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NASA NTRS2008

On the Shoulders of Giants - Apollo's Contribution to Ares

It has been over 35 years since NASA developed new human spaceflight capabilities. As NASA builds vehicles to once again venture beyond Earth's orbit, it has the advantage of a powerful legacy of seasoned professionals who have already been there. Apollo-era veterans are lending their knowledge and expertise to nearly every aspect of the new Ares I crew launch vehicle and the Ares V cargo launch vehicle, from management to design and manufacturing techniques. Through group discussions, personal interviews, and consultant relationships, these talented individuals are sharing their "lessons lived" to help a new generation of engineers repeat the successes and avoid some of the pitfalls of America's first journeys to the Moon. In addition to learning from resident and retired experts, Ares will draw on legacy facilities, tooling, and hardware like the J-2 engine from the Apollo era and the Reusable Solid Rocket Boosters from the Space Shuttle Program. NASA needs to re-learn the skills required to send astronauts to the Moon, Mars, and beyond. The new Ares team is training with the best and building on the work of their eminent predecessors. They are standing on the shoulders of giants to see a future that is bright with possibilities on the space frontier.

Cook, Stephen A.↗
NASA NTRS1984

The Design and Usage of the New Data Management Features in NASTRAN

Two new data management features are installed in the April 1984 release of NASTRAN. These two features are the Rigid Format Data Base and the READFILE capability. The Rigid Format Data Base is stored on external files in card image format and can be easily maintained and expanded by the use of standard text editors. This data base provides the user and the NASTRAN maintenance contractor with an easy means for making changes to a Rigid Format or for generating new Rigid Formats without unnecessary compilations and link editing of NASTRAN. Each Rigid Format entry in the data base contains the Direct Matrix Abstraction Program (DMAP), along with the associated restart, DMAP sequence subset and substructure control flags. The READFILE capability allows an user to reference an external secondary file from the NASTRAN primary input file and to read data from this secondary file. There is no limit to the number of external secondary files that may be referenced and read.

Pamidi, P. R.↗
NASA NTRS1990

Acoustic design criteria in a general system for structural optimization

Passenger comfort is of great importance in most transport vehicles. For instance, in the new generation of regional turboprop aircraft, a low noise level is vital to be competitive on the market. The possibilities to predict noise levels analytically has improved rapidly in recent years. This will make it possible to take acoustic design criteria into account in early project stages. The development of the ASKA FE-system to include also acoustic analysis has been carried out at Saab Aircraft Division and the Aeronautical Research Institute of Sweden in a joint project. New finite elements have been developed to model the free fluid, porous damping materials, and the interaction between the fluid and structural degrees of freedom. The FE approach to the acoustic analysis is best suited for lower frequencies up to a few hundred Hz. For accurate analysis of interior cabin noise, large 3-D FE-models are built, but 2-D models are also considered to be useful for parametric studies and optimization. The interest is here focused on the introduction of an acoustic design criteria in the general structural optimization system OPTSYS available at the Saab Aircraft Division. The first implementation addresses a somewhat limited class of problems. The problems solved are formulated: Minimize the structural weight by modifying the dimensions of the structure while keeping the noise level in the cavity and other structural design criteria within specified limits.

Brama, Torsten↗
NASA NTRS1995

Spinoff 1995

Recognizing the great potential of the technology bank, Congress charged NASA with stimulating the widest possible use of this valuable resource in the national interest. NASA's instrument of that purpose is the Technology Transfer Program, which seeks to broaden and accelerate the spinoff process. Its intent is to spur expanded national benefit, in terms of new products and new jobs, by facilitating the commercial application of the technology; it encourages greater use of the storehouse of knowledge by providing a channel linking the technology and those who might be able to put it to advantageous use. In July 1994, NASA implemented an Agenda for Change - a new way of doing business in partnership with the private sector. This Agenda marks the beginning of a new focus to further improve our contributions to America's economic security through the pursuit of aeronautics and space missions. This publication is an implement of the Technology Transfer Program intended to heighten awareness among potential users of the technology available for transfer and the economic and social benefits that might be realized by applications of NASA technology to US commercial interests. Spinoff 1995 is organized in three sections. Section 1 outlines NASA's mainline effort, the major programs that generate new technology and therefore replenish and expand the bank of technical knowledge available for application. Section 2, the focal point of this volume, contains a representative sampling of spinoff products and processes that resulted from applications of technology originally developed to meet NASA aerospace goals. Section 3, describes the various mechanisms NASA employs to stimulate technology transfer and lists, in an appendix, contact sources for further information about the Technology Transfer Program.

Haggerty, James J.↗
NASA NTRS2000

Olympus: The Ultimate Summit for Science

High above the world-class observatories that dot Hawaii's dormant Mauna Kea volcano, floating farther yet over the hostile and nearly inaccessible peaks of Mt. Everest, lies a summit waiting to be conquered. Here above the clouds and city lights and over 99.7% of the atmosphere is a platform on the edge of space, home to a broad range of astronomy and physics experiments. Today, balloons are lifting experiments longer, higher and more inexpensively than ever before, and returning them safely to Earth for reuse. Week-long flights at altitudes of approximately 35 kilometers carrying payloads in excess of several tons are the norm. NASA now plans to extend this platform and create a new generation of balloons capable of staying afloat with such cargo for 100 days and ultimately 1,000 days. What do some scientists hope to accomplish with 100 or even 1,000 days at the edge of space? To name but a few proposals on the table: Jupiter-size planet searches, large-aperture solar astronomy, large-aperture infrared astronomy, cosmic-ray investigations, long-duration Earth science missions, and hard x-ray imaging experiments. Olympus defines a new era in scientific ballooning. Advances in material science and trajectory control are enabling revolutionary capabilities. Very large scientific payloads can now be reliably launched and retrieved for reflight at a range of altitudes. Balloon flight still remains a fraction of the cost of a rocket launch. The ultra long duration balloon, with its 100-day maiden flight planned for 2001, provides a long-term facility in a near-space environment for many types of science. This is a stratospheric mountaintop well worth the climb.

Kelly, Darrell↗
NASA NTRS2007

The First Year in Review: NASA's Ares I Crew Launch Vehicle and Ares V Cargo Launch Vehicle

The U.S. Vision for Space Exploration guides NASA's challenging missions of scientific discovery.' Developing safe, reliable, and affordable space transportation systems for the human and robotic exploration of space is a key component of fulfilling the strategic goals outlined in the Vision, as well as in the U.S. Space Policy. In October 2005, the Exploration Systems Mission Directorate and its Constellation Program chartered the Exploration Launch Projects Office, located at the Marshall Space Flight Center, to design, develop, test, and field a new generation of launch vehicles that would fulfill customer and stakeholder requirements for trips to the Moon, Mars, and beyond. The Ares I crew launch vehicle is slated to loft the Orion crew exploration vehicle to orbit by 2014, while the heavy-lift Ares V cargo launch vehicle will deliver the lunar lander to orbit by 2020 (Fig. 1). These systems are being designed to empower America's return to the Moon to prepare for the first astronaut on Mars. The new launch vehicle designs now under study reflect almost 50 years of hard-won experience gained from the Saturn's missions to the Moon in the late 1960s and early 1970s, and from the venerable Space Shuttle, which is due to be retired by 2010.

Dumbacher, Daniel L.↗
NASA NTRS2011

Space Missions Trade Space Generation and Assessment Using JPL Rapid Mission Architecture (RMA) Team Approach

The JPL Rapid Mission Architecture (RMA) capability is a novel collaborative team-based approach to generate new mission architectures, explore broad trade space options, and conduct architecture-level analyses. RMA studies address feasibility and identify best candidates to proceed to further detailed design studies. Development of RMA first began at JPL in 2007 and has evolved to address the need for rapid, effective early mission architectural development and trade space exploration as a precursor to traditional point design evaluations. The RMA approach integrates a small team of architecture-level experts (typically 6-10 people) to generate and explore a wide-ranging trade space of mission architectures driven by the mission science (or technology) objectives. Group brainstorming and trade space analyses are conducted at a higher level of assessment across multiple mission architectures and systems to enable rapid assessment of a set of diverse, innovative concepts. This paper describes the overall JPL RMA team, process, and high-level approach. Some illustrative results from previous JPL RMA studies are discussed.

real time systems↗
NASA NTRS2000

Mixing, Noise and Thrust Benefits Using Corrugated Designs

These projects are directed toward the analysis of several concepts for nozzle and inlet performance improvement and noise reduction from jet exhausts. Currently. The FM&AL also initiates new joint research between the HU/FM&AL, the Hyper-X Program Team at the LaRC, and the Central Institute of Aviation Motors (CIAM), Moscow, Russia in the field of optimization of fuel injection and mixing in air-breathing propulsion systems. The main results of theoretical, numerical simulation and experimental tests obtained in the previous research are in the papers and patents. The goals of the 14U/FM&AL programs are twofold: 1) to improve the working efficiency of the HU/FM&AL team in generating new innovative ideas and in conducting research in the field of fluid dynamics and acoustics, basically for improvement of supersonic and subsonic aircraft engines, and 2) to attract promising minority students to this research and training and, in cooperation with other HU departments, to teach them basic knowledge in Aerodynamics, Gas Dynamics, and Theoretical and Experimental Methods in Aeroacoustics and Computational Fluid Dynamics (CFD). The research at the HU/FM&AL supports reduction schemes associated with the emission of en 'ne pollutants for commercial aircraft and concepts for reduction of 91 observables for military aircraft. These research endeavors relate to the goals of the NASA Strategic Enterprise in Aeronautics concerning the development of environmentally acceptable aircraft. It is in this precise area, where the US aircraft industry, academia, and Government are in great need of trained professionals and which is a high priority goal of the Minority University Research and Education (MLTREP) Program, that the HU/FM&AL can make its most important contribution.

Morgan, Morris H., III↗
NASA NTRS2018

Climate Reanalysis: Progress and Future Prospects

Reanalysis is the process whereby an unchanging data assimilation system is used to provide a consistent reprocessing of observations, typically spanning an extended segment of the historical data record. The process relies on an underlying model to combine often-disparate observations in a physically consistent manner, enabling production of gridded data sets for a broad range of applications including the study of historical weather events, preparation of climatologies, business sector development and, more recently, climate monitoring. Over the last few decades, several generations of reanalyses of the global atmosphere have been produced by various operational and research centers, focusing more or less on the period of regular conventional and satellite observations beginning in the mid to late twentieth century. There have also been successful efforts to extend atmospheric reanalyses back to the late nineteenth and early twentieth centuries, using mostly surface observations. Much progress has resulted from (and contributed to) advancements in numerical weather prediction, especially improved models and data assimilation techniques, increased computing capacity, the availability of new observation types and efforts to recover and improve the quality of historical ones. The recent extension of forecast systems that allow integrated modeling of meteorological, oceanic, land surface, and chemical variables provide the basic elements for coupled data assimilation. This has opened the door to the development of a new generation of coupled reanalyses of the Earth system, or integrated Earth system analyses (IESA). Evidence so far suggests that this approach can improve the analysis of currently uncoupled components of the Earth system, especially at their interface, and lead to increased predictability. However, extensive analysis coupling as envisioned for IESA, while progressing, still presents significant challenges. These include model biases that can be exacerbated when coupled, component systems with different physical characteristics and different spatial and temporal scales, and component observations in different media with different spatial and temporal frequencies and different latencies. Quantification of uncertainty in reanalyses is also a critical challenge and is important for expanding their utility as a tool for climate change assessment. This talk provides a brief overview of the progress of reanalysis development during recent decades, and describes remaining challenges in the progression toward coupled Earth system reanalyses.

IES↗
NASA NTRS2007

Cross Cutting Structural Design for Exploration Systems

The challenge of our new National Space Policy and NASA's Vision for Space Exploration (VSE) is keyed to the development of more effective space access and transportation systems. Optimizing in-space systems through innovative cross cutting structural designs that reduce mass, combine functional requirements and improve performance can significantly advance spacecraft designs to meet the ever growing demands of our new National Space Policy. Dependence on limited structural designs is no longer an option. We must create robust materials, forms, function and evolvable systems. We must advance national policy objectives in the design, development, test and operation of multi-billion dollar new generation crew capsules by enabling them to evolve in meeting the requirements of long duration missions to the moon and mars. This paper discusses several current issues and major design drivers for consideration in structural design of advanced spacecraft systems. Approaches to addressing these multifunctional requirements is presented as well as a discussion on utilizing Functional Analysis System Technique (FAST) in developing cross cutting structural designs for future spacecraft. It will be shown how easy it is to deploy such techniques in any conceptual architecture definition or ongoing preliminary design. As experts in merging mission, safety and life support requirements of the frail human existence into robust vehicle and habitat design, we will conquer the final frontier, harness new resources and develop life giving technologies for mankind through more innovative designs. The rocket equation tells us that a reduction in mass optimizes our propulsive results. Primary and secondary structural elements provide for the containment of gases, fluids and solids; translate and sustain loads/impacts; conduct/radiate thermal energy; shield from the harmful effects of radiation; provide for grounding/bonding of electrical power systems; compartmentalize operational functions; and provide physical interface with multiple systems. How can we redefine, combine, substitute, rearrange and otherwise modify our structural systems to reduce mass? New technologies will be needed to fill knowledge gaps and propagate new design methods. Such an integrated process is paramount in maintaining U.S. leadership and in executing our national policy goals. The cross cutting process can take many forms, but all forms will have a positive affect on the demanding design environment through initial radical thinking. The author will illustrate such cross cutting results achievable through a formal process called FAST. The FAST example will be used to show how a multifunctional structural system concept for long duration spacecraft might be generated.

Semmes, Edmund B.↗
NASA NTRS2009

Operational Considerations and Comparisons of the Saturn, Space Shuttle and Ares Launch Vehicles

The United States (U.S.) space exploration policy has directed the National Aeronautics and Space Administration (NASA) to retire the Space Shuttle and to replace it with a new generation of space transportation systems for crew and cargo travel to the International Space Station, the Moon, Mars, and beyond. As part of the Constellation Program, engineers at NASA's Marshall Space Flight Center in Huntsville, Alabama are working to design and build the Ares I, the first of two large launch vehicles to return humans to the Moon. A deliberate effort is being made to ensure a high level of operability in order to significantly increase safety and availability as well as reduce recurring costs of this new launch vehicle. It is the Ares Project's goal to instill operability as part of the requirements development, design and operations of the vehicle. This paper will identify important factors in launch vehicle design that affect the operability and availability of the system. Similarities and differences in operational constraints will also be compared between the Saturn V, Space Shuttle and current Ares I design. Finally, potential improvements in operations and operability for large launch vehicles will be addressed. From the examples presented, the paper will discuss potential improvements for operability for future launch vehicles.

Cruzen, Craig↗
NASA NTRS2010

The J-2X Upper Stage Engine: From Design to Hardware

NASA is well on its way toward developing a new generation of launch vehicles to support of national space policy to retire the Space Shuttle fleet, complete the International Space Station, and return to the Moon as the first step in resuming this nation s exploration of deep space. The Constellation Program is developing the launch vehicles, spacecraft, surface systems, and ground systems to support those plans. Two launch vehicles will support those ambitious plans the Ares I and Ares V. (Figure 1) The J-2X Upper Stage Engine is a critical element of both of these new launchers. This paper will provide an overview of the J-2X design background, progress to date in design, testing, and manufacturing. The Ares I crew launch vehicle will lift the Orion crew exploration vehicle and up to four astronauts into low Earth orbit (LEO) to rendezvous with the space station or the first leg of mission to the Moon. The Ares V cargo launch vehicle is designed to lift a lunar lander into Earth orbit where it will be docked with the Orion spacecraft, and provide the thrust for the trans-lunar journey. While these vehicles bear some visual resemblance to the 1960s-era Saturn vehicles that carried astronauts to the Moon, the Ares vehicles are designed to carry more crew and more cargo to more places to carry out more ambitious tasks than the vehicles they succeed. The government/industry team designing the Ares rockets is mining a rich history of technology and expertise from the Shuttle, Saturn and other programs and seeking commonality where feasible between the Ares crew and cargo rockets as a way to minimize risk, shorten development times, and live within the budget constraints of its original guidance.

Byrd, Thomas↗
NASA NTRS2018

The Hitomi X-Ray Observatory, Part 2

When it was launched on 17 February 2016, the Hitomi X-ray Observatory carried four kinds of new-generation x-ray instruments—the Soft X-ray Spectrometer (SXS), the Soft X-ray Imager (SXI), the Hard X-ray Imager (HXI), and the Soft Gamma-ray Detector (SGD). All four instruments were turned on and were in the process of activation at the time of loss of contact on 26 March 2016. In the time it was operational, Hitomi was able to provide researchers with a trove of ground-breaking scientific results. Initial results demonstrated that the instruments were meeting or exceeding requirements and that Hitomi was on its way to pioneering a new era of broad-band and high-resolution x-ray spectroscopy. The results published here summarize the in-flight instrument performance, calibration, and data processing accomplishments of the observatory. Of the papers accepted for publication in this special section, 17 were presented in Part 1 in the January-March 2018 issue of JATIS (Journal of Astronomical Telescopes, Instruments, and Systems). Ten more papers are presented here as Part 2 in the April-June 2018 issue. These papers cover the detailed in-flight performance of the four state-of the-art instruments on-board the Hitomi X-Ray Observatory. These instruments were extremely diverse in their design and principles of operation, ranging from low temperature x-ray calorimeters for high-resolution spectroscopy, CCDs (Charge-Coupled Devices) for wide field imaging, high fill-factor grazing incidence x-ray optics, including multilayer x-ray optics and silicon strip and CdTe strip detectors for high-energy imaging, and a Si/CdTe Compton cameras for extending the bandpass out to 600 kiloelectronvolts. All of these instruments operated as expected and for sufficient time to validate their operating principles and carry out first light scientific investigations, published elsewhere. Collectively, these instruments, all co-aligned and operated simultaneously, provided a tool for astronomers with unprecedented resolution and broadband sensitivity for investigating high-energy processes throughout the universe. These papers serve as part of the Hitomi legacy and will guide the next generation of instruments planned for future missions.

Kelley, Richard L.↗
NASA NTRS2008

Generating Customized Verifiers for Automatically Generated Code

Program verification using Hoare-style techniques requires many logical annotations. We have previously developed a generic annotation inference algorithm that weaves in all annotations required to certify safety properties for automatically generated code. It uses patterns to capture generator- and property-specific code idioms and property-specific meta-program fragments to construct the annotations. The algorithm is customized by specifying the code patterns and integrating them with the meta-program fragments for annotation construction. However, this is difficult since it involves tedious and error-prone low-level term manipulations. Here, we describe an annotation schema compiler that largely automates this customization task using generative techniques. It takes a collection of high-level declarative annotation schemas tailored towards a specific code generator and safety property, and generates all customized analysis functions and glue code required for interfacing with the generic algorithm core, thus effectively creating a customized annotation inference algorithm. The compiler raises the level of abstraction and simplifies schema development and maintenance. It also takes care of some more routine aspects of formulating patterns and schemas, in particular handling of irrelevant program fragments and irrelevant variance in the program structure, which reduces the size, complexity, and number of different patterns and annotation schemas that are required. The improvements described here make it easier and faster to customize the system to a new safety property or a new generator, and we demonstrate this by customizing it to certify frame safety of space flight navigation code that was automatically generated from Simulink models by MathWorks' Real-Time Workshop.

Denney, Ewen↗
NASA NTRS1994

NASA Lewis advanced subsonic transport program overview

An Advanced Subsonic Transport (AST) research program has been initiated by NASA to develop a new generation of superior U.S. aircraft and engines, and to help U.S. aeronautics industry increase their market share and competitiveness. NASA Lewis has the lead responsibility for the AST propulsion element. The top priority is to achieve a 70% reduction of NOx at all operating conditions including subsonic cruise. Since the technology for the NOx reductions does not exist, an aggressive research program has been established for its evolution. To date the program has been initiated with study contracts with industry as well as the initiation of analytical and experimental research. To conduct the high pressure tests, a new national facility with a high temperature capability for continuous operation at 60:1 pressure ratios is being constructed at Lewis and will be operational in 1996. The general flow of the program is to first conduct fundamental experiments and analytical studies to define combustor concepts, demonstrate the 70% NOx reduction in combustors in 1999, conduct a test-bed core engine demonstration in 2001, and demonstrate in 2002 the required operability and altitude relight for an Entry Into Service of the technology by industry in 2005.

Lee, Chi-Ming↗
NASA NTRS2017

Airborne Trajectory Management (ABTM): A Blueprint for Greater Autonomy in Air Traffic Management

The aviation users of the National Airspace System (NAS) - the airlines, General Aviation (GA), the military and, most recently, operators of Unmanned Aircraft Systems (UAS) - are constrained in their operations by the design of the current paradigm for air traffic control (ATC). Some of these constraints include ATC preferred routes, departure fix restrictions and airspace ground delay programs. As a result, most flights cannot operate on their most efficient business trajectories and a great many flights are delayed even getting into the air, which imposes a significant challenge to maintaining efficient flight and network operations. Rather than accepting ever more sophisticated scheduling solutions to accommodate the existing constraints in the airspace, a series of increasingly capable airborne technologies, integrated with planned improvements in the ground system through the Federal Aviation Administration (FAA) Next Generation Air Traffic Management System (NextGen) programs, could produce much greater operational flexibility for flight path optimization by the aviation system users. These capabilities, described in research coming out of NASA's Aeronautics Research Mission Directorate, can maintain or improve operational safety while taking advantage of air and ground NextGen technologies in novel ways. The underlying premise is that the nation's physical airspace is still abundant and underused, and that the delays and inefficient flight operations resulting from artificial structure in airspace use and procedural constraints on those operations may not be necessary for safe and efficient flight. This article is not an indictment of today's NAS or the people who run it. Indeed, it is an exceptional achievement that Air Traffic Management (ATM) - the complex human/machine conglomeration of communications, navigation and surveillance equipment and the rules and procedures for controlling traffic in the airspace - has both the capacity and enables the degree of efficiency in air travel that it does. But it is also true that sixty years of the "radar religion" (i.e., reliance on radar-based command and control) has produced several generations of ATM system operators and researchers who believe that introducing automation within the existing functional structure of ATM is the only way to "modernize" the system. Even NextGen, which began as a proposal for "transformational" change in the way ATC is performed, has morphed over the last decade and a half to become just the inclusion of Global Positioning System (GPS) for navigation, Automatic Dependent Surveillance Broadcast (ADS-B) for surveillance, and Data Communications (Data Comm) for communications, while still operating in rigidly structured airspace with human controllers being responsible for separation and traffic flow management (TFM) within defined sectors of airspace, using the same horizontal separation standards that have been in use since raw primary radar was introduced in the 1950s. No system as massive as the current NAS ATM can be replaced with a better system while simultaneously meeting the transportation and other aviation needs of the nation. A new generation of more flexible operations must emerge and yet coexist in harmony with the current operation (i.e., share the same airspace without segregation), thereby enabling a long-term transformation to take place in the way increasing numbers of flights are handled. Market forces will be the ultimate driver of this transformation, and investment realities mandate that real benefits must accrue to the first operators to adopt these new capabilities. In fact, the kinds of missions envisioned in the emerging world of UAS operations, unachievable under conventional ATM, demand that this transformation take place. Airborne Trajectory Management (ABTM) is proposed as a series of transformational steps leading to vastly increased flexibility in flight operations and capacity in the airspace to accommodate many varied airspace uses while improving safety. As will be described, ABTM enables the gradual emergence of a new paradigm for user-based trajectory management in ATM that brings tangible benefits to equipped operators at every step while leveraging the air and ground investments of NextGen. There are five steps in this ABTM transformation.1 NASA has extensively studied the first and last of these steps, and a roadmap of increasing capabilities and benefits is proposed for bridging between these operational concepts.

Cotton, William B.↗
NASA NTRS1998

Parallel and Distributed System Simulation

This exploratory study initiated our research into the software infrastructure necessary to support the modeling and simulation techniques that are most appropriate for the Information Power Grid. Such computational power grids will use high-performance networking to connect hardware, software, instruments, databases, and people into a seamless web that supports a new generation of computation-rich problem solving environments for scientists and engineers. In this context we looked at evaluating the NetSolve software environment for network computing that leverages the potential of such systems while addressing their complexities. NetSolve's main purpose is to enable the creation of complex applications that harness the immense power of the grid, yet are simple to use and easy to deploy. NetSolve uses a modular, client-agent-server architecture to create a system that is very easy to use. Moreover, it is designed to be highly composable in that it readily permits new resources to be added by anyone willing to do so. In these respects NetSolve is to the Grid what the World Wide Web is to the Internet. But like the Web, the design that makes these wonderful features possible can also impose significant limitations on the performance and robustness of a NetSolve system. This project explored the design innovations that push the performance and robustness of the NetSolve paradigm as far as possible without sacrificing the Web-like ease of use and composability that make it so powerful.

Dongarra, Jack↗
NASA NTRS1991

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated.

Marzwell, Neville I.↗