Online INS/GPS integration with a radial basis function neural network

Most of the present navigation systems rely on Kalman filtering to fuse data from global positioning system (GPS) and the inertial navigation system (INS). In general, INS/GPS integration provides reliable navigation solutions by overcoming each of their shortcomings, including signal blockage for GPS and growth of position errors with time for INS. Present Kalman filtering INS/GPS integration techniques have some inadequacies related to the stochastic error models of inertial sensors, immunity to noise, and observability. This paper aims to introduce a multi-sensor system integration approach for fusing data from INS and GPS utilizing artificial neural networks (ANN). A multi-layer perceptron ANN has been recently suggested to fuse data from INS and differential GPS (DGPS). Although being able to improve the positioning accuracy, the complexity associated with both the architecture of multi-layer perceptron networks and its online training algorithms limit the real-time capabilities of this technique. This article, therefore, suggests the use of an alternative ANN architecture. This architecture is based on radial basis function (RBF) neural networks, which generally have simpler architecture and faster training procedures than multi-layer perceptron networks. The INS and GPS data are first processed using wavelet multi-resolution analysis (WRMA) before being applied to the RBF network. The WMRA is used to compare the INS and GPS position outputs at different resolution levels. The RBF-ANN module is then trained to predict the INS position errors and provide accurate positioning of the moving platform. Field-test results have demonstrated that substantial improvement in INS/GPS positioning accuracy could be obtained by applying the combined WRMA and RBF-ANN modules.     

Atmospheric dynamics in the "Laboratory Biosphere" with wheat and sweet potato crops.

Laboratory Biosphere is a 40-m3 closed life system equipped with 12,000 W of high pressure sodium lamps over planting beds with 5.37 m2 of soil. Atmospheric composition changes due to photosynthetic fixation of carbon dioxide and corresponding production of oxygen or the reverse, respiration, are observed in short timeframes, e.g., hourly. To focus on inherent characteristics of the crop as distinct from its area or the volume of the chamber, we report fixation and respiration rates in mmol h-1 m-2 of planted area. An 85-day crop of USU Apogee wheat under a 16-h lighted/8-h dark regime peaked in fixation rate at about 100 mmol h-1 m-2 approximately 24 days after planting. Light intensity was about 840 micromoles m-2 s-1. Dark respiration peaked at about 31 mmol h-1 m-2 at the same time. Thereafter, both fixation and respiration declined toward zero as harvest time approached. A residual soil respiration rate of about 1.9 mmol h-1 m-2 was observed in the dark closed chamber for 100 days after the harvest. A 126-day crop of Tuskegee TU-82-155 sweet potato behaved quite differently. Under a 680 micromoles m-2 s-1, 18-h lighted/6-h dark regime, fixation during lighted hours rose to a plateau ranging from about 27 to 48 mmol h-1 m-2 after 42 days and dark respiration settled into a range of 12-23 mmol h-1 m-2. These rates continued unabated until the harvest at 126 days, suggesting that tuber biomass production might have continued at about the same rate for some time beyond the harvest time that was exercised in this experiment. In both experiments CO2 levels were allowed to range widely from a few hundred to about 3000 ppm, which permitted observation of fixation rates both at varying CO2 concentrations and at each number of days after planting. This enables plotting the fixation rate as a function of both variables. Understanding the atmospheric dynamics of individual crops will be essential for design and atmospheric management of more complex CELSS which integrate the simultaneous growth of several crops as in a sustainable remote life support system.     

Ultra triple-junction high-efficiency solar cells

Solar cells suitable for the space environment must combine high-efficiency, high energy density, and radiation hardness in a manufacturable design. As improvement in one performance parameter usually results in degradation in one or more of the remaining parameters, careful optimization is required to enhance overall performance. The ultra triple-junction cell developed builds upon the established success of the fully qualified improved triple-junction cell currently in production. In the ultra triple-junction cell configuration, improved robustness and efficiency after radiation exposure augment a cell design expected to deliver 28% beginning-of-life efficiency in production.     

Discrete energy release in microwave emission in the preflare stage

Examples of solar microwave precursors and estimates of their energetic characteristics are discussed based on spectral investigations of the preflare activity.     

Adaptive image segmentation using genetic and hybrid search methods

This paper describes an adaptive approach for the important image processing problem of image segmentation that relies on learning from experience to adapt and improve the segmentation performance. The adaptive image segmentation system incorporates a feedback loop consisting of a machine learning subsystem, an image segmentation algorithm, and an evaluation component which determines segmentation quality. The machine learning component is based on genetic adaptation and uses (separately) a pure genetic algorithm (GA) and a hybrid of GA and hill climbing (HC). When the learning subsystem is based on pure genetics, the corresponding evaluation component is based on a vector of evaluation criteria. For the hybrid case, the system employs a scalar evaluation measure which is a weighted combination of the different criteria. Experimental results for pure genetic and hybrid search methods are presented using a representative database of outdoor TV imagery. The multiobjective optimization demonstrates the ability of the adaptive image segmentation system to provide high quality segmentation results in a minimal number of generations     

The atmospheric Čerenkov technique in the search for PBH

Searches for primordial black holes are reviewed.     

Dynamic optimization of CELSS crop photosynthetic rate by computer-assisted feedback control.

A procedure for dynamic optimization of net photosynthetic rate (Pn) for crop production in Controlled Ecological Life-Support Systems (CELSS) was developed using leaf lettuce as a model crop. Canopy Pn was measured in real time and fed back for environmental control. Setpoints of photosynthetic photon flux (PPF) and CO2 concentration for each hour of the crop-growth cycle were decided by computer to reach a targeted Pn each day. Decision making was based on empirical mathematical models combined with rule sets developed from recent experimental data. Comparisons showed that dynamic control resulted in better yield per unit energy input to the growth system than did static control. With comparable productivity parameters and potential for significant energy savings, dynamic control strategies will contribute greatly to the sustainability of space-deployed CELSS.     

Novel sensor technology for monitoring and control of critical plant nutrient parameters.

A novel dielectric sensor technology has been developed for monitoring and control of plant nutrient delivery systems as part of NASA's Controlled Ecological Life Support System (CELSS) program. A unique measurement phenomenon was discovered in which the electrostatic field is shunted to a third terminal of the sensor, resulting in a much greater sensitivity to changes in the complex dielectric properties of the nutrient solution. Based on this phenomenon, a small, flexible, thin-film shunting dielectric sensor (SDS) was designed to provide low-frequency, non-invasive measurement of both the thickness and nutrient concentration of the layer of solution on a plant growth surface. Test results indicate a sensitivity of +/- 0.05mm in layer thickness while characterization of the ability to measure nutrient concentration continues. The development plan for this sensor is presented and other applications are discussed.     

Interplanetary Shocks and Solar Wind Structure Approaching Solar Maximum: Helios,IMP-8 and Voyager Observations

We studied solar wind observations of five different spacecraft: Helios 1, Helios 2, IMP-8, Voyager 1 and Voyager 2, from November 1977 to February 1978. In this period the large-scale dynamics of the solar wind near of the ecliptic plane was characterized by transient forward shocks (TFSs), ejecta, unstable corotating interaction regions (CIRs), and complex and variable magnetic sector structures. We identified 12 forward shock events of different origin. We did not find any clear tendency of the shock parameters with heliocentric distance nor longitudinal angle, but comparing the observations of each shock event we found local variations in the shock strength and the mean propagation velocities from one spacecraft to another. These unsystematic variations indicate that there were local deformations of the shock fronts, which we attribute to the inhomogenuos solar wind structure that affects the shock propagation. This revised version was published online in August 2006 with corrections to the Cover Date.     

Application of nonlinear filtering to navigation system designusing passive sensors

The problem of navigation system design for autonomous aircraft landing is addressed. New nonlinear filter structures are introduced to estimate the position and velocity of an aircraft with respect to a possibly moving landing site, such as a naval vessel, based on measurements provided by airborne vision and inertial sensors. By exploring the geometry of the navigation problem, the navigation filter dynamics are cast in the framework of linear parametrically varying systems (LPVs). Using this set-up, filter performance and stability are studied in an H_∞ setting by resorting to the theory of linear matrix inequalities (LMIs). The design of nonlinear, regionally stable filters to meet adequate H_∞ performance measures is thus converted into that of determining the feasibility of a related set of LMIs and finding a solution to them, if it exists. This is done by using-widely available numerical tools that borrow from convex optimization techniques. The mathematical framework that is required for integrated vision/inertial navigation system design is developed and a design example for an air vehicle landing on an aircraft carrier is detailed