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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.

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At least 19 records

All sources NASA NTRS DOE OSTI

NASA NTRS1991

Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

Lee, J.↗

NASA NTRS2012

Orion Script Generator

NASA Engineering's Orion Script Generator (OSG) is a program designed to run on Exploration Flight Test One Software. The script generator creates a SuperScript file that, when run, accepts the filename for a listing of Compact Unique Identifiers (CUIs). These CUIs will correspond to different variables on the Orion spacecraft, such as the temperature of a component X, the active or inactive status of another component Y, and so on. OSG will use a linked database to retrieve the value for each CUI, such as "100 05," "True," and so on. Finally, OSG writes SuperScript code to display each of these variables before outputting the ssi file that allows recipients to view a graphical representation of Orion Flight Test One's status through these variables. This project's main challenge was creating flexible software that accepts and transfers many types of data, from Boolean (true or false) values to "Unsigned Long Long'' values (any number from 0 to 18,446,744,073,709,551,615). We also needed to allow bit manipulation for each variable, requiring us to program functions that could convert any of the multiple types of data into binary code. Throughout the project, we explored different methods to optimize the speed of working with the CUI database and long binary numbers. For example, the program handled extended binary numbers much more efficiently when we stored them as collections of Boolean values (true or false representing 1 or 0) instead of as collections of character strings or numbers. We also strove to make OSG as user-friendly and accommodating of different needs as possible its default behavior is to display a current CUI's maximum value and minimum value with three to five intermediate values in between, all in descending order. Fortunately, users can also add other input on the same lines as each CUI name to request different high values, low values, display options (ascending, sine, and so on), and interval sizes for generating intermediate values. Developing input validation took up quite a bit of time, but OSG's flexibility in the end was worth it.

Dooling, Robert J.↗

NASA NTRS1992

Fortran for the nineties

Fortran has largely enjoyed prominence for the past few decades as the computer programming language of choice for numerically intensive scientific, engineering, and process control applications. Fortran's well understood static language syntax has allowed resulting parsers and compiler optimizing technologies to often generate among the most efficient and fastest run-time executables, particularly on high-end scalar and vector supercomputers. Computing architectures and paradigms have changed considerably since the last ANSI/ISO Fortran release in 1978, and while FORTRAN 77 has more than survived, it's aged features provide only partial functionality for today's demanding computing environments. The simple block procedural languages have been necessarily evolving, or giving way, to specialized supercomputing, network resource, and object-oriented paradigms. To address these new computing demands, ANSI has worked for the last 12-years with three international public reviews to deliver Fortran 90. Fortran 90 has superseded and replaced ISO FORTRAN 77 internationally as the sole Fortran standard; while in the US, Fortran 90 is expected to be adopted as the ANSI standard this summer, coexisting with ANSI FORTRAN 77 until at least 1996. The development path and current state of Fortran will be briefly described highlighting the many new Fortran 90 syntactic and semantic additions which support (among others): free form source; array syntax; new control structures; modules and interfaces; pointers; derived data types; dynamic memory; enhanced I/O; operator overloading; data abstraction; user optional arguments; new intrinsics for array, bit manipulation, and system inquiry; and enhanced portability through better generic control of underlying system arithmetic models. Examples from dynamical astronomy, signal and image processing will attempt to illustrate Fortran 90's applicability to today's general scalar, vector, and parallel scientific and engineering requirements and object oriented programming paradigms. Time permitting, current work proceeding on the future development of Fortran 2000 and collateral standards will be introduced.

Himer, J. T.↗

NASA NTRS2013

Memory-Efficient Onboard Rock Segmentation

Rockster-MER is an autonomous perception capability that was uploaded to the Mars Exploration Rover Opportunity in December 2009. This software provides the vision front end for a larger software system known as AEGIS (Autonomous Exploration for Gathering Increased Science), which was recently named 2011 NASA Software of the Year. As the first step in AEGIS, Rockster-MER analyzes an image captured by the rover, and detects and automatically identifies the boundary contours of rocks and regions of outcrop present in the scene. This initial segmentation step reduces the data volume from millions of pixels into hundreds (or fewer) of rock contours. Subsequent stages of AEGIS then prioritize the best rocks according to scientist- defined preferences and take high-resolution, follow-up observations. Rockster-MER has performed robustly from the outset on the Mars surface under challenging conditions. Rockster-MER is a specially adapted, embedded version of the original Rockster algorithm ("Rock Segmentation Through Edge Regrouping," (NPO- 44417) Software Tech Briefs, September 2008, p. 25). Although the new version performs the same basic task as the original code, the software has been (1) significantly upgraded to overcome the severe onboard re source limitations (CPU, memory, power, time) and (2) "bulletproofed" through code reviews and extensive testing and profiling to avoid the occurrence of faults. Because of the limited computational power of the RAD6000 flight processor on Opportunity (roughly two orders of magnitude slower than a modern workstation), the algorithm was heavily tuned to improve its speed. Several functional elements of the original algorithm were removed as a result of an extensive cost/benefit analysis conducted on a large set of archived rover images. The algorithm was also required to operate below a stringent 4MB high-water memory ceiling; hence, numerous tricks and strategies were introduced to reduce the memory footprint. Local filtering operations were re-coded to operate on horizontal data stripes across the image. Data types were reduced to smaller sizes where possible. Binary- valued intermediate results were squeezed into a more compact, one-bit-per-pixel representation through bit packing and bit manipulation macros. An estimated 16-fold reduction in memory footprint relative to the original Rockster algorithm was achieved. The resulting memory footprint is less than four times the base image size. Also, memory allocation calls were modified to draw from a static pool and consolidated to reduce memory management overhead and fragmentation. Rockster-MER has now been run onboard Opportunity numerous times as part of AEGIS with exceptional performance. Sample results are available on the AEGIS website at http://aegis.jpl.nasa.gov.

Burl, Michael C.↗

NASA NTRS1988

Subroutines For Image Processing

Image Processing Library computer program, IPLIB, is collection of subroutines facilitating use of COMTAL image-processing system driven by HP 1000 computer. Functions include addition or subtraction of two images with or without scaling, display of color or monochrome images, digitization of image from television camera, display of test pattern, manipulation of bits, and clearing of screen. Provides capability to read or write points, lines, and pixels from image; read or write at location of cursor; and read or write array of integers into COMTAL memory. Written in FORTRAN 77.

Faulcon, Nettie D.↗

NASA NTRS2022

Robotics Verification and Validation Strategies for Perseverance Rover Sampling and Caching

The Mars 2020 Sampling and Caching Subsystem(SCS) is the most complex robotic system ever fielded on a MarsRover. It includes a 5 degree-of-freedom Robotic Arm, coringdrill, gas Dust Removal Tool, interfaces for two turret-mountedinstruments, and an Adaptive Caching Assembly (ACA). TheACA is itself a complex robotic system, containing hardware tosupport docking and bit exchange, a 3 degree-of-freedomSample Handling Assembly for manipulating sample tubes,storage for several drill bits and sample tubes, and mechanismsto support observing and sealing samples collected by the drill.To successfully verify and validate the SCS hardware andsoftware and its integration with the Mars 2020 flight systemseveral key strategies were employed.The SCS Verification and Validation (V&V) program utilizedmultiple test venues with tiered levels of fidelity. These includedsimulation and visualization software environments, low fidelitydevelopment testbeds, testbeds with high fidelity SCS hardwareand commercial off-the shelf avionics, integrated systemtestbeds with flight-like avionics, and environmental testbedscapable of simulating Martian surface temperature andpressure. Multiple units of each SCS hardware componentmoved fluidly between test venues to accomplish myriadstandalone and coordinated test objectives. Test preparationand executions were performed by a diverse team of engineerswith training and technical ownership tailored for individualexperience and role. Despite significant differences between testvenues, the SCS V&V team established efficient and consistentprocesses and tools for procedure development, test execution,and data review that enabled personnel, as well as technicalproducts such as sequences and parameter configurations, toflow between venues effectively. A series of benchmark testsprovided evidence of performance consistency as elements weretransferred between venues and as system capability evolved.This paper provides an overview of the SCS V&V program andexplores several overarching strategies that enabled successfuloperation in the face of unprecedented complexity. Keyoutcomes of the SCS validation effort are summarized, alongwith lessons learned and beneficial integrations of validationtool and process innovations into Mars surface operations.

Brooks, Sawyer↗

NASA NTRS1983

The Development of a Digital Processing System for Accurate Range Determinations

The development of an accurate close range (from 0.0 meters to 30.0 meters) radar system for Teleoperator Maneuvering Systems (TMS) is discussed. The system under investigation is a digital processor that converts incoming signals from the radar system into their related frequency spectra. Identification will be attempted by correlating spectral characteristics with accurate range determinataions. The system will utilize an analog to digital converter for sampling and converting the signal from the radar system into 16-bit digital words (two bytes) for RAM storage, data manipulations, and computations. To remove unwanted frequency components the data will be retrieved from RAM and digitally filtered using large scale integration (LSI) circuits. Filtering will be performed by a biquadratic routine within the chip which carries out the required filter algorithm. For conversion to a frequency spectrum the filtered data will be processed by a Fast Fourier Transform chip. Analysis and identification of spectral characteristics for accurate range determinations will be made by microcomputer computations.

Pujol, A., Jr.↗

NASA NTRS1992

The simulation of multispectral composite satellite imagery on 8-bit color workstations

A technique is described which combines up to three channels of imagery into a single 8-bit composite color image. Each image controls a specific color or colors (red, green, or blue) in the resultant color composite image, allowing for improved interpretation of scene characteristics. The technique is a useful tool for the forecaster and satellite image analyst. In addition to providing the capability of displaying multichannel images on an 8-bit desktop color workstation, the technique allows sophisticated image manipulation to be performed.

Griffin, Michael K.↗

NASA NTRS1972

Optimal read/write memory system components

Two holographic data storage and display systems, voltage gradient ionization system, and linear strain manipulation system are discussed in terms of creating fast, high bit density, storage device. Components described include: novel mounting fixture for photoplastic arrays; corona discharge device; and block data composer.

Kozma, A.↗

NASA NTRS1981

Video framerate, resolution and grayscale tradeoffs for undersea telemanipulator

The product of Frame Rate (F) in frames per second, Resolution (R) in total pixels and grayscale in bits (G) equals the transmission band rate in bits per second. Thus for a fixed channel capacity there are tradeoffs between F, R and G in the actual sampling of the picture for a particular manual control task in the present case remote undersea manipulation. A manipulator was used in the MASTER/SLAVE mode to study these tradeoffs. Images were systematically degraded from 28 frames per second, 128 x 128 pixels and 16 levels (4 bits) grayscale, with various FRG combinations constructed from a real-time digitized (charge-injection) video camera. It was found that frame rate, resolution and grayscale could be independently reduced without preventing the operator from accomplishing his/her task. Threshold points were found beyond which degradation would prevent any successful performance. A general conclusion is that a well trained operator can perform familiar remote manipulator tasks with a considerably degrade picture, down to 50 K bits/ sec.

Ranadive, V.↗

NASA NTRS1986

POLYSITE - An interactive package for the selection and refinement of Landsat image training sites

A versatile multifunction package, POLYSITE, developed for Goddard's Land Analysis System, is described which simplifies the process of interactively selecting and correcting the sites used to study Landsat TM and MSS images. Image switching between the zoomed and nonzoomed image, color and shape cursor change and location display, and bit plane erase or color change, are global functions which are active at all times. Local functions possibly include manipulation of intensive study areas, new site definition, mensuration, and new image copying. The program is illustrated with the example of a full TM maser scene of metropolitan Washington, DC.

Mack, Marilyn J. P.↗

NASA NTRS1979

Digital Image Display Control System, DIDCS

DIDCS is an interactive image display and manipulation system that is used for a variety of astronomical image reduction and analysis operations. The hardware system consists of a PDP 11/40 main frame with 32K of 16-bit core memory; 96K of 16-bit MOS memory; two 9 track 800 BPI tape drives; eight 2.5 million byte RKO5 type disk packs, three user terminals, and a COMTAL 8000-S display system which has sufficient memory to store and display three 512 x 512 x 8 bit images along with an overlay plane and function table for each image, a pseudo color table and the capability for displaying true color. The software system is based around the language FORTH, which will permit an open ended dictionary of user level words for image analyses and display. A description of the hardware and software systems will be presented along with examples of the types of astronomical research that are being performed. Also a short discussion of the commonality and exchange of this type of image analysis system will be given.

Fischel, D.↗

NASA NTRS1972

Coordination and establishment of centralized facilities and services for the University of Alaska ERTS survey of the Alaskan environment

The author has identified the following significant results. Specifications have been prepared for the engineering design and construction of a digital color display unit which will be used for automatic processing of ERTS data. The color display unit is a disk refresh memory with computer interfaced input and a color cathode ray tube output display. The system features both analog and digital post disk data manipulation and a versatile color coding device suitable for displaying not only images, but also computer generated graphics such as diagrams, maps, and overlays. Input is from IBM compatible 9 track, 800 BPI tapes, as generated by an IBM 360 computer. ERTS digital tapes are read into the 360, where various analyses such as maximum likelihood classification are performed and the results are written on a magnetic tape which is the input to the color display unit. The greatest versatility in the data manipulation area is provided by the minicomputer built into the color display unit, which is off-line from the main 360 computer. The minicomputer is able to read any line from the refresh disk and place it in its 4K-16 bit memory. Considerable flexibility is available for post-processing enhancement of images by the investigator.

Belon, A. E.↗

NASA NTRS1992

Software Operates On Bit-Map Images

PIXTOOLS is software for Silicon Graphics IRIS consisting of thirteen programs plus library for operating on bit-map images. Enables user to create, edit, and save high-resolution images in forms in which displayed on video screens, resize them, and capture them. Eleven programs print information and read and write files. Two offer graphical interfaces. Menus enable manipulation of images and background color and saving of an image screen to file. Written in C.

Choi, Diana↗

NASA NTRS2011

Experimental Results of Rover-Based Coring and Caching

Experimental results are presented for experiments performed using a prototype rover-based sample coring and caching system. The system consists of a rotary percussive coring tool on a five degree-of-freedom manipulator arm mounted on a FIDO-class rover and a sample caching subsystem mounted on the rover. Coring and caching experiments were performed in a laboratory setting and in a field test at Mono Lake, California. Rock abrasion experiments using an abrading bit on the coring tool were also performed. The experiments indicate that the sample acquisition and caching architecture is viable for use in a 2018 timeframe Mars caching mission and that rock abrasion using an abrading bit may be feasible in place of a dedicated rock abrasion tool.

coring↗

NASA NTRS1981

SAR processing on the MPP

The processing of synthetic aperture radar (SAR) signals using the massively parallel processor (MPP) is discussed. The fast Fourier transform convolution procedures employed in the algorithms are described. The MPP architecture comprises an array unit (ARU) which processes arrays of data; an array control unit which controls the operation of the ARU and performs scalar arithmetic; a program and data management unit which controls the flow of data; and a unique staging memory (SM) which buffers and permutes data. The ARU contains a 128 by 128 array of bit-serial processing elements (PE). Two-by-four surarrays of PE's are packaged in a custom VLSI HCMOS chip. The staging memory is a large multidimensional-access memory which buffers and permutes data flowing with the system. Efficient SAR processing is achieved via ARU communication paths and SM data manipulation. Real time processing capability can be realized via a multiple ARU, multiple SM configuration.

Batcher, K. E.↗

NASA NTRS1979

NASF transposition network: A computing network for unscrambling p-ordered vectors

The viewpoints of design, programming, and application of the transportation network (TN) is presented. The TN is a programmable combinational logic network that connects 521 memory modules to 512 processors. The unscrambling of p-ordered vectors to 1-ordered vectors in one cycle is described. The TN design is based upon the concept of cyclic groups from abstract algebra and primitive roots and indices from number theory. The programming of the TN is very simple, requiring only 20 bits: 10 bits for offset control and 10 bits for barrel switch shift control. This simple control is executed by the control unit (CU), not the processors. Any memory access by a processor must be coordinated with the CU and wait for all other processors to come to a synchronization point. These wait and synchronization events can be a degradation in performance to a computation. The TN application is for multidimensional data manipulation, matrix processing, and data sorting, and can also perform a perfect shuffle. Unlike other more complicated and powerful permutation networks, the TN cannot, if possible at all, unscramble non-p-ordered vectors in one cycle.

Lim, R. S.↗

NASA NTRS2004

Second-Generation Six-Limbed Experimental Robot

The figure shows the LEMUR II - the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR), which was described in "Six-Legged Experimental Robot" (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II incorporates a number of improvements, including new features, that extend its capabilities beyond those of its predecessor, which is now denoted the LEMUR I. To recapitulate: the LEMUR I was a six-limbed robot for demonstrating robotic capabilities for assembly, maintenance, and inspection. The LEMUR I was designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location and to perform other operations. The LEMUR I was equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. It was also equipped with a wireless modem, through which it could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations with one or both of its front limbs. It could also transmit images to a host computer. Each of the six limbs of the LEMUR I was operated independently. Each of the four rear limbs had three degrees of freedom (DOFs), while each of the front two limbs had four DOFs. The front two limbs were designed to hold, operate, and/or be integrated with tools. The LEMUR I included an onboard computer equipped with an assortment of digital control circuits, digital input/output circuits, analog-to-digital converters for input, and digital-to-analog (D/A) converters for output. Feedback from optical encoders in the limb actuators was utilized for closed-loop microcomputer control of the positions and velocities of the actuators. The LEMUR II incorporates the following improvements over the LEMUR I: a) The drive trains for the joints of the LEMUR II are more sophisticated, providing greater torque and accuracy. b) The six limbs are arranged symmetrically about a hexagonal body platform instead of in straight lines along the sides. This symmetrical arrangement is more conducive to omnidirectional movement in a plane. c) The number of degrees of freedom of each of the rear four limbs has been increased by one. Now, every limb has four degrees of freedom: three at the hip (or shoulder, depending on one s perspective) and one at the knee (or elbow, depending on one s perspective). d) Now every limb (instead of only the two front limbs) can perform operations. For this purpose, each limb is tipped with an improved quick-release mechanism for swapping of end-effector tools. e) New end-effector tools have been developed. These include an instrumented rotary driver that accepts all tool bits that have 0.125-in. (3.175-mm)-diameter shanks, a charge-coupled-device video camera, a super bright light-emitting diode for illuminating the work area of the robot, and a generic collet tool that can be quickly and inexpensively modified to accept any cylindrical object up to 0.5 in. (12.7 mm) in diameter. f) The stereoscopic cameras are mounted on a carriage that moves along a circular track, thereby providing for omnidirectional machine vision. g) The control software has been augmented with software that implements innovations reported in two prior NASA Tech Briefs articles: the HIPS algorithm ["Hybrid Image-Plane/Stereo Manipulation" (NPO-30492), Vol. 28, No. 7 (July 2004), page 55] and the CAMPOUT architecture ["An Architecture for Controlling Multiple Robots" (NPO-30345), Vol. 28, No. 10 (October 2004), page 65].

Kennedy, Brett↗