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At least 991 records · Page 55

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NASA NTRS1992

A smart end-effector for assembly of space truss structures

A unique facility, the Automated Structures Research Laboratory, is being used to investigate robotic assembly of truss structures. A special-purpose end-effector is used to assemble structural elements into an eight meter diameter structure. To expand the capabilities of the facility to include construction of structures with curved surfaces from straight structural elements of different lengths, a new end-effector has been designed and fabricated. This end-effector contains an integrated microprocessor to monitor actuator operations through sensor feedback. This paper provides an overview of the automated assembly tasks required by this end-effector and a description of the new end-effector's hardware and control software.

Doggett, William R.↗

NASA NTRS1992

Current state and future direction of computer systems at NASA Langley Research Center

Computer systems have advanced at a rate unmatched by any other area of technology. As performance has dramatically increased there has been an equally dramatic reduction in cost. This constant cost performance improvement has precipitated the pervasiveness of computer systems into virtually all areas of technology. This improvement is due primarily to advances in microelectronics. Most people are now convinced that the new generation of supercomputers will be built using a large number (possibly thousands) of high performance microprocessors. Although the spectacular improvements in computer systems have come about because of these hardware advances, there has also been a steady improvement in software techniques. In an effort to understand how these hardware and software advances will effect research at NASA LaRC, the Computer Systems Technical Committee drafted this white paper to examine the current state and possible future directions of computer systems at the Center. This paper discusses selected important areas of computer systems including real-time systems, embedded systems, high performance computing, distributed computing networks, data acquisition systems, artificial intelligence, and visualization.

Rogers, James L.↗

NASA NTRS1992

Formal mechanization of device interactions with a process algebra

The principle emphasis is to develop a methodology to formally verify correct synchronization communication of devices in a composed hardware system. Previous system integration efforts have focused on vertical integration of one layer on top of another. This task examines 'horizontal' integration of peer devices. To formally reason about communication, we mechanize a process algebra in the Higher Order Logic (HOL) theorem proving system. Using this formalization we show how four types of device interactions can be represented and verified to behave as specified. The report also describes the specification of a system consisting of an AVM-1 microprocessor and a memory management unit which were verified in previous work. A proof of correct communication is presented, and the extensions to the system specification to add a direct memory device are discussed.

Schubert, E. Thomas↗

NASA NTRS1992

Formal design specification of a Processor Interface Unit

This report describes work to formally specify the requirements and design of a processor interface unit (PIU), a single-chip subsystem providing memory-interface bus-interface, and additional support services for a commercial microprocessor within a fault-tolerant computer system. This system, the Fault-Tolerant Embedded Processor (FTEP), is targeted towards applications in avionics and space requiring extremely high levels of mission reliability, extended maintenance-free operation, or both. The need for high-quality design assurance in such applications is an undisputed fact, given the disastrous consequences that even a single design flaw can produce. Thus, the further development and application of formal methods to fault-tolerant systems is of critical importance as these systems see increasing use in modern society.

Fura, David A.↗

NASA NTRS1992

Autonomous power system brassboard

The Autonomous Power System (APS) brassboard is a 20 kHz power distribution system which has been developed at NASA Lewis Research Center, Cleveland, Ohio. The brassboard exists to provide a realistic hardware platform capable of testing artificially intelligent (AI) software. The brassboard's power circuit topology is based upon a Power Distribution Control Unit (PDCU), which is a subset of an advanced development 20 kHz electrical power system (EPS) testbed, originally designed for Space Station Freedom (SSF). The APS program is designed to demonstrate the application of intelligent software as a fault detection, isolation, and recovery methodology for space power systems. This report discusses both the hardware and software elements used to construct the present configuration of the brassboard. The brassboard power components are described. These include the solid-state switches (herein referred to as switchgear), transformers, sources, and loads. Closely linked to this power portion of the brassboard is the first level of embedded control. Hardware used to implement this control and its associated software is discussed. An Ada software program, developed by Lewis Research Center's Space Station Freedom Directorate for their 20 kHz testbed, is used to control the brassboard's switchgear, as well as monitor key brassboard parameters through sensors located within these switches. The Ada code is downloaded from a PC/AT, and is resident within the 8086 microprocessor-based embedded controllers. The PC/AT is also used for smart terminal emulation, capable of controlling the switchgear as well as displaying data from them. Intelligent control is provided through use of a T1 Explorer and the Autonomous Power Expert (APEX) LISP software. Real-time load scheduling is implemented through use of a 'C' program-based scheduling engine. The methods of communication between these computers and the brassboard are explored. In order to evaluate the features of both the brassboard hardware and intelligent controlling software, fault circuits have been developed and integrated as part of the brassboard. A description of these fault circuits and their function is included. The brassboard has become an extremely useful test facility, promoting artificial intelligence (AI) applications for power distribution systems. However, there are elements of the brassboard which could be enhanced, thus improving system performance. Modifications and enhancements to improve the brassboard's operation are discussed.

Merolla, Anthony↗

NASA NTRS1992

Modeling and control study of the NASA 0.3-meter transonic cryogenic tunnel for use with sulfur hexafluoride medium

The NASA Langley 0.3-m Transonic Cryogenic Tunnel is to be modified to operate with sulfur hexafluoride gas while retaining its present capability to operate with nitrogen. The modified tunnel will provide high Reynolds number flow on aerodynamic models with two different test gases. The document details a study of the SF6 tunnel performance boundaries, thermodynamic modeling of the tunnel process, nonlinear dynamical simulation of math model to yield tunnel responses, the closed loop control requirements, control laws, and mechanization of the control laws on the microprocessor based controller.

Balakrishna, S.↗

NASA NTRS1992

Mechanical Engineering Design Project report: Enabler control systems

The Controls Group was assigned the responsibility for designing the Enabler's control system. The requirement for the design was that the control system must provide a simple user interface to control the boom articulation joints, chassis articulation joints, and the wheel drive. The system required controlling hydraulic motors on the Enabler by implementing 8-bit microprocessor boards. In addition, feedback to evaluate positions and velocities must be interfaced to provide the operator with confirmation as well as control.

Cullen, Christian↗

NASA NTRS1993

The Hubble Space Telescope fine guidance system operating in the coarse track pointing control mode

The Hubble Space Telescope (HST) Fine Guidance System has set new standards in pointing control capability for earth orbiting spacecraft. Two precision pointing control modes are implemented in the Fine Guidance System; one being a Coarse Track Mode which employs a pseudo-quadrature detector approach and the second being a Fine Mode which uses a two axis interferometer implementation. The Coarse Track Mode was designed to maintain FGS pointing error to within 20 milli-arc seconds (rms) when guiding on a 14.5 Mv star. The Fine Mode was designed to maintain FGS pointing error to less than 3 milli-arc seconds (rms). This paper addresses the HST FGS operating in the Coarse Track Mode. An overview of the implementation, the operation, and both the predicted and observed on orbit performance is presented. The discussion includes a review of the Fine Guidance System hardware which uses two beam steering Star Selector servos, four photon counting photomultiplier tube detectors, as well as a 24 bit microprocessor, which executes the control system firmware. Unanticipated spacecraft operational characteristics are discussed as they impact pointing performance. These include the influence of spherically aberrated star images as well as the mechanical shocks induced in the spacecraft during and following orbital day/night terminator crossings. Computer modeling of the Coarse Track Mode verifies the observed on orbit performance trends in the presence of these optical and mechanical disturbances. It is concluded that the coarse track pointing control function is performing as designed and is providing a robust pointing control capability for the Hubble Space Telescope.

Whittlesey, Richard↗

NASA NTRS1992

The Large Angle Spectroscopic Coronagraph (LASCO): Visible light coronal imaging and spectroscopy

The Large Angle Spectroscopic Coronagraph (LASCO) is a triple coronagraph being jointly developed for the Solar and Heliospheric Observatory (SOHO) mission. LASCO comprises three nested coronagraphs (C1, C2, and C3) that image the solar corona for 1.1 to 30 solar radii (C1: 1.1 to 3 solar radii, C2: 1.5 to 6 solar radii, and C3: 3 to 30.0 solar radii). The inner coronagraph (C1) is a newly developed mirror version of the classic Lyot coronagraph without an external occultor, while the middle coronagraph (C2) and the outer coronagraph (C3) are externally occulted instruments. High resolution coronal spectroscopy from 1.1 to 3 R solar radii can be performed by using a Fabry-Perot interferometer, which is part of C1. High volume memories and a high speed microprocessor enable extensive onboard image processing. Image compression by factors of 10 to 20 will result in the transmission of 10 to 20 full images per hour.

Brueckner, Guenter E.↗

NASA NTRS1992

The Development of an Airborne Information Management System for Flight Test

An airborne information management system is being developed at the NASA Dryden Flight Research Facility. This system will improve the state of the art in management data acquisition on-board research aircraft. The design centers around highly distributable, high-speed microprocessors that allow data compression, digital filtering, and real-time analysis. This paper describes the areas of applicability, approach to developing the system, potential for trouble areas, and reasons for this development activity. System architecture (including the salient points of what makes it unique), design philosophy, and tradeoff issues are also discussed.

Flight Testing↗

NASA NTRS1992

Preliminary test results and upgrades for an automated assembly system

An automated structures assembly testbed developed by Langley Research Center to study the practical problems associated with the automated assembly of large space structures using robotic manipulators is described. Emphasis is placed on the requirements and features of system upgrades and their impact on system performance, flexibility, and reliability. The current research program is aimed at evolving the baseline assembly system into a flexible, robust, sensor-based system capable of assembling more complex truss-supported satellite systems. To achieve this objective, five system upgrades have been developed including a machine vision capability to eliminate taught robot arm positions; an on-board end-effector microprocessor to reduce communications; a second-generation end-effector to construct contoured trusses for antennas and install payloads; the installation of reflector-type panels on the truss to produce a complete and functional system, and an expert system to significantly reduce the amount of software code required for system operation and provide greater flexibility in implementing new features.

Will, Ralph W.↗

NASA NTRS1992

FOCUS - An experimental environment for fault sensitivity analysis

FOCUS, a simulation environment for conducting fault-sensitivity analysis of chip-level designs, is described. The environment can be used to evaluate alternative design tactics at an early design stage. A range of user specified faults is automatically injected at runtime, and their propagation to the chip I/O pins is measured through the gate and higher levels. A number of techniques for fault-sensitivity analysis are proposed and implemented in the FOCUS environment. These include transient impact assessment on latch, pin and functional errors, external pin error distribution due to in-chip transients, charge-level sensitivity analysis, and error propagation models to depict the dynamic behavior of latch errors. A case study of the impact of transient faults on a microprocessor-based jet-engine controller is used to identify the critical fault propagation paths, the module most sensitive to fault propagation, and the module with the highest potential for causing external errors.

Choi, Gwan S.↗

NASA NTRS1992

An observation of proton-induced latchup

Proton-induced latchup in a CMOS microprocessor known to have a very low heavy-ion-induced latchup threshold LET was observed. The latchup cross section vs. proton energy for three different bias conditions is displayed. Average measures of latchup current within an 11-ms window following the onset of latchup are provided, as a function of bias and incident proton energy. These data can be interpreted in terms of the present understanding of SEE phenomena.

Nichols, Donald K.↗

NASA NTRS1992

An Automated Thermocouple Calibration System

An Automated Thermocouple Calibration System (ATCS) was developed for the unattended calibration of type K thermocouples. This system operates from room temperature to 650 C and has been used for calibration of thermocouples in an eight-zone furnace system which may employ as many as 60 thermocouples simultaneously. It is highly efficient, allowing for the calibration of large numbers of thermocouples in significantly less time than required for manual calibrations. The system consists of a personal computer, a data acquisition/control unit, and a laboratory calibration furnace. The calibration furnace is a microprocessor-controlled multipurpose temperature calibrator with an accuracy of +/- 0.7 C. The accuracy of the calibration furnace is traceable to the National Institute of Standards and Technology (NIST). The computer software is menu-based to give the user flexibility and ease of use. The user needs no programming experience to operate the systems. This system was specifically developed for use in the Microgravity Materials Science Laboratory (MMSL) at the NASA LeRC.

Bethea, Mark D.↗

NASA NTRS1992

Metabolic responses to simulated extravehicular activity

Automatic control of the liquid cooling garment (LCG) worn by astronauts during extravehicular activity (EVA) would more efficiently regulate astronaut thermal comfort and improve astronaut productivity. An experiment was conducted in which subjects performed exercise profiles on a unique, supine upper body ergometer to elicit physiological and thermal responses similar to those achieved during zero-g EVAs. Results were analyzed to quantify metabolic rate, various body temperatures, and other heat balance parameters. Such data may lead to development of a microprocessor-based system to automatically maintain astronaut heat balance during extended EVAs.

Williamson, Rebecca C.↗

NASA NTRS1985

An operational ASDAR system

The story of the Aircraft to Satellite Data Relay (ASDAR) program began when airline meteorologists realized that B-747's and other commercial jets provided cockpit displays of digital values for outside air temperature and winds. Later, when a few B-747's were used to carry portable air quality monitoring equipment for the Global Air Sampling Program (GASP), scientists at NASA-Lewis explored ways in which these digital values could be used to label data collected during the GASP flights. Digital values of GASP analyses were recorded along with digital values of location and altitude, time, winds, and temperature, obtained by microprocessors from within the host aircraft's avionics. These data suggested a way in which manually recorded in-flight meteorological reports could be replaced by an automatic system, which could record winds and air temperatures as often as desired. NASA's prototype ASDAR showed that automated data relay by meteorological geostationary satellites could be accomplished from an aircraft. Testing of the instruments and analyses of its data are examined.

Sparkman, James K., Jr.↗

NASA NTRS1989

Comparisons between Intel 386 and i486 microprecessors

A quick and preliminary comparison is made between the Intel 386 and i486 microprocessors. The following topics are discussed: the i486 key elements, comparison of instruction set architecture, the i486 on-chip cache characteristics, the i486 multiprocessor support, comparison of performance, comparison of power consumption, comparison of radiation hardening potential, and recommendations for the Space Station Freedom (SSF) Data Management System (DMS).

Liu, Yuan-Kwei↗

NASA NTRS1990

Current processor technology survey

This report provides a technology survey on current commercially available microprocessors. This report is part of an effort funded by the Office of Aeronautics, Exploration, and Technology (OAET) and the Space Station Freedom (SSF) Advanced Development program to determine computational needs and capability for advanced automation and robotics. It will be used in conjunction with a user requirements survey to determine a plan to meet computational requirements for future NASA missions.

Liu, Yuan-Kwei↗