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At least 541 records · Page 30

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NASA NTRS1987

Computing architecture for telerobots in earth orbit

Based on generic operational and computational requirements associated with the control of telerobots in earth orbit, a multibus-based distributed but integrated computing architecture is proposed. An experimental system of that kind under development at the Jet Propulsion Laboratory (JPL) is briefly described. It uses Intel Multibus I at both control station and remote robot (telerobot) computing nodes. An essential element within each multibus is a Unified (or Universal) Computer Control Subsystem (UCCS) for telerobot and control station motor components. The two multibus-based computing nodes can be linked by parallel or high speed serial links for real-time data transmission and for closing the real-time bilateral (force-reflecting) control loop between telerobot and control station. The experimental system is briefly commented, followed by a brief discussion of future development plans and possibilities.

Bejczy, A. K.↗

NASA NTRS1987

Implementation of an ADI method on parallel computers

In this paper the implementation of an ADI method for solving the diffusion equation on three parallel/vector computers is discussed. The computers were chosen so as to encompass a variety of architectures. They are the MPP, an SIMD machine with 16-Kbit serial processors; Flex/32, an MIMD machine with 20 processors; and Cray/2, an MIMD machine with four vector processors. The Gaussian elimination algorithm is used to solve a set of tridiagonal systems on the Flex/32 and Cray/2 while the cyclic elimination algorithm is used to solve these systems on the MPP. The implementation of the method is discussed in relation to these architectures and measures of the performance on each machine are given. Simple performance models are used to describe the performance. These models highlight the bottlenecks and limiting factors for this algorithm on these architectures. Finally conclusions are presented.

Fatoohi, Raad A.↗

NASA NTRS1987

A parallelized elliptic solver for reacting flows

A modified Newton algorithm for the solution of nonlinear elliptic boundary value problems via finite discretization methods is presented. A serial implementation of this algorithm which has recently been applied successfully to the computation of an axisymmetric over-ventilated subsonic laminar methane-air jet diffusion flame is described. Parallel implementation issues and a complexity theory are presented. Included as well are actual performance data for model systems obtained on the Intel Hypercube and a discussion of its implications for modeling realistic systems.

Keyes, David E.↗

NASA NTRS1989

Hybrid Infrared Imager

Experimental device has low noise and high uniformity. Infrared imaging device combines array of InSb photodetectors with array of silicon field-effect-transistor switches. InSb chip forms roof over Si chip, each InSb detector cell engaging indium bump on corresponding Si switch cell below it. FET switches in 128-by-128 array turn on in sequence, read out charges on 128-by-128 array of photodetectors and multiplex them in serial output that represents pattern of light on array of photodetectors. Useful in sensitive infrared cameras for astronomy, medicine, inspection, and military surveillance. Reads out image data at rates up to 10 MHz and expands to 256-by-256 array.

Bailey, Gary C.↗

NASA NTRS1989

Fast Asynchronous Data Communication Via Fiber Optics

Transmitter and receiver devised for asynchronous digital communication via optical fiber at rates above 100 Mb/s. Transmitter converts parallel data to serial for high-speed transmission; receiver recovers clock signal and converts data back to parallel. No phase-lock loops used. New receiver design avoids over-sampling altogether. Local sampling oscillator operating nominally at clock frequency generates N clock signals of equally spaced phase, used to clock incoming data into N separate shift registers.

Bergman, Larry A.↗

NASA NTRS1989

Factorization Of Positive Definite, Banded Hermitian Matrices

Report discusses application of Cholesky factorization algorithm to positive definite, banded Hermitian matrices. Begins by extending Cholesky factorization algorithm to cover uniformly-partitioned, banded, positive definite matrices of rank n that is real symmetric or Hermitian. Then two stratagems given for use of algorithm in concurrent-processing system in which N less than it has to be to enable factorization of matrix in as few serial steps as possible and where uniformly high efficiency expected from all processing elements. One of major purposes of this and related studies to maximize speedup and efficiency in system of concurrent-data-processing elements.

Salama, Moktar A.↗

NASA NTRS1989

Partitioning And Packing Equations For Parallel Processing

Algorithm developed to identify parallelism in set of coupled ordinary differential equations that describe physical system and to divide set into parallel computational paths, along with parts of solution proceeds independently of others during at least part of time. Path-identifying algorithm creates number of paths consisting of equations that must be computed serially and table that gives dependent and independent arguments and "can start," "can end," and "must end" times of each equation. "Must end" time used subsequently by packing algorithm.

Arpasi, Dale J.↗

NASA NTRS1988

PC-CUBE: A Personal Computer Based Hypercube

PC-CUBE is an ensemble of IBM PCs or close compatibles connected in the hypercube topology with ordinary computer cables. Communication occurs at the rate of 115.2 K-band via the RS-232 serial links. Available for PC-CUBE is the Crystalline Operating System III (CrOS III), Mercury Operating System, CUBIX and PLOTIX which are parallel I/O and graphics libraries. A CrOS performance monitor was developed to facilitate the measurement of communication and computation time of a program and their effects on performance. Also available are CXLISP, a parallel version of the XLISP interpreter; GRAFIX, some graphics routines for the EGA and CGA; and a general execution profiler for determining execution time spent by program subroutines. PC-CUBE provides a programming environment similar to all hypercube systems running CrOS III, Mercury and CUBIX. In addition, every node (personal computer) has its own graphics display monitor and storage devices. These allow data to be displayed or stored at every processor, which has much instructional value and enables easier debugging of applications. Some application programs which are taken from the book Solving Problems on Concurrent Processors (Fox 88) were implemented with graphics enhancement on PC-CUBE. The applications range from solving the Mandelbrot set, Laplace equation, wave equation, long range force interaction, to WaTor, an ecological simulation.

Ho, Alex↗

NASA NTRS1988

Domain decomposition methods for the parallel computation of reacting flows

Domain decomposition is a natural route to parallel computing for partial differential equation solvers. Subdomains of which the original domain of definition is comprised are assigned to independent processors at the price of periodic coordination between processors to compute global parameters and maintain the requisite degree of continuity of the solution at the subdomain interfaces. In the domain-decomposed solution of steady multidimensional systems of PDEs by finite difference methods using a pseudo-transient version of Newton iteration, the only portion of the computation which generally stands in the way of efficient parallelization is the solution of the large, sparse linear systems arising at each Newton step. For some Jacobian matrices drawn from an actual two-dimensional reacting flow problem, comparisons are made between relaxation-based linear solvers and also preconditioned iterative methods of Conjugate Gradient and Chebyshev type, focusing attention on both iteration count and global inner product count. The generalized minimum residual method with block-ILU preconditioning is judged the best serial method among those considered, and parallel numerical experiments on the Encore Multimax demonstrate for it approximately 10-fold speedup on 16 processors.

Keyes, David E.↗

NASA NTRS1988

Test data acquisition system for the ESTEC large solar simulator at ESA/ESTEC

A prototype data acquisition system is described. The device characteristics, its performance and the system aspects connected to the integration of the data acquisition system into the space simulator instrumentation and environment are discussed. The data acquisition system has a modular architecture and manifold configuration capability. The input characteristics feature high resolution and accuracy/stability for the measurement of low level (thermocouple originated) analog signals, even in the presence of high common mode and S/N figures. The output is serial digital, compatible with ESA data handling standards. The device is designed to be installed in particularly hostile environments, such as that of a solar simulator.

Buroni, G.↗

NASA NTRS1988

The UW digital ozonesonde: Characteristics and flow rate calibration

During the austral springs of 1986 and 1987, a series of balloon soundings were conducted to characterize the temporal and vertical development of Antarctic ozone depletion using the electrochemical concentration cell method (ECC). An important part of this study was to perform correlative studies between ozone and aerosol particles. In order to facilitate these simultaneous measurements, a digital ozonesonde system was developed to interface with aerosol counters. The ozone measurements will be described herein. The ozonesonde modification was accomplished by converting the current output of the sonde to a frequency and adding this digital signal to the serial data stream of a Vaisala Corporation RS-80 radiosonde under microprocessor control. A number of advantages over the standard ozonesonde system currently in use are noted.

Harder, J. W.↗

NASA NTRS1988

Development of a high-speed H-alpha camera system for the observation of rapid fluctuations in solar flares

A solid-state digital camera was developed for obtaining H alpha images of solar flares with 0.1 s time resolution. Beginning in the summer of 1988, this system will be operated in conjunction with SMM's hard X-ray burst spectrometer (HXRBS). Important electron time-of-flight effects that are crucial for determining the flare energy release processes should be detectable with these combined H alpha and hard X-ray observations. Charge-injection device (CID) cameras provide 128 x 128 pixel images simultaneously in the H alpha blue wing, line center, and red wing, or other wavelength of interest. The data recording system employs a microprocessor-controlled, electronic interface between each camera and a digital processor board that encodes the data into a serial bitstream for continuous recording by a standard video cassette recorder. Only a small fraction of the data will be permanently archived through utilization of a direct memory access interface onto a VAX-750 computer. In addition to correlations with hard X-ray data, observations from the high speed H alpha camera will also be correlated and optical and microwave data and data from future MAX 1991 campaigns. Whether the recorded optical flashes are simultaneous with X-ray peaks to within 0.1 s, are delayed by tenths of seconds or are even undetectable, the results will have implications on the validity of both thermal and nonthermal models of hard X-ray production.

Kiplinger, Alan L.↗

NASA NTRS1988

A multi-satellite orbit determination problem in a parallel processing environment

The Engineering Orbit Analysis Unit at GE Valley Forge used an Intel Hypercube Parallel Processor to investigate the performance and gain experience of parallel processors with a multi-satellite orbit determination problem. A general study was selected in which major blocks of computation for the multi-satellite orbit computations were used as units to be assigned to the various processors on the Hypercube. Problems encountered or successes achieved in addressing the orbit determination problem would be more likely to be transferable to other parallel processors. The prime objective was to study the algorithm to allow processing of observations later in time than those employed in the state update. Expertise in ephemeris determination was exploited in addressing these problems and the facility used to bring a realism to the study which would highlight the problems which may not otherwise be anticipated. Secondary objectives were to gain experience of a non-trivial problem in a parallel processor environment, to explore the necessary interplay of serial and parallel sections of the algorithm in terms of timing studies, to explore the granularity (coarse vs. fine grain) to discover the granularity limit above which there would be a risk of starvation where the majority of nodes would be idle or under the limit where the overhead associated with splitting the problem may require more work and communication time than is useful.

Deakyne, M. S.↗

NASA NTRS1988

Browsing schematics: Query-filtered graphs with context nodes

The early results of a research project to create tools for building interfaces to intelligent systems on the NASA Space Station are reported. One such tool is the Schematic Browser which helps users engaged in engineering problem solving find and select schematics from among a large set. Users query for schematics with certain components, and the Schematic Browser presents a graph whose nodes represent the schematics with those components. The query greatly reduces the number of choices presented to the user, filtering the graph to a manageable size. Users can reformulate and refine the query serially until they locate the schematics of interest. To help users maintain orientation as they navigate a large body of data, the graph also includes nodes that are not matches but provide global and local context for the matching nodes. Context nodes include landmarks, ancestors, siblings, children and previous matches.

Ciccarelli, Eugene C.↗

NASA NTRS1989

Parallel solution of sparse one-dimensional dynamic programming problems

Parallel computation offers the potential for quickly solving large computational problems. However, it is often a non-trivial task to effectively use parallel computers. Solution methods must sometimes be reformulated to exploit parallelism; the reformulations are often more complex than their slower serial counterparts. We illustrate these points by studying the parallelization of sparse one-dimensional dynamic programming problems, those which do not obviously admit substantial parallelization. We propose a new method for parallelizing such problems, develop analytic models which help us to identify problems which parallelize well, and compare the performance of our algorithm with existing algorithms on a multiprocessor.

Nicol, David M.↗

NASA NTRS1988

Retrograde, charnockite- gneiss relations in Southern India

The high-pressure charnockites (P = 8 to 9 Kb., T = 700 to 800 C CO2-rich fluid regime) of the Nilgiri hills show evidence of retrogression related to shear deformation within the Moyar and Bhavani shear belts. Two types of retrogression have been noticed: (1) retrogression along shear planes, and (2) retrogression along pegmatitic veins. Initial stages of retrogression results in the formation of irregular, 2 to 3 cm to one meter wide bleached zones with the removal of greasy grey color of charnockites. Minor structures which were earlier obscured in charnockites are clearly seen in bleached areas. In intensely shear areas, formation of highly fissile grey gneiss results often with the development of flaser and mylonitic structures. Fluid inclusion studies and geochemical investigations carried out for serial samples collected from charnockite to gneiss indicate following features: (1) there is a gradual decrease in density of CO2-rich fluids from 1.073 to 0.821 g/cu cm; (2) interestingly, in many sections of the gneisses studied, there is almost complete absence of fluid inclusions suggesting that they would have decrepitated (this may be due to large pressure difference (2 to 3 Kb.) created between the interior and exterior of the fluid inclusions); and (3) presence of mixed CO2-H2O inclusions were noticed.

Srikantappa, C.↗

NASA NTRS1989

Spectral solution of the incompressible Navier-Stokes equations on the Connection Machine 2

The issue of solving the time-dependent incompressible Navier-Stokes equations on the Connection Machine 2 is addressed, for the problem of transition to turbulence of the steady flow in a channel. The spectral algorithm used serially requires O(N(4)) operations when solving the equations on an N x N x N grid; using the massive parallelism of the CM, it becomes an O(N(2)) problem. Preliminary timings of the code, written in LISP, are included and compared with a corresponding code optimized for the Cray-2 for a 128 x 128 x 101 grid.

Tomboulian, Sherryl↗

NASA NTRS1987

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.↗