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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 793 records · Page 44
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Software reliability through fault-avoidance and fault-tolerance

The use of back-to-back, or comparison, testing for regression test or porting is examined. The efficiency and the cost of the strategy is compared with manual and table-driven single version testing. Some of the key parameters that influence the efficiency and the cost of the approach are the failure identification effort during single version program testing, the extent of implemented changes, the nature of the regression test data (e.g., random), and the nature of the inter-version failure correlation and fault-masking. The advantages and disadvantages of the technique are discussed, together with some suggestions concerning its practical use.

Vouk, Mladen A.↗
NASA NTRS1987

Feasibility of an onboard wake vortex avoidance system

It was determined that an onboard vortex wake detection system using existing, proven instrumentation is technically feasible. This system might be incorporated into existing onboard systems such as a wind shear detection system, and might provide the pilot with the location of a vortex wake, as well as an evasive maneuver so that the landing separations may be reduced. It is suggested that this system might be introduced into our nation's commuter aircraft fleet and major air carrier fleet and permit a reduction of current landing separation standards, thereby reducing takeoff and departure delays.

Bilanin, Alan J.↗
NASA NTRS1991

Software reliability through fault-avoidance and fault-tolerance

Twenty independently developed but functionally equivalent software versions were used to investigate and compare empirically some properties of N-version programming, Recovery Block, and Consensus Recovery Block, using the majority and consensus voting algorithms. This was also compared with another hybrid fault-tolerant scheme called Acceptance Voting, using dynamic versions of consensus and majority voting. Consensus voting provides adaptation of the voting strategy to varying component reliability, failure correlation, and output space characteristics. Since failure correlation among versions effectively reduces the cardinality of the space in which the voter make decisions, consensus voting is usually preferable to simple majority voting in any fault-tolerant system. When versions have considerably different reliabilities, the version with the best reliability will perform better than any of the fault-tolerant techniques.

Vouk, Mladen A.↗
NASA NTRS1991

Cascading a systolic array and a feedforward neural network for navigation and obstacle avoidance using potential fields

A technique is developed for vehicle navigation and control in the presence of obstacles. A potential function was devised that peaks at the surface of obstacles and has its minimum at the proper vehicle destination. This function is computed using a systolic array and is guaranteed not to have local minima. A feedfoward neural network is then used to control the steering of the vehicle using local potential field information. In this case, the vehicle is a trailer truck backing up. Previous work has demonstrated the capability of a neural network to control steering of such a trailer truck backing to a loading platform, but without obstacles. Now, the neural network was able to learn to navigate a trailer truck around obstacles while backing toward its destination. The network is trained in an obstacle free space to follow the negative gradient of the field, after which the network is able to control and navigate the truck to its target destination in a space of obstacles which may be stationary or movable.

Plumer, Edward S.↗
NASA NTRS1991

Microburst avoidance simulation tests

Implementation issues for uplinked microburst alerts are presented in the form of view-graphs. The following topics are covered: evaluation, transmission, and presentation of ground-based Doppler weather radar derived information through a limited bandwidth digital data link; electronic cockpit presentation of uplinked wind shear alerts (pilot opinion survey, part-task simulation experiment); presentation modes (verbal, textual, and graphical); and ground evaluation of ground-measures wind shear data.

Hansman, John↗
NASA NTRS1990

Sun-earth libration point trajectories that avoid the solar exclusion zone

Three-dimensional orbits in the restricted three-body problem have been the subject of a number of recent studies. One type of three-dimensional, quasi-periodic orbit that emanates from the general vicinity of the collinear libration points is known as a 'Lissajous' trajectory. Future mission plans include trajectories near the interior libration point. (L1) in the sun-earth system and may consider Lissajous orbits as part of the trajectory design. Such orbits may be constrained, however, to remain beyond the region of the solar disk as viewed from earth. This effort involves the numerical determination of Lissajous trajectories of arbitrary, but predetermined, length that never violate such a constraint as a result of maneuvers directed, in general, perpendicular to the ecliptic plane.

Howell, K. C.↗
NASA NTRS1990

Flight data acquisition methodology for validation of passive ranging algorithms for obstacle avoidance

An account is given of the methodology used to develop a data base containing low altitude imagery, augmented with the rotorcraft and sensor parameters required for passive-range estimation. The bata base is predicated on flight test data encompassing imagery, rotorcraft and sensor parameters, and ground truth range measurements. Data preparation was conducted by means of a novel technique for obtaining the sensor-calibration parameters. The data-base thus obtained will facilitate further development of computer vision-based obstacle-detection and passive range-estimation algorithms, as well as furnish a benchmark for verification of range estimates against ground-truth estimates.

Smith, Phillip N.↗
NASA NTRS1990

Collision avoidance of a redundant manipulator operating through a window

The problem of collision-free operation of a redundant robot manipulator through a window is addressed. The window is modeled by a polygon with the sides representing the edges of the window. A performance criterion is defined to maximize the shortest distances between the arm link axes and the edges of the window. An efficient gradient projection optimization scheme for the kinematic control of manipulators with multiple degrees of redundancy is developed and used. The effectiveness of this scheme and the validity of the performance criterion are verified through simulations of the seven-degree-of-freedom NASA Laboratory Telerobotic Manipulator (LTM), where controlling only the position of the end-effector provides three degrees of redundancy.

Zghal, H.↗
NASA NTRS1992

Reflexive Avoidance Of Obstacles By Robots

Array of sensors at elbow of robotic manipulator detects obstacles. Outputs of sensors processed into synthetic "force field" around each obstacle. Algorithm controlling manipulator uses "force field" to maneuver manipulator arm around each obstacle.

Vold, Havard I.↗
NASA NTRS1991

Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

Sensor based robot motion planning research has primarily focused on mobile robots. Consider, however, the case of a robot manipulator expected to operate autonomously in a dynamic environment where unexpected collisions can occur with many parts of the robot. Only a sensor based system capable of generating collision free paths would be acceptable in such situations. Recently, work in this area has been reported in which a deterministic solution for 2DOF systems has been generated. The arm was sensitized with 'skin' of infra-red sensors. We have proposed a heuristic (potential field based) methodology for redundant robots with large DOF's. The key concepts are solving the path planning problem by cooperating global and local planning modules, the use of complete information from the sensors and partial (but appropriate) information from a world model, representation of objects with hyper-ellipsoids in the world model, and the use of variational planning. We intend to sensitize the robot arm with a 'skin' of capacitive proximity sensors. These sensors were developed at NASA, and are exceptionally suited for the space application. In the first part of the report, we discuss the development and modeling of the capacitive proximity sensor. In the second part we discuss the motion planning algorithm.

Prinz, F. B.↗
NASA NTRS1992

Software reliability through fault-avoidance and fault-tolerance

Accomplishments in the following research areas are summarized: structure based testing, reliability growth, and design testability with risk evaluation; reliability growth models and software risk management; and evaluation of consensus voting, consensus recovery block, and acceptance voting. Four papers generated during the reporting period are included as appendices.

Vouk, Mladen A.↗
NASA NTRS1991

Rendezvous strategy impacts on CTV avionics design, system reliability requirements, and available collision avoidance maneuvers

Rockwell International is conducting an ongoing program to develop avionics architectures that provide high intrinsic value while meeting all mission objectives. Studies are being conducted to determine alternative configurations that have low life-cycle cost and minimum development risk, and that minimize launch delays while providing the reliability level to assure a successful mission. This effort is based on four decades of providing ballistic missile avionics to the United States Air Force and has focused on the requirements of the NASA Cargo Transfer Vehicle (CTV) program in 1991. During the development of architectural concepts it became apparent that rendezvous strategy issues have an impact on the architecture of the avionics system. This is in addition to the expected impact on propulsion and electrical power duration, flight profiles, and trajectory during approach.

Donovan, William J.↗
NASA NTRS1992

Collision avoidance of a multiple degree of redundancy manipulator operating through a window

The problem of collision-free operation of a multiple-degree-of-redundancy manipulator operating through a window is addressed. An efficient gradient projection optimization scheme is presented for the kinematic control of manipulators with multiple degrees of redundancy. This scheme was developed for dextrous robotic and telerobotic applications in space station construction as well as in congested shop floor environment. A performance criterion is defined to maximize the shortest distances between the manipulator links and the edges of the window. Effectiveness of this scheme and the validity of the performance criterion are verified through simulations of the seven-degree-of-freedom NASA Laboratory Telerobotic Manipulator.

Zghal, H.↗
NASA NTRS1993

The use of CMAC neural architectures in obstacle avoidance

In this paper, CMAC neural architectures are used in conjunction with a hierarchical planning approach to find collision free paths over two dimensional analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array.

Peterson, James K.↗
NASA NTRS1939

A comparison of several tapered wings designed to avoid tip stalling

Optimum proportions of tapered wings were investigated by a method that involved a comparison of wings designed to be aerodynamically equal. The conditions of aerodynamic equality were equality in stalling speed, in induced drag at a low speed, and in the total drag at cruising speed. After the wings were adjusted to aerodynamic equivalence, the weights of the wings were calculated as a convenient method of indicating the optimum wing. The aerodynamic characteristics were calculated from wing theory and test data for the airfoil sections. Various combinations of washout, camber increase in the airfoil sections from the center to the tips, and sharp leading edges at the center were used to bring about the desired equivalence of maximum lift and center-stalling characteristics. In the calculation of the weights of the wings, a simple type of spar structure was assumed that permitted an integration across the span to determine the web and the flange weights. The covering and the remaining weight were taken in proportion to the wing area. The total weights showed the wings with camber and washout to have the lowest weights and indicated the minimum for wings with a taper ratio between 1/2 and 1/3.

Anderson, Raymond F↗