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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 307 records · Page 17
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Attitude control of an object commonly held by multiple robot arms - A Lyapunov approach

Multiple robot arms moving a commonly held object can be viewed as complex actuators whose purpose is to provide net forces and moments to the object. These forces and moments can be used to control the orientation, or attitude, of the object via the Euler equation describing attitude evolution in response to applied moments at the mass center. In contrast to the common approach that feedback-linearizes the attitude dynamics to a double integrator form with respect to some three-parameter local representation of orientation, the authors control the object using a globally nonsingular representation. Using an energy-motivated Liapunov function, globally stable control of attitude is shown.

Kreutz, Kenneth↗
NASA NTRS1988

Stabilization and oscillation of an acoustically levitated object

Methods are described for rapidly damping oscillation of an acoustically levitated object or for causing and maintaining such oscillations, and a method is provided for determining the restoring force constant K on the levitated object by measuring its frequency of oscillation. Oscillations of a levitated object are damped by applying levitating acoustic energy at a frequency slightly less than the center resonant frequency. Oscillations are maintained by applying acoustic energy slightly greater than the center resonant frequency. The restoring force constant of the levitation force is proportional to the square of the frequency of oscillation of the object.

Martin B Barmatz↗
NASA NTRS1988

Object oriented studies into artificial space debris

A prototype simulation is being developed under contract to the Royal Aerospace Establishment (RAE), Farnborough, England, to assist in the discrimination of artificial space objects/debris. The methodology undertaken has been to link Object Oriented programming, intelligent knowledge based system (IKBS) techniques and advanced computer technology with numeric analysis to provide a graphical, symbolic simulation. The objective is to provide an additional layer of understanding on top of conventional classification methods. Use is being made of object and rule based knowledge representation, multiple reasoning, truth maintenance and uncertainty. Software tools being used include Knowledge Engineering Environment (KEE) and SymTactics for knowledge representation. Hooks are being developed within the SymTactics framework to incorporate mathematical models describing orbital motion and fragmentation. Penetration and structural analysis can also be incorporated. SymTactics is an Object Oriented discrete event simulation tool built as a domain specific extension to the KEE environment. The tool provides facilities for building, debugging and monitoring dynamic (military) simulations.

Adamson, J. M.↗
NASA NTRS1987

Object apprehension using vision and touch

Researchers define object apprehension as the determination of the properties of an object and the relationships among these properties. They contrast this with recognition, which goes a step further to attach a label to the object as a whole. Apprehension is fundamental to manipulation. This is true whether the manipulation is being carried out by an autonomous robot or is the result of teleoperation involving sensory feedback. Researchers present an apprehension paradigm using both vision and touch. In this model, they define a representation for object apprehension in terms of a set of primitives and features, along with their relationships. This representation is the mechanism by which the data from the two modalities are combined. It is also the mechanism which drives the apprehension process.

Bajcsy, R.↗
NASA NTRS1989

The utilization of neural nets in populating an object-oriented database

Existing NASA supported scientific data bases are usually developed, managed and populated in a tedious, error prone and self-limiting way in terms of what can be described in a relational Data Base Management System (DBMS). The next generation Earth remote sensing platforms (i.e., Earth Observation System, (EOS), will be capable of generating data at a rate of over 300 Mbs per second from a suite of instruments designed for different applications. What is needed is an innovative approach that creates object-oriented databases that segment, characterize, catalog and are manageable in a domain-specific context and whose contents are available interactively and in near-real-time to the user community. Described here is work in progress that utilizes an artificial neural net approach to characterize satellite imagery of undefined objects into high-level data objects. The characterized data is then dynamically allocated to an object-oriented data base where it can be reviewed and assessed by a user. The definition, development, and evolution of the overall data system model are steps in the creation of an application-driven knowledge-based scientific information system.

Campbell, William J.↗
NASA NTRS1988

Laser agile illumination for object tracking and classification - Feasibility study

The 'agile illumination' concept for discrimination between ICBM warheads and decoys involves a two-aperture illumination with coherent light, diffraction of light by propagation, and a resulting interference pattern on the object surface. A scanning two-beam interference pattern illuminates one object at a time; depending on the shape, momentum, spinning, and tumbling characteristics of the interrogated object, different temporal signals will be obtained for different classes of objects.

Scholl, Marija S.↗
NASA NTRS1988

Spectral types for objects in the Kiso survey. IV - Data for 81 stars

Spectroscopy and spectral types for 81 ultraviolet-excess objects found in the Kiso Schmidt-camera survey are reported. The data were secured with the McGraw-Hill 1.3 m telescope at 8-A resolution covering the wavelength interval 4000 -7200 A using the Mark II spectrograph. Descriptions of the spectra of some of the more peculiar objects found in this sample are given and include 14 sub-dwarfs, 23 definite DA white dwarfs, including a magnetic one, and one DQ whie dwarf, eight quasars and emission-line objects, and a new composite DA + dM system. More spectroscopy of the new cataclysmic variable KUV 01584-0939 and a possibly related object is also described.

Wegner, Gary↗
NASA NTRS1989

Herbig-Haro objects as the heads of radiative jets

The interpretation of certain HH objects as the heads of nonadiabatic supersonic jets is examined using two-dimensional numerical simulations. It is found that radiative jets develop a dense shell between the jet shock and the leading bow shock when the cooling distance behind either one of these shocks is smaller than the jet radius. It is proposed that the radiatively cooling shell may account for the variable emission pattern from objects like HH 1. Also, it is suggested that HH objects with measured space velocities that exceed the spectroscopically inferred shock velocities could correspond to heavy jets in which the bow shock is effectively adiabatic. Low-excitation objects in which these velocities are comparable may represent light jets where the jet shock is nonradiative.

Blondin, John M.↗
NASA NTRS1989

4U1722 + 11 - The discovery of an X-ray selected BL Lac object

The Uhuru X-ray source 4U1722 + 11 was observed using the microchannel-plate detector (High Resolution Imager) on the Einstein Observatory, and its coordinates measured to a precision of about 5 arcsec. A 16th-magnitude stellar object within the error circle was observed spectroscopically at CTIO, and at the AAT, and found to have a featureless continuum. Subsequent radio observations at the VLA have established that the object is a radio source at the level of 60 mJy, and optical polarization measurements have determined that the source exhibits variable polarization at the level of 10 percent. On the basis of these observations, it is concluded that 4U1722 + 11 is a member of the class of objects known as X-ray selected blazars of BL Lac objects.

Griffiths, R. E.↗
NASA NTRS1988

Transferring data objects: A focused Ada investigation

The use of the Ada language does not guarantee that data objects will be in the same form or have the same value after they have been stored or transferred to another system. There are too many possible variables in such things as the formats used and other protocol conditions. Differences may occur at many different levels of support. These include program level, object level, application level, and system level. A standard language is only one aspect of making a complex system completely homogeneous. Many components must be standardized and the various standards must be integrated. The principal issues in providing for interaction between systems are of exchanging files and data objects between systems which may not be compatible in terms of their host computer, operating system or other factors. A typical resolution of the problem of invalidating data involves at least a common external form, for data objects and for representing the relationships and attributes of data collections. Some of the issues dealing with the transfer of data are listed and consideration is given on how these issues may be handled in the Ada language.

Legrand, Sue↗
NASA NTRS1990

Cosmic Dust Collection Facility: Scientific objectives and programmatic relations

The science objectives are summarized for the Cosmic Dust Collection Facility (CDCF) on Space Station Freedom and these objectives are related to ongoing science programs and mission planning within NASA. The purpose is to illustrate the potential of the CDCF project within the broad context of early solar system sciences that emphasize the study of primitive objects in state-of-the-art analytical and experimental laboratories on Earth. Current knowledge about the sources of cosmic dust and their associated orbital dynamics is examined, and the results are reviewed of modern microanalytical investigations of extraterrestrial dust particles collected on Earth. Major areas of scientific inquiry and uncertainty are identified and it is shown how CDCF will contribute to their solution. General facility and instrument concepts that need to be pursued are introduced, and the major development tasks that are needed to attain the scientific objectives of the CDCF project are identified.

Hoerz, Fred↗
NASA NTRS1989

X ray constraints on the beaming hypothesis for BL Lacertae objects

BL Lacertae objects may be Fanaroff-Riley type I (FR I) galaxies with a relativistic jet roughly parallel to the line of sight. The ratio of parent objects (FR Is) to beamed objects (BL Lacs) depends only on the jet velocity. Recently this ratio become observable. X-ray-flux-limited samples are used to demonstrate the viability of the beaming hypothesis. In the process, the X-ray luminosity functions of FR I galaxies and BL Lac objects are derived. Their respective contributions to the cosmic X-ray background radiation are calculated.

Padovani, P.↗
NASA NTRS1989

Methods and strategies of object localization

An important property of an intelligent robot is to be able to determine the location of an object in 3-D space. A general object localization system structure is proposed, some important issues on localization discussed, and an overview given for current available object localization algorithms and systems. The algorithms reviewed are characterized by their feature extracting and matching strategies; the range finding methods; the types of locatable objects; and the mathematical formulating methods.

Shao, Lejun↗
NASA NTRS1989

Automatic labeling and characterization of objects using artificial neural networks

Existing NASA supported scientific data bases are usually developed, managed and populated in a tedious, error prone and self-limiting way in terms of what can be described in a relational Data Base Management System (DBMS). The next generation Earth remote sensing platforms, i.e., Earth Observation System, (EOS), will be capable of generating data at a rate of over 300 Mbs per second from a suite of instruments designed for different applications. What is needed is an innovative approach that creates object-oriented databases that segment, characterize, catalog and are manageable in a domain-specific context and whose contents are available interactively and in near-real-time to the user community. Described here is work in progress that utilizes an artificial neural net approach to characterize satellite imagery of undefined objects into high-level data objects. The characterized data is then dynamically allocated to an object-oriented data base where it can be reviewed and assessed by a user. The definition, development, and evolution of the overall data system model are steps in the creation of an application-driven knowledge-based scientific information system.

Campbell, William J.↗
NASA NTRS1990

No evidence for radio-quiet BL Lacertae objects

Using a large, flux-limited sample of faint X-ray sources, a search has been conducted for radio-quiet BL Lacertae objects. None has been found. Thirty-two X-ray-selected BL Lac objects and BL Lac candidates have been found within the sources of the Einstein Medium Sensitivity Survey (EMSS). Thirty-one of these have been observed with the VLA and all have been detected at 5 GHz. While the optical magnitudes of the EMSS BL Lac objects range from 17 to 20.8, their radio-to-optical spectral indices occupy a very small range. The very bright X-ray-selected BL Lac objects like PKS 2155-304 and Markarian 501 have similar range values. Therefore, unlike the clear dichotomy between radio-loud quasars and radio-quiet QSOs, there is no evidence for two populations of Lacertids distinguished by radio loudness.

Stocke, John T.↗
NASA NTRS1988

Representing object oriented specifications and designs with extended data flow notations

The issue of using extended data flow notations to document object oriented designs and specifications is discussed. Extended data flow notations, for the purposes here, refer to notations that are based on the rules of Yourdon/DeMarco data flow analysis. The extensions include additional notation for representing real-time systems as well as some proposed extensions specific to object oriented development. Some advantages of data flow notations are stated. How data flow diagrams are used to represent software objects are investigated. Some problem areas with regard to using data flow notations for object oriented development are noted. Some initial solutions to these problems are proposed.

Buser, Jon Franklin↗
NASA NTRS1990

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

Koningstein, Ross↗
NASA NTRS1990

Chondrule-like objects and brown glasses in howardites

Chondrulelike objects and brown glasses were analyzed in the howardites, Bununu, Malvern, Monticello, Pavlovka, and Yamato 7308. The objects are very similar to chondrules in ordinary and carbonaceous chondrites. Like the brown glasses, the chondrulelike objects could have been produced by impact melting that left some crystalline nuclei, followed by a slower cooling rate than for the glasses. Alternatively, these objects are chondrules implanted from chondrite impactors. They are, however, without rims or any adhering matrix. The brown glasses appear to represent melting of average regolithic surface material, except for Monticello and Y7308, both of which have some siliceous glasses. The siliceous glasses could not have been produced by vapor fractionation but by melting of differentiated lithologies such as fayalitic granites. Impact mechanics indicates that howardites with abundant brown glasses came from an asteroid larger than Vesta (greater than 400 km radius), upon which impacts occurred at relative velocities of up to 5 km/s. Howardites with little or no brown glasses came from a smaller parent body. It is concluded that at least two parent bodies are likely sources for the basaltic achondrites.

Olsen, Edward J.↗