Programmed computer control for laser tracking Final report, 16 Mar. 1967 - 22 Apr. 1968
Systems design of digital computer real-time control system, and interface hardware for early launch laser tracking system
Gajwani, S.↗
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Two techniques for digital filter design
Digital controllers, one using a special-purpose computer and the other using a combination of digital and analog techniques, are designed around /1/ computers that simulate the transfer function and interface with the system, and /2/ analog and digital circuits, converters, amplifiers, constant multipliers, and delay lines that form a digital filter.
Carroll, C. C.↗
Use of a multichannel scaler and computing calculator to generate optical transfer functions
Multichannel scaler as interface between edge scan unit and calculator to generate optical transfer functions
Klingman, E. E.↗
Vibration analysis of a 1/15 scale dynamic model of a space shuttle configuration
The natural frequencies and mode shapes of a 1/15 scale space shuttle dynamics model are analytically determined. The model, a parallel beam type structure with delta wings, is dynamically representative of the stiffness and mass properties of an early space shuttle design. Important characteristics of the model are elastic interfaces with adjustable spring rates. Normal mode computations are made using the finite element modeling technique as implemented in the NASTRAN (NASA Structural Analysis) computer program. The feasibility of neglecting elastic deformations in the lower modes was investigated using a rigid body model. Using NASTRAN, natural frequencies and mode shapes were first calculated for the booster fuselage, orbiter fuselage, and both delta wings in a free-free condition. Next, the fuselages were connected for various spring rates. Then the wings were attached to each fuselage, and the booster and orbiter were analyzed as separate airplanes. Finally, the two airplanes were elastically joined, and the complete model was analyzed.
Thornton, E. A.↗
California coast nearshore processes study
The author has identified the following significant results. Remote sensor aircraft flights took place simultaneously with ERTS-1 overpasses at the San Francisco, Monterey Bay, and Santa Barbara test cells. The cameras and scanners used were configured for detecting suspended sediment and for maximum water penetration. The Ektachrome/Wratten 12 photographs which were intentionally overexposed 1-1/2 stops were found to show the most extensive sediment transport detail. Minus blue/K 2 photographs illustrate nearshore underwater bottom detail including the head of the Mugu submarine canyon. The EMSIDE 9 channel scanner was employed to classify and differentiate suspended sediment, oil, kelp, and other materials found in the nearshore area. Processing of bulk ERTS-1 computer compatible tapes was utilized to enhance and analyze nearshore sediments. This technique was most successful in enhancing subtle nearshore features found to be faint or invisible on prints made from the supplied negatives. In addition to this continuing computer process, an effort was initiated to interface density values from the bulk tapes into contouring and mapping software.
Pirie, D. M.↗
Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration
Problems related to the design and control of an autonomous rover for the purpose of unmanned exploration of the planets were considered. Building on the basis of prior studies, a four wheeled rover of unusual mobility and maneuverability was further refined and tested under both laboratory and field conditions. A second major effort was made to develop autonomous guidance. Path selection systems capable of dealing with relatively formidable hazard and terrains involving various short range (1.0-3.0 meters), hazard detection systems using a triangulation detection concept were simulated and evaluated. The mechanical/electronic systems required to implement such a scheme were constructed and tested. These systems include: laser transmitter, photodetectors, the necessary data handling/controlling systems and a scanning mast. In addition, a telemetry system to interface the vehicle, the off-board computer and a remote control module for operator intervention were developed. Software for the autonomous control concept was written. All of the systems required for complete autonomous control were shown to be satisfactory except for that portion of the software relating to the handling of interrupt commands.
Gisser, D. G.↗
A programing system for research and applications in structural optimization
The flexibility necessary for such diverse utilizations is achieved by combining, in a modular manner, a state-of-the-art optimization program, a production level structural analysis program, and user supplied and problem dependent interface programs. Standard utility capabilities in modern computer operating systems are used to integrate these programs. This approach results in flexibility of the optimization procedure organization and versatility in the formulation of constraints and design variables. Features shown in numerical examples include: variability of structural layout and overall shape geometry, static strength and stiffness constraints, local buckling failure, and vibration constraints.
Sobieszczanski-Sobieski, J.↗
Spectral transformation in the SOFI complex for processing photographic images on the ES computer, part 1
A description is given of three programs catalogued in the form of object modules in the library of a system for processing photographic images computer. PFT is the subprogram of the multi-dimensional BPF of real-valued information, in the operative computer memory. INRECO is a subprogram-interface between the real and complex formats for representing two-dimensional spectra and images. FFT2 is a subprogram for calculating the correlation functions of the image using the previous subprograms.
Debabov, A. S.↗
International Conference on Numerical Methods in Fluid Dynamics, 7th, Stanford University, Stanford and Moffett Field, CA, June 23-27, 1980, Proceedings
Topics discussed include polygon transformations in fluid mechanics, computation of three-dimensional horseshoe vortex flow using the Navier-Stokes equations, an improved surface velocity method for transonic finite-volume solutions, transonic flow calculations with higher order finite elements, the numerical calculation of transonic axial turbomachinery flows, and the simultaneous solutions of inviscid flow and boundary layer at transonic speeds. Also considered are analytical solutions for the reflection of unsteady shock waves and relevant numerical tests, reformulation of the method of characteristics for multidimensional flows, direct numerical simulations of turbulent shear flows, the stability and separation of freely interacting boundary layers, computational models of convective motions at fluid interfaces, viscous transonic flow over airfoils, and mixed spectral/finite difference approximations for slightly viscous flows.
Reynolds, W. C.↗
Operation plan for the data 100/LARS terminal system
The Data 100/LARS terminal system provides an interface for processing on the IBM 3031 computer system at Purdue University's Laboratory for Applications of Remote Sensing. The environment in which the system is operated and supported is discussed. The general support responsibilities, procedural mechanisms, and training established for the benefit of the system users are defined.
Bowen, A. J., Jr.↗
Distribution of man-machine controls in space teleoperation
The distribution of control between man and machine is dependent on the tasks, available technology, human performance characteristics and control goals. This dependency has very specific projections on systems designed for teleoperation in space. This paper gives a brief outline of the space-related issues and presents the results of advanced teleoperator research and development at the Jet Propulsion Laboratory (JPL). The research and development work includes smart sensors, flexible computer controls and intelligent man-machine interface devices in the area of visual displays and kinesthetic man-machine coupling in remote control of manipulators. Some of the development results have been tested at the Johnson Space Center (JSC) using the simulated full-scale Shuttle Remote Manipulator System (RMS). The research and development work for advanced space teleoperation is far from complete and poses many interdisciplinary challenges.
Bejczy, A. K.↗
Robots as man-extension systems in space
The main topic of the paper is sensing and computer based automation and man-machine interface devices and techniques which permit task-level and 'intelligent' two-way communication between human operator and remote robot in earth orbit. General considerations are presented on control and information problems in teleoperation and on the characteristics of earth orbital teleoperation. Specific control and information display devices and techniques are discussed and exemplified with development results obtained at the Jet Propulsion Laboratory (JPL) in recent years.
Bejczy, A. K.↗
The NASA automation and robotics technology program
The development and objectives of the NASA automation and robotics technology program are reviewed. The objectives of the program are to utilize AI and robotics to increase the probability of mission success; decrease the cost of ground control; and increase the capability and flexibility of space operations. There is a need for real-time computational capability; an effective man-machine interface; and techniques to validate automated systems. Current programs in the areas of sensing and perception, task planning and reasoning, control execution, operator interface, and system architecture and integration are described. Programs aimed at demonstrating the capabilities of telerobotics and system autonomy are discussed.
Holcomb, Lee B.↗
Helicopter terminal approach using differential GPS with vertical-axis enhancement
The NAVSTAR Global Positioning System (GPS) in differential mode (DGPS) has been shown to be least accurate in the vertical axis. The vertical axis also has the most stringent accuracy requirements for aircraft precision approach and landing. A series of flight tests were conducted to evaluate a concept for improving the DGPS vertical axis navigation performance. These tests incorporated augmentation sensors to aid the DGPS navigation solution during terminal approach operations. A GPS receiver was installed on board a NASA helicopter and interfaced with a real-time digital computer system. A reconfigurable navigation filter programmed in the digital computer provided an augmented DGPS solution, with selectable inputs from a low-cost vertical accelerometer, a barometric altimeter, and the aircraft attitude gyros. The reference aircraft position was determined by a laser tracker. Extensive post-test analysis was done to optimize the filter performance during the terminal approach operation. Test results show that baro-altimeter aiding can significantly improve vertical axis performance. Follow-on tests are planned for the optimized configurations.
Edwards, F. G.↗
Automation and robotics technology for intelligent mining systems
The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.
Welsh, Jeffrey H.↗
An interactive adaptive remeshing algorithm for the two-dimensional Euler equations
An interactive adaptive remeshing algorithm utilizing a frontal grid generator and a variety of time integration schemes for the two-dimensional Euler equations on unstructured meshes is presented. Several device dependent interactive graphics interfaces have been developed along with a device independent DI-3000 interface which can be employed on any computer that has the supporting software including the Cray-2 supercomputers Voyager and Navier. The time integration methods available include: an explicit four stage Runge-Kutta and a fully implicit LU decomposition. A cell-centered finite volume upwind scheme utilizing Roe's approximate Riemann solver is developed. To obtain higher order accurate results a monotone linear reconstruction procedure proposed by Barth is utilized. Results for flow over a transonic circular arc and flow through a supersonic nozzle are examined.
Slack, David C.↗
BUGS system clock distributor
A printed circuit board which will provide external clocks and precisely measure the time at which events take place was designed for the Bristol University Gas Spectrometer (BUGS). The board, which was designed to interface both mechanically and electrically to the Computer Automated Measurement and Control (CAMAC) system, has been named the BUGS system clock control. The board's design and use are described.
Dietrich, Thomas M.↗
A fractal transition in the two dimensional shear layer
The dependence of product generation with the Peclet and Reynolds number in a numerically simulated, reacting, two dimensional, temporally growing mixing layer is used to compute the fractal dimension of passive scalar interfaces. A transition from a low dimension of 4/3 to a higher one of 5/3 is identified and shown to be associated to the kinematic distortion on the flow field during the first pairing interaction. It is suggested that the structures responsible for this transition are non-deterministic, non-random, inhomogeneous fractals. Only the large scales are involved. No further transition is found for Reynolds numbers up to 20,000.
Jimenez, Javier↗