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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 613 records · Page 34

All sources NASA NTRS DOE OSTI

NASA NTRS1976

Study and development of techniques for automatic control of remote manipulators

An overall conceptual design for an autonomous control system of remote manipulators which utilizes feedback was constructed. The system consists of a description of the high-level capabilities of a model from which design algorithms are constructed. The autonomous capability is achieved through automatic planning and locally controlled execution of the plans. The operator gives his commands in high level task-oriented terms. The system transforms these commands into a plan. It uses built-in procedural knowledge of the problem domain and an internal model of the current state of the world.

Shaket, E.↗

NASA NTRS2010

Planetary Image Geometry Library

The Planetary Image Geometry (PIG) library is a multi-mission library used for projecting images (EDRs, or Experiment Data Records) and managing their geometry for in-situ missions. A collection of models describes cameras and their articulation, allowing application programs such as mosaickers, terrain generators, and pointing correction tools to be written in a multi-mission manner, without any knowledge of parameters specific to the supported missions. Camera model objects allow transformation of image coordinates to and from view vectors in XYZ space. Pointing models, specific to each mission, describe how to orient the camera models based on telemetry or other information. Surface models describe the surface in general terms. Coordinate system objects manage the various coordinate systems involved in most missions. File objects manage access to metadata (labels, including telemetry information) in the input EDRs and RDRs (Reduced Data Records). Label models manage metadata information in output files. Site objects keep track of different locations where the spacecraft might be at a given time. Radiometry models allow correction of radiometry for an image. Mission objects contain basic mission parameters. Pointing adjustment ("nav") files allow pointing to be corrected. The object-oriented structure (C++) makes it easy to subclass just the pieces of the library that are truly mission-specific. Typically, this involves just the pointing model and coordinate systems, and parts of the file model. Once the library was developed (initially for Mars Polar Lander, MPL), adding new missions ranged from two days to a few months, resulting in significant cost savings as compared to rewriting all the application programs for each mission. Currently supported missions include Mars Pathfinder (MPF), MPL, Mars Exploration Rover (MER), Phoenix, and Mars Science Lab (MSL). Applications based on this library create the majority of operational image RDRs for those missions. A Java wrapper around the library allows parts of it to be used from Java code (via a native JNI interface). Future conversions of all or part of the library to Java are contemplated.

Deen, Robert C.↗

NASA NTRS1995

The lognormal distribution as a model for bio-optical variability in the sea

The lognormal distribution is presented as a useful model for bio-optical variability at a variety of spatial and temporal scales. A parametric statistical framework is presented for using the lognormal model to assess the effects of heterogeneity and scale on closure. Variability at small scales affects but is unresolved by large-scale measurements. An assumed lognormal distribution allows one to integrate over small-scale variability to predict large-scale measurements. Examples are presented to demonstrate how knowledge of the variance can be incorporated into models to relate measurements made at different scales.

Campbell, Janet W.↗

NASA NTRS1987

Six reasons why thermospheric measurements and models disagree

The differences between thermospheric measurements and models are discussed. Sometimes the model is in error and at other times the measurements are, but it also is possible for both to be correct, yet have the comparison result in an apparent disagreement. These reasons are collected for disagreement, and, whenever possible, methods of reducing or eliminating them are suggested. The six causes of disagreement discussed are: actual errors caused by the limited knowledge of gas-surface interactions and by in-track winds; limitations of the thermospheric general circulation models due to incomplete knowledge of the energy sources and sinks as well as incompleteness of the parameterization which must be employed; and limitations imposed on the empirical models by the conceptual framework and the transient waves.

Moe, Kenneth↗

NASA NTRS2008

Field Observations of Soil Moisture Variability across Scales

In this study, over 36,000 ground-based soil moisture measurements collected during the SGP97, SGP99, SMEX02, and SMEX03 field campaigns were analyzed to characterize the behavior of soil moisture variability across scales. The field campaigns were conducted in Oklahoma and Iowa in the central USA. The Oklahoma study region is sub-humid with moderately rolling topography, while the Iowa study region is humid with low-relief topography. The relationship of soil moisture standard deviation, skewness and the coefficient of variation versus mean moisture content was explored at six distinct extent scales, ranging from 2.5 m to 50 km. Results showed that variability generally increases with extent scale. The standard deviation increased from 0.036 cm3/cm3 at the 2.5-m scale to 0.071 cm3/cm3 at the 50-km scale. The log standard deviation of soil moisture increased linearly with the log extent scale, from 16 m to 1.6 km, indicative of fractal scaling. The soil moisture standard deviation versus mean moisture content exhibited a convex upward relationship at the 800-m and 50-km scales, with maximum values at mean moisture contents of roughly 0.17 cm3/cm3 and 0.19 cm3/cm3, respectively. An empirical model derived from the observed behavior of soil moisture variability was used to estimate uncertainty in the mean moisture content for a fixed number of samples at the 800-m and 50-km scales, as well as the number of ground-truth samples needed to achieve 0.05 cm3/cm3 and 0.03 cm3/cm3 accuracies. The empirical relationships can also be used to parameterize surface soil moisture variations in land surface and hydrological models across a range of scales. To our knowledge, this is the first study to document the behavior of soil moisture variability over this range of extent scales using ground-based measurements. Our results will contribute not only to efficient and reliable satellite validation, but also to better utilization of remotely sensed soil moisture products for enhanced modeling and prediction.

Famiglietti, James S.↗

NASA NTRS1998

A Hybrid Procedural/Deductive Executive for Autonomous Spacecraft

The New Millennium Remote Agent (NMRA) will be the first AI system to control an actual spacecraft. The spacecraft domain places a strong premium on autonomy and requires dynamic recoveries and robust concurrent execution, all in the presence of tight real-time deadlines, changing goals, scarce resource constraints, and a wide variety of possible failures. To achieve this level of execution robustness, we have integrated a procedural executive based on generic procedures with a deductive model-based executive. A procedural executive provides sophisticated control constructs such as loops, parallel activity, locks, and synchronization which are used for robust schedule execution, hierarchical task decomposition, and routine configuration management. A deductive executive provides algorithms for sophisticated state inference and optimal failure recover), planning. The integrated executive enables designers to code knowledge via a combination of procedures and declarative models, yielding a rich modeling capability suitable to the challenges of real spacecraft control. The interface between the two executives ensures both that recovery sequences are smoothly merged into high-level schedule execution and that a high degree of reactivity is retained to effectively handle additional failures during recovery.

Pell, Barney↗

NASA NTRS1987

SWAN: An expert system with natural language interface for tactical air capability assessment

SWAN is an expert system and natural language interface for assessing the war fighting capability of Air Force units in Europe. The expert system is an object oriented knowledge based simulation with an alternate worlds facility for performing what-if excursions. Responses from the system take the form of generated text, tables, or graphs. The natural language interface is an expert system in its own right, with a knowledge base and rules which understand how to access external databases, models, or expert systems. The distinguishing feature of the Air Force expert system is its use of meta-knowledge to generate explanations in the frame and procedure based environment.

Simmons, Robert M.↗

NASA NTRS1989

Cumulative creep fatigue damage in 316 stainless steel

The cumulative creep-fatigue damage behavior of 316 stainless steel at 1500 F was experimentally established for the two-level loading cases of fatigue followed by fatigue, creep fatigue followed by fatigue, and fatigue followed by creep fatigue. The two-level loadings were conducted such that the lower life (high strain) cycling was applied first for a controlled number of cycles and the higher life (low strain) cycling was conducted as the second level to failure. The target life levels in this study were 100 cycles to failure for both the fatigue and creep-fatigue lowlife loading, 5000 cycles to failure for the higher life fatigue loading and 10,000 cycles to failure for the higher life creep-fatigue loading. The failed specimens are being examined both fractographically and metallographically to ascertain the nature of the damaging mechanisms that produced failure. Models of creep-fatigue damage accumulation are being evaluated and knowledge of the various damaging mechanisms is necessary to ensure that predictive capability is instilled in the final failure model.

Mcgaw, Michael A.↗

NASA NTRS2005

Intelligent Systems: Terrestrial Observation and Prediction Using Remote Sensing Data

NASA has made science and technology investments to better utilize its large space-borne remote sensing data holdings of the Earth. With the launch of Terra, NASA created a data-rich environment where the challenge is to fully utilize the data collected from EOS however, despite unprecedented amounts of observed data, there is a need for increasing the frequency, resolution, and diversity of observations. Current terrestrial models that use remote sensing data were constructed in a relatively data and compute limited era and do not take full advantage of on-line learning methods and assimilation techniques that can exploit these data. NASA has invested in visualization, data mining and knowledge discovery methods which have facilitated data exploitation, but these methods are insufficient for improving Earth science models that have extensive background knowledge nor do these methods refine understanding of complex processes. Investing in interdisciplinary teams that include computational scientists can lead to new models and systems for online operation and analysis of data that can autonomously improve in prediction skill over time.

Coughlan, Joseph C.↗

NASA NTRS1977

An information theory approach to the density of the earth

Information theory can develop a technique which takes experimentally determined numbers and produces a uniquely specified best density model satisfying those numbers. A model was generated using five numerical parameters: the mass of the earth, its moment of inertia, three zero-node torsional normal modes (L = 2, 8, 26). In order to determine the stability of the solution, six additional densities were generated, in each of which the period of one of the three normal modes was increased or decreased by one standard deviation. The superposition of the seven models is shown. It indicates that current knowledge of the torsional modes is sufficient to specify the density in the upper mantle but that the lower mantle and core will require smaller standard deviations before they can be accurately specified.

Graber, M. A.↗

NASA NTRS1979

PROPHET: An applicaton of propagation forecasting principles

A propagation assessment and forecasting terminal, PROPHET, is described. The terminal is a key element of the environmental prediction and assessment system which uses real time solar/geophysical data to provide real time knowledge of propagation conditions. The terminal uses models to translate data from satellite and ground based sources into performance predictions for specific systems.

Argo, P. E.↗

NASA NTRS1980

A two-level controller design approach for large space structures

A controller design approach is proposed for large space structures (LSS) using an Annular Momentum Control Device (AMCD). The controller consists of a primary attitude controller and a secondary or modal damping enhancement controller. It is proved that the LSS/AMCD system using the proposed damping enhancement controller is stable in the sense of Lyapunov regardless of the number of modes in the model and without the necessity of precise knowledge of the modal frequencies and mode shapes. Numerical results obtained for the secondary controller design for a large thin flat plate indicate that the proposed method can yield satisfactory damping enhancement with small weight penalty.

Joshi, S. M.↗

NASA NTRS1982

Application of future remote sensing systems to irrigation

Area estimates of irrigated crops and knowledge of crop type are required for modeling water consumption to assist farmers, rangers, and agricultural consultants in scheduling irrigation for distributed management of crop yields. Information on canopy physiology and soil moisture status on a spatial basis is potentially available from remote sensors, so the questions to be addressed relate to: (1) timing (data frequency, instantaneous and integrated measurement); and scheduling (widely distributed spatial demands); (2) spatial resolution; (3) radiometric and geometric accuracy and geoencoding; and (4) information/data distribution. This latter should be overnight, with no central storage, onsite capture, and low cost.

Miller, L. D.↗

NASA NTRS1983

Thermal conductance of pressed contacts at liquid helium temperatures

It is pointed out that the optimum design of cryogenic instruments requires accurate thermal models. The present models are limited by a lack of knowledge of the low temperature thermal conductance of the bolted joints which are typically used in the instrument-to-system interface. In connection with studies of pressed contacts, it has been found that the thermal conductance does not obey the Wiedemann-Franz law. The present investigation is concerned with the characterization of the thermal conductance of pressed contacts at liquid helium-4 temperatures, taking into account the dependence of thermal contact conductance on applied force and temperature. It is shown that for the 0.4 micron OFHC copper pressed contact pair, the thermal conductance varies roughly as the second power of the temperature, and increases with increasing applied force.

Salerno, L. J.↗

NASA NTRS1984

Estimation of parameters in linear structural relationships: Sensitivity to the choice of the ratio of error variances

Maximum likelihood estimation of parameters in linear structural relationships under normality assumptions requires knowledge of one or more of the model parameters if no replication is available. The most common assumption added to the model definition is that the ratio of the error variances of the response and predictor variates is known. The use of asymptotic formulae for variances and mean squared errors as a function of sample size and the assumed value for the error variance ratio is investigated.

Lakshminarayanan, M. Y.↗

NASA NTRS1984

Estimation of parameters in linear structural relationships Sensitivity to the choice of the ratio of error variances

Maximum likelihood estimation of parameters in linear structural relationships under normality assumptions requires knowledge of one or more of the model parameters if no replication is available. The most common assumption added to the model definition is that the ratio of the error variances of the response and predictor variates is known. This paper investigates the use of asymptotic formulae for variances and mean squared errors as a function of sample size and the assumed value for the error variance ratio.

Lakshminarayanan, M. Y.↗

NASA NTRS1986

Wave propagation in anisotropic medium due to an oscillatory point source with application to unidirectional composites

The far-field displacements in an infinite transversely isotropic elastic medium subjected to an oscillatory concentrated force are derived. The concepts of velocity surface, slowness surface and wave surface are used to describe the geometry of the wave propagation process. It is shown that the decay of the wave amplitudes depends not only on the distance from the source (as in isotropic media) but also depends on the direction of the point of interest from the source. As an example, the displacement field is computed for a laboratory fabricated unidirectional fiberglass epoxy composite. The solution for the displacements is expressed as an amplitude distribution and is presented in polar diagrams. This analysis has potential usefulness in the acoustic emission (AE) and ultrasonic nondestructive evaluation of composite materials. For example, the transient localized disturbances which are generally associated with AE sources can be modeled via this analysis. In which case, knowledge of the displacement field which arrives at a receiving transducer allows inferences regarding the strength and orientation of the source, and consequently perhaps the degree of damage within the composite.

Williams, J. H., Jr.↗

NASA NTRS1987

Direct adaptive control of manipulators in Cartesian space

A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.

Seraji, H.↗