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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Parallel computation of manipulator inverse dynamics

In this article, parallel computation of manipulator inverse dynamics is investigated. A hierarchical graph-based mapping approach is devised to analyze the inherent parallelism in the Newton-Euler formulation at several computational levels, and to derive the features of an abstract architecture for exploitation of parallelism. At each level, a parallel algorithm represents the application of a parallel model of computation that transforms the computation into a graph whose structure defines the features of an abstract architecture, i.e., number of processors, communication structure, etc. Data-flow analysis is employed to derive the time lower bound in the computation as well as the sequencing of the abstract architecture. The features of the target architecture are defined by optimization of the abstract architecture to exploit maximum parallelism while minimizing architectural complexity. An architecture is designed and implemented that is capable of efficient exploitation of parallelism at several computational levels. The computation time of the Newton-Euler formulation for a 6-degree-of-freedom (dof) general manipulator is measured as 187 microsec. The increase in computation time for each additional dof is 23 microsec, which leads to a computation time of less than 500 microsec, even for a 12-dof redundant arm.

Fijany, Amir↗
NASA NTRS1993

Robust root clustering for linear uncertain systems using generalized Lyapunov theory

Consideration is given to the problem of matrix root clustering in subregions of a complex plane for linear state space models with real parameter uncertainty. The nominal matrix root clustering theory of Gutman & Jury (1981) using the generalized Liapunov equation is extended to the perturbed matrix case, and bounds are derived on the perturbation to maintain root clustering inside a given region. The theory makes it possible to obtain an explicit relationship between the parameters of the root clustering region and the uncertainty range of the parameter space.

Yedavalli, R. K.↗
NASA NTRS1993

Linear, multivariable robust control with a mu perspective

The structured singular value is a linear algebra tool developed to study a particular class of matrix perturbation problems arising in robust feedback control of multivariable systems. These perturbations are called linear fractional, and are a natural way to model many types of uncertainty in linear systems, including state-space parameter uncertainty, multiplicative and additive unmodeled dynamics uncertainty, and coprime factor and gap metric uncertainty. The structured singular value theory provides a natural extension of classical SISO robustness measures and concepts to MIMO systems. The structured singular value analysis, coupled with approximate synthesis methods, make it possible to study the tradeoff between performance and uncertainty that occurs in all feedback systems. In MIMO systems, the complexity of the spatial interactions in the loop gains make it difficult to heuristically quantify the tradeoffs that must occur. This paper examines the role played by the structured singular value (and its computable bounds) in answering these questions, as well as its role in the general robust, multivariable control analysis and design problem.

Packard, Andy↗
NASA NTRS2003

Quantitating Iron in Serum Ferritin by Use of ICP-MS

A laboratory method has been devised to enable measurement of the concentration of iron bound in ferritin from small samples of blood (serum). Derived partly from a prior method that depends on large samples of blood, this method involves the use of an inductively-coupled-plasma mass spectrometer (ICP-MS). Ferritin is a complex of iron with the protein apoferritin. Heretofore, measurements of the concentration of serum ferritin (as distinguished from direct measurements of the concentration of iron in serum ferritin) have been used to assess iron stores in humans. Low levels of serum ferritin could indicate the first stage of iron depletion. High levels of serum ferritin could indicate high levels of iron (for example, in connection with hereditary hemochromatosis an iron-overload illness that is characterized by progressive organ damage and can be fatal). However, the picture is complicated: A high level of serum ferritin could also indicate stress and/or inflammation instead of (or in addition to) iron overload, and low serum iron concentration could indicate inflammation rather than iron deficiency. Only when concentrations of both serum iron and serum ferritin increase and decrease together can the patient s iron status be assessed accurately. Hence, in enabling accurate measurement of the iron content of serum ferritin, the present method can improve the diagnosis of the patient s iron status. The prior method of measuring the concentration of iron involves the use of an atomic-absorption spectrophotometer with a graphite furnace. The present method incorporates a modified version of the sample- preparation process of the prior method. First, ferritin is isolated; more specifically, it is immobilized by immunoprecipitation with rabbit antihuman polyclonal antibody bound to agarose beads. The ferritin is then separated from other iron-containing proteins and free iron by a series of centrifugation and wash steps. Next, the ferritin is digested with nitric acid to extract its iron content. Finally, a micronebulizer is used to inject the sample of the product of the digestion into the ICPMS for analysis of its iron content. The sensitivity of the ICP-MS is high enough to enable it to characterize samples smaller than those required in the prior method (samples can be 0.15 to 0.60 mL).

Smith, Scott M.↗
NASA NTRS1989

Quantization effects in Viterbi decoding rate 1/n convolutional codes

A Viterbi decoder's performance loss due to quantizing data from the additive white Gaussian noise (AWGN) channel is studied. An optimal quantization scheme and branch metric calculation method are presented. The uniformly quantized channel capacity C(sub u)(q) is used to determine the smallest number of quantization bits q that does not cause a significant loss. The quantizer stepsize which maximizes C(sub u)(q) almost minimizes the decoder bit error rate (BER). However, a slightly larger stepsize is better, like the value that minimizes the Bhattacharyya bound. The range and renormalization of state metrics is analyzed, in particular for K = 15 decoders such as the Big Viterbi Decoder (BVD) for the Galileo mission. These results are required to design reduced hardware complexity Viterbi decoders with a negligible quantization loss.

Onyszchuk, I. M.↗
NASA NTRS2003

Novel Route to Transition Metal Isothiocyanate Complexes Using Metal Powders and Thiourea

A new synthetic route to isothiocyanate-containing materials is presented. Eight isothiocyanate- 4-methylpyridine (y-picoline) compounds were prepared by refluxing metal powders (Mn, Fe, Co, Ni, and Cu) with thiourea in y-picoline. With the exception of compound 5,prepared with Co, the isothiocyanate ligand was generated in situ by the isomerization of thiourea to NH4+SCN- at reflux temperatures. The complexes were characterized by x-ray crystallography. Compounds 1,2, and 8 are the first isothiocyanate- 4-methylpyridine anionic compounds ever prepared and structurally characterized. Compounds 1 and 2 are isostructural with four equatorially bound isothiocyanate ligands and two axially bound y-picoline molecules. Compound 8 is a five-coordinate copper(II) molecule with a distorted square-pyramidal geometry. Coordinated picoline and two isothiocyanates form the basal plane and the remaining isothiocyanate is bound at the apex. Structural data are presented for all compounds.

Harris, Jerry D.↗
NASA NTRS2016

Orion GN&C Fault Management System Verification: Scope And Methodology

In order to ensure long-term ability to meet mission goals and to provide for the safety of the public, ground personnel, and any crew members, nearly all spacecraft include a fault management (FM) system. For a manned vehicle such as Orion, the safety of the crew is of paramount importance. The goal of the Orion Guidance, Navigation and Control (GN&C) fault management system is to detect, isolate, and respond to faults before they can result in harm to the human crew or loss of the spacecraft. Verification of fault management/fault protection capability is challenging due to the large number of possible faults in a complex spacecraft, the inherent unpredictability of faults, the complexity of interactions among the various spacecraft components, and the inability to easily quantify human reactions to failure scenarios. The Orion GN&C Fault Detection, Isolation, and Recovery (FDIR) team has developed a methodology for bounding the scope of FM system verification while ensuring sufficient coverage of the failure space and providing high confidence that the fault management system meets all safety requirements. The methodology utilizes a swarm search algorithm to identify failure cases that can result in catastrophic loss of the crew or the vehicle and rare event sequential Monte Carlo to verify safety and FDIR performance requirements.

Brown, Denise↗
NASA NTRS1986

Evidence for a complex archean deformational history; southwestern Michipicoten Greenstone Belt, Ontario

The Michipicoten Greenstone Belt extends for about 150 km ENE from the northeastern angle of Lake Superior. In common with many other Archean greenstone belts, it is characterized by generally steep bedding dips and a distribution of major lithologic types suggesting a crudely synclinal structure for the belt as a whole. Detailed mapping and determination of structural sequence demonstrates that the structure is much more complex. The Archean history of the belt includes formation of at least three regionally significant cleavages, kilometer-scale overturning, extensive shearing, and diabase intrusion. Most well defined, mappable 'packages' of sedimentary rocks appear to be bounded by faults. These faults were active relatively early in the structural history of the belt, when extensive overturning also occurred. Steepening of dips, NW-SE shortening, development of steep NE cleavage, and pervasive shearing all postdate the early faulting and the regional overturning, obscuring much of the detail needed to define the geometry of the earlier structures. The results obtained so far suggest, however, that the Michipicoten Greenstone Belt underwent an early stage of thrusting and associated isoclinal folding, probably in a convergent tectonic environment.

Mcgill, George E.↗
NASA NTRS1991

Robustness in the presence of mixed parametric uncertainty and unmodeled dynamics

Continuing the development of the structured singular value approach to robust control design, the authors investigate the problem of computing the structured singular value (mu) in the case of mixed real parametric and complex uncertainty. The problem is shown to be equivalent to a smooth constrained finite-dimensional optimization problem. In view of the fact that the functional to be maximized may have several local extrema, an upper bound on mu whose computation is numerically tractable is established; this leads to a sufficient condition of robust stability and performance. A historical perspective on the development of the mu theory is included.

Fan, Michael K. H.↗
NASA NTRS1992

Stability margins for multilinear interval systems by way of phase conditions: A unified approach

A simple way of checking the stability with respect to an arbitrary stability region of a family of polynomials containing a vector of parameters varying within prescribed intervals is discussed. It is assumed that the parameters appear affine multilinearly in the characteristic polynomial coefficients. The condition proposed is simply to check the phase difference of the vertex polynomials. This test based on the mapping theorem significantly reduces computational complexity. Mathematical proofs are omitted. The results can be used to determine various stability margins of control systems containing interconnected interval subsystems. These include the gain, phase, time-delay, H(sup infinity), and nonlinear sector bounded stability margins of multilinear interval systems.

Keel, L. H.↗
NASA NTRS1997

Multidimensional Trellis Coded Phase Modulation Using a Multilevel Concatenation Approach: Codes for AWGN and Fading Channels - Part 2

In this paper, we will use the construction technique proposed in to construct multidimensional trellis coded modulation (TCM) codes for both the additive white Gaussian noise (AWGN) and the fading channels. Analytical performance bounds and simulation results show that these codes perform very well and achieve significant coding gains over uncoded reference modulation systems. In addition, the proposed technique can be used to construct codes which have a performance/decoding complexity advantage over the codes listed in literature.

Rajpal, Sandeep↗
NASA NTRS2005

AC/DC Power Systems with Applications for future Lunar/Mars base and Crew Exploration Vehicle

ABSTRACT The Power Systems branch at JSC faces a number of complex issues as it readies itself for the President's initiative on future space exploration beyond low earth orbit. Some of these preliminary issues - those dealing with electric power generation and distribution on board Mars-bound vehicle and that on Lunar and Martian surface may be summarized as follows: Type of prime mover - Because solar power may not be readily available on parts of the Lunar/Mars surface and also during the long duration flight to Mars, the primary source of power will most likely be nuclear power (Uranium fuel rods) with a secondary source of fuel cell (Hydrogen supply). The electric power generation source - With nuclear power being the main prime mover, the electric power generation source will most likely be an ac generator at a yet to be determined frequency. Thus, a critical issue is whether the generator should generate at constant or variable frequency. This will decide what type of generator to use - whether it is a synchronous machine, an asynchronous induction machine or a switched reluctance machine. The type of power distribution system - the distribution frequency, number of wires (3- wire, 4-wire or higher), and ac/dc hybridization. Building redundancy and fault tolerance in the generation and distribution sub-systems so that the system is safe; provides 100% availability to critical loads; continues to operate even with faulted sub-systems; and requires minimal maintenance. This report descril_es results of a summer faculty fellowship spent in the Power Systems Branch with the specific aim of investigating some of the lessons learned in electric power generation and usage from the terrestrial power systems industry, the aerospace industry as well as NASA's on-going missions so as to recommend novel surface and vehicle-based power systems architectures in support of future space exploration initiatives. A hybrid ac/dc architecture with source side and load side redundancies and including emergency generators on both ac and dc sides is proposed. The generation frequency is 400 Hz mostly because of the technology maturity at this frequency in the aerospace industry. Power will be distributed to several ac load distribution buses through solid state variable speed, constant frequency converters on the ac side. A segmented dc ring bus supplied from ac/dc converters and with the capability of connecting/disconnecting the segments will supply power to multiple de load distribution buses. The system will have the capability of reverse flow from dc to ac side in the case of an extreme emergency on the main ac generation side.

Chowdhury, Badrul H.↗
NASA NTRSDate not supplied

When the Eyes Don't Have It: Autonomous Control of Deep Space Vehicles for Human Spaceflight

NASA has been charged with expanding human presence into the solar system. The next phase of exploration will focus on learning how to develop and sustain habitats on the moon for eventual missions to Mars. The Gateway Lunar Orbiting Platform (G-LOP) is a modular spacecraft being built for cis-lunar orbit and offers a true deep space environment for gaining experience for human missions to Mars. The mission concept for Gateway involves long uncrewed periods between missions; therefore, Gateway requires increased self-reliance to separate the spacecraft from Earth-bound control and oversight. This complicates the human-in-the-loop (HITL) concept and requires major adjustments to the traditional automation human-computer interaction paradigm. This paper discusses the design, development, and verification of complex human-computer interactions with the autonomous systems managers which will control the Gateway spacecraft.

Julia M. Badger↗
NASA NTRS1972

Control system optimization studies. Volume 2: High frequency cutoff filter analysis

The problem of digital implementation of a cutoff filter is approached with consideration to word length, sampling rate, accuracy requirements, computing time and hardware restrictions. Computing time and hardware requirements for four possible programming forms for the linear portions of the filter are determined. Upper bounds for the steady state system output error due to quantization for digital control systems containing a digital network programmed both in the direct form and in the canonical form are derived. This is accomplished by defining a set of error equations in the z domain and then applying the final value theorem to the solution. Quantization error was found to depend upon the digital word length, sampling rate, and system time constants. The error bound developed may be used to estimate the digital word length and sampling rate required to achieve a given system specification. From the quantization error accumulation, computing time and hardware point of view, and the fact that complex poles and zeros must be realized, the canonical form of programming seems preferable.

Fong, M. H.↗
NASA NTRS1994

Binding and activation of major histocompatibility complex class II-deficient macrophages by staphylococcal exotoxins

Macrophages from C2D transgenic mice deficient in the expression of major histocompatibility complex (MHC) class II proteins were used to identify binding sites for superantigens distinct from the MHC class II molecule. Iodinated staphylococcal enterotoxins A and B (SEA and SEB) and exfoliative toxins A and B (ETA and ETB) bound to C2D macrophages in a concentration-dependent and competitive manner. All four toxins increased F-actin concentration within 30 s of their addition to C2D macrophages, indicating that signal transduction occurred in response to toxin in the absence of class II MHC. Furthermore, ETA, ETB, SEA, and, to a lesser extent, SEB induced C2D macrophages to produce interleukin 6. Several molecular species on C2D macrophages with molecular masses of 140, 97, 61, 52, 43, and 37 kDa bound SEA in immunoprecipitation experiments. These data indicate the presence of novel, functionally active toxin binding sites on murine macrophages distinct from MHC class II molecules.

Non-NASA Center↗
NASA NTRS2009

Computing Bounds on Resource Levels for Flexible Plans

A new algorithm efficiently computes the tightest exact bound on the levels of resources induced by a flexible activity plan (see figure). Tightness of bounds is extremely important for computations involved in planning because tight bounds can save potentially exponential amounts of search (through early backtracking and detection of solutions), relative to looser bounds. The bound computed by the new algorithm, denoted the resource-level envelope, constitutes the measure of maximum and minimum consumption of resources at any time for all fixed-time schedules in the flexible plan. At each time, the envelope guarantees that there are two fixed-time instantiations one that produces the minimum level and one that produces the maximum level. Therefore, the resource-level envelope is the tightest possible resource-level bound for a flexible plan because any tighter bound would exclude the contribution of at least one fixed-time schedule. If the resource- level envelope can be computed efficiently, one could substitute looser bounds that are currently used in the inner cores of constraint-posting scheduling algorithms, with the potential for great improvements in performance. What is needed to reduce the cost of computation is an algorithm, the measure of complexity of which is no greater than a low-degree polynomial in N (where N is the number of activities). The new algorithm satisfies this need. In this algorithm, the computation of resource-level envelopes is based on a novel combination of (1) the theory of shortest paths in the temporal-constraint network for the flexible plan and (2) the theory of maximum flows for a flow network derived from the temporal and resource constraints. The measure of asymptotic complexity of the algorithm is O(N O(maxflow(N)), where O(x) denotes an amount of computing time or a number of arithmetic operations proportional to a number of the order of x and O(maxflow(N)) is the measure of complexity (and thus of cost) of a maximumflow algorithm applied to an auxiliary flow network of 2N nodes. The algorithm is believed to be efficient in practice; experimental analysis shows the practical cost of maxflow to be as low as O(N1.5). The algorithm could be enhanced following at least two approaches. In the first approach, incremental subalgorithms for the computation of the envelope could be developed. By use of temporal scanning of the events in the temporal network, it may be possible to significantly reduce the size of the networks on which it is necessary to run the maximum-flow subalgorithm, thereby significantly reducing the time required for envelope calculation. In the second approach, the practical effectiveness of resource envelopes in the inner loops of search algorithms could be tested for multi-capacity resource scheduling. This testing would include inner-loop backtracking and termination tests and variable and value-ordering heuristics that exploit the properties of resource envelopes more directly.

Muscvettola, Nicola↗
NASA NTRS1987

Pattern recognition techniques for failure trend detection in SSME ground tests

The Space Shuttle Main Engine (SSME) is a complex power plant. To evaluate its performance 1200 hot-wire ground tests have been conducted, varying in duration from 0 to 500 secs. During the test some 500 sensors are sampled every 20 ms. The sensors are generally bounded by red lines so that an excursion beyond could lead to premature shutdown. In 27 tests it was not possible to effect an orderly premature shutdown, resulting in major incidents with serious damage to the SSME and test stand. The application of pattern recognition are investigated to detect SSME performance trends that may lead to major incidents. Based on the sensor data a set of (n) features is defined. At any time during the test, the state of the SSME is given by a point in the n-dimensional feature space. The history of a test can now be represented as a trajectory in the n-dimensional feature space. Portions of the normal trajectories and failed test trajectories would lie in different regions of the n-dimensional feature space. The latter can now be partitioned into regions of normal and failed tests. Thus, it is possible to examine the trajectory of a test in progress and predict if it is going into the normal or failure region.

Choudry, A.↗
NASA NTRS1990

Computational efficiency of parallel combinatorial OR-tree searches

The performance of parallel combinatorial OR-tree searches is analytically evaluated. This performance depends on the complexity of the problem to be solved, the error allowance function, the dominance relation, and the search strategies. The exact performance may be difficult to predict due to the nondeterminism and anomalies of parallelism. The authors derive the performance bounds of parallel OR-tree searches with respect to the best-first, depth-first, and breadth-first strategies, and verify these bounds by simulation. They show that a near-linear speedup can be achieved with respect to a large number of processors for parallel OR-tree searches. Using the bounds developed, the authors derive sufficient conditions for assuring that parallelism will not degrade performance and necessary conditions for allowing parallelism to have a speedup greater than the ratio of the numbers of processors. These bounds and conditions provide the theoretical foundation for determining the number of processors required to assure a near-linear speedup.

Li, Guo-Jie↗