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At least 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS1976

Issues in advanced automation for manipulator control

This paper provides a brief description and analysis of the main issues in advanced autonomous control of manipulators as seen from a system point of view. The nature of manipulation is analyzed at some depth. A general multilevel structure is outlined for manipulator control organization which includes the human operator at the top level of the control structure. Different approaches to the development of advanced automation of mechanical arms are summarized. Recent work in the JPL teleoperator project is described, including control system, force/torque sensor, and control software development. Some results from control experiments are summarized.

Bejczy, A. K.↗
NASA NTRS1976

Pattern recognition and control in manipulation

A new approach to the use of sensors in manipulator or robot control is discussed. The concept addresses the problem of contact or near-contact type of recognition of three-dimensional forms of objects by proprioceptive and/or exteroceptive sensors integrated with the terminal device. This recognition of object shapes both enhances and simplifies the automation of object handling. Several examples have been worked out for the 'Belgrade hand' and for a parallel jaw terminal device, both equipped with proprioceptive (position) and exteroceptive (proximity) sensors. The control applications are discussed in the framework of a multilevel man-machine system control. The control applications create interesting new issues which, in turn, invite novel theoretical considerations. An important issue is the problem of stability in control when the control is referenced to patterns.

Bejczy, A. K.↗
NASA NTRS1976

The unified data system - A distributed processing network for control and data handling on a spacecraft

This paper presents the results obtained in a continuing investigation of real-time distributed processing systems which is being conducted at the Jet Propulsion Laboratory. A distributed processor architecture has been developed for control and data handling on a planetary spacecraft. This system, designated the Unified Data System, has been implemented in a feasibility breadboard. The following aspects of the Unified Data System are described: (1) standardized building block elements and their configuration into microprocessor modules, (2) a highly redundant bus structure which connects the various modules and facilitates intercommunications with minimal software support, (3) the structure of software within the individual modules and its coordination between modules, and (4) the mechanisms by which fault-tolerance can be implemented within the network. Through the attributes of multilevel standardization, simplicity, and flexibility, this system is expected to result in significant cost savings to future spacecraft missions.

Rennels, D. A.↗
NASA NTRS1976

Laser induced fluorescence applied to turbulent reacting flows

The saturated fluorescence method makes use of the great simplifications which occur when under conditions of intense radiation the excitation process becomes saturated. A description is presented of the saturated fluorescence method, taking into account rate equations and saturation, radiative transfer, the two-level system, a multilevel system, and measurements under saturation conditions. The detectability limits of the method are investigated. Fluorescence trapping is found to place an upper limit on the number density of the fluorescing species that can be measured without signal loss. Turbulence places time and spatial constraints on the measurements, but otherwise poses no difficulties. Saturated laser induced fluorescence spectroscopy appears to be a most promising method for measuring species concentrations in flames.

Daily, J. W.↗
NASA NTRS1977

Landsat imagery for surface-mine inventory

The feasibility of using Landsat imagery for routine monitoring of surface mining and reclamation was tested in a two-county (1541 sq km) area of western Maryland. Two digital analysis methods were studied. The first, a four-band analysis distinguishing various strip mine associated classes and conditions, proved useful, but has limited extendibility over a seasonal or annual period. In the second approach, a band-ratio method was developed for measuring disturbed surface areas, and it proved to be both temporally and geographically extendible. For mines ranging between 31 and 244 acres, the measurement accuracy of total affected acreage was 92%. The use of Landsat satellite data together with multilevel sampling of aircraft and field verification inspections has shown that multispectral analysis of digital data is an effective means of monitoring the progress of surface mining operations.

Anderson, A. T.↗
NASA NTRS1977

The application of LANDSAT-1 imagery for monitoring strip mines in the new river watershed in northeast Tennessee, part 2

The author has identified the following significant results. LANDSAT imagery and supplementary aircraft photography of the New River drainage basin were subjected to a multilevel analysis using conventional photointerpretation methods, densitometric techniques, multispectral analysis, and statistical tests to determine the accuracy of LANDSAT-1 imagery for measuring strip mines of common size. The LANDSAT areas were compared with low altitude measurements. The average accuracy over all the mined land sample areas mapped from LANDSAT-1 was 90%. The discrimination of strip mine subcategories is somewhat limited on LANDSAT imagery. A mine site, whether active or inactive, can be inferred by lack of vegetation, by shape, or image texture. Mine ponds are difficult or impossible to detect because of their small size and turbidity. Unless bordered and contrasted with vegetation, haulage roads are impossible to delineate. Preparation plants and refuge areas are not detectable. Density slicing of LANDSAT band 7 proved most useful in the detection of reclamation progress within the mined areas. For most state requirements for year-round monitoring of surface mined land, LANDSAT is of limited value. However, for periodic updating of regional surface maps, LANDSAT may provide sufficient accuracies for some users.

Shahrokhi, F.↗
NASA NTRS1977

Laser drilling of vias in dielectric for high density multilayer LSHI thick film circuits

A design analysis of a high density multilevel thick film digital microcircuit used for large scale integration is presented. The circuit employs 4 mil lines, 4 mil spaces and requires 4 mil diameter vias. Present screened and fired thick film technology is limited on a production basis to 16 mil square vias. A process whereby 4 mil diameter vias can be fabricated in production using laser technology was described along with a process to produce 4 mil diameter vias for conductor patterns which have 4 mil lines and 4 mil spacings.

Cocca, T.↗
NASA NTRS1978

On decentralized estimation

A multilevel scheme is proposed to construct decentralized estimators for large linear systems. The scheme is numerically attractive since only observability tests of low-order subsystems are required. Equally important is the fact that the constructed estimators are reliable under structural perturbations and can tolerate a wide range of nonlinearities in coupling among the subsystems.

Siljak, D. D.↗
NASA NTRS1977

The application of satellite data in monitoring strip mines

Strip mines in the New River Drainage Basin of Tennessee were studied through use of Landsat-1 imagery and aircraft photography. A multilevel analysis, involving conventional photo interpretation techniques, densitometric methods, multispectral analysis and statistical testing was applied to the data. The Landsat imagery proved adequate for monitoring large-scale change resulting from active mining and land-reclamation projects. However, the spatial resolution of the satellite imagery rendered it inadequate for assessment of many smaller strip mines, in the region which may be as small as a few hectares.

Sharber, L. A.↗
NASA NTRS1978

Substructuring techniques - Status and projections

Substructuring techniques are examined in terms of their application to structural analysis. Attention is given to multilevel substructuring algorithms, hypermatrix and other sparse matrix schemes, automated design systems, and elasto-plastic problems. Applications include use with computing hardware such as CDC STAR-100 and minicomputer systems.

Noor, A. K.↗
NASA NTRS1980

A flexible data base

Report describes hierarchical multilevel, multientry-point data file, and methodology of developing such file for unit-record-oriented system. Data base structure was prepared for Goldstone Energy Project where it is used in analyzing past energy consumption, predicting future consumption, and aiding design of buildings.

Cole, E. R.↗
NASA NTRS1980

Multilayer metalization of MOS IC's

Modified ion-bombardment technqiue interconnects MOS circuit elements without affecting circuit parameters. Multilevel metalization involves: surface treatment prior to metalization; first metalization; metal pattern definition and photoresist removal; dielectric deposition; second metalization; and final dielectric deposition.

Bouldin, D. L.↗
NASA NTRS1978

Space construction base control system

Aspects of an attitude control system were studied and developed for a large space base that is structurally flexible and whose mass properties change rather dramatically during its orbital lifetime. Topics of discussion include the following: (1) space base orbital pointing and maneuvering; (2) angular momentum sizing of actuators; (3) momentum desaturation selection and sizing; (4) multilevel control technique applied to configuration one; (5) one-dimensional model simulation; (6) N-body discrete coordinate simulation; (7) structural analysis math model formulation; and (8) discussion of control problems and control methods.

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NASA NTRS1979

Nonequilibrium radiative heating of a Jovian entry body

The influence of nonlocal thermodynamic equilibrium (NLTE) radiative transfer on radiative and convective heating of a Jovian entry body is investigated. The flow in the shock layer is assumed to be axisymmetric, viscous, and in chemical equilibrium. The chemical species considered for the collisional deactivation processes are H2, H, H+. The NLTE radiative transfer equations are derived for multilevel energy transitions. The rotational and vibrational energy modes are assumed to be in local thermodynamic equilibrium. The results indicate that higher-level energy transitions have little influence on the overall NLTE results. The NLTE results, however, are found to be greatly influenced by the temperature distributions in the shock layer. The convective and radiative heating to the entry body are reduced significantly because of the NLTE conditions; the reduction in convective heating, however, is relatively small. The influence of NLTE is found to be greater at higher entry altitudes.

Tiwari, S. N.↗
NASA NTRS1979

On the ionization equilibrium balance

Ionization equilibrium for the most astrophysically abundant elements are calculated using multilevel atomic models for several stages of ionization. It is found that the relative abundance of the lithium-, beryllium-, and boron-like ions at electron densities as low as 1 million per cu cm is density-dependent. Because of this dependence, the intensity of lines arising from ions of the Li, Be, and B isoelectronic sequences are density-sensitive. The general implications of these results as applied to solar and stellar atmospheric models, coronal abundances, and spectroscopic diagnostic techniques are discussed.

Vernazza, J. E.↗
NASA NTRS1979

Pilot control through the TAFCOS automatic flight control system

The set of flight control logic used in a recently completed flight test program to evaluate the total automatic flight control system (TAFCOS) with the controller operating in a fully automatic mode, was used to perform an unmanned simulation on an IBM 360 computer in which the TAFCOS concept was extended to provide a multilevel pilot interface. A pilot TAFCOS interface for direct pilot control by use of a velocity-control-wheel-steering mode was defined as well as a means for calling up conventional autopilot modes. It is concluded that the TAFCOS structure is easily adaptable to the addition of a pilot control through a stick-wheel-throttle control similar to conventional airplane controls. Conventional autopilot modes, such as airspeed-hold, altitude-hold, heading-hold, and flight path angle-hold, can also be included.

Wehrend, W. R., Jr.↗
NASA NTRS1979

Space construction base control system

Several approaches for an attitude control system are studied and developed for a large space construction base that is structurally flexible. Digital simulations were obtained using the following techniques: (1) the multivariable Nyquist array method combined with closed loop pole allocation, (2) the linear quadratic regulator method. Equations for the three-axis simulation using the multilevel control method were generated and are presented. Several alternate control approaches are also described. A technique is demonstrated for obtaining the dynamic structural properties of a vehicle which is constructed of two or more submodules of known dynamic characteristics.

Kaczynski, R. F.↗
NASA NTRS1978

Cloud Top Scanning radiometer (CTS)

A scanning radiometer to be used for measuring cloud radiances in each of three spectral regions is described. Significant features incorporated in the Cloud Top Scanner design are: (1) flexibility and growth potential through use of easily replaceable modular detectors and filters; (2) full aperture, multilevel inflight calibration; (3) inherent channel registration through employment of a single shared field stop; and (4) radiometric sensitivity margin in a compact optical design through use of Honeywell developed (Hg,Cd)Te detectors and preamplifiers.

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