Search NASA⌕ Search

SEARCH · Search NASA

Results for “Real-time testbed”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

SAVA 3: A testbed for integration and control of visual processes

The development of an experimental test-bed to investigate the integration and control of perception in a continuously operating vision system is described. The test-bed integrates a 12 axis robotic stereo camera head mounted on a mobile robot, dedicated computer boards for real-time image acquisition and processing, and a distributed system for image description. The architecture was designed to: (1) be continuously operating, (2) integrate software contributions from geographically dispersed laboratories, (3) integrate description of the environment with 2D measurements, 3D models, and recognition of objects, (4) capable of supporting diverse experiments in gaze control, visual servoing, navigation, and object surveillance, and (5) dynamically reconfiguarable.

Crowley, James L.↗
NASA NTRS1991

Navigation of military and space unmanned ground vehicles in unstructured terrains

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

Lescoe, Paul↗
NASA NTRS1994

A Space Station robot walker and its shared control software

In this paper, we first briefly overview the update of the self-mobile space manipulator (SMSM) configuration and testbed. The new robot is capable of projecting cameras anywhere interior or exterior of the Space Station Freedom (SSF), and will be an ideal tool for inspecting connectors, structures, and other facilities on SSF. Experiments have been performed under two gravity compensation systems and a full-scale model of a segment of SSF. This paper presents a real-time shared control architecture that enables the robot to coordinate autonomous locomotion and teleoperation input for reliable walking on SSF. Autonomous locomotion can be executed based on a CAD model and off-line trajectory planning, or can be guided by a vision system with neural network identification. Teleoperation control can be specified by a real-time graphical interface and a free-flying hand controller. SMSM will be a valuable assistant for astronauts in inspection and other EVA missions.

Xu, Yangsheng↗
NASA NTRS1994

ATAMM enhancement and multiprocessing performance evaluation

The algorithm to architecture mapping model (ATAAM) is a Petri net based model which provides a strategy for periodic execution of a class of real-time algorithms on multicomputer dataflow architecture. The execution of large-grained, decision-free algorithms on homogeneous processing elements is studied. The ATAAM provides an analytical basis for calculating performance bounds on throughput characteristics. Extension of the ATAMM as a strategy for cyclo-static scheduling provides for a truly distributed ATAMM multicomputer operating system. An ATAAM testbed consisting of a centralized graph manager and three processors is described using embedded firmware on 68HC11 microcontrollers.

Stoughton, John W.↗
NASA NTRS1992

Linear Spectral Analysis of Plume Emissions Using an Optical Matrix Processor

Plume spectrometry provides a means to monitor the health of a burning rocket engine, and optical matrix processors provide a means to analyze the plume spectra in real time. By observing the spectrum of the exhaust plume of a rocket engine, researchers have detected anomalous behavior of the engine and have even determined the failure of some equipment before it would normally have been noticed. The spectrum of the plume is analyzed by isolating information in the spectrum about the various materials present to estimate what materials are being burned in the engine. Scientists at the Marshall Space Flight Center (MSFC) have implemented a high resolution spectrometer to discriminate the spectral peaks of the many species present in the plume. Researchers at the Stennis Space Center Demonstration Testbed Facility (DTF) have implemented a high resolution spectrometer observing a 1200-lb. thrust engine. At this facility, known concentrations of contaminants can be introduced into the burn, allowing for the confirmation of diagnostic algorithms. While the high resolution of the measured spectra has allowed greatly increased insight into the functioning of the engine, the large data flows generated limit the ability to perform real-time processing. The use of an optical matrix processor and the linear analysis technique described below may allow for the detailed real-time analysis of the engine's health. A small optical matrix processor can perform the required mathematical analysis both quicker and with less energy than a large electronic computer dedicated to the same spectral analysis routine.

Gary, C. K.↗
NASA NTRS1991

Development of advanced control schemes for telerobot manipulators

To study space applications of telerobotics, Goddard Space Flight Center (NASA) has recently built a testbed composed mainly of a pair of redundant slave arms having seven degrees of freedom and a master hand controller system. The mathematical developments required for the computerized simulation study and motion control of the slave arms are presented. The slave arm forward kinematic transformation is presented which is derived using the D-H notation and is then reduced to its most simplified form suitable for real-time control applications. The vector cross product method is then applied to obtain the slave arm Jacobian matrix. Using the developed forward kinematic transformation and quaternions representation of the slave arm end-effector orientation, computer simulation is conducted to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of the Jacobian pseudo-inverse for various sampling times. In addition, the equivalence between Cartesian velocities and quaternion is also verified using computer simulation. The motion control of the slave arm is examined. Three control schemes, the joint-space adaptive control scheme, the Cartesian adaptive control scheme, and the hybrid position/force control scheme are proposed for controlling the motion of the slave arm end-effector. Development of the Cartesian adaptive control scheme is presented and some preliminary results of the remaining control schemes are presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1990

A Thermal Expert System (TEXSYS) development overview - AI-based control of a Space Station prototype thermal bus

A knowledge-based control system for real-time control and fault detection, isolation and recovery (FDIR) of a prototype two-phase Space Station Freedom external thermal control system (TCS) is discussed in this paper. The Thermal Expert System (TEXSYS) has been demonstrated in recent tests to be capable of both fault anticipation and detection and real-time control of the thermal bus. Performance requirements were achieved by using a symbolic control approach, layering model-based expert system software on a conventional numerical data acquisition and control system. The model-based capabilities of TEXSYS were shown to be advantageous during software development and testing. One representative example is given from on-line TCS tests of TEXSYS. The integration and testing of TEXSYS with a live TCS testbed provides some insight on the use of formal software design, development and documentation methodologies to qualify knowledge-based systems for on-line or flight applications.

Glass, B. J.↗
NASA NTRS1994

Performance results of cooperating expert systems in a distributed real-time monitoring system

There are numerous definitions for real-time systems, the most stringent of which involve guaranteeing correct system response within a domain-dependent or situationally defined period of time. For applications such as diagnosis, in which the time required to produce a solution can be non-deterministic, this requirement poses a unique set of challenges in dynamic modification of solution strategy that conforms with maximum possible latencies. However, another definition of real time is relevant in the case of monitoring systems where failure to supply a response in the proper (and often infinitesimal) amount of time allowed does not make the solution less useful (or, in the extreme example of a monitoring system responsible for detecting and deflecting enemy missiles, completely irrelevant). This more casual definition involves responding to data at the same rate at which it is produced, and is more appropriate for monitoring applications with softer real-time constraints, such as interplanetary exploration, which results in massive quantities of data transmitted at the speed of light for a number of hours before it even reaches the monitoring system. The latter definition of real time has been applied to the MARVEL system for automated monitoring and diagnosis of spacecraft telemetry. An early version of this system has been in continuous operational use since it was first deployed in 1989 for the Voyager encounter with Neptune. This system remained under incremental development until 1991 and has been under routine maintenance in operations since then, while continuing to serve as an artificial intelligence (AI) testbed in the laboratory. The system architecture has been designed to facilitate concurrent and cooperative processing by multiple diagnostic expert systems in a hierarchical organization. The diagnostic modules adhere to concepts of data-driven reasoning, constrained but complete nonoverlapping domains, metaknowledge of global consequences of anomalous data, hierarchical reporting of problems that extend beyond a single domain, and shared responsibility for problems that overlap domains. The system enables efficient diagnosis of complex system failures in real-time environments with high data volumes and moderate failure rates, as indicated by extensive performance measurements.

Schwuttke, U. M.↗
NASA NTRS1992

Autonomous power system brassboard

The Autonomous Power System (APS) brassboard is a 20 kHz power distribution system which has been developed at NASA Lewis Research Center, Cleveland, Ohio. The brassboard exists to provide a realistic hardware platform capable of testing artificially intelligent (AI) software. The brassboard's power circuit topology is based upon a Power Distribution Control Unit (PDCU), which is a subset of an advanced development 20 kHz electrical power system (EPS) testbed, originally designed for Space Station Freedom (SSF). The APS program is designed to demonstrate the application of intelligent software as a fault detection, isolation, and recovery methodology for space power systems. This report discusses both the hardware and software elements used to construct the present configuration of the brassboard. The brassboard power components are described. These include the solid-state switches (herein referred to as switchgear), transformers, sources, and loads. Closely linked to this power portion of the brassboard is the first level of embedded control. Hardware used to implement this control and its associated software is discussed. An Ada software program, developed by Lewis Research Center's Space Station Freedom Directorate for their 20 kHz testbed, is used to control the brassboard's switchgear, as well as monitor key brassboard parameters through sensors located within these switches. The Ada code is downloaded from a PC/AT, and is resident within the 8086 microprocessor-based embedded controllers. The PC/AT is also used for smart terminal emulation, capable of controlling the switchgear as well as displaying data from them. Intelligent control is provided through use of a T1 Explorer and the Autonomous Power Expert (APEX) LISP software. Real-time load scheduling is implemented through use of a 'C' program-based scheduling engine. The methods of communication between these computers and the brassboard are explored. In order to evaluate the features of both the brassboard hardware and intelligent controlling software, fault circuits have been developed and integrated as part of the brassboard. A description of these fault circuits and their function is included. The brassboard has become an extremely useful test facility, promoting artificial intelligence (AI) applications for power distribution systems. However, there are elements of the brassboard which could be enhanced, thus improving system performance. Modifications and enhancements to improve the brassboard's operation are discussed.

Merolla, Anthony↗
NASA NTRS1990

Vision-based planetary rover navigation

NASA and JPL have developed a testbed 'planetary rover' vehicle with sufficient power supplies, sensors, and computational resources for the demonstration of semiautonomous navigation. Attention is presently given to this vehicle's vision-based navigation techniques. The proposed design and its variants allow advantage to be taken of enormous quantities of both spatial and temporal information that are normally wasted, by sampling very fine detail over the full focal plane area to precisely determine those parts of the image that are accurately at the focus range of the pinhole array used. This should generate accurate and reliable real-time range information in a wide variety of natural scenes, with little or no computation.

Wilcox, Brian H.↗
NASA NTRS1990

Strategies for concurrent processing of complex algorithms in data driven architectures

The performance modeling and enhancement for periodic execution of large-grain, decision-free algorithms in data flow architectures is examined. Applications include real-time implementation of control and signal processing algorithms where performance is required to be highly predictable. The mapping of algorithms onto the specified class of data flow architectures is realized by a marked graph model called ATAMM (Algorithm To Architecture Mapping Model). Performance measures and bounds are established. Algorithm transformation techniques are identified for performance enhancement and reduction of resource (computing element) requirements. A systematic design procedure is described for generating operating conditions for predictable performance both with and without resource constraints. An ATAMM simulator is used to test and validate the performance prediction by the design procedure. Experiments on a three resource testbed provide verification of the ATAMM model and the design procedure.

Stoughton, John W.↗
NASA NTRS1990

Strategies for concurrent processing of complex algorithms in data driven architectures

Performance modeling and performance enhancement for periodic execution of large-grain, decision-free algorithms in data flow architectures are discussed. Applications include real-time implementation of control and signal processing algorithms where performance is required to be highly predictable. The mapping of algorithms onto the specified class of data flow architectures is realized by a marked graph model called algorithm to architecture mapping model (ATAMM). Performance measures and bounds are established. Algorithm transformation techniques are identified for performance enhancement and reduction of resource (computing element) requirements. A systematic design procedure is described for generating operating conditions for predictable performance both with and without resource constraints. An ATAMM simulator is used to test and validate the performance prediction by the design procedure. Experiments on a three resource testbed provide verification of the ATAMM model and the design procedure.

Som, Sukhamoy↗
NASA NTRS1990

Automated Platform Management System Scheduling

The Platform Management System was established to coordinate the operation of platform systems and instruments. The management functions are split between ground and space components. Since platforms are to be out of contact with the ground more than the manned base, the on-board functions are required to be more autonomous than those of the manned base. Under this concept, automated replanning and rescheduling, including on-board real-time schedule maintenance and schedule repair, are required to effectively and efficiently meet Space Station Freedom mission goals. In a FY88 study, we developed several promising alternatives for automated platform planning and scheduling. We recommended both a specific alternative and a phased approach to automated platform resource scheduling. Our recommended alternative was based upon use of exactly the same scheduling engine in both ground and space components of the platform management system. Our phased approach recommendation was based upon evolutionary development of the platform. In the past year, we developed platform scheduler requirements and implemented a rapid prototype of a baseline platform scheduler. Presently we are rehosting this platform scheduler rapid prototype and integrating the scheduler prototype into two Goddard Space Flight Center testbeds, as the ground scheduler in the Scheduling Concepts, Architectures, and Networks Testbed and as the on-board scheduler in the Platform Management System Testbed. Using these testbeds, we will investigate rescheduling issues, evaluate operational performance and enhance the platform scheduler prototype to demonstrate our evolutionary approach to automated platform scheduling. The work described in this paper was performed prior to Space Station Freedom rephasing, transfer of platform responsibility to Code E, and other recently discussed changes. We neither speculate on these changes nor attempt to predict the impact of the final decisions. As a consequence some of our work and results may be outdated when this paper is published.

Hull, Larry G.↗
NASA NTRS1993

A layered approach to structural control system design for the JPL phase B testbed

This paper describes our efforts in structural control experiments for a flexible precision structure using both passive and active control. Specifically, a layered structural control approach utilizing passive viscous dampers, colocated and noncolocated active control is used. The passive dampers and active colocated control loops are used to enhance stability and robustness and the noncolocated multivariable controller is designed with respect to a partially controlled structure to further improve the performance. Our approach to the multivariable design problem requires not only a state space model description of the plant, but also an accompanying uncertainty model. To support the multivariable robust control design development, a significant effort in system identification was undertaken. The process of identification and identified results are discussed. Noncolocated controllers are designed using the H(infinity)/mu-synthesis methodology. The order of the controller is typically large, hence, model reduction is performed for practical digital implementation on a real-time control system developed at JPL. Finally, experimental results are presented and some of lessons are discussed.

Chu, Cheng-Chih↗
NASA NTRS1992

Thermal Expert System (TEXSYS): Systems autonomy demonstration project, volume 2. Results

The Systems Autonomy Demonstration Project (SADP) produced a knowledge-based real-time control system for control and fault detection, isolation, and recovery (FDIR) of a prototype two-phase Space Station Freedom external active thermal control system (EATCS). The Thermal Expert System (TEXSYS) was demonstrated in recent tests to be capable of reliable fault anticipation and detection, as well as ordinary control of the thermal bus. Performance requirements were addressed by adopting a hierarchical symbolic control approach-layering model-based expert system software on a conventional, numerical data acquisition and control system. The model-based reasoning capabilities of TEXSYS were shown to be advantageous over typical rule-based expert systems, particularly for detection of unforeseen faults and sensor failures. Volume 1 gives a project overview and testing highlights. Volume 2 provides detail on the EATCS testbed, test operations, and online test results. Appendix A is a test archive, while Appendix B is a compendium of design and user manuals for the TEXSYS software.

Glass, B. J.↗
NASA NTRS1991

Exobiological implications of dust aggregation in planetary atmospheres: An experiment for the gas-grain simulation facility

The Gas-Grain Simulation Facility (GGSF) will provide a microgravity environment where undesirable environmental effects are reduced, and thus, experiments involving interactions between small particles and grains can be more suitably performed. Slated for flight aboard the Shuttle in 1992, the ESA glovebox will serve as a scientific and technological testbed for GGSF exobiology experiments as well as generating some basic scientific data. Initial glovebox experiments will test a method of generating a stable, mono-dispersed cloud of fine particles using a vibrating sprinkler system. In the absence of gravity and atmospheric turbulence, it will be possible to determine the influence of interparticle forces in controlling the rate and mode of aggregation. The experimental chamber can be purged of suspended matter to enable multiple repetitions of the experiments. Of particular interest will be the number of particles per unit volume of the chamber, because it is suspected that aggregation will occur extremely rapidly if the number exceeds a critical value. All aggregation events will be recorded on high-resolution video film. Changes in the experimental procedure as a result of surprise events will be accompanied by real-time interaction with the mission specialist during the Shuttle flight.

Huntington, J. L.↗
NASA NTRS1995

Data management and scientific integration within the Atmospheric Radiation Measurement Program

The Atmospheric Radiation Measurement (ARM) Program has been developed by the U.S. Department of Energy with the goal to improve the predictive capabilities of General Circulation Models (GCM's) in their treatment of clouds and radiative transfer effects. To achieve this goal, three experimental testbeds were designed for the deployment of instruments that will collect atmospheric data used to drive the GCM's. Each site, known as a Cloud and Radiation Testbed (CART), consists of a highly available, redundant data system for the collection of data from a variety of instrumentation. The first CART site was deployed in April 1992 in the Southern Great Plains (SGP), Lamont, Oklahoma, with the other two sites to follow in September 1995 in the Tropical Western Pacific and in 1997 on the North Slope of Alaska. Approximately 400 MB of data are transferred per day via the Internet from the SGP site to the ARM Experiment Center at Pacific Northwest Laboratory in Richland, Washington. The Experiment Center is central to the ARM data path and provides for the collection, processing, analysis, and delivery of ARM data. Data are received from the CART sites from a variety of instrumentation, observational systems, amd external data sources. The Experiment Center processes these data streams on a continuous basis to provide derived data products to the ARM Science Team in near real-time while providing a three-month running archive of data. A primary requirement of the ARM Program is to preserve and protect all data produced or acquired. This function is performed at Oak Ridge National Laboratory where leading edge technology is employed for the long-term storage of ARM data. The ARM Archive provides access to data for participation outside of the ARM Program. The ARM Program involves a collaborative effort by teams from various DOE National Laboratories, providing multi-disciplinary areas of expertise. This paper will discuss the collaborative methods in which the ARM teams translate the scientific goals of the Program into data products. By combining atmospheric scientists, systems engineers, and software engineers, the ARM Program has successfully designed and developed an environment where advances in understanding the parameterizations of GCM's can be made.

Gracio, Deborah K.↗
NASA NTRS1993

Description and performance analysis of a generalized optimal algorithm for aerobraking guidance

A practical real-time guidance algorithm has been developed for aerobraking vehicles which nearly minimizes the maximum heating rate, the maximum structural loads, and the post-aeropass delta V requirement for orbit insertion. The algorithm is general and reusable in the sense that a minimum of assumptions are made, thus greatly reducing the number of parameters that must be determined prior to a given mission. A particularly interesting feature is that in-plane guidance performance is tuned by adjusting one mission-dependent, the bank margin; similarly, the out-of-plane guidance performance is tuned by adjusting a plane controller time constant. Other features of the algorithm are simplicity, efficiency and ease of use. The trimmed vehicle with bank angle modulation as the method of trajectory control. Performance of this guidance algorithm is examined by its use in an aerobraking testbed program. The performance inquiry extends to a wide range of entry speeds covering a number of potential mission applications. Favorable results have been obtained with a minimum of development effort, and directions for improvement of performance are indicated.

Evans, Steven W.↗