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At least 1,441 records · Page 80

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NASA NTRS1989

Does the identification of simple features require serial processing?

Several recent studies have shown performance decrements with increasing display size when background texture elements are present in a same-different feature discrimination task--a result that challenges the traditional notion that the identities of simple visual features are processed in parallel, preattentively. Four experiments are reported that explore the implications of these results. Experiment 1 replicates the recent studies but limits the generalizability of the results to small target numbers. Experiments 2 and 3 show that the observed performance decrements are not due to a serial or even limited-capacity, parallel process. Experiment 4 suggests that decision factors idiosyncratic to the use of texture elements in a same-different task are responsible for the effect. It is concluded that the identification of simple visual features proceeds in parallel, with unlimited capacity (i.e., preattentively).

Pattern Recognition, Visual↗

NASA NTRS1990

Space-time modeling using environmental constraints in a mobile robot system

Grid-based models of a robot's local environment have been used by many researchers building mobile robot control systems. The attraction of grid-based models is their clear parallel between the internal model and the external world. However, the discrete nature of such representations does not match well with the continuous nature of actions and usually serves to limit the abilities of the robot. This work describes a spatial modeling system that extracts information from a grid-based representation to form a symbolic representation of the robot's local environment. The approach makes a separation between the representation provided by the sensing system and the representation used by the action system. Separation allows asynchronous operation between sensing and action in a mobile robot, as well as the generation of a more continuous representation upon which to base actions.

Slack, Marc G.↗

NASA NTRS1992

Experimental investigation of adaptive control of a parallel manipulator

The implementation of a joint-space adaptive control scheme used to control non-compliant motion of a Stewart Platform-based Manipulator (SPBM) is presented. The SPBM is used in a facility called the Hardware Real-Time Emulator (HRTE) developed at Goddard Space Flight Center to emulate space operations. The SPBM is comprised of two platforms and six linear actuators driven by DC motors, and possesses six degrees of freedom. The report briefly reviews the development of the adaptive control scheme which is composed of proportional-derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories of the SPBM actuator lengths. The derivation of the adaptation law is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method under the assumption that SPBM motion is slow as compared to the controller adaptation rate. An experimental study is conducted to evaluate the performance of the adaptive control scheme implemented to control the SPBM to track a vertical and circular paths under step changes in payload. Experimental results show that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

Nguyen, Charles C.↗

NASA NTRS1995

Application of high-performance computing to numerical simulation of human movement

We have examined the feasibility of using massively-parallel and vector-processing supercomputers to solve large-scale optimization problems for human movement. Specifically, we compared the computational expense of determining the optimal controls for the single support phase of gait using a conventional serial machine (SGI Iris 4D25), a MIMD parallel machine (Intel iPSC/860), and a parallel-vector-processing machine (Cray Y-MP 8/864). With the human body modeled as a 14 degree-of-freedom linkage actuated by 46 musculotendinous units, computation of the optimal controls for gait could take up to 3 months of CPU time on the Iris. Both the Cray and the Intel are able to reduce this time to practical levels. The optimal solution for gait can be found with about 77 hours of CPU on the Cray and with about 88 hours of CPU on the Intel. Although the overall speeds of the Cray and the Intel were found to be similar, the unique capabilities of each machine are better suited to different portions of the computational algorithm used. The Intel was best suited to computing the derivatives of the performance criterion and the constraints whereas the Cray was best suited to parameter optimization of the controls. These results suggest that the ideal computer architecture for solving very large-scale optimal control problems is a hybrid system in which a vector-processing machine is integrated into the communication network of a MIMD parallel machine.

NASA Discipline Musculoskeletal↗

NASA NTRS1973

V/STOL tilt rotor aircraft study mathematical model for a real time simulation of a tilt rotor aircraft (Boeing Vertol Model 222), volume 8

This report documents the development of a real time mathematical model of a tilt rotor aircraft. This mathematical model is to be used in conjunction with the NASA Flight Simulator for Advanced Aircraft (FSAA) at Ames Research Center for evaluation of aircraft performance and handling qualities. In addition to developing the mathematical model, a parallel programming effort was conducted utilizing Boeing-Vertol's Hybrid Simulation Laboratory for the purpose of developing and evaluating model simplification. The mathematical model is an eleven degree of freedom total force model. This model includes the basic six degree of freedom rigid body .outer loop equations written about the instantaneous center of gravity with the inertial and aerodynamic terms included. The rotor is treated as a point source of forces and moments with appropriate response time lags and actuator dynamics. The wing has one vertical bending and one wing torsion degree of freedom. These structural degrees of freedom are treated on a "quasistatic" basis; i.e., the natural frequencies of vibration of the structure are much higher than the· frequencies of the rigid body motion, and the coupling is in the aerodynamic terms. Each nacelle has an independent pitch degree of freedom about the wing pivot. The aerodynamics of the wing, tail, rotors, landing gear and fuselage are included. Wing and tail mutual interference effects and turbine engine performance and dynamic responses' are represented.

H Rosenstein↗

NASA NTRS2006

Spring Snow Melt Timing and Changes over Arctic Lands

Spring snow cover over Arctic lands has, on average, melted approximately 4-7 days earlier since the late 1980s compared to the previous 20 years. The earlier disappearance of snow has been identified in non-mountainous regions at the 60 deg and 70 deg N parallels over Eurasia and North America using visible satellite observations of continental snow cover extent (SCE) mapped by the National Oceanic and Atmospheric Administration. The change was greater in the farthest north continental locations. Northern hemisphere SCE declined by almost 10% (May) to 20% (June) between the two intervals. At latitude 70 deg N, eight segments of longitude (each 10 deg in width) show significant (negative) trends. However, only two longitudinal segments at 60 deg N show significant trends, (one positive and one negative). SCE changes coincide with increasing spring warmth and the earlier diminution of sea ice in the last several decades. However, while sea ice has continued to decrease during this recent interval, snowmelt dates in the Arctic changed in a step-like fashion during the mid to late 1980s and have remained much the same since that time.

Foster, J. L.↗

NASA NTRS2023

Electron Acceleration and Heating during Magnetic Reconnection in the Earth's Quasi-parallel Bow Shock

We perform a 2.5-dimensional particle-in-cell simulation of a quasi-parallel shock, using parameters for the Earth's bow shock, to examine electron acceleration and heating due to magnetic reconnection. The shock transition region evolves from the ion-coupled reconnection dominant stage to the electron-only reconnection dominant stage, as time elapses. The electron temperature enhances locally in each reconnection site, and ion-scale magnetic islands generated by ion-coupled reconnection show the most significant enhancement of the electron temperature. The electron energy spectrum shows a power law, with a power-law index around 6. We perform electron trajectory tracing to understand how they are energized. Some electrons interact with multiple electron-only reconnection sties, and Fermi acceleration occurs during multiple reflections. Electrons trapped in ion-scale magnetic islands can be accelerated in another mechanism. Islands move in the shock transition region, and electrons can obtain larger energy from the in-plane electric field than the electric potential in those islands. These newly found energization mechanisms in magnetic islands in the shock can accelerate electrons to energies larger than the achievable energies by the conventional energization due to the parallel electric field and shock drift acceleration. This study based on the selected particle analysis indicates that the maximum energy in the nonthermal electrons is achieved through acceleration in ion-scale islands, and electron-only reconnection accounts for no more than half of the maximum energy, as the lifetime of sub-ion-scale islands produced by electron-only reconnection is several times shorter than that of ion-scale islands.

Solar magnetic reconnection↗

NASA NTRS1977

Double-peaked ion spectra in the lobe plasma - Evidence for massive ions

Suprathermal Ion Detector Experiments (SIDE) have suggested the presence of a significant secondary peak in the ion distribution function during geomagnetic active periods when the moon is within the lobe plasma. It is observed that: (1) an increase in the primary peak bulk velocity is reflected in an increase in secondary peak bulk velocity, (2) both spectra are narrow in the instrument-look direction (assumed parallel to the flow) and peak temperatures are usually less than about 10 eV, (3) periods for double peak observations comprise about 10% of the total lobe plasma observation time, (4) assuming that peaks are caused by protons, and without correcting for lunar surface potential, primary peak bulk velocity is between about 70 and 160 km/s, and secondary peak bulk velocity is between about 360 and 840 km/s, and (5) assuming equal flow velocities outside the influence of the lunar surface potential are equal for the ions of the two peaks, and making corrections for this potential, secondary peak ions are consistent with N(+) or O(+), and the ratio of O(+) to proton number densities is usually less than about 2 x 10 to the -3rd.

Hardy, D. A.↗

NASA NTRS1979

Initial ISEE magnetometer results - Shock observation

A selection of early measurements is used to illustrate the three advantages brought by ISEE to the study of natural collisionless shocks. These advantages are the ability to resolve most space/time ambiguity by means of simultaneous two-point measurements, instrumentation to make comprehensive field and particle observations covering all important quantities, and the capacity to record data at high time resolution. Magnetic-field records from shocks of various types are presented; the types of shock include laminar, supercritical, quasi-perpendicular, high-beta, and quasi-parallel. The spacing of the two spacecraft and the resolution of the system are employed to develop numerous kinematic descriptions of the shocks and the waves that compose and surround them. Data from a single particle experiment are correlated with field data for three cases to demonstrate the important role of comprehensive instrumentation.

Russell, C. T.↗

NASA NTRS1982

Dielectric and permeability

Using the unabridged Maxwell equations (including vectors D, E and H) new effects in collisionless plasmas are uncovered. In a steady state, it is found that spatially varying energy density of the electric field (E perpendicular) orthogonal to B produces electric current leading, under certain conditions, to the relationship P perpendicular+B(2)/8 pi-epsilon E perpendicular(2)/8 pi = constant, where epsilon is the dielectric constant of the plasma for fields orthogonal to B. In steady state quasi-two-dimensional flows in plasmas, a general relationship between the components of electric field parallel and perpendicular to B is found. These effects are significant in goephysical and astrophysical plasmas. The general conditions for a steady state in collisionless plasma are deduced. With time variations in a plasma, slow compared to ion-gyroperiod, there is a general current, (j*), which includes the well-known polarisation current, given by J*=d/dt (ExM)+(PxB)xB B(-2) where M and P are the magnetization and polarization vectors respectively.

Cole, K. D.↗

NASA NTRS1984

Dielectric and permeability effects in collisionless plasmas

Using the unabridged Maxwell equations (including vectors D, E and H) new effects in collisionless plasmas are uncovered. In a steady state, it is found that spatially varying energy density of the electric field (E perpendicular) orthogonal to B produces electric current leading, under certain conditions, to the relationship P perpendicular + B(2)/8 pi-epsilon E perpendicular(2)/8 pi = constant, where epsilon is the dielectric constant of the plasma for fields orthogonal to B. In steady state quasi-two-dimensional flows in plasmas, a general relationship between the components of electric field parallel and perpendicular to B is found. These effects are significant in geophysical and astrophysical plasmas. The general conditions for a steady state in collisionless plasma are deduced. With time variations in a plasma, slow compared to ion-gyroperiod, there is a general current, (j-asterisk), which includes the well-known polarization current, given by J-asterisk = d/dt (E x M) + (P x B) x B B(-2) where M and P are the magnetization and polarization vectors respectively.

Cole, K. D.↗

NASA NTRS1985

An analysis of blade vortex interaction aerodynamics and acoustics

The impulsive noise associated with helicopter flight due to Blade-Vortex Interaction, sometimes called blade slap is analyzed especially for the case of a close encounter of the blade-tip vortex with a following blade. Three parts of the phenomena are considered: the tip-vortex structure generated by the rotating blade, the unsteady pressure produced on the following blade during the interaction, and the acoustic radiation due to the unsteady pressure field. To simplify the problem, the analysis was confined to the situation where the vortex is aligned parallel to the blade span in which case the maximum acoustic pressure results. Acoustic radiation due to the interaction is analyzed in space-fixed coordinates and in the time domain with the unsteady pressure on the blade surface as the source of chordwise compact, but spanwise non-compact radiation. Maximum acoustic pressure is related to the vortex core size and Reynolds number which are in turn functions of the blade-tip aerodynamic parameters. Finally noise reduction and performance are considered.

Lee, D. J.↗

NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. This paper describes both ROBSIM and TRSS, including their capability, status, and future plans. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. Wallace, Jr.↗

NASA NTRS1988

Acousto-ultrasonic input-output characterization of unidirectional fiber composite plate by P waves

The single reflection problem for an incident P wave at a stress free plane boundary in a semi-infinite transversely isotropic medium whose isotropic plane is parallel to the plane boundary is analyzed. It is found that an obliquely incident P wave results in a reflected P wave and a reflected SV wave. The delay time for propagation between the transmitting and the receiving transducers is computed as if the P waves were propagating in an infinite half space. The displacements associated with the P waves in the plate and which may be detected by a noncontact NDE receiving transducer are approximated by an asymptotic solution for an infinite transversely isotropic medium subjected to a harmonic point load.

Liao, Peter↗

NASA NTRS1987

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. W., Jr.↗

NASA NTRS1989

NASA/GSFC split-rail parallel gripper

The current state of development of the NASA/GSFC (Goddard Space Flight Center) Split-Rail Parallel Gripper (SRPG) is described. The SPRG has been shown to be a high performance gripper for industrial robots. It has a precise wide throw and at the same time, it is light, simple, compact, rugged, and jam-proof against side loads. Originated at the National Bureau of Standards (NBS), this gripper is undergoing further development at NASA/GSFC in pursuit of two goals: as a potential gripper for robots in space and as the basis for sensory-interactive industrial gripper as part of NASA's technology utilization program. The gripper design features, its principles of operation and how it is constructed are described. Test results are included.

Vranish, John M.↗

NASA NTRS1989

Dynamical diffraction imaging (topography) with X-ray synchrotron radiation

By contrast to electron microscopy, which yields information on the location of features in small regions of materials, X-ray diffraction imaging can portray minute deviations from perfect crystalline order over larger areas. Synchrotron radiation-based X-ray optics technology uses a highly parallel incident beam to eliminate ambiguities in the interpretation of image details; scattering phenomena previously unobserved are now readily detected. Synchrotron diffraction imaging renders high-resolution, real-time, in situ observations of materials under pertinent environmental conditions possible.

Kuriyama, M.↗

NASA NTRS1991

Video Pipeline Tree For Scan Conversion Of Triangles

Scenes containing many polygons generated in real time. Video pipeline subsystem having branched structure performs scan conversion of polygons in images generated by computers. New subsystem divides polygons into triangles, each of which processed rapidly in parallel, modular fashion and merged into image.

Robinett, Warren↗