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At least 811 records · Page 45
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

POINTER: Portable Intelligent Trainer for External Robotics

Intelligent tutoring systems (ITS's) play an increasing role in training and education of people with different levels of skill and knowledge. As compared to conventional computer based training (CBT) an ITS provides more tailored instruction by trying to mimic the teaching behavior of a human instructor as much as possible and is therefore much more flexible. This paper starts with an introduction to ITS's, followed by the description of an ITS for training of an (astronaut) operator in monitoring and controlling robotic arm procedures. The robotic arm will be used for exchange of equipment between a space station and a space plane involving critical and accurate movements of the robotic arm. The ITS for this application, called Pointer, is developed by TNO Physics and Electronics Laboratory and is based upon an existing ITS that includes procedural training. Pointer has been developed on a workstation whereas the target platform was a portable computer. Therefore, a lot of attention had to be paid to scaling effects and keeping up with user friendliness of the much smaller user interface. Although the learning domain was the control of a robotic arm, it is clear that use of intelligent training technologies on a portable computer has many other applications (payload operations, operation control rooms, etc.). Training can occur at any time and place in an attractive and cost effective way.

Kuiper, Hilbert↗
NASA NTRS1994

On the analysis of para-ammonia observations

The intensities and optical depths of the (1, 1), (2, 2), and (2, 1) inversion transitions of ammonia can be calculated quite accurately without solving the equations of statistical equilibrium. A two-temperature partition function suffices. The excitation of the K-ladders can be approximated by using a temperature obtained from a two-level model with the (2, 1) and (1, 1) levels. Distribution of populations between the ladders is described with the kinetic temperature. This enables one to compute the (1, 1) and (2, 1) inversion transition excitation temperatures and optical depths. To compute the (2, 2) brightness temperatures, the fractional population of the (2, 2) doublet is computed from the population of the (1, 1) doublet using the 'true rotation temperature,' which is calculated using a three-level model with the (2, 1), (2, 2), and (1, 1) levels. In spite of some iterative steps, the calculation is quite fast.

Kuiper, T. B. H.↗
NASA NTRS1995

The search for MeV gamma-ray pulsars with COMPTEL

The Compton Gamma Ray Observatory (CGRO) completed a full sky survey in November 1993 during which the number of known gamma-ray pulsars more than doubled. During this survey the Compton Telescope (COMPTEL) observed the classical isolated pulsars Crab and Vela and detected PSR 1509-58. Attempts to detect the newly discovered pulsars, Geminga, PSR 1706-44 and PSR 1055-52, in the COMPTEL energy range provide only upper limits. The results of these analyses are presented together with the outcome of a search for further candidate radio pulsars whose ephemerides are given in the Princeton Pulsar Catalogue.

Bennett, K.↗
NASA NTRS1995

The Crab nebula and pulsar in the MeV energy range

The imaging Compton Telescope (COMPTEL) is sensitive in the energy range of 0.75 to 30 MeV. COMPTEL observed the Crab several times during the Compton Gamma Ray Observatory (CGRO) sky survey and CGRO Phase II. Both the Crab pulsar and nebula are detected over the entire COMPTEL energy range. The phase-averaged energy spectra of the Crab Pulsar and Nebula are presented. The combined observations provide sufficient statistics for a phase-resolved analysis of the Crab pulsar spectrum.

Much, R.↗
NASA NTRS1995

Strong gamma-ray bursts observed by COMPTEL during its second year of operation

The imaging Compton telescope (COMPTEL) onboard the Compton Gamma Ray Observatory (CGRO) can localize gamma-ray bursts occurring inside its approximately 1 sr field-of-view in the energy range from 0.75 to 30 MeV with location accuracy of 1 deg. Additional time-resolved spectral measurements in the energy range 0.1 to 10 MeV are made by individual COMPTEL 'burst' detectors. During its second year of operation COMPTEL observed several gamma-ray bursts. Locations of five strong bursts (including the rapidly imaged events GRB 930131 and GRB 930309) are presented here along with the findings from preliminary spectral analysis.

Kippen, R. M.↗
NASA NTRS1996

Self-calibrating models for dynamic monitoring and diagnosis

A method for automatically building qualitative and semi-quantitative models of dynamic systems, and using them for monitoring and fault diagnosis, is developed and demonstrated. The qualitative approach and semi-quantitative method are applied to monitoring observation streams, and to design of non-linear control systems.

Kuipers, Benjamin↗
NASA NTRS1997

New COMPTEL results on pulsar studies at MeV energies

The Compton telescope (COMPTEL) onboard the Compton Gamma Ray Observatory (CGRO) detected the pulsar PSR B1951-32 at MeV energies, and found indications of a signal from PSR B0656+14. In the combined spectra from COMPTEL and the energetic gamma ray experiment telescope (EGRET) onboard CGRO, it can be seen that the maximum luminosities of these objects are reached in the COMPTEL energy range. These spectra can be compared with those from four other pulsars observed in MeV energies with COMPTEL. The spectral properties of five of the six pulsars, Vela, PSR B1509-58, PSR B1951-32 and PSR B0656+14, require breaks and bends at MeV energies. The sixth pulsar, the Crab pulsar, approximately follows a power law flux relation from keV to GeV energies. It is concluded that this spectral behavior may play a role in the discrimination between current gamma ray emission models.

Hermsen, W.↗
NASA NTRS1997

A Scalable Distributed Approach to Mobile Robot Vision

This paper documents our progress during the first year of work on our original proposal entitled 'A Scalable Distributed Approach to Mobile Robot Vision'. We are pursuing a strategy for real-time visual identification and tracking of complex objects which does not rely on specialized image-processing hardware. In this system perceptual schemas represent objects as a graph of primitive features. Distributed software agents identify and track these features, using variable-geometry image subwindows of limited size. Active control of imaging parameters and selective processing makes simultaneous real-time tracking of many primitive features tractable. Perceptual schemas operate independently from the tracking of primitive features, so that real-time tracking of a set of image features is not hurt by latency in recognition of the object that those features make up. The architecture allows semantically significant features to be tracked with limited expenditure of computational resources, and allows the visual computation to be distributed across a network of processors. Early experiments are described which demonstrate the usefulness of this formulation, followed by a brief overview of our more recent progress (after the first year).

Kuipers, Benjamin↗
NASA NTRS1997

Monitoring with Trackers Based on Semi-Quantitative Models

In three years of NASA-sponsored research preceding this project, we successfully developed a technology for: (1) building qualitative and semi-quantitative models from libraries of model-fragments, (2) simulating these models to predict future behaviors with the guarantee that all possible behaviors are covered, (3) assimilating observations into behaviors, shrinking uncertainty so that incorrect models are eventually refuted and correct models make stronger predictions for the future. In our object-oriented framework, a tracker is an object which embodies the hypothesis that the available observation stream is consistent with a particular behavior of a particular model. The tracker maintains its own status (consistent, superceded, or refuted), and answers questions about its explanation for past observations and its predictions for the future. In the MIMIC approach to monitoring of continuous systems, a number of trackers are active in parallel, representing alternate hypotheses about the behavior of a system. This approach is motivated by the need to avoid 'system accidents' [Perrow, 1985] due to operator fixation on a single hypothesis, as for example at Three Mile Island. As we began to address these issues, we focused on three major research directions that we planned to pursue over a three-year project: (1) tractable qualitative simulation, (2) semiquantitative inference, and (3) tracking set management. Unfortunately, funding limitations made it impossible to continue past year one. Nonetheless, we made major progress in the first two of these areas. Progress in the third area as slower because the graduate student working on that aspect of the project decided to leave school and take a job in industry. I enclosed a set of abstract of selected papers on the work describe below. Several papers that draw on the research supported during this period appeared in print after the grant period ended.

Kuipers, Benjamin↗
NASA NTRS1998

Gamma Radiation from PSR B1055-52

The telescopes on the Compton Gamma Ray Observatory (CCRO) have observed PSR B1055-52 a number of times between 1991 and 1998. From these data, a more detailed picture of the gamma radiation from this source has been developed, showing several characteristics which distinguish this pulsar: the light curve is complex; there is no detectable unpulsed emission; the energy spectrum is flat, with no evidence of a sharp high-energy cutoff up to greater than 4 GeV. Comparisons of the gamma-ray data with observations at longer wavelengths show that no two of the known gamma-ray pulsars have quite the same characteristics; this diversity makes interpretation in terms of theoretical models difficult.

Thompson, D. J.↗
NASA NTRS1998

The Locations of Gamma-Ray Bursts Measured by Comptel

The COMPTEL instrument on the Compton Gamma Ray Observatory is used to measure the locations of gamma-ray bursts through direct imaging of MeV photons. In a comprehensive search, we have detected and localized 29 bursts observed between 1991 April 19 and 1995 May 31. The average location accuracy of these events is 1.25 deg (1 sigma), including a systematic error of approx. 0.5 deg, which is verified through comparison with Interplanetary Network (IPN) timing annuli. The combination of COMPTEL and IPN measurements results in locations for 26 of the bursts with an average "error box" area of only approx. 0.3 deg (1 sigma). We find that the angular distribution of COMPTEL burst locations is consistent with large-scale isotropy and that there is no statistically significant evidence of small-angle autocorrelations. We conclude that there is no compelling evidence for burst repetition since no more than two of the events (or approx. 7% of the 29 bursts) could possibly have come from the same source. We also find that there is no significant correlation between the burst locations and either Abell clusters of galaxies or radio-quiet quasars. Agreement between individual COMPTEL locations and IPN annuli places a lower limit of approx. 100 AU (95% confidence) on the distance to the stronger bursts.

Kippen, R. Marc↗
NASA NTRS1999

Gamma Radiation from PSR B1055-52

The telescopes on the Compton Gamma Ray Observatory (CGRO) have observed PSR B1055-52 a number of times between 1991 and 1998. From these data, a more detailed picture of the gamma radiation from this source has been developed, showing several characteristics which distinguish this pulsar: the light curve is complex; there is no detectable unpulsed emission; the energy spectrum is flat, with no evidence of a sharp high-energy cutoff up to greater than 4 GeV. Comparisons of the gamma-ray data with observations at longer wavelengths show that no two of the known gamma-ray pulsars have quite the same characteristics; this diversity makes interpretation in terms of theoretical models difficult.

Thompson, D. J.↗
NASA NTRS1995

Ammonia Observations of NGC 6334 I(N)

Coincident with the far-infrared source NGC 6334 I(N) and water maser source E is a massive dense cloud which has the most intense ammonia (1, 1) emission of any known interstellar cloud. We have mapped the (3, 3) emission and find the cloud is extended 0.8 pc in the direction parallel to the Galactic plane, and 0.5 pc perpendicular to it. It has a velocity gradient of 1 km/s.pc perpendicular to the Galactic plane. The gas kinetic temperature is about 30 K and the density is greater than 10(exp 6)/cc. The mass of the cloud is about 3000 solar mass, 3 times greater than previously estimated. The para-ammonia column density is 6 - 8 x 10(exp 15)/sq cm. An ammonia abundance of 0.5 - 1.5 x 10(exp -8) is inferred, where the larger number assumes an early time ortho/para ratio. This suggests either a cloud age of less than approximately 10(exp 6) yr, or substantial depletion of ammonia.

Kuiper, T. B. H.↗
NASA NTRS1995

Study of Structure and Small-Scale Fragmentation in TMC-1

Large-scale C(sup 18)O maps show that the Taurus molecular cloud 1 (TMC-1) has numerous cores located along a ridge which extends about 12 minutes by at least 35 minutes. The cores traced by C(sup 18)O are about a few arcminutes (0.1-0.2 pc) in extent, typically contain about 0.5-3 solar mass, and are probably gravitationally bound. We present a detailed study of the small-scale fragmentary structure of one of these cores, called core D, within TMC-1 using very high spectral and spatial resolution maps of CCS and CS. The CCS lines are excellent tracers for investigating the density, temperature, and velocity structure in dense cores. The high spectral resolution, 0.008 km /s, data consist mainly of single-dish, Nyquist-sampled maps of CCS at 22 GHz with 45 sec spatial resolution taken with NASA's 70 m DSN antenna at Goldstone. The high spatial resolution spectral line maps were made with the Very Large Array (9 sec resolution) at 22 GHz and with the OVRO millimeter array in CCS and CS at 93 GHz and 98 GHz, respectively, with 6 sec resolution. These maps are supplemented with single-dish observations of CCS and CC(sup 34)S spectra at 33 GHz using a NASA 34 m DSN antenna, CCS 93 GHz, C(sup 34)S (2-1), and C(sup 18)O (1-0) single-dish observations made with the AT&T Bell Laboratories 7 m antenna. Our high spectral and spatial CCS and CS maps show that core D is highly fragmented. The single-dish CCS observations map out several clumps which range in size from approx. 45 sec to 90 sec (0.03-0.06 pc). These clumps have very narrow intrinsic line widths, 0.11-0.25 km/s, slightly larger than the thermal line width for CCS at 10 K, and masses about 0.03-0.2 solar mass. Interferometer observations of some of these clumps show that they have considerable additional internal structure, consisting of several condensations ranging in size from approx. 10 sec- 30 sec (0.007-0.021 pc), also with narrow line widths. The mass of these smallest fragments is of order 0.01 solar mass. These small-scale structures traced by CCS appear to be gravitationally unbound by a large factor. Most of these objects have masses that fall below those of the putative proto-brown dwarfs (approx. less than 0.1 solar mass). The presence of many small gravitationally unbound clumps suggests that fragmentation mechanisms other than a purely Jeans gravitational instability may be important for the dynamics of these cold dense cores.

Langer, W. D.↗
NASA NTRS2000

Deep Space Telecommunications

The increasing load on NASA's deep Space Network, the new capabilities for deep space missions inherent in a next-generation radio telescope, and the potential of new telescope technology for reducing construction and operation costs suggest a natural marriage between radio astronomy and deep space telecommunications in developing advanced radio telescope concepts.

Kuiper, T. B. H.↗
NASA NTRS2002

Exploring Heart and Lung Function in Space: ARMS Experiments

The Advanced Respiratory Monitoring System (ARMS) is a suite of monitoring instruments and supplies used to study the heart, lungs, and metabolism. Many experiments sponsored by the European Space Agency (ESA) will be conducted using ARMS during STS-107. The near-weightless environment of space causes the body to undergo many physiological adaptations, and the regulation of blood pressure is no exception. Astronauts also experience a decrease in blood volume as an adaptation to microgravity. Reduced blood volume may not provide enough blood pressure to the head during entry or landing. As a result, astronauts often experience light-headedness, and sometimes even fainting, when they stand shortly after returning to Earth. To help regulate blood pressure and heart rate, baroreceptors, sensors located in artery walls in the neck and near the heart, control blood pressure by sending information to the brain and ensuring blood flow to organs. These mechanisms work properly in Earth's gravity but must adapt in the microgravity environment of space. However, upon return to Earth during entry and landing, the cardiovascular system must readjust itself to gravity, which can cause fluctuation in the control of blood pressure and heart rate. Although the system recovers in hours or days, these occurrences are not easily predicted or understood - a puzzle investigators will study with the ARMS equipment. In space, researchers can focus on aspects of the cardiovascular system normally masked by gravity. The STS-107 experiments using ARMS will provide data on how the heart and lungs function in space, as well as how the nervous system controls them. Exercise will also be combined with breath holding and straining (the Valsalva maneuver) to test how heart rate and blood pressure react to different stresses. This understanding will improve astronauts' cardiopulmonary function after return to Earth, and may well help Earthbound patients who experience similar effects after long-term bed rest.

Andre Kuipers↗
NASA NTRS1996

Evolutionary status of the pre-protostellar core L1498

L1498 is a classic example of a dense cold pre-protostellar core. To study the evolutionary status, the structure, dynamics, and chemical properties of this core we have obtained high spatial and high spectral resolution observations of molecules tracing densities of 10(3)-10(5) cm-3. We observed CCS, NH3, C3H2, and HC7N with NASA's DSN 70 m antennas. We also present large-scale maps of C18O and 13CO observed with the AT&T 7 m antenna. For the high spatial resolution maps of selected regions within the core we used the VLA for CCS at 22 GHz, and the Owens Valley Radio Observatory (OVRO) MMA for CCS at 94 GHz and CS (2-1). The 22 GHz CCS emission marks a high-density [n(H2) > 10(4) cm -3] core, which is elongated with a major axis along the SE-NW direction. NH3 and C3H2 emissions are located inside the boundary of the CCS emission. C18O emission traces a lower density gas extending beyond the CCS boundary. Along the major axis of the dense core, CCS, NH3 and C3H2 emission show evidence of limb brightening. The observations are consistent with a chemically differentiated onion-shell structure for the L1498 core, with NH3 in the inner and CCS in the outer parts of the core. The high angular resolution (9"-12") spectral line maps obtained by combining NASA Goldstone 70 m and VLA data resolve the CCS 22 GHz emission in the southeast and northwest boundaries into arclike enhancements, supporting the picture that CCS emission originates in a shell outside the NH3 emitting region. Interferometric maps of CCS at 94 GHz and CS at 98 GHz show that their emitting regions contain several small-scale dense condensations. We suggest that the differences between the CCS, CS, C3H2, and NH3 emission are caused by a time-dependent effect as the core evolves slowly. We interpret the chemical and physical properties of L1498 in terms of a quasi-static (or slowly contracting) dense core in which the outer envelope is still growing. The growth rate of the core is determined by the density increase in the CCS shell resulting from the accretion of the outer low-density gas traced by C18O. We conclude that L1498 could become unstable to rapid collapse to form a protostar in less than 5 x 10(6) yr.

NASA Discipline Exobiology↗
NASA NTRS1997

First astronomical detection of the cumulene carbon chain molecule H2C6 in TMC-1

The cumulene carbenes are important components of hydrocarbon chemistry in low-mass star-forming cores. Here we report the first astronomical detection of the long-chain cumulene carbene H2C6 in the interstellar cloud TMC-1, from observations of two of its rotational transitions: J(K,K') = 7(1,7) --> 6(1,6) at 18.8 GHz and 8(1,8) --> 7(1,7) at 21.5 GHz, using NASA's Deep Space Network 70 m antenna at Goldstone, California. In addition we also observed the shorter cumulene carbene H2C4 at the same position. The fractional abundance of H2C6 relative to H2 is about 4.7 x 10(-11) and that of H2C4 is about 4.1 x 10(-9). The abundance of H2C6 is in fairly good agreement with gas-phase chemical models for young molecular cloud cores, but the abundance of H2C4 is significantly larger than predicted.

NASA Discipline Exobiology↗