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All sourcesNASA NTRSDOE OSTI
NASA NTRS2004

Data Longevity Beyond 2010

The current cache of S/X-band geodetic/astrometric VLBI data accumulated since 1979 is approx. 5 million observations and is increasing by approx. 300,000 observations per year. The long time interval and access to all such VLBI data for re-analysis have contributed to their usefulness for the terrestrial and celestial reference frames, Earth orientation parameters, tidal and non-tidal loading, and troposphere. While data access and integrity have been maintained through the Mark III data base system as storage devices and media have evolved, past transitions have been major projects. A new format and retention concept to ensure eternal archiving and access should make use of self-documentation, generalized media, network connectivity and multiple redundancy. Similarly permanent organizations or sequences of organizations are also necessary.

Ma, Chopo↗
NASA NTRS1989

PVDaCS - A prototype knowledge-based expert system for certification of spacecraft data

On-line data management techniques to certify spacecraft information are mandated by increasing telemetry rates. Knowledge-based expert systems offer the ability to certify data electronically without the need for time-consuming human interaction. Issues of automatic certification are explored by designing a knowledge-based expert system to certify data from a scientific instrument, the Orbiter Ultraviolet Spectrometer, on an operating NASA planetary spacecraft, Pioneer Venus. The resulting rule-based system, called PVDaCS (Pioneer Venus Data Certification System), is a functional prototype demonstrating the concepts of a larger system design. A key element of the system design is the representation of an expert's knowledge through the usage of well ordered sequences. PVDaCS produces a certification value derived from expert knowledge and an analysis of the instrument's operation. Results of system performance are presented.

Wharton, Cathleen↗
NASA NTRS2009

Architectural Analysis of Complex Evolving Systems of Systems

The goal of this collaborative project between FC-MD, APL, and GSFC and supported by NASA IV&V Software Assurance Research Program (SARP), was to develop a tool, Dynamic SAVE, or Dyn-SAVE for short, for analyzing architectures of systems of systems. The project team was comprised of the principal investigator (PI) from FC-MD and four other FC-MD scientists (part time) and several FC-MD students (full time), as well as, two APL software architects (part time), and one NASA POC (part time). The PI and FC-MD scientists together with APL architects were responsible for requirements analysis, and for applying and evaluating the Dyn-SAVE tool and method. The PI and a group of FC-MD scientists were responsible for improving the method and conducting outreach activities, while another group of FC-MD scientists were responsible for development and improvement of the tool. Oversight and reporting was conducted by the PI and NASA POC. The project team produced many results including several prototypes of the Dyn-SAVE tool and method, several case studies documenting how the tool and method was applied to APL s software systems, and several published papers in highly respected conferences and journals. Dyn-SAVE as developed and enhanced throughout this research period, is a software tool intended for software developers and architects, software integration testers, and persons who need to analyze software systems from the point of view of how it communicates with other systems. Using the tool, the user specifies the planned communication behavior of the system modeled as a sequence diagram. The user then captures and imports the actual communication behavior of the system, which is then converted and visualized as a sequence diagram by Dyn-SAVE. After mapping the planned to the actual and specifying parameter and timing constraints, Dyn-SAVE detects and highlights deviations between the planned and the actual behavior. Requirements based on the need to analyze two inter-system communication protocols that are representative of protocols used in the Aerospace industry have been specified. The protocols are related: APL s Common Ground System (CGS) as used in the MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) and the Radiation Belt Space Probes (RBSP) missions. The analyzed communications were implementations of the Telemetry protocol and the CCSDS File Delivery Protocol (CFDP) protocol. Based on these requirements, three prototypes of Dyn-SAVE were developed and applied to these protocols. The application of Dyn-SAVE to these protocols resulted in the detection of several issues. Dyn-SAVE was also applied to several Testbeds that have previously been used for experimentation earlier on this project, as well as, to other protocols and logs for testing its broader applicability. For example, Dyn-SAVE was used to analyze 1) the communication pattern between a web browser and a web server, 2) the system log of a computer in order to detect offnominal computer shut-down behavior, and 3) the actual test cases of NASA Goddard s Core Flight System (CFS) and automatically generated test cases in order to determine the overlap between the two sets of test cases. In all cases, Dyn-SAVE assisted in providing insightful conclusions about each of the cases identified above.

Lindvall, Mikael↗
NASA NTRS1986

Tether crawler system

A crawler system is designed to move a low-g/variable-g laboratory module along a tether between the Space Station and an attached space platform. An analysis is made of the effects of control law parameter change on the displacement, velocity, and acceleration of the crawler system. The control law is then modified by the addition of a constant-velocity section and the values of distance traveled, velocity, and acceleration are analyzed as a function of time. The power and torque equations are derived for a crawler system moving along a tether in orbit and numerical values of power and torque required for each prescribed movement are calculated versus time for four different cases using the control laws. A two-step control sequence is selected to permit initial location along the tether by distance traveled, followed by a vernier movement to reach the final desired constant net acceleration level. The components for the control system are identified and arranged in a block disgram configuration. The support subsystems are also identified. The sections were integrated to develop a procedure for the determination of crawler system performance requirements and the initial design of tether crawler systems.

Swanson, Frank R.↗
NASA NTRS1988

Extended period of K/T boundary mass extinction in the marine realm

The Cretaceous/Tertiary (K/T) boundary mass extinction has been widely recognized as a nearly instantaneous catastrophy among marine plankton such as foraminifera. However, the suddenness of this extinction event may have been overemphasized because most pelagic K/T boundary sequences are stratigraphically incomplete and generally lack the earliest Tertiary (Zones P0 and P1a) either due to carbonate dissolution and/or non-deposition. Stratigraphically complete sections appear to be restricted to continental shelf regions with high sedimentation rates and deposition well above the CCD. Such sections have been recovered from El Kef, Tunisia (1) and Brazos River, Texas. Quantitative foraminiferal analysis of these sections indicate an extinction pattern beginning below the K/T boundary and ending above the boundary. These data imply that the mass extinction event was not geologically instantaneous, but occurred over an extended period of time. Evidence supporting this conclusion is discussed.

Keller, G.↗
NASA NTRS2009

Alternative Representations of Convective Processes in the NASA GEOS-5 AGCM

The gap in explicit resolution of phenomena between global climate models and cloud resolving models is shrinking at a steady pace with global integrations of several km in resolution now practical for at least some time scales. In moving toward finer resolution the long standing problem of convective parameterization is being examined along with the assumption of convective quasi-equilibrium and how this can be reconciled with the stochastic and intermittent nature of convection. In this context we examine the nature of parameterized convection in the NASA Goddard Earth Observing System (GEOS-5) Atmospheric General Circulation Model. Our analysis uses both coarse (2.5 degree) and fine scale 0.25 degree spatial resolution integrations. Two basic formulations are compared: the default option is the Relaxed Arakawa-Schubert (RAS) scheme which invokes a sequence of linearly entraining plumes and quasi-equilibrium closure. An optional modification of this method (the "Stochastic Tokioka" constraint) places a random lower limit on plume entrainment. An alternative representation is the Kain-Fritsch parameterization which was originally developed for mesoscale numerical modeling strategies. Here entrainment is determined by a crude buoyancy sorting approach that allows the plume spectrum to be more responsive to ambient vertical stratification of moisture. Diagnostics of the model behavior are referenced to recent observational evidence of continuous phase transition behavior. In particular we examine the relationship between column water vapor and probablility of convective presence and intensity. Sensitivity of the statistics of convective behavior to parcel mixing/entrainment formulations and parcel initial thermodynamics are considered. Observational statistics from A-Train and TRMM sensors provide validation of the model integrations.

Robertson, Franklin↗
NASA NTRS1993

Towards a generalized computational fluid dynamics technique for all Mach numbers

Currently there exists no single unified approach for efficiently and accurately solving computational fluid dynamics (CFD) problems across the Mach number regime, from truly low speed incompressible flows to hypersonic speeds. There are several CFD codes that have evolved into sophisticated prediction tools with a wide variety of features including multiblock capabilities, generalized chemistry and thermodynamics models among other features. However, as these codes evolve, the demand placed on the end user also increases simply because of the myriad of features that are incorporated into these codes. In order for a user to be able to solve a wide range of problems, several codes may be needed requiring the user to be familiar with the intricacies of each code and their rather complicated input files. Moreover, the cost of training users and maintaining several codes becomes prohibitive. The objective of the current work is to extend the compressible, characteristic-based, thermochemical nonequilibrium Navier-Stokes code GASP to very low speed flows and simultaneously improve convergence at all speeds. Before this work began, the practical speed range of GASP was Mach numbers on the order of 0.1 and higher. In addition, a number of new techniques have been developed for more accurate physical and numerical modeling. The primary focus has been on the development of optimal preconditioning techniques for the Euler and the Navier-Stokes equations with general finite-rate chemistry models and both equilibrium and nonequilibrium thermodynamics models. We began with the work of Van Leer, Lee, and Roe for inviscid, one-dimensional perfect gases and extended their approach to include three-dimensional reacting flows. The basic steps required to accomplish this task were a transformation to stream-aligned coordinates, the formulation of the preconditioning matrix, incorporation into both explicit and implicit temporal integration schemes, and modification of the numerical flux formulae. In addition, we improved the convergence rate of the implicit time integration schemes in GASP through the use of inner iteration strategies and the use of the GMRES (General Minimized Resisual) which belongs to the class of algorithms referred to as Krylov subspace iteration. Finally, we significantly improved the practical utility of GASP through the addition of mesh sequencing, a technique in which computations begin on a coarse grid and get interpolated onto successively finer grids. The fluid dynamic problems of interest to the propulsion community involve complex flow physics spanning different velocity regimes and possibly involving chemical reactions. This class of problems results in widely disparate time scales causing numerical stiffness. Even in the absence of chemical reactions, eigenvalue stiffness manifests itself at transonic and very low speed flows which can be quantified by the large condition number of the system and evidenced by slow convergence rates. This results in the need for thorough numerical analysis and subsequent implementation of sophisticated numerical techniques for these difficult yet practical problems. As a result of this work, we have been able to extend the range of applicability of compressible codes to very low speed inviscid flows (M = .001) and reacting flows.

Walters, R. W.↗
NASA NTRS2012

Calibration and Sequence Development Status for the Sample Analysis at Mars Investigation on the Mars Science Laboratory

The measurement goals of the Sample Analysis at Mars (SAM) instrument suite on the "Curiosity" Rover of the Mars Science Laboratory (MSL) include chemical and isotopic analysis of organic and inorganic volatiles for both atmospheric and solid samples [1,2]. SAM directly supports the ambitious goals of the MSL mission to provide a quantitative assessment of habitability and preservation in Gale crater by means of a range of chemical and geological measurements [3]. The SAM FM combined calibration and environmental testing took place primarily in 2010 with a limited set of tests implemented after integration into the rover in January 2011. The scope of SAM FM testing was limited both to preserve SAM consumables such as life time of its electromechanical elements and to minimize the level of terrestrial contamination in the SAM instrument. A more comprehensive calibration of a SAM-like suite of instruments will be implemented in 2012 with calibration runs planned for the SAM testbed. The SAM Testbed is nearly identical to the SAM FM and operates in a ambient pressure chamber. The SAM Instrument Suite: SAM's instruments are a Quadrupole Mass Spectrometer (QMS), a 6-column Gas Chromatograph (GC), and a 2-channel Tunable Laser Spectrometer (TLS). Gas Chromatography Mass Spectrometry is designed for identification of even trace organic compounds. The TLS [5] secures the C, H, and O isotopic composition in carbon dioxide, water, and methane. Sieved materials are delivered from the MSL sample acquisition and processing system to one of68 cups of the Sample Manipulation System (SMS). 59 of these cups are fabricated from inert quartz. After sample delivery, a cup is inserted into one of 2 ovens for evolved gas analysis (EGA ambient to >9500C) by the QMS and TLS. A portion of the gas released can be trapped and subsequently analyzed by GCMS. Nine sealed cups contain liquid solvents and chemical derivatization or thermochemolysis agents to extract and transform polar molecules such as amino acids, nucleobases, and carboxylic acids into compounds that are sufficiently volatile to transmit through the GC columns. The remaining 6 cups contain calibrants. SAM FM Calibration Overview: The SAM FM calibration in the Mars chamber employed a variety of pure gases, gas mixtures, and solid materials. Isotope calibration runs for the TLS utilized 13C enriched C02 standards and 0 enriched CH4. A variety of fluorocarbon compounds that spanned the entire mass range of the QMS as well as C3-C6 hydrocarbons were utilized for calibration of the GCMS. Solid samples consisting of a mixture of calcite, melanterite, and inert silica glass either doped or not with fluorocarbons were introduced into the SAM FM cups through the SAM inlet funnel/tube system.

Mahaffy, Paul R.↗
NASA NTRS1987

Fluvial valleys on Martian volcanoes

Channels and valleys were known on the Martian volcanoes since their discovery by the Mariner 9 mission. Their analysis has generally centered on interpretation of possible origins by fluvial, lava, or viscous flows. The possible fluvial dissection of Martian volcanoes has received scant attention in comparison to that afforded outflow, runoff, and fretted channels. Photointerpretative, mapping, and morphometric studies of three Martian volcanoes were initiated: Ceraunius Tholus, Hecate Tholus, and Alba Patera. Preliminary morphometric results indicate that, for these three volcanoes, valley junction angles increase with decreasing slope. Drainage densities are quite variable, apparently reflecting complex interactions in the landscape-forming factors described. Ages of the Martian volcanoes were recently reinterpreted. This refined dating provides a time sequence in which to evaluate the degradational forms. An anomaly has appeared from the initial study: fluvial valleys seem to be present on some Martian volcanoes, but not on others of the same age. Volcanic surfaces characterized only by high permeability lava flows may have persisted without fluvial dissection.

Baker, Victor R.↗
NASA NTRS2007

Solar and Interplanetary Sources of Major Geomagnetic Storms (Dst less than or equal to -100 nT) During 1996 - 2005

We present the results of an investigation of the sequence of events from the Sun to the Earth that ultimately led to the 88 major geomagnetic storms (defined by minimum Dst less than or equal to -100 nT) that occurred during 1996 - 2005. The results are achieved through cooperative efforts that originated at the Living with a Star (LWS) Coordinated Data- Analysis Workshop (CDAW) held at George Mason University in March 2005. Based on careful examination of the complete array of solar and in-situ solar wind observations, we have identified and characterized, for each major geomagnetic storm, the overall solar-interplanetary (solar-IP) source type, the time, velocity and angular width of the source coronal mass ejection (CME), the type and heliographic location of the solar source region, the structure of the transient solar wind flow with the storm-driving component specified, the arrival time of shock/disturbance, and the start and ending times of the corresponding IP CME (ICME). The storm-driving component, which possesses a prolonged and enhanced southward magnetic field (B(sub s)) may be an ICME, the sheath of shocked plasma (SH) upstream of an ICME, a corotating interaction region (CIR), or a combination of these structures. We classify the Solar-IP sources into three broad types: (1) S-type, in which the storm is associated with a single ICME and a single CME at the Sun; (2) M-type, in which the storm is associated with a complex solar wind flow produced by multiple interacting ICMEs arising from multiple halo CMEs launched from the Sun in a short period; (3) C-type, in which the storm is associated with a CIR formed at the leading edge of a high speed stream originating from a solar coronal hole (CH). For the 88 major storms, the S-type, M-type and C-type events number 53 (60%): 24 (27%) and 11 (13%), respectively. For the 85 events for which the surface source regions could be investigated, 54 (63%) of the storms originated in solar active regions, 10 (12%) in quiet Sun regions associated with quiescent filaments or filament channels, and 11 (13%) were associated with coronal holes. Remarkably, 10 (12%) CME-driven events showed no sign of eruptive features on the surface (e.g., no flare, no coronal dimming, and no loop arcade, etc), even though all the available solar observation in a suitable time period were carefully examined. Thus, while it is generally true that a major geomagnetic storm is more likely to be driven by a front-side fast halo CME associated with a major flare, our study indicates a broad distribution of source properties. The implications of the results for space weather forecasting are briefly discussed.

Zhang, J.↗
NASA NTRS2008

FootFall: A Ground Based Operations Toolset Enabling Walking for the ATHLETE Rover

The ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) vehicle consists of six identical, six degree of freedom limbs. FootFall is a ground tool for ATHLETE intended to provide an operator with integrated situational awareness, terrain reconstruction, stability and safety analysis, motion planning, and decision support capabilities to enable the efficient generation of flight software command sequences for walking. FootFall has been under development at NASA Ames for the last year, and having accomplished the initial integration, it is being used to generate command sequences for single footfalls. In this paper, the architecture of FootFall in its current state will be presented, results from the recent Human Robotic Systems Project?s Integrated Field Test (Moses Lake, Washington, June, 2008) will be discussed, and future plans for extending the capabilities of FootFall to enable ATHLETE to walk across a boulder field in real time will be described.

SunSpiral, Vytas↗
NASA NTRS1982

Coupled flap-lag-torsional dynamics of hingeless rotor blades in forward flight

The aeroelastic stability and response problem of the coupled flap-lag-torsional dynamics of an isolated hingeless rotor blade in forward flight is considered. Linear, quasi-steady aerodynamics below stall is included. The spatial dependence of the partial differential nonliner equations of motion is discretized using a multimodal Galerkin method. The nonlinear time dependent equilibrium position (steady state response) about which the equations are linearized is obtained by solving a sequence of linear periodic response problems (quasilinearization). Results illustrating blade behavior in forward flight for both soft-in-plane and stiff-in-plane designs are presented. Quasilinearization provides a clear indication of the cases when nonlinear terms due to moderate deflections are important. The results indicate that nonlinearities affect system stability much more than system response. This implies that for obtaining blade vibrations and loads, approximate analytical models based on linearized formulations could be employed, whereas for determining blade stability a more accurate nonlinear analysis would be required.

Friedmann, P. P.↗
NASA NTRS2016

Separation Assurance and Scheduling Coordination in the Arrival Environment

Separation assurance (SA) automation has been proposed as either a ground-based or airborne paradigm. The arrival environment is complex because aircraft are being sequenced and spaced to the arrival fix. This paper examines the effect of the allocation of the SA and scheduling functions on the performance of the system. Two coordination configurations between an SA and an arrival management system are tested using both ground and airborne implementations. All configurations have a conflict detection and resolution (CD&R) system and either an integrated or separated scheduler. Performance metrics are presented for the ground and airborne systems based on arrival traffic headed to Dallas/ Fort Worth International airport. The total delay, time-spacing conformance, and schedule conformance are used to measure efficiency. The goal of the analysis is to use the metrics to identify performance differences between the configurations that are based on different function allocations. A surveillance range limitation of 100 nmi and a time delay for sharing updated trajectory intent of 30 seconds were implemented for the airborne system. Overall, these results indicate that the surveillance range and the sharing of trajectories and aircraft schedules are important factors in determining the efficiency of an airborne arrival management system. These parameters are not relevant to the ground-based system as modeled for this study because it has instantaneous access to all aircraft trajectories and intent. Creating a schedule external to the CD&R and the scheduling conformance system was seen to reduce total delays for the airborne system, and had a minor effect on the ground-based system. The effect of an external scheduler on other metrics was mixed.

function allocation↗
NASA NTRS2010

Cruise-Efficient Short Takeoff and Landing (CESTOL): Potential Impact on Air Traffic Operations

The National Aeronautics and Space Administration (NASA) is investigating technological and operational concepts for introducing Cruise-Efficient Short Takeoff and Landing (CESTOL) aircraft into a future US National Airspace System (NAS) civil aviation environment. CESTOL is an aircraft design concept for future use to increase capacity and reduce emissions. CESTOL provides very flexible takeoff, climb, descent and landing performance capabilities and a high-speed cruise capability. In support of NASA, this study is a preliminary examination of the potential operational impact of CESTOL on airport and airspace capacity and delay. The study examines operational impacts at a subject site, Newark Liberty Intemational Airport (KEWR), New Jersey. The study extends these KEWR results to estimate potential impacts on NAS-wide network traffic operations due to the introduction of CESTOL at selected major airports. These are the 34 domestic airports identified in the Federal Aviation Administration's Operational Evolution Plan (OEP). The analysis process uses two fast-time simulation tools to separately model local and NAS-wide air traffic operations using predicted flight schedules for a 24-hour study period in 2016. These tools are the Sen sis AvTerminal model and NASA's Airspace Concept Evaluation System (ACES). We use both to simulate conventional-aircraft-only and CESTOL-mixed-with-conventional-aircraft operations. Both tools apply 4-dimension trajectory modeling to simulate individual flight movement. The study applies AvTerminal to model traffic operations and procedures for en route and terminal arrival and departures to and from KEWR. These AvTerminal applications model existing arrival and departure routes and profiles and runway use configurations, with the assumption jet-powered, large-sized civil CESTOL aircraft use a short runway and standard turboprop arrival and departure procedures. With these rules, the conventional jet and CESTOL aircraft are procedurally separated from each other geographically and in altitude during tenninal airspace approach and departure operations, and each use a different arrival runway. AvTeminal implements its unique Focal-point Scheduling Process to sequence, space and delay aircraft to resolve spacing and overtake conflicts among flights in the airspace and airport system serving KEWR. This Process effectively models integrated arrival and departure operations. AvTerminal assesses acceptance rates and delay magnitude and causality at selected locations, including en route outer boundary fixes, tenninal airspace arrival and departure boundary fixes, terminal airspace arrival merge and departure diverge fixes, and runway landing and takeoff runways. The analysis compares the resulting capacity impacts, flight delays and delay sources between CESTOL and conventional KEWR operations. AvTerminal quantitative results showed that CESTOL has significant capability to increase airport arrival acceptance rates (35-40% at KEWR) by taking advantage of otherwise underused airspace and runways where available. The study extrapolates the AvTerminal-derived KEWR peak arrival and departure acceptance rates to estimate capacity parameter values for each of the OEP airports in the ACES modeling of traffic through the entire NAS network. The extrapolations of acceptance rates allow full, partial or no achievement of CESTOL capacity gains at an OEP airport as determined by assessments of the degree to which local procedures allow leveraging of CESTOL capabilities. These assessments consider each OEP airport's runway geometries, runway system configurations, airport and airspace operations, and potential CESTOL traffic loadings. The ACES modeling, simulates airport and airspace spacing constraints imposed by airport runway system, terminal and en route air traffic control and traffic flow management operations using airport acceptance rates representing conventional-aircraft-only and CESTOL-mixed operations. CEOL aircraft are assumed to have Mach 0.8, and alternatively Mach 0.7, cruise speeds to examine compatibility with conventional aircraft operations in common airspace. The ACES results provides estimates of CESTOL delay impact NAS-wide and at OEP airports due to changes in OEP airport acceptance rates and changes in en route airspace potential conflict rates. Preliminary results show meaningful nationwide delay reductions (20%) due to CESTOL operations at 34 major domestic airports.

Couluris, G. J.↗
NASA NTRS1990

CELSS simulations for a lunar outpost

The paper describes a five-year simulation of two mission scenarios consisting of 14 different 'events' that could take place at a lunar outpost. The time-dependent status of the life support consumables was calculated in response to the two selected mission scenarios. This application demonstrates that complex sequences of events are reproducible for understanding of integrated mission operations. A Controlled Ecological Life Support System (CELSS) can regenerate air, water, and food from the wastes generated in the habitat and do so with safety and reliability. The CELSS Emulator is under development at the NASA's Johnson Space Center with a purpose of investigating computer simulations of integrated CELSS operations involving humans, plants, process machinery, and reservoirs. The Emulator Version 2.0 has been implemented to provide a mission-scenario-analysis capability. Thus, the future space exploration missions, lunar or Mars, can be analyzed by using 'events' to build mission timelines.

Cullingford, H. S.↗
NASA NTRS2007

NASA Tech Briefs, December 2007

Topics include: Ka-Band TWT High-Efficiency Power Combiner for High-Rate Data Transmission; Reusable, Extensible High-Level Data-Distribution Concept; Processing Satellite Imagery To Detect Waste Tire Piles; Monitoring by Use of Clusters of Sensor-Data Vectors; Circuit and Method for Communication Over DC Power Line; Switched Band-Pass Filters for Adaptive Transceivers; Noncoherent DTTLs for Symbol Synchronization; High-Voltage Power Supply With Fast Rise and Fall Times; Waveguide Calibrator for Multi-Element Probe Calibration; Four-Way Ka-Band Power Combiner; Loss-of-Control-Inhibitor Systems for Aircraft; Improved Underwater Excitation-Emission Matrix Fluorometer; Metrology Camera System Using Two-Color Interferometry; Design and Fabrication of High-Efficiency CMOS/CCD Imagers; Foam Core Shielding for Spacecraft CHEM-Based Self-Deploying Planetary Storage Tanks Sequestration of Single-Walled Carbon Nanotubes in a Polymer PPC750 Performance Monitor Application-Program-Installer Builder Using Visual Odometry to Estimate Position and Attitude Design and Data Management System Simple, Script-Based Science Processing Archive Automated Rocket Propulsion Test Management Online Remote Sensing Interface Fusing Image Data for Calculating Position of an Object Implementation of a Point Algorithm for Real-Time Convex Optimization Handling Input and Output for COAMPS Modeling and Grid Generation of Iced Airfoils Automated Identification of Nucleotide Sequences Balloon Design Software Rocket Science 101 Interactive Educational Program Creep Forming of Carbon-Reinforced Ceramic-Matrix Composites Dog-Bone Horns for Piezoelectric Ultrasonic/Sonic Actuators Benchtop Detection of Proteins Recombinant Collagenlike Proteins Remote Sensing of Parasitic Nematodes in Plants Direct Coupling From WGM Resonator Disks to Photodetectors Using Digital Radiography To Image Liquid Nitrogen in Voids Multiple-Parameter, Low-False-Alarm Fire-Detection Systems Mosaic-Detector-Based Fluorescence Spectral Imager Plasmoid Thruster for High Specific-Impulse Propulsion Analysis Method for Quantifying Vehicle Design Goals Improved Tracking of Targets by Cameras on a Mars Rover Sample Caching Subsystem Multistage Passive Cooler for Spaceborne Instruments GVIPS Models and Software Stowable Energy-Absorbing Rocker-Bogie Suspensions

Source record↗
NASA NTRS1994

Task-level control for autonomous robots

Task-level control refers to the integration and coordination of planning, perception, and real-time control to achieve given high-level goals. Autonomous mobile robots need task-level control to effectively achieve complex tasks in uncertain, dynamic environments. This paper describes the Task Control Architecture (TCA), an implemented system that provides commonly needed constructs for task-level control. Facilities provided by TCA include distributed communication, task decomposition and sequencing, resource management, monitoring and exception handling. TCA supports a design methodology in which robot systems are developed incrementally, starting first with deliberative plans that work in nominal situations, and then layering them with reactive behaviors that monitor plan execution and handle exceptions. To further support this approach, design and analysis tools are under development to provide ways of graphically viewing the system and validating its behavior.

Simmons, Reid↗
NASA NTRS1981

Timeline Resource Analysis Program (TRAP): User's manual and program document

The Timeline Resource Analysis Program (TRAP), developed for scheduling and timelining problems, is described. Given an activity network, TRAP generates timeline plots, resource histograms, and tabular summaries of the network, schedules, and resource levels. It is written in ANSI FORTRAN for the Honeywell SIGMA 5 computer and operates in the interactive mode using the TEKTRONIX 4014-1 graphics terminal. The input network file may be a standard SIGMA 5 file or one generated using the Interactive Graphics Design System. The timeline plots can be displayed in two orderings: according to the sequence in which the tasks were read on input, and a waterfall sequence in which the tasks are ordered by start time. The input order is especially meaningful when the network consists of several interacting subnetworks. The waterfall sequence is helpful in assessing the project status at any point in time.

Sessler, J. G.↗