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At least 613 records · Page 34

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NASA NTRS1993

Real-time qualitative reasoning for telerobotic systems

This paper discusses the sensor-based telerobotic driving of a car in a-priori unknown environments using 'human-like' reasoning schemes implemented on custom-designed VLSI fuzzy inferencing boards. These boards use the Fuzzy Set theoretic framework to allow very vast (30 kHz) processing of full sets of information that are expressed in qualitative form using membership functions. The sensor-based and fuzzy inferencing system was incorporated on an outdoor test-bed platform to investigate two control modes for driving a car on the basis of very sparse and imprecise range data. In the first mode, the car navigates fully autonomously to a goal specified by the operator, while in the second mode, the system acts as a telerobotic driver's aid providing the driver with linguistic (fuzzy) commands to turn left or right, speed up, slow down, stop, or back up depending on the obstacles perceived by the sensors. Indoor and outdoor experiments with both modes of control are described in which the system uses only three acoustic range (sonar) sensor channels to perceive the environment. Sample results are presented that illustrate the feasibility of developing autonomous navigation modules and robust, safety-enhancing driver's aids for telerobotic systems using the new fuzzy inferencing VLSI hardware and 'human-like' reasoning schemes.

Pin, Eancois G.↗

NASA NTRS2002

The action of a dietary retinoid on gene expression and cancer induction in electron-irradiated rat skin

Current models of radiation carcinogenesis generally assume that the DNA is damaged in a variety of ways by the radiation and that subsequent cell divisions contribute to the conversion of the damage to heritable mutations. Cancer may seem complex and intractable, but its complexity provides multiple opportunities for preventive interventions. Mitotic inhibitors are among the strongest cancer preventive agents, not only slowing the growth rate of preneoplasias but also increasing the fidelity of DNA repair processes. Ionizing radiation, including electrons, is a strong inducer of cancer in rat skin, and dietary retinoids have shown potent cancer preventive activity in the same system. A non-toxic dietary dose of retinyl acetate altered gene expression levels 24 hours after electron irradiation of rat skin. Of the 8740 genes on an Affymetrix rat expression array, the radiation significantly (5 fold or higher) altered 188, while the retinoid altered 231, including 16 radiation-altered genes that were reversely altered. While radiation strongly affected the expression of stress response, immune/inflammation and nucleic acid metabolism genes, the retinoid most strongly affected proliferation-related genes, including some significant reversals, such as, keratin 14, retinol binding protein, and calcium binding proteins. These results point to reversal of proliferation-relevant genes as a likely basis for the anti-radiogenic effects of dietary retinyl acetate.

Non-NASA Center↗

NASA NTRS1992

Planar reorientation maneuvers of space multibody systems using internal controls

In this paper a reorientation maneuvering strategy for an interconnection of planar rigid bodies in space is developed. It is assumed that there are no exogeneous torques, and torques generated by joint motors are used as means of control so that the total angular momentum of the multibody system is a constant, assumed to be zero in this paper. The maneuver strategy uses the nonintegrability of the expression for the angular momentum. We demonstrate that large-angle maneuvers can be designed to achieve an arbitrary reorientation of the multibody system with respect to an inertial frame. The theoretical background for carrying out the required maneuvers is briefly summarized. Specifications and computer simulations of a specific reorientation maneuver, and the corresponding control strategies, are described.

Reyhanoglu, Mahmut↗

NASA NTRS1973

Vibrational sensitivity of a measuring instrument and methods of increasing the accuracy of its determinations

The properties and peculiarities of two groups of measuring systems reacting to vibrations are discussed. Specifically, results of the action of a three dimensional, cophasal, monoharmonic vibration on the linear system of a measuring instrument was analyzed. Data are also given on the connection between vibration sensitivity and vibration resistance for instruments, methods for estimating vibration resistance, and formulas for expressing test results of vibration resistance. Experimental data are also given for decreasing errors in nonlinear systems during vibrations.

Mironov, Y. S.↗

NASA NTRS2001

Microarray analysis of genes differentially expressed in HepG2 cells cultured in simulated microgravity: preliminary report

Developed at NASA, the rotary cell culture system (RCCS) allows the creation of unique microgravity environment of low shear force, high-mass transfer, and enables three-dimensional (3D) cell culture of dissimilar cell types. Recently we demonstrated that a simulated microgravity is conducive for maintaining long-term cultures of functional hepatocytes and promote 3D cell assembly. Using deoxyribonucleic acid (DNA) microarray technology, it is now possible to measure the levels of thousands of different messenger ribonucleic acids (mRNAs) in a single hybridization step. This technique is particularly powerful for comparing gene expression in the same tissue under different environmental conditions. The aim of this research was to analyze gene expression of hepatoblastoma cell line (HepG2) during early stage of 3D-cell assembly in simulated microgravity. For this, mRNA from HepG2 cultured in the RCCS was analyzed by deoxyribonucleic acid microarray. Analyses of HepG2 mRNA by using 6K glass DNA microarray revealed changes in expression of 95 genes (overexpression of 85 genes and downregulation of 10 genes). Our preliminary results indicated that simulated microgravity modifies the expression of several genes and that microarray technology may provide new understanding of the fundamental biological questions of how gravity affects the development and function of individual cells.

Non-NASA Center↗

NASA NTRS2009

Cambium

The Cambium investigation is one in a pair of investigations which utilizes the Advanced Biological Research System (ABRS). Cambium seeks definitive evidence that gravity has a direct effect on cambial cells (cells located under the inner bark where secondary growth occurs) in willow, Salix babylonica. The Cambium investigation uses willow plants flown on the International Space Station to better understand the fundamental processes by which plants produce cellulose and lignin, the two main structural materials found in plant matter. On Earth, the nature of wood within tree stems varies depending on position, and that within-tree variation includes differences in cell types and chemistry including lignin and cellulose, two major components of wood influencing wood strength, usefulness and carbon content. Reaction wood is an extreme example of such variation, and it is believed that reaction wood develops as a reaction to the influence of gravity. For the Cambium experiment, young willow plants will be launched to the ISS where their stems will be looped in an attempt to induce reaction wood formation. After on-orbit growth, the plants will be preserved and returned to Earth for analysis. Understanding the role of gravity in wood formation is expected to enable wiser management of forests for carbon sequestration as well as better utilization of trees for wood products. Detailed Research Description: The Cambium experiment will provide an understanding of physiological processes such as gene expression, metabolism and general plant development that are affected in plant systems exposed to space flight. Cambium seeks definitive evidence that gravity has a direct effect on the cambial cells (cells located under the inner bark where secondary growth occurs) that contribute to xylogenesis (reaction wood formation) in willow plants, Salix babylonica. Tension wood fibers differentiate on the upper sides of stems when the stem is altered from its normal (vertical) growth position by looping. This reaction wood response does not occur if the orientation of the plant stem with respect to gravity is not altered. If a localized zone of tension wood should be formed in looped stems under microgravity conditions, this would be the first conclusive evidence that gravity is not required. On the other hand, if a zone of tension wood is not produced in looped stems (subjected to tension on one side, compression on the other) in microgravity, this would be the first definitive evidence that gravity has a direct effect on the cambial cells which contribute to reaction wood formation. Following return to Earth the plants will be analyzed by microscopy and chemical methods.

Savidge, Rodney↗

NASA NTRS1992

Propagating Qualitative Values Through Quantitative Equations

In most practical problems where traditional numeric simulation is not adequate, one need to reason about a system with both qualitative and quantitative equations. In this paper, we address the problem of propagating qualitative values represented as interval values through quantitative equations. Previous research has produced exponential-time algorithms for approximate solution of the problem. These may not meet the stringent requirements of many real time applications. This paper advances the state of art by producing a linear-time algorithm that can propagate a qualitative value through a class of complex quantitative equations exactly and through arbitrary algebraic expressions approximately. The algorithm was found applicable to Space Shuttle Reaction Control System model.

Kulkarni, Deepak↗

NASA NTRS2011

System Re-set: High LET Radiation or Transient Musculoskeletal Disuse Cause Lasting Changes in Oxidative Defense Pathways Within Bone

Six months post-IR, there were no notable changes in skeletal expression of 84 principal genes in the p53 signaling pathway due to low dose IR (0.5Gy), HU, or both. In contrast, numerous genes relevant to oxidative stress were regulated by the treatments, typically in a direction indicative of increased oxidative stress and impaired defense. IR and HU independently reduced (between 0.46 to 0.88 fold) expression levels of Noxa1, Gpx3, Prdx2, Prdx3, and Zmynd17. Surprisingly, transient HU alone (sham-irradiated) decreased expression of several redox-related genes (Gpx1,Gstk1, Prdx1, Txnrd2), which were not affected significantly by IR alone. Irradiation increased (1.13 fold) expression of a gene responsible for production of superoxides by neutrophils (NCF2). Of interest, only combined treatment with HU and IR led to increased expression levels of Ercc2, (1.19 fold), a DNA excision repair enzyme. Differences in gene expression levels may reflect a change in gene expression on a per cell basis, a shift in the repertoire of specific cell types within the tissue, or both. Serum nitrite/nitrate levels were elevated to comparable levels (1.6-fold) due to IR, HU or both, indicative of elevated systemic nitrosyl stress. CONCLUSIONS The magnitude of changes in skeletal expression of oxidative stress-related genes six months after irradiation and/or transient unloading tended to be relatively modest (0.46-1.15 fold), whereas the p53 pathway was not affected. The finding that many different oxidative stress-related genes differed from controls at this late time point implicates a generalized impairment of oxidative defense within skeletal tissue, which coincides with both profound radiation damage to osteoprogenitors/stem cells in bone marrow and impaired remodeling of mineralized tissue.

Kumar, Akhilesh↗

NASA NTRS1964

Radial structures surrounding lunar basins. ii - orientale and other systems - conclusions.

Radial structure surrounding basins of lunar maria Orientale and Imbrium, primarily lineaments as expressions of tectonic adjustment

TECTONIC MOVEMENT↗

NASA NTRS1996

Channel capacity of an array system for Gaussian channels with applications to combining and noise cancellation

A closed-form expression for the capacity of an array of correlated Gaussian channels is derived. It is shown that when signal and noise are independent, the array of observables can be replaced with a single observable without diminishing the capacity of the array channel. Examples are provided to illustrate the dependence of channel capacity on noise correlation for two- and three-channel arrays.

Cheung, K. M.↗

NASA NTRS1996

Channel Capacity of an Array System for Gaussian Channels With Applications to Combining and Noise Cancellation

Cheung, K.-M.↗

NASA NTRS1973

Method of approximate determination of the characteristics of nonlinear vibrational systems

Methods are discussed for determining the characteristics of elements of nonlinear vibrational systems, from the results of analyzing forced vibrations which are approximate in themselves, since they are based on the use of experimental data. The constant components of the linearized characteristics and linearization coefficients are determined experimentally by finding the values of these quantities at different vibration amplitudes and frequencies and subsequent approximation of their analytical expressions. Simple and convenient, although approximate, formulas for determining the characteristics of vibrational systems from experimentally known functions are derived.

Atstupenene, R. P.↗

NASA NTRSDate not supplied

Constraints on triple oxygen isotope kinetics

The general assumption that systems are in equilibrium is convenient, but imperfect. Instead, the partial or full expression of kinetic reaction steps may need to be determined. Using an isotope fractionation Monte-Carlo model under the harmonic approximation (Figure 1 envelopes), we find the range of kinetic isotope effects (i.e., resulting from unidirectional chemical reactions) contains and exceeds the range of accessible equilibrium isotope effects. For the 16O-17O-18O system, accessible kinetic isotope effects can yield Δ′17O variations as large 0.8‰ from a single kinetic fractionation step. Reactions that yield the largest deviations from equilibrium are those with the largest molecular mass difference between decomposition fragments, typically the two products, such as a gas and solid generated from the thermal decomposition of an initial solid. For example, previously published experiments on the thermal decomposition of calcite (CaCO3) and dehydroxylation of brucite (Mg(OH)2) are matched by density functional theory models of each kinetic isotope effect, thus revealing their origin in mass-dependent reaction. Beyond oxygen, our approach applies to any system with more than two isotopes.

Oxygen isotopes↗

NASA NTRS1972

System theory on group manifolds and coset spaces.

The purpose of this paper is to study questions regarding controllability, observability, and realization theory for a particular class of systems for which the state space is a differentiable manifold which is simultaneously a group or, more generally, a coset space. We show that it is possible to give rather explicit expressions for the reachable set and the set of indistinguishable states in the case of autonomous systems. We also establish a type of state space isomorphism theorem. Our objective is to reduce all questions about the system to questions about Lie algebras generated from the coefficient matrices entering in the description of the system and in that way arrive at conditions which are easily visualized and tested.

Brockett, R. W.↗

NASA NTRS1980

X-rays from RS Canum Venaticorum systems - A HEAO 1 survey and the development of a coronal model

The paper presents HEAO 1 low-energy X-ray observations of 59 known or suspected RS CVn systems cited in the lists of Hall (1976), Eggen (1978), and the circulars of the Working Group on RS CVn systems of IAU Commission 42. The data are used to argue against the validity of the minimum flux coronal models. A coronal loop model is used to derive expressions for the loop parameters in terms of observable quantities, and find acceptable solutions for RS CVn systems. It is concluded that the difference between solar activity and that observed in RS CVn systems may be merely a matter of scale.

Walter, F. M.↗

NASA NTRS1985

Interactive aircraft flight control and aeroelastic stabilization

Aeroservoelastic optimization techniques were studied to determine a methodology for maximization of the stable flight envelope of an idealized, actively controlled, flexible airfoil. The equations of motion for the airfoil were developed in state-space form to include time-domain representations of aerodynamic forces and active control. The development of an optimization scheme to stabilize the aeroelastic system over a range of airspeeds, including the design airspeed is outlined. The solution approach was divided in two levels: (1) the airfoil structure, with a design variable represented by the shear center position; and (2) the control system. An objective was stated in mathematical form and a search was conducted with the restriction that each subsystem be constrained to be optimal in some sense. Analytical expressions are developed to compute the changes in the eigenvalues of the closed-loop, actively controlled system. A stability index is constructed to ensure that stability is present at the design speed and at other airspeeds away from the design speed.

Weisshaar, T. A.↗

NASA NTRS2003

Reusable Rack Interface Controller Common Software for Various Science Research Racks on the International Space Station

The purpose of the EXPRESS (Expedite the PRocessing of Experiments to Space Station) rack project is to provide a set of predefined interfaces for scientific payloads which allow rapid integration into a payload rack on International Space Station (ISS). VxWorks' was selected as the operating system for the rack and payload resource controller, primarily based on the proliferation of VME (Versa Module Eurocard) products. These products provide needed flexibility for future hardware upgrades to meet everchanging science research rack configuration requirements. On the International Space Station, there are multiple science research rack configurations, including: 1) Human Research Facility (HRF); 2) EXPRESS ARIS (Active Rack Isolation System); 3) WORF (Window Observational Research Facility); and 4) HHR (Habitat Holding Rack). The RIC (Rack Interface Controller) connects payloads to the ISS bus architecture for data transfer between the payload and ground control. The RIC is a general purpose embedded computer which supports multiple communication protocols, including fiber optic communication buses, Ethernet buses, EIA-422, Mil-Std-1553 buses, SMPTE (Society Motion Picture Television Engineers)-170M video, and audio interfaces to payloads and the ISS. As a cost saving and software reliability strategy, the Boeing Payload Software Organization developed reusable common software where appropriate. These reusable modules included a set of low-level driver software interfaces to 1553B. RS232, RS422, Ethernet buses, HRDL (High Rate Data Link), video switch functionality, telemetry processing, and executive software hosted on the FUC computer. These drivers formed the basis for software development of the HRF, EXPRESS, EXPRESS ARIS, WORF, and HHR RIC executable modules. The reusable RIC common software has provided extensive benefits, including: 1) Significant reduction in development flow time; 2) Minimal rework and maintenance; 3) Improved reliability; and 4) Overall reduction in software life cycle cost. Due to the limited number of crew hours available on ISS for science research, operational efficiency is a critical customer concern. The current method of upgrading RIC software is a time consuming process; thus, an improved methodology for uploading RIC software is currently under evaluation.

Lu, George C.↗

NASA NTRS1992

Recursive flexible multibody system dynamics using spatial operators

This paper uses spatial operators to develop new spatially recursive dynamics algorithms for flexible multibody systems. The operator description of the dynamics is identical to that for rigid multibody systems. Assumed-mode models are used for the deformation of each individual body. The algorithms are based on two spatial operator factorizations of the system mass matrix. The first (Newton-Euler) factorization of the mass matrix leads to recursive algorithms for the inverse dynamics, mass matrix evaluation, and composite-body forward dynamics for the systems. The second (innovations) factorization of the mass matrix, leads to an operator expression for the mass matrix inverse and to a recursive articulated-body forward dynamics algorithm. The primary focus is on serial chains, but extensions to general topologies are also described. A comparison of computational costs shows that the articulated-body, forward dynamics algorithm is much more efficient than the composite-body algorithm for most flexible multibody systems.

Jain, A.↗