Computational methods for nonlinear acoustic absorbers
Spectral and real time computation for acoustic absorbers with nonlinear material characteristics
Zorumski, W. E.↗
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High speed correlator.
Computational procedure and circuitry of correlator for real time computation of correlation function of signals at 30 points simultaneously
Hooper, E. B., Jr.↗
Nonlinear control of an experimental beam by IMSC
Results are reported from an experiment designed to control the vibratory motion of a beam at NASA, Langley Research Center. The experimental setup consists of a free-free uniform beam acted upon by four electromagnetic force actuators, with the motion being measured by nine displacement sensors. The entire assembly is linked to a CDC Cyber 175 computer which permits on-line real-time computation of the control forces. The control scheme is based on Independent Modal-Space Control (IMSC), whereby the modal forces are computed using a nonlinear, on-off control law. The actuator forces are then synthesized using a linear transformation, resulting in quantized forces. The sensors data is processed by modal filters. It is observed that the controls designed on the basis of the IMSC method are very effective in suppressing the vibratory motion of the beam, even though there is about a 50 percent differene between the actual and the analytically computed frequencies.
Meirovitch, L.↗
Technology transfer of operator-in-the-loop simulation
The technology developed for operator-in-the-loop simulation in space teleoperation has been applied to Caterpillar's backhoe, wheel loader, and off-highway truck. On an SGI workstation, the simulation integrates computer modeling of kinematics and dynamics, real-time computational and visualization, and an interface with the operator through the operator's console. The console is interfaced with the workstation through an IBM-PC in which the operator's commands were digitized and sent through an RS-232 serial port. The simulation gave visual feedback adequate for the operator in the loop, with the camera's field of vision projected on a large screen in multiple view windows. The view control can emulate either stationary or moving cameras. This simulator created an innovative engineering design environment by integrating computer software and hardware with the human operator's interactions. The backhoe simulation has been adopted by Caterpillar in building a virtual reality tool for backhoe design.
Yae, K. H.↗
Ways of achieving continuous service from computers
This paper outlines the methods used in the real-time computer complex to keep computers operating. Methods include selectover, high-speed restart, and low-speed restart. The hardware and software needed to implement these methods is discussed as well as the system recovery facility, alternate device support, and timeout. In general, methods developed while supporting the Gemini, Apollo, and Skylab space missions are presented.
Quinn, M. J., Jr.↗
NASA/ESA CV-990 Spacelab simulation. Appendixes: C, data-handling: Planning and implementation; D, communications; E, mission documentation
Data handling, communications, and documentation aspects of the ASSESS mission are described. Most experiments provided their own data handling equipment, although some used the airborne computer for backup, and one experiment required real-time computations. Communications facilities were set up to simulate those to be provided between Spacelab and the ground, including a downlink TV system. Mission documentation was kept to a minimum and proved sufficient. Examples are given of the basic documents of the mission.
Reller, J. O., Jr.↗
Architectures for fault-tolerant spacecraft computers
This paper summarizes the results of a long-term research program in fault-tolerant computing for spacecraft on-board processing. In response to changing device technology this program has progressed from the design of a fault-tolerant uniprocessor to the development of fault-tolerant distributed computer systems. The unusual requirements of spacecraft computing are described along with the resulting real-time computer architectures. The following aspects of these designs are discussed: (1) architectural features to minimize complexity in the distributed computer system, (2) fault-detection and recovery, (3) techniques to enhance reliability and testability, and (4) design approaches for LSI implementation.
Rennels, D. A.↗
Distributed cooperating processes in a mobile robot control system
A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.
Skillman, Thomas L., Jr.↗
Monitoring Engine Vibrations And Spectrum Of Exhaust
Real-time computation of intensities of peaks in visible-light emission spectrum of exhaust combined with real-time spectrum analysis of vibrations into developmental monitoring technique providing up-to-the-second information on conditions of critical bearings in engine. Conceived to monitor conditions of bearings in turbopump suppling oxygen to Space Shuttle main engine, based on observations that both vibrations in bearings and intensities of visible light emitted at specific wavelengths by exhaust plume of engine indicate wear and incipient failure of bearings. Applicable to monitoring "health" of other machinery via spectra of vibrations and electromagnetic emissions from exhausts. Concept related to one described in "Monitoring Bearing Vibrations For Signs Of Damage", (MFS-29734).
Martinez, Carol L.↗
Skylab RTCC mass properties system requirements
The computation equations and flow charts are presented for the Real Time Computer Complex mass properties system for computing and maintaining weight and centers of gravity for the CSM and orbital assembly, and SPS engine trim angles.
Hischke, E. R.↗
A framework for building real-time expert systems
The Space Station Freedom is an example of complex systems that require both traditional and artificial intelligence (AI) real-time methodologies. It was mandated that Ada should be used for all new software development projects. The station also requires distributed processing. Catastrophic failures on the station can cause the transmission system to malfunction for a long period of time, during which ground-based expert systems cannot provide any assistance to the crisis situation on the station. This is even more critical for other NASA projects that would have longer transmission delays (e.g., the lunar base, Mars missions, etc.). To address these issues, a distributed agent architecture (DAA) is proposed that can support a variety of paradigms based on both traditional real-time computing and AI. The proposed testbed for DAA is an autonomous power expert (APEX) which is a real-time monitoring and diagnosis expert system for the electrical power distribution system of the space station.
Lee, S. Daniel↗
Advanced information processing system for advanced launch system: Avionics architecture synthesis
The Advanced Information Processing System (AIPS) is a fault-tolerant distributed computer system architecture that was developed to meet the real time computational needs of advanced aerospace vehicles. One such vehicle is the Advanced Launch System (ALS) being developed jointly by NASA and the Department of Defense to launch heavy payloads into low earth orbit at one tenth the cost (per pound of payload) of the current launch vehicles. An avionics architecture that utilizes the AIPS hardware and software building blocks was synthesized for ALS. The AIPS for ALS architecture synthesis process starting with the ALS mission requirements and ending with an analysis of the candidate ALS avionics architecture is described.
Lala, Jaynarayan H.↗
Computer Simulation Of A Small Turboshaft Engine
Component-type mathematical model of small turboshaft engine developed for use in real-time computer simulations of dynamics of helicopter flight. Yields shaft speeds, torques, fuel-consumption rates, and other operating parameters with sufficient accuracy for use in real-time simulation of maneuvers involving large transients in power and/or severe accelerations.
Ballin, Mark G.↗
AUTOTEST - Fully automated testing of spacecraft and experiments
AUTOTEST is a large scale real-time computer program designed to automatically test spacecraft and experiments. Resident portions of the program collect and store incoming real-time data and process test control instructions which control experiment turn-on, select tests to be performed, and select data to be displayed.
Blakeslee, W. D.↗
A study of the application of singular perturbation theory
A hierarchical real time algorithm for optimal three dimensional control of aircraft is described. Systematic methods are developed for real time computation of nonlinear feedback controls by means of singular perturbation theory. The results are applied to a six state, three control variable, point mass model of an F-4 aircraft. Nonlinear feedback laws are presented for computing the optimal control of throttle, bank angle, and angle of attack. Real Time capability is assessed on a TI 9900 microcomputer. The breakdown of the singular perturbation approximation near the terminal point is examined Continuation methods are examined to obtain exact optimal trajectories starting from the singular perturbation solutions.
Mehra, R. K.↗
Processing electrophysiological signals for the monitoring of alertness
Mathematical techniques are described for processing EEG signals associated with varying states of alertness. Fast algorithms for implementing real-time computations of alertness estimates were developed. A realization of the phase-distortionless digital filter is presented which approaches real-time filtering and a transform for EEG signals. This transform provides information for the alertness estimates and can be performed in real time. A statistical test for stationarity in EEG signals is being developed that will provide a method for determining the duration of the EEG signals necessary for estimating the short-time power or energy spectra for nonstationary analysis of EEG signals.
Lai, D. C.↗
A time lag study of the vertical motion simulator computer system
A study was performed to evaluate an experimental method to determine time lags in real-time computer systems as the one associated with the Vertical Motion Simulator at Ames Research Center. The approach was to use an ordinary frequency analyzer to measure the phase difference between inputs and outputs of the computer system. The various elements of the program and computational architecture were modeled. Various factors, such as computer frame time and input frequency, were varied so that they were representative of the operational use of the simulator facilities. Experimentally determined results were compared with predictions derived from the simulation models. The results indicate that the frequency analyzer can be readily used to evaluate time lags in systems of this type. Differences between predicted and measured phase values indicate that the hardware and software imparts a time lag of about 5 msec to this facility.
Cleveland, W. B.↗
Stimulation of a turbofan engine for evaluation of multivariable optimal control concepts
The development of control systems for jet engines requires a real-time computer simulation. The simulation provides an effective tool for evaluating control concepts and problem areas prior to actual engine testing. The development and use of a real-time simulation of the Pratt and Whitney F100-PW100 turbofan engine is described. The simulation was used in a multi-variable optimal controls research program using linear quadratic regulator theory. The simulation is used to generate linear engine models at selected operating points and evaluate the control algorithm. To reduce the complexity of the design, it is desirable to reduce the order of the linear model. A technique to reduce the order of the model; is discussed. Selected results between high and low order models are compared. The LQR control algorithms can be programmed on digital computer. This computer will control the engine simulation over the desired flight envelope.
Seldner, K.↗