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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 523 records · Page 29
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Collision avoidance of a multiple degree of redundancy manipulator operating through a window

The problem of collision-free operation of a multiple-degree-of-redundancy manipulator operating through a window is addressed. An efficient gradient projection optimization scheme is presented for the kinematic control of manipulators with multiple degrees of redundancy. This scheme was developed for dextrous robotic and telerobotic applications in space station construction as well as in congested shop floor environment. A performance criterion is defined to maximize the shortest distances between the manipulator links and the edges of the window. Effectiveness of this scheme and the validity of the performance criterion are verified through simulations of the seven-degree-of-freedom NASA Laboratory Telerobotic Manipulator.

Zghal, H.↗
NASA NTRS1993

A multiple-scale turbulence model for incompressible flow

A multiple-scale eddy viscosity model is described in this paper. This model splits the energy spectrum into a high wave number regime and a low wave number regime. Dividing the energy spectrum into multiple regimes simplistically emulates the cascade of energy through the turbulence spectrum. The constraints on the model coefficients are determined by examining decaying turbulence and homogeneous turbulence. A direct link between the partitioned energies and the energy transfer process is established through the coefficients. This new model has been calibrated and tested for boundary-free turbulent shear flows. Calculations of mean and turbulent properties show good agreement with experimental data for two mixing layers, a plane jet and a round jet.

Duncan, B. S.↗
NASA NTRS1992

Multiple-access phased array antenna simulator for a digital beam-forming system investigation

Future versions of data relay satellite systems are currently being planned by NASA. Being given consideration for implementation are on-board digital beamforming techniques which will allow multiple users to simultaneously access a single S-band phased array antenna system. To investigate the potential performance of such a system, a laboratory simulator has been developed at NASA's Lewis Research Center. This paper describes the system simulator, and in particular, the requirements, design and performance of a key subsystem, the phased array antenna simulator, which provides realistic inputs to the digital processor including multiple signals, noise, and nonlinearities.

Kerczewski, Robert J.↗
NASA NTRS1992

Force regulation in multiple-manipulator systems

A new intuitively appealing interpretation of the internal force in a multiple-arm system is presented. The static gravity-free case is considered where internal force has a well-founded physical meaning. The case is extended to the general dynamic case by removing the inertial force through balancing it with the minimum amount of contact force. The remaining component in the contact force is considered to be the sole contributor to the inertial force. Existing techniques for force control can be used to obtain various stabilizing force set point control laws. Particular attention is given to the motion control strategy for multiple arm systems. Three types of control laws, feedback linearization, arms-as-actuators, and passive control, are addressed. The first two techniques provide simplified control tuning but require much model information. The latter approach is considered to be very robust with respect to the model, but good transient performance is more challenging to obtain. It is suggested to combine one of the model-based approaches with the passive control approach.

Wen, John T.↗
NASA NTRS1992

Applications of multiple-constraint matrix updates to the optimal control of large structures

Low-authority control or vibration suppression in large, flexible space structures can be formulated as a linear feedback control problem requiring computation of displacement and velocity feedback gain matrices. To ensure stability in the uncontrolled modes, these gain matrices must be symmetric and positive definite. In this paper, efficient computation of symmetric, positive-definite feedback gain matrices is accomplished through the use of multiple-constraint matrix update techniques originally developed for structural identification applications. Two systems were used to illustrate the application: a simple spring-mass system and a planar truss. From these demonstrations, use of this multiple-constraint technique is seen to provide a straightforward approach for computing the low-authority gains.

Smith, S. W.↗
NASA NTRS1993

Minispacecraft for a multiple-asteroid rendezvous mission

The development of the Multiple Asteroid Rendezvous Tracker and Explorer spacecraft, which is designed for the analysis of the composition and the motion of several main-belt asteroids, is discussed. The mission includes a laboratory lander craft (the main lab) and several minispacecraft. The main lab will be equipped with a complete sample analysis laboratory and multiple external sensors. Each of the minispacecraft, which are much smaller than the main lab and contain only a few instruments, is targeted to rendezvous with an asteroid, on which it will land and perform a preliminary surface analysis. This will identify the most scientifically interesting asteroid. The main lab will then be sent to this asteroid for performing a detailed analysis including soil sampling.

Fowler, Wallace T.↗
NASA NTRS1992

Branch recovery with compiler-assisted multiple instruction retry

In processing systems where rapid recovery from transient faults is important, schemes for multiple instruction rollback recovery may be appropriate. Multiple instruction retry has been implemented in hardware by researchers and also in mainframe computers. This paper extends compiler-assisted instruction retry to a broad class of code execution failures. Five benchmarks were used to measure the performance penalty of hazard resolution. Results indicate that the enhanced pure software approach can produce performance penalties consistent with existing hardware techniques. A combined compiler/hardware resolution strategy is also described and evaluated. Experimental results indicate a lower performance penalty than with either a totally hardware or totally software approach.

Alewine, N. J.↗
NASA NTRS1993

Multiple heliospheric current sheets and coronal streamer belt dynamics

The occurrence of multiple directional discontinuities in the coronal streamer belt at sector boundary crossings in the heliosphere, often ascribed to waves or kinks in the heliospheric current sheet, may alternatively be attributed to a network of extended current sheets from multiple helmet streamers with a hierarchy of sizes at the base of the corona. Frequent transient outflows from these helmets can account for a variety of signatures observed at sector boundaries, including ordered field rotations, planar magnetic structures and sandwichlike plasma structure.

Crooker, N. U.↗
NASA NTRS1993

Read buffer optimizations to support compiler-assisted multiple instruction retry

Multiple instruction retry is a recovery mechanism for transient processor faults. We previously developed a compiler-assisted approach to multiple instruction ferry in which a read buffer of size 2N (where N represents the maximum instruction rollback distance) was used to resolve some data hazards while the compiler resolved the remaining hazards. The compiler-assisted scheme was shown to reduce the performance overhead and/or hardware complexity normally associated with hardware-only retry schemes. This paper examines the size and design of the read buffer. We establish a practical lower bound and average size requirement for the read buffer by modifying the scheme to save only the data required for rollback. The study measures the effect on the performance of a DECstation 3100 running ten application programs using six read buffer configurations with varying read buffer sizes. Two alternative configurations are shown to be the most efficient and differed depending on whether split-cycle-saves are assumed. Up to a 55 percent read buffer size reduction is achievable with an average reduction of 39 percent given the most efficient read buffer configuration and a variety of applications.

Alewine, N. J.↗
NASA NTRS1991

Multiple fiberoptic probe for several sensing applications

A multiple fiber-optic particle sizing probe which uses a linear array of 11 optical fibers positioned in the focal plane of a graded index microlens is presented. The probe, a compact optical spectrum analyzer, provides simultaneous filtering of the angular spectrum of an extended quasi-monochromatic source. Active and passive configurations provide accurate measurements of the particle size distributions. The multiple fiber-optic probe together with processing electronics is a particle sizing sensor which yields the size distribution within 1-2 min.

Dhadwal, Harbans S.↗
NASA NTRS1990

On a concurrent element-by-element preconditioned conjugate gradient algorithm for multiple load cases

Element-by-element preconditioned conjugate gradient (EBE-PCG) algorithms have been advocated for use in parallel/vector processing environments as being superior to the conventional LDL(exp T) decomposition algorithm for single load cases. Although there may be some advantages in using such algorithms for a single load case, when it comes to situations involving multiple load cases, the LDL(exp T) decomposition algorithm would appear to be decidedly more cost-effective. The authors have outlined an EBE-PCG algorithm suitable for multiple load cases and compared its effectiveness to the highly efficient LDL(exp T) decomposition scheme. The proposed algorithm offers almost no advantages over the LDL(exp T) algorithm for the linear problems investigated on the Alliant FX/8. However, there may be some merit in the algorithm in solving nonlinear problems with load incrementation, but that remains to be investigated.

Watson, Brian↗
NASA NTRS1993

A multiple-scale turbulence model for incompressible flow

A multiple-scale eddy viscosity model is described. This model splits the energy spectrum into a high wave number regime and a low wave number regime. Dividing the energy spectrum into multiple regimes simplistically emulates the cascade of energy through the turbulence spectrum. The constraints on the model coefficients are determined by examining decaying turbulence and homogeneous turbulence. A direct link between the partitioned energies and the energy transfer process is established through the coefficients. This new model was calibrated and tested for boundary-free turbulent shear flows. Calculations of mean and turbulent properties show good agreement with experimental data for two mixing layers, a plane jet and a round jet.

Duncan, B. S.↗
NASA NTRS1993

Transparent data service with multiple wireless access

The rapid introduction of digital wireless networks is an important part of the emerging digital communications scene. The introduction of Digital Cellular, LEO and GEO Satellites, and Personal Communications Services poses both a challenge and an opportunity for the data user. On the one hand wireless access will introduce significant new portable data services such as personal notebooks, paging, E-mail, and fax that will put the information age in the user's pocket. On the other hand the challenge of creating a seamless and transparent environment for the user in multiple access environments and across multiple network connections is formidable. A summary of the issues associated with developing techniques and standards that can support transparent and seamless data services is presented. The introduction of data services into the radio world represents a unique mix of RF channel problems, data protocol issues, and network issues. These problems require that experts from each of these disciplines fuse the individual technologies to support these services.

Dean, Richard A.↗
NASA NTRS1994

Controlling multiple security robots in a warehouse environment

The Naval Command Control and Ocean Surveillance Center (NCCOSC) has developed an architecture to provide coordinated control of multiple autonomous vehicles from a single host console. The multiple robot host architecture (MRHA) is a distributed multiprocessing system that can be expanded to accommodate as many as 32 robots. The initial application will employ eight Cybermotion K2A Navmaster robots configured as remote security platforms in support of the Mobile Detection Assessment and Response System (MDARS) Program. This paper discusses developmental testing of the MRHA in an operational warehouse environment, with two actual and four simulated robotic platforms.

Everett, H. R.↗
NASA NTRS1993

Multiple scattering of light in a spherical cometary atmosphere with an axisymmetric dust jet. II - Image simulation

A numerical solution for the multiple light scattering in spherical axisymmetric geometry is applied to the simulation of images of a coma as it would appear to a near-flying satellite such as Giotto. The appearance of symmetric comas and dust jets is examined in detail; the nucleus visibility is studied; the effect of forward scattering is considered; and single and multiple scattering effects are quantified. Attention is given to simulated images of a coma with a hollow cone of dust, as predicted by dust-gas hydrodynamic modeling. The cone's appearance is very similar to the northern area of activity on Comet Halley, observed by the Giotto HMC.

Chick, Kenneth M.↗
NASA NTRS1994

Stable tearing behavior of a thin-sheet material with multiple cracks

Fracture tests were conducted on 2.3mm thick, 305mm wide sheets of 2024-T3 aluminum alloy with 1-5 collinear cracks. The cracks were introduced (crack history) into the specimens by three methods: (1) saw cutting; (2) fatigue precracking at a low stress range; and (3) fatigue precracking at a high stress range. For the single crack tests, the initial crack history influenced the stress required for the onset of stable crack growth and the first 10mm of crack growth. The effect on failure stress was about 4 percent or less. For the multiple crack tests, the initial crack history was shown to cause differences of more than 20 percent in the link-up stress and 13 percent in failure stress. An elastic-plastic finite element analysis employing the Crack Tip Opening Angle (CTOA) fracture criterion was used to predict the fracture behavior of the single and multiple crack tests. The numerical predictions were within 7 percent of the observed link-up and failure stress in all the tests.

Dawicke, D. S.↗
NASA NTRS1994

The problem with multiple robots

The issues that can arise in research associated with multiple, robotic agents are discussed. Two particular multi-robot projects are presented as examples. This paper was written in the hope that it might ease the transition from single to multiple robot research.

Huber, Marcus J.↗
NASA NTRS1994

Influence of crack history on the stable tearing behavior of a thin-sheet material with multiple cracks

Fracture tests were conducted on 2.3mm thick, 305mm wide sheets of 2024-T3 aluminum alloy with from one to five collinear cracks. The cracks were introduced (crack history) into the specimens by three methods: saw cutting, fatigue precracking at a low stress range, and fatigue precracking at a high stress range. For the single crack tests, the initial crack history influenced the stress required for the onset of stable crack growth and the first 10mm of crack growth. The effect on failure stress was about 4 percent or less. For the multiple crack tests, the initial crack history was shown to cause differences of more than 20 percent in the link-up stress and 13 percent in failure stress. An elastic-plastic finite element analysis employing the CTOA fracture criterion was used to predict the fracture behavior of the single and multiple crack tests. The numerical predictions were within 7 percent of the observed link-up and failure stress in all the tests.

Dawicke, D. S.↗