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At least 559 records · Page 31
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Algorithm For Simplified Robotic Tracking Of Weld Seams

Algorithm computes small cross-seam corrections to programmed path of welding robot. Intended for use with add-on vision system loosely coupled to robot, transmitting small amount of information about weld seam ahead of torch. Position of welding torch in reference frame of moving window estimated on basis of data on weld seam and speed of torch. Does not need data on position of torch, and does not transform data on seam to another reference frame.

Gutow, David A.↗
NASA NTRS1992

Optimizing Reduced-Order Transfer Functions

Transfer-function approximations made optimal in special least-squares sense. Algorithm computes reduced-order rational-fraction approximates to single-input/single-output transfer functions. Reduces amount of computation needed for such purposes as numerical simulation of dynamics and design of control subsystems.

Spanos, John T.↗
NASA NTRS1992

Application of program LAURA to perfect gas shock tube flows: A parametric study

The Langley Aerothermodynamic Upwind Relaxation Algorithm (LAURA) was originally developed to solve steady-flow problems. The desire to validate the algorithm with shock tube experimental data motivated the development of a time-accurate version of the LAURA code. The current work presents a test of the Algorithm. Computational results are compared with the exact solution for a simple shock tube case. The parameters examined are Courant number, relaxation sweeps, grid spacing, and the inviscid relaxation factor. The results of the study indicate that LAURA is capable of producing accurate solutions when appropriate values are used for each parameter.

Mitterer, K. F.↗
NASA NTRS1992

Neural network classification of questionable EGRET events

High energy gamma rays (greater than 20 MeV) pair producing in the spark chamber of the Energetic Gamma Ray Telescope Experiment (EGRET) give rise to a characteristic but highly variable 3-D locus of spark sites, which must be processed to decide whether the event is to be included in the database. A significant fraction (about 15 percent or 10(exp 4) events/day) of the candidate events cannot be categorized (accept/reject) by an automated rule-based procedure; they are therefore tagged, and must be examined and classified manually by a team of expert analysts. We describe a feedforward, back-propagation neural network approach to the classification of the questionable events. The algorithm computes a set of coefficients using representative exemplars drawn from the preclassified set of questionable events. These coefficients map a given input event into a decision vector that, ideally, describes the correct disposition of the event. The net's accuracy is then tested using a different subset of preclassified events. Preliminary results demonstrate the net's ability to correctly classify a large proportion of the events for some categories of questionables. Current work includes the use of much larger training sets to improve the accuracy of the net.

Meetre, C. A.↗
NASA NTRS1991

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated.

Marzwell, Neville I.↗
NASA NTRS1992

Let's go: Early universe 2. Primordial nucleosynthesis the computer way

This is a revised description and manual for the primordial nucleosynthesis program, NUC123, an updated and modified version of the code of R.V. Wagoner. NUC123 has undergone a number of changes, further enhancing its documentation and ease of use. Presented here is a guide to its use, followed by a series of appendices containing specific details such as a summary of the basic structure of the program, a description of the computational algorithm, and a presentation of the theory incorporated into the program.

Kawano, Lawrence↗
NASA NTRS1992

Modeling of composite beams and plates for static and dynamic analysis

A rigorous theory and the corresponding computational algorithms were developed for through-the-thickness analysis of composite plates. This type of analysis is needed in order to find the elastic stiffness constants of a plate. Additionally, the analysis is used to post-process the resulting plate solution in order to find approximate three-dimensional displacement, strain, and stress distributions throughout the plate. It was decided that the variational-asymptotical method (VAM) would serve as a suitable framework in which to solve these types of problems. Work during this reporting period has progressed along two lines: (1) further evaluation of neo-classical plate theory (NCPT) as applied to shear-coupled laminates; and (2) continued modeling of plates with nonuniform thickness.

Hodges, Dewey H.↗
NASA NTRS1991

Structural reliability analysis of laminated CMC components

For laminated ceramic matrix composite (CMC) materials to realize their full potential in aerospace applications, design methods and protocols are a necessity. The time independent failure response of these materials is focussed on and a reliability analysis is presented associated with the initiation of matrix cracking. A public domain computer algorithm is highlighted that was coupled with the laminate analysis of a finite element code and which serves as a design aid to analyze structural components made from laminated CMC materials. Issues relevant to the effect of the size of the component are discussed, and a parameter estimation procedure is presented. The estimation procedure allows three parameters to be calculated from a failure population that has an underlying Weibull distribution.

Duffy, Stephen F.↗
NASA NTRS1991

Spatial operator approach to under-actuated manipulator kinematics and dynamics

A study is made of the kinematics and dynamics of under-actuated manipulators. The presence of passive hinges causes the kinematics and dynamics of these manipulators to be considerably more complex when compared with fully actuated manipulators. Techniques from the spatial operator algebra are used to develop expressions for the generalized Jacobian, the mass matrix, and an efficient inverse dynamics computational algorithm.

Jain, A.↗
NASA NTRS1992

Analysis of whisker-toughened CMC structural components using an interactive reliability model

Realizing wider utilization of ceramic matrix composites (CMC) requires the development of advanced structural analysis technologies. This article focuses on the use of interactive reliability models to predict component probability of failure. The deterministic William-Warnke failure criterion serves as theoretical basis for the reliability model presented here. The model has been implemented into a test-bed software program. This computer program has been coupled to a general-purpose finite element program. A simple structural problem is presented to illustrate the reliability model and the computer algorithm.

Duffy, Stephen F.↗
NASA NTRS1992

Structural design methodologies for ceramic-based material systems

One of the primary pacing items for realizing the full potential of ceramic-based structural components is the development of new design methods and protocols. The focus here is on low temperature, fast-fracture analysis of monolithic, whisker-toughened, laminated, and woven ceramic composites. A number of design models and criteria are highlighted. Public domain computer algorithms, which aid engineers in predicting the fast-fracture reliability of structural components, are mentioned. Emphasis is not placed on evaluating the models, but instead is focused on the issues relevant to the current state of the art.

Duffy, Stephen F.↗
NASA NTRS1992

A hybrid flow model for charged and neutral particles around spacecraft in Low Earth Orbit

A flow simulation for charged and neutral particles around spacecraft is given that combines the fully coupled effects of neutral particle flow, plasma flow, electromagnetic field effects, and spacecraft charging. The simulation allows for chemically reacting flows (associative ionization, dissociation, and chain exchange) and for thermal accommodation at a spacecraft surface. The solution procedure was applied to several types of flows with orbital altitudes ranging from 250 km to 500 km. Excellent agreement with previously verified computational algorithms was obtained for both the neutral and charged particle cases. Results for the full flow simulation are presented for altitudes of 250 km and 500 km.

Justiz, Charles R.↗
NASA NTRS1992

Identification of system, observer, and controller from closed-loop experimental data

This paper considers the identification problem of a system operating in closed-loop with an existing feedback controller. The closed-loop system is excited by a known excitation signal, and the resulting time histories of the closed-loop system response and the feedback signal are measured. From the time history data, the algorithm computes the Markov parameters of a closed-loop observer, from which the Markov parameters of the individual open-loop plant, observer, and controller are recovered. A state space model of the open-loop plant and the gain matrices for the controller and the observer are then realized. The results of the paper are demonstrated by an example using actual aircraft flutter test data.

Juang, Jer-Nan↗
NASA NTRS1992

Transonic solutions of a wing/pylon/finned store using hybrid domain decomposition

Transonic Euler calculations about a complex multicomponent configuration are presented. The 3D Euler equations are solved utilizing an upwind-biased, alternating direction implicit, approximately factored, multigrid algorithm. Computational results are compared to experimental data of the finned store in a carriage position.

Newman, James C., III↗
NASA NTRS1992

Exoskeleton master controller with force-reflecting telepresence

A thorough understanding of the requirements for successful master-slave robotic systems is becoming increasingly desirable. Such systems can aid in the accomplishment of tasks that are hazardous or inaccessible to humans. Although a history of use has proven master-slave systems to be viable, system requirements and the impact of specifications on the human factors side of system performance are not well known. In support of the next phase of teleoperation research being conducted at the Armstrong Research Laboratory, a force-reflecting, seven degree of freedom exoskeleton for master-slave teleoperation has been concepted, and is presently being developed. The exoskeleton has a unique kinematic structure that complements the structure of the human arm. It provides a natural means for teleoperating a dexterous, possibly redundant manipulator. It allows ease of use without operator fatigue and faithfully follows human arm and wrist motions. Reflected forces and moments are remotely transmitted to the operator hand grip using a cable transmission scheme. This paper presents the exoskeleton concept and development results to date. Conceptual design, hardware, algorithms, computer architecture, and software are covered.

Burke, James B.↗
NASA NTRS1993

H-P adaptive methods for finite element analysis of aerothermal loads in high-speed flows

The commitment to develop the National Aerospace Plane and Maneuvering Reentry Vehicles has generated resurgent interest in the technology required to design structures for hypersonic flight. The principal objective of this research and development effort has been to formulate and implement a new class of computational methodologies for accurately predicting fine scale phenomena associated with this class of problems. The initial focus of this effort was to develop optimal h-refinement and p-enrichment adaptive finite element methods which utilize a-posteriori estimates of the local errors to drive the adaptive methodology. Over the past year this work has specifically focused on two issues which are related to overall performance of a flow solver. These issues include the formulation and implementation (in two dimensions) of an implicit/explicit flow solver compatible with the hp-adaptive methodology, and the design and implementation of computational algorithm for automatically selecting optimal directions in which to enrich the mesh. These concepts and algorithms have been implemented in a two-dimensional finite element code and used to solve three hypersonic flow benchmark problems (Holden Mach 14.1, Edney shock on shock interaction Mach 8.03, and the viscous backstep Mach 4.08).

Chang, H. J.↗
NASA NTRS1993

Modeling of composite beams and plates for static and dynamic analysis

The main purpose of this research was to develop a rigorous theory and corresponding computational algorithms for through-the-thickness analysis of composite plates. This type of analysis is needed in order to find the elastic stiffness constants for a plate and to post-process the resulting plate solution in order to find approximate three-dimensional displacement, strain, and stress distributions throughout the plate. This also requires the development of finite deformation plate equations which are compatible with the through-the-thickness analyses. After about one year's work, we settled on the variational-asymptotical method (VAM) as a suitable framework in which to solve these types of problems. VAM was applied to laminated plates with constant thickness in the work of Atilgan and Hodges. The corresponding geometrically nonlinear global deformation analysis of plates was developed by Hodges, Atilgan, and Danielson. A different application of VAM, along with numerical results, was obtained by Hodges, Lee, and Atilgan. An expanded version of this last paper was submitted for publication in the AIAA Journal.

Hodges, Dewey H.↗
NASA NTRS1992

High resolution images of P/Tempel 1 and P/Tempel 2 constructed from IRAS survey data

Infrared images of P/Tempel 1 and P/Tempel 2 were constructed from IRAS survey data using a computer algorithm based on the Maximum Correlation Method for Image Construction (Aumann et al, 1990). The resulting images are of sufficiently high quality and resolution to delineate coma and tail morphology, and permit accurate photometry of the total dust complex. Comparisons of the infrared colors and photometric profiles of Tempel 1 and Tempel 2 at similar heliocentric distances show that the grains produced by the two comets are quite similar in radiometric and dynamic properties. Tempel 1 is found to produce about 30 percent more dust in its coma and tail than Tempel 2. The comae of Tempel 1 and Tempel 2 are expanding with mean velocities of 5.8 plus or minus 0.07 and 6.1 plus or minus 0.17 m/sec respectively, indicative of the ejection of large grains. The IRAS cataloged infrared fluxes (Walker, 1986) are found to be underestimated by as much as a factor of three for the comets. Therefore, it is essential to create images of the comets to obtain meaningful IRAS photometry.

Walker, Russell G.↗