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At least 379 records · Page 21

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NASA NTRS1982

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, volume 2, part 1. Appendix A: Software documentation

Documentation of the preliminary software developed as a framework for a generalized integrated robotic system simulation is presented. The program structure is composed of three major functions controlled by a program executive. The three major functions are: system definition, analysis tools, and post processing. The system definition function handles user input of system parameters and definition of the manipulator configuration. The analysis tools function handles the computational requirements of the program. The post processing function allows for more detailed study of the results of analysis tool function executions. Also documented is the manipulator joint model software to be used as the basis of the manipulator simulation which will be part of the analysis tools capability.

Lowrie, J. W.↗

NASA NTRS1983

An appraisal of the value of vitamin B12 in the prevention of motion sickness

It has been suggested that vitamin B12 given by intramuscular injection can significantly reduce the occurrence of motion sickness in susceptible individuals (Banks, 1980). Since it is known that B12 influences the metabolism of histidine and choline, dietary precursors to neurotransmitters with established roles in motion sickness, an experimental evaluation has been undertaken of the efficacy of B12 in the prevention of motion sickness induced by controlled coriolis simulation. Subjects executed standardized head movements at successively higher rpm until a malaise III endpoint was reached. Following two baseline tests with this motion stressor, subjects received a B12 injection, a second injection two weeks later, and a final motion sickness test three weeks later. No significant differences in the susceptibility to motion sickness were noted after B12.

Kohl, R. L.↗

NASA NTRS1985

Management of large-scale technology

Two major themes are addressed in this assessment of the management of large-scale NASA programs: (1) how a high technology agency was a decade marked by a rapid expansion of funds and manpower in the first half and almost as rapid contraction in the second; and (2) how NASA combined central planning and control with decentralized project execution.

Levine, A.↗

NASA NTRS1986

A Sensor Failure Simulator for Control System Reliability Studies

A real-time Sensor Failure Simulator (SFS) was designed and assembled for the Advanced Detection, Isolation, and Accommodation (ADIA) program. Various designs were considered. The design chosen features an IBM-PC/XT. The PC is used to drive analog circuitry for simulating sensor failures in real-time. A user defined scenario describes the failure simulation for each of the five incoming sensor signals. Capabilities exist for editing, saving, and retrieving the failure scenarios. The SFS has been tested closed-loop with the Controls Interface and Monitoring (CIM) unit, the ADIA control, and a real-time F100 hybrid simulation. From a productivity viewpoint, the menu driven user interface has proven to be efficient and easy to use. From a real-time viewpoint, the software controlling the simulation loop executes at greater than 100 cycles/sec.

Melcher, K. J.↗

NASA NTRS1988

The computational structural mechanics testbed architecture. Volume 1: The language

This is the first set of five volumes which describe the software architecture for the Computational Structural Mechanics Testbed. Derived from NICE, an integrated software system developed at Lockheed Palo Alto Research Laboratory, the architecture is composed of the command language CLAMP, the command language interpreter CLIP, and the data manager GAL. Volumes 1, 2, and 3 (NASA CR's 178384, 178385, and 178386, respectively) describe CLAMP and CLIP, and the CLIP-processor interface. Volumes 4 and 5 (NASA CR's 178387 and 178388, respectively) describe GAL and its low-level I/O. CLAMP, an acronym for Command Language for Applied Mechanics Processors, is designed to control the flow of execution of processors written for NICE. Volume 1 presents the basic elements of the CLAMP language and is intended for all users.

Felippa, Carlos A.↗

NASA NTRS1988

The computational structural mechanics testbed architecture. Volume 2: The interface

This is the third set of five volumes which describe the software architecture for the Computational Structural Mechanics Testbed. Derived from NICE, an integrated software system developed at Lockheed Palo Alto Research Laboratory, the architecture is composed of the command language CLAMP, the command language interpreter CLIP, and the data manager GAL. Volumes 1, 2, and 3 (NASA CR's 178384, 178385, and 178386, respectively) describe CLAMP and CLIP and the CLIP-processor interface. Volumes 4 and 5 (NASA CR's 178387 and 178388, respectively) describe GAL and its low-level I/O. CLAMP, an acronym for Command Language for Applied Mechanics Processors, is designed to control the flow of execution of processors written for NICE. Volume 3 describes the CLIP-Processor interface and related topics. It is intended only for processor developers.

Felippa, Carlos A.↗

NASA NTRS1989

The computational structural mechanics testbed architecture. Volume 4: The global-database manager GAL-DBM

This is the fourth of a set of five volumes which describe the software architecture for the Computational Structural Mechanics Testbed. Derived from NICE, an integrated software system developed at Lockheed Palo Alto Research Laboratory, the architecture is composed of the command language CLAMP, the command language interpreter CLIP, and the data manager GAL. Volumes 1, 2, and 3 (NASA CR's 178384, 178385, and 178386, respectively) describe CLAMP and CLIP and the CLIP-processor interface. Volumes 4 and 5 (NASA CR's 178387 and 178388, respectively) describe GAL and its low-level I/O. CLAMP, an acronym for Command Language for Applied Mechanics Processors, is designed to control the flow of execution of processors written for NICE. Volume 4 describes the nominal-record data management component of the NICE software. It is intended for all users.

Wright, Mary A.↗

NASA NTRS1989

The computational structural mechanics testbed architecture. Volume 2: Directives

This is the second of a set of five volumes which describe the software architecture for the Computational Structural Mechanics Testbed. Derived from NICE, an integrated software system developed at Lockheed Palo Alto Research Laboratory, the architecture is composed of the command language (CLAMP), the command language interpreter (CLIP), and the data manager (GAL). Volumes 1, 2, and 3 (NASA CR's 178384, 178385, and 178386, respectively) describe CLAMP and CLIP and the CLIP-processor interface. Volumes 4 and 5 (NASA CR's 178387 and 178388, respectively) describe GAL and its low-level I/O. CLAMP, an acronym for Command Language for Applied Mechanics Processors, is designed to control the flow of execution of processors written for NICE. Volume 2 describes the CLIP directives in detail. It is intended for intermediate and advanced users.

Felippa, Carlos A.↗

NASA NTRS1989

The computational structural mechanics testbed architecture. Volume 5: The Input-Output Manager DMGASP

This is the fifth of a set of five volumes which describe the software architecture for the Computational Structural Mechanics Testbed. Derived from NICE, an integrated software system developed at Lockheed Palo Alto Research Laboratory, the architecture is composed of the command language (CLAMP), the command language interpreter (CLIP), and the data manager (GAL). Volumes 1, 2, and 3 (NASA CR's 178384, 178385, and 178386, respectively) describe CLAMP and CLIP and the CLIP-processor interface. Volumes 4 and 5 (NASA CR's 178387 and 178388, respectively) describe GAL and its low-level I/O. CLAMP, an acronym for Command Language for Applied Mechanics Processors, is designed to control the flow of execution of processors written for NICE. Volume 5 describes the low-level data management component of the NICE software. It is intended only for advanced programmers involved in maintenance of the software.

Felippa, Carlos A.↗

NASA NTRS1989

Planning robot actions under position and shape uncertainty

Geometric uncertainty may cause various failures during the execution of a robot control program. Avoiding such failures makes it necessary to reason about the effects of uncertainty in order to implement robust strategies. Researchers first point out that a manipulation program has to be faced with two types of uncertainty: those that might be locally processed using appropriate sensor based motions, and those that require a more global processing leading to insert new sensing operations. Then, they briefly describe how they solved the two related problems in the SHARP system: how to automatically synthesize a fine motion strategy allowing the robot to progressively achieve a given assembly relation despite position uncertainty, and how to represent uncertainty and to determine the points where a given manipulation program might fail.

Laugier, Christian↗

NASA NTRS1990

Highlights of NASA research in telerobotics

This paper provides a brief overview of the NASA program of research in telerobotics. It describes ongoing effort in a number of participating laboratories investigating topics in human-machine interaction, intelligent task planning and execution, dual-arm control of manipulators with redundant degrees-of-freedom, sensing and perception. A brief list of illustrative references is provided.

Weisbin, C. R.↗

NASA NTRS1992

A proposed research program in information processing

The goal of the Formalized Software Development (FSD) project was to demonstrate improvements productivity of software development and maintenance through the use of a new software lifecycle paradigm. The paradigm calls for the mechanical, but human-guided, derivation of software implementations from formal specifications of the desired software behavior. It relies on altering a system's specification and rederiving its implementation as the standard technology for software maintenance. A system definition for this paradigm is composed of a behavioral specification together with a body of annotations that control the derivation of executable code from the specification. Annotations generally achieve the selection of certain data representations and/or algorithms that are consistent with, but not mandated by, the behavioral specification. In doing this, they may yield systems which exhibit only certain behaviors among multiple alternatives permitted by the behavioral specification. The FSD project proposed to construct a testbed in which to explore the realization of this new paradigm. The testbed was to provide operational support environment for software design, implementation, and maintenance. The testbed was proposed to provide highly automated support for individual programmers ('programming in the small'), but not to address the additional needs of programming teams ('programming in the large'). The testbed proposed to focus on supporting rapid construction and evolution of useful prototypes of software systems, as opposed to focusing on the problems of achieving production quality performance of systems.

Schorr, Herbert↗

NASA NTRS1994

Truss structure tele-manipulation experiment using ETS-7

A robot experiment concept of space truss telemanipulation by National Aerospace Laboratory (NAL) is described in its flight model development. The experiment will be carried out on the Engineering Test Satellite No. 7 (ETS-7) using its robot arm. The satellite is scheduled to be launched in 1997 by National Space Development Agency of Japan (NASDA). The truss flight model is composed of deployable truss system and assemble truss joint. Those truss components will be manipulated by the ETS-7 robot arm using its small grapple fixture type-N (GPF-N), and the experimental task operation will be executed from the ground control station.

Matsumoto, Kohtaro↗

NASA NTRS1998

Performance Analysis of an Actor-Based Distributed Simulation

Object-oriented design of simulation programs appears to be very attractive because of the natural association of components in the simulated system with objects. There is great potential in distributing the simulation across several computers for the purpose of parallel computation and its consequent handling of larger problems in less elapsed time. One approach to such a design is to use "actors", that is, active objects with their own thread of control. Because these objects execute concurrently, communication is via messages. This is in contrast to an object-oriented design using passive objects where communication between objects is via method calls (direct calls when they are in the same address space and remote procedure calls when they are in different address spaces or different machines). This paper describes a performance analysis program for the evaluation of a design for distributed simulations based upon actors.

Schoeffler, James D.↗

NASA NTRS2000

NPSS on NASA's Information Power Grid: Using CORBA and Globus to Coordinate Multidisciplinary Aeroscience Applications

This paper describes a project to evaluate the feasibility of combining Grid and Numerical Propulsion System Simulation (NPSS) technologies, with a view to leveraging the numerous advantages of commodity technologies in a high-performance Grid environment. A team from the NASA Glenn Research Center and Argonne National Laboratory has been studying three problems: a desktop-controlled parameter study using Excel (Microsoft Corporation); a multicomponent application using ADPAC, NPSS, and a controller program-, and an aviation safety application running about 100 jobs in near real time. The team has successfully demonstrated (1) a Common-Object- Request-Broker-Architecture- (CORBA-) to-Globus resource manager gateway that allows CORBA remote procedure calls to be used to control the submission and execution of programs on workstations and massively parallel computers, (2) a gateway from the CORBA Trader service to the Grid information service, and (3) a preliminary integration of CORBA and Grid security mechanisms. We have applied these technologies to two applications related to NPSS, namely a parameter study and a multicomponent simulation.

Lopez, Isaac↗

NASA NTRS2006

The Disposal of Spacecraft and Launch Vehicle Stages in Low Earth Orbit

As a result of the increasing number of debris in low Earth orbit (LEO), numerous national and international orbital debris mitigation guidelines recommend the removal of spacecraft and launch vehicle stages from LEO within 25 years after mission termination. The primary purpose of this action is to enhance space safety by significantly limiting the potential of future accidental collisions resulting in the creation of large numbers of new orbital debris. Likewise, the passivation of these objects, i.e., the removal of residual stored energies, while they remain in orbit is important to prevent the generation of debris via self-induced explosions. Characteristics and trends in the growth of the derelict spacecraft and launch vehicle stage populations in LEO are examined. Depending upon the final operational altitude of the vehicle, achieving the goal of orbital lifetime reduction can influence the design and deployment philosophy of a new space system. Some spacecraft and launch vehicle stages have combined their end-of-mission passivation operations with maneuvers to vacate long-lived orbital regimes. Perhaps the most dramatic demonstration of this type occurred in 2006 when a U.S. Delta IV second stage executed an unprecedented controlled-reentry maneuver from a circular orbit at an altitude near 850 km. For space systems in orbital regimes near the upper regions of LEO (i.e., between 1400 km and 2000 km altitude), maneuvers to place the vehicle above LEO might be more attractive than attempting to ensure an atmospheric reentry within 25 years, and at least one space system operator has selected this option. In some cases, careful consideration of natural orbital perturbations can also lead to reduced orbital lifetimes, although new launch constraints might need to be imposed.

Johnson, Nicholas L.↗

NASA NTRS2003

An Approach to Autonomous Operations for Remote Mobile Robotic Exploration

This viewgraph presentation addresses the use of autonomy for remote mobile robotic exploration. The contents include; 1) Why Use Autonomy?; 2) What Are Some Options? JPL (Reasoning); 3) More Options.. . (Modeling); 4) The CLEaR Control System (Closed Loop Execution and Recovery); 5) Method of Response; 6) Overall Goal; 7) CLEaR in Action; 8) Initial Scenario; 9) Initial Scenario - Planned; 10) Unforeseen Events; and 11) Ongoing Research.

rovers↗

NASA NTRS2009

An Autonomous Onboard Targeting Algorithm Using Finite Thrust Maneuvers

In earlier investigations, the adaptation and implementation of a modified two-level corrections process as the onboard targeting algorithm for the Trans-Earth Injection phase of Orion is presented. The objective of that targeting algorithm is to generate the times of ignition and magnitudes of the required maneuvers such that the desired state at entry interface is achieved. In an actual onboard flight software implementation, these times of ignition and maneuvers are relayed onto Flight Control for command and execution. Although this process works well when the burn durations or burn arcs are small, this might not be the case during a contingency situation when lower thrust engines are employed to perform the maneuvers. Therefore, a new version of the modified two-level corrections process is formulated to handle the case of finite burn arcs. This paper presents the development and formulation of that finite burn modified two-level corrections process which can again be used as an onboard targeting algorithm for the Trans-Earth Injection phase of Orion. Additionally, performance results and a comparison between the two methods are presented. The finite burn two-level corrector formulation presented here ensures the entry constraints at entry interface are still met without violating the available fuel budget, while still accounting for much longer burn times in its design.

Scarritt, Sara K.↗