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NASA NTRS1991

On the role of exchange of power and information signals in control and stability of the human-robot interaction

A human's ability to perform physical tasks is limited, not only by his intelligence, but by his physical strength. If, in an appropriate environment, a machine's mechanical power is closely integrated with a human arm's mechanical power under the control of the human intellect, the resulting system will be superior to a loosely integrated combination of a human and a fully automated robot. Therefore, we must develop a fundamental solution to the problem of 'extending' human mechanical power. The work presented here defines 'extenders' as a class of robot manipulators worn by humans to increase human mechanical strength, while the wearer's intellect remains the central control system for manipulating the extender. The human, in physical contact with the extender, exchanges power and information signals with the extender. The aim is to determine the fundamental building blocks of an intelligent controller, a controller which allows interaction between humans and a broad class of computer-controlled machines via simultaneous exchange of both power and information signals. The prevalent trend in automation has been to physically separate the human from the machine so the human must always send information signals via an intermediary device (e.g., joystick, pushbutton, light switch). Extenders, however are perfect examples of self-powered machines that are built and controlled for the optimal exchange of power and information signals with humans. The human wearing the extender is in physical contact with the machine, so power transfer is unavoidable and information signals from the human help to control the machine. Commands are transferred to the extender via the contact forces and the EMG signals between the wearer and the extender. The extender augments human motor ability without accepting any explicit commands: it accepts the EMG signals and the contact force between the person's arm and the extender, and the extender 'translates' them into a desired position. In this unique configuration, mechanical power transfer between the human and the extender occurs because the human is pushing against the extender. The extender transfers to the human's hand, in feedback fashion, a scaled-down version of the actual external load which the extender is manipulating. This natural feedback force on the human's hand allows him to 'feel' a modified version of the external forces on the extender. The information signals from the human (e.g., EMG signals) to the computer reflect human cognitive ability, and the power transfer between the human and the machine (e.g., physical interaction) reflects human physical ability. Thus the information transfer to the machine augments cognitive ability, and the power transfer augments motor ability. These two actions are coupled through the human cognitive/motor dynamic behavior. The goal is to derive the control rules for a class of computer-controlled machines that augment human physical and cognitive abilities in certain manipulative tasks.

Kazerooni, H.↗

NASA NTRS1994

Composite chronicles: A study of the lessons learned in the development, production, and service of composite structures

A study of past composite aircraft structures programs was conducted to determine the lessons learned during the programs. The study focused on finding major underlying principles and practices that experience showed have significant effects on the development process and should be recognized and understood by those responsible for using of composites. Published information on programs was reviewed and interviews were conducted with personnel associated with current and past major development programs. In all, interviews were conducted with about 56 people representing 32 organizations. Most of the people interviewed have been involved in the engineering and manufacturing development of composites for the past 20 to 25 years. Although composites technology has made great advances over the past 30 years, the effective application of composites to aircraft is still a complex problem that requires experienced personnel with special knowledge. All disciplines involved in the development process must work together in real time to minimize risk and assure total product quality and performance at acceptable costs. The most successful programs have made effective use of integrated, collocated, concurrent engineering teams, and most often used well-planned, systematic development efforts wherein the design and manufacturing processes are validated in a step-by-step or 'building block' approach. Such approaches reduce program risk and are cost effective.

Vosteen, Louis F.↗

NASA NTRS1994

Mission operations management

Redefining the approach and philosophy that operations management uses to define, develop, and implement space missions will be a central element in achieving high efficiency mission operations for the future. The goal of a cost effective space operations program cannot be realized if the attitudes and methodologies we currently employ to plan, develop, and manage space missions do not change. A management philosophy that is in synch with the environment in terms of budget, technology, and science objectives must be developed. Changing our basic perception of mission operations will require a shift in the way we view the mission. This requires a transition from current practices of viewing the mission as a unique end product, to a 'mission development concept' built on the visualization of the end-to-end mission. To achieve this change we must define realistic mission success criteria and develop pragmatic approaches to achieve our goals. Custom mission development for all but the largest and most unique programs is not practical in the current budget environment, and we simply do not have the resources to implement all of our planned science programs. We need to shift our management focus to allow us the opportunity make use of methodologies and approaches which are based on common building blocks that can be utilized in the space, ground, and mission unique segments of all missions.

Rocco, David A.↗

NASA NTRS1994

SCOS 2: ESA's new generation of mission control system

New mission-control infrastructure is currently being developed by ESOC, which will constitute the second generation of the Spacecraft Control Operations system (SCOS 2). The financial, functional and strategic requirements lying behind the new development are explained. The SCOS 2 approach is described. The technological implications of these approaches is described: in particular it is explained how this leads to the use of object oriented techniques to provide the required 'building block' approach. The paper summarizes the way in which the financial, functional and strategic requirements have been met through this combination of solutions. Finally, the paper outlines the development process to date, noting how risk reduction was achieved in the approach to new technologies and summarizes the current status future plans.

Jones, M.↗

NASA NTRS1994

Architecture of a distributed multimission operations system

This paper presents an architecture to develop a multimission operations systems, which we call DIOSA. In this architecture, a component used as a building block is called a functional block. Each functional block has a standard structure, and the interface between functional blocks are defined with a set of standard protocols. This paper shows the structure of the database used by functional blocks, the structure of interfaces between functional blocks, and the structure of system management. Finally, examples of typical functional blocks and an example of a system constructed with this architecture is shown.

Yamada, Takahiro↗

NASA NTRS1994

Siderophile elements and metal-silicate fractionation in the solar nebula

The most important nebular fractionation affecting the siderophile elements is the metal-silicate fractionation process and its relationship to the chondrule formation process is poorly understood. Understanding these processes is important in terms of understanding the expected compositional range for planetary building blocks. In a general way the composition of chondrites can be derived from the composition of the CI chondrites by addition or subtraction of a refractory component similar to CAI's (in some cases with a Mg2SiO4 component) and by addition or subtraction of Fe metal. Thus normalization to Fe produces the least spread in the normalized abundances of most siderophile elements relative to CI abundances. Detailed bulk chemical studies of chondrules have shown that their siderophile elements have refractory-element siderophile-element signatures (for example, Ir/Ni) that are similar to the bulk meteorites, but distinct among the different chondrite groups. This data suggests that the chondrules were not supplied to the chondrule groups from a single homogeneous source, and that each chondrite group's characteristic siderophile-element signature was established before chondrule formation. These authors make a further inference that all siderophile-lithophile-element fractionation occurred before chondrule formation, but recent discoveries and observations suggest this is not true. The discovery of the metal-rich CH meteorites, the recognition of the role of aerodynamic forces in the solar nebula, and the possible role of metal-silicate segregation during the chondrule formation process suggests that metal-silicate fractionation occurred before, during and after chondrule formation.

Newsom, H. E.↗

NASA NTRS1994

Associated with aerospace vehicles development of methodologies for the estimation of thermal properties

Thermal stress analyses are an important aspect in the development of aerospace vehicles at NASA-LaRC. These analyses require knowledge of the temperature distributions within the vehicle structures which consequently necessitates the need for accurate thermal property data. The overall goal of this ongoing research effort is to develop methodologies for the estimation of the thermal property data needed to describe the temperature responses of these complex structures. The research strategy undertaken utilizes a building block approach. The idea here is to first focus on the development of property estimation methodologies for relatively simple conditions, such as isotropic materials at constant temperatures, and then systematically modify the technique for the analysis of more and more complex systems, such as anisotropic multi-component systems. The estimation methodology utilized is a statistically based method which incorporates experimental data and a mathematical model of the system. Several aspects of this overall research effort were investigated during the time of the ASEE summer program. One important aspect involved the calibration of the estimation procedure for the estimation of the thermal properties through the thickness of a standard material. Transient experiments were conducted using a Pyrex standard at various temperatures, and then the thermal properties (thermal conductivity and volumetric heat capacity) were estimated at each temperature. Confidence regions for the estimated values were also determined. These results were then compared to documented values. Another set of experimental tests were conducted on carbon composite samples at different temperatures. Again, the thermal properties were estimated for each temperature, and the results were compared with values obtained using another technique. In both sets of experiments, a 10-15 percent off-set between the estimated values and the previously determined values was found. Another effort was related to the development of the experimental techniques. Initial experiments required a resistance heater placed between two samples. The design was modified such that the heater was placed on the surface of only one sample, as would be necessary in the analysis of built up structures. Experiments using the modified technique were conducted on the composite sample used previously at different temperatures. The results were within 5 percent of those found using two samples. Finally, an initial heat transfer analysis, including conduction, convection and radiation components, was completed on a titanium sandwich structural sample. Experiments utilizing this sample are currently being designed and will be used to first estimate the material's effective thermal conductivity and later to determine the properties associated with each individual heat transfer component.

Scott, Elaine P.↗

NASA NTRS1994

A preview of a modular surface light scattering instrument with autotracking optics

NASA's Advanced Technology Development (ATD) program is sponsoring the development of a new generation of surface light scattering hardware. This instrument is designed to non-invasively measure the surface response function of liquids over a wide range of operating conditions while automatically compensating for a sloshing surface. The surface response function can be used to compute surface tension, properties of monolayers present, viscosity, surface tension gradient and surface temperature. The instrument uses optical and electronic building blocks developed for the laser light scattering program at NASA Lewis along with several unique surface light scattering components. The emphasis of this paper is the compensation for bulk surface motion (slosh). Some data processing background information is also included.

Meyer, William V.↗

NASA NTRS1994

From neural-based object recognition toward microelectronic eyes

Engineering neural network systems are best known for their abilities to adapt to the changing characteristics of the surrounding environment by adjusting system parameter values during the learning process. Rapid advances in analog current-mode design techniques have made possible the implementation of major neural network functions in custom VLSI chips. An electrically programmable analog synapse cell with large dynamic range can be realized in a compact silicon area. New designs of the synapse cells, neurons, and analog processor are presented. A synapse cell based on Gilbert multiplier structure can perform the linear multiplication for back-propagation networks. A double differential-pair synapse cell can perform the Gaussian function for radial-basis network. The synapse cells can be biased in the strong inversion region for high-speed operation or biased in the subthreshold region for low-power operation. The voltage gain of the sigmoid-function neurons is externally adjustable which greatly facilitates the search of optimal solutions in certain networks. Various building blocks can be intelligently connected to form useful industrial applications. Efficient data communication is a key system-level design issue for large-scale networks. We also present analog neural processors based on perceptron architecture and Hopfield network for communication applications. Biologically inspired neural networks have played an important role towards the creation of powerful intelligent machines. Accuracy, limitations, and prospects of analog current-mode design of the biologically inspired vision processing chips and cellular neural network chips are key design issues.

Sheu, Bing J.↗

NASA NTRS1994

VLSI neuroprocessors

Electronic and optoelectronic hardware implementations of highly parallel computing architectures address several ill-defined and/or computation-intensive problems not easily solved by conventional computing techniques. The concurrent processing architectures developed are derived from a variety of advanced computing paradigms including neural network models, fuzzy logic, and cellular automata. Hardware implementation technologies range from state-of-the-art digital/analog custom-VLSI to advanced optoelectronic devices such as computer-generated holograms and e-beam fabricated Dammann gratings. JPL's concurrent processing devices group has developed a broad technology base in hardware implementable parallel algorithms, low-power and high-speed VLSI designs and building block VLSI chips, leading to application-specific high-performance embeddable processors. Application areas include high throughput map-data classification using feedforward neural networks, terrain based tactical movement planner using cellular automata, resource optimization (weapon-target assignment) using a multidimensional feedback network with lateral inhibition, and classification of rocks using an inner-product scheme on thematic mapper data. In addition to addressing specific functional needs of DOD and NASA, the JPL-developed concurrent processing device technology is also being customized for a variety of commercial applications (in collaboration with industrial partners), and is being transferred to U.S. industries. This viewgraph p resentation focuses on two application-specific processors which solve the computation intensive tasks of resource allocation (weapon-target assignment) and terrain based tactical movement planning using two extremely different topologies. Resource allocation is implemented as an asynchronous analog competitive assignment architecture inspired by the Hopfield network. Hardware realization leads to a two to four order of magnitude speed-up over conventional techniques and enables multiple assignments, (many to many), not achievable with standard statistical approaches. Tactical movement planning (finding the best path from A to B) is accomplished with a digital two-dimensional concurrent processor array. By exploiting the natural parallel decomposition of the problem in silicon, a four order of magnitude speed-up over optimized software approaches has been demonstrated.

Kemeny, Sabrina E.↗

NASA NTRS1995

Unstructured mesh generation and adaptivity

An overview of current unstructured mesh generation and adaptivity techniques is given. Basic building blocks taken from the field of computational geometry are first described. Various practical mesh generation techniques based on these algorithms are then constructed and illustrated with examples. Issues of adaptive meshing and stretched mesh generation for anisotropic problems are treated in subsequent sections. The presentation is organized in an education manner, for readers familiar with computational fluid dynamics, wishing to learn more about current unstructured mesh techniques.

Mavriplis, D. J.↗

NASA NTRS1995

Advanced flight computer. Special study

This report documents a special study to define a 32-bit radiation hardened, SEU tolerant flight computer architecture, and to investigate current or near-term technologies and development efforts that contribute to the Advanced Flight Computer (AFC) design and development. An AFC processing node architecture is defined. Each node may consist of a multi-chip processor as needed. The modular, building block approach uses VLSI technology and packaging methods that demonstrate a feasible AFC module in 1998 that meets that AFC goals. The defined architecture and approach demonstrate a clear low-risk, low-cost path to the 1998 production goal, with intermediate prototypes in 1996.

Coo, Dennis↗

NASA NTRS1995

From LDEF to a national Space Environment and Effects (SEE) program: A natural progression

As the LDEF program draws to a close, it leaves in place the fundamental building blocks for a Space Environment and Effects (SEE) program. Results from LDEF data analyses and investigations now form a substantial core of knowledge on the long term effects of the space environment on materials, system and structures. In addition, these investigations form the basic structure of a critically-needed SEE archive and database system. An agency-wide effort is required to capture all elements of a SEE program to provide a more comprehensive and focused approach to understanding the space environment, determining the best techniques for both flight and ground-based experimentation, updating the models which predict both the environments and those effects on subsystems and spacecraft, and, finally, ensuring that this multitudinous information is properly maintained, and inserted into spacecraft design programs. Many parts and pieces of a SEE program already exist at various locations to fulfill specific needs. The primary purpose of this program, under the direction of the Office of Advanced Concepts and Technology (OACT) in NASA Headquarters, is to take advantage of these parts; apply synergisms where possible; identify and when possible fill-in gaps; coordinate and advocate a comprehensive SEE program. The SEE program must coordinate and support the efforts of well-established technical communities wherein the bulk of the work will continue to be done. The SEE program will consist of a NASA-led SEE Steering Committee, consisting of government and industry users, with the responsibility for coordination between technology developers and NASA customers; and Technical Working Groups with primary responsibility for program technical content in response to user needs. The Technical Working Groups are as follows: Materials and Processes; Plasma and Fields; Ionizing Radiation; Meteoroids and Orbital Debris; Neutral External Contamination; Thermosphere, Thermal, and Solar Conditions; Electromagnetic Effects; Integrated Assessments and Databases. Specific technology development tasks will be solicited through a NASA Research Announcement to be released in May of 1994. The areas in which tasks are solicited include: (1) engineering environment definitions, (2) environments and effects design guidelines, (3) environments and effects assessment models and databases, and (4) flight/ground simulation/technology assessment data.

Bowles, David E.↗

NASA NTRS1992

The use of impact force as a scale parameter for the impact response of composite laminates

The building block approach is currently used to design composite structures. With this approach, the data from coupon tests are scaled up to determine the design of a structure. Current standard impact tests and methods of relating test data to other structures are not generally understood and are often used improperly. A methodology is outlined for using impact force as a scale parameter for delamination damage for impacts of simple plates. Dynamic analyses were used to define ranges of plate parameters and impact parameters where quasi-static analyses are valid. These ranges include most low-velocity impacts where the mass of the impacter is large, and the size of the specimen is small. For large-mass impacts of moderately thick (0.35-0.70 cm) laminates, the maximum extent of delamination damage increased with increasing impact force and decreasing specimen thickness. For large-mass impact tests at a given kinetic energy, impact force and hence delamination size depends on specimen size, specimen thickness, boundary conditions, and indenter size and shape. If damage is reported in terms of impact force instead of kinetic energy, large-mass test results can be applied directly to other plates of the same thickness.

Jackson, Wade C.↗

NASA NTRS1990

The nature of interstellar/pre-cometary dust

During the past 15 years considerable progress in observational techniques has been achieved in the middle-infrared region (5000-500/cm, 2-20 microns), the region where most diagnostic molecular vibrations occur. Spectra of many different astronomical infrared sources, some deeply embedded in dark molecular clouds and others obscured only by dust in the diffuse interstellar medium are now available. These spectra provide a powerful probe, not only for the identification of interstellar molecules in both the gas and solid phases, but also of the physical and chemical conditions which prevail in these two very different domains. By comparing these spectra with laboratory spectra one can determine the composition and abundance of the icy material frozen on the cold (- 10K) dust in the dark interior of molecular clouds and of the hydrocarbon component of dust in the diffuse interstellar medium. As these are the building blocks of comets, the work described here also gives insight into the nature of comets.

Allamandola, Louis↗

NASA NTRS1993

Dryden lectureship in research, a perspective on CFD validation

A comprehensive approach to CFD validation is presented. Requirements from computational and experimental perspectives are given. Experimental validation is emphasized because it ultimately determines the accuracy of CFD modeling and its application to complex problems. The concepts of building block and benchmark experiments are introduced. The types of measurements required of these experiments and their accuracy determination are explained. Contributions from such experiments toward the development and validation of CFD are reviewed and examples provided. Future challenges and strategies for validation are discussed.

Marvin, Joseph G.↗

NASA NTRS1994

The in situ exobiological investigation of the Martian surface mineralogy during unmanned missions

An important goal of exobiological research is to determine if life arose on planets other than Earth. The only other planet known, to date, on which life may have arisen is Mars. The data suggest that the physical environment of early Mars (i.e., temperature, pressure, and radiation regimes) was suitable for life to arise. Thus far, the data also suggest that early Mars possessed sufficient quantities of the required building blocks and a number of the chemical compounds necessary for life to arise. It is not known, however, if water existed in the appropriate state (i.e., liquid) in sufficient quantities long enough for life to arise. Determining the mineralogy and components of the Martian soil through in situ analyses during missions to Mars will provide information from which an assessment can be made for the probability of the origin of life on Mars. Missions to Mars in the near future will be unmanned and capable of in situ analyses. Our studies have shown that differential thermal analysis coupled with gas chromatography (DTA/GC) is a more appropriate analytical technique than, x-ray fluorescence, x-ray diffraction, alpha-proton backscatter, gamma-ray spectrometry, differential scanning calorimetry coupled with mass spectrometry (DSC/MS), or DSC/GC to identify the mineralogy of the Martian surface material in situ. DTA/GC is an advancement over the pyrolytic techniques flown on previous missions that have supplied only limited mineralogical information (Biemann et al. 1977).

Mancinelli, Rocco L.↗

NASA NTRS1994

Template-directed chemistry and the origins of the RNA world

Prompted by the growing number of reports about reactions catalyzed by ribozymes, this paper summarizes mechanistic and kinetic aspects of template-directed (TD) chemistry important for the synthesis of a diverse population of polynucleotides and analogues possibly up to 100 units long. Assuming that this chemistry takes place in a microenvironment conducive to life under the constant influx of mM concentrations of activated monomeric building blocks, the proposed scenario represents a working hypothesis for the prebiotic synthesis of the RNA world.

Kanavarioti, Anastassia↗