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At least 487 records · Page 27
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Case studies in configuration control for redundant robots

A simple approach to configuration control of redundant robots is presented. The redundancy is utilized to control the robot configuration directly in task space, where the task will be performed. A number of task-related kinematic functions are defined and combined with the end-effector coordinates to form a set of configuration variables. An adaptive control scheme is then utilized to ensure that the configuration variables track the desired reference trajectories as closely as possible. Simulation results are presented to illustrate the control scheme. The scheme has also been implemented for direct online control of a PUMA industrial robot, and experimental results are presented. The simulation and experimental results validate the configuration control scheme for performing various realistic tasks.

Seraji, H.↗
NASA NTRS1989

Expanding the domain of a prototype expert system with an eye on future maintenance - The FIESTA case study

The methods by which an expert system architecture can support such key elements of domain expansion and maintenance as knowledge acquisition, representation, addition, and modification, are presently illustrated by the Fault Isolation Expert System for TDRSS Applications (FIESTA). FIESTA highlights such similarities between conventional software engineering and expert system development as the benefits that accrue to loose coupling, modularity, and documentation. A major difference, however, is the set of opportunities afforded automated end-user maintenance by expert system technology.

Happell, Nadine↗
NASA NTRS1990

The application of optical potentials for reactive scattering - A case study

A precise method is presented for measuring decay fractions of metastable cluster ions with corrections concerning instrumental artifacts and ion trajectory of parents and daughters. Experimental data are used to derive the Gspann parameter and heat capacity of clusters as described in Klots' evaporative ensemble model. The model is applied to obtain binding energies of ammonia cluster ions. The deduced binding energy values are in very good agreement with both thermochemical data and Engelking's (1986) modified statistical theory.

Neuhauser, Daniel↗
NASA NTRS1989

Linear optimization - A case study in performance analysis

The paper deals with the performance of two parallel variants of the simplex algorithm on a message-passing system. First, the simplex algorithm is reviewed, two possible parallelizations of the algorithm are discussed, and results of benchmark speedups of the alternatives are presented. Between column and row partitionings, the row partitioning method is found to be generally superior, while the column partitioning method is more efficient when the number of rows is small, and the number of columns is much greater that the number of rows. Various performance analysis tools are then applied to examine the reasons for relative performance differences, and communication idle time due to global minimization and load imbalances is noted as the main factor in execution slowdown.

Stunkel, Craig B.↗
NASA NTRS1990

Performance degradation due to multiprogramming and system overheads in real workloads - Case study on a shared memory multiprocessor

The performance degradation due to the multiprogramming (MP) overhead in a parallel execution environment is quantified. In addition, total system overhead is also measured. A methodology, which estimates the MP overhead present in real workloads, is illustrated with real measurents. It is found that MP overhead usually consumes between 10 and 23 percent of the processing power available to parallel programs. The mean MP overhead is determined to be 16 percent which is well over half the total system overhead executed on the system (the mean system overhead is determined to be 24 percent of the processing power). It is found that MP overhead, total system overhead, and application completion time are all moderately correlated.

Dimpsey, R. T.↗
NASA NTRS1990

The interaction of impulsive solar wind discontinuities with the magnetosphere - A multi-satellite case study

Data collected on September 4-5, 1984 by the outbound AMPTE/IRM spacecraft which stayed just outside the expanding earth's bow shock for 7.5h are examined. The data are gathered during an unusual period for which the solar wind pressure and magnetic field are relatively constant except for two discontinuities with associated approximately equal to 1 min duration pressure pulses. The observations indicate that the bow shock reacts rapidly to solar wind dynamic pressure variations; that both discontinuity/pressure pulse events were followed more or less immediately by a decrease in the geosynchronous particle fluxes, indicating the growth phase of a substorm and possibly also the shadowing of energetic ions by the compressed magnetopause followed after 10-30 min by a sudden enhancement in the energetic particles which began on the nightside and drifted to the dayside; and sudden impulse ground signatures are observed which seem to depend critically on the IMF orientation as well as on the longitude and latitude of the particular ground stations.

Labelle, J.↗
NASA NTRS1989

Software design with fuzzy requirements (A case study)

The author describes the resource allocation and planning helper (RALPH) scheduling system developed at NASA's Jet Propulsion Laboratory. RALPH addresses the concerns of designing software systems to minimize the need to recode for changes and upgrades; this concern is acute when requirements are uncertain or changing. Determining requirements, understanding the problem, designing for change, and tradeoffs are also discussed.

Werntz, David G.↗
NASA NTRS1986

An expert system prototype for aiding in the development of software functional requirements for NASA Goddard's command management system: A case study and lessons learned

At NASA Goddard, the role of the command management system (CMS) is to transform general requests for spacecraft opeerations into detailed operational plans to be uplinked to the spacecraft. The CMS is part of the NASA Data System which entails the downlink of science and engineering data from NASA near-earth satellites to the user, and the uplink of command and control data to the spacecraft. Presently, it takes one to three years, with meetings once or twice a week, to determine functional requirements for CMS software design. As an alternative approach to the present technique of developing CMS software functional requirements, an expert system prototype was developed to aid in this function. Specifically, the knowledge base was formulated through interactions with domain experts, and was then linked to an existing expert system application generator called 'Knowledge Engineering System (Version 1.3).' Knowledge base development focused on four major steps: (1) develop the problem-oriented attribute hierachy; (2) determine the knowledge management approach; (3) encode the knowledge base; and (4) validate, test, certify, and evaluate the knowledge base and the expert system prototype as a whole. Backcasting was accomplished for validating and testing the expert system prototype. Knowledge refinement, evaluation, and implementation procedures of the expert system prototype were then transacted.

Liebowitz, Jay↗
NASA NTRS1990

Subvisual Cirrus cloud properties derived from a FIRE IFO case study

From the central Wisconsin IFO field at Wausau, the Mobile Polarization Lidar and a surface radiation station from the Lamont-Doherty Geological Observatory observed two very tenuous cirrus clouds on 21 October 1986. The clouds were present just below the height of the tropopause, between -60 to -70 C. The first cloud was not detected visually, and is classified as subvisual cirrus. The second, a relatively narrow cloud band that was probably the remnants of an aircraft contrail, can be termed zenith-subvisual since, although it was invisible in the zenith direction, it could be discerned when viewed at lower elevation angles and also due to strong solar forward-scattering and corona effects. The observations provide an opportunity to assess the threshold cloud optical thickness associated with cirrus cloud visibility. Ruby lidar backscattered signals were converted to isotropic volume backscatter coefficients by applying the pure-molecular scattering assumption just below the cloud base. The backscattering coefficient due to the cloud is then obtained and expressed in relation to the molecular backscattering coefficient in terms of the scattering ratio R. The linear depolarization ratio for the cloud is computed after removing the essentially parallel-polarized scattering contribution from air molecules. The values are also applied to determine the cloud optical thickness through the use of backscatter-to-extinction ratio, and the concentration of cloud particles using the backscattering gain, and the effective diameter of the particles obtained from the analysis of solar corona photographs. The sizes of the particles generating the corona are related to the angular separations between the centers of the red bands and the sun, yielding diameters of approximately 25 microns. The direct and diffuse components of shortwave radiation fluxes, measured by full hemispheric pyranometers, were used to compute the nadir optical thickness of the total atmosphere.

Sassen, Kenneth↗
NASA NTRS1989

The integrated scheduling system: A case study in project management

A prototype project management system was developed for the Level III Project Office for the Space Station Freedom. The main goal was to establish a framework for the Space Station Project Office whereby Project and Office Managers can jointly establish and review scheduled milestones and activities. The objective was to assist office managers in communicating their objectives, milestones, schedules, and other project information more effectively and efficiently. Consideration of sophisticated project management systems was included, but each of the systems had limitations in meeting the stated objectives.

Bishop, Peter C.↗
NASA NTRS1990

Remote voice training: A case study on space shuttle applications, appendix C

The Tile Automation System includes applications of automation and robotics technology to all aspects of the Shuttle tile processing and inspection system. An integrated set of rapid prototyping testbeds was developed which include speech recognition and synthesis, laser imaging systems, distributed Ada programming environments, distributed relational data base architectures, distributed computer network architectures, multi-media workbenches, and human factors considerations. Remote voice training in the Tile Automation System is discussed. The user is prompted over a headset by synthesized speech for the training sequences. The voice recognition units and the voice output units are remote from the user and are connected by Ethernet to the main computer system. A supervisory channel is used to monitor the training sequences. Discussions include the training approaches as well as the human factors problems and solutions for this system utilizing remote training techniques.

Mollakarimi, Cindy↗
NASA NTRS1990

An application of multiattribute decision analysis to the Space Station Freedom program. Case study: Automation and robotics technology evaluation

The results are described of an application of multiattribute analysis to the evaluation of high leverage prototyping technologies in the automation and robotics (A and R) areas that might contribute to the Space Station (SS) Freedom baseline design. An implication is that high leverage prototyping is beneficial to the SS Freedom Program as a means for transferring technology from the advanced development program to the baseline program. The process also highlights the tradeoffs to be made between subsidizing high value, low risk technology development versus high value, high risk technology developments. Twenty one A and R Technology tasks spanning a diverse array of technical concepts were evaluated using multiattribute decision analysis. Because of large uncertainties associated with characterizing the technologies, the methodology was modified to incorporate uncertainty. Eight attributes affected the rankings: initial cost, operation cost, crew productivity, safety, resource requirements, growth potential, and spinoff potential. The four attributes of initial cost, operations cost, crew productivity, and safety affected the rankings the most.

Smith, Jeffrey H.↗
NASA NTRS1990

Multiple strike slip faults sets: A case study from the Dead Sea transform

In many strike slip tectonic settings, large rotations of crust blocks about vertical axes have been inferred from paleomagnetic data. These blocks are bounded by sets of parallel faults which presumably accommodate the relative motion between the blocks as regional deformation progress. A mechanical model by Nur et al., (1986) suggests that rotations greater than phi sub c equals 25 to 45 degrees must be accommodated by more than one set of faults, with angle phi sub c between their direction; consequently the sum of the angles between sets must be roughly equal to the total tectonic material rotation. To test this model, the authors investigated the fault geometry and field relation of fault sets in the Mt. Hermon area in northern Israel, where paleomagnetic declination implies data 69 degrees plus or minus 13 degrees counter-clockwise block rotation. The statistical and field relation analysis of over 315 faults shows that the faulting is predominantly right lateral strike slip consisting of three distinct sets. The oldest set strikes 253 degrees, the second oldest set strikes 293 degrees and the youngest strikes 339 degrees. This last direction is consistent also with the current north-south direction of the maximum principle stress axis. The angle phi sub c between the first and second sets is 39 degrees and between the second and third sets 46 degrees, in good agreement with the phi sub c angle predicted from mechanical considerations. The sum of the two angles is 85 degrees, in good agreement with the 69 degrees plus or minus 13 degrees CCW paleomagnetically derived rotation. The results suggest specifically that the sequential development of multiple intersecting fault sets is responsible for the faulting in the Mt. Hermon area; and generally that the model of block rotation with multiple faults provides very good simple rules for analyzing very complex fault patterns.

Ron, Hagai↗
NASA NTRS1991

Predicting chaos for infinite dimensional dynamical systems: The Kuramoto-Sivashinsky equation, a case study

The results of extensive computations are presented in order to accurately characterize transitions to chaos for the Kuramoto-Sivashinsky equation. In particular, the oscillatory dynamics in a window that supports a complete sequence of period doubling bifurcations preceding chaos is followed. As many as thirteen period doublings are followed and used to compute the Feigenbaum number for the cascade and so enable, for the first time, an accurate numerical evaluation of the theory of universal behavior of nonlinear systems, for an infinite dimensional dynamical system. Furthermore, the dynamics at the threshold of chaos exhibit a fractal behavior which is demonstrated and used to compute a universal scaling factor that enables the self-similar continuation of the solution into a chaotic regime.

Smyrlis, Yiorgos S.↗
NASA NTRS1991

Heterogeneous distributed databases: A case study

Alternatives are reviewed for accessing distributed heterogeneous databases and a recommended solution is proposed. The current study is limited to the Automated Information Systems Center at the Naval Sea Combat Systems Engineering Station at Norfolk, VA. This center maintains two databases located on Digital Equipment Corporation's VAX computers running under the VMS operating system. The first data base, ICMS, resides on a VAX11/780 and has been implemented using VAX DBMS, a CODASYL based system. The second database, CSA, resides on a VAX 6460 and has been implemented using the ORACLE relational database management system (RDBMS). Both databases are used for configuration management within the U.S. Navy. Different customer bases are supported by each database. ICMS tracks U.S. Navy ships and major systems (anti-sub, sonar, etc.). Even though the major systems on ships and submarines have totally different functions, some of the equipment within the major systems are common to both ships and submarines.

Stewart, Tracy R.↗
NASA NTRS1991

A case study demonstration of the soil temperature extrema recovery rates after precipitation cooling at 10-cm soil depth

Since the invention of maximum and minimum thermometers in the 18th century, diurnal temperature extrema have been taken for air worldwide. At some stations, these extrema temperatures were collected at various soil depths also, and the behavior of these temperatures at a 10-cm depth at the Tifton Experimental Station in Georgia is presented. After a precipitation cooling event, the diurnal temperature maxima drop to a minimum value and then start a recovery to higher values (similar to thermal inertia). This recovery represents a measure of response to heating as a function of soil moisture and soil property. Eight different curves were fitted to a wide variety of data sets for different stations and years, and both power and exponential curves were fitted to a wide variety of data sets for different stations and years. Both power and exponential curve fits were consistently found to be statistically accurate least-square fit representations of the raw data recovery values. The predictive procedures used here were multivariate regression analyses, which are applicable to soils at a variety of depths besides the 10-cm depth presented.

Welker, Jean Edward↗
NASA NTRS1991

Verification of the FtCayuga fault-tolerant microprocessor system. Volume 1: A case study in theorem prover-based verification

The design and formal verification of a hardware system for a task that is an important component of a fault tolerant computer architecture for flight control systems is presented. The hardware system implements an algorithm for obtaining interactive consistancy (byzantine agreement) among four microprocessors as a special instruction on the processors. The property verified insures that an execution of the special instruction by the processors correctly accomplishes interactive consistency, provided certain preconditions hold. An assumption is made that the processors execute synchronously. For verification, the authors used a computer aided design hardware design verification tool, Spectool, and the theorem prover, Clio. A major contribution of the work is the demonstration of a significant fault tolerant hardware design that is mechanically verified by a theorem prover.

Srivas, Mandayam↗
NASA NTRS1991

Making intelligent systems team players: Case studies and design issues. Volume 1: Human-computer interaction design

Initial results are reported from a multi-year, interdisciplinary effort to provide guidance and assistance for designers of intelligent systems and their user interfaces. The objective is to achieve more effective human-computer interaction (HCI) for systems with real time fault management capabilities. Intelligent fault management systems within the NASA were evaluated for insight into the design of systems with complex HCI. Preliminary results include: (1) a description of real time fault management in aerospace domains; (2) recommendations and examples for improving intelligent systems design and user interface design; (3) identification of issues requiring further research; and (4) recommendations for a development methodology integrating HCI design into intelligent system design.

Malin, Jane T.↗