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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 577 records · Page 32

The Boeing plastic analysis capability for engines

The current BOPACE program is described as a nonlinear stress analysis program, which is based on a family of isoparametric finite elements. The theoretical, user, programmer, preprocessing aspects are discussed, and example problems are included. New features in the current program version include substructuring, an out-of-core Gauss wavefront equation solver, multipoint constraints, combined material and geometric nonlinearities, automatic calculation of inertia effects, provision for distributed as well as concentrated mechanical loads, follower forces, singular crack-tip elements, the SAIL automatic generation capability, and expanded user control over input quantity definition, output selection, and program execution. BOPACE is written in FORTRAN 4 and is currently available for both the IBM 360/370 and the UNIVAC 1108 machines.

Vos, R. G.↗

System time-domain simulation

Complex systems are simulated by engineers without extensive computer experience. Analyst uses free-form engineering-oriented language to input "black box" description. System Time Domain (SYSTID) Simulation Program generates appropriate algorithms and proceeds with simulation. Program is easily linked to postprocessing routines. SYSTID program is written in FORTRAN IV for batch execution and has been implemented on UNIVAC 1110 under control of EXEC 8, Level 31.

Dawson, C. T.↗

NASTRAN migration to UNIX

COSMIC/NASTRAN, as it is supported and maintained by COSMIC, runs on four main-frame computers - CDC, VAX, IBM and UNIVAC. COSMIC/NASTRAN on other computers, such as CRAY, AMDAHL, PRIME, CONVEX, etc., is available commercially from a number of third party organizations. All these computers, with their own one-of-a-kind operating systems, make NASTRAN machine dependent. The job control language (JCL), the file management, and the program execution procedure of these computers are vastly different, although 95 percent of NASTRAN source code was written in standard ANSI FORTRAN 77. The advantage of the UNIX operating system is that it has no machine boundary. UNIX is becoming widely used in many workstations, mini's, super-PC's, and even some main-frame computers. NASTRAN for the UNIX operating system is definitely the way to go in the future, and makes NASTRAN available to a host of computers, big and small. Since 1985, many NASTRAN improvements and enhancements were made to conform to the ANSI FORTRAN 77 standards. A major UNIX migration effort was incorporated into COSMIC NASTRAN 1990 release. As a pioneer work for the UNIX environment, a version of COSMIC 89 NASTRAN was officially released in October 1989 for DEC ULTRIX VAXstation 3100 (with VMS extensions). A COSMIC 90 NASTRAN version for DEC ULTRIX DECstation 3100 (with RISC) is planned for April 1990 release. Both workstations are UNIX based computers. The COSMIC 90 NASTRAN will be made available on a TK50 tape for the DEC ULTRIX workstations. Previously in 1988, an 88 NASTRAN version was tested successfully on a SiliconGraphics workstation.

Chan, Gordon C.↗

Conference on Real-Time Computer Applications in Nuclear, Particle and Plasma Physics, 6th, Williamsburg, VA, May 15-19, 1989, Proceedings

Papers on real-time computer applications in nuclear, particle, and plasma physics are presented, covering topics such as expert systems tactics in testing FASTBUS segment interconnect modules, trigger control in a high energy physcis experiment, the FASTBUS read-out system for the Aleph time projection chamber, a multiprocessor data acquisition systems, DAQ software architecture for Aleph, a VME multiprocessor system for plasma control at the JT-60 upgrade, and a multiasking, multisinked, multiprocessor data acquisition front end. Other topics include real-time data reduction using a microVAX processor, a transputer based coprocessor for VEDAS, simulation of a macropipelined multi-CPU event processor for use in FASTBUS, a distributed VME control system for the LISA superconducting Linac, a distributed system for laboratory process automation, and a distributed system for laboratory process automation. Additional topics include a structure macro assembler for the event handler, a data acquisition and control system for Thomson scattering on ATF, remote procedure execution software for distributed systems, and a PC-based graphic display real-time particle beam uniformity.

Pordes, Ruth↗

Integrated Analysis Capability Program

Integrated Analysis Capability (IAC) software system intended to provide highly effective, interactive analysis tool for integrated design of large structures. Supports needs of engineering analysis groups concerned with interdisciplinary problems. Developed to serve as software interface between computer programs from fields of structures, thermodynamics, controls, and dynamics of systems on one hand and executive software system and data base on other hand to yield highly efficient multi-disciplinary system. Special attention given to such users' requirements as handling data and online assistance with operational features and ability to add new modules of user's choice at future date. Written in FORTRAN 77.

Vos, R. G.↗

JPL space station telerobotic engineering prototype development: Advanced telerobotics system technology

The objective of the Advanced Telerobotics System Technology Task is to develop/prototype advanced telerobotics supervisory and shared control to enhance Intra-Vehicular Activity (IVA) teleoperation in the Space Station. The technology provides enhanced telerobotics capabilities while operating within the expected constraints of computation limitations, time delay, and bus bandwidth. A local site operator interface has also been developed for specifying teleoperation and shared control modes as well as supervised autonomous macros for execution at the remote site. The primary objective of the task is to transfer the advanced technology to appropriate flight centers to enhance the baseline Station capabilities.

Backes, Paul G.↗

The Multi-Attribute Task Battery II (MATB-II) Software for Human Performance and Workload Research: A User's Guide

The Multi-Attribute Task Battery (MAT Battery). is a computer-based task designed to evaluate operator performance and workload, has been redeveloped to operate in Windows XP Service Pack 3, Windows Vista and Windows 7 operating systems.MATB-II includes essentially the same tasks as the original MAT Battery, plus new configuration options including a graphical user interface for controlling modes of operation. MATB-II can be executed either in training or testing mode, as defined by the MATB-II configuration file. The configuration file also allows set up of the default timeouts for the tasks, the flow rates of the pumps and tank levels of the Resource Management (RESMAN) task. MATB-II comes with a default event file that an experimenter can modify and adapt

Santiago-Espada, Yamira↗

Validating Phasing and Geometry of Large Focal Plane Arrays

The Kepler Mission is designed to survey our region of the Milky Way galaxy to discover hundreds of Earth-sized and smaller planets in or near the habitable zone. The Kepler photometer is an array of 42 CCDs (charge-coupled devices) in the focal plane of a 95-cm Schmidt camera onboard the Kepler spacecraft. Each 50x25-mm CCD has 2,200 x 1,024 pixels. The CCDs accumulate photons and are read out every six seconds to prevent saturation. The data is integrated for 30 minutes, and then the pixel data is transferred to onboard storage. The data is subsequently encoded and transmitted to the ground. During End-to-End Information System (EEIS) testing of the Kepler Mission System (KMS), there was a need to verify that the pixels requested by the science team operationally were correctly collected, encoded, compressed, stored, and transmitted by the FS, and subsequently received, decoded, uncompressed, and displayed by the Ground Segment (GS) without the outputs of any CCD modules being flipped, mirrored, or otherwise corrupted during the extensive FS and GS processing. This would normally be done by projecting an image on the focal plane array (FPA), collecting the data in a flight-like way, and making a comparison between the original data and the data reconstructed by the science data system. Projecting a focused image onto the FPA through the telescope would normally involve using a collimator suspended over the telescope opening. There were several problems with this approach: the collimation equipment is elaborate and expensive; as conceived, it could only illuminate a limited section of the FPA (.25 percent) during a given test; the telescope cover would have to be deployed during testing to allow the image to be projected into the telescope; the equipment was bulky and difficult to situate in temperature-controlled environments; and given all the above, test setup, execution, and repeatability were significant concerns. Instead of using this complicated approach of projecting an optical image on the FPA, the Kepler project developed a method using known defect features in the CCDs to verify proper collection and reassembly of the pixels, thereby avoiding the costs and risks of the optical projection approach. The CCDs composing the Kepler FPA, as all CCDs, had minor defects. At ambient temperature, some pixels look far brighter than they should. These ghot h pixels have a higher rate of charge leakage than the others due to manufacturing variations. They are usually stable over time, and appear at temperatures above 5 oC. The hot pixels on the Kepler FPA were mapped before photometer assembly during module testing. Selected hot pixels were used as target gstars h for the purposes of EEIS testing. gDead h pixels are permanently off, producing a permanently black pixel. These can also be used if there is some illumination of the FPA. During EEIS testing, Dark Current Full Frame Images (FFIs) taken at room temperature were used to create the hot pixel maps for all 84 Kepler photometer CCD channels. Data from two separate nights were used to create two hot pixel maps per channel, which were cross-correlated to remove cosmic ray events which appear to be hot pixels. These hot pixel maps obtained during EEIS testing were compared to the maps made during module testing to verify that the end-to-end data flow was correct.

Standley, Shaun P.↗

Rapid Aero Modeling of a Lift+Cruise UAM Configuration for Stability and Control Using Overset Grid CFD

This talk will address some aspects of an effort to develop both static and dynamic stability and control derivatives of a generic Lift+Cruise Urban Air Mobility vehicle. In particular, the use of NASA overset grid CFD packages OVERFLOW and Chimera Grid Tools allowed for rapid grid and solution generation while varying many database factors. Approach details include coarse gridding and control effectors, rotor disk modeling, convergence evaluation, and parallel execution on a midrange compute resource. A brief *description of the Rapid Aero Modeling (RAM) approach, including design of experiments and response surface modeling, will be given, and recent simulations of powered and unpowered dynamic multisine maneuvers will be presented.

Overset Grid CFD↗

Outline for a theory of intelligence

Intelligence is defined as that which produces successful behavior. Intelligence is assumed to result from natural selection. A model is proposed that integrates knowledge from research in both natural and artificial systems. The model consists of a hierarchical system architecture wherein: (1) control bandwidth decreases about an order of magnitude at each higher level, (2) perceptual resolution of spatial and temporal patterns contracts about an order-of-magnitude at each higher level, (3) goals expand in scope and planning horizons expand in space and time about an order-of-magnitude at each higher level, and (4) models of the world and memories of events expand their range in space and time by about an order-of-magnitude at each higher level. At each level, functional modules perform behavior generation (task decomposition planning and execution), world modeling, sensory processing, and value judgment. Sensory feedback control loops are closed at every level.

Albus, James S.↗

Users manual for flight control design programs

Computer programs for the design of analog and digital flight control systems are documented. The program DIGADAPT uses linear-quadratic-gaussian synthesis algorithms in the design of command response controllers and state estimators, and it applies covariance propagation analysis to the selection of sampling intervals for digital systems. Program SCHED executes correlation and regression analyses for the development of gain and trim schedules to be used in open-loop explicit-adaptive control laws. A linear-time-varying simulation of aircraft motions is provided by the program TVHIS, which includes guidance and control logic, as well as models for control actuator dynamics. The programs are coded in FORTRAN and are compiled and executed on both IBM and CDC computers.

Nalbandian, J. Y.↗

Identification and control for a manipulator with two flexible links

The authors investigate the effectiveness of an online identification scheme for tracking the modal frequencies of a two-link flexible mechanism executing large-angle movements and carrying an unknown payload. A decentralized, gain-scheduled, adaptive control scheme is employed in conjunction with the identification scheme in order to illustrate the feasibility of online controller adjustment for endpoint position control in terms of vibration suppression after large-angle movements. Motivation for adopting the autoregressive-moving-average-model perspective is based on the convenient representation for online controller tuning and on the assumption that flexibility dynamics, for small deflections after a nonlinear large-angle motion, exhibit linear behavior. Experimental results are presented for a two-link planar mechanism in which both links are very flexible.

Yurkovich, Stephen↗

Wavelet-Based Real-Time Diagnosis of Complex Systems

A new method of robust, autonomous real-time diagnosis of a time-varying complex system (e.g., a spacecraft, an advanced aircraft, or a process-control system) is presented here. It is based upon the characterization and comparison of (1) the execution of software, as reported by discrete data, and (2) data from sensors that monitor the physical state of the system, such as performance sensors or similar quantitative time-varying measurements. By taking account of the relationship between execution of, and the responses to, software commands, this method satisfies a key requirement for robust autonomous diagnosis, namely, ensuring that control is maintained and followed. Such monitoring of control software requires that estimates of the state of the system, as represented within the control software itself, are representative of the physical behavior of the system. In this method, data from sensors and discrete command data are analyzed simultaneously and compared to determine their correlation. If the sensed physical state of the system differs from the software estimate (see figure) or if the system fails to perform a transition as commanded by software, or such a transition occurs without the associated command, the system has experienced a control fault. This method provides a means of detecting such divergent behavior and automatically generating an appropriate warning.

Gulati, Sandeep↗

Visually guided grasping to study teleprogrammation within the BAROCO testbed

This paper describes vision functionalities required in future orbital laboratories; in such systems, robots will be needed in order to execute the on-board scientific experiments or servicing and maintenance tasks under the remote control of ground operators. For this sake, ESA has proposed a robotic configuration called EMATS; a testbed has been developed by ESTEC in order to evaluate the potentialities of EMATS-like robot to execute scientific tasks in automatic mode. For the same context, CNES develops the BAROCO testbed to investigate remote control and teleprogrammation, in which high level primitives like 'Pick Object A' are provided as basic primitives. In nominal situations, the system has an a priori knowledge about the position of all objects. These positions are not very accurate, but this knowledge is sufficient in order to predict the position of the object which must be grasped, with respect to the manipulator frame. Vision is required in order to insure a correct grasping and to guarantee a good accuracy for the following operations. We describe our results about a visually guided grasping of static objects. It seems to be a very classical problem, and a lot of results are available. But, in many cases, it lacks a realistic evaluation of the accuracy, because such an evaluation requires tedious experiments. We propose several results about calibration of the experimental testbed, recognition algorithms required to locate a 3D polyhedral object, and the grasping itself.

Devy, M.↗

Automation Interfaces of the Orion GNC Executive Architecture

This viewgraph presentation describes Orion mission's automation Guidance, Navigation and Control (GNC) architecture and interfaces. The contents include: 1) Orion Background; 2) Shuttle/Orion Automation Comparison; 3) Orion Mission Sequencing; 4) Orion Mission Sequencing Display Concept; and 5) Status and Forward Plans.

Hart, Jeremy↗

Learning Grasp Strategies Composed of Contact Relative Motions

Of central importance to grasp synthesis algorithms are the assumptions made about the object to be grasped and the sensory information that is available. Many approaches avoid the issue of sensing entirely by assuming that complete information is available. In contrast, this paper proposes an approach to grasp synthesis expressed in terms of units of control that simultaneously change the contact configuration and sense information about the object and the relative manipulator-object pose. These units of control, known as contact relative motions (CRMs), allow the grasp synthesis problem to be recast as an optimal control problem where the goal is to find a strategy for executing CRMs that leads to a grasp in the shortest number of steps. An experiment is described that uses Robonaut, the NASA-JSC space humanoid, to show that CRMs are a viable means of synthesizing grasps. However, because of the limited amount of information that a single CRM can sense, the optimal control problem may be partially observable. This paper proposes expressing the problem as a k-order Markov Decision Process (MDP) and solving it using Reinforcement Learning. This approach is tested in a simulation of a two-contact manipulator that learns to grasp an object. Grasp strategies learned in simulation are tested on the physical Robonaut platform and found to lead to grasp configurations consistently.

Platt, Robert, Jr.↗

Design and implementation of a robot control system with traded and shared control capability

Preliminary results are reported from efforts to design and develop a robotic system that will accept and execute commands from either a six-axis teleoperator device or an autonomous planner, or combine the two. Such a system should have both traded as well as shared control capability. A sharing strategy is presented whereby the overall system, while retaining positive features of teleoperated and autonomous operation, loses its individual negative features. A two-tiered shared control architecture is considered here, consisting of a task level and a servo level. Also presented is a computer architecture for the implementation of this system, including a description of the hardware and software.

Hayati, S.↗

Enhanced Modeling of First-Order Plant Equations of Motion for Aeroelastic and Aeroservoelastic Applications

A methodology is described for generating first-order plant equations of motion for aeroelastic and aeroservoelastic applications. The description begins with the process of generating data files representing specialized mode-shapes, such as rigid-body and control surface modes, using both PATRAN and NASTRAN analysis. NASTRAN executes the 146 solution sequence using numerous Direct Matrix Abstraction Program (DMAP) calls to import the mode-shape files and to perform the aeroelastic response analysis. The aeroelastic response analysis calculates and extracts structural frequencies, generalized masses, frequency-dependent generalized aerodynamic force (GAF) coefficients, sensor deflections and load coefficients data as text-formatted data files. The data files are then re-sequenced and re-formatted using a custom written FORTRAN program. The text-formatted data files are stored and coefficients for s-plane equations are fitted to the frequency-dependent GAF coefficients using two Interactions of Structures, Aerodynamics and Controls (ISAC) programs. With tabular files from stored data created by ISAC, MATLAB generates the first-order aeroservoelastic plant equations of motion. These equations include control-surface actuator, turbulence, sensor and load modeling. Altitude varying root-locus plot and PSD plot results for a model of the F-18 aircraft are presented to demonstrate the capability.

Pototzky, Anthony S.↗