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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 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Distributed cooperating processes in a mobile robot control system

A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.

Skillman, Thomas L., Jr.↗
NASA NTRS1987

Mapping between parallel processor structures and programs

This paper reports some ongoing research efforts at Stanford in allocation of parallel processing resources. Both processor structures and program structures have their own characteristics. Resource allocation binds the two structures during program execution. The mapping problem determines what processor structure and program structure may be combined to obtain maximum speedup. Three approaches to this mapping problem are considered. Two important factors, granularity and interaction delay, are also considered. A new hierarchical approach to structure definition is outlined. Effective and efficient tools are necessary for the study of the mapping problem. A fast turn-around simulation environment developed for investigating partition strategies for distributed computations and a computationally efficient method to predict performance of parallel processor structures are described.

Ngai, Tin-Fook↗
NASA NTRS1987

Methodology requirements for intelligent systems architecture

The methodology required for the development of the 'intelligent system architecture' of distributed computer systems which integrate standard data processing capabilities with symbolic processing to provide powerful and highly autonomous adaptive processing capabilities must encompass three elements: (1) a design knowledge capture system, (2) computer-aided engineering, and (3) verification and validation metrics and tests. Emphasis must be put on the earliest possible definition of system requirements and the realistic definition of allowable system uncertainties. Methodologies must also address human factor issues.

Grant, Terry↗
NASA NTRS1987

An explicit finite-volume time-marching procedure for turbulent flow calculations

A method was developed which calculates two-dimensional, transonic, viscous flow in ducts. The finite-volume, time-marching formulation is used to obtain steady flow solutions of the Reynolds-averaged form of the Navier-Stokes equations. The entire calculation is performed in the physical domain. Control volumes are chosen so that smoothing of flow properties, typically required for stability, is not required. Different time steps are used in the different governing equations. A new pressure interpolation scheme is introduced which improves the shock capturing ability of the method. A multi-volume method for pressure changes in the boundary layer allows calculations which use very long and thin control volumes (length/height - 1000). The method is compared with two test cases. Essentially incompressible turbulent boundary layer flow in an adverse pressure gradient is calculated and the computed distributions of mean velocity and shear are in good agreement with the measurements. Transonic viscous flow in a converging diverging nozzle is calculated; the Mach number upstream of the shock is approximately 1.25. The agreement between the calculated and measured shock strength and total pressure losses is good.

Nicholson, Stephen↗
NASA NTRS1987

Telemetry handling on the Space Station data management system

This paper examines the impact of telemetry handling on the design of the onboard networks that are part of the Space Station Data Management System (DMS). An architectural approach to satisfying the DMS requirement for support of the high throughput needed for telemetry transport and for servicing distributed computer systems is discussed. Several of the functionality vs. performance tradeoffs that must be made in developing an optimized mechanism for handling telemetry data in the DMS are considered.

Whitelaw, Virginia A.↗
NASA NTRS1988

The evolution of automated launch processing

The NASA Launch Processing System (LPS) to which attention is presently given has arrived at satisfactory solutions for the distributed-computing, good user interface and dissimilar-hardware interface, and automation-related problems that emerge in the specific arena of spacecraft launch preparations. An aggressive effort was made to apply the lessons learned in the 1960s, during the first attempts at automatic launch vehicle checkout, to the LPS. As the Space Shuttle System continues to evolve, the primary contributor to safety and reliability will be the LPS.

Tomayko, James E.↗
NASA NTRS1988

The ATAMM procedure model for concurrent processing of large grained control and signal processing algorithms

An overview is presented of a model for describing data and control flow associated with the execution of large-grained, decision-free algorithms in a special distributed computer environment. The ATAMM (Algorithm-To-Architecture Mapping Model) model provides a basis for relating an algorithm to its execution in a dataflow multicomputer environment. The ATAMM model features a marked graph Petri net description of the algorithm behavior with regard to both data and control flow. The model provides an analytical basis for calculating performance bounds on throughput characteristics which are demonstrated here.

Stoughton, John W.↗
NASA NTRS1988

The effects of turbulence and stator/rotor interactions on turbine heat transfer. I - Design operating conditions

A combined experimental and analytical program was conducted to examine the effects of inlet turbulence, stator-rotor axial spacing, and relative circumferential spacing of first and second stators on turbine airfoil heat transfer. The experimental portion of the study was conducted in a large-scale (approximately 5X engine), ambient temperature, stage-and-a-half rotating turbine model. The data indicate that while turbine inlet turbulence can have a very strong impact on the first stator heat transfer, its impact in downstream rows is minimal. The effects on heat transfer produced by relatively large changes in stator/rotor spacing or by changing the relative row-to-row circumferential positions of stators were very small. Analytical results consist of airfoil heat transfer distributions computed with a finite-difference boundary layer code.

Blair, M. F.↗
NASA NTRS1989

Decentralized Adaptive Control For Robots

Precise knowledge of dynamics not required. Proposed scheme for control of multijointed robotic manipulator calls for independent control subsystem for each joint, consisting of proportional/integral/derivative feedback controller and position/velocity/acceleration feedforward controller, both with adjustable gains. Independent joint controller compensates for unpredictable effects, gravitation, and dynamic coupling between motions of joints, while forcing joints to track reference trajectories. Scheme amenable to parallel processing in distributed computing system wherein each joint controlled by relatively simple algorithm on dedicated microprocessor.

Seraji, Homayoun↗
NASA NTRS1987

Teleoperated position control of a PUMA robot

A laboratory distributed computer control teleoperator system is developed to support NASA's future space telerobotic operation. This teleoperator system uses a universal force-reflecting hand controller in the local iste as the operator's input device. In the remote site, a PUMA controller recieves the Cartesian position commands and implements PID control laws to position the PUMA robot. The local site uses two microprocessors while the remote site uses three. The processors communicate with each other through shared memory. The PUMA robot controller was interfaced through custom made electronics to bypass VAL. The development status of this teleoperator system is reported. The execution time of each processor is analyzed, and the overall system throughput rate is reported. Methods to improve the efficiency and performance are discussed.

Austin, Edmund↗
NASA NTRS1988

Common Graphics Library (CGL). Volume 1: LEZ user's guide

Users are introduced to and instructed in the use of the Langley Easy (LEZ) routines of the Common Graphics Library (CGL). The LEZ routines form an application independent graphics package which enables the user community to view data quickly and easily, while providing a means of generating scientific charts conforming to the publication and/or viewgraph process. A distinct advantage for using the LEZ routines is that the underlying graphics package may be replaced or modified without requiring the users to change their application programs. The library is written in ANSI FORTRAN 77, and currently uses a CORE-based underlying graphics package, and is therefore machine independent, providing support for centralized and/or distributed computer systems.

Taylor, Nancy L.↗
NASA NTRS1989

Common Graphics Library (CGL). Volume 2: Low-level user's guide

The intent is to instruct the users of the Low-Level routines of the Common Graphics Library (CGL). The Low-Level routines form an application-independent graphics package enabling the user community to construct and design scientific charts conforming to the publication and/or viewgraph process. The Low-Level routines allow the user to design unique or unusual report-quality charts from a set of graphics utilities. The features of these routines can be used stand-alone or in conjunction with other packages to enhance or augment their capabilities. This library is written in ANSI FORTRAN 77, and currently uses a CORE-based underlying graphics package, and is therefore machine-independent, providing support for centralized and/or distributed computer systems.

Taylor, Nancy L.↗
NASA NTRS1987

Automation of Shuttle Tile Inspection - Engineering methodology for Space Station

The Space Systems Integration and Operations Research Applications (SIORA) Program was initiated in late 1986 as a cooperative applications research effort between Stanford University, NASA Kennedy Space Center, and Lockheed Space Operations Company. One of the major initial SIORA tasks was the application of automation and robotics technology to all aspects of the Shuttle tile processing and inspection system. This effort has adopted a systems engineering approach consisting of an integrated set of rapid prototyping testbeds in which a government/university/industry team of users, technologists, and engineers test and evaluate new concepts and technologies within the operational world of Shuttle. These integrated testbeds include speech recognition and synthesis, laser imaging inspection systems, distributed Ada programming environments, distributed relational database architectures, distributed computer network architectures, multimedia workbenches, and human factors considerations.

Wiskerchen, M. J.↗
NASA NTRS1989

Performance evaluation of a six-axis generalized force-reflecting teleoperator

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

Hannaford, B.↗
NASA NTRS1990

Adaptive pattern recognition by mini-max neural networks as a part of an intelligent processor

In this decade and progressing into 21st Century, NASA will have missions including Space Station and the Earth related Planet Sciences. To support these missions, a high degree of sophistication in machine automation and an increasing amount of data processing throughput rate are necessary. Meeting these challenges requires intelligent machines, designed to support the necessary automations in a remote space and hazardous environment. There are two approaches to designing these intelligent machines. One of these is the knowledge-based expert system approach, namely AI. The other is a non-rule approach based on parallel and distributed computing for adaptive fault-tolerances, namely Neural or Natural Intelligence (NI). The union of AI and NI is the solution to the problem stated above. The NI segment of this unit extracts features automatically by applying Cauchy simulated annealing to a mini-max cost energy function. The feature discovered by NI can then be passed to the AI system for future processing, and vice versa. This passing increases reliability, for AI can follow the NI formulated algorithm exactly, and can provide the context knowledge base as the constraints of neurocomputing. The mini-max cost function that solves the unknown feature can furthermore give us a top-down architectural design of neural networks by means of Taylor series expansion of the cost function. A typical mini-max cost function consists of the sample variance of each class in the numerator, and separation of the center of each class in the denominator. Thus, when the total cost energy is minimized, the conflicting goals of intraclass clustering and interclass segregation are achieved simultaneously.

Szu, Harold H.↗
NASA NTRS1989

A distributed program composition system

A graphical technique for creating distributed computer programs is investigated and a prototype implementation is described which serves as a testbed for the concepts. The type of programs under examination is restricted to those comprising relatively heavyweight parts that intercommunicate by passing messages of typed objects. Such programs are often presented visually as a directed graph with computer program parts as the nodes and communication channels as the edges. This class of programs, called parts-based programs, is not well supported by existing computer systems; much manual work is required to describe the program to the system, establish the communication paths, accommodate the heterogeneity of data types, and to locate the parts of the program on the various systems involved. The work described solves most of these problems by providing an interface for describing parts-based programs in this class in a way that closely models the way programmers think about them: using sketches of diagraphs. Program parts, the computational modes of the larger program system are categorized in libraries and are accessed with browsers. The process of programming has the programmer draw the program graph interactively. Heterogeneity is automatically accommodated by the insertion of type translators where necessary between the parts. Many decisions are necessary in the creation of a comprehensive tool for interactive creation of programs in this class. Possibilities are explored and the issues behind such decisions are presented. An approach to program composition is described, not a carefully implemented programming environment. However, a prototype implementation is described that can demonstrate the ideas presented.

Brown, Robert L.↗
NASA NTRS1987

Reliable communication in the presence of failures

The design and correctness of a communication facility for a distributed computer system are reported on. The facility provides support for fault-tolerant process groups in the form of a family of reliable multicast protocols that can be used in both local- and wide-area networks. These protocols attain high levels of concurrency, while respecting application-specific delivery ordering constraints, and have varying cost and performance that depend on the degree of ordering desired. In particular, a protocol that enforces causal delivery orderings is introduced and shown to be a valuable alternative to conventional asynchronous communication protocols. The facility also ensures that the processes belonging to a fault-tolerant process group will observe consistant orderings of events affecting the group as a whole, including process failures, recoveries, migration, and dynamic changes to group properties like member rankings. A review of several uses for the protocols is the ISIS system, which supports fault-tolerant resilient objects and bulletin boards, illustrates the significant simplification of higher level algorithms made possible by our approach.

Birman, Kenneth P.↗
NASA NTRS1991

Improved Computation of Dynamic Stresses

Method combining modified computational procedure with preprocessing and postprocessing program yields additional data and reduces time and cost of using DYNRE1 module of STARDYNE computer program to compute distributions of stresses in machinery under dynamic loads.

Ghosh, Tarun K.↗