SEARCH · Search NASA
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
New algorithms for diagnosing problems in electromechanical systems based on artificial intelligence techniques used to locate faults with minimal human intervention. After given information on system architecture, electrical connections, types of parts, and failure modes, algorithms apply "reasoning" processes patterned after those of humans.
The advent and widespread use of the computer-generated image (CGI) device to simulate visual cues has a mixed impact on the realism and fidelity of flight simulators. On the plus side, CGIs provide greater flexibility in scene content than terrain boards and closed circuit television based visual systems, and they have the potential for a greater field of view. However, on the minus side, CGIs introduce into the visual simulation relatively long time delays. In many CGIs, this delay is as much as 200 ms, which is comparable to the inherent delay time of the pilot. Because most GCIs use multiloop processing and smoothing algorithms and are linked to a multiloop host computer, it is seldom possible to identify a unique throughput time delay, and it is therefore difficult to quantify the performance of the closed loop pilot simulator system relative to the real world task. A method to address these issues using the critical task tester is described. Some empirical results from applying the method are presented, and a novel technique for improving the performance of GCIs is discussed.
The implementation of a generic computer simulation for manipulator systems (ROBSIM) is described. The program is written in FORTRAN, and allows the user to: (1) Interactively define a manipulator system consisting of multiple arms, load objects, targets, and an environment; (2) Request graphic display or replay of manipulator motion; (3) Investigate and simulate various control methods including manual force/torque and active compliance control; and (4) Perform kinematic analysis, requirements analysis, and response simulation of manipulamotion. Previous reports have described the algorithms and procedures for using ROBSIM. These reports are superseded and additional features which were added are described. They are: (1) The ability to define motion profiles and compute loads on a common base to which manipulator arms are attached; (2) Capability to accept data describing manipulator geometry from a Computer Aided Design data base using the Initial Graphics exchange Specification format; (3) A manipulator control algorithm derived from processing the TV image of known reference points on a target; and (4) A vocabulary of simple high level task commands which can be used to define task scenarios.
Improved second generation wind algorithms are used to process the three month Seasat SMMR and SASS data sets. The new algorithms are derived without using in situ anemometer measurements. All known biases in the sensors prime measurements are removed, and the algorithms prime model functions are internally self-consistent. The computed SMMR and SASS winds are collocated and compared on a 10 km cell-by-cell basis, giving a total of 115444 wind comparisons. The comparisons are done using three different sets of SMMR channels. When the 6.6H SMMR channel is used for wind retrieval, the SMMR and SASS winds agree to within 1.3 m/s over the SASS primary swath. At nadir where the radar cross section is less sensitive to wind, the agreement degrades to 1.9 m/s. The agreement is very good for winds from 0 to 15 m/s. Above 15 m/s, the off-nadir SASS winds are consistently lower than the SMMR winds, while at nadir the high SASS winds are greater than SMMR's. When 10.7H is used for the SMMR wind channel, the SMMR/SASS wind comparisons are not quite as good. When the frequency of the wind channel is increased to 18 GHz, the SMMR/SASS agreement substantially degrades to about 5 m/S.
An acoustic source generates an amplitude-modulated tone, with Doppler variations due to the relative motion between source and receiver. A method is presented for real-time estimation of tone rest frequency and minimal distance between source and receiver, using digital signal processing techniques. The algorithm presented here was implemented using a Texas Instruments TMS32010 processor.
Described briefly is the work done during the first half year of a three-year study on dynamic control of robotic manipulators in space. The research focused on issues for advanced control of space manipulators including practical issues and new applications for the Virtual Manipulator. In addition, the development of simulations and graphics software for space manipulators, begun during the first NASA proposal in the area, has continued. The fabrication of the Vehicle Emulator System (VES) is completed and control algorithms are in process of development.
Version 4.1 of LAS provides flexible framework for algorithm development and processing and analysis of image data. Over 500,000 lines of code enable image repair, clustering, classification, film processing, geometric registration, radiometric correction, and manipulation of image statistics.
Method of analysis provides quantitative measure of reconstruction and interpolation performances of linear, shift-invariant interpolants. Criterion of performance based upon mean-square error of difference between sampled and reconstructed functions. Applicable to reconstruction algorithms used in processing of signals and images and to types of interpolants used in numerical analysis, computer-aided design, and computer graphics.
The construction of second-order upwind schemes for nonequilibrium plasmas, for both one- and two-fluid formulations is demonstrated. Coupled relaxation processes, including ionization kinetics and radiative processes and their algorithms for nonequilibrium, multiple temperature conditions are described as well. The paper applies the numerical techniques on some simple test cases, points out critical problems and their solutions, and makes qualitative comparisons with known results, whenever possible.
A solution-adaptive grid procedure for the three-dimensional parabolized Navier-Stokes equations is developed on the basis of the two-dimensional line-by-line solution-adaptive technique of Harvey et al. (1990). It is shown that the new adaptive grid algorithm provides improved shock resolving characteristics over the conventional flow algorithm. The adaptation process has the ability of aligning grid lines with the existing flow-field structure, yielding increasing resolution of high gradient regions.
FIRM is software tool for identification of failure and management of risk based on directed-graph ("digraph") approach. Three core algorithms optimized for processing singletons and doubletons and also handle tripletons. FIRM identifies loops in digraphs and displays direct failure paths between any two nodes. Solves for reachability for given node without computing reachability for entire digraph. Represents hybrid between schematic-diagram and fault-tree approaches. Written in C.
Report discusses theoretical and experimental studies of positive-position-feedback control for suppressing vibrations in large flexible structures. Positive-position-feedback control involves placement of actuators and sensors on structure; control voltages applied to actuators in response to outputs of sensors processed via compensator algorithm. Experiments demonstrate feasibility of suppressing vibrations by positive position feedback, and spillover of vibrational energy into uncontrolled modes has stabilizing effect if control gain sufficiently small.
Reports from the NASA/ASEE Summer Faculty Fellowship Program are presented. The editors are responsible for selecting appropriately qualified faculty to address some of the many problems of current interest to NASA Kennedy. Some representative titles are as follows: Development of an Accelerated Test Method for the Determination of Susceptibility to Atmospheric Corrosion; Hazardous Gas Leak Analysis in the Space Shuttle; Modeling and Control of the Automated Radiator Inspection Device; Study of the Finite Element Software Packages at KSC; Multispectral Image Processing for Plants; Algorithms for Contours Depicting Static Electric Fields during Adverse Weather Conditions; Transient Study of a Cryogenic Hydrogen Filling System; and Precision Cleaning Verification of Nonvolatile Residues by using Water, Ultrasonics, and Turbidity Analyses.
The Algorithm To Architecture Mapping Model (ATAMM) is a Petri-net-based model which provides a strategy for periodic execution of a class of real-time algorithms on multicomputer dataflow architectures. The problem domain of particular interest is the execution of large-grained, decision-free algorithms on homogeneous processing elements. Design techniques are discussed and performance measurements are defined. A multiple-graph execution strategy is shown to increase throughput performance. It is shown that the same increase in performance is attainable with minor modifications to the existing ATAMM.
Two strategies to determine location of geocenter from observations of satellites in Global Positioning System (GPS) devised. First strategy: filtering algorithm used to process GPS data adjusts baselines between reference site and all nonfiducial sites along with GPS orbits and absolute coordinates of reference site. Second strategy: only longitude of reference site held fixed; all other coordinates of this site adjusted simultaneously along with states of GPS satellites. Center of mass of Earth located within few centimeters.
Report discusses experiments conducted to test methods of identification of vibrational and coupled rotational/vibrational modes of flexible structure. Report one in series that chronicle development of integrated system of methods, sensors, actuators, analog and digital signal-processing equipment, and algorithms to suppress vibrations in large, flexible structure even when dynamics of structure partly unknown and/or changing. Two prior articles describing aspects of research, "Autonomous Frequency-Domain Indentification" (NPO-18099), and "Automated Characterization Of Vibrations Of A Structure" (NPO-18141).
Vector observations are a common class of attitude data provided by a wide variety of attitude sensors. Attitude determination from vector observations is a well-understood process and numerous algorithms such as the TRIAD algorithm exist. These algorithms require measurement of the line of site (LOS) vector to reference objects and knowledge of the LOS directions in some predetermined reference frame. Once attitude is determined, it is a simple matter to synthesize vehicle rate using some form of lead-lag filter, and then, use it for vehicle stabilization. Many situations arise, however, in which rate knowledge is required but knowledge of the nominal LOS directions are not available. This paper presents two methods for determining spacecraft angular rates from vector observations without a priori knowledge of the vector directions. The first approach uses an extended Kalman filter with a spacecraft dynamic model and a kinematic model representing the motion of the observed LOS vectors. The second approach uses a 'differential' TRIAD algorithm to compute the incremental direction cosine matrix, from which vehicle rate is then derived.
The Magellan (MGN) synthetic aperture radar (SAR) processing radiometric compensation algorithm is described, and the effective pointing error caused by the terrain is examined. It is shown how the range centroid can be computed from spacecraft ancillary data with an accurate topographic model. In cases where such data are not available, a technique is presented to estimate the range centroid from the coherent radar echoes. This technique is demonstrated using MGN SAR data.