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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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NASA NTRS1985

Protostars and planets II

Various papers on the formation of stars and planets are presented. The general topics addressed include: molecular clouds and star formation, young stellar objects and circumstellar disks, chemistry and grains in molecular clouds and the solar nebula, formation of giant planets, and models of the solar nebula and other planetary systems. Individual papers address: molecular cloud cores, physical conditions in isolated dark globules, rotation in dark clouds, and turbulence in molecular clouds. Also discussed are: fragmentation and hierarchical structure in the interstellar medium, formation of bound stellar clusters, ambient radiation field of young solar systems, and magnetic fields.

Black, D. C.↗
NASA NTRS1986

Efficient decentralized consensus protocols

Decentralized consensus protocols are characterized by successive rounds of message interchanges. Protocols which achieve a consensus in one round of message interchange require O(N-squared) messages, where N is the number of participants. In this paper, a communication scheme, based on finite projective planes, which requires only O(N sq rt N) messages for each round is presented. Using this communication scheme, decentralized consensus protocols which achieve a consensus within two rounds of message interchange are developed. The protocols are symmetric, and the communication scheme does not impose any hierarchical structure. The scheme is illustrated using blocking and nonblocking commit protocols, decentralized extrema finding, and computation of the sum function.

Lakshman, T. V.↗
NASA NTRS1986

A rule based computer aided design system

A Computer Aided Design (CAD) system is presented which supports the iterative process of design, the dimensional continuity between mating parts, and the hierarchical structure of the parts in their assembled configuration. Prolog, an interactive logic programming language, is used to represent and interpret the data base. The solid geometry representing the parts is defined in parameterized form using the swept volume method. The system is demonstrated with a design of a spring piston.

Premack, T.↗
NASA NTRS1986

Fragmented molecular complexes: The role of the magnetic field in feeding internal supersonic motions

A hierarchical structure for molecular complexes in their cold phase i.e., preceeding the formation of massive stars, was derived from extensive large scale CO(13)(J=1=0) observations: the mass is found to be distributed into virialized clouds which fill only a very low fraction approx. 01 of the volume of the complex and are supported against gravity by internal supersonic motions. An efficient mechanism was found to transfer kinetic energy from the orbital motions of the clouds to their internal random motions. The large perturbations of the magnetic field induced at the cloud boundaries by their interactions with their neighbors generate systems of hydromagnetic waves trapped inside the clouds. The magnetic field lines being closely coupled to the gas at the densities which prevail in the bulk of the clouds volume, internal velocity dispersion is thus generated. Some conclusions derived from this data are given.

Falgarone, E.↗
NASA NTRS1985

Progress in knowledge-based flight monitoring

Features and applications of the script-based flight monitor SECURE are described. Implemented on an on-board computer, SECURE treats a flight as a regular sequence of contexts (situations) defined in a knowledge base with a hierarchical structure for successively more finely delineated flight phases, i.e., takeoff, cruise and landing. SECURE provides normalcy references for flight monitoring and allows context identification, which allows the presentation of checklists. An implementation of SECURE, written in MACLISP, on a DC-10 flight simulator is described.

Chen, D. C.↗
NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. This paper describes both ROBSIM and TRSS, including their capability, status, and future plans. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. Wallace, Jr.↗
NASA NTRS1987

Multiple arm coordination using concurrent processing

The use of concurrent processing for robot arm coordination is considered, and a hierarchically structured set of routines for the completion of coordinated tasks is discussed. Concurrent programming controls interacting concurrent processes by providing techniques to handle the problems of mutual exclusion, synchronization, and communication. The process is demonstrated for the example of the producer-consumer problem. Software supporting a concurrent environment to control a robotic system is being developed in which parallel rather than sequential thought processes are used.

Basta, Robert A.↗
NASA NTRS1987

Advanced techniques for the storage and use of very large, heterogeneous spatial databases. The representation of geographic knowledge: Toward a universal framework

A new approach to building geographic data models that is based on the fundamental characteristics of the data is presented. An overall theoretical framework for representing geographic data is proposed. An example of utilizing this framework in a Geographic Information System (GIS) context by combining artificial intelligence techniques with recent developments in spatial data processing techniques is given. Elements of data representation discussed include hierarchical structure, separation of locational and conceptual views, and the ability to store knowledge at variable levels of completeness and precision.

Peuquet, Donna J.↗
NASA NTRS1987

Octree based automatic meshing from CSG models

Finite element meshes derived automatically from solid models through recursive spatial subdivision schemes (octrees) can be made to inherit the hierarchical structure and the spatial addressability intrinsic to the underlying grid. These two properties, together with the geometric regularity that can also be built into the mesh, make octree based meshes ideally suited for efficient analysis and self-adaptive remeshing and reanalysis. The element decomposition of the octal cells that intersect the boundary of the domain is emphasized. The problem, central to octree based meshing, is solved by combining template mapping and element extraction into a procedure that utilizes both constructive solid geometry and boundary respresentation techniques. Boundary cells that are not intersected by the edge of the domain boundary are easily mapped to predefined element topology. Cells containing edges (and vertices) are first transformed into a planar polyhedron and then triangulated via element extractors. The modeling environments required for the derivation of planar polyhedra and for element extraction are analyzed.

Perucchio, Renato↗
NASA NTRS1987

Geometrical and topological issues in octree based automatic meshing

Finite element meshes derived automatically from solid models through recursive spatial subdivision schemes (octrees) can be made to inherit the hierarchical structure and the spatial addressability intrinsic to the underlying grid. These two properties, together with the geometric regularity that can also be built into the mesh, make octree based meshes ideally suited for efficient analysis and self-adaptive remeshing and reanalysis. The element decomposition of the octal cells that intersect the boundary of the domain is discussed. The problem, central to octree based meshing, is solved by combining template mapping and element extraction into a procedure that utilizes both constructive solid geometry and boundary representation techniques. Boundary cells that are not intersected by the edge of the domain boundary are easily mapped to predefined element topology. Cells containing edges (and vertices) are first transformed into a planar polyhedron and then triangulated via element extractor. The modeling environments required for the derivation of planar polyhedra and for element extraction are analyzed.

Saxena, Mukul↗
NASA NTRS1987

A run-time control architecture for the JPL telerobot

An architecture for implementing the process-level decision making for a hierarchically structured telerobot currently being implemented at the Jet Propolusion Laboratory (JPL) is described. Constraints on the architecture design, architecture partitioning concepts, and a detailed description of the existing and proposed implementations are provided.

Balaram, J.↗
NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. W., Jr.↗
NASA NTRS1987

Space Station flight telerobotic servicer functional requirements development

The Space Station flight telerobotic servicer (FTS), a flight robotic system for use on the first Space Station launch, is described. The objectives of the FTS program include: (1) the provision of an alternative crew EVA by supporting the crew in assembly, maintenance, and servicing activities, and (2) the improvement of crew safety by performing hazardous tasks such as spacecraft refueling or thermal and power system maintenance. The NASA/NBS Standard Reference Model provides the generic, hierarchical, structured functional control definition for the system. It is capable of accommodating additional degrees of machine intelligence in the future.

Oberright, John↗
NASA NTRS1989

Design and control of a multi-fingered robot hand provided with tactile feedback

The design, construction, control and application of a three fingered robot hand with nine degrees of freedom and built-in multi-component force sensors is described. The adopted gripper kinematics are justified and optimized with respect to grasping and manipulation flexibility. The hand was constructed with miniature motor drive systems imbedded into the fingers. The control is hierarchically structured and is implemented on a simple PC-AT computer. The hand's dexterity and intelligence are demonstrated with some experiments.

Vanbrussel, H.↗
NASA NTRS1989

Experiments in cooperative manipulation: A system perspective

In addition to cooperative dynamic control, the system incorporates real time vision feedback, a novel programming technique, and a graphical high level user interface. By focusing on the vertical integration problem, not only these subsystems are examined, but also their interfaces and interactions. The control system implements a multi-level hierarchical structure; the techniques developed for operator input, strategic command, and cooperative dynamic control are presented. At the highest level, a mouse-based graphical user interface allows an operator to direct the activities of the system. Strategic command is provided by a table-driven finite state machine; this methodology provides a powerful yet flexible technique for managing the concurrent system interactions. The dynamic controller implements object impedance control; an extension of Nevill Hogan's impedance control concept to cooperative arm manipulation of a single object. Experimental results are presented, showing the system locating and identifying a moving object catching it, and performing a simple cooperative assembly. Results from dynamic control experiments are also presented, showing the controller's excellent dynamic trajectory tracking performance, while also permitting control of environmental contact force.

Schneider, Stanley A.↗
NASA NTRS1989

A procedure concept for local reflex control of grasping

An architecture is proposed for the control of robotic devices, and in particular of anthropomorphic hands, characterized by a hierarchical structure in which every level of the architecture contains data and control function with varying degree of abstraction. Bottom levels of the hierarchy interface directly with sensors and actuators, and process raw data and motor commands. Higher levels perform more symbolic types of tasks, such as application of boolean rules and general planning operations. Layers implementation has to be consistent with the type of operation and its requirements for real time control. It is proposed to implement the rule level with a Boolean Artificial Neural Network characterized by a response time sufficient for producing reflex corrective action at the actuator level.

Fiorini, Paolo↗
NASA NTRS1989

Autonomous organization of grasping tasks

This paper describes an architecture for the control of robotic devices, and in particular of anthropomorphic hands, characterized by a hierarchical structure in which every level of the architecture contains data and control function with varying degree of abstraction. Bottom levels of the hierarchy interface directly with sensors and actuators, and process raw data and motor commands. Higher levels perform more symbolic types of tasks, such as application of Boolean rules and general planning operations. The implementation of the layer has to be consistent with the type of operation and its requirements for real time control. One implementation of the rule level, with a Boolean artificial neural network which would have a response time sufficient for producing reflex corrective action at the actuator level is presented.

Fiorini, Paolo↗
NASA NTRS1991

Application of an integrated flight/propulsion control design methodology to a STOVL aircraft

Results are presented from the application of an emerging Integrated Flight/Propulsion Control (IFPC) design methodology to a Short Take Off and Vertical Landing (STOVL) aircraft in transition flight. The steps in the methodology consist of designing command shaping prefilters to provide the overall desired response to pilot command inputs. A previously designed centralized controller is first validated for the integrated airframe/engine plant used. This integrated plant is derived from a different model of the engine subsystem than the one used for the centralized controller design. The centralized controller is then partitioned in a decentralized, hierarchical structure comprising of airframe lateral and longitudinal subcontrollers and an engine subcontroller. Command shaping prefilters from the pilot control effector inputs are then designed and time histories of the closed loop IFPC system response to simulated pilot commands are compared to desired responses based on handling qualities requirements. Finally, the propulsion system safety and nonlinear limited protection logic is wrapped around the engine subcontroller and the response of the closed loop integrated system is evaluated for transients that encounter the propulsion surge margin limit.

Garg, Sanjay↗