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

Mars rover concept development

A structured study effort to develop an extensive, innovative set of mobility and navigation concepts for a planetary exploration vehicle along with the concomitant value system and evaluation tools is presented. A further objective is to submit these concepts to a rigorous, structured evaluation process to derive the most promising candidate systems. To support the evaluation process, a three-layer computer model of the Martian surface was developed, based on the 1/64 deg Digital Elevation Model (DEM) of Mars. Local surface roughness based on measured Martian slope distribution and power spectral density was superimposed on the DEM, and rocks based on Moore's distribution model were added. To assess performance, selected concepts were modeled using DADS, and simulations were run with the vehicle traversing the Martian surface model, including one-meter-high vertical steps and one-meter-wide crevasses. The design details of three promising candidate systems are presented, along with the discussion of their evolution with some recommendations.

Mctamaney, Louis S.↗
NASA NTRS1989

Upper ocean thermal and flow fields at 0 deg, 28 deg W (Atlantic) and 0 deg, 140 deg W (Pacific) during 1983-1985

Moored current and temperature measurements were recorded simultaneously for 2 years (August 1983 to July 1985) at six or seven depths between 10 and 250 m on the equator at 28 deg W in the Atlantic and at 140 deg W in the Pacific. The mean depth of the 20-C isotherm, which was representative of thermocline displacements, was identical at both sites. Substantially different annual cycles of the thermal and flow fields represent an enigma. The annual variation of the 20-C isotherm was much less at 140 deg W than at 28 deg W.

Halpern, David↗
NASA NTRS1990

Validation of the geostrophic method for estimating zonal currents at the equator from Geosat altimeter data

The applicability of satellite altimeter data for estimating zonal current variability at the equator is assessed using the meriodionally differenced form of the geostrophic balance. Estimates of geostrophic zonal flow anomalies in the equatorial Pacific have been deduced from 17-day collinear altimeter data during the first year of the Geosat Exact Repeat Mission. Altimeter-derived geostrophic estimates agree well with in situ zonal current variability. Comparison of flow-frequency near-surface zonal current observed from equatorial moorings at 165 deg E, 140 deg W, and 110 deg W yield correlations of 0.83, 0.85, and 0.51, respectively, with a mean rms difference of 23 cm/sec. The inclusion of up to 11 ascending and descending Geosat tracks within the 9-deg band for every 17-day repeat effectively reduced the temporal sampling interval to 1.5 days at 165 deg E and 140 deg W. The 6.8-km along track spacing of the altimeter measurements provides sufficient resolution for the effective filtering of small-scale meridional noise, both instrumental and oceanic.

Picaut, Joel↗
NASA NTRS1990

Estimates of the zonal slope and seasonal transport of the Atlantic North Equatorial Countercurrent

Data from six inverted echo sounder moorings and the Geosat satellite altimeter are used to examine the seasonal variability of sea surface elevation. Monthly sea level maps are constructed using a contemporaneous subsurface temperature survey to provide a reference sea level field. The maps are then used to describe the origin and structure of the western tropical Atlantic North Equatorial Countercurrent (NECC) during a two-year period beginning in November 1987. The data reveal a zonal current which is confined between 3 deg N and 9 deg N with a typical width of 300 km. The NECC flows strongly eastward during November and December 1986 and May 1987 through January 1988. The reappearance of the current is then delayed until August, but the current flows strongly from August until the end of the record in October 1988. Volume transport is estimated for the two-year period from surface elevation by approximating the vertical structure of the ocean as a two-layer fluid. It is found that the NECC has a maximum transport of 40 x 10 to the 6th cu m/s at 38 deg W.

Carton, James A.↗
NASA NTRS1989

Shuttle imaging radar (SIR-B) investigations of the Canadian Shield - Summary report

The objectives and results of two imaging-radar experiments carried on a Shuttle mission with the purpose of studying the structure of crustal province boundaries and the effects of illumination geometry are reviewed. The primary geological objectives as well as the secondary technique-oriented objective are outlined, along with digital processing techniques. The tectonic relationships of structural provinces are analyzed, and data pertaining to the Kapuskasing Structural Zone is discussed. Fracture patterns and diabase dike swarms are assessed. Focus is placed on the utilization of multiple look directions and incidence angles and on digital image-enhancement techniques such as linear contrast stretch, low-pass filter for speckle reduction, modified Moore-Waltz edge enhancement, and coregistration and display of multiple look azimuths.

Masuoka, P. M.↗
NASA NTRS1990

Selection of component modes for the simulation of flexible multibody spacecraft

This paper describes a procedure for the selection of component modes employed in discretization of component deformation in a flexible multibody spacecraft. The emphasis is placed on the selection of modes which adequately represent the interaction of the various on-board control systems with the vehicle structural flexibility. The method combines the component mode synthesis approaches of Craig-Bampton (1968), MacNeal (1971) and Rubin (1975), and Benfield-Hruda (1971) with the modal balancing method of Moore (1981) and Gregory (1984). The procedure, which is applicable to both articulating and nonarticulating systems, was used to develop a low-order model of the three-body articulating Galileo spacecraft.

Spanos, John T.↗
NASA NTRS1990

Oceanic upper mixed layer depth determination by the use of satellite data

A method has been developed to determine the oceanic daily mean mixed layer depth from satellite observations and a mixed layer thermal inertia (MLTI) model. The algorithms were developed to use remotely-sensed values of sea surface temperature, albedo, and surface wind speeds to calculate the thermal inertia and to predict changes in subsurface diurnal mixed layer depth. The MLTI model, based on a mixed layer model of the upper ocean, has been used to simulate the diurnal mixing process and thermal inertia distribution in the Sargasso Sea around 34 deg N, 70 deg W. Sea surface temperature and albedo have been obtained from the NOAA7-AVHRR images. Surface wind speeds have been derived from the Scanning Multichannel Microwave Radiometer (SMMR) aboard Nimbus 7. Image processing was performed for images gathered between June and July 1982. The daily mean mixed layer depths predicted by the MLTI model agree well with data gathered at the LOTUS mooring located in the Sargasso Sea. This suggests that vertical mixing is the dominant physical process that controls the thermal inertia distribution in the midocean, far from major current systems, and that remote sensing is a promising tool to study such upper ocean processes.

Yan, Xiao-Hai↗
NASA NTRS1990

Machine-checked proofs of the design and implementation of a fault-tolerant circuit

A formally verified implementation of the 'oral messages' algorithm of Pease, Shostak, and Lamport is described. An abstract implementation of the algorithm is verified to achieve interactive consistency in the presence of faults. This abstract characterization is then mapped down to a hardware level implementation which inherits the fault-tolerant characteristics of the abstract version. All steps in the proof were checked with the Boyer-Moore theorem prover. A significant results is the demonstration of a fault-tolerant device that is formally specified and whose implementation is proved correct with respect to this specification. A significant simplifying assumption is that the redundant processors behave synchronously. A mechanically checked proof that the oral messages algorithm is 'optimal' in the sense that no algorithm which achieves agreement via similar message passing can tolerate a larger proportion of faulty processor is also described.

Bevier, William R.↗
NASA NTRS1990

Hardware verification at Computational Logic, Inc.

The following topics are covered in viewgraph form: (1) hardware verification; (2) Boyer-Moore logic; (3) core RISC; (4) the FM8502 fabrication, implementation specification, and pinout; (5) hardware description language; (6) arithmetic logic generator; (7) near term expected results; (8) present trends; (9) future directions; (10) collaborations and technology transfer; and (11) technology enablers.

Brock, Bishop C.↗
NASA NTRS1990

Constrained trajectory optimization for kinematically redundant arms

Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths.

Carignan, Craig R.↗
NASA NTRS1990

Bifurcation analysis of axial flow compressor stability

With a one-mode truncation it is possible to reduce the Moore-Greitzer model for compressor instability to a set of three ordinary differential equations. These are approached from the point of view of bifurcation theory. Most of the bifurcations emerge from a degenerate Takens-Bogdanov bifurcation point. The bifurcation sets are completed using the numerical branch tracking scheme AUTO. Despite the severity of the truncation, the agreement with experimental results is excellent.

Mccaughan, F. E.↗
NASA NTRS1990

Estimation of the processes controlling variability in phytoplankton pigment distributions on the southeastern U.S. continental shelf

Five coastal-zone-color-scanner images from the southeastern U.S. continental shelf are combined with concurrent moored current meter measurements to assess the processes controlling the variability in chlorophyll concentration and distribution in this region. An equation governing the space and time distribution of a nonconservative quantity such as chlorophyll is used in the calculations. The terms of the equation, estimated from observations, show that advective, diffusive, and local processes contribute to the plankton distributions and vary with time and location. The results from this calculation are compared with similar results obtained using a numerical physical-biological model with circulation fields derived from an optimal interpolation of the current meter observations and it is concluded that the two approaches produce different estimates of the processes controlling phytoplankton variability.

Mcclain, Charles R.↗
NASA NTRS1990

The compressible vortex pair

A numerical solution for the flow field associated with a compressible pair of counter-rotating vortices is developed. The compressible, two-dimensional potential equation is solved utilizing the numerical method of Osher et al. (1985) for flow regions in which a non-zero density exists. Close to the vortex centers, vacuum 'cores' develop owing to the existence of a maximum achievable flow speed in a compressible flow field. A special treatment is required to represent these vacuum cores. Typical streamline patterns and core boundaries are obtained for upstream Mach numbers as high as 0.3, and the formation of weak shocks, predicted by Moore and Pullin (1987), is observed.

Heister, S. D.↗
NASA NTRS1990

Steering law design for redundant single-gimbal control moment gyroscopes

Two steering laws are presented for single-gimbal control moment gyroscopes. An approach using the Moore-Penrose pseudoinverse with a nondirectional null-motion algorithm is shown by example to avoid internal singularities for unidirectional torque commands, for which existing algorithms fail. Because this is still a tangent-based approach, however, singularity avoidance cannot be guaranteed. The singularity robust inverse is introduced as an alternative to the pseudoinverse for computing torque-producing gimbal rates near singular states. This approach, coupled with the nondirectional null algorithm, is shown by example to provide better steering law performance by allowing torque errors to be produced in the vicinity of singular states.

Bedrossian, Nazareth S.↗
NASA NTRS1991

Trajectory optimization for kinematically redundant arms

A review of local optimization methods for resolving joint configurations in underconstrained manipulation tasks is conducted. A new approach is developed for observing joint limits and avoiding obstacles during the trajectory planning. The methodology is used in a four-link arm example to avoid a workspace singularity and is compared with results using the extended Moore-Penrose technique. An alternative measure of arm 'manipulability' based directly on the rank of the Jacobian is also introduced.

Carignan, Craig R.↗
NASA NTRS1991

Satellite observations of mesoscale features in lower Cook Inlet and Shelikof Strait, Gulf of Alaska

The Seasat satellite launched in Summer 1978 carried a synthetic aperture radar (SAR). Although Seasat failed after 105 days in orbit, it provided observations that demonstrate the potential to examine and monitor upper oceanic processes. Seasat made five passes over lower Cook Inlet and Shelikof Strait, Alaska, during Summer 1978. SAR images from the passes show oceanographic features, including a meander in a front, a pair of mesoscale eddies, and internal waves. These features are compared with contemporary and representative images from a satellite-borne Advanced Very High Resolution Radiometer (AVHRR) and Coastal Zone Color Scanner (CZCS), with water property data, and with current observations from moored instruments. The results indicate that SAR data can be used to monitor mesoscale oceanographic features.

Schumacher, James D.↗
NASA NTRS1991

Remanent magnetic properties of unbrecciated eucrites

This study examines the remanent magnetic properties of five unbrecciated eucrites, ranging from the coarse-grained cumulate Moore County to the quenched melt rock ALH 81001 in order to assess the strength of the magnetic field associated with their parent body during their formation. Two of the meteorites are judged as unlikely to have preserved their primary thermal remanence because of large variations in subsample remanence intensity and direction (Ibitira), and lack of NRM resistance to AF and thermal demagnetization (PCA 82502). The lack of a strong (greater than 0.01 mT) magnetizing field during their cooling on the eucrite parent body is inferred from the low normalized NRM intensities for subsamples of ALH 81001 and Yamato 791195.

Cisowski, Stanley M.↗
NASA NTRS1991

Ocean dynamics in the Nordic Seas using satellite altimetry

The main objective of this TOPEX/POSEIDON project is to integrate the accurately measured sea surface topography, as resolved by both TOPEX/POSEIDON radar altimeters, into the above-mentioned quantitative studies of the short- and long-term variations in the mesoscale ocean dynamics of the Nordic Seas south of 66 deg N. This implies: (1) comparison and validation of the capability to resolve the general basin-scale circulation and the mesoscale variability by, respectively, radar altimeters and numerical ocean circulation models; (2) calibration and validation of the altimeter-derived sea surface topography against in situ measurements from research vessels and moorings, particularly under extreme wind and wave conditions; and (3) improved monitoring and understanding of the flux variations between the North Atlantic and the Nordic Seas, both on the short and seasonal time scales.

Pettersson, Lasse H.↗