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At least 631 records · Page 35

Plan recognition and generalization in command languages with application to telerobotics

A method for pragmatic inference as a necessary accompaniment to command languages is proposed. The approach taken focuses on the modeling and recognition of the human operator's intent, which relates sequences of domain actions ('plans') to changes in some model of the task environment. The salient feature of this module is that it captures some of the physical and linguistic contextual aspects of an instruction. This provides a basis for generalization and reinterpretation of the instruction in different task environments. The theoretical development is founded on previous work in computational linguistics and some recent models in the theory of action and intention. To illustrate these ideas, an experimental command language to a telerobot is implemented. The program consists of three different components: a robot graphic simulation, the command language itself, and the domain-independent pragmatic inference module. Examples of task instruction processes are provided to demonstrate the benefits of this approach.

Yared, Wael I.↗

The process of control design for the NASA Langley Minimast structure

The design process used to select sensors for feedback and performance weights on the Minimast facility is discussed. Initially, a series of controllers are synthesized using H2 optimal control techniques for the given structural model, a variety of sensor locations and performance criteria to determine the best displacement sensor and/or accelerometers to be used for feedback. Upon selection of the sensors, controllers are formulated to determine the affect of using a reduced-order model of the Minimast structure instead of the higher-order structural analysis model for control design and the relationship between the actuator torque level and the closed-loop performance. Based on this information, controllers are designed using micro-synthesis techniques and implemented on the Minimast structure. Results of the implementation of these controllers on the Minimast experimental facility are presented.

Balas, Gary J.↗

Preparing safety data packages for experimenters using the Get Away Special (GAS) carrier system

The implementation of NSTS 1700.7B and more forceful scruntiny of data packages by the Johnson Space Flight Center (JSC) lead to the development of a classification policy for GAS/CAP payloads. The purpose of this policy is to classify experiments using the carrier system so that they receive an appropriate level of JSC review (i.e., one or multiphase reviews). This policy is based on energy containment to show inherent payload safety. It impacts the approach to performing hazard analyses and the nature of the data package. This paper endeavors to explain the impact of this policy as well as the impact of recent JSC as well as Kennedy Space Flight Center (KSC) 'interpretations' of existing requirements. The GAS canister does adequately contain most experiments when flown in the sealed configuration (however this must be shown, not merely stated). This paper also includes data package preparation guidelines for those experiments that require an opening door which often present unique safety issues.

Kosko, Jerome↗

Static and dynamic characteristics of a piezoceramic strut

The experimental study of a piezoceramic active truss is presented. This active strut is unique in that the piezoceramic configurations allow the stroke length of the strut not to be dependent on the piezoceramic material's expansion range but on the deflection range of the piezoceramic bender segment. A finite element model of a piezoceramic strut segment was constructed. Piezoceramic actuation was simulated using thermally induced strains. This model yielded information on the stiffness and force range of a bender element. The static and dynamic properties of the strut were identified experimentally. Feedback control was used to vary the stiffness of the strut. The experimentally verified model was used to explore implementation possibilities of the strut.

Pokines, Brett J.↗

MOSAIC - A space-multiplexing technique for optical processing of large images

A technique for Fourier processing of images larger than the space-bandwidth products of conventional or smart spatial light modulators and two-dimensional detector arrays is described. The technique involves a spatial combination of subimages displayed on individual spatial light modulators to form a phase-coherent image, which is subsequently processed with Fourier optical techniques. Because of the technique's similarity with the mosaic technique used in art, the processor used is termed an optical MOSAIC processor. The phase accuracy requirements of this system were studied by computer simulation. It was found that phase errors of less than lambda/8 did not degrade the performance of the system and that the system was relatively insensitive to amplitude nonuniformities. Several schemes for implementing the subimage combination are described. Initial experimental results demonstrating the validity of the mosaic concept are also presented.

Athale, Ravindra A.↗

Dynamics of face seals for high speed turbomachinery

Face seals in rocket engine fuel and oxidizer turbopumps have been the subject of intense investigation for over 25 years. While advances have been made in the understanding of thin film lubrication between seal faces, valuable data has been produced on the friction and wear of material pairs in cryogenic environments; pioneering work has been done on the effect of lubricant phase change in seals, and many improvements have been made in mechanical seal design. Relatively superficial attention has been given to the vibrational dynamics of face seals in high-speed turbomachinery. BHR Group Ltd. (formerly BHRA) has recently completed the first stage of a study, commissioned by the European Space Agency, to investigate this area. This has involved the development of a two-dimensional adiabatic, turbulent lubrication model for thick gas film applications, the production of an integrated mathematical model of gas seal vibrational dynamics for thin film applications, implementation in software, the undertaking of an experimental program to validate software against variations in operating conditions and design variables, and suggestions for improved seal design.

Leefe, Simon↗

Shared virtual memory and generalized speedup

Generalized speedup is defined as parallel speed over sequential speed. The generalized speedup and its relation with other existing performance metrics, such as traditional speedup, efficiency, scalability, etc., are carefully studied. In terms of the introduced asymptotic speed, it was shown that the difference between the generalized speedup and the traditional speedup lies in the definition of the efficiency of uniprocessor processing, which is a very important issue in shared virtual memory machines. A scientific application was implemented on a KSR-1 parallel computer. Experimental and theoretical results show that the generalized speedup is distinct from the traditional speedup and provides a more reasonable measurement. In the study of different speedups, various causes of superlinear speedup are also presented.

Sun, Xian-He↗

A large motion zero-gravity suspension system for experimental simulation of orbital construction and deployment

The design and implementation of a vertical degree of freedom suspension system is described which provides a constant force off-load condition to counter gravity over large displacements. By accommodating motions up to one meter for structures weighing up to 100 pounds, the system is useful for experiments which simulate orbital construction events such as docking, multiple component assembly, or structural deployment. A unique aspect of this device is the combination of a large stroke passive off-load device augmented by electromotive torque actuated force feedback. The active force feedback has the effect of reducing break-away friction by a factor of twenty over the passive system alone. The thesis describes the development of the suspension hardware and the control algorithm. Experiments were performed to verify the suspensions system's effectiveness in providing a gravity off-load and simulating the motion of a structure in orbit. Additionally, a three dimensional system concept is presented as an extension of the one dimensional suspension system which was implemented.

Straube, Timothy Milton↗

Efficient eigenvalue assignment by state and output feedback with applications for large space structures

The erection and deployment of large flexible structures having thousands of degrees of freedom requires controllers based on new techniques of eigenvalue assignment that are computationally stable and more efficient. Scientists at NASA Langley Research Center have developed a novel and efficient algorithm for the eigenvalue assignment of large, time-invariant systems using full-state and output feedback. The objectives of this research were to improve upon the output feedback version of this algorithm, to produce a toolbox of MATLAB functions based on the efficient eigenvalue assignment algorithm, and to experimentally verify the algorithm and software by implementing controllers designed using the MATLAB toolbox on the phase 2 configuration of NASA Langley's controls-structures interaction evolutionary model, a laboratory model used to study space structures. Results from laboratory tests and computer simulations show that effective controllers can be designed using software based on the efficient eigenvalue assignment algorithm.

Vannell, Eric C.↗

Numerical simulation of jet aerodynamics using the three-dimensional Navier-Stokes code PAB3D

This report presents a unified method for subsonic and supersonic jet analysis using the three-dimensional Navier-Stokes code PAB3D. The Navier-Stokes code was used to obtain solutions for axisymmetric jets with on-design operating conditions at Mach numbers ranging from 0.6 to 3.0, supersonic jets containing weak shocks and Mach disks, and supersonic jets with nonaxisymmetric nozzle exit geometries. This report discusses computational methods, code implementation, computed results, and comparisons with available experimental data. Very good agreement is shown between the numerical solutions and available experimental data over a wide range of operating conditions. The Navier-Stokes method using the standard Jones-Launder two-equation kappa-epsilon turbulence model can accurately predict jet flow, and such predictions are made without any modification to the published constants for the turbulence model.

Pao, S. Paul↗

Magnetic Leviation System Design and Implementation for Wind Tunnel Application

This paper presents recent work in magnetic suspension wind tunnel development in National Cheng Kung University. In this phase of research, a control-based study is emphasized to implement a robust control system into the experimental system under study. A ten-coil 10 cm x 10 cm magnetic suspension wind tunnel is built using a set of quadrant detectors for six degree of freedom control. To achieve the attitude control of suspended model with different attitudes, a spacial electromagnetic field simulation using OPERA 3D is studied. A successful test for six degree of freedom control is demonstrated in this paper.

Lin, Chin E.↗

Experimental Assessment and Enhancement of Planar Laser-Induced Fluorescence Measurements of Nitric Oxide in an Inverse Diffusion Flame

We have experimentally assessed the quantitative nature of planar laser-induced fluorescence (PLIF) measurements of NO concentration in a unique atmospheric pressure, laminar, axial inverse diffusion flame (IDF). The PLIF measurements were assessed relative to a two-dimensional array of separate laser saturated fluorescence (LSF) measurements. We demonstrated and evaluated several experimentally-based procedures for enhancing the quantitative nature of PLIF concentration images. Because these experimentally-based PLIF correction schemes require only the ability to make PLIF and LSF measurements, they produce a more broadly applicable PLIF diagnostic compared to numerically-based correction schemes. We experimentally assessed the influence of interferences on both narrow-band and broad-band fluorescence measurements at atmospheric and high pressures. Optimum excitation and detection schemes were determined for the LSF and PLIF measurements. Single-input and multiple-input, experimentally-based PLIF enhancement procedures were developed for application in test environments with both negligible and significant quench-dependent error gradients. Each experimentally-based procedure provides an enhancement of approximately 50% in the quantitative nature of the PLIF measurements, and results in concentration images nominally as quantitative as LSF point measurements. These correction procedures can be applied to other species, including radicals, for which no experimental data are available from which to implement numerically-based PLIF enhancement procedures.

Partridge, William P.↗

Adaptive Load-Balancing Algorithms Using Symmetric Broadcast Networks

In a distributed-computing environment, it is important to ensure that the processor workloads are adequately balanced. Among numerous load-balancing algorithms, a unique approach due to Dam and Prasad defines a symmetric broadcast network (SBN) that provides a robust communication pattern among the processors in a topology-independent manner. In this paper, we propose and analyze three novel SBN-based load-balancing algorithms, and implement them on an SP2. A thorough experimental study with Poisson-distributed synthetic loads demonstrates that these algorithms are very effective in balancing system load while minimizing processor idle time. They also compare favorably with several other existing load-balancing techniques. Additional experiments performed with real data demonstrate that the SBN approach is effective in adaptive computational science and engineering applications where dynamic load balancing is extremely crucial.

Das, Sajal K.↗

Motor adaptation to Coriolis force perturbations of reaching movements: endpoint but not trajectory adaptation transfers to the nonexposed arm

1. Reaching movements made in a rotating room generate Coriolis forces that are directly proportional to the cross product of the room's angular velocity and the arm's linear velocity. Such Coriolis forces are inertial forces not involving mechanical contact with the arm. 2. We measured the trajectories of arm movements made in darkness to a visual target that was extinguished at the onset of each reach. Prerotation subjects pointed with both the right and left arms in alternating sets of eight movements. During rotation at 10 rpm, the subjects reached only with the right arm. Postrotation, the subjects pointed with the left and right arms, starting with the left, in alternating sets of eight movements. 3. The initial perrotary reaching movements of the right arm were highly deviated both in movement path and endpoint relative to the prerotation reaches of the right arm. With additional movements, subjects rapidly regained straight movement paths and accurate endpoints despite the absence of visual or tactile feedback about reaching accuracy. The initial postrotation reaches of the left arm followed straight paths to the wrong endpoint. The initial postrotation reaches of the right arm had paths with mirror image curvature to the initial perrotation reaches of the right arm but went to the correct endpoint. 4. These observations are inconsistent with current equilibrium point models of movement control. Such theories predict accurate reaches under our experimental conditions. Our observations further show independent implementation of movement and posture, as evidenced by transfer of endpoint adaptation to the nonexposed arm without transfer of path adaptation. Endpoint control may occur at a relatively central stage that represents general constraints such as gravitoinertial force background or egocentric direction relative to both arms, and control of path may occur at a more peripheral stage that represents moments of inertia and muscle dynamics unique to each limb. 5. Endpoint and path adaptation occur despite the absence both of mechanical contact cues about the perturbing force and visual or tactile cues about movement accuracy. These findings point to the importance of muscle spindle signals, monitoring of motor commands, and possibly joint and tendon receptors in a detailed trajectory monitoring process. Muscle spindle primary and secondary afferent signals may differentially influence adaptation of movement shape and endpoint, respectively.

Non-NASA Center↗

Design and optimization of radiation-hardened isolated converters for Jovian environments

This paper presents the design and optimization of a class of flexible, high efficiency, multiple output capable, radiation-hardened isolated DC/DC converters for Jovian environments. The proposed converters achieve lower electromagnetic emission, better thermal management and higher efficiency. A new series of radiation-hardened isolated GaN gate driver circuit is proposed for space applications. Experimental results based on two prototype units implemented in the laboratory verify the performance of the proposed isolated converters.

Carr, Gregory↗

Human Factors and Behavioral Performance Exploration Measures Harmonized Across HERA, NEK, and ISS: Teams Risk

BACKGROUNDThe Human Factors and Behavioral Performance Exploration Measures (HFBP-EM) suite is a set of standardized measures to assess behavioral health and performance risk related to future exploration class missions, and to support reduction of the Human Research Program’s (HRP) Behavioral Medicine (BMed), Team, Sleep, and Human Systems Integration Architecture risks. HFBP-EM were collected during Human Exploration Research Analogs (HERA) campaigns 4 (C4) and 5 (C5), and during SIRIUS 17 and 19 missions in the Russian Ground Based Experiment Complex, NEK, to document the feasibility, flexibility, and acceptability of these measures in analogsof the spaceflight environment. A subset of the HFBP-EM suite was collected during spaceflight as part HRP’s Standard Measures in Spaceflight Project. Whenever possible, the HFBP-EM protocol and measures are kept the same across studies, however, differences across research settings (e.g., experimental manipulations, mission scenarios, mission length) and implementation of the measures require the data are harmonized to ensure comparable views across missions. The purpose of our project is to develop a harmonized database of HFBP-EM data from different settings, and to summarize the trajectory of behavioral health and performance within and between research settings. In this presentation, we will summarize the harmonized dataset and the trajectory of measures related to the Team Risk, including team performance, team cohesion, team processes, and psychological safety, over time and between and within settings.METHODSWe followed best practices for data harmonization. Characteristics of each research setting were assessed for harmonization potential, and we deemed NEK-SIRIUS 17 as inappropriate due to study aims, length, and data quality. Common variables of interest were identified. Study characteristics and key variables with which datafiles could be merged were defined as “meta-data.” HFBP-EM data from all settings were processed under a common format. We then created a harmonized team-level database designed to facilitate analyses that address HRP research gaps related to HRP’s Team risk. In this database, team cohesion, processes, performance, psychological safety, and group living were operationalized as the team mean of the crew responses for each data collection (e.g., on mission day 7). Data collected on the International Space Station (ISS) included a subset of scale items administered to participants. Data collected from ISS team members within +/- 7 days of the first data collection and every following 30 +/-4 days were aggregated to the team level. We generated figures that display the mean and variability of team constructs across research settings. We also generated plots of changes in team constructs with mission day and with percentage of the mission completed. Where possible, we compared data from spaceflight analogs with data from astronauts aboard the ISS. RESULTS AND DISCUSSIONThe team-level harmonized database was structured such that each row represents data for a team on a specific mission day. Team constructs (e.g., team cohesion) were included as columns (i.e., wide format) with repeated measures across mission days given in rows (i.e., long format). The database included data from 18 crews: five, 4-person American crews in HERA C4, four 4-person American crews in HERA C5, one 6-person multinational crew in NEK-SIRIUS 19, and eight, 2–11-person multinational crews aboard the ISS. Results provide insights into mission and campaign differences in team functioning and performance. For example, between campaign differences were observed for team processes—the interdependent team actions that orchestrate taskwork in pursuit of the team’s goals [1]. Greater between-team variability on team processes was detected during HERA C4 than during C5, and a downward trend was observed over the duration of C4, but not C5 or SIRIUS 19. This may be due to the campaign-level differences such as the sleep deprivation implemented during C4. Responses on the subset of team process items administered on the ISS indicate between-crew variability more like those observed in C4 than C5 and NEK, with some, but not all ISS crews demonstrating a downward trend over time. Additional findings will be presented. REFERENCESMarks, M. A., et al (2001) Academy of Management Review, 26(3), 356-376.

S T Bell↗

Human Factors and Behavioral Performance Exploration Measures Harmonized Across HERA, NEK, and ISS Teams Risk

The Human Factors and Behavioral Performance Exploration Measures (HFBP-EM) suite is a set of standardized measures to assess behavioral health and performance risk related to future exploration class missions, and to support reduction of the Human Research Program’s (HRP) Behavioral Medicine (BMed), Team, Sleep, and Human Systems Integration Architecture risks. HFBP-EM were collected during Human Exploration Research Analogs (HERA) campaigns 4 (C4) and 5 (C5), and during SIRIUS 17 and 19 missions in the Russian Ground Based Experiment Complex, NEK, to document the feasibility, flexibility, and acceptability of these measures in analogs of the spaceflight environment. A subset of the HFBP-EM suite was collected during spaceflight as part HRP’s Standard Measures in Spaceflight Project. Whenever possible, the HFBP-EM protocol and measures are kept the same across studies, however, differences across research settings (e.g., experimental manipulations, mission scenarios, mission length) and implementation of the measures require the data are harmonized to ensure comparable views across missions. The purpose of our project is to develop a harmonized database of HFBP-EM data from different settings, and to summarize the trajectory of behavioral health and performance within and between research settings. In this presentation, we will summarize the harmonized dataset and the trajectory of measures related to the Team Risk, including team performance, team cohesion, team processes, and psychological safety, over time and between and within settings.

S T Bell↗

MODELING THE AMBIENT CONDITION EFFECTS OF AN AIR-COOLED NATURAL CIRCULATION SYSTEM

The Reactor Cavity Cooling System (RCCS) is a passive safety concept under consideration for the overall safety strategy of advanced reactors such as the High Temperature Gas-Cooled Reactor (HTGR). One such variant, air-cooled RCCS, uses natural convection to drive the flow of air from outside the reactor building to remove decay heat during normal operation and accident scenarios. The Natural convection Shutdown heat removal Test Facility (NSTF) at Argonne National Laboratory (“Argonne”) is a half-scale model of the primary features of one conceptual air-cooled RCCS design. The facility was constructed to carry out highly instrumented experiments to study the performance of the RCCS concept for reactor decay heat removal that relies on natural convection cooling. Parallel modeling and simulation efforts were performed to support the design, operation, and analysis of the natural convection system. Throughout the testing program, strong influences of ambient conditions were observed in the experimental data when baseline tests were repeated under the same test procedures. Thus, significant analysis efforts were devoted to gaining a better understanding of these influences and the subsequent response of the NSTF to ambient conditions. It was determined that air humidity had negligible impacts on NSTF system performance and therefore did not warrant consideration in the models. However, temperature differences between the building exterior and interior air, along with the outside wind speed, were shown to be dominant factors. Combining the stack and wind effects together, an empirical model was developed based on theoretical considerations and using experimental data to correlate zero-power system flow rates with ambient meteorological conditions. Some coefficients in the model were obtained based on best fitting the experimental data. The predictive capability of the empirical model was demonstrated by applying it to the new set of experimental data. The empirical model was also implemented in the computational models of the NSTF using both RELAP5-3D and STARCCM+ codes. Accounting for the effects of ambient conditions, simulations from both codes predicted the natural circulation flow rates very well.

Hu, Rui↗