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At least 55 records · Page 3

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. This paper describes both ROBSIM and TRSS, including their capability, status, and future plans. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. Wallace, Jr.↗

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. W., Jr.↗

Friction Stir Process Mapping Methodology

In FSW (friction stir welding), the weld process performance for a given weld joint configuration and tool setup is summarized on a 2-D plot of RPM vs. IPM. A process envelope is drawn within the map to identify the range of acceptable welds. The sweet spot is selected as the nominal weld schedule. The nominal weld schedule is characterized in the expected manufacturing environment. The nominal weld schedule in conjunction with process control ensures a consistent and predictable weld performance.

Kooney, Alex↗

Friction Stir Process Mapping Methodology

The weld process performance for a given weld joint configuration and tool setup is summarized on a 2-D plot of RPM vs. IPM. A process envelope is drawn within the map to identify the range of acceptable welds. The sweet spot is selected as the nominal weld schedule The nominal weld schedule is characterized in the expected manufacturing environment. The nominal weld schedule in conjunction with process control ensures a consistent and predictable weld performance.

Bjorkman, Gerry↗

A Meta-Analytic Approach to Investigating the Relationship Between Human-Automation Trust and Attention Allocation

Trust and attention allocation are pivotal determinants in human-automation interaction. However, there are scarce empirical findings regarding the relationship between trust and attention allocation. Observations from our previous work suggested there may be a negative correlation between trust in automation and eye movement towards automation, though no formal analysis of these data had been conducted to quantify this relationship. The present meta-analysis examined the relationship between three dimensions of trust in automation (performance, process, and purpose) and visual attention allocation to the automation. Specifically, we applied Cumming’s (2014) meta-analysis technique to combine evidence across three experiments. Results indicated a negative correlation between trust in automation and visual sampling of the automated system monitoring task for performance-based trust, but not for process- or purpose-based trust. These findings suggest that operators scanned the automation’s behavior less frequently when indicating higher performance-based trust towards the automation.

Human-Autonomy Teaming (HAT)↗

Semi-automatic process partitioning for parallel computation

On current multiprocessor architectures one must carefully distribute data in memory in order to achieve high performance. Process partitioning is the operation of rewriting an algorithm as a collection of tasks, each operating primarily on its own portion of the data, to carry out the computation in parallel. A semi-automatic approach to process partitioning is considered in which the compiler, guided by advice from the user, automatically transforms programs into such an interacting task system. This approach is illustrated with a picture processing example written in BLAZE, which is transformed into a task system maximizing locality of memory reference.

Koelbel, Charles↗

Standardizing Microprocessor and GPU Radiation Test Approaches

Microprocessor, Graphics Processing Units (GPUs) and DDRx memory devices have emerged as promising next-generation technologies that enables both high performance processing and acceleration of complex algorithms for the latest challenges in human spaceflight, autonomous vehicles and artificial intelligence (AI). The feature sets of these devices offer exponential increases to throughput, calculation capability and system autonomy when compared to legacy flight systems. NASA's Electronic Part and Packaging (NEPP) Program has conducted an investigation into the radiation susceptibility of leading edge devices and process technologies by establishing standardized test approaches. Unlike most discrete devices, these require state of the art test systems to induce specific hardware activity similar to application software, thus allowing the characterization of failure modes within the system. To best characterize the tested part, NEPP eliminates variables that may impact device performance under radiation. Simplification of remaining system-level variables leads to an improved understanding of complex computational devices and their intended applications. The failure modes and error signatures that are recorded during testing are used to determine radiation sensitivity of the semiconductor process and the microcode architecture of the design. This presentation will discuss the test methodology that NASA Electronic Parts and Packaging (NEPP) is working to establish for its microprocessor, GPU and DDRx memory test programs to provide guidance on these devices and their underlying technology, in regards to their potential usage in future space flight systems.

GPU↗

Coordinated crew performance in commercial aircraft operations

A specific methodology is proposed for an improved system of coding and analyzing crew member interaction. The complexity and lack of precision of many crew and task variables suggest the usefulness of fuzzy linguistic techniques for modeling and computer simulation of the crew performance process. Other research methodologies and concepts that have promise for increasing the effectiveness of research on crew performance are identified.

Murphy, M. R.↗

Application of statistical process control and process capability analysis procedures in orbiter processing activities at the Kennedy Space Center

Successful ground processing at KSC requires that flight hardware and ground support equipment conform to specifications at tens of thousands of checkpoints. Knowledge of conformance is an essential requirement for launch. That knowledge of conformance at every requisite point does not, however, enable identification of past problems with equipment, or potential problem areas. This paper describes how the introduction of Statistical Process Control and Process Capability Analysis identification procedures into existing shuttle processing procedures can enable identification of potential problem areas and candidates for improvements to increase processing performance measures. Results of a case study describing application of the analysis procedures to Thermal Protection System processing are used to illustrate the benefits of the approaches described in the paper.

Safford, Robert R.↗

Rewet Temperature Correlations for Liquid-Nitrogen Boiling Pipe Flows Across Varying Flow Conditions and Orientations

In many convective liquid-vapor phase change heat transfer engineering applications, cryogenic fluids are widely used in industrial processes, spacecraft and cryosurgery systems, and so on. For example, cryogens are usually used as liquid fuels such as liquid hydrogen and oxygen in the rocket industry, liquid nitrogen (LN2) and helium are frequently used to cool superconducting magnetic device for medical applications. In these systems, proper transport, handling, and storage of cryogenic fluids are of extreme importance. Among all the cryogenic transport processes performed in room temperatures, quenching, also termed chilldown, is a unavoidable initial, transient phase-change heat transfer process that brings the system down to the cryogenic condition. The Leidenfrost temperature or rewet temperature that signals the end of film boiling is practically considered the completion point of a quenching process. Therefore, rewet temperature has been considered the most important parameter for the engineering design of cryogenic thermal management systems. As most of the previous correlations for predicting the Leidenfrost temperature and the rewet temperature have been basically developed for water, they are shown to disagree with recent liquid nitrogen pipe chilldown experiments in upward and downward flow directions over a wide range of flow rates, pressures, and degrees of inlet subcooling. In addition to a complete review of the literature, two new correlations are presented in this work, one based on bubble growth and another based on the theoretical maximum limit of superheat. Each correlation performs well over the entire data set.

liquid nitrogen↗

RUSHMAPS: Real-Time Uploadable Spherical Harmonic Moment Analysis for Particle Spectrometers

RUSHMAPS is a new onboard data reduction scheme that gives real-time access to key science parameters (e.g. moments) of a class of heliophysics science and/or solar system exploration investigation that includes plasma particle spectrometers (PPS), but requires moments reporting (density, bulk-velocity, temperature, pressure, etc.) of higher-level quality, and tolerates a lowpass (variable quality) spectral representation of the corresponding particle velocity distributions, such that telemetry use is minimized. The proposed methodology trades access to the full-resolution velocity distribution data, saving on telemetry, for real-time access to both the moments and an adjustable-quality (increasing quality increases volume) spectral representation of distribution functions. Traditional onboard data storage and downlink bandwidth constraints severely limit PPS system functionality and drive cost, which, as a consequence, drives a limited data collection and lower angular energy and time resolution. This prototypical system exploit, using high-performance processing technology at GSFC (Goddard Space Flight Center), uses a SpaceCube and/or Maestro-type platform for processing. These processing platforms are currently being used on the International Space Station as a technology demonstration, and work is currently ongoing in a new onboard computation system for the Earth Science missions, but they have never been implemented in heliospheric science or solar system exploration missions. Preliminary analysis confirms that the targeted processor platforms possess the processing resources required for realtime application of these algorithms to the spectrometer data. SpaceCube platforms demonstrate that the target architecture possesses the sort of compact, low-mass/power, radiation-tolerant characteristics needed for flight. These high-performing hybrid systems embed unprecedented amounts of onboard processing power in the CPU (central processing unit), FPGAs (field programmable gate arrays), and DSP (digital signal processing) elements. The fundamental computational algorithm de constructs 3D velocity distributions in terms of spherical harmonic spectral coefficients (which are analogous to a Fourier sine-cosine decomposition), but uses instead spherical harmonics Legendre polynomial orthogonal functions as a basis for the expansion, portraying each 2D angular distribution at every energy or, geometrically, spherical speed-shell swept by the particle spectrometer. Optionally, these spherical harmonic spectral coefficients may be telemetered to the ground. These will provide a smoothed description of the velocity distribution function whose quality will depend on the number of coefficients determined. Successfully implemented on the GSFC-developed processor, the capability to integrate the proposed methodology with both heritage and anticipated future plasma particle spectrometer designs is demonstrated (with sufficiently detailed design analysis to advance TRL) to show specific science relevancy with future HSD (Heliophysics Science Division) solar-interplanetary, planetary missions, sounding rockets and/or CubeSat missions.

Figueroa-Vinas, Adolfo↗

Telemetry ground system development via the component approach

NASA's deployment of major space projects such as the Earth Observing System (EOS) will demand increased functionality and ground-based telemetry processing performance well above current capabilities. At the NASA/Goddard Space Flight Center, custom hardware and software components have been developed and combined into a unique architecture to address this problem. The hardware components utilize Application Specific Integrated Circuits (ASIC's) developed specifically to support NASA's telemetry data systems needs and designed to handle data rates up to 300 Mbps. A generalized set of software components, called the Telemetry Processing Control Environment facilitate the rapid construction of control and monitoring functions for the ground-based telemetry processing systems. This combination of hardware and software elements enables rapid construction of flexible, cost-effective telemetry processing systems capable of meeting the performance requirements facing NASA in the coming decade.

Thorn, Karen E.↗

Development of Surfaces Optically Suitable for Flat Solar Panels

Three areas of research in the development of flat solar panels are described. (1) A reflectometer which can separately evaluate the spectral and diffuse reflectivities of surfaces was developed. The reflectometer has a phase locked detection system. (2) A coating composed of strongly bound copper oxide that is formed by an etching process performed on an aluminum alloy with high copper content was also developed. Because of this one step fabrication process, fabrication costs are expected to be small. (3) A literature search was conducted and conclusions on the required optical properties of flat plate solar collectors are presented.

Desmet, D.↗

Process Recipes for Additively Printed Copper Ink Flexible Circuits using Direct Write Methods

In this paper, the process-recipes and process-performance relationships for additive-printing of copper circuits using direct-write methods have been studied. The process has been implemented on the direct write platform. Interest in the use of additive printing methods for the manufacture of micro-circuits has grown immensely in recent times. Direct write methods have been shown to have the ability to create circuits in a limited manner. However, the process recipes and the effect of process parameters on the manufactured properties are not well understood. Copper ink is a good and cost-effective alternative to silver ink but its use has lagged owing to an increased propensity for oxidation. In this paper, photonic curing has been used to sinter copper ink to make the traces conductive. The method flashes high energy light that sinter metal particles instantaneously and the temperature of the substrate remains low. The effect of the different photonic sintering profiles on the mechanical and electrical properties of the printed traces has been studied in this paper.The print process parameters also play an important role in the line width and height that has been studied to print with the desired line profile for the end application. An LC filter circuit is been printed with SMD components been attached using an electrically conductive adhesive (ECA). The manufactured flexible LC filter is been tested for its frequency sweep to compare with the commercially available LC filer with the help of the Bode plot.

Process control↗

Understanding the NASTRAN structural plotter

Functions of the plotting hardware and the operations performed by the NASTRAN structural plotter are summarized to provide the user an insight into how the program works. The processing performed in response to each plot command is described and the interrelationships of the various parameters are explained. To assist in the effective and efficient utilization of the system, examples are provided which also illustrate several not yet documented capabilities of the Level 16 structural plotter.

Kuusinen, L. R.↗

Development of Surfaces Optically Suitable for Flat Solar Panels

A reflectometer which can separately evaluate the spectral and diffuse reflectivities of surfaces is described. A phase locked detection system for the reflectometer is also described. A selective coating on aluminum potentially useful for flat plate solar collector applications is presented. The coating is composed of strongly bound copper oxide (divalent) and is formed by an etching process performed on an aluminum alloy with high copper content. Fabrication costs are expected to be small due to the one stop fabrication process. A number of conclusions gathered from the literature as to the required optical properties of flat plate solar collectors are discussed.

Source record↗

Digital techniques for processing Landsat imagery

An overview of the basic techniques used to process Landsat images with a digital computer, and the VICAR image processing software developed at JPL and available to users through the NASA sponsored COSMIC computer program distribution center is presented. Examples of subjective processing performed to improve the information display for the human observer, such as contrast enhancement, pseudocolor display and band rationing, and of quantitative processing using mathematical models, such as classification based on multispectral signatures of different areas within a given scene and geometric transformation of imagery into standard mapping projections are given. Examples are illustrated by Landsat scenes of the Andes mountains and Altyn-Tagh fault zone in China before and after contrast enhancement and classification of land use in Portland, Oregon. The VICAR image processing software system which consists of a language translator that simplifies execution of image processing programs and provides a general purpose format so that imagery from a variety of sources can be processed by the same basic set of general applications programs is described.

Green, W. B.↗