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At least 415 records · Page 23

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NASA NTRS1994

A simulation facility for testing Space Station assembly procedures

NASA plans to construct the Space Station Freedom (SSF) in one of the most hazardous environments known to mankind - space. It is of the utmost importance that the procedures to assemble and operate the SSF in orbit are both safe and effective. This paper describes a facility designed to test the integration of the telerobotic systems and to test assembly procedures using a real-world robotic arm grappling space hardware in a simulated microgravity environment.

Hajare, Ankur R.↗

NASA NTRS1994

Surface matching for correlation of virtual models: Theory and application

Virtual reality can enable a robot user to off line generate and test in a virtual environment a sequence of operations to be executed by the robot in an assembly cell. Virtual models of objects are to be correlated to the real entities they represent by means of a suitable transformation. A solution to the correlation problem, which is basically a problem of 3-dimensional adjusting, has been found exploiting the surface matching theory. An iterative algorithm has been developed, which matches the geometric surface representing the shape of the virtual model of an object, with a set of points measured on the surface in the real world. A peculiar feature of the algorithm is to work also if there is no one-to-one correspondence between the measured points and those representing the surface model. Furthermore the problem of avoiding convergence to local minima is solved, by defining a starting point of states ensuring convergence to the global minimum. The developed algorithm has been tested by simulation. Finally, this paper proposes a specific application, i.e., correlating a robot cell, equipped for biomedical use with its virtual representation.

Caracciolo, Roberto↗

NASA NTRS1994

Master-slave system with force feedback based on dynamics of virtual model

A master-slave system can extend manipulating and sensing capabilities of a human operator to a remote environment. But the master-slave system has two serious problems: one is the mechanically large impedance of the system; the other is the mechanical complexity of the slave for complex remote tasks. These two problems reduce the efficiency of the system. If the slave has local intelligence, it can help the human operator by using its good points like fast calculation and large memory. The authors suggest that the slave is a dextrous hand with many degrees of freedom able to manipulate an object of known shape. It is further suggested that the dimensions of the remote work space be shared by the human operator and the slave. The effect of the large impedance of the system can be reduced in a virtual model, a physical model constructed in a computer with physical parameters as if it were in the real world. A method to determine the damping parameter dynamically for the virtual model is proposed. Experimental results show that this virtual model is better than the virtual model with fixed damping.

Nojima, Shuji↗

NASA NTRS1994

The Advanced Orbiting Systems Testbed Program: Results to date

The Consultative Committee for Space Data Systems (CCSDS) Recommendations for Packet Telemetry (PT) and Advanced Orbiting Systems (AOS) propose standard solutions to data handling problems common to many types of space missions. The Recommendations address only space/ground and space/space data handling systems. Goddard Space Flight Center's (GSFC's) AOS Testbed (AOST) Program was initiated to better understand the Recommendations and their impact on real-world systems, and to examine the extended domain of ground/ground data handling systems. The results and products of the Program will reduce the uncertainties associated with the development of operational space and ground systems that implement the Recommendations.

Otranto, John F.↗

NASA NTRS1994

Scalability study of parallel spatial direct numerical simulation code on IBM SP1 parallel supercomputer

The implementation and the performance of a parallel spatial direct numerical simulation (PSDNS) code are reported for the IBM SP1 supercomputer. The spatially evolving disturbances that are associated with laminar-to-turbulent in three-dimensional boundary-layer flows are computed with the PS-DNS code. By remapping the distributed data structure during the course of the calculation, optimized serial library routines can be utilized that substantially increase the computational performance. Although the remapping incurs a high communication penalty, the parallel efficiency of the code remains above 40% for all performed calculations. By using appropriate compile options and optimized library routines, the serial code achieves 52-56 Mflops on a single node of the SP1 (45% of theoretical peak performance). The actual performance of the PSDNS code on the SP1 is evaluated with a 'real world' simulation that consists of 1.7 million grid points. One time step of this simulation is calculated on eight nodes of the SP1 in the same time as required by a Cray Y/MP for the same simulation. The scalability information provides estimated computational costs that match the actual costs relative to changes in the number of grid points.

Hanebutte, Ulf R.↗

NASA NTRS1994

Modeling aerosol emissions from the combustion of composite materials

The use of advanced composite materials (ACM) in the B-2 bomber, composite armored vehicle, and F-22 advanced tactical fighter has rekindled interest concerning the health risk of burned or burning ACM. The objective of this work was to determine smoke production from burning ACM and its toxicity. A commercial version of the UPITT II combustion toxicity method developed at the University of Pittsburgh, and subsequently refined through a US Army-funded basic research project, was used to established controlled combustion conditions which were selected to evaluate real-world exposure scenarios. Production and yield of toxic species varied with the combustion conditions. Previous work with this method showed that the combustion conditions directly influenced the toxicity of the decomposition products from a variety of materials.

Roop, J. A.↗

NASA NTRS1994

Utilizing inheritance in requirements engineering

The scope of this paper is the utilization of inheritance for requirements specification, i.e., the tasks of analyzing and modeling the domain, as well as forming and defining requirements. Our approach and the tool supporting it are named RETH (Requirements Engineering Through Hypertext). Actually, RETH uses a combination of various technologies, including object-oriented approaches and artificial intelligence (in particular frames). We do not attempt to exclude or replace formal representations, but try to complement and provide means for gradually developing them. Among others, RETH has been applied in the CERN (Conseil Europeen pour la Rechereche Nucleaire) Cortex project. While it would be impossible to explain this project in detail here, it should be sufficient to know that it deals with a generic distributed control system. Since this project is not finished yet, it is difficult to state its size precisely. In order to give an idea, its final goal is to substitute the many existing similar control systems at CERN by this generic approach. Currently, RETH is also tested using real-world requirements for the Pastel Mission Planning System at ESOC in Darmstadt. First, we outline how hypertext is integrated into a frame system in our approach. Moreover, the usefulness of inheritance is demonstrated as performed by the tool RETH. We then summarize our experiences of utilizing inheritance in the Cortex project. Lastly, RETH will be related to existing work.

Kaindl, Hermann↗

NASA NTRS1993

Preprocessing: Geocoding of AVIRIS data using navigation, engineering, DEM, and radar tracking system data

Remotely sensed data have geometric characteristics and representation which depend on the type of the acquisition system used. To correlate such data over large regions with other real world representation tools like conventional maps or Geographic Information System (GIS) for verification purposes, or for further treatment within different data sets, a coregistration has to be performed. In addition to the geometric characteristics of the sensor there are two other dominating factors which affect the geometry: the stability of the platform and the topography. There are two basic approaches for a geometric correction on a pixel-by-pixel basis: (1) A parametric approach using the location of the airplane and inertial navigation system data to simulate the observation geometry; and (2) a non-parametric approach using tie points or ground control points. It is well known that the non-parametric approach is not reliable enough for the unstable flight conditions of airborne systems, and is not satisfying in areas with significant topography, e.g. mountains and hills. The present work describes a parametric preprocessing procedure which corrects effects of flight line and attitude variation as well as topographic influences and is described in more detail by Meyer.

Meyer, Peter↗

NASA NTRS1994

Document analysis with neural net circuits

Document analysis is one of the main applications of machine vision today and offers great opportunities for neural net circuits. Despite more and more data processing with computers, the number of paper documents is still increasing rapidly. A fast translation of data from paper into electronic format is needed almost everywhere, and when done manually, this is a time consuming process. Markets range from small scanners for personal use to high-volume document analysis systems, such as address readers for the postal service or check processing systems for banks. A major concern with present systems is the accuracy of the automatic interpretation. Today's algorithms fail miserably when noise is present, when print quality is poor, or when the layout is complex. A common approach to circumvent these problems is to restrict the variations of the documents handled by a system. In our laboratory, we had the best luck with circuits implementing basic functions, such as convolutions, that can be used in many different algorithms. To illustrate the flexibility of this approach, three applications of the NET32K circuit are described in this short viewgraph presentation: locating address blocks, cleaning document images by removing noise, and locating areas of interest in personal checks to improve image compression. Several of the ideas realized in this circuit that were inspired by neural nets, such as analog computation with a low resolution, resulted in a chip that is well suited for real-world document analysis applications and that compares favorably with alternative, 'conventional' circuits.

Graf, Hans Peter↗

NASA NTRS1995

A sustainable genetic algorithm for satellite resource allocation

A hybrid genetic algorithm is used to schedule tasks for 8 satellites, which can be modelled as a robot whose task is to retrieve objects from a two dimensional field. The objective is to find a schedule that maximizes the value of objects retrieved. Typical of the real-world tasks to which this corresponds is the scheduling of ground contacts for a communications satellite. An important feature of our application is that the amount of time available for running the scheduler is not necessarily known in advance. This requires that the scheduler produce reasonably good results after a short period but that it also continue to improve its results if allowed to run for a longer period. We satisfy this requirement by developing what we call a sustainable genetic algorithm.

Abbott, R. J.↗

NASA NTRS1995

Display system employing acousto-optic tunable filter

An acousto-optic tunable filter (AOTF) is employed to generate a display by driving the AOTF with a RF electrical signal comprising modulated red, green, and blue video scan line signals and scanning the AOTF with a linearly polarized, pulsed light beam, resulting in encoding of color video columns (scan lines) of an input video image into vertical columns of the AOTF output beam. The AOTF is illuminated periodically as each acoustically-encoded scan line fills the cell aperture of the AOTF. A polarizing beam splitter removes the unused first order beam component of the AOTF output and, if desired, overlays a real world scene on the output plane. Resolutions as high as 30,000 lines are possible, providing holographic display capability.

Lambert, James L.↗

NASA NTRS1995

Automatic blocking for complex three-dimensional configurations

A new blocking technique for complex three-dimensional configurations is described. This new technique is based upon the concept of an abstraction, or squared-up representation, of the configuration and the associated grid. By allowing the user to describe blocking requirements in natural terms (such as 'wrap a grid around this leading edge' or 'make all grid lines emanating from this wall orthogonal to it'), users can quickly generate complex grids around complex configurations, while still maintaining a high level of control where desired. An added advantage of the abstraction concept is that once a blocking is defined for a class of configurations, it can be automatically applied to other configurations of the same class, making the new technique particularly well suited for the parametric variations which typically occur during design processes. Grids have been generated for a variety of real-world, two- and three-dimensional configurations. In all cases, the time required to generate the grid, given just an electronic form of the configuration, was at most a few days. Hence with this new technique, the generation of a block-structured grid is only slightly more expensive than the generation of an unstructured grid for the same configuration.

Dannenhoffer, John F., III↗

NASA NTRS1994

The photometric method of extrasolar planet detection revisited

We investigate the geometry concerning the photometric method of extrasolar planet detection, i.e., the detection of dimunition of a parent star's brightness during a planetary transit. Under the assumption that planetary orbital inclinations can be defined by a Gaussian with a sigma of 10 deg centered on the parent star's equatorial plane, Monte Carlo simulations suggest that for a given star observed at an inclination of exactly 90 deg, the probability of at least one Earth-sized or larger planet being suitably placed for transits is approximately 4%. This probability drops to 3% for a star observed at an inclination of 80 deg, and is still approximately 0.5% for a star observed at an inclination of 60 deg. If one can select 100 stars with a pre-determined inclination equal or greater than 80 deg, the probability of at least one planet being suitably configured for transits is 95%. The majority of transit events are due to planets in small-a orbits similar to the Earth and Venus; thus, the photometric method in principle is the method best suited for the detection of Earthlike planets. The photometric method also allows for testing whether or not planets can exist within binary systems. This can ge done by selecting binary systems observed at high orbital inclinations, both eclipsing binaries and wider visual binaries. For a 'real-world' example, we look at the alpha Centauri system (i = 79.2 deg). If we assume that the equatorial planes of both components coincide with the system's orbital plane, Monte Carlo simulations suggest that the probability of at least one planet (of either component) being suitably configured for transits is approximately 8%. In conclusion, we present a non-exhaustive list of solar-type stars, both single and within binary systems, which exhibit a high equatorial inclination. These objects may be considered as preliminary candidates for planetary searches via the photometric method.

Hale, Alan↗

NASA NTRS1990

Implementation of a frame-based representation in CLIPS

Knowledge representation is one of the major concerns in expert systems. The representation of domain-specific knowledge should agree with the nature of the domain entities and their use in the real world. For example, architectural applications deal with objects and entities such as spaces, walls, and windows. A natural way of representing these architectural entities is provided by frames. This research explores the potential of using the expert system shell CLIPS, developed by NASA, to implement a frame-based representation that can accommodate architectural knowledge. These frames are similar but quite different from the 'template' construct in version 4.3 of CLIPS. Templates support only the grouping of related information and the assignment of default values to template fields. In addition to these features frames provide other capabilities including definition of classes, inheritance between classes and subclasses, relation of objects of different classes with 'has-a', association of methods (demons) of different types (standard and user-defined) to fields (slots), and creation of new fields at run-time. This frame-based representation is implemented completely in CLIPS. No change to the source code is necessary.

Assal, Hisham↗

NASA NTRS1995

SPARTNIK: Engineering catalyst for government and industry

Industrial demands for highly motivated and competent technical personnel to carry forward with the technological goals of the US has posed a significant challenge to graduating engineers. While curricula has improved and diversified over time to meet these industry demands, relevant industry experience is not always available to undergraduates. The microsatellite development program at San Jose State University (SJSU) has allowed an entire undergraduate senior class to utilize a broad range of training and education to refine their engineering skills, bringing them closer to becoming engineering professionals. Close interaction with industry mentors and manufacturers on a real world project provides a significant advantage to educators and students alike. With support from companies and government agencies, the students have designed and manufactured a microsatellite, designed to be launched into a low Earth orbit. This satellite will gather telemetry for characterizing the state of the spacecraft. This will enable the students to have a physical check on their predicted value of spacecraft subsystem performance. Additional experiments will also be undertaken during the two year lifetime, including micro-meteorite impact sensing and capturing digital color images of the Earth. This paper will detail the process whereby students designed, prototype and manufactured a small satellite in a large team environment, along with the experiments that will be performed on board. With the project's limited funds, it needed the support of many industry companies to help with technical issues and hardware acquisition. Among the many supporting companies, NASA's space shuttle small payloads program could be used for an affordable launch vehicle for the student project. The paper address these collaborations between the student project and industry support, as well as explaining the benefits to both. The paper draws conclusion on how these types of student projects can be used by industry as a feasible resource for developing small platforms for space based experiments, as well as increasing the practical experience and engineering knowledge of graduating students. These benefits to industry and universities, can lead to a close working relationship between the two. These types of projects can facilitate the development of low-cost space rated parts to be used by the industry and university projects. It can also help with the understanding and use of acceptable risk non-space rated parts reducing the cost of the spacecraft. This will lead to the development of low cost platforms for space based experiments, providing research companies an inexpensive, long duration platform to conduct their in-space experiments, while better preparing engineering undergraduates for their transition into the work force.

Prass, James D.↗

NASA NTRS1995

A packet data compressor

We are in the preliminary stages of creating an operational system for losslessly compressing packet data streams. The end goal is to reduce costs. Real world constraints include transmission in the presence of error, tradeoffs between the costs of compression and the costs of transmission and storage, and imperfect knowledge of the data streams to be transmitted. The overall method is to bring together packets of similar type, split the data into bit fields, and test a large number of compression algorithms. Preliminary results are very encouraging, typically offering compression factors substantially higher than those obtained with simpler generic byte stream compressors, such as Unix Compress and HA 0.98.

Grunes, Mitchell R.↗

NASA NTRS1994

History and applications in controlled environments

The widespread application of electric (often called artificial) light in greenhouses, growing rooms, and plant growth chambers would presuppose that the role of phytochrome would be considered in the selection and use of such lighting systems. Unfortunately this is not usually the case. Part of the problem is that many students, and indeed an unfortunate number of senior scientists, seem to regard phytochrome as a laboratory phenomenon without much application in the real world. They simply have not grasped the concept that phytochrome is functioning through all stages of plant development, wherever plants are grown. It is certainly true, as Meijer (1971) stated, that one cannot compare experimental results obtained under very strict laboratory conditions with plant irradiation in glasshouses and in growth rooms. When Karl Norris developed the first practical portable spectroradiometer about 1962, some of the first measurements were to determine the red/far-red ratios under tree canopies. These measurements showed clearly the predominance of far-red in the understory and suggested that far-red was contributing to the elongation exhibited by many species growing in the shade, and possibly was a factor in the induction of light requirements in seeds. Subsequently we used Catalpa leaves as far-red filters to make light-insensitive lettuce seed light requiring. Much more detailed work has since been done on phytochrome effects in the natural environment, and it is encouraging to note that efforts are bring made to apply phytochrome research to horticulture.

Downs, R. J.↗

NASA NTRS1995

An empirical evaluation of graphical interfaces to support flight planning

Whether optimization techniques or expert systems technologies are used, the underlying inference processes and the model or knowledge base for a computerized problem-solving system are likely to be incomplete for any given complex, real-world task. To deal with the resultant brittleness, it has been suggested that 'cooperative' rather than 'automated' problem-solving systems be designed. Such cooperative systems are proposed to explicitly enhance the collaboration of people and the computer system when working in partnership to solve problems. This study evaluates the impact of alternative design concepts on the performance of airline pilots interacting with such a cooperative system designed to support enroute flight planning. Thirty pilots were studied using three different versions of the system. The results clearly demonstrate that different system design concepts can strongly influence the cognitive processes of users. Indeed, one of the designs studied caused four times as many pilots to accept a poor flight amendment. Based on think-aloud protocols, cognitive models are proposed to account for how features of the computer system interacted with specific types of scenarios to influence exploration and decision-making by the pilots. The results are then used to develop recommendations for guiding the design of cooperative systems.

Smith, Philip J.↗