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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 667 records · Page 37
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NASA NTRS1990

A Petri-net coordination model for an intelligent mobile robot

The authors present a Petri net model of the coordination level of an intelligent mobile robot system (IMRS). The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision systems that are necessary for the autonomous operation of the mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and explicitly representing the task precedence and information dependence among them. The model can also be used to simulate the task processing and to evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the IMRS. Some simulation results on the task processing and learning are presented.

Wang, F.-Y.↗
NASA NTRS1990

Coordinating Council. Second Meeting: International Acquisitions

The theme of this NASA Scientific and Technical Information Program Coordinating Council was International Acquisitions. Included are both visuals for presentations and reports on discussions related to the topics. Presentations were made on the following topics: Coordination council organization international plan, STI global network, International aerospace climate, Foreign exchange program, Foreign activities RMS & AIAA, NASA translation program, A.F. machine translation system, and CIRC cooperation.

Source record↗
NASA NTRS1992

Identifiability of linear systems in physical coordinates

Identifiability of linear, time-invariant systems in physical coordinates is discussed. It is shown that identification of the system matrix in physical coordinates can be accomplished by determining a transformation matrix that relates the physical locations of actuators and sensors to the test-data-derived input and output matrices. For systems with symmetric matrices, the solution of a constrained optimization problem is used to characterize all the possible solutions of the transformation matrix. Conditions for the existence of a unique transformation matrix are established easily from the explicit form of the solutions. For systems with limited inputs and outputs, the question about which part of the system can be uniquely identified is also answered. A simple mass-spring system is used to verify the conclusions of this study.

Su, Tzu-Jeng↗
NASA NTRS1992

Prediction of airfoil stall using Navier-Stokes equations in streamline coordinates

A Navier-Stokes procedure to calculate the flow about an airfoil at incidence was developed. The parabolized equations are solved in the streamline coordinates generated for an arbitrary airfoil shape using conformal mapping. A modified k-epsilon turbulence model is applied in the entire domain, but the eddy viscosity in the laminar region is suppressed artificially to simulate the region correctly. The procedure was applied to airfoils at various angles of attack, and the results are quite satisfactory for both laminar and turbulent flows. It is shown that the present choice of the coordinate system reduces the error due to numerical diffusion, and that the lift is accurately predicted for a wide range of incidence.

Choi, D. H.↗
NASA NTRS1992

Fuzzy coordinator in control problems

In this paper a hierarchical control structure using a fuzzy system for coordination of the control actions is studied. The architecture involves two levels of control: a coordination level and an execution level. Numerical experiments will be utilized to illustrate the behavior of the controller when it is applied to a nonlinear plant.

Rueda, A.↗
NASA NTRS1992

Technology coordination

Viewgraphs on technology coordination are provided. Topics covered include: technology coordination process to date; goals; how the Office of Aeronautics and Space Technology (OAST) can support the Office of Space Science and Applications (OSSA); how OSSA can support OAST; steps to technology transfer; and recommendations.

Hartman, Steven↗
NASA NTRS1991

Dynamic coordination of a self-reconfigurable manipulator system

The authors present the dynamic coordination of a self-reconfigurable manipulator system capable of changing its mechanical structure according to given task requirements. The self-reconfiguration is achieved by reconfiguring the topology of a dual-arm system through serial, parallel, and bracing structures. Particular emphasis is placed on the dynamic coordination of two arms having three different dual-arm topologies. The authors develop the Cartesian space dynamic models of a dual-arm system of three dual-arm topologies and derive the kinematic and dynamic constraints imposed on two arms in cooperation. Dual-arm dynamic manipulabilities are defined to quantify the dynamic performance of three dual-arm topologies in terms of the efficiency of generating Cartesian accelerations. A methodology of selecting serial, parallel, and bracing structures based on dual-arm dynamic manipulabilities is provided.

Kim, Sungbok↗
NASA NTRS1987

Dynamical modelling of coordinated multiple robot systems

The state of the art in the modeling of the dynamics of coordinated multiple robot manipulators is summarized and various problems related to this subject are discussed. It is recognized that dynamics modeling is a component used in the design of controllers for multiple cooperating robots. As such, the discussion addresses some problems related to the control of multiple robots. The techniques used to date in the modeling of closed kinematic chains are summarized. Various efforts made to date for the control of coordinated multiple manipulators is summarized.

Hayati, Samad↗
NASA NTRS1995

Plasma properties and magnetic field structure of the solar corona, based on coordinated Max 1991 observations from SERTS, the VLA, and magnetographs

The purposes of this investigation are to determine the plasma properties and magnetic field structure of the solar corona using coordinated observations obtained with NASA/GSFC's Solar EUV rocket Telescope and Spectrograph (SERTS), the Very Large Array (VLA), and magnetographs. The observations were obtained under the auspices of NASA's Max '91 program. The methods of achieving the stated purposes of this investigation are: (1) to use SERTS spectra and spectroheliograms to determine coronal plasma properties such as temperature, density, and emission measure; (2) to use the coronal plasma properties to calculate the intensity of the thermal bremsstrahlung microwave emission from the coronal plasma (the minimum microwave intensity expected from the emitting plasma); (3) to establish which emission mechanism(s) contribute to the observed microwave emission by comparing the calculated thermal bremsstrahlung intensity with the observed microwave intensity; (4) to derive the coronal magnetic field for regions in which gyroemission contributes to the microwave emission by determining the appropriate harmonic of the local electron gyrofrequency; (5) to derive the coronal magnetic field for regions in which thermal bremsstrahlung emission alone is responsible for the observed microwave emission by calculating the magnetic field which yields the observed microwave polarization; (6) to derive three-dimensional models of the coronal plasma and magnetic field which are consistent with all of the EUV spectra and spectroheliograms, as well as with the intensity and polarization maps at all of the microwave observing frequencies; and (7) to compare the coronal magnetic field derived from the coordinated multiwaveband observations with extrapolations from photospheric magnetograms.

Brosius, Jeffrey W.↗
NASA NTRS1995

Plasma properties and magnetic field structure of the solar corona, based on coordinated Max 1991 observations from SERTS, the VLA, and magnetographs

The purposes of this investigation are to use existing, calibrated, coaligned sets of coordinated multiwaveband observations of the Sun to determine the coronal magnetic field strength and structure, and interpret the collective observations in terms of a self-consistent model of the coronal plasma and magnetic field. This information is vital to understanding processes such as coronal heating, solar wind acceleration, pre-flare energy storage, and active region evolution. Understanding these processes is the central theme of Max '91, the NASA-supported series of solar observing campaigns under which the observations acquired for this work were obtained. The observations came from NASA/GSFC's Solar EUV Rocket Telescope and Spectrograph (SERTS), the Very Large Array (VLA), and magnetographs. The technique of calculating the coronal magnetic field is to establish the contributions to the microwave emission from the two main emission mechanisms: thermal bremsstrahlung and thermal gyroemission. This is done by using the EUV emission to determine values of the coronal plasma quantities needed to calculate the thermal bremsstrahlung contribution to the microwave emission. Once the microwave emission mechanism(s) are determined, the coronal magnetic field can be calculated. A comparison of the coronal magnetic field derived from the coordinated multiwaveband observations with extrapolations from photospheric magnetograms will provide insight into the nature of the coronal magnetic field.

Brosius, Jeffrey W.↗
NASA NTRS1995

TOMS total ozone trends in potential vorticity coordinates

Global total ozone measurements from the Nimbus 7 Total Ozone Mapping Spectrometer (TOMS) are analyzed using potential vorticity (PV) as an approximate vortex-following coordinate. We analyze the time period November 1978-May 1991, prior to the volcanic eruption of Mt. Pinatubo. The TOMS data are remapped into PV coordinates and trends are calculated, thereby characterizing ozone losses inside and outside the winter polar vortices. These analyses show large regions of ozone loss outside of the vortex in both hemispheres. Furthermore, these data suggest that midlatitude losses in the NH during winter-spring do not result solely from the transport of ozone depleted air from inside to outside the vortex.

Randel, William J.↗
NASA NTRS1995

Easing The Calculation Of Bolt-Circle Coordinates

Bolt Circle Calculation (BOLT-CALC) computer program used to reduce significant time consumed in manually computing trigonometry of rectangular Cartesian coordinates of holes in bolt circle as shown on blueprint or drawing. Eliminates risk of computational errors, particularly in cases involving many holes or in cases in which coordinates expressed to many significant digits. Program assists in many practical situations arising in machine shops. Written in BASIC. Also successfully compiled and implemented by use of Microsoft's QuickBasic v4.0.

Burley, Richard K.↗
NASA NTRS1996

Plasma Properties and Magnetic Field Structure of the Solar Corona, Based on Coordinated Max 1991 Observations from SERTS, the VLA, and Magnetographs

The purposes of this investigation are to determine the plasma properties and magnetic field structure of the solar corona using coordinated observations obtained with NASA/GSFC's Solar EUV Rocket Telescope and Spectrograph (SERTS), the Very Large Array (VLA), and magnetographs. The observations were obtained under the auspices of NASA's Max '91 program. The methods of achieving the stated purposes are to use SERTS spectra and spectroheliograms to determine coronal plasma properties such as temperature, density, and emission measure. These properties are subsequently used to calculate the intensity of the thermal bremsstrahlung microwave emission from the coronal plasma (the minimum microwave intensity expected from the emitting plasma). This, in turn, can be used to establish which emission mechanism(s) contribute to the observed microwave emission. Because both mechanisms that may contribute to quiescent active region microwave emission (thermal bremsstrahlung and thermal gyroemission) depend upon the coronal magnetic field in known ways, this information can ultimately be used to derive the coronal magnetic field. Ideally, three-dimensional models of the coronal plasma and magnetic field which are consistent with all of the EUV spectra and spectroheliograms, as well as with the intensity and polarization maps at all of the microwave observing frequencies, can be derived. For completeness, the coronal magnetic field derived from the coordinated multiwaveband observations must be compared with extrapolations from photospheric magnetograms.

Brosius, Jeffrey W.↗
NASA NTRS1995

Summary of Session Activities: Coordination of Environmental Education Projects

In this session, we address four fundamental questions related to environmental fields with emphasis on education. These are: What are the goals, objectives, and practical opportunities for coordinating our projects? How can we improve awareness of, interest in, access to, and support the products of our work? How can we build relationships between projects for scientific, educational, technical, and programmatic benefit? How can we evaluate the effectiveness of coordination efforts. In this working session, we produced answers to these questions and proposed a structure for future collaboration.

Keeler, Michael↗
NASA NTRS1996

On-Line Method and Apparatus for Coordinated Mobility and Manipulation of Mobile Robots

A simple and computationally efficient approach is disclosed for on-line coordinated control of mobile robots consisting of a manipulator arm mounted on a mobile base. The effect of base mobility on the end-effector manipulability index is discussed. The base mobility and arm manipulation degrees-of-freedom are treated equally as the joints of a kinematically redundant composite robot. The redundancy introduced by the mobile base is exploited to satisfy a set of user-defined additional tasks during the end-effector motion. A simple on-line control scheme is proposed which allows the user to assign weighting factors to individual degrees-of-mobility and degrees-of-manipulation, as well as to each task specification. The computational efficiency of the control algorithm makes it particularly suitable for real-time implementations. Four case studies are discussed in detail to demonstrate the application of the coordinated control scheme to various mobile robots.

Seraji, Homayoun↗
NASA NTRS1997

Coordinated XTE/EUVE Observations of Algol

We performed a coordinated RXTE observation of the prototypical eclipsing binary Algol in conjunction with EUVE and ASCA observations. Observing the x-ray spectrum of Algol with ASCA, EUVE, and RXTE provides critical, near-simultaneous constraints on the distribution of the hottest temperature plasma in the Agol system: this is required to unambiguously determine the coronal Fe abundance. After some initial shuffling of observatory schedules with the help of mission planners, the coordinated multiwavelength observation was successfully performed in February, 1996. Analysis of the data, including development of new, IDL-based global model fitting routines, was accomplished from mid-1996 to mid-1997. The results indicate that the initial estimates of [Fe/H] approximately 0.3 dex (Stern et al.) are confirmed, and the Algol high temperature plasma thus has an Fe deficiency relative to the (Anders and Grevesse) solar abundance.

Stern, Robert A.↗
NASA NTRS1998

Multimodal Perception and Multicriterion Control of Nested Systems: Coordination of Postural Control and Vehicular Control - 1

The purpose of this report is to identify the essential characteristics of goal-directed whole-body motion. The report is organized into three major sections (Sections 2, 3, and 4). Section 2 reviews general themes from ecological psychology and control-systems engineering that are relevant to the perception and control of whole-body motion. These themes provide an organizational framework for analyzing the complex and interrelated phenomena that are the defining characteristics of whole-body motion. Section 3 of this report applies the organization framework from the first section to the problem of perception and control of aircraft motion. This is a familiar problem in control-systems engineering and ecological psychology. Section 4 examines an essential but generally neglected aspect of vehicular control: coordination of postural control and vehicular control. To facilitate presentation of this new idea, postural control and its coordination with vehicular control are analyzed in terms of conceptual categories that are familiar in the analysis of vehicular control.

Riccio, Gary E.↗
NASA NTRS1982

The Role of Communications, Socio-Psychological, and Personality Factors in the Maintenance of Crew Coordination

There is increasing evidence that many air transport incidents and accidents are the result of the improper or inadequate utilization of the resources accessible to flight dock crew members. These resources obviously include the hardware and technical information necessary for the safe and efficient conduct of the flight, but they also Include the human resources which must be coordinated effectively. The focus of this paper is upon the human resources, and how communication styles, socio-psychological factors, and personality characteristics can affect crew coordination.

Foushee, H. Clayton↗