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At least 847 records · Page 47

Autonomous vehicle motion control, approximate maps, and fuzzy logic

Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

Ruspini, Enrique H.↗

Performance and state-space analyses of systems using Petri nets

The goal of any modeling methodology is to develop a mathematical description of a system that is accurate in its representation and also permits analysis of structural and/or performance properties. Inherently, trade-offs exist between the level detail in the model and the ease with which analysis can be performed. Petri nets (PN's), a highly graphical modeling methodology for Discrete Event Dynamic Systems, permit representation of shared resources, finite capacities, conflict, synchronization, concurrency, and timing between state changes. By restricting the state transition time delays to the family of exponential density functions, Markov chain analysis of performance problems is possible. One major drawback of PN's is the tendency for the state-space to grow rapidly (exponential complexity) compared to increases in the PN constructs. It is the state space, or the Markov chain obtained from it, that is needed in the solution of many problems. The theory of state-space size estimation for PN's is introduced. The problem of state-space size estimation is defined, its complexities are examined, and estimation algorithms are developed. Both top-down and bottom-up approaches are pursued, and the advantages and disadvantages of each are described. Additionally, the author's research in non-exponential transition modeling for PN's is discussed. An algorithm for approximating non-exponential transitions is developed. Since only basic PN constructs are used in the approximation, theory already developed for PN's remains applicable. Comparison to results from entropy theory show the transition performance is close to the theoretic optimum. Inclusion of non-exponential transition approximations improves performance results at the expense of increased state-space size. The state-space size estimation theory provides insight and algorithms for evaluating this trade-off.

Watson, James Francis, III↗

Investigation of the effects of Extra Vehicular Activity (EVA) and Launch and Entry (LES) gloves on performance

Human capabilities such as dexterity, manipulability, and tactile perception are unique and render the hand as a very versatile, effective and a multipurpose tool. This is especially true for unknown environments such as the EVA environment. In the microgravity environment interfaces, procedures, and activities are too complex, diverse, and defy advance definition. Under these conditions the hand becomes the primary means of locomotion, restraint, and material handling. Facilitation of these activities, with simultaneous protection from the cruel EVA environment are the two, often conflicting, objectives of glove design. The objectives of this study was (1) to assess the effects of EVA gloves at different pressures on human hand capabilities, (2) to devise a protocol for evaluating EVA gloves, (3) to develop force time relations for a number of EVA glove pressure combinations, and (4) to evaluate two types of launch and entry suit gloves. The objectives were achieved through three experiments. The experiments for achieving objectives 1, 2, and 3 were performed in the glove box in building 34. In experiment 1 three types of EVA gloves were tested at five pressure differentials. A number of performance measures were recorded. In experiment 2 the same gloves as in experiment 1 were evaluated in a reduced number of pressure conditions. The performance measure was endurance time. Six subjects participated in both the experiments. In experiment 3 two types of launch and entry suit gloves were evaluated using a paradigm similar to experiment 1. Currently the data is being analyzed. However for this report some summary analyses have been performed. The results indicate that a) With EVA gloves strength is reduced by nearly 50 percent, b) performance decrements increase with increasing pressure differential, c) TMG effects are not consistent across the three gloves tested, d) some interesting gender glove interactions were observed, some of which may have been due to the extent (or lack of) fit of the glove to the hand, and e) differences in performance exist between partial pressure suit glove and full pressure suit glove, especially in the unpressurized condition.

Bishu, Ram R.↗

Distributed project scheduling at NASA: Requirements for manual protocols and computer-based support

The increasing complexity of space operations and the inclusion of interorganizational and international groups in the planning and control of space missions lead to requirements for greater communication, coordination, and cooperation among mission schedulers. These schedulers must jointly allocate scarce shared resources among the various operational and mission oriented activities while adhering to all constraints. This scheduling environment is complicated by such factors as the presence of varying perspectives and conflicting objectives among the schedulers, the need for different schedulers to work in parallel, and limited communication among schedulers. Smooth interaction among schedulers requires the use of protocols that govern such issues as resource sharing, authority to update the schedule, and communication of updates. This paper addresses the development and characteristics of such protocols and their use in a distributed scheduling environment that incorporates computer-aided scheduling tools. An example problem is drawn from the domain of Space Shuttle mission planning.

Richards, Stephen F.↗

Ages, chemistry, and type 1A supernovae: Clues to the formation of the galactic stellar halo

We endeavor to resolve two conflicting constraints on the duration of the formation of the Galactic stellar halo - 2-3 Gyr age differences in halo stars, and the time scale inferred from the observed constant values of chemical element abundance ratios characteristic of enrichment by Type II supernovae - by investigating the time scale for the onset of Type Ia supernovae (SNIa) in the currently favored progenitor model - mergers of carbon and oxygen white dwarfs (CO WDs).

Smecker-Hane, Tammy A.↗

The formation of low-ionization emission in the halo of NGC 891

Imaging and Spectroscopic study first revealed the presence of a diffuse ionized medium (DIM), having unusual excitation, pervading the lower halo of the edge-on spiral galaxy NGC 891. Emission from this DIM is strongest northeast of the nucleus, at radii between 2 and 8 kpc (hereafter region 1). The (N2)(lambda)6583/H(alpha) and (S2)(lambda) (lambda)6716,6731/H(alpha) ratios increase dramatically with z in region 1, from 0.6 and 0.5 respectively at z is approximately equal to 500 pc to 1.1 and 1.0 at z is approximately equal to 1 kpc, while nondetections of (O1)(lambda)6300 and (O3)(lambda)5007 emission yield upper limits of (O1)(lambda)6300/H(alpha) less than or equal to 0.05 and (O3)(lambda)5007/H(alpha) less than or equal to 0.15 for z less than 1 kpc. Previous photoionization models, using the radiation field from disk O and B stars, have been successful in reproducing the elevated (N2)(lambda)6583/H(alpha) and (S2)(lambda)(lambda)6716.6731/H(alpha) ratios observed. However, these radiation bounded models also produce significant (O3)(lambda)5007 emission, in conflict with the observed upper limit. Here, we report the results of new, matter bounded models for the photoionization of the DIM in region 1 of NGC 891.

Sokolowski, James↗

Consultative Committee for Space Data Systems recommendation for space data system standards: Telecommand. Part 2.1: Command operation procedures

This recommendation contains the detailed specification of the logic required to carry out the Command Operations Procedures of the Transfer Layer. The Recommendation for Telecommand--Part 2, Data Routing Service contains the standard data structures and data communication procedures used by the intermediate telecommand system layers (the Transfer and Segmentation Layers). In particular, it contains a brief description of the Command Operations Procedures (COP) within the Transfer Layer. This recommendation contains the detailed definition of the COP's in the form of state tables, along with definitions of the terms used. It is assumed that the reader of this document is familiar with the data structures and terminology of part 2. In case of conflict between the description of the COP's in part 2 and in this recommendation, the definition in this recommendation will take precedence. In particular, this document supersedes section 4.3.3.1 through 4.3.3.4 of part 2.

Source record↗

Grand challenges in mass storage: A systems integrators perspective

Within today's much ballyhooed supercomputing environment, with its CFLOPS of CPU power, and Gigabit networks, there exists a major roadblock to computing success; that of Mass Storage. The solution to this mass storage problem is considered to be one of the 'Grand Challenges' facing the computer industry today, as well as long into the future. It has become obvious to us, as well as many others in the industry, that there is no clear single solution in sight. The Systems Integrator today is faced with a myriad of quandaries in approaching this challenge. He must first be innovative in approach, second choose hardware solutions that are volumetric efficient; high in signal bandwidth; available from multiple sources; competitively priced, and have forward growth extendibility. In addition he must also comply with a variety of mandated, and often conflicting software standards (GOSIP, POSIX, IEEE, MSRM 4.0, and others), and finally he must deliver a systems solution with the 'most bang for the buck' in terms of cost vs. performance factors. These quandaries challenge the Systems Integrator to 'push the envelope' in terms of his or her ingenuity and innovation on an almost daily basis. This dynamic is explored further, and an attempt to acquaint the audience with rational approaches to this 'Grand Challenge' is made.

Lee, Richard R.↗

Systematic variations in the spectral properties of bright regions on Mars

The color and albedo of the martian surface define two basic surface units, dark gray material interpreted as relatively unaltered 'rock' and bright reddish material interpreted as weathered 'soil'. Understanding the processes contributing to soil formation first requires assessment of the soil's composition and compositional diversity. We report first results of an investigation of the character and variability of Fe- and water-bearing phases in bright reddish materials using ISM data. We also explore implications of these results for chemical evolution of martian soil. Information on the composition and distribution of bright reddish material comes from three major sources: Viking images, measurements by the XRF and GCMS instruments on the Viking Landers, and spectroscopic data. The XRF experiment found nearly identical, Fe-rich major-element compositions comparable to weathered basalt. Soil water, amounting to approximately 1-3 wt. percent as measured by the GCMS, was liberated mostly by heating to greater than or equal to 350 C, suggesting that it is present in a chemically bound form. Spectroscopic studies have detected ferric oxide, probably hematite, as well as molecular water. However, the identities of major silicate phases have been controversial, with conflicting evidence regarding phyllosilicates. Two main interpretations of this evidence have been proposed: Weathering of basaltic glasses by H2O and CO2 formed a mixture of oxides, salts, and metastable phyllosilicates such as montmorillonite and 'palagonite' formed when basaltic melt contacted ground ice or water. Palagonite is a hydrated basaltic glass containing dispersed ferric oxide, recrystallized in varying degrees to phyllosilicates. Typically it is aphanitic, although some examples contain phenocrysts. In either case, eolian redistribution is thought to have resulted in the material's global homogenization. Imaging spectroscopic data returned by the ISM instrument on Phobos 2 provide a powerful new basis for evaluating the composition and origin of martian soil because they are indicative of the presence and distribution of water- and Fe-bearing phases whose mineralogy is sensitive to the history of chemical weathering.

Murchie, Scott↗

Performance analysis of a robotic system for space-based assembly

A dual arm system for space-based assembly has been under development and experimentation at the Center of Intelligent Robotic Systems for Space Exploration. This paper will describe the components of this system and will then focus on the specific problem of predicting response time of the integrated system. This hierarchical system consists of a task representation and planning level, a coordination level, and an execution level to carry out the desired assembly task. A common modeling methodology based on Petri nets was used to model the various subtasks throughout the levels of the hierarchy. The Petri net model can then be analyzed for liveness and boundedness that, in turn, are used to detect the existence of deadlock or conflict in the system. The model can also be used to calculate the time it will take to complete an assembly task once an operator issues a command. These modeling results are compared with the actual experimental results obtained from carrying out the assembly task.

Desrochers, Alan↗

Protocols for distributive scheduling

The increasing complexity of space operations and the inclusion of interorganizational and international groups in the planning and control of space missions lead to requirements for greater communication, coordination, and cooperation among mission schedulers. These schedulers must jointly allocate scarce shared resources among the various operational and mission oriented activities while adhering to all constraints. This scheduling environment is complicated by such factors as the presence of varying perspectives and conflicting objectives among the schedulers, the need for different schedulers to work in parallel, and limited communication among schedulers. Smooth interaction among schedulers requires the use of protocols that govern such issues as resource sharing, authority to update the schedule, and communication of updates. This paper addresses the development and characteristics of such protocols and their use in a distributed scheduling environment that incorporates computer-aided scheduling tools. An example problem is drawn from the domain of space shuttle mission planning.

Richards, Stephen F.↗

Observations of plasma sheet expansion at substorm onset, R = 15 to 22 Re

We have used a large number of auroral magnetograms to identify four isolated substorms and estimate their onset times. At the onsets, ISEE-1 was in the vicinity of magnetic midnight at radial distances of 15.6 to 21.8 Re and very near the outer boundary of the plasma sheet. We find that, for each event, the plasma sheet expanded, and the magnetic field dipolarized at the inferred onset time. Our most definitive event occurred while ISEE was at a geocentric radial distance of 21.8 Re. This result conflicts with previous understanding, though further verification of the result is required. Our observations show very similar characteristics to those observed at synchronous orbit, and they are consistent with an extension of a portion of the substorm current wedge to the radial distance of the satellite. If this explanation is correct, ISEE must have been within the longitude range of the substorm current wedge at the onsets.

Lyons, L. R.↗

Extreme ultraviolet spectroscopy of Capella

The X-ray active binary system Capella was observed with a moderate-resolution extreme ultraviolet spectrograph from 200 to 330 A. Two low-level emission features were detected. One most likely is geocoronal He II 304 A emission, while the other probably originates from the corona of Capella. The weak stellar emission at 304 A is in direct conflict with predictions of the intrinsic stellar He II flux based on standard scaling arguments but is consistent with the only previous observation of Capella in the EUV. The most plausible explanation for the lack of stellar 304 A emission is a warm wind from the active G0 III star.

Green, James C.↗

Statistics of the cosmic Mach number from numerical simulations of a cold dark matter universe

Results are presented of an analysis of the cosmic Mach number, M, the ratio of the streaming velocity, v, to the random velocity dispersion, sigma, of galaxies in a given patch of the universe, which was performed on the basis of hydrodynamical simulations of the cold dark matter scenario. Galaxy formation is modeled by application of detailed physical processes rather than by the ad hoc assumption of 'bias' between dark matter and galaxy fluctuations. The correlation between M and sigma is found to be very weak for both components. No evidence is found for a physical 'velocity bias' in the quantities which appear in the definition of M. Standard cold-dark-matter-dominated universes are in conflict, at a statistically significant level, with the available observation, in that they predict a Mach number considerably lower than is observed.

Suto, Yasushi↗

Ureilites - A critical review

The paper discusses the current state of understanding of the petrogenesis of ureilites (which are ultramafic rocks considered to be products of a common planetary differentiation process), identifies areas in which basic knowledge is lacking, and suggests directions for future work on these rocks. The petrographic, chemical, and isotopic characteristics of ureilites are summarized, and petrogenetic implications of these characteristics are discussed. Particular attention is given to the apparent contradiction between the igneous and primitive features of ureilites. Several recently proposed models for ureilite petrogenesis are evaluated in terms of how well they satisfy these constraints and how they attempt to resolve the conflict between the igneous and primitive features. It is concluded that none of the proposed models satisfy all constraints satisfactorily.

Goodrich, Cyrena A.↗

The best-fit universe

Inflation provides very strong motivation for a flat Universe, Harrison-Zel'dovich (constant-curvature) perturbations, and cold dark matter. However, there are a number of cosmological observations that conflict with the predictions of the simplest such model: one with zero cosmological constant. They include the age of the Universe, dynamical determinations of Omega, galaxy-number counts, and the apparent abundance of large-scale structure in the Universe. While the discrepancies are not yet serious enough to rule out the simplest and most well motivated model, the current data point to a best-fit model with the following parameters: Omega(sub B) approximately equal to 0.03, Omega(sub CDM) approximately equal to 0.17, Omega(sub Lambda) approximately equal to 0.8, and H(sub 0) approximately equal to 70 km/(sec x Mpc) which improves significantly the concordance with observations. While there is no good reason to expect such a value for the cosmological constant, there is no physical principle that would rule out such.

Turner, Michael S.↗

The structure of the interstellar medium

We have compared theoretical H I models to a large area H I channel map centered at 1 = 205 deg, b = 0 deg. One set of models were calculated in which uncorrelated clouds of H I populate space. Of the cloud models considered, which include 'Spitzer'-type clouds and the McKee-Ostriker formulation, none were able to reproduce the data successfully. In another class of models, holes and holes with shells permeate an otherwise continuous H I medium. Although not entirely successful, these models contain characteristics that are similar to the data. In order to reproduce the amplitude of the H I variations on angular scales of over 1 deg, the volume occupied by ionized gas must be less than 30 percent, in sharp conflict with the models that suggest that the volume of the ISM is dominated by hot gas.

Bregman, Joel N.↗

V/V(max) test applied to SMM gamma-ray bursts

We have applied the V/V(max) test to candidate gamma-ray bursts detected by the Gamma-Ray Spectrometer (GRS) aboard the SMM satellite to examine quantitatively the uniformity of the burst source population. For a sample of 132 candidate bursts identified in the GRS data by an automated search using a single uniform trigger criterion we find average V/V(max) = 0.40 +/- 0.025. This value is significantly different from 0.5, the average for a uniform distribution in space of the parent population of burst sources; however, the shape of the observed distribution of V/V(max) is unusual and our result conflicts with previous measurements. For these reasons we can currently draw no firm conclusion about the distribution of burst sources.

Matz, S. M.↗