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At least 217 records · Page 12

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NASA NTRS1982

Approximating a finite element model of a hybrid deployable truss by a discrete mass model

The NASTRAN finite element model of the MSFC/hybrid deployable truss is approximated by a model consisting of four bodies serially connected by a spring hinge suspension. The truss is decomposed into four serially connected modules determining the total mass and rotational inertias for a rigid body with its mass center on the axis of the truss for each module. A five-body cantilever truss model is developed along with an undamped form of this model. Spring coefficient values are generated to match eigenvalues of the latter model with those of the NASTRAN model. Damping coefficients are then determined that provide n percent of critical damping for the model.

Chichester, F. D.↗

NASA NTRS1983

Robot arm geometric link parameter estimation

A general method for estimating serial link manipulator geometric parameter errors is proposed in this paper. The positioning accuracy of the end-effector may be increased significantly by updating the nominal link parameters in the control software to represent the physical system more accurately. The proposed method is applicable for serial link manipulators with any combination of revolute or prismatic joints, and is not limited to a specific measurement technique.

Hayati, S. A.↗

NASA NTRS1984

Cell symbiosis theory - Status and implications for the fossil record

Smith (1981) has presented three alternative models of the origin of eukaryotes. In the present investigation, alternative theories are discussed along with the status of serial endosymbiotic theory. It is pointed out that the usefulness of the serial endosymbiotic theory is attested by the great flourishing of productive scientific studies it has generated. Attention is given to the origin of mitochondria and plastids from free-living bacteria, the polyphyly of mitochondria, the origin of the nuclear membrane, the origin of undulipodia (cilia and other 9 + 2 organelles), the sequence of acquisition of organelles, large ribosomes, genome organization, animals and plants, and systematics and axonomy of the microorganisms.

Margulis, L.↗

NASA NTRS1986

Interface of the transport systems research vehicle monochrome display system to the digital autonomous terminal access communication data bus

An upgrade of the transport systems research vehicle (TSRV) experimental flight system retained the original monochrome display system. The original host computer was replaced with a Norden 11/70, a new digital autonomous terminal access communication (DATAC) data bus was installed for data transfer between display system and host, while a new data interface method was required. The new display data interface uses four split phase bipolar (SPBP) serial busses. The DATAC bus uses a shared interface ram (SIR) for intermediate storage of its data transfer. A display interface unit (DIU) was designed and configured to read from and write to the SIR to properly convert the data from parallel to SPBP serial and vice versa. It is found that separation of data for use by each SPBP bus and synchronization of data tranfer throughout the entire experimental flight system are major problems which require solution in DIU design. The techniques used to accomplish these new data interface requirements are described.

Easley, W. C.↗

NASA NTRS1985

Three-dimensional surface reconstruction for industrial computed tomography

Modern high resolution medical computed tomography (CT) scanners can produce geometrically accurate sectional images of many types of industrial objects. Computer software has been developed to convert serial CT scans into a three-dimensional surface form, suitable for display on the scanner itself. This software, originally developed for imaging the skull, has been adapted for application to industrial CT scanning, where serial CT scans thrrough an object of interest may be reconstructed to demonstrate spatial relationships in three dimensions that cannot be easily understood using the original slices. The methods of three-dimensional reconstruction and solid modeling are reviewed, and reconstruction in three dimensions from CT scans through familiar objects is demonstrated.

Vannier, M. W.↗

NASA NTRS1986

Concurrent Cholesky factorization of positive definite banded Hermitian matrices

First, the Cholesky factorization is extended to cover uniformly partitioned banded positive definite matrices of rank n which may be real symmetric or Hermitian. Then, two stratagems are given for the use of the algorithm in concurrent machines where the number of processing elements is less than required to factor the matrix in as few serial steps as possible, and where uniformly high efficiency is expected from all processing elements. Expressions are given for the efficiency factor e appearing in the speed-up expression q = eN, and these are specialized for the N node hypercube machine as a function of partition size s, the number N of processing elements of the hypercube machine, and the cost mu of interelement transmission relative to computation. It is shown that the efficiency factor e is inversely proportional to mu/s, and that e is almost independent of N when N is large and mu/s = 0. The task is completed in n/s serial steps with no limit on n. The half bandwidth b of the matrix is 2 Ns.

Utku, S.↗

NASA NTRS1987

Recursive inverse kinematics for robot arms via Kalman filtering and Bryson-Frazier smoothing

This paper applies linear filtering and smoothing theory to solve recursively the inverse kinematics problem for serial multilink manipulators. This problem is to find a set of joint angles that achieve a prescribed tip position and/or orientation. A widely applicable numerical search solution is presented. The approach finds the minimum of a generalized distance between the desired and the actual manipulator tip position and/or orientation. Both a first-order steepest-descent gradient search and a second-order Newton-Raphson search are developed. The optimal relaxation factor required for the steepest descent method is computed recursively using an outward/inward procedure similar to those used typically for recursive inverse dynamics calculations. The second-order search requires evaluation of a gradient and an approximate Hessian. A Gauss-Markov approach is used to approximate the Hessian matrix in terms of products of first-order derivatives. This matrix is inverted recursively using a two-stage process of inward Kalman filtering followed by outward smoothing. This two-stage process is analogous to that recently developed by the author to solve by means of spatial filtering and smoothing the forward dynamics problem for serial manipulators.

Rodriguez, G.↗

NASA NTRS1988

Wideband Digital Interface Unit

Signals converted from serial to parallel and buffered for input to computer. Wideband digital interface unit converts serial input data bits to 16-bit words and feeds them as needed to host computer.

Baltau, William M.↗

NASA NTRS1988

Implementation and analysis of a Navier-Stokes algorithm on parallel computers

The results of the implementation of a Navier-Stokes algorithm on three parallel/vector computers are presented. The object of this research is to determine how well, or poorly, a single numerical algorithm would map onto three different architectures. The algorithm is a compact difference scheme for the solution of the incompressible, two-dimensional, time-dependent Navier-Stokes equations. The computers were chosen so as to encompass a variety of architectures. They are the following: the MPP, an SIMD machine with 16K bit serial processors; Flex/32, an MIMD machine with 20 processors; and Cray/2. The implementation of the algorithm is discussed in relation to these architectures and measures of the performance on each machine are given. The basic comparison is among SIMD instruction parallelism on the MPP, MIMD process parallelism on the Flex/32, and vectorization of a serial code on the Cray/2. Simple performance models are used to describe the performance. These models highlight the bottlenecks and limiting factors for this algorithm on these architectures. Finally, conclusions are presented.

Fatoohi, Raad A.↗

NASA NTRS1987

Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics

The recursive difference equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing, arising in the state estimation theory for linear state space systems, are used here to solve problems of serial manipulator inverse and forward dynamics. The configuration analyzed is that of a joint connected N-link serial manipulator attached to an immobile base. The equivalence between the filtering and smoothing techniques from state estimation theory and recursive robot dynamics methods is demonstrated. Several areas for future research are suggested.

Rodriguez, Guillermo↗

NASA NTRS1988

A sparse matrix algorithm on the Boolean vector machine

VLSI technology is being used to implement a prototype Boolean Vector Machine (BVM), which is a large network of very small processors with equally small memories that operate in SIMD mode; these use bit-serial arithmetic, and communicate via cube-connected cycles network. The BVM's bit-serial arithmetic and the small memories of individual processors are noted to compromise the system's effectiveness in large numerical problem applications. Attention is presently given to the implementation of a basic matrix-vector iteration algorithm for space matrices of the BVM, in order to generate over 1 billion useful floating-point operations/sec for this iteration algorithm. The algorithm is expressed in a novel language designated 'BVM'.

Wagner, Robert A.↗

NASA NTRS1988

A parallel householder tridiagonalization stratagem using scattered row decomposition

Householder's method for tridiagonalizing a real symmetric matrix, a major step in evaluating eigenvalues of the matrix, is modified into a parallel algorithm for a concurrent machine of message passing type. Each processor of the concurrent machine has its own CPU, communications control and local memory. Messages are passed through connections between processors. Although the basic algorithm is inherently serial, the computations can be spread over all processors by scattering different rows of the matrix into processors, hence the term 'Scattered Row Decomposition'. The steps in the serial and the parallel algorithms are identified. Expressions for efficiency and speedup are given in terms of problem and machine parameters. For a concurrent machine of ring type interconnection, a selected representative problem of large order exhibits efficiency approaching 66 per cent.

Chang, H. Y.↗

NASA NTRS1988

Rapid code acquisition algorithms employing PN matched filters

The performance of four algorithms using pseudonoise matched filters (PNMFs), for direct-sequence spread-spectrum systems, is analyzed. They are: parallel search with fix dwell detector (PL-FDD), parallel search with sequential detector (PL-SD), parallel-serial search with fix dwell detector (PS-FDD), and parallel-serial search with sequential detector (PS-SD). The operation characteristic for each detector and the mean acquisition time for each algorithm are derived. All the algorithms are studied in conjunction with the noncoherent integration technique, which enables the system to operate in the presence of data modulation. Several previous proposals using PNMF are seen as special cases of the present algorithms.

Su, Yu T.↗

NASA NTRS1989

Parallel processing of a rotating shaft simulation

A FORTRAN program describing the vibration modes of a rotor-bearing system is analyzed for parellelism in this simulation using a Pascal-like structured language. Potential vector operations are also identified. A critical path through the simulation is identified and used in conjunction with somewhat fictitious processor characteristics to determine the time to calculate the problem on a parallel processing system having those characteristics. A parallel processing overhead time is included as a parameter for proper evaluation of the gain over serial calculation. The serial calculation time is determined for the same fictitious system. An improvement of up to 640 percent is possible depending on the value of the overhead time. Based on the analysis, certain conclusions are drawn pertaining to the development needs of parallel processing technology, and to the specification of parallel processing systems to meet computational needs.

Arpasi, Dale J.↗

NASA NTRS1989

Parallel asynchronous systems and image processing algorithms

A new hardware approach to implementation of image processing algorithms is described. The approach is based on silicon devices which would permit an independent analog processing channel to be dedicated to evey pixel. A laminar architecture consisting of a stack of planar arrays of the device would form a two-dimensional array processor with a 2-D array of inputs located directly behind a focal plane detector array. A 2-D image data stream would propagate in neuronlike asynchronous pulse coded form through the laminar processor. Such systems would integrate image acquisition and image processing. Acquisition and processing would be performed concurrently as in natural vision systems. The research is aimed at implementation of algorithms, such as the intensity dependent summation algorithm and pyramid processing structures, which are motivated by the operation of natural vision systems. Implementation of natural vision algorithms would benefit from the use of neuronlike information coding and the laminar, 2-D parallel, vision system type architecture. Besides providing a neural network framework for implementation of natural vision algorithms, a 2-D parallel approach could eliminate the serial bottleneck of conventional processing systems. Conversion to serial format would occur only after raw intensity data has been substantially processed. An interesting challenge arises from the fact that the mathematical formulation of natural vision algorithms does not specify the means of implementation, so that hardware implementation poses intriguing questions involving vision science.

Coon, D. D.↗

NASA NTRS1990

Architecture independent environment for developing engineering software on MIMD computers

Engineers are constantly faced with solving problems of increasing complexity and detail. Multiple Instruction stream Multiple Data stream (MIMD) computers have been developed to overcome the performance limitations of serial computers. The hardware architectures of MIMD computers vary considerably and are much more sophisticated than serial computers. Developing large scale software for a variety of MIMD computers is difficult and expensive. There is a need to provide tools that facilitate programming these machines. First, the issues that must be considered to develop those tools are examined. The two main areas of concern were architecture independence and data management. Architecture independent software facilitates software portability and improves the longevity and utility of the software product. It provides some form of insurance for the investment of time and effort that goes into developing the software. The management of data is a crucial aspect of solving large engineering problems. It must be considered in light of the new hardware organizations that are available. Second, the functional design and implementation of a software environment that facilitates developing architecture independent software for large engineering applications are described. The topics of discussion include: a description of the model that supports the development of architecture independent software; identifying and exploiting concurrency within the application program; data coherence; engineering data base and memory management.

Valimohamed, Karim A.↗

NASA NTRS1989

Parallel algorithms and architecture for computation of manipulator forward dynamics

Parallel computation of manipulator forward dynamics is investigated. Considering three classes of algorithms for the solution of the problem, that is, the O(n), the O(n exp 2), and the O(n exp 3) algorithms, parallelism in the problem is analyzed. It is shown that the problem belongs to the class of NC and that the time and processors bounds are of O(log2/2n) and O(n exp 4), respectively. However, the fastest stable parallel algorithms achieve the computation time of O(n) and can be derived by parallelization of the O(n exp 3) serial algorithms. Parallel computation of the O(n exp 3) algorithms requires the development of parallel algorithms for a set of fundamentally different problems, that is, the Newton-Euler formulation, the computation of the inertia matrix, decomposition of the symmetric, positive definite matrix, and the solution of triangular systems. Parallel algorithms for this set of problems are developed which can be efficiently implemented on a unique architecture, a triangular array of n(n+2)/2 processors with a simple nearest-neighbor interconnection. This architecture is particularly suitable for VLSI and WSI implementations. The developed parallel algorithm, compared to the best serial O(n) algorithm, achieves an asymptotic speedup of more than two orders-of-magnitude in the computation the forward dynamics.

Fijany, Amir↗

NASA NTRS1991

Closed-loop motor control using high-speed fiber optics

A closed-loop control system for controlling the operation of one or more servo motors or other controllable devices is described. The system employs a fiber optics link immune to electromagnetic interference, for transmission of control signals from a controller or controllers at a remote station to the power electronics located in proximity to the motors or other devices at the local station. At the remote station the electrical control signals are time-multiplexed, converted to a formatted serial bit stream, and converted to light signals for transmission over a single fiber of the fiber optics link. At the local station, the received optical signals are reconstructed as electrical control signals for the controlled motors or other devices. At the local station, an encoder sensor linked to the driven device generates encoded feedback signals which provide information as to a condition of the controlled device. The encoded signals are placed in a formatted serial bit stream, multiplexed, and transmitted as optical signals over a second fiber of the fiber optic link which closes the control loop of the closed-loop motor controller. The encoded optical signals received at the remote station are demultiplexed, reconstructed and coupled to the controller(s) as electrical feedback signals.

Dawson, Reginald↗