleweed rovers are emerging as a new type of wind-driven science platform concept. Recent investigations by the National Aeronautics and Space Administration (NASA) and Jet Propulsion Laboratory (JPL) indicate that these light-weight, mostly spherical or quasi-spherical devices have potential for long distance surface exploration missions. As a power boat has unique capabilities, but relies on stored energy (fuel) to move the vessel, the Tumbleweed, like the sailing ships of the early explorers on earth, uses an unlimited resource the wind to move around the surface of Mars. This has the potential to reduce the major mass drivers of robotic rovers as well as the power generation and storage systems. Jacques Blamont of JPL and the University of Paris conceived the first documented Mars wind-blown ball in 1977, shortly after the Viking landers discovered that Mars has a thin CO2 atmosphere with relatively strong winds. In 1995, Jack Jones, et al, of JPL conceived of a large wind-blown inflated ball for Mars that could also be driven and steered by means of a motorized mass hanging beneath the rolling axis of the ball. A team at NASA Langley Research Center started a biomimetic Tumbleweed design study in 1998. Wind tunnel and CFD analysis were applied to a variety of concepts to optimize the aerodynamic

Ground Contact Model for Mars Science Laboratory Mission Simulations

Science.gov (United States)

Raiszadeh, Behzad; Way, David

2012-01-01

The Program to Optimize Simulated Trajectories II (POST 2) has been successful in simulating the flight of launch vehicles and entry bodies on earth and other planets. POST 2 has been the primary simulation tool for the Entry Descent, and Landing (EDL) phase of numerous Mars lander missions such as Mars Pathfinder in 1997, the twin Mars Exploration Rovers (MER-A and MER-B) in 2004, Mars Phoenix lander in 2007, and it is now the main trajectory simulation tool for Mars Science Laboratory (MSL) in 2012. In all previous missions, the POST 2 simulation ended before ground impact, and a tool other than POST 2 simulated landing dynamics. It would be ideal for one tool to simulate the entire EDL sequence, thus avoiding errors that could be introduced by handing off position, velocity, or other fight parameters from one simulation to the other. The desire to have one continuous end-to-end simulation was the motivation for developing the ground interaction model in POST 2. Rover landing, including the detection of the postlanding state, is a very critical part of the MSL mission, as the EDL landing sequence continues for a few seconds after landing. The method explained in this paper illustrates how a simple ground force interaction model has been added to POST 2, which allows simulation of the entire EDL from atmospheric entry through touchdown.

The graphics future in scientific applications-trends and developments in computer graphics

CERN Document Server

Enderle, G

1982-01-01

Computer graphics methods and tools are being used to a great extent in scientific research. The future development in this area will be influenced both by new hardware developments and by software advances. On the hardware sector, the development of the raster technology will lead to the increased use of colour workstations with more local processing power. Colour hardcopy devices for creating plots, slides, or movies will be available at a lower price than today. The first real 3D-workstations will appear on the marketplace. One of the main activities on the software sector is the standardization of computer graphics systems, graphical files, and device interfaces. This will lead to more portable graphical application programs and to a common base for computer graphics education.

Technical and regulatory review of the Rover nuclear fuel process for use on Fort St. Vrain fuel

International Nuclear Information System (INIS)

Hertzler, T.

1993-02-01

This report describes the results of an analysis for processing and final disposal of Fort St. Vrain (FSV) irradiated fuel in Rover-type equipment or technologies. This analysis includes an evaluation of the current Rover equipment status and the applicability of this technology in processing FSV fuel. The analyses are based on the physical characteristics of the FSV fuel and processing capabilities of the Rover equipment. Alternate FSV fuel disposal options are also considered including fuel-rod removal from the block, disposal of the empty block, or disposal of the entire fuel-containing block. The results of these analyses document that the current Rover hardware is not operable for any purpose, and any effort to restart this hardware will require extensive modifications and re-evaluation. However, various aspects of the Rover technology, such as the successful fluid-bed burner design, can be applied with modification to FSV fuel processing. The current regulatory climate and technical knowledge are not adequately defined to allow a complete analysis and conclusion with respect to the disposal of intact fuel blocks with or without the fuel rods removed. The primary unknowns include the various aspects of fuel-rod removal from the block, concentration of radionuclides remaining in the graphite block after rod removal, and acceptability of carbon in the form of graphite in a high level waste repository

Accelerating VASP electronic structure calculations using graphic processing units

KAUST Repository

Hacene, Mohamed

2012-08-20

We present a way to improve the performance of the electronic structure Vienna Ab initio Simulation Package (VASP) program. We show that high-performance computers equipped with graphics processing units (GPUs) as accelerators may reduce drastically the computation time when offloading these sections to the graphic chips. The procedure consists of (i) profiling the performance of the code to isolate the time-consuming parts, (ii) rewriting these so that the algorithms become better-suited for the chosen graphic accelerator, and (iii) optimizing memory traffic between the host computer and the GPU accelerator. We chose to accelerate VASP with NVIDIA GPU using CUDA. We compare the GPU and original versions of VASP by evaluating the Davidson and RMM-DIIS algorithms on chemical systems of up to 1100 atoms. In these tests, the total time is reduced by a factor between 3 and 8 when running on n (CPU core + GPU) compared to n CPU cores only, without any accuracy loss. © 2012 Wiley Periodicals, Inc.

Accelerating VASP electronic structure calculations using graphic processing units

KAUST Repository

Hacene, Mohamed; Anciaux-Sedrakian, Ani; Rozanska, Xavier; Klahr, Diego; Guignon, Thomas; Fleurat-Lessard, Paul

2012-01-01

We present a way to improve the performance of the electronic structure Vienna Ab initio Simulation Package (VASP) program. We show that high-performance computers equipped with graphics processing units (GPUs) as accelerators may reduce drastically the computation time when offloading these sections to the graphic chips. The procedure consists of (i) profiling the performance of the code to isolate the time-consuming parts, (ii) rewriting these so that the algorithms become better-suited for the chosen graphic accelerator, and (iii) optimizing memory traffic between the host computer and the GPU accelerator. We chose to accelerate VASP with NVIDIA GPU using CUDA. We compare the GPU and original versions of VASP by evaluating the Davidson and RMM-DIIS algorithms on chemical systems of up to 1100 atoms. In these tests, the total time is reduced by a factor between 3 and 8 when running on n (CPU core + GPU) compared to n CPU cores only, without any accuracy loss. © 2012 Wiley Periodicals, Inc.

Graphic Storytelling

Science.gov (United States)

Thompson, John

2009-01-01

Graphic storytelling is a medium that allows students to make and share stories, while developing their art communication skills. American comics today are more varied in genre, approach, and audience than ever before. When considering the impact of Japanese manga on the youth, graphic storytelling emerges as a powerful player in pop culture. In…

Development of the operator training system using computer graphics. Pt. 2. Operator behavior CG system and its applications

International Nuclear Information System (INIS)

Sasou, Kunihide; Ebisu, Mitsuhiro; Takano, Kenichi; Watabe, Kazuyuki

2003-01-01

In training, it has been important to show good performance of operators dealing with abnormal operating; condition simulated by a training simulator. Video-taping of the scenario-based performance by instructors of a training center is the most common way. However, it is difficult for the experienced instructors to show good performance due to the stress of being video-taped. Therefore, the authors developed a system named Operator Behavior Computer Graphic System (OBCGS) to computer-graphically show the behavior of operators. The input data of this system are data on operation, watching, walking and utterances with time, objects of operation and watching, contents of their behavior, etc. The system temporally uses the output data of Man Machine Simulator developed by CRIEPI. OBCGS has 3 kinds of user interfaces. The first one computer-graphically shows 3 operators and one shift supervisor behaving in the control room from a bird's eye viewpoint. The second one has multi windows to show details of computer graphics of operators and control panels. The last one shows the history of operations, warnings and utterance. The system shows reasonable computer graphics in quality from the viewpoint of showing good performance of operations. This report also describes how to use the OBCGS and ways of application to the operator training. (author)

Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

Science.gov (United States)

Barker, L. K.; Houck, J. A.; Carzoo, S. W.

1984-01-01

An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

Functional information technology in geometry-graphic training of engineers

Directory of Open Access Journals (Sweden)

Irina D. Stolbova

2017-01-01

Full Text Available In the last decade, information technology fundamentally changed the design activity and made significant adjustments to the development of design documentation. Electronic drawings and 3d-models appeared instead of paper drawings and the traditional form of the design documentation. Geometric modeling of 3d-technology has replaced the graphic design technology. Standards on the electronic models are introduced. Electronic prototypes and 3d-printing contribute to the spread of rapid prototyping technologies.In these conditions, the task to find the new learning technology, corresponding to the level of development of information technologies and meeting the requirements of modern design and manufacturing technologies, comes to the fore. The purpose of this paper — the analysis of the information technology capabilities in the formation of geometrical-graphic competences, happening in the base of graphic training of students of technical university. Traditionally, basic graphic training of students in the junior university courses consisted in consecutive studying of the descriptive geometry, engineering and computer graphics. Today, the use of integrative approach is relevant, but the role of computer graphics varies considerably. It is not only an object of study, but also a learning tool, the core base of graphic training of students. Computer graphics is an efficient mechanism for the development of students’ spatial thinking. The role of instrumental training of students to the wide use of CAD-systems increases in the solution of educational problems and in the implementation of project tasks, which corresponds to the modern requirements of the professional work of the designer-constructor.In this paper, the following methods are used: system analysis, synthesis, simulation.General geometric-graphic training model of students of innovation orientation, based on the use of a wide range of computer technology is developed. The

A Theoretical Analysis of Learning with Graphics--Implications for Computer Graphics Design.

Science.gov (United States)

ChanLin, Lih-Juan

This paper reviews the literature pertinent to learning with graphics. The dual coding theory provides explanation about how graphics are stored and precessed in semantic memory. The level of processing theory suggests how graphics can be employed in learning to encourage deeper processing. In addition to dual coding theory and level of processing…

INTERNATIONAL CORPORATE RELATIONS : Strategic Alliance and M&A : The Case of Honda, Rover and BMW

OpenAIRE

勝二, 俊和; ショウジ, トシカズ; TOSHIKAZU, SHOJI

1998-01-01

The primary objective of the dissertation is to compare and contrast two strategies of international corporate relations; "strategic alliances" and "mergers and acquisitions". The focus would be on Honda, Rover and BMW which exhibited characteristics, strengths and weaknesses of both "strategic alliances" and "mergers and acquisitions" The thesis will also demonstrate how the BMW deal caused instability and thus made the alliance vulnerable. When companies like Honda, Rover and BMW adopt eith...

Graphic Turbulence Guidance

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — Forecast turbulence hazards identified by the Graphical Turbulence Guidance algorithm. The Graphical Turbulence Guidance product depicts mid-level and upper-level...

Flight Telerobotic Servicer prototype simulator

Science.gov (United States)

Schein, Rob; Krauze, Linda; Hartley, Craig; Dickenson, Alan; Lavecchia, Tom; Working, Bob

A prototype simulator for the Flight Telerobotic Servicer (FTS) system is described for use in the design development of the FTS, emphasizing the hand controller and user interface. The simulator utilizes a graphics workstation based on rapid prototyping tools for systems analyses of the use of the user interface and the hand controller. Kinematic modeling, manipulator-control algorithms, and communications programs are contained in the software for the simulator. The hardwired FTS panels and operator interface for use on the STS Orbiter are represented graphically, and the simulated controls function as the final FTS system configuration does. The robotic arm moves based on the user hand-controller interface, and the joint angles and other data are given on the prototype of the user interface. This graphics simulation tool provides the means for familiarizing crewmembers with the FTS system operation, displays, and controls.

SpineCreator: a Graphical User Interface for the Creation of Layered Neural Models.

Science.gov (United States)

Cope, A J; Richmond, P; James, S S; Gurney, K; Allerton, D J

2017-01-01

There is a growing requirement in computational neuroscience for tools that permit collaborative model building, model sharing, combining existing models into a larger system (multi-scale model integration), and are able to simulate models using a variety of simulation engines and hardware platforms. Layered XML model specification formats solve many of these problems, however they are difficult to write and visualise without tools. Here we describe a new graphical software tool, SpineCreator, which facilitates the creation and visualisation of layered models of point spiking neurons or rate coded neurons without requiring the need for programming. We demonstrate the tool through the reproduction and visualisation of published models and show simulation results using code generation interfaced directly into SpineCreator. As a unique application for the graphical creation of neural networks, SpineCreator represents an important step forward for neuronal modelling.

Graphic Presentation: An Empirical Examination of the Graphic Novel Approach to Communicate Business Concepts

Science.gov (United States)

Short, Jeremy C.; Randolph-Seng, Brandon; McKenny, Aaron F.

2013-01-01

Graphic novels have been increasingly incorporated into business communication forums. Despite potential benefits, little research has examined the merits of the graphic novel approach. In response, we engage in a two-study approach. Study 1 explores the potential of graphic novels to affect learning outcomes and finds that the graphic novel was…

Platform for Testing Robotic Vehicles on Simulated Terrain

Science.gov (United States)

Lindemann, Randel

2006-01-01

The variable terrain tilt platform (VTTP) is a means of providing simulated terrain for mobility testing of engineering models of the Mars Exploration Rovers. The VTTP could also be used for testing the ability of other robotic land vehicles (and small vehicles in general) to move across terrain under diverse conditions of slope and surface texture, and in the presence of obstacles of various sizes and shapes. The VTTP consists mostly of a 16-ft-(4.88-m)-square tilt table. The tilt can be adjusted to any angle between 0 (horizontal) and 25 . The test surface of the table can be left bare; can be covered with hard, high-friction material; or can be covered with sand, gravel, and/or other ground-simulating material or combination of materials to a thickness of as much as 6 in. (approx. 15 cm). Models of rocks, trenches, and other obstacles can be placed on the simulated terrain. For example, for one of the Mars- Rover tests, a high-friction mat was attached to the platform, then a 6-in.- ( 15 cm) deep layer of dry, loose beach sand was deposited on the mat. The choice of these two driving surface materials was meant to bound the range of variability of terrain that the rover was expected to encounter on the Martian surface. At each of the different angles at which tests were performed, for some of the tests, rocklike concrete obstacles ranging in height from 10 to 25 cm were placed in the path of the rover (see figure). The development of the VTTP was accompanied by development of a methodology of testing to characterize the performance and modes of failure of a vehicle under test. In addition to variations in slope, ground material, and obstacles, testing typically includes driving up-slope, down-slope, cross-slope, and at intermediate angles relative to slope. Testing includes recording of drive-motor currents, wheel speeds, articulation of suspension mechanisms, and the actual path of the vehicle over the simulated terrain. The collected data can be used to

Reasoning with inaccurate spatial knowledge. [for Planetary Rover

Science.gov (United States)

Doshi, Rajkumar S.; White, James E.; Lam, Raymond; Atkinson, David J.

1988-01-01

This paper describes work in progress on spatial planning for a semiautonomous mobile robot vehicle. The overall objective is to design a semiautonomous rover to plan routes in unknown, natural terrains. The approach to spatial planning involves deduction of common-sense spatial knowledge using geographical information, natural terrain representations, and assimilation of new and possibly conflicting terrain information. This report describes the ongoing research and implementation.

DACIA LOGAN LIVE AXLE OPTIMISATION USING COMPUTER GRAPHICS

Directory of Open Access Journals (Sweden)

KIRALY Andrei

2017-05-01

Full Text Available The paper presents some contributions to the calculus and optimisation of a live axle used at Dacia Logan using computer graphics software for creating the model and afterwards using FEA evaluation to determine the effectiveness of the optimisation. Thus using specialized computer software, a simulation is made and the results were compared to the measured real prototype.

CFD Analysis for Assessing the Effect of Wind on the Thermal Control of the Mars Science Laboratory Curiosity Rover

Science.gov (United States)

Bhandari, Pradeep; Anderson, Kevin

2013-01-01

The challenging range of landing sites for which the Mars Science Laboratory Rover was designed, requires a rover thermal management system that is capable of keeping temperatures controlled across a wide variety of environmental conditions. On the Martian surface where temperatures can be as cold as -123 C and as warm as 38 C, the rover relies upon a Mechanically Pumped Fluid Loop (MPFL) Rover Heat Rejection System (RHRS) and external radiators to maintain the temperature of sensitive electronics and science instruments within a -40 C to 50 C range. The RHRS harnesses some of the waste heat generated from the rover power source, known as the Multi Mission Radioisotope Thermoelectric Generator (MMRTG), for use as survival heat for the rover during cold conditions. The MMRTG produces 110 W of electrical power while generating waste heat equivalent to approximately 2000 W. Heat exchanger plates (hot plates) positioned close to the MMRTG pick up this survival heat from it by radiative heat transfer. Winds on Mars can be as fast as 15 m/s for extended periods. They can lead to significant heat loss from the MMRTG and the hot plates due to convective heat pick up from these surfaces. Estimation of this convective heat loss cannot be accurately and adequately achieved by simple textbook based calculations because of the very complicated flow fields around these surfaces, which are a function of wind direction and speed. Accurate calculations necessitated the employment of sophisticated Computational Fluid Dynamics (CFD) computer codes. This paper describes the methodology and results of these CFD calculations. Additionally, these results are compared to simple textbook based calculations that served as benchmarks and sanity checks for them. And finally, the overall RHRS system performance predictions will be shared to show how these results affected the overall rover thermal performance.

Applied design methodology for lunar rover elastic wheel

Science.gov (United States)

Cardile, Diego; Viola, Nicole; Chiesa, Sergio; Rougier, Alessandro

2012-12-01

In recent years an increasing interest in the Moon surface operations has been experienced. In the future robotic and manned missions of Moon surface exploration will be fundamental in order to lay the groundwork for more ambitious space exploration programs. Surface mobility systems will be the key elements to ensure an efficient and safe Moon exploration. Future lunar rovers are likely to be heavier and able to travel longer distances than the previously developed Moon rover systems. The Lunar Roving Vehicle (LRV) is the only manned rover, which has so far been launched and used on the Moon surface. Its mobility system included flexible wheels that cannot be scaled to the heavier and longer range vehicles. Thus the previously developed wheels are likely not to be suitable for the new larger vehicles. Taking all these considerations into account, on the basis of the system requirements and assumptions, several wheel concepts have been discussed and evaluated through a trade-off analysis. Semi-empirical equations have been utilized to predict the wheel geometrical characteristics, as well as to estimate the motion resistances and the ability of the system to generate thrust. A numerical model has also been implemented, in order to define more into the details the whole wheel design, in terms of wheel geometry and physical properties. As a result of the trade-off analysis, the ellipse wheel concept has shown the best behavior in terms of stiffness, mass budget and dynamic performance. The results presented in the paper have been obtained in cooperation with Thales Alenia Space-Italy and Sicme motori, in the framework of a regional program called STEPS . STEPS-Sistemi e Tecnologie per l'EsPlorazione Spaziale is a research project co-financed by Piedmont Region and firms and universities of the Piedmont Aerospace District in the ambit of the P.O.R-F.E.S.R. 2007-2013 program.

Graphic display of spatially distributed binary-state experimental data

International Nuclear Information System (INIS)

Watson, B.L.

1981-01-01

Experimental data collected from a large number of transducers spatially distributed throughout a three-dimensional volume has typically posed a difficult interpretation task for the analyst. This paper describes one approach to alleviating this problem by presenting color graphic displays of experimental data; specifically, data representing the dynamic three-dimensional distribution of cooling fluid collected during the reflood and refill of simulated nuclear reactor vessels. Color-coded binary data (wet/dry) are integrated with a graphic representation of the reactor vessel and displayed on a high-resolution color CRT. The display is updated with successive data sets and made into 16-mm movies for distribution and analysis. Specific display formats are presented and extension to other applications discussed

THE USING OF GRAPHICAL EDITOR IN THE ENGINEERING GRAPHICS AND THE COURSE DESIGNING

Directory of Open Access Journals (Sweden)

KARPYUK L. V.

2016-08-01

Full Text Available The problems of learning students of the engineering and computer graphics of the course on the base of computer-aided design (CAD were described in the article. The examples of training tasks for acquiring knowledge of work in the environment of graphical editor of AutoCAD were shown. These examples are needed to perform drawings on The Engineering Graphics, and also for a graphic part of Course Projects for students of mechanical specialties.

Graphics gems V (Macintosh version)

CERN Document Server

Paeth, Alan W

1995-01-01

Graphics Gems V is the newest volume in The Graphics Gems Series. It is intended to provide the graphics community with a set of practical tools for implementing new ideas and techniques, and to offer working solutions to real programming problems. These tools are written by a wide variety of graphics programmers from industry, academia, and research. The books in the series have become essential, time-saving tools for many programmers.Latest collection of graphics tips in The Graphics Gems Series written by the leading programmers in the field.Contains over 50 new gems displaying some of t

Graphical Rasch models

DEFF Research Database (Denmark)

Kreiner, Svend; Christensen, Karl Bang

Rasch models; Partial Credit models; Rating Scale models; Item bias; Differential item functioning; Local independence; Graphical models......Rasch models; Partial Credit models; Rating Scale models; Item bias; Differential item functioning; Local independence; Graphical models...

Large-area Soil Moisture Surveys Using a Cosmic-ray Rover: Approaches and Results from Australia

Science.gov (United States)

Hawdon, A. A.; McJannet, D. L.; Renzullo, L. J.; Baker, B.; Searle, R.

2017-12-01

Recent improvements in satellite instrumentation has increased the resolution and frequency of soil moisture observations, and this in turn has supported the development of higher resolution land surface process models. Calibration and validation of these products is restricted by the mismatch of scales between remotely sensed and contemporary ground based observations. Although the cosmic ray neutron soil moisture probe can provide estimates soil moisture at a scale useful for the calibration and validation purposes, it is spatially limited to a single, fixed location. This scaling issue has been addressed with the development of mobile soil moisture monitoring systems that utilizes the cosmic ray neutron method, typically referred to as a `rover'. This manuscript describes a project designed to develop approaches for undertaking rover surveys to produce soil moisture estimates at scales comparable to satellite observations and land surface process models. A custom designed, trailer-mounted rover was used to conduct repeat surveys at two scales in the Mallee region of Victoria, Australia. A broad scale survey was conducted at 36 x 36 km covering an area of a standard SMAP pixel and an intensive scale survey was conducted over a 10 x 10 km portion of the broad scale survey, which is at a scale equivalent to that used for national water balance modelling. We will describe the design of the rover, the methods used for converting neutron counts into soil moisture and discuss factors controlling soil moisture variability. We found that the intensive scale rover surveys produced reliable soil moisture estimates at 1 km resolution and the broad scale at 9 km resolution. We conclude that these products are well suited for future analysis of satellite soil moisture retrievals and finer scale soil moisture models.

Perception in statistical graphics

Science.gov (United States)

VanderPlas, Susan Ruth

There has been quite a bit of research on statistical graphics and visualization, generally focused on new types of graphics, new software to create graphics, interactivity, and usability studies. Our ability to interpret and use statistical graphics hinges on the interface between the graph itself and the brain that perceives and interprets it, and there is substantially less research on the interplay between graph, eye, brain, and mind than is sufficient to understand the nature of these relationships. The goal of the work presented here is to further explore the interplay between a static graph, the translation of that graph from paper to mental representation (the journey from eye to brain), and the mental processes that operate on that graph once it is transferred into memory (mind). Understanding the perception of statistical graphics should allow researchers to create more effective graphs which produce fewer distortions and viewer errors while reducing the cognitive load necessary to understand the information presented in the graph. Taken together, these experiments should lay a foundation for exploring the perception of statistical graphics. There has been considerable research into the accuracy of numerical judgments viewers make from graphs, and these studies are useful, but it is more effective to understand how errors in these judgments occur so that the root cause of the error can be addressed directly. Understanding how visual reasoning relates to the ability to make judgments from graphs allows us to tailor graphics to particular target audiences. In addition, understanding the hierarchy of salient features in statistical graphics allows us to clearly communicate the important message from data or statistical models by constructing graphics which are designed specifically for the perceptual system.

A man-machine interface for simulation purposes

International Nuclear Information System (INIS)

Galan, J.M.; Almeida, J.M.; Duque, J.M.

1990-01-01

This paper describes a man-machine interface, to link any simulator program to a control panel made up of an array of color graphic screens. This task is performed by a communications program which extracts the data from the simulator program, sorts the data, and sends it, through the network, to graphics programs running in workstations. There, the data is displayed on color graphic screens. A graphics package was specifically designed to assist the user handling of complex circuits, and the formatting and display of data on the screens. (author)

Decision making in water resource planning: Models and computer graphics

Energy Technology Data Exchange (ETDEWEB)

Fedra, K; Carlsen, A J [ed.

1987-01-01

This paper describes some basic concepts of simulation-based decision support systems for water resources management and the role of symbolic, graphics-based user interfaces. Designed to allow direct and easy access to advanced methods of analysis and decision support for a broad and heterogeneous group of users, these systems combine data base management, system simulation, operations research techniques such as optimization, interactive data analysis, elements of advanced decision technology, and artificial intelligence, with a friendly and conversational, symbolic display oriented user interface. Important features of the interface are the use of several parallel or alternative styles of interaction and display, indlucing colour graphics and natural language. Combining quantitative numerical methods with qualitative and heuristic approaches, and giving the user direct and interactive control over the systems function, human knowledge, experience and judgement are integrated with formal approaches into a tightly coupled man-machine system through an intelligent and easily accessible user interface. 4 drawings, 42 references.

Simulation enters a new era

International Nuclear Information System (INIS)

White, J.

1992-01-01

Nuclear plant simulation continues to evolve rapidly as ever increasing computer power becomes available at ever decreasing prices. S3 Technologies while still dedicated to designing the full-scope control room simulators that make training so realistic, are now extending training beyond the control room with small, powerful computers and innovative graphics. The small graphics-driven simulators can supplement the traditional training with a more personal and flexible approach by exploiting existing models in different environments. We are also capitalising on the same technologies and trends that permit us to change the methods of training to simplify our approach to engineering by combining small, powerful computers, graphics-based model creation and automatic code generators. (Author)

Rover exploration on the lunar surface; a science proposal for SELENE-B mission

Science.gov (United States)

Sasaki, S.; Kubota, T.; Akiyama, H.; Hirata, N.; Kunii, Y.; Matsumoto, K.; Okada, T.; Otake, M.; Saiki, K.; Sugihara, T.

LUNARSURFACE:ASCIENCES. Sasaki (1), T. Kubota (2) , H. Akiyama (1) , N. Hirata (3), Y. Kunii (4), K. Matsumoto (5), T. Okada (2), M. Otake (3), K. Saiki (6), T. Sugihara (3) (1) Department of Earth and Planetary Science, Univ. Tokyo, (2) Institute of Space and Astronautical Sciences, (3) National Space Development Agency of Japan, (4) Department of Electrical and Electronic Engineering, Chuo Univ., (5) National Aerospace Laboratory of Japan, (6) Research Institute of Materials and Resources, Akita Univ. sho@eps.s.u -tokyo.ac.jp/Fax:+81-3-5841-4569 A new lunar landing mission (SELENE-B) is now in consideration in Japan. Scientific investigation plans using a rover are proposed. To clarify the origin and evolution of the moon, the early crustal formation and later mare volcanic processes are still unveiled. We proposed two geological investigation plans: exploration of a crater central peak to discover subsurface materials and exploration of dome-cone structures on young mare region. We propose multi-band macro/micro camera using AOTF, X-ray spectrometer/diffractometer and gamma ray spectrometer. Since observation of rock fragments in brecciaed rocks is necessary, the rover should have cutting or scraping mechanism of rocks. In our current scenario, landing should be performed about 500m from the main target (foot of a crater central peak or a cone/dome). After the spectral survey by multi-band camera on the lander, the rover should be deployed for geological investigation. The rover should make a short (a few tens meter) round trip at first, then it should perform traverse observation toward the main target. Some technological investigations on SELENE-B project will be also presented.

Scaling up high throughput field phenotyping of corn and soy research plots using ground rovers

Science.gov (United States)

Peshlov, Boyan; Nakarmi, Akash; Baldwin, Steven; Essner, Scott; French, Jasenka

2017-05-01

Crop improvement programs require large and meticulous selection processes that effectively and accurately collect and analyze data to generate quality plant products as efficiently as possible, develop superior cropping and/or crop improvement methods. Typically, data collection for such testing is performed by field teams using hand-held instruments or manually-controlled devices. Although steps are taken to reduce error, the data collected in such manner can be unreliable due to human error and fatigue, which reduces the ability to make accurate selection decisions. Monsanto engineering teams have developed a high-clearance mobile platform (Rover) as a step towards high throughput and high accuracy phenotyping at an industrial scale. The rovers are equipped with GPS navigation, multiple cameras and sensors and on-board computers to acquire data and compute plant vigor metrics per plot. The supporting IT systems enable automatic path planning, plot identification, image and point cloud data QA/QC and near real-time analysis where results are streamed to enterprise databases for additional statistical analysis and product advancement decisions. Since the rover program was launched in North America in 2013, the number of research plots we can analyze in a growing season has expanded dramatically. This work describes some of the successes and challenges in scaling up of the rover platform for automated phenotyping to enable science at scale.

The computer graphics metafile

CERN Document Server

Henderson, LR; Shepherd, B; Arnold, D B

1990-01-01

The Computer Graphics Metafile deals with the Computer Graphics Metafile (CGM) standard and covers topics ranging from the structure and contents of a metafile to CGM functionality, metafile elements, and real-world applications of CGM. Binary Encoding, Character Encoding, application profiles, and implementations are also discussed. This book is comprised of 18 chapters divided into five sections and begins with an overview of the CGM standard and how it can meet some of the requirements for storage of graphical data within a graphics system or application environment. The reader is then intr

The computer graphics interface

CERN Document Server

Steinbrugge Chauveau, Karla; Niles Reed, Theodore; Shepherd, B

2014-01-01

The Computer Graphics Interface provides a concise discussion of computer graphics interface (CGI) standards. The title is comprised of seven chapters that cover the concepts of the CGI standard. Figures and examples are also included. The first chapter provides a general overview of CGI; this chapter covers graphics standards, functional specifications, and syntactic interfaces. Next, the book discusses the basic concepts of CGI, such as inquiry, profiles, and registration. The third chapter covers the CGI concepts and functions, while the fourth chapter deals with the concept of graphic obje

Brake Failure from Residual Magnetism in the Mars Exploration Rover Lander Petal Actuator

Science.gov (United States)

Jandura, Louise

2004-01-01

In January 2004, two Mars Exploration Rover spacecraft arrived at Mars. Each safely delivered an identical rover to the Martian surface in a tetrahedral lander encased in airbags. Upon landing, the airbags deflated and three Lander Petal Actuators opened the three deployable Lander side petals enabling the rover to exit the Lander. Approximately nine weeks prior to the scheduled launch of the first spacecraft, one of these mission-critical Lander Petal Actuators exhibited a brake stuck-open failure during its final flight stow at Kennedy Space Center. Residual magnetism was the definitive conclusion from the failure investigation. Although residual magnetism was recognized as an issue in the design, the lack of an appropriately specified lower bound on brake drop-out voltage inhibited the discovery of this problem earlier in the program. In addition, the brakes had more unit-to-unit variation in drop-out voltage than expected, likely due to a larger than expected variation in the magnetic properties of the 15-5 PH stainless steel brake plates. Failure analysis and subsequent rework of two other Lander Petal Actuators with marginal brakes was completed in three weeks, causing no impact to the launch date.

Programación de gráficos 3D con Mathematica, DrawGraphics, CurvesGraphics, LiveGraphics3D y JavaView

OpenAIRE

Mora Flores, Walter; Instituto Tecnológico de Costa Rica; Figueroa, Geovanni; Instituto Tecnológico de Costa Rica

2015-01-01

Se muestra como integrar las herramientas: Mathematica (y los paquetes DrawGraphics y CurvesGraphics), LiveGraphics3D, JavaView y html, para crear algunas figuras 3D las cuales se pueden incrustar en páginas Web independientes y con posibilidad de interacción.

Trajectory optimization for lunar rover performing vertical takeoff vertical landing maneuvers in the presence of terrain

Science.gov (United States)

Ma, Lin; Wang, Kexin; Xu, Zuhua; Shao, Zhijiang; Song, Zhengyu; Biegler, Lorenz T.

2018-05-01

This study presents a trajectory optimization framework for lunar rover performing vertical takeoff vertical landing (VTVL) maneuvers in the presence of terrain using variable-thrust propulsion. First, a VTVL trajectory optimization problem with three-dimensional kinematics and dynamics model, boundary conditions, and path constraints is formulated. Then, a finite-element approach transcribes the formulated trajectory optimization problem into a nonlinear programming (NLP) problem solved by a highly efficient NLP solver. A homotopy-based backtracking strategy is applied to enhance the convergence in solving the formulated VTVL trajectory optimization problem. The optimal thrust solution typically has a "bang-bang" profile considering that bounds are imposed on the magnitude of engine thrust. An adaptive mesh refinement strategy based on a constant Hamiltonian profile is designed to address the difficulty in locating the breakpoints in the thrust profile. Four scenarios are simulated. Simulation results indicate that the proposed trajectory optimization framework has sufficient adaptability to handle VTVL missions efficiently.

The use of computer graphics to assist in-reactor operations

International Nuclear Information System (INIS)

Smith, A.L.

1995-01-01

A number of complex inspection and repair tasks have been carried out inside Nuclear Electric's gas cooled reactors using multi-link manipulators. The paper describes how computer graphics are integrated into the manipulator system and perform a key role during many phases of a project. Graphics simulation is used to assist with conceptual design, detailed path planning, rehearsals, quality assurance, demonstrations and, critically, as an on-line tool to assist the real-time operation of the equipment whilst performing complex in-reactor tasks. The techniques used are illustrated by recent examples of use to assist the inspection and repair of in-reactor components. (Author)

Mathematical structures for computer graphics

CERN Document Server

Janke, Steven J

2014-01-01

A comprehensive exploration of the mathematics behind the modeling and rendering of computer graphics scenes Mathematical Structures for Computer Graphics presents an accessible and intuitive approach to the mathematical ideas and techniques necessary for two- and three-dimensional computer graphics. Focusing on the significant mathematical results, the book establishes key algorithms used to build complex graphics scenes. Written for readers with various levels of mathematical background, the book develops a solid foundation for graphics techniques and fills in relevant grap

GENI: A graphical environment for model-based control

International Nuclear Information System (INIS)

Kleban, S.; Lee, M.; Zambre, Y.

1989-10-01

A new method to operate machine and beam simulation programs for accelerator control has been developed. Existing methods, although cumbersome, have been used in control systems for commissioning and operation of many machines. We developed GENI, a generalized graphical interface to these programs for model-based control. This ''object-oriented''-like environment is described and some typical applications are presented. 4 refs., 5 figs

SutraPlot, a graphical post-processor for SUTRA, a model for ground-water flow with solute or energy transport

Science.gov (United States)

Souza, W.R.

1999-01-01

This report documents a graphical display post-processor (SutraPlot) for the U.S. Geological Survey Saturated-Unsaturated flow and solute or energy TRAnsport simulation model SUTRA, Version 2D3D.1. This version of SutraPlot is an upgrade to SutraPlot for the 2D-only SUTRA model (Souza, 1987). It has been modified to add 3D functionality, a graphical user interface (GUI), and enhanced graphic output options. Graphical options for 2D SUTRA (2-dimension) simulations include: drawing the 2D finite-element mesh, mesh boundary, and velocity vectors; plots of contours for pressure, saturation, concentration, and temperature within the model region; 2D finite-element based gridding and interpolation; and 2D gridded data export files. Graphical options for 3D SUTRA (3-dimension) simulations include: drawing the 3D finite-element mesh; plots of contours for pressure, saturation, concentration, and temperature in 2D sections of the 3D model region; 3D finite-element based gridding and interpolation; drawing selected regions of velocity vectors (projected on principal coordinate planes); and 3D gridded data export files. Installation instructions and a description of all graphic options are presented. A sample SUTRA problem is described and three step-by-step SutraPlot applications are provided. In addition, the methodology and numerical algorithms for the 2D and 3D finite-element based gridding and interpolation, developed for SutraPlot, are described. 1

OMV mission simulator

Science.gov (United States)

Cok, Keith E.

1989-01-01

The Orbital Maneuvering Vehicle (OMV) will be remotely piloted during rendezvous, docking, or proximity operations with target spacecraft from a ground control console (GCC). The real-time mission simulator and graphics being used to design a console pilot-machine interface are discussed. A real-time orbital dynamics simulator drives the visual displays. The dynamics simulator includes a J2 oblate earth gravity model and a generalized 1962 rotating atmospheric and drag model. The simulator also provides a variable-length communication delay to represent use of the Tracking and Data Relay Satellite System (TDRSS) and NASA Communications (NASCOM). Input parameter files determine the graphics display. This feature allows rapid prototyping since displays can be easily modified from pilot recommendations. A series of pilot reviews are being held to determine an effective pilot-machine interface. Pilots fly missions with nominal to 3-sigma dispersions in translational or rotational axes. Console dimensions, switch type and layout, hand controllers, and graphic interfaces are evaluated by the pilots and the GCC simulator is modified for subsequent runs. Initial results indicate a pilot preference for analog versus digital displays and for two 3-degree-of-freedom hand controllers.

Graphics Gems III IBM version

CERN Document Server

Kirk, David

1994-01-01

This sequel to Graphics Gems (Academic Press, 1990), and Graphics Gems II (Academic Press, 1991) is a practical collection of computer graphics programming tools and techniques. Graphics Gems III contains a larger percentage of gems related to modeling and rendering, particularly lighting and shading. This new edition also covers image processing, numerical and programming techniques, modeling and transformations, 2D and 3D geometry and algorithms,ray tracing and radiosity, rendering, and more clever new tools and tricks for graphics programming. Volume III also includes a

Pressure and Relative Humidity Measurement Devices for Mars 2020 Rover

Science.gov (United States)

Hieta, M.; Genzer, M.; Nikkanen, T.; Haukka, H.; Harri, A.-M.; Polkko, J.; Rodriguez-Manfredi, J. A.

2017-09-01

One of the scientific payloads onboard the NASA Mars 2020 rover mission is Mars Environmental Dynamic Analyzer (MEDA): a set of environmental sensors for Mars surface weather measurements. Finnish Meteorological Institute (FMI) provides a pressure measurement device (MEDA PS) and a relative humidity measurement device (MEDA HS) for MEDA.

Radiation shield analysis for a manned Mars rover

International Nuclear Information System (INIS)

Morley, N.J.; ElGenk, M.S.

1991-01-01

Radiation shielding for unmanned space missions has been extensively studied; however, designs of man-rated shields are minimal. Engle et al.'s analysis of a man-rated, multilayered shield composed of two and three cycles (a cycle consists of a tungsten and a lithium hydride layer) is the basis for the work reported in this paper. The authors present the results of a recent study of shield designs for a manned Mars rover powered by a 500-kW(thermal) nuclear reactor. A train-type rover vehicle was developed, which consists of four cars and is powered by an SP-100-type nuclear reactor heat source. The maximum permissible dose rate (MPD) from all sources is given by the National Council on Radiation Protection and Measurements as 500 mSv/yr (50 rem/yr) A 3-yr Mars mission (2-yr round trip and 1-yr stay) will deliver a 1-Sv natural radiation dose without a solar particle event, 450 mSv/yr in flight, and an additional 100 mSv on the planet surface. An anomalously large solar particle event could increase the natural radiation dose for unshielded astronauts on the Martian surface to 200 mSv. This limits the MPD to crew members from the nuclear reactor to 300 mSv

Graphical Models with R

CERN Document Server

Højsgaard, Søren; Lauritzen, Steffen

2012-01-01

Graphical models in their modern form have been around since the late 1970s and appear today in many areas of the sciences. Along with the ongoing developments of graphical models, a number of different graphical modeling software programs have been written over the years. In recent years many of these software developments have taken place within the R community, either in the form of new packages or by providing an R interface to existing software. This book attempts to give the reader a gentle introduction to graphical modeling using R and the main features of some of these packages. In add

Construction of the Hunveyor-Husar space probe model system for planetary science education and analog studies and simulations in universities and colleges of Hungary.

Science.gov (United States)

Bérczi, Sz.; Hegyi, S.; Hudoba, Gy.; Hargitai, H.; Kokiny, A.; Drommer, B.; Gucsik, A.; Pintér, A.; Kovács, Zs.

Several teachers and students had the possibility to visit International Space Camp in the vicinity of the MSFC NASA in Huntsville Alabama USA where they learned the success of simulators in space science education To apply these results in universities and colleges in Hungary we began a unified complex modelling in planetary geology robotics electronics and complex environmental analysis by constructing an experimental space probe model system First a university experimental lander HUNVEYOR Hungarian UNiversity surVEYOR then a rover named HUSAR Hungarian University Surface Analyser Rover has been built For Hunveyor the idea and example was the historical Surveyor program of NASA in the 1960-ies for the Husar the idea and example was the Pathfinder s rover Sojouner rover The first step was the construction of the lander a year later the rover followed The main goals are 1 to build the lander structure and basic electronics from cheap everyday PC compatible elements 2 to construct basic experiments and their instruments 3 to use the system as a space activity simulator 4 this simulator contains lander with on board computer for works on a test planetary surface and a terrestrial control computer 5 to harmonize the assemblage of the electronic system and instruments in various levels of autonomy from the power and communication circuits 6 to use the complex system in education for in situ understanding complex planetary environmental problems 7 to build various planetary environments for application of the

The Planning of Straight Line Trajectory in Robotics Using Interactive Graphics

Directory of Open Access Journals (Sweden)

Kesheng Wang

1987-07-01

Full Text Available The planning of straight line trajectory using the interactive computer graphics simulation of robot manipulator movement is discussed. This new approach to straight line motion planning improves the 'bound deviation joint paths' developed by R. M. Taylor (1979. The new approach has three characteristics: (1 linear interpolation in joint space; (2 unequal intervals for interpolating knot points; (3 using interactive computer graphics to assure that the maximum deviation in the whole segment is less than the pre-specified values. The structure and mathematical basis of a computer program developed for this purpose are presented.

Design of Flight Control Panel Layout using Graphical User Interface in MATLAB

Science.gov (United States)

Wirawan, A.; Indriyanto, T.

2018-04-01

This paper introduces the design of Flight Control Panel (FCP) Layout using Graphical User Interface in MATLAB. The FCP is the interface to give the command to the simulation and to monitor model variables while the simulation is running. The command accommodates by the FCP are altitude command, the angle of sideslip command, heading command, and setting command for turbulence model. The FCP was also designed to monitor the flight parameter while the simulation is running.

Practical application of computer graphics in nuclear power plant engineering

International Nuclear Information System (INIS)

Machiba, Hiroshi; Kawamura, Hirobumi; Sasaki, Norio

1992-01-01

A nuclear power plant is composed of a vast amount of equipment, piping, and so on, and six or seven years are required to complete the design and engineering from the initial planning stage to the time of commercial operation. Furthermore, operating plants must be continually maintained and improved for a long period. Computer graphics were first applied to the composite arrangement design of nuclear power plants in the form of 3-dimensional CAD. Subsequently, as the introduction of CAE has progressed, a huge assortment of information has been accumulated in database, and measures have been sought that would permit the convenient utilization of this information. Using computer graphics technologies, improvement of the interface between the user and such databases has recently been accomplished. In response to the growth in environmental consciousness, photo-realistic simulations for artistic design of the interior and overviews showing harmony with the surroundings have been achieved through the application of computer graphics. (author)

A graphical simulation software for instruction in cardiovascular mechanics physiology

Directory of Open Access Journals (Sweden)

Wenger Roland H

2011-01-01

Full Text Available Abstract Background Computer supported, interactive e-learning systems are widely used in the teaching of physiology. However, the currently available complimentary software tools in the field of the physiology of cardiovascular mechanics have not yet been adapted to the latest systems software. Therefore, a simple-to-use replacement for undergraduate and graduate students' education was needed, including an up-to-date graphical software that is validated and field-tested. Methods Software compatible to Windows, based on modified versions of existing mathematical algorithms, has been newly developed. Testing was performed during a full term of physiological lecturing to medical and biology students. Results The newly developed CLabUZH software models a reduced human cardiovascular loop containing all basic compartments: an isolated heart including an artificial electrical stimulator, main vessels and the peripheral resistive components. Students can alter several physiological parameters interactively. The resulting output variables are printed in x-y diagrams and in addition shown in an animated, graphical model. CLabUZH offers insight into the relations of volume, pressure and time dependency in the circulation and their correlation to the electrocardiogram (ECG. Established mechanisms such as the Frank-Starling Law or the Windkessel Effect are considered in this model. The CLabUZH software is self-contained with no extra installation required and runs on most of today's personal computer systems. Conclusions CLabUZH is a user-friendly interactive computer programme that has proved to be useful in teaching the basic physiological principles of heart mechanics.

Evaluating virtual hosted desktops for graphics-intensive astronomy

Science.gov (United States)

Meade, B. F.; Fluke, C. J.

2018-04-01

Visualisation of data is critical to understanding astronomical phenomena. Today, many instruments produce datasets that are too big to be downloaded to a local computer, yet many of the visualisation tools used by astronomers are deployed only on desktop computers. Cloud computing is increasingly used to provide a computation and simulation platform in astronomy, but it also offers great potential as a visualisation platform. Virtual hosted desktops, with graphics processing unit (GPU) acceleration, allow interactive, graphics-intensive desktop applications to operate co-located with astronomy datasets stored in remote data centres. By combining benchmarking and user experience testing, with a cohort of 20 astronomers, we investigate the viability of replacing physical desktop computers with virtual hosted desktops. In our work, we compare two Apple MacBook computers (one old and one new, representing hardware and opposite ends of the useful lifetime) with two virtual hosted desktops: one commercial (Amazon Web Services) and one in a private research cloud (the Australian NeCTAR Research Cloud). For two-dimensional image-based tasks and graphics-intensive three-dimensional operations - typical of astronomy visualisation workflows - we found that benchmarks do not necessarily provide the best indication of performance. When compared to typical laptop computers, virtual hosted desktops can provide a better user experience, even with lower performing graphics cards. We also found that virtual hosted desktops are equally simple to use, provide greater flexibility in choice of configuration, and may actually be a more cost-effective option for typical usage profiles.

Atacama Rover Astrobiology Drilling Studies: Roving to Find Subsurface Preserved Biomarkers

Science.gov (United States)

Glass, B.; Davila, A.; Parro, V.; Quinn, R.; Willis, P.; Brinckerhoff, W.; DiRuggiero, J.; Williams, M.; Bergman, D.; Stoker, C.

2016-05-01

The ARADS project is a NASA PSTAR that will drill into a Mars analog site in search of biomarkers. Leading to a field test of an integrated rover-drill system with four prototype in-situ instruments for biomarker detection and analysis.

Computing trends using graphic processor in high energy physics

CERN Document Server

Niculescu, Mihai

2011-01-01

One of the main challenges in Heavy Energy Physics is to make fast analysis of high amount of experimental and simulated data. At LHC-CERN one p-p event is approximate 1 Mb in size. The time taken to analyze the data and obtain fast results depends on high computational power. The main advantage of using GPU(Graphic Processor Unit) programming over traditional CPU one is that graphical cards bring a lot of computing power at a very low price. Today a huge number of application(scientific, financial etc) began to be ported or developed for GPU, including Monte Carlo tools or data analysis tools for High Energy Physics. In this paper, we'll present current status and trends in HEP using GPU.

Web-based Interactive Simulator for Rotating Machinery.

Science.gov (United States)

Sirohi, Vijayalaxmi

1999-01-01

Baroma (Balance of Rotating Machinery), the Web-based educational engineering interactive software for teaching/learning combines didactical and software ergonomical approaches. The software in tutorial form simulates a problem using Visual Interactive Simulation in graphic display, and animation is brought about through graphical user interface…

Graphic notation

DEFF Research Database (Denmark)

Bergstrøm-Nielsen, Carl

1992-01-01

Texbook to be used along with training the practise of graphic notation. Describes method; exercises; bibliography; collection of examples. If you can read Danish, please refer to that edition which is by far much more updated.......Texbook to be used along with training the practise of graphic notation. Describes method; exercises; bibliography; collection of examples. If you can read Danish, please refer to that edition which is by far much more updated....

Graphics gems

CERN Document Server

Glassner, Andrew S

1993-01-01

""The GRAPHICS GEMS Series"" was started in 1990 by Andrew Glassner. The vision and purpose of the Series was - and still is - to provide tips, techniques, and algorithms for graphics programmers. All of the gems are written by programmers who work in the field and are motivated by a common desire to share interesting ideas and tools with their colleagues. Each volume provides a new set of innovative solutions to a variety of programming problems.

The Antarctic permafrost as a testbed for REMS (Rover Environmental Monitoring Station-Mars Science Laboratory)

Science.gov (United States)

Esteban, B.; Ramos, M.; Sebastián, E.; Armiens, C.; Gómez-Elvira, J.; Cabos, W.; de Pablo, M. A.

2009-04-01

The present climatic characteristics of Mars favor the presence of extense permafrost areas in this lonely planet. Therefore environmental parameters that are included in Martian Rover missions are also used for monitoring thermal soil surface evolution in order to study the permafrost active layer thickness and the energy balance in the soil-atmosphere boundary limit layer. The REMS (Rover Environmental Monitoring Station) is an environmental station designed by the Centro de Astrobiología (CAB- Spain) with the collaboration of national and international partners (CRISA/EADS, UPC and FMI), which is part of the payload of the MSL (Mars Science Laboratory) NASA mission to Mars (http://mars.jpl.nasa.gov/msl/overview/). This mission is expected to be launched in the final months of 2009, and mainly consists of a Rover, with a complete set of scientific instruments; the Rover will carry the biggest, most advanced suite of instruments for scientific studies ever sent to the Martian surface. Five sensors compose the REMS instrument: ground (GT-REMS) and air temperatures, wind speed and direction, pressure, humidity and ultraviolet radiation (UV-REMS). A simplified setup of the REMS was deployed on Antarctica in the surroundings of the Spanish Antarctic Stations on Livingston and Deception Islands (Maritime Antarctica), where the permafrost distribution is well-known. The aim of the experiment was to check REMS's sensors response against hard environmental conditions and calibrates their measures with standard Antarctic devices. The experimental apparatuses included some standard meteorological and thermopiles sensors corresponding to the REMS. All the sensors are mounted in a 1.8 m mast and include a Pt100 air temperature sensor with shield solar protection on the mast top, a Kipp and Zonnen CNR1 net radiometer for measuring infrared (5-50 μm) and short wave solar (305-2800 nm) radiation at 1.5 m high, GT-REMS sensor and its amplification box at 0.7 m high and finally

Interactive Graphic Journalism

NARCIS (Netherlands)

Schlichting, Laura

2016-01-01

textabstractThis paper examines graphic journalism (GJ) in a transmedial context, and argues that transmedial graphic journalism (TMGJ) is an important and fruitful new form of visual storytelling, that will re-invigorate the field of journalism, as it steadily tests out and plays with new media,

Evaluating Texts for Graphical Literacy Instruction: The Graphic Rating Tool

Science.gov (United States)

Roberts, Kathryn L.; Brugar, Kristy A.; Norman, Rebecca R.

2015-01-01

In this article, we present the Graphical Rating Tool (GRT), which is designed to evaluate the graphical devices that are commonly found in content-area, non-fiction texts, in order to identify books that are well suited for teaching about those devices. We also present a "best of" list of science and social studies books, which includes…

GRAPHICAL USER INTERFACE WITH APPLICATIONS IN SUSCEPTIBLE-INFECTIOUS-SUSCEPTIBLE MODELS.

Science.gov (United States)

Ilea, M; Turnea, M; Arotăriţei, D; Rotariu, Mariana; Popescu, Marilena

2015-01-01

Practical significance of understanding the dynamics and evolution of infectious diseases increases continuously in contemporary world. The mathematical study of the dynamics of infectious diseases has a long history. By incorporating statistical methods and computer-based simulations in dynamic epidemiological models, it could be possible for modeling methods and theoretical analyses to be more realistic and reliable, allowing a more detailed understanding of the rules governing epidemic spreading. To provide the basis for a disease transmission, the population of a region is often divided into various compartments, and the model governing their relation is called the compartmental model. To present all of the information available, a graphical user interface provides icons and visual indicators. The graphical interface shown in this paper is performed using the MATLAB software ver. 7.6.0. MATLAB software offers a wide range of techniques by which data can be displayed graphically. The process of data viewing involves a series of operations. To achieve it, I had to make three separate files, one for defining the mathematical model and two for the interface itself. Considering a fixed population, it is observed that the number of susceptible individuals diminishes along with an increase in the number of infectious individuals so that in about ten days the number of individuals infected and susceptible, respectively, has the same value. If the epidemic is not controlled, it will continue for an indefinite period of time. By changing the global parameters specific of the SIS model, a more rapid increase of infectious individuals is noted. Using the graphical user interface shown in this paper helps achieving a much easier interaction with the computer, simplifying the structure of complex instructions by using icons and menus, and, in particular, programs and files are much easier to organize. Some numerical simulations have been presented to illustrate theoretical

TU Berlin Rover Family for Terrestrial Testing of Complex Planetary Mission Scenarios

Science.gov (United States)

Kryza, L.; Brieß, K.

2018-04-01

The TU Berlin has developed a family of planetary rovers for educational use and research activities. The paper will introduce these cost-effective systems, which can be used for analogue mission demonstration on Earth.

Transforming Graphical System Models to Graphical Attack Models

DEFF Research Database (Denmark)

Ivanova, Marieta Georgieva; Probst, Christian W.; Hansen, Rene Rydhof

2016-01-01

Manually identifying possible attacks on an organisation is a complex undertaking; many different factors must be considered, and the resulting attack scenarios can be complex and hard to maintain as the organisation changes. System models provide a systematic representation of organisations...... approach to transforming graphical system models to graphical attack models in the form of attack trees. Based on an asset in the model, our transformations result in an attack tree that represents attacks by all possible actors in the model, after which the actor in question has obtained the asset....

Safety Parameters Graphical Interface

International Nuclear Information System (INIS)

Canamero, B.

1998-01-01

Nuclear power plant data are received at the Operations Center of the Consejo de Seguridad Nuclear in emergency situations. In order to achieve the required interface and to prepare those data to perform simulation and forecasting with already existing computer codes a Safety Parameters Graphical Interface (IGPS) has been developed. The system runs in a UNIX environment and use the Xwindows capabilities. The received data are stored in such a way that it can be easily used for further analysis and training activities. The system consists of task-oriented modules (processes) which communicate each other using well known UNIX mechanisms (signals, sockets and shared memory segments). IGPS conceptually have two different parts: Data collection and preparation, and Data monitorization. (Author)

Computer graphics at VAX JINR

International Nuclear Information System (INIS)

Balashov, V.K.

1991-01-01

The structure of the software for computer graphics at VAX JINR is described. It consists of graphical packages GKS, WAND and a set graphicals packages for High Energy Physics application designed at CERN. 17 refs.; 1 tab

(Nearly) Seven Years on Mars: Adventure, Adversity, and Achievements with the NASA Mars Exploration Rovers Spirit and Opportunity

Science.gov (United States)

Bell, J. F.; Mars Exploration Rover Science; Engineering Teams

2010-12-01

NASA successfully landed twin rovers, Spirit and Opportunity, on Mars in January 2004, in the most ambitious mission of robotic exploration attempted to that time. Each rover is outfitted as a robot field geologist with an impressive array of scientific instruments--cameras, spectrometers, other sensors--designed to investigate the composition and geologic history of two distinctly-different landing sites. The sites were chosen because of their potential to reveal clues about the past history of water and climate on Mars, and thus to provide tests of the hypothesis that the planet may once have been an abode for life. In this presentation I will review the images, spectra, and chemical/mineralogic information that the rover team has been acquiring from the landing sites and along the rovers' 7.7 and 22.7 km traverse paths, respectively. The data and interpretations have been widely shared with the public and the scientific community through web sites, frequent press releases, and scientific publications, and they provide quantitative evidence that liquid water has played a role in the modification of the Martian surface during the earliest part of the planet's history. At the Spirit site in Gusev Crater, the role of water appears to have been relatively minor in general, although the recent discovery of enigmatic hydrated sulfate salt and amorphous silica deposits suggests that locally there may have been significant water-rock interactions, and perhaps even sustained hydrothermal activity. At the Opportunity site in Meridiani Planum, geologic and mineralogic evidence suggests that liquid water was stable at the surface and shallow subsurface for significant periods of early Martian geologic history. An exciting implication from both missions is that localized environments on early Mars may have been "habitable" by some terrestrial standards. As of early September 2010, the rovers had operated for 2210 and 2347 Martian days (sols), respectively, with the Spirit

Initial Assessment of Parallelization of Monte Carlo Calculation using Graphics Processing Units

International Nuclear Information System (INIS)

Choi, Sung Hoon; Joo, Han Gyu

2009-01-01

Monte Carlo (MC) simulation is an effective tool for calculating neutron transports in complex geometry. However, because Monte Carlo simulates each neutron behavior one by one, it takes a very long computing time if enough neutrons are used for high precision of calculation. Accordingly, methods that reduce the computing time are required. In a Monte Carlo code, parallel calculation is well-suited since it simulates the behavior of each neutron independently and thus parallel computation is natural. The parallelization of the Monte Carlo codes, however, was done using multi CPUs. By the global demand for high quality 3D graphics, the Graphics Processing Unit (GPU) has developed into a highly parallel, multi-core processor. This parallel processing capability of GPUs can be available to engineering computing once a suitable interface is provided. Recently, NVIDIA introduced CUDATM, a general purpose parallel computing architecture. CUDA is a software environment that allows developers to manage GPU using C/C++ or other languages. In this work, a GPU-based Monte Carlo is developed and the initial assessment of it parallel performance is investigated

A novel graphical user interface for ultrasound-guided shoulder arthroscopic surgery

Science.gov (United States)

Tyryshkin, K.; Mousavi, P.; Beek, M.; Pichora, D.; Abolmaesumi, P.

2007-03-01

This paper presents a novel graphical user interface developed for a navigation system for ultrasound-guided computer-assisted shoulder arthroscopic surgery. The envisioned purpose of the interface is to assist the surgeon in determining the position and orientation of the arthroscopic camera and other surgical tools within the anatomy of the patient. The user interface features real time position tracking of the arthroscopic instruments with an optical tracking system, and visualization of their graphical representations relative to a three-dimensional shoulder surface model of the patient, created from computed tomography images. In addition, the developed graphical interface facilitates fast and user-friendly intra-operative calibration of the arthroscope and the arthroscopic burr, capture and segmentation of ultrasound images, and intra-operative registration. A pilot study simulating the computer-aided shoulder arthroscopic procedure on a shoulder phantom demonstrated the speed, efficiency and ease-of-use of the system.

Surface-based 3D measurements of small aeolian bedforms on Mars and implications for estimating ExoMars rover traversability hazards

Science.gov (United States)

Balme, Matt; Robson, Ellen; Barnes, Rob; Butcher, Frances; Fawdon, Peter; Huber, Ben; Ortner, Thomas; Paar, Gerhard; Traxler, Christoph; Bridges, John; Gupta, Sanjeev; Vago, Jorge L.

2018-04-01

Recent aeolian bedforms comprising loose sand are common on the martian surface and provide a mobility hazard to Mars rovers. The ExoMars rover will launch in 2020 to one of two candidate sites: Mawrth Vallis or Oxia Planum. Both sites contain numerous aeolian bedforms with simple ripple-like morphologies. The larger examples are 'Transverse Aeolian Ridges' (TARs), which stereo imaging analyses have shown to be a few metres high and up to a few tens of metres across. Where they occur, TARs therefore present a serious, but recognized and avoidable, rover mobility hazard. There also exists a population of smaller bedforms of similar morphology, but it is unknown whether these bedforms will be traversable by the ExoMars rover. We informally refer to these bedforms as "mini-TARs", as they are about an order of magnitude smaller than most TARs observed to date. They are more abundant than TARs in the Oxia Planum site, and can be pervasive in areas. The aim of this paper is to estimate the heights of these features, which are too small to measured using High Resolution Imaging Science Experiment (HiRISE) Digital Elevation Models (DEMs), from orbital data alone. Thereby, we aim to increase our knowledge of the hazards in the proposed ExoMars landing sites. We propose a methodology to infer the height of these mini-TARs based on comparisons with similar features observed by previous Mars rovers. We use rover-based stereo imaging from the NASA Mars Exploration Rover (MER) Opportunity and PRo3D software, a 3D visualisation and analysis tool, to measure the size and height of mini-TARs in the Meridiani Planum region of Mars. These are good analogues for the smaller bedforms at the ExoMars rover candidate landing sites. We show that bedform height scales linearly with length (as measured across the bedform, perpendicular to the crest ridge) with a ratio of about 1:15. We also measured the lengths of many of the smaller aeolian bedforms in the ExoMars rover Oxia Planum

Graphics and control for in-reactor operations

International Nuclear Information System (INIS)

Smith, A.L.

1996-01-01

Remotely operated inspection, repair and maintenance tasks for Magnox Electric's eight twin MAGNOX-type reactor stations must conform to the Nuclear Installations Inspectorate's regulations. The performance of manipulator systems used to undertake such operations has improved significantly with the recent introduction of computer graphics. These are used for simulation and demonstration purposes as well as a real-time aid to the manipulator operator. Outage times can be reduced by the appropriate use of such computer technology to reduce manipulator operation times. (UK)

The Case for Graphic Novels

Directory of Open Access Journals (Sweden)

Steven Hoover

2012-04-01

Full Text Available Many libraries and librarians have embraced graphic novels. A number of books, articles, and presentations have focused on the history of the medium and offered advice on building and maintaining collections, but very little attention has been given the question of how integrate graphic novels into a library’s instructional efforts. This paper will explore the characteristics of graphic novels that make them a valuable resource for librarians who focus on research and information literacy instruction, identify skills and competencies that can be taught by the study of graphic novels, and will provide specific examples of how to incorporate graphic novels into instruction.

Development of Simulator Configuration Tool

International Nuclear Information System (INIS)

Nedrelid, Olav; Pettersen, Geir

1996-01-01

The main objective of the development of a Simulator Configuration Tool (SCT) is to achieve faster and more efficient production of dynamic simulators. Through application of versatile graphical interfaces, the simulator builder should be able to configure different types of simulators including full-scope process simulators. The SCT should be able to serve different simulator environments. The configuration tool communicates with simulator execution environments through a TCP/IP-based interface, Communication with a Model Server System developed at Institutt for energiteknikk has been established and used as test case. The system consists of OSF/Motif dialogues for operations requiring textual input, list selections etc., and uses the Picasso-3 User Interface Management System to handle presentation of static and dynamic graphical information. (author)

EASI graphics - Version II

International Nuclear Information System (INIS)

Allensworth, J.A.

1984-04-01

EASI (Estimate of Adversary Sequence Interruption) is an analytical technique for measuring the effectiveness of physical protection systems. EASI Graphics is a computer graphics extension of EASI which provides a capability for performing sensitivity and trade-off analyses of the parameters of a physical protection system. This document reports on the implementation of the Version II of EASI Graphics and illustrates its application with some examples. 5 references, 15 figures, 6 tables

Non-Flow-Through Fuel Cell System Test Results and Demonstration on the SCARAB Rover

Science.gov (United States)

Scheidegger, Brianne, T.; Burke, Kenneth A.; Jakupca, Ian J.

2012-01-01

This paper describes the results of the demonstration of a non-flow-through PEM fuel cell as part of a power system on the SCARAB rover. A 16-cell non-flow-through fuel cell stack from Infinity Fuel Cell and Hydrogen, Inc. was incorporated into a power system designed to act as a range extender by providing power to the rover s hotel loads. This work represents the first attempt at a ground demonstration of this new technology aboard a mobile test platform. Development and demonstration were supported by the Office of the Chief Technologist s Space Power Systems Project and the Advanced Exploration System Modular Power Systems Project.

SEI power source alternatives for rovers and other multi-kWe distributed surface applications

Science.gov (United States)

Bents, David J.; Kohout, L. L.; Mckissock, Barbara I.; Rodriguez, C. D.; Withrow, C. A.; Colozza, A.; Hanlon, James C.; Schmitz, Paul C.

1991-01-01

To support the Space Exploration Initiative (SEI), a study was performed to investigate power system alternatives for the rover vehicles and servicers that were subsequently generated for each of these rovers and servicers, candidate power sources incorporating various power generation and energy storage technologies were identified. The technologies were those believed most appropriate to the SEI missions, and included solar, electrochemical, and isotope systems. The candidates were characterized with respect to system mass, deployed area, and volume. For each of the missions a preliminary selection was made. Results of this study depict the available power sources in light of mission requirements as they are currently defined.

A Local Poisson Graphical Model for inferring networks from sequencing data.

Science.gov (United States)

Allen, Genevera I; Liu, Zhandong

2013-09-01

Gaussian graphical models, a class of undirected graphs or Markov Networks, are often used to infer gene networks based on microarray expression data. Many scientists, however, have begun using high-throughput sequencing technologies such as RNA-sequencing or next generation sequencing to measure gene expression. As the resulting data consists of counts of sequencing reads for each gene, Gaussian graphical models are not optimal for this discrete data. In this paper, we propose a novel method for inferring gene networks from sequencing data: the Local Poisson Graphical Model. Our model assumes a Local Markov property where each variable conditional on all other variables is Poisson distributed. We develop a neighborhood selection algorithm to fit our model locally by performing a series of l1 penalized Poisson, or log-linear, regressions. This yields a fast parallel algorithm for estimating networks from next generation sequencing data. In simulations, we illustrate the effectiveness of our methods for recovering network structure from count data. A case study on breast cancer microRNAs (miRNAs), a novel application of graphical models, finds known regulators of breast cancer genes and discovers novel miRNA clusters and hubs that are targets for future research.

Maps of the Martian Landing Sites and Rover Traverses: Viking 1 and 2, Mars Pathfinder, and Phoenix Landers, and the Mars Exploration Rovers.

Science.gov (United States)

Parker, T. J.; Calef, F. J., III; Deen, R. G.; Gengl, H.

2016-12-01

The traverse maps produced tactically for the MER and MSL rover missions are the first step in placing the observations made by each vehicle into a local and regional geologic context. For the MER, Phoenix and MSL missions, 25cm/pixel HiRISE data is available for accurately localizing the vehicles. Viking and Mars Pathfinder, however, relied on Viking Orbiter images of several tens of m/pixel to triangulate to horizon features visible both from the ground and from orbit. After Pathfinder, MGS MOC images became available for these landing sites, enabling much better correlations to horizon features and localization predictions to be made, that were then corroborated with HiRISE images beginning 9 years ago. By combining topography data from MGS, Mars Express, and stereo processing of MRO CTX and HiRISE images into orthomosaics (ORRs) and digital elevation models (DEMs), it is possible to localize all the landers and rover positions to an accuracy of a few tens of meters with respect to the Mars global control net, and to better than half a meter with respect to other features within a HiRISE orthomosaic. JPL's MIPL produces point clouds of the MER Navcam stereo images that can be processed into 1cm/pixel ORR/DEMs that are then georeferenced to a HiRISE/CTX base map and DEM. This allows compilation of seamless mosaics of the lander and rover camera-based ORR/DEMs with the HiRISE ORR/DEM that can be viewed in 3 dimensions with GIS programs with that capability. We are re-processing the Viking Lander, Mars Pathfinder, and Phoenix lander data to allow similar ORR/DEM products to be made for those missions. For the fixed landers and Spirit, we will compile merged surface/CTX/HiRISE ORR/DEMs, that will enable accurate local and regional mapping of these landing sites, and allow comparisons of the results from these missions to be made with current and future surface missions.

A handbook of statistical graphics using SAS ODS

CERN Document Server

Der, Geoff

2014-01-01

An Introduction to Graphics: Good Graphics, Bad Graphics, Catastrophic Graphics and Statistical GraphicsThe Challenger DisasterGraphical DisplaysA Little History and Some Early Graphical DisplaysGraphical DeceptionAn Introduction to ODS GraphicsGenerating ODS GraphsODS DestinationsStatistical Graphics ProceduresODS Graphs from Statistical ProceduresControlling ODS GraphicsControlling Labelling in GraphsODS Graphics EditorGraphs for Displaying the Characteristics of Univariate Data: Horse Racing, Mortality Rates, Forearm Lengths, Survival Times and Geyser EruptionsIntroductionPie Chart, Bar Cha

Mimicking Martian dust: An in-vacuum dust deposition system for testing the ultraviolet sensors on the Curiosity rover

International Nuclear Information System (INIS)

Sobrado, J. M.; Martín-Soler, J.; Martín-Gago, J. A.

2015-01-01

We have designed and developed an in-vacuum dust deposition system specifically conceived to simulate and study the effect of accumulation of Martian dust on the electronic instruments of scientific planetary exploration missions. We have used this device to characterize the dust effect on the UV sensor of the Rover Environmental Monitoring Station in the Mars science Laboratory mission of NASA in similar conditions to those found on Mars surface. The UV sensor includes six photodiodes for measuring the radiation in all UV wavelengths (direct incidence and reflected); it is placed on the body of Curiosity rover and it is severely affected by the dust deposited on it. Our experimental setup can help to estimate the duration of reliable reading of this instrument during operation. We have used an analogous of the Martian dust in chemical composition (magnetic species), color, and density, which has been characterized by X-ray spectroscopy. To ensure a Brownian motion of the dust during its fall and a homogeneous coverage on the instrumentation, the operating conditions of the vacuum vessel, determined by partial pressures and temperature, have to be modified to account for the different gravities of Mars with respect to Earth. We propose that our designed device and operational protocol can be of interest to test optoelectronic instrumentation affected by the opacity of dust, as can be the degradation of UV photodiodes in planetary exploration

Mimicking Martian dust: An in-vacuum dust deposition system for testing the ultraviolet sensors on the Curiosity rover

Energy Technology Data Exchange (ETDEWEB)

Sobrado, J. M., E-mail: sobradovj@inta.es; Martín-Soler, J. [Centro de Astrobiología (CAB), INTA-CSIC, Torrejón de Ardoz, 28850 Madrid (Spain); Martín-Gago, J. A. [Centro de Astrobiología (CAB), INTA-CSIC, Torrejón de Ardoz, 28850 Madrid (Spain); Instituto de Ciencias de Materiales de Madrid (ICMM–CSIC), Cantoblanco, 28049 Madrid (Spain)

2015-10-15

We have designed and developed an in-vacuum dust deposition system specifically conceived to simulate and study the effect of accumulation of Martian dust on the electronic instruments of scientific planetary exploration missions. We have used this device to characterize the dust effect on the UV sensor of the Rover Environmental Monitoring Station in the Mars science Laboratory mission of NASA in similar conditions to those found on Mars surface. The UV sensor includes six photodiodes for measuring the radiation in all UV wavelengths (direct incidence and reflected); it is placed on the body of Curiosity rover and it is severely affected by the dust deposited on it. Our experimental setup can help to estimate the duration of reliable reading of this instrument during operation. We have used an analogous of the Martian dust in chemical composition (magnetic species), color, and density, which has been characterized by X-ray spectroscopy. To ensure a Brownian motion of the dust during its fall and a homogeneous coverage on the instrumentation, the operating conditions of the vacuum vessel, determined by partial pressures and temperature, have to be modified to account for the different gravities of Mars with respect to Earth. We propose that our designed device and operational protocol can be of interest to test optoelectronic instrumentation affected by the opacity of dust, as can be the degradation of UV photodiodes in planetary exploration.

Pancam and Microscopic Imager observations of dust on the Spirit Rover: Cleaning events, spectral properties, and aggregates

Science.gov (United States)

Vaughan, Alicia F.; Johnson, Jeffrey R.; Herkenhoff, Kenneth E.; Sullivan, Robert; Landis, Geoffrey A.; Goetz, Walter; Madsen, Morten B.

2010-01-01

This work describes dust deposits on the Spirit Rover over 2000 sols through examination of Pancam and Microscopic Imager observations of specific locations on the rover body, including portions of the solar array, Pancam and Mini-TES calibration targets, and the magnets. This data set reveals the three "cleaning events" experienced by Spirit to date, the spectral properties of dust, and the tendency of dust particles to form aggregates 100 um and larger.

Graphical Turbulence Guidance - Composite

Data.gov (United States)

National Oceanic and Atmospheric Administration, Department of Commerce — Forecast turbulence hazards identified by the Graphical Turbulence Guidance algorithm. The Graphical Turbulence Guidance product depicts mid-level and upper-level...

Analyzing Robotic Kinematics Via Computed Simulations

Science.gov (United States)

Carnahan, Timothy M.

1992-01-01

Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

Web-based (HTML5) interactive graphics for fusion research and collaboration

International Nuclear Information System (INIS)

Kim, E.N.; Schissel, D.P.; Abla, G.; Flanagan, S.; Lee, X.

2012-01-01

Highlights: ► Interactive data visualization is supported via the Web without a browser plugin and provides users easy, real-time access to data of different types from various locations. ► Crosshair, zoom, pan as well as toggling dimensionality and a slice bar for multi-dimensional data are available. ► Data with PHP API can be applied: MDSplus and SQL have been tested. ► Modular in design, this has been deployed to support both the experimental and the simulation research arenas. - Abstract: With the continuing development of web technologies, it is becoming feasible for websites to operate a lot like a scientific desktop application. This has opened up more possibilities for utilizing the web browser for interactive scientific research and providing new means of on-line communication and collaboration. This paper describes the research and deployment for utilizing these enhanced web graphics capabilities on the fusion research tools which has led to a general toolkit that can be deployed as required. It allows users to dynamically create, interact with and share with others, the large sets of data generated by the fusion experiments and simulations. Hypertext Preprocessor (PHP), a general-purpose scripting language for the Web, is used to process a series of inputs, and determine the data source types and locations to fetch and organize the data. Protovis, a Javascript and SVG based web graphics package, then quickly draws the interactive graphs and makes it available to the worldwide audience. This toolkit has been deployed to both the simulation and experimental arenas. The deployed applications will be presented as well as the architecture and technologies used in producing the general graphics toolkit.

An Application of Graphics Processing Units to Geosimulation of Collective Crowd Behaviour

Directory of Open Access Journals (Sweden)

Cjoskāns Jānis

2017-12-01

Full Text Available The goal of the paper is to assess the ways for computational performance and efficiency improvement of collective crowd behaviour simulation by using parallel computing methods implemented on graphics processing unit (GPU. To perform an experimental evaluation of benefits of parallel computing, a new GPU-based simulator prototype is proposed and the runtime performance is analysed. Based on practical examples of pedestrian dynamics geosimulation, the obtained performance measurements are compared to several other available multiagent simulation tools to determine the efficiency of the proposed simulator, as well as to provide generic guidelines for the efficiency improvements of the parallel simulation of collective crowd behaviour.

Deterministic Graphical Games Revisited

DEFF Research Database (Denmark)

Andersson, Daniel; Hansen, Kristoffer Arnsfelt; Miltersen, Peter Bro

2008-01-01

We revisit the deterministic graphical games of Washburn. A deterministic graphical game can be described as a simple stochastic game (a notion due to Anne Condon), except that we allow arbitrary real payoffs but disallow moves of chance. We study the complexity of solving deterministic graphical...... games and obtain an almost-linear time comparison-based algorithm for computing an equilibrium of such a game. The existence of a linear time comparison-based algorithm remains an open problem....

Trend Monitoring System (TMS) graphics software

Science.gov (United States)

Brown, J. S.

1979-01-01

A prototype bus communications systems, which is being used to support the Trend Monitoring System (TMS) and to evaluate the bus concept is considered. A set of FORTRAN-callable graphics subroutines for the host MODCOMP comuter, and an approach to splitting graphics work between the host and the system's intelligent graphics terminals are described. The graphics software in the MODCOMP and the operating software package written for the graphics terminals are included.

Collection Of Software For Computer Graphics

Science.gov (United States)

Hibbard, Eric A.; Makatura, George

1990-01-01

Ames Research Graphics System (ARCGRAPH) collection of software libraries and software utilities assisting researchers in generating, manipulating, and visualizing graphical data. Defines metafile format containing device-independent graphical data. File format used with various computer-graphics-manipulation and -animation software packages at Ames, including SURF (COSMIC Program ARC-12381) and GAS (COSMIC Program ARC-12379). Consists of two-stage "pipeline" used to put out graphical primitives. ARCGRAPH libraries developed on VAX computer running VMS.

Internet-based hardware/software co-design framework for embedded 3D graphics applications

Directory of Open Access Journals (Sweden)

Wong Weng-Fai

2011-01-01

Full Text Available Abstract Advances in technology are making it possible to run three-dimensional (3D graphics applications on embedded and handheld devices. In this article, we propose a hardware/software co-design environment for 3D graphics application development that includes the 3D graphics software, OpenGL ES application programming interface (API, device driver, and 3D graphics hardware simulators. We developed a 3D graphics system-on-a-chip (SoC accelerator using transaction-level modeling (TLM. This gives software designers early access to the hardware even before it is ready. On the other hand, hardware designers also stand to gain from the more complex test benches made available in the software for verification. A unique aspect of our framework is that it allows hardware and software designers from geographically dispersed areas to cooperate and work on the same framework. Designs can be entered and executed from anywhere in the world without full access to the entire framework, which may include proprietary components. This results in controlled and secure transparency and reproducibility, granting leveled access to users of various roles.

Martian methane plume models for defining Mars rover methane source search strategies

Science.gov (United States)

Nicol, Christopher; Ellery, Alex; Lynch, Brian; Cloutis, Ed

2018-07-01

The detection of atmospheric methane on Mars implies an active methane source. This introduces the possibility of a biotic source with the implied need to determine whether the methane is indeed biotic in nature or geologically generated. There is a clear need for robotic algorithms which are capable of manoeuvring a rover through a methane plume on Mars to locate its source. We explore aspects of Mars methane plume modelling to reveal complex dynamics characterized by advection and diffusion. A statistical analysis of the plume model has been performed and compared to analyses of terrestrial plume models. Finally, we consider a robotic search strategy to find a methane plume source. We find that gradient-based techniques are ineffective, but that more sophisticated model-based search strategies are unlikely to be available in near-term rover missions.

Development of virtual hands using animation software and graphical modelling

International Nuclear Information System (INIS)

Oliveira, Erick da S.; Junior, Alberico B. de C.

2016-01-01

The numerical dosimetry uses virtual anthropomorphic simulators to represent the human being in computational framework and thus assess the risks associated with exposure to a radioactive source. With the development of computer animation software, the development of these simulators was facilitated using only knowledge of human anatomy to prepare various types of simulators (man, woman, child and baby) in various positions (sitting, standing, running) or part thereof (head, trunk and limbs). These simulators are constructed by loops of handling and due to the versatility of the method, one can create various geometries irradiation was not possible before. In this work, we have built an exhibition of a radiopharmaceutical scenario manipulating radioactive material using animation software and graphical modeling and anatomical database. (author)

Simulation Meets Hollywood: Integrating Graphics, Sound, Story and Character for Immersive Simulation

National Research Council Canada - National Science Library

Swartout, W; Gratch, J; Hill, R; Hovy, E; Lindheim, R; Marsella, S; Rickel, J; Traum, D

2005-01-01

... from the entertainment industry. The idea was that much more compelling simulations could be developed if researchers who understood state-of-the-art simulation technology worked together with writers and directors who knew...

Graphics gems

CERN Document Server

Heckbert, Paul S

1994-01-01

Graphics Gems IV contains practical techniques for 2D and 3D modeling, animation, rendering, and image processing. The book presents articles on polygons and polyhedral; a mix of formulas, optimized algorithms, and tutorial information on the geometry of 2D, 3D, and n-D space; transformations; and parametric curves and surfaces. The text also includes articles on ray tracing; shading 3D models; and frame buffer techniques. Articles on image processing; algorithms for graphical layout; basic interpolation methods; and subroutine libraries for vector and matrix algebra are also demonstrated. Com

Antinomies of Semiotics in Graphic Design

Science.gov (United States)

Storkerson, Peter

2010-01-01

The following paper assesses the roles played by semiotics in graphic design and in graphic design education, which both reflects and shapes practice. It identifies a series of factors; graphic design education methods and culture; semiotic theories themselves and their application to graphic design; the two wings of Peircian semiotics and…

On the use of polar coordinate system in the projective graphic drawings

Directory of Open Access Journals (Sweden)

Ivashchenko Andrey Viktorovich

2016-11-01

Full Text Available Projective graphics is a polyhedra simulation method, which is based on the use of trace diagrams of initial polyhedron. Previously developed computer software allows using Cartesian coordinates. In some cases it is advisable to use polar coordinate system for description of projective graphics drawings. Using the example of icosahedron the authors analyzed the advantages of using projective graphics drawings in the polar coordinate system. The transition to the polar coordinate system is a tool that allows using certain patterns of projective graphics drawings in the process of calculation. When using polar coordinate system the search of Polar correspondence for the directs is simplified. In order to analyze the two lines in the polar coordinate system it is enough to compare the corresponding coefficients of the equations of these lines. The authors consider a diagram of the icosahedron in polar coordinates, and a corresponding fragment of calculation program in the Mathematica system. Some examples of forming based on icosahedrons are offered. Optimization of computer programs using polar coordinate system will simplifies the calculations of projective graphics drawings, accelerates the process of constructing three-dimensional models, which expand the possibilities of selecting original solutions. Finally, the authors conclude that it is appropriate to use the polar coordinate system only in the construction of projective graphics diagrams of the planes system having rich symmetry. All Platonic and Archimedean solids, Catalan solid possess this property.

THE GRAPHICAL MODELING, SIMULATION AND REALIZATION OF AN EQUIPMENT WITH OPTO-REFLECTIVE SENSORS FOR THE MANAGEMENT OF URBAN PUBLIC TRANSPORT PASSENGERS

Directory of Open Access Journals (Sweden)

CRIȘAN Horea George

2015-06-01

Full Text Available The development of an equipment capable to carry out a real-time evaluation above loading of urban buses, allows the optimization of the urban transport vehicles distribution on a network segment, reducing waiting times, the passenger crowds in buses and at the same time decreasing the need of buses maintenance, issues with direct effects on the growth of the carriers economic profit. A solution based on optical detection is one that can generate results with high accuracy in relatively low cost conditions. This advantage can be obtained only if the constructive version of the equipment is properly designed, taking into account the geometric parameters of the light slots emitted and received by the sensors. Therefore, using three-dimensional CAD modelling, it was realized an optimal constructive variant. This graphical method also allows it the viewing, variation and synchronization of sensors geometrical parameters, so in this way, the equipment can produce the desired effect. Further, it has been carried out a graphical simulation of the designed equipment function, in order to validate the obtained results. Later, the designed equipment was achieved and tested under laboratory conditions, in order to be implemented and used under real conditions, on the buses of an urban public transport operator.

An Opening: Graphic Design's Discursive Spaces.

Science.gov (United States)

Blauvelt, Andrew

1994-01-01

Introduces a special issue on critical histories of graphic design with a review of the particular problems identified with the history of graphic design as a field of study and the emerging discipline of graphic design history. Makes a case for the examination of graphic design through its relationships with larger discourses. (SR)

A web-based nuclear simulator using RELAP5 and LabVIEW

International Nuclear Information System (INIS)

Kim, K.D.; Rizwan-uddin

2007-01-01

A web-based nuclear reactor simulator has been developed using the best-estimate nuclear system analysis code RELAP5 as its engine, and LabVIEW for graphical user interface and web-casting. Simulator retains the accuracy of the best-estimate code. Results are displayed in user friendly graphical format. Color-coded nominal values are displayed along with the current status of different variables in tab activated windows. Some variables of interest are also shown as a function of time. All graphical outputs are displayed in web browsers making the simulator's front end independent of the operating system. The interactive simulation feature allows the users to simulate specific reactor transients - such as LOCA, scram, etc. - using a single click. Simulator's graphical output can be web-casted and is thus available to anybody with access to the web. Moreover, if permitted, the simulator can be operated remotely from another site connected to the server via the World Wide Web

Computer graphics in engineering education

CERN Document Server

Rogers, David F

2013-01-01

Computer Graphics in Engineering Education discusses the use of Computer Aided Design (CAD) and Computer Aided Manufacturing (CAM) as an instructional material in engineering education. Each of the nine chapters of this book covers topics and cites examples that are relevant to the relationship of CAD-CAM with engineering education. The first chapter discusses the use of computer graphics in the U.S. Naval Academy, while Chapter 2 covers key issues in instructional computer graphics. This book then discusses low-cost computer graphics in engineering education. Chapter 4 discusses the uniform b

Graphics server and action language interpreter greatly simplify the composition of a graphical user interface

International Nuclear Information System (INIS)

Mueller, R.

1992-01-01

A new control system based on a distributed computing environment is gradually installed at BESSY, a 800 MeV storage ring dedicated to the generation of synchrotron light in the VUV and soft X-ray region. The new operator consoles are large high resolution, bitmap oriented color graphic screens with mouse and keyboard. A new graphical user interface has been developed with a user interface management system. A graphics server encapsulates completely representational aspects, mediates between user interactions and application variables and takes care of a consistent state of graphical and applicational objects. Graphical representations, semantics of user interactions and interpreter instructions are defined in a database written in a simple and comprehensible user interface definition language. (R.P.) 7 refs.; 5 figs

Paleo-environmental Setting of the Murray Formation of Aeolis Mons, Gale Crater, Mars, as Explored by the Curiosity Rover

Science.gov (United States)

Lewis, K. W.; Fedo, C.; Grotzinger, J. P.; Gupta, S.; Stein, N.; Rivera-Hernandez, F.; Watkins, J. A.; Banham, S.; Edgett, K. S.; Minitti, M. E.; Schieber, J.; Edgar, L. A.; Siebach, K. L.; Stack, K.; Newsom, H. E.; House, C. H.; Sumner, D. Y.; Vasavada, A. R.

2017-12-01

Since landing, the Mars Science Laboratory Curiosity rover climbed 300 meters in elevation from the floor of north Gale crater up the lower northwest flank of Aeolis Mons ("Mount Sharp"). Nearly 200 meters of this ascent was accomplished in the 1.5 years alone, as the rover was driven up-section through the sedimentary rocks of the informally designated "Murray" formation. This unit comprises a large fraction of the lower strata of Mt. Sharp along the rover traverse. Our exploration of the Murray formation reveals a diverse suite of fine-grained facies. Grain sizes range from finer grains than can be resolved by the MAHLI imager (particles bearing Vera Rubin Ridge, continues to reveal the complex and long-lived depositional history of the Gale crater basin.

GPS Satellite Simulation Facility

Data.gov (United States)

Federal Laboratory Consortium — The GPS satellite simulation facility consists of a GPS satellite simulator controlled by either a Silicon Graphics Origin 2000 or PC depending upon unit under test...

Low computation vision-based navigation for a Martian rover

Science.gov (United States)

Gavin, Andrew S.; Brooks, Rodney A.

1994-01-01

Construction and design details of the Mobot Vision System, a small, self-contained, mobile vision system, are presented. This system uses the view from the top of a small, roving, robotic vehicle to supply data that is processed in real-time to safely navigate the surface of Mars. A simple, low-computation algorithm for constructing a 3-D navigational map of the Martian environment to be used by the rover is discussed.

The Raman Laser Spectrometer for the ExoMars Rover Mission to Mars

Science.gov (United States)

Rull, Fernando; Maurice, Sylvestre; Hutchinson, Ian; Moral, Andoni; Perez, Carlos; Diaz, Carlos; Colombo, Maria; Belenguer, Tomas; Lopez-Reyes, Guillermo; Sansano, Antonio; Forni, Olivier; Parot, Yann; Striebig, Nicolas; Woodward, Simon; Howe, Chris; Tarcea, Nicolau; Rodriguez, Pablo; Seoane, Laura; Santiago, Amaia; Rodriguez-Prieto, Jose A.; Medina, Jesús; Gallego, Paloma; Canchal, Rosario; Santamaría, Pilar; Ramos, Gonzalo; Vago, Jorge L.; RLS Team

2017-07-01

The Raman Laser Spectrometer (RLS) on board the ESA/Roscosmos ExoMars 2020 mission will provide precise identification of the mineral phases and the possibility to detect organics on the Red Planet. The RLS will work on the powdered samples prepared inside the Pasteur analytical suite and collected on the surface and subsurface by a drill system. Raman spectroscopy is a well-known analytical technique based on the inelastic scattering by matter of incident monochromatic light (the Raman effect) that has many applications in laboratory and industry, yet to be used in space applications. Raman spectrometers will be included in two Mars rovers scheduled to be launched in 2020. The Raman instrument for ExoMars 2020 consists of three main units: (1) a transmission spectrograph coupled to a CCD detector; (2) an electronics box, including the excitation laser that controls the instrument functions; and (3) an optical head with an autofocus mechanism illuminating and collecting the scattered light from the spot under investigation. The optical head is connected to the excitation laser and the spectrometer by optical fibers. The instrument also has two targets positioned inside the rover analytical laboratory for onboard Raman spectral calibration. The aim of this article was to present a detailed description of the RLS instrument, including its operation on Mars. To verify RLS operation before launch and to prepare science scenarios for the mission, a simulator of the sample analysis chain has been developed by the team. The results obtained are also discussed. Finally, the potential of the Raman instrument for use in field conditions is addressed. By using a ruggedized prototype, also developed by our team, a wide range of terrestrial analog sites across the world have been studied. These investigations allowed preparing a large collection of real, in situ spectra of samples from different geological processes and periods of Earth evolution. On this basis, we are working

Distributed interactive graphics applications in computational fluid dynamics

International Nuclear Information System (INIS)

Rogers, S.E.; Buning, P.G.; Merritt, F.J.

1987-01-01

Implementation of two distributed graphics programs used in computational fluid dynamics is discussed. Both programs are interactive in nature. They run on a CRAY-2 supercomputer and use a Silicon Graphics Iris workstation as the front-end machine. The hardware and supporting software are from the Numerical Aerodynamic Simulation project. The supercomputer does all numerically intensive work and the workstation, as the front-end machine, allows the user to perform real-time interactive transformations on the displayed data. The first program was written as a distributed program that computes particle traces for fluid flow solutions existing on the supercomputer. The second is an older post-processing and plotting program modified to run in a distributed mode. Both programs have realized a large increase in speed over that obtained using a single machine. By using these programs, one can learn quickly about complex features of a three-dimensional flow field. Some color results are presented

3D for Graphic Designers

CERN Document Server

Connell, Ellery

2011-01-01

Helping graphic designers expand their 2D skills into the 3D space The trend in graphic design is towards 3D, with the demand for motion graphics, animation, photorealism, and interactivity rapidly increasing. And with the meteoric rise of iPads, smartphones, and other interactive devices, the design landscape is changing faster than ever.2D digital artists who need a quick and efficient way to join this brave new world will want 3D for Graphic Designers. Readers get hands-on basic training in working in the 3D space, including product design, industrial design and visualization, modeling, ani

Mathematics for computer graphics

CERN Document Server

Vince, John

2006-01-01

Helps you understand the mathematical ideas used in computer animation, virtual reality, CAD, and other areas of computer graphics. This work also helps you to rediscover the mathematical techniques required to solve problems and design computer programs for computer graphic applications

Web-based (HTML5) interactive graphics for fusion research and collaboration

Energy Technology Data Exchange (ETDEWEB)

Kim, E.N., E-mail: kimny@fusion.gat.com [General Atomics, P.O. Box 85608, San Diego, CA (United States); Schissel, D.P.; Abla, G.; Flanagan, S.; Lee, X. [General Atomics, P.O. Box 85608, San Diego, CA (United States)

2012-12-15

Highlights: Black-Right-Pointing-Pointer Interactive data visualization is supported via the Web without a browser plugin and provides users easy, real-time access to data of different types from various locations. Black-Right-Pointing-Pointer Crosshair, zoom, pan as well as toggling dimensionality and a slice bar for multi-dimensional data are available. Black-Right-Pointing-Pointer Data with PHP API can be applied: MDSplus and SQL have been tested. Black-Right-Pointing-Pointer Modular in design, this has been deployed to support both the experimental and the simulation research arenas. - Abstract: With the continuing development of web technologies, it is becoming feasible for websites to operate a lot like a scientific desktop application. This has opened up more possibilities for utilizing the web browser for interactive scientific research and providing new means of on-line communication and collaboration. This paper describes the research and deployment for utilizing these enhanced web graphics capabilities on the fusion research tools which has led to a general toolkit that can be deployed as required. It allows users to dynamically create, interact with and share with others, the large sets of data generated by the fusion experiments and simulations. Hypertext Preprocessor (PHP), a general-purpose scripting language for the Web, is used to process a series of inputs, and determine the data source types and locations to fetch and organize the data. Protovis, a Javascript and SVG based web graphics package, then quickly draws the interactive graphs and makes it available to the worldwide audience. This toolkit has been deployed to both the simulation and experimental arenas. The deployed applications will be presented as well as the architecture and technologies used in producing the general graphics toolkit.

The Geologic Exploration of the Bagnold Dune Field at Gale Crater by the Curiosity Rover.

Science.gov (United States)

Chojnacki, Matthew; Fenton, Lori K

2017-11-01

The Mars Science Laboratory rover Curiosity engaged in a monthlong campaign investigating the Bagnold dune field in Gale crater. What represents the first in situ investigation of a dune field on another planet has resulted in a number of discoveries. Collectively, the Curiosity rover team has compiled the most comprehensive survey of any extraterrestrial aeolian system visited to date with results that yield important insights into a number of processes, including sediment transport, bed form morphology and structure, chemical and physical composition of aeolian sand, and wind regime characteristics. These findings and more are provided in detail by the JGR-Planets Special Issue Curiosity's Bagnold Dunes Campaign, Phase I.

A novel graphical technique for Pinch Analysis applications: Energy Targets and grassroots design

International Nuclear Information System (INIS)

Gadalla, Mamdouh A.

2015-01-01

Graphical abstract: A new HEN graphical design. - Highlights: • A new graphical technique for heat exchanger networks design. • Pinch Analysis principles and design rules are better interpreted. • Graphical guidelines for optimum heat integration. • New temperature-based graphs provide user-interactive features. - Abstract: Pinch Analysis is for decades a leading tool to energy integration for retrofit and design. This paper presents a new graphical technique, based on Pinch Analysis, for the grassroots design of heat exchanger networks. In the new graph, the temperatures of hot streams are plotted versus those of the cold streams. The temperature–temperature based graph is constructed to include temperatures of hot and cold streams as straight lines, horizontal lines for hot streams, and vertical lines for cold streams. The graph is applied to determine the pinch temperatures and Energy Targets. It is then used to synthesise graphically a complete exchanger network, achieving the Energy Targets. Within the new graph, exchangers are represented by inclined straight lines, whose slopes are proportional to the ratio of heat capacities and flows. Pinch Analysis principles for design are easily interpreted using this new graphical technique to design a complete exchanger network. Network designs achieved by the new technique can guarantee maximum heat recovery. The new technique can also be employed to simulate basic designs of heat exchanger networks. The strengths of the new tool are that it is simply applied using computers, requires no commercial software, and can be used for academic purposes/engineering education

Autonomous Vision-Based Tethered-Assisted Rover Docking

Science.gov (United States)

Tsai, Dorian; Nesnas, Issa A.D.; Zarzhitsky, Dimitri

2013-01-01

Many intriguing science discoveries on planetary surfaces, such as the seasonal flows on crater walls and skylight entrances to lava tubes, are at sites that are currently inaccessible to state-of-the-art rovers. The in situ exploration of such sites is likely to require a tethered platform both for mechanical support and for providing power and communication. Mother/daughter architectures have been investigated where a mother deploys a tethered daughter into extreme terrains. Deploying and retracting a tethered daughter requires undocking and re-docking of the daughter to the mother, with the latter being the challenging part. In this paper, we describe a vision-based tether-assisted algorithm for the autonomous re-docking of a daughter to its mother following an extreme terrain excursion. The algorithm uses fiducials mounted on the mother to improve the reliability and accuracy of estimating the pose of the mother relative to the daughter. The tether that is anchored by the mother helps the docking process and increases the system's tolerance to pose uncertainties by mechanically aligning the mating parts in the final docking phase. A preliminary version of the algorithm was developed and field-tested on the Axel rover in the JPL Mars Yard. The algorithm achieved an 80% success rate in 40 experiments in both firm and loose soils and starting from up to 6 m away at up to 40 deg radial angle and 20 deg relative heading. The algorithm does not rely on an initial estimate of the relative pose. The preliminary results are promising and help retire the risk associated with the autonomous docking process enabling consideration in future martian and lunar missions.

Flowfield computer graphics

Science.gov (United States)

Desautel, Richard

1993-01-01

The objectives of this research include supporting the Aerothermodynamics Branch's research by developing graphical visualization tools for both the branch's adaptive grid code and flow field ray tracing code. The completed research for the reporting period includes development of a graphical user interface (GUI) and its implementation into the NAS Flowfield Analysis Software Tool kit (FAST), for both the adaptive grid code (SAGE) and the flow field ray tracing code (CISS).

Simulated monitor display for CCTV

International Nuclear Information System (INIS)

Steele, B.J.

1982-01-01

Two computer programs have been developed which generate a two-dimensional graphic perspective of the video output produced by a Closed Circuit Television (CCTV) camera. Both programs were primarily written to produce a graphic display simulating the field-of-view (FOV) of a perimeter assessment system as seen on a CCTV monitor. The original program was developed for use on a Tektronix 4054 desktop computer; however, the usefulness of this graphic display program led to the development of a similar program for a Hewlett-Packard 9845B desktop computer. After entry of various input parameters, such as, camera lens and orientation, the programs automatically calculate and graphically plot the locations of various items, e.g., fences, an assessment zone, running men, and intrusion detection sensors. Numerous special effects can be generated to simulate such things as roads, interior walls, or sides of buildings. Other objects can be digitized and entered into permanent memory similar to the running men. With this type of simulated monitor perspective, proposed camera locations with respect to fences and a particular assessment zone can be rapidly evaluated without the costly time delays and expenditures associated with field evaluation

Mars Rover Model Celebration: Developing Inquiry Based Lesson Plans to Teach Planetary Science In Elementary And Middle School

Science.gov (United States)

Bering, E. A.; Slagle, E.; Nieser, K.; Carlson, C.; Kapral, A.; Dominey, W.; Ramsey, J.; Konstantinidis, I.; James, J.; Sweaney, S.; Mendez, R.

2012-12-01

The recent NASA Mars Rover missions capture the imagination of children, as NASA missions have done for decades. The University of Houston is in the process of developing a prototype of a flexible program that offers children an in-depth educational experience culminating in the design and construction of their own model rover. The existing prototype program is called the Mars Rover Model Celebration. It focuses on students, teachers and parents in grades 3-8. Students will design and build a model of a Mars rover to carry out a student selected science mission on the surface of Mars. The model will be a mock-up, constructed at a minimal cost from art supplies. The students will build the models as part of a project on Mars. The students will be given design criteria for a rover and will do basic research on Mars that will determine the objectives and features of their rover. This project may be used either informally as an after school club or youth group activity or formally as part of a class studying general science, earth science, solar system astronomy or robotics, or as a multi-disciplinary unit for a gifted and talented program. The project's unique strength lies in engaging students in the process of spacecraft design and interesting them in aerospace engineering careers. The project is aimed at elementary and secondary education. Not only will these students learn about scientific fields relevant to the mission (space science, physics, geology, robotics, and more), they will gain an appreciation for how this knowledge is used to tackle complex problems. The low cost of the event makes it an ideal enrichment vehicle for low income schools. It provides activities that provide professional development to educators, curricular support resources using NASA Science Mission Directorate (SMD) content, and provides family opportunities for involvement in K-12 student learning. This paper will describe the development of a detailed set of new 5E lesson plans to

Habitability on Early Mars and the Search for Biosignatures with the ExoMars Rover

Science.gov (United States)

Vago, Jorge L.; Westall, Frances; Pasteur Instrument Team; Pasteur Landing Team; Coates, Andrew J.; Jaumann, Ralf; Korablev, Oleg; Ciarletti, Valérie; Mitrofanov, Igor; Josset, Jean-Luc; De Sanctis, Maria Cristina; Bibring, Jean-Pierre; Rull, Fernando; Goesmann, Fred; Steininger, Harald; Goetz, Walter; Brinckerhoff, William; Szopa, Cyril; Raulin, François; Westall, Frances; Edwards, Howell G. M.; Whyte, Lyle G.; Fairén, Alberto G.; Bibring, Jean-Pierre; Bridges, John; Hauber, Ernst; Ori, Gian Gabriele; Werner, Stephanie; Loizeau, Damien; Kuzmin, Ruslan O.; Williams, Rebecca M. E.; Flahaut, Jessica; Forget, François; Vago, Jorge L.; Rodionov, Daniel; Korablev, Oleg; Svedhem, Håkan; Sefton-Nash, Elliot; Kminek, Gerhard; Lorenzoni, Leila; Joudrier, Luc; Mikhailov, Viktor; Zashchirinskiy, Alexander; Alexashkin, Sergei; Calantropio, Fabio; Merlo, Andrea; Poulakis, Pantelis; Witasse, Olivier; Bayle, Olivier; Bayón, Silvia; Meierhenrich, Uwe; Carter, John; García-Ruiz, Juan Manuel; Baglioni, Pietro; Haldemann, Albert; Ball, Andrew J.; Debus, André; Lindner, Robert; Haessig, Frédéric; Monteiro, David; Trautner, Roland; Voland, Christoph; Rebeyre, Pierre; Goulty, Duncan; Didot, Frédéric; Durrant, Stephen; Zekri, Eric; Koschny, Detlef; Toni, Andrea; Visentin, Gianfranco; Zwick, Martin; van Winnendael, Michel; Azkarate, Martín; Carreau, Christophe; ExoMars Project Team

2017-07-01

The second ExoMars mission will be launched in 2020 to target an ancient location interpreted to have strong potential for past habitability and for preserving physical and chemical biosignatures (as well as abiotic/prebiotic organics). The mission will deliver a lander with instruments for atmospheric and geophysical investigations and a rover tasked with searching for signs of extinct life. The ExoMars rover will be equipped with a drill to collect material from outcrops and at depth down to 2 m. This subsurface sampling capability will provide the best chance yet to gain access to chemical biosignatures. Using the powerful Pasteur payload instruments, the ExoMars science team will conduct a holistic search for traces of life and seek corroborating geological context information.

Resurfacing Graphics

Directory of Open Access Journals (Sweden)

Prof. Patty K. Wongpakdee

2013-06-01

Full Text Available “Resurfacing Graphics” deals with the subject of unconventional design, with the purpose of engaging the viewer to experience the graphics beyond paper’s passive surface. Unconventional designs serve to reinvigorate people, whose senses are dulled by the typical, printed graphics, which bombard them each day. Today’s cutting-edge designers, illustrators and artists utilize graphics in a unique manner that allows for tactile interaction. Such works serve as valuable teaching models and encourage students to do the following: 1 investigate the trans-disciplines of art and technology; 2 appreciate that this approach can have a positive effect on the environment; 3 examine and research other approaches of design communications and 4 utilize new mediums to stretch the boundaries of artistic endeavor. This paper examines how visuals communicators are “Resurfacing Graphics” by using atypical surfaces and materials such as textile, wood, ceramics and even water. Such non-traditional transmissions of visual language serve to demonstrate student’s overreliance on paper as an outdated medium. With this exposure, students can become forward-thinking, eco-friendly, creative leaders by expanding their creative breadth and continuing the perpetual exploration for new ways to make their mark.

Resurfacing Graphics

Directory of Open Access Journals (Sweden)

Prof. Patty K. Wongpakdee

2013-06-01

Full Text Available “Resurfacing Graphics” deals with the subject of unconventional design, with the purpose of engaging the viewer to experience the graphics beyond paper’s passive surface. Unconventional designs serve to reinvigorate people, whose senses are dulled by the typical, printed graphics, which bombard them each day. Today’s cutting-edge designers, illustrators and artists utilize graphics in a unique manner that allows for tactile interaction. Such works serve as valuable teaching models and encourage students to do the following: 1 investigate the trans-disciplines of art and technology; 2 appreciate that this approach can have a positive effect on the environment; 3 examine and research other approaches of design communications and 4 utilize new mediums to stretch the boundaries of artistic endeavor. This paper examines how visuals communicators are “Resurfacing Graphics” by using atypical surfaces and materials such as textile, wood, ceramics and even water. Such non-traditional transmissions of visual language serve to demonstrate student’s overreliance on paper as an outdated medium. With this exposure, students can become forward-thinking, eco-friendly, creative leaders by expanding their creative breadth and continuing the perpetual exploration for new ways to make their mark. 

Mars' surface radiation environment measured with the Mars science laboratory's curiosity rover

NARCIS (Netherlands)

Hassler, D.M.; Zeitlin, C.; Wimmer-Schweingruber, R.F.; Ehresmann, B.; Rafkin, S.; Eigenbrode, J.L.; Brinza, D.E.; Weigle, G.; Böttcher, S.; Böhm, E.; Burmeister, S.; Guo, J.; Köhler, J.; Martin, C.; Reitz, G.; Cucinotta, F.A.; Kim, M.-H.; Grinspoon, D.; Bullock, M.A.; Posner, A.; Gómez-Elvira, J.; Vasavada, A.; Grotzinger, J.P.; MSL Science Team, the|info:eu-repo/dai/nl/292012217

2014-01-01

The Radiation Assessment Detector (RAD) on the Mars Science Laboratory’s Curiosity rover began making detailed measurements of the cosmic ray and energetic particle radiation environment on the surface of Mars on 7 August 2012. We report and discuss measurements of the absorbed dose and dose

Graphical symbol recognition

OpenAIRE

K.C. , Santosh; Wendling , Laurent

2015-01-01

International audience; The chapter focuses on one of the key issues in document image processing i.e., graphical symbol recognition. Graphical symbol recognition is a sub-field of a larger research domain: pattern recognition. The chapter covers several approaches (i.e., statistical, structural and syntactic) and specially designed symbol recognition techniques inspired by real-world industrial problems. It, in general, contains research problems, state-of-the-art methods that convey basic s...

Some Thoughts on Contemporary Graphic Print

Directory of Open Access Journals (Sweden)

Stefan Skiba

2016-09-01

Full Text Available The production requirements of original graphic works of art have changed since 1980. The development of digital printing using lightfast colors now rivals traditional techniques such as wood cut, screen print, lithography, etching etc. Today, with respect to artistic legitimacy, original graphics using traditional printing techniques compete with original graphics produced by digital printing techniques on the art market. What criteria distinguish traditional printing techniques from those of digital printing in the production and acquisition of original graphics? What consequences is the serious artist faced with when deciding to implement digital print production? How does digital print change original graphic acquisition decisions?

Graphic Ecologies

Directory of Open Access Journals (Sweden)

Brook Weld Muller

2014-12-01

Full Text Available This essay describes strategic approaches to graphic representation associated with critical environmental engagement and that build from the idea of works of architecture as stitches in the ecological fabric of the city. It focuses on the building up of partial or fragmented graphics in order to describe inclusive, open-ended possibilities for making architecture that marry rich experience and responsive performance. An aphoristic approach to crafting drawings involves complex layering, conscious absence and the embracing of tension. A self-critical attitude toward the generation of imagery characterized by the notion of ‘loose precision’ may lead to more transformative and environmentally responsive architectures.

Computer graphics from basic to application

International Nuclear Information System (INIS)

Kim, Do Hyeong; Mun, Sung Min

1998-04-01

This book mentions conception of computer graphics, background history, necessity and applied field like construction design, image processing, auto mobile design, fashion design and TV broadcast, basic principle of computer, computer graphics hardware, computer graphics software such as adobe illustrator tool box and adobe photo shop, quarkXpress like introduction, application and operating circumstance, 3D graphics with summary, difference of versions of 3D studio and system, and Auto CAD application.

Computer graphics from basic to application

Energy Technology Data Exchange (ETDEWEB)

Kim, Do Hyeong; Mun, Sung Min

1998-04-15

This book mentions conception of computer graphics, background history, necessity and applied field like construction design, image processing, auto mobile design, fashion design and TV broadcast, basic principle of computer, computer graphics hardware, computer graphics software such as adobe illustrator tool box and adobe photo shop, quarkXpress like introduction, application and operating circumstance, 3D graphics with summary, difference of versions of 3D studio and system, and Auto CAD application.

Preface: The Chang'e-3 lander and rover mission to the Moon

Science.gov (United States)

Ip, Wing-Huen; Yan, Jun; Li, Chun-Lai; Ouyang, Zi-Yuan

2014-12-01

The Chang'e-3 (CE-3) lander and rover mission to the Moon was an intermediate step in China's lunar exploration program, which will be followed by a sample return mission. The lander was equipped with a number of remote-sensing instruments including a pair of cameras (Landing Camera and Terrain Camera) for recording the landing process and surveying terrain, an extreme ultraviolet camera for monitoring activities in the Earth's plasmasphere, and a first-ever Moon-based ultraviolet telescope for astronomical observations. The Yutu rover successfully carried out close-up observations with the Panoramic Camera, mineralogical investigations with the VIS-NIR Imaging Spectrometer, study of elemental abundances with the Active Particle-induced X-ray Spectrometer, and pioneering measurements of the lunar subsurface with Lunar Penetrating Radar. This special issue provides a collection of key information on the instrumental designs, calibration methods and data processing procedures used by these experiments with a perspective of facilitating further analyses of scientific data from CE-3 in preparation for future missions.

A Rutherford Scattering Simulation with Microcomputer Graphics.

Science.gov (United States)

Calle, Carlos I.; Wright, Lavonia F.

1989-01-01

Lists a program for a simulation of Rutherford's gold foil experiment in BASIC for both Apple II and IBM compatible computers. Compares Rutherford's model of the atom with Thompson's plum pudding model of the atom. (MVL)

Graphical models for genetic analyses

DEFF Research Database (Denmark)

Lauritzen, Steffen Lilholt; Sheehan, Nuala A.

2003-01-01

This paper introduces graphical models as a natural environment in which to formulate and solve problems in genetics and related areas. Particular emphasis is given to the relationships among various local computation algorithms which have been developed within the hitherto mostly separate areas...... of graphical models and genetics. The potential of graphical models is explored and illustrated through a number of example applications where the genetic element is substantial or dominating....

Evaluation of accelerated iterative x-ray CT image reconstruction using floating point graphics hardware

International Nuclear Information System (INIS)

Kole, J S; Beekman, F J

2006-01-01

Statistical reconstruction methods offer possibilities to improve image quality as compared with analytical methods, but current reconstruction times prohibit routine application in clinical and micro-CT. In particular, for cone-beam x-ray CT, the use of graphics hardware has been proposed to accelerate the forward and back-projection operations, in order to reduce reconstruction times. In the past, wide application of this texture hardware mapping approach was hampered owing to limited intrinsic accuracy. Recently, however, floating point precision has become available in the latest generation commodity graphics cards. In this paper, we utilize this feature to construct a graphics hardware accelerated version of the ordered subset convex reconstruction algorithm. The aims of this paper are (i) to study the impact of using graphics hardware acceleration for statistical reconstruction on the reconstructed image accuracy and (ii) to measure the speed increase one can obtain by using graphics hardware acceleration. We compare the unaccelerated algorithm with the graphics hardware accelerated version, and for the latter we consider two different interpolation techniques. A simulation study of a micro-CT scanner with a mathematical phantom shows that at almost preserved reconstructed image accuracy, speed-ups of a factor 40 to 222 can be achieved, compared with the unaccelerated algorithm, and depending on the phantom and detector sizes. Reconstruction from physical phantom data reconfirms the usability of the accelerated algorithm for practical cases

Bayesian graphical models for genomewide association studies.

Science.gov (United States)

Verzilli, Claudio J; Stallard, Nigel; Whittaker, John C

2006-07-01

As the extent of human genetic variation becomes more fully characterized, the research community is faced with the challenging task of using this information to dissect the heritable components of complex traits. Genomewide association studies offer great promise in this respect, but their analysis poses formidable difficulties. In this article, we describe a computationally efficient approach to mining genotype-phenotype associations that scales to the size of the data sets currently being collected in such studies. We use discrete graphical models as a data-mining tool, searching for single- or multilocus patterns of association around a causative site. The approach is fully Bayesian, allowing us to incorporate prior knowledge on the spatial dependencies around each marker due to linkage disequilibrium, which reduces considerably the number of possible graphical structures. A Markov chain-Monte Carlo scheme is developed that yields samples from the posterior distribution of graphs conditional on the data from which probabilistic statements about the strength of any genotype-phenotype association can be made. Using data simulated under scenarios that vary in marker density, genotype relative risk of a causative allele, and mode of inheritance, we show that the proposed approach has better localization properties and leads to lower false-positive rates than do single-locus analyses. Finally, we present an application of our method to a quasi-synthetic data set in which data from the CYP2D6 region are embedded within simulated data on 100K single-nucleotide polymorphisms. Analysis is quick (<5 min), and we are able to localize the causative site to a very short interval.

Simulated breeding with QU-GENE graphical user interface.

Science.gov (United States)

Hathorn, Adrian; Chapman, Scott; Dieters, Mark

2014-01-01

Comparing the efficiencies of breeding methods with field experiments is a costly, long-term process. QU-GENE is a highly flexible genetic and breeding simulation platform capable of simulating the performance of a range of different breeding strategies and for a continuum of genetic models ranging from simple to complex. In this chapter we describe some of the basic mechanics behind the QU-GENE user interface and give a simplified example of how it works.

Reverse-engineering graphical innovation: an introduction to graphical regimes

Directory of Open Access Journals (Sweden)

Dominic Arsenault

2013-03-01

Full Text Available Technological innovation in the video games industry is a rich area of research that has barely been explored as of yet. Gamers are always clamoring for novelty and a remedy to the oft-decried “sequelitis” that “plagues” the industry, while game publishers and platform holders secretly plan a next-gen platform to capture the ever-shifting market. In this light, the importance of graphics cannot be understated, as it is usually taken for granted in game historiography that “[g]ame graphics were, and to a large extent still are, the main criteria by which advancing video game technology is benchmarked” (Wolf, 2003, p.53.

Childhood trauma in the graphic memoir

OpenAIRE

Beskow, Sara H.

2011-01-01

In this thesis I examine why the graphic memoir has become such a popular platform for authors to explore their childhood, and how these authors use graphic memoirs in an attempt to understand any trauma that they experienced during their formative years. Graphic memoirs in this context allow for a dual outlet to express these complex traumatic events, both through vivid illustrations and descriptive text. To illustrate how graphic memoirs are used as an outlet for traumatic experiences I hav...

Web-Compatible Graphics Visualization Framework for Online Instruction and Assessment of Hardware Concepts

Science.gov (United States)

Chandramouli, Magesh; Chittamuru, Siva-Teja

2016-01-01

This paper explains the design of a graphics-based virtual environment for instructing computer hardware concepts to students, especially those at the beginner level. Photorealistic visualizations and simulations are designed and programmed with interactive features allowing students to practice, explore, and test themselves on computer hardware…

Graphic Design Career Guide 2. Revised Edition.

Science.gov (United States)

Craig, James

The graphic design field is diverse and includes many areas of specialization. This guide introduces students to career opportunities in graphic design. The guide is organized in four parts. "Part One: Careers in Graphic Design" identifies and discusses the various segments of the graphic design industry, including: Advertising, Audio-Visual, Book…

ABOUT MODERN TECHNICAL GRAPHICS USING IN THE VIRTUAL PROTOTYPING

OpenAIRE

GHERGHINA George; POPA Dragos; BOGDAN Mihaela; GLUGA Cristian

2008-01-01

The paper presents aspects concerning the using of modern technical graphics elements in the virtual prototyping. The virtual prototyping is a process which uses a virtual prototype in place of physical prototype for the testing and the evaluation of specific features of designed product. The virtual prototype is created by computer such as it could assign the specific features as close as possible to the real conditions which permit its function simulation in the conditions for which is desi...

The Case for Graphic Novels

OpenAIRE

Steven Hoover

2012-01-01

Many libraries and librarians have embraced graphic novels. A number of books, articles, and presentations have focused on the history of the medium and offered advice on building and maintaining collections, but very little attention has been given the question of how integrate graphic novels into a library’s instructional efforts. This paper will explore the characteristics of graphic novels that make them a valuable resource for librarians who focus on research and information literacy i...

Graphics and visualization principles & algorithms

CERN Document Server

Theoharis, T; Platis, Nikolaos; Patrikalakis, Nicholas M

2008-01-01

Computer and engineering collections strong in applied graphics and analysis of visual data via computer will find Graphics & Visualization: Principles and Algorithms makes an excellent classroom text as well as supplemental reading. It integrates coverage of computer graphics and other visualization topics, from shadow geneeration and particle tracing to spatial subdivision and vector data visualization, and it provides a thorough review of literature from multiple experts, making for a comprehensive review essential to any advanced computer study.-California Bookw

Mesoscale modeling of the water vapor cycle at Mawrth Vallis: a Mars2020 and ExoMars exploration rovers high-priority landing site

Science.gov (United States)

Pla-García, Jorge

2017-04-01

Introduction: The Mars Regional Atmospheric Modeling System (MRAMS) was used to predict meteorological conditions that are likely to be encountered by the Mars 2020 (NASA) Rover at several of their respective proposed landing sites during entry, descent, and landing at Ls5 [1] and by the ExoMars (ESA) Rover at one of the final landing sites. MRAMS is ideally suited for this type of investigation; the model is explicitly designed to simu-late Mars' atmospheric circulations at the mesoscale and smaller with realistic, high-resolution surface proper-ties [2, 3]. One of the sights studied for both rovers was Mawrth Vallis (MV), an ancient water outflow channel with light colored clay-rich rocks in the mid-latitude north hemisphere (Oxia Palus quadrangle). MV is the northernmost of the Mars2020 and ExoMars landing sites and the closest to the northern polar cap water source. The primary source of water vapor to the atmosphere is the northern polar cap during the northern summer. In order to highlight MV habitability implications, additional numerical experiments at Ls90, 140 and 180, highest column abundance of water vapor is found over MV [4], were performed to study how the atmospheric circulation connects MV with the polar water source. Once the winter CO2 retreats, the underlying polar water ice is exposed and begins to sublimate. The water is transported equatorward where it is manifested in the tropical aphelion cloud belt. If transport is assumed to be the result of the summer Hadley Cell, then the polar water is carried aloft in the northern high latitude rising branch before moving equatorward and eventually toward the southern high latitudes. Thus, the mean meridional summer circulation precludes a direct water vapor connection between MV and the polar source. Around the equinoxes (Ls0 and Ls180), there is a brief transition period where the rising branch quickly crosses from one hemisphere into the other as it migrates to its more typical solstitial location

The graphics future in scientific applications

International Nuclear Information System (INIS)

Enderle, G.

1982-01-01

Computer graphics methods and tools are being used to a great extent in scientific research. The future development in this area will be influenced both by new hardware developments and by software advances. On the hardware sector, the development of the raster technology will lead to the increased use of colour workstations with more local processing power. Colour hardcopy devices for creating plots, slides, or movies will be available at a lower price than today. The first real 3D-workstations appear on the marketplace. One of the main activities on the software sector is the standardization of computer graphics systems, graphical files, and device interfaces. This will lead to more portable graphical application programs and to a common base for computer graphics education. (orig.)

Graphic Communications. Curriculum Guide.

Science.gov (United States)

North Dakota State Board for Vocational Education, Bismarck.

This guide provides the basic foundation to develop a one-semester course based on the cluster concept, graphic communications. One of a set of six guides for an industrial arts curriculum at the junior high school level, it suggests exploratory experiences designed to (1) develop an awareness and understanding of the drafting and graphic arts…

Graphical Tests for Power Comparison of Competing Designs.

Science.gov (United States)

Hofmann, H; Follett, L; Majumder, M; Cook, D

2012-12-01

Lineups have been established as tools for visual testing similar to standard statistical inference tests, allowing us to evaluate the validity of graphical findings in an objective manner. In simulation studies lineups have been shown as being efficient: the power of visual tests is comparable to classical tests while being much less stringent in terms of distributional assumptions made. This makes lineups versatile, yet powerful, tools in situations where conditions for regular statistical tests are not or cannot be met. In this paper we introduce lineups as a tool for evaluating the power of competing graphical designs. We highlight some of the theoretical properties and then show results from two studies evaluating competing designs: both studies are designed to go to the limits of our perceptual abilities to highlight differences between designs. We use both accuracy and speed of evaluation as measures of a successful design. The first study compares the choice of coordinate system: polar versus cartesian coordinates. The results show strong support in favor of cartesian coordinates in finding fast and accurate answers to spotting patterns. The second study is aimed at finding shift differences between distributions. Both studies are motivated by data problems that we have recently encountered, and explore using simulated data to evaluate the plot designs under controlled conditions. Amazon Mechanical Turk (MTurk) is used to conduct the studies. The lineups provide an effective mechanism for objectively evaluating plot designs.

A Graphical-User Interface for the U. S. Geological Survey's SUTRA Code using Argus ONE (for simulation of variable-density saturated-unsaturated ground-water flow with solute or energy transport)

Science.gov (United States)

Voss, Clifford I.; Boldt, David; Shapiro, Allen M.

1997-01-01

This report describes a Graphical-User Interface (GUI) for SUTRA, the U.S. Geological Survey (USGS) model for saturated-unsaturated variable-fluid-density ground-water flow with solute or energy transport,which combines a USGS-developed code that interfaces SUTRA with Argus ONE, a commercial software product developed by Argus Interware. This product, known as Argus Open Numerical Environments (Argus ONETM), is a programmable system with geographic-information-system-like (GIS-like) functionality that includes automated gridding and meshing capabilities for linking geospatial information with finite-difference and finite-element numerical model discretizations. The GUI for SUTRA is based on a public-domain Plug-In Extension (PIE) to Argus ONE that automates the use of ArgusONE to: automatically create the appropriate geospatial information coverages (information layers) for SUTRA, provide menus and dialogs for inputting geospatial information and simulation control parameters for SUTRA, and allow visualization of SUTRA simulation results. Following simulation control data and geospatial data input bythe user through the GUI, ArgusONE creates text files in a format required for normal input to SUTRA,and SUTRA can be executed within the Argus ONE environment. Then, hydraulic head, pressure, solute concentration, temperature, saturation and velocity results from the SUTRA simulation may be visualized. Although the GUI for SUTRA discussed in this report provides all of the graphical pre- and post-processor functions required for running SUTRA, it is also possible for advanced users to apply programmable features within Argus ONE to modify the GUI to meet the unique demands of particular ground-water modeling projects.

Development of LabVIEW web-based simulator for RELAP5

Energy Technology Data Exchange (ETDEWEB)

Macedo, Luiz A.; Torres, Walmir M.; Sabundjian, Gaiane; Andrade, Delvonei A.; Belchior Junior, Antonio; Umbehaun, Pedro E.; Conti, Thadeu N.; Mesquita, Roberto N. de; Masotti, Paulo H.F.; Angelo, Gabriel, E-mail: lamacedo@ipen.b, E-mail: wmtorres@ipen.b, E-mail: gdjian@ipen.b, E-mail: delvonei@ipen.b, E-mail: abelchior@ipen.b, E-mail: umbehaun@ipen.b, E-mail: tnconti@ipen.b, E-mail: rnavarro@ipen.b, E-mail: , E-mail: masotti@ipen.b, E-mail: gabriel.angelo@usp.b [Instituto de Pesquisas Energeticas e Nucleares (IPEN/CNEN-SP), Sao Paulo, SP (Brazil)

2011-07-01

This work presents the development of a LabVIEW web-based simulator using the output results of the best estimate nuclear system analysis code, RELAP5, for graphical user interfaces and web-casting. A numerical based model designed for natural circulation studies on the thermal hydraulic experimental facility called Natural Circulation Circuit, was developed with RELAP5 code. Specific output results from RELAP5 simulation are displayed in a user friendly graphical format. The temperatures are shown as a function of time in a XY graphic. Temperatures, levels and void fractions are displayed in color-coded scale which change in time on the graphical interface representing the circuit. An alarm is set for the case of onset boiling temperature occurrence at the heater outlet. This simulator allows an easy visual understanding of the thermal hydraulic circuit behavior. It can be shared, via Web, with researchers in any geographical location and, at the same time, it can be used in learning for distance educational purposes. In future work, this LabVIEW simulator will be coupled with RELAP5 code through dll's. Simultaneous graphical displaying and code calculations will be possible. Results are presented and discussed. (author)

Development of LabVIEW web-based simulator for RELAP5

International Nuclear Information System (INIS)

Macedo, Luiz A.; Torres, Walmir M.; Sabundjian, Gaiane; Andrade, Delvonei A.; Belchior Junior, Antonio; Umbehaun, Pedro E.; Conti, Thadeu N.; Mesquita, Roberto N. de; Masotti, Paulo H.F.; Angelo, Gabriel

2011-01-01

This work presents the development of a LabVIEW web-based simulator using the output results of the best estimate nuclear system analysis code, RELAP5, for graphical user interfaces and web-casting. A numerical based model designed for natural circulation studies on the thermal hydraulic experimental facility called Natural Circulation Circuit, was developed with RELAP5 code. Specific output results from RELAP5 simulation are displayed in a user friendly graphical format. The temperatures are shown as a function of time in a XY graphic. Temperatures, levels and void fractions are displayed in color-coded scale which change in time on the graphical interface representing the circuit. An alarm is set for the case of onset boiling temperature occurrence at the heater outlet. This simulator allows an easy visual understanding of the thermal hydraulic circuit behavior. It can be shared, via Web, with researchers in any geographical location and, at the same time, it can be used in learning for distance educational purposes. In future work, this LabVIEW simulator will be coupled with RELAP5 code through dll's. Simultaneous graphical displaying and code calculations will be possible. Results are presented and discussed. (author)

Finite Difference Time Domain (FDTD) Simulations Using Graphics Processors

National Research Council Canada - National Science Library

Adams, Samuel; Payne, Jason; Boppana, Rajendra

2007-01-01

.... This paper shows how GPUs can be used to greatly speedup FDTD simulations. The main objective is to leverage GPU processing power for FDTD update calculations and complete computationally expensive simulations in reasonable time...

Cartooning History: Canada's Stories in Graphic Novels

Science.gov (United States)

King, Alyson E.

2012-01-01

In recent years, historical events, issues, and characters have been portrayed in an increasing number of non-fiction graphic texts. Similar to comics and graphic novels, graphic texts are defined as fully developed, non-fiction narratives told through panels of sequential art. Such non-fiction graphic texts are being used to teach history in…

Personal Supercomputing for Monte Carlo Simulation Using a GPU

Energy Technology Data Exchange (ETDEWEB)

Oh, Jae-Yong; Koo, Yang-Hyun; Lee, Byung-Ho [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2008-05-15

Since the usability, accessibility, and maintenance of a personal computer (PC) are very good, a PC is a useful computer simulation tool for researchers. It has enough calculation power to simulate a small scale system with the improved performance of a PC's CPU. However, if a system is large or long time scale, we need a cluster computer or supercomputer. Recently great changes have occurred in the PC calculation environment. A graphic process unit (GPU) on a graphic card, only used to calculate display data, has a superior calculation capability to a PC's CPU. This GPU calculation performance is a match for the supercomputer in 2000. Although it has such a great calculation potential, it is not easy to program a simulation code for GPU due to difficult programming techniques for converting a calculation matrix to a 3D rendering image using graphic APIs. In 2006, NVIDIA provided the Software Development Kit (SDK) for the programming environment for NVIDIA's graphic cards, which is called the Compute Unified Device Architecture (CUDA). It makes the programming on the GPU easy without knowledge of the graphic APIs. This paper describes the basic architectures of NVIDIA's GPU and CUDA, and carries out a performance benchmark for the Monte Carlo simulation.