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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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NASA NTRS1993

Experimental object-level strategic control with cooperating manipulators

This article presents the high-level control module and user interface of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. In addition to cooperative dynamic control, DASCCOM incorporates real-time vision-ased feedback, a novel strategic programming technique, and an iconic 'object-only' graphical user interface. By focusing on the vertical integration problem, we are examining not only these subsystems, but also their interfaces and interactions. The control system implements a multilevel hierarchical structure interconnected via a real-time network. At the highest level, a mouse-driven graphical user interface allows an operator to direct the activities of the system conceptually. Strategic command is provided by an event-driven finite state machine. This methodology provides a powerful yet flexible technique for managing concurrent system interactions. The dynamic controller implements object impedance control - an extension of Neville Hogan's impedance control concept to cooperative multiple-arm manipulation of a single object. This article concentrates on user interfacing techniques and strategic programming capabilities. These modules allow the user to directly specify conceptual object relationships. Experimental results are presented, showing the system locating and identifying a moving object, 'catching' it, and performing a simple cooperative assembly. Each of these operations is executed autonomously, with only object-level task-specification direction from a remote operator.

Schneider, Stanley A.↗
NASA NTRS1992

USRA/RIACS

The Research Institute for Advanced Computer Science (RIACS) was established by the Universities Space Research Association (USRA) at the NASA Ames Research Center (ARC) on June 6, 1983. RIACS is privately operated by USRA, a consortium of universities with research programs in the aerospace sciences, under a cooperative agreement with NASA. The primary mission of RIACS is to provide research and expertise in computer science and scientific computing to support the scientific missions of NASA ARC. The research carried out at RIACS must change its emphasis from year to year in response to NASA ARC's changing needs and technological opportunities. A flexible scientific staff is provided through a university faculty visitor program, a post doctoral program, and a student visitor program. Not only does this provide appropriate expertise but it also introduces scientists outside of NASA to NASA problems. A small group of core RIACS staff provides continuity and interacts with an ARC technical monitor and scientific advisory group to determine the RIACS mission. RIACS activities are reviewed and monitored by a USRA advisory council and ARC technical monitor. Research at RIACS is currently being done in the following areas: (1) parallel computing; (2) advanced methods for scientific computing; (3) learning systems; (4) high performance networks and technology; and (5) graphics, visualization, and virtual environments. In the past year, parallel compiler techniques and adaptive numerical methods for flows in complicated geometries were identified as important problems to investigate for ARC's involvement in the Computational Grand Challenges of the next decade. We concluded a summer student visitors program during this six months. We had six visiting graduate students that worked on projects over the summer and presented seminars on their work at the conclusion of their visits. RIACS technical reports are usually preprints of manuscripts that have been submitted to research journals or conference proceedings. A list of these reports for the period July 1, 1992 through December 31, 1992 is provided.

Oliger, Joseph↗
NASA NTRS1993

Electronic document interchange

Evaluation and implementation tasks for the NASA-wide electronic publishing system known as networked DOCUTECH are examined and the system configuration is graphically depicted. DOCUTECH provides the capability to print on demand electronically stored documents. Use of the electronic publishing system in several applications has generated productivity gains ranging from 33 to 88 percent at geographically dispersed NASA centers.

Tuey, Dick↗
NASA NTRS1988

Multiprocessor graphics computation and display using transputers

A package of two-dimensional graphics routines was developed to run on a transputer-based parallel processing system. These routines were designed to enable applications programmers to easily generate and display results from the transputer network in a graphic format. The graphics procedures were designed for the lowest possible network communication overhead for increased performance. The routines were designed for ease of use and to present an intuitive approach to generating graphics on the transputer parallel processing system.

Ellis, Graham K.↗
NASA NTRS1986

Data communication requirements for the advanced NAS network

The goal of the Numerical Aerodynamic Simulation (NAS) Program is to provide a powerful computational environment for advanced research and development in aeronautics and related disciplines. The present NAS system consists of a Cray 2 supercomputer connected by a data network to a large mass storage system, to sophisticated local graphics workstations, and by remote communications to researchers throughout the United States. The program plan is to continue acquiring the most powerful supercomputers as they become available. In the 1987/1988 time period it is anticipated that a computer with 4 times the processing speed of a Cray 2 will be obtained and by 1990 an additional supercomputer with 16 times the speed of the Cray 2. The implications of this 20-fold increase in processing power on the data communications requirements are described. The analysis was based on models of the projected workload and system architecture. The results are presented together with the estimates of their sensitivity to assumptions inherent in the models.

Levin, Eugene↗
NASA NTRS1986

Scaling of data communications for an advanced supercomputer network

The goal of NASA's Numerical Aerodynamic Simulation (NAS) Program is to provide a powerful computational environment for advanced research and development in aeronautics and related disciplines. The present NAS system consists of a Cray 2 supercomputer connected by a data network to a large mass storage system, to sophisticated local graphics workstations and by remote communication to researchers throughout the United States. The program plan is to continue acquiring the most powerful supercomputers as they become available. The implications of a projected 20-fold increase in processing power on the data communications requirements are described.

Levin, E.↗
NASA NTRS2009

An Integrated Solution for Performing Thermo-fluid Conjugate Analysis

A method has been developed which integrates a fluid flow analyzer and a thermal analyzer to produce both steady state and transient results of 1-D, 2-D, and 3-D analysis models. The Generalized Fluid System Simulation Program (GFSSP) is a one dimensional, general purpose fluid analysis code which computes pressures and flow distributions in complex fluid networks. The MSC Systems Improved Numerical Differencing Analyzer (MSC.SINDA) is a one dimensional general purpose thermal analyzer that solves network representations of thermal systems. Both GFSSP and MSC.SINDA have graphical user interfaces which are used to build the respective model and prepare it for analysis. The SINDA/GFSSP Conjugate Integrator (SGCI) is a formbase graphical integration program used to set input parameters for the conjugate analyses and run the models. The contents of this paper describes SGCI and its thermo-fluids conjugate analysis techniques and capabilities by presenting results from some example models including the cryogenic chill down of a copper pipe, a bar between two walls in a fluid stream, and a solid plate creating a phase change in a flowing fluid.

Kornberg, Oren↗
NASA NTRS2010

BGen: A UML Behavior Network Generator Tool

BGen software was designed for autogeneration of code based on a graphical representation of a behavior network used for controlling automatic vehicles. A common format used for describing a behavior network, such as that used in the JPL-developed behavior-based control system, CARACaS ["Control Architecture for Robotic Agent Command and Sensing" (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40] includes a graph with sensory inputs flowing through the behaviors in order to generate the signals for the actuators that drive and steer the vehicle. A computer program to translate Unified Modeling Language (UML) Freeform Implementation Diagrams into a legacy C implementation of Behavior Network has been developed in order to simplify the development of C-code for behavior-based control systems. UML is a popular standard developed by the Object Management Group (OMG) to model software architectures graphically. The C implementation of a Behavior Network is functioning as a decision tree.

Huntsberger, Terry↗
NASA NTRS1993

Network and user interface for PAT DOME virtual motion environment system

The Device for Orientation and Motion Environments Preflight Adaptation Trainer (DOME PAT) provides astronauts a virtual microgravity sensory environment designed to help alleviate tye symptoms of space motion sickness (SMS). The system consists of four microcomputers networked to provide real time control, and an image generator (IG) driving a wide angle video display inside a dome structure. The spherical display demands distortion correction. The system is currently being modified with a new graphical user interface (GUI) and a new Silicon Graphics IG. This paper will concentrate on the new GUI and the networking scheme. The new GUI eliminates proprietary graphics hardware and software, and instead makes use of standard and low cost PC video (CGA) and off the shelf software (Microsoft's Quick C). Mouse selection for user input is supported. The new Silicon Graphics IG requires an Ethernet interface. The microcomputer known as the Real Time Controller (RTC), which has overall control of the system and is written in Ada, was modified to use the free public domain NCSA Telnet software for Ethernet communications with the Silicon Graphics IG. The RTC also maintains the original ARCNET communications through Novell Netware IPX with the rest of the system. The Telnet TCP/IP protocol was first used for real-time communication, but because of buffering problems the Telnet datagram (UDP) protocol needed to be implemented. Since the Telnet modules are written in C, the Adap pragma 'Interface' was used to interface with the network calls.

Worthington, J. W.↗
NASA NTRS1989

Distributed communications and control network for robotic mining

The application of robotics to coal mining machines is one approach pursued to increase productivity while providing enhanced safety for the coal miner. Toward that end, a network composed of microcontrollers, computers, expert systems, real time operating systems, and a variety of program languages are being integrated that will act as the backbone for intelligent machine operation. Actual mining machines, including a few customized ones, have been given telerobotic semiautonomous capabilities by applying the described network. Control devices, intelligent sensors and computers onboard these machines are showing promise of achieving improved mining productivity and safety benefits. Current research using these machines involves navigation, multiple machine interaction, machine diagnostics, mineral detection, and graphical machine representation. Guidance sensors and systems employed include: sonar, laser rangers, gyroscopes, magnetometers, clinometers, and accelerometers. Information on the network of hardware/software and its implementation on mining machines are presented. Anticipated coal production operations using the network are discussed. A parallelism is also drawn between the direction of present day underground coal mining research to how the lunar soil (regolith) may be mined. A conceptual lunar mining operation that employs a distributed communication and control network is detailed.

Schiffbauer, William H.↗
NASA NTRS1993

Interactive Forecasting with the National Weather Service River Forecast System

The National Weather Service River Forecast System (NWSRFS) consists of several major hydrometeorologic subcomponents to model the physics of the flow of water through the hydrologic cycle. The entire NWSRFS currently runs in both mainframe and minicomputer environments, using command oriented text input to control the system computations. As computationally powerful and graphically sophisticated scientific workstations became available, the National Weather Service (NWS) recognized that a graphically based, interactive environment would enhance the accuracy and timeliness of NWS river and flood forecasts. Consequently, the operational forecasting portion of the NWSRFS has been ported to run under a UNIX operating system, with X windows as the display environment on a system of networked scientific workstations. In addition, the NWSRFS Interactive Forecast Program was developed to provide a graphical user interface to allow the forecaster to control NWSRFS program flow and to make adjustments to forecasts as necessary. The potential market for water resources forecasting is immense and largely untapped. Any private company able to market the river forecasting technologies currently developed by the NWS Office of Hydrology could provide benefits to many information users and profit from providing these services.

Smith, George F.↗
NASA NTRS1981

Timeline Resource Analysis Program (TRAP): User's manual and program document

The Timeline Resource Analysis Program (TRAP), developed for scheduling and timelining problems, is described. Given an activity network, TRAP generates timeline plots, resource histograms, and tabular summaries of the network, schedules, and resource levels. It is written in ANSI FORTRAN for the Honeywell SIGMA 5 computer and operates in the interactive mode using the TEKTRONIX 4014-1 graphics terminal. The input network file may be a standard SIGMA 5 file or one generated using the Interactive Graphics Design System. The timeline plots can be displayed in two orderings: according to the sequence in which the tasks were read on input, and a waterfall sequence in which the tasks are ordered by start time. The input order is especially meaningful when the network consists of several interacting subnetworks. The waterfall sequence is helpful in assessing the project status at any point in time.

Sessler, J. G.↗
NASA NTRS1989

Interset: A natural language interface for teleoperated robotic assembly of the EASE space structure

A teleoperated robot was used to assemble the Experimental Assembly of Structures in Extra-vehicular activity (EASE) space structure under neutral buoyancy conditions, simulating a telerobot performing structural assembly in the zero gravity of space. This previous work used a manually controlled teleoperator as a test bed for system performance evaluations. From these results several Artificial Intelligence options were proposed. One of these was further developed into a real time assembly planner. The interface for this system is effective in assembling EASE structures using windowed graphics and a set of networked menus. As the problem space becomes more complex and hence the set of control options increases, a natural language interface may prove to be beneficial to supplement the menu based control strategy. This strategy can be beneficial in situations such as: describing the local environment, maintaining a data base of task event histories, modifying a plan or a heuristic dynamically, summarizing a task in English, or operating in a novel situation.

Boorsma, Daniel K.↗
NASA NTRS1991

High resolution ultrasonic spectroscopy system for nondestructive evaluation

With increased demand for high resolution ultrasonic evaluation, computer based systems or work stations become essential. The ultrasonic spectroscopy method of nondestructive evaluation (NDE) was used to develop a high resolution ultrasonic inspection system supported by modern signal processing, pattern recognition, and neural network technologies. The basic system which was completed consists of a 386/20 MHz PC (IBM AT compatible), a pulser/receiver, a digital oscilloscope with serial and parallel communications to the computer, an immersion tank with motor control of X-Y axis movement, and the supporting software package, IUNDE, for interactive ultrasonic evaluation. Although the hardware components are commercially available, the software development is entirely original. By integrating signal processing, pattern recognition, maximum entropy spectral analysis, and artificial neural network functions into the system, many NDE tasks can be performed. The high resolution graphics capability provides visualization of complex NDE problems. The phase 3 efforts involve intensive marketing of the software package and collaborative work with industrial sectors.

Chen, C. H.↗
NASA NTRS1992

A simple node and conductor data generator for SINDA

This paper presents a simple, automated method to generate NODE and CONDUCTOR DATA for thermal match modes. The method uses personal computer spreadsheets to create SINDA inputs. It was developed in order to make SINDA modeling less time consuming and serves as an alternative to graphical methods. Anyone having some experience using a personal computer can easily implement this process. The user develops spreadsheets to automatically calculate capacitances and conductances based on material properties and dimensional data. The necessary node and conductor information is then taken from the spreadsheets and automatically arranged into the proper format, ready for insertion directly into the SINDA model. This technique provides a number of benefits to the SINDA user such as a reduction in the number of hand calculations, and an ability to very quickly generate a parametric set of NODE and CONDUCTOR DATA blocks. It also provides advantages over graphical thermal modeling systems by retaining the analyst's complete visibility into the thermal network, and by permitting user comments anywhere within the DATA blocks.

Gottula, Ronald R.↗
NASA NTRS1992

SPIKE: Application for ASTRO-D mission planning

SPIKE is a mission planning software system developed by a team of programmers at the STScI for use with the Hubble Space Telescope (HST). SPIKE has been developed for the purpose of automating observatory scheduling to increase the effective utilization and ultimately, scientific return from orbiting telescopes. High-level scheduling strategies using both rule-based and neural network approaches have been incorporated. Graphical displays of activities, constraints, and schedules are an important feature of the system. Although SPIKE was originally developed for the HST, it can be used for other astronomy missions including ground-based observatories. One of the missions that has decided to use SPIKE is ASTRO-D, a Japanese X-ray satellite for which the U.S. is providing a part of the scientific payload. Scheduled to fly in Feb. 1993, its four telescopes will focus X-rays over a wide energy range onto CCD's and imaging gas proportional counters. ASTRO-D will be the first X-ray imaging mission operating over the 0.5-12 keV band with high energy resolution. This combination of capabilities will enable a varied and exciting program of astronomical research to be carried out. ASTRO-D is expected to observe 5 to 20 objects per day and a total of several thousands per year. This requires the implementation of an efficient planning and scheduling system which SPIKE can provide. Although the version of SPIKE that will be used for ASTRO-D mission is almost identical to that used for the HST, there are a few differences. For example, ASTRO-D will use two ground stations for data downlinks, instead of the TDRSS system for data transmission. As a consequence ASTRO-D is constrained by limited on-board data storage capacity to schedule high data-rate observations during periods of frequent high bit rate observations accordingly. We will demonstrate the ASTRO-D version of SPIKE to show what SPIKE can provide and how efficiently it creates an observational schedule.

Isobe, T.↗
NASA NTRS1990

Information technologies for astrophysics circa 2001

It is easy to extrapolate current trends to see where technologies relating to information systems in astrophysics and other disciplines will be by the end of the decade. These technologies include mineaturization, multiprocessing, software technology, networking, databases, graphics, pattern computation, and interdisciplinary studies. It is easy to see what limits our current paradigms place on our thinking about technologies that will allow us to understand the laws governing very large systems about which we have large datasets. Three limiting paradigms are saving all the bits collected by instruments or generated by supercomputers; obtaining technology for information compression, storage and retrieval off the shelf; and the linear mode of innovation. We must extend these paradigms to meet our goals for information technology at the end of the decade.

Denning, Peter J.↗