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NASA NTRS1973

Repeated cascade theory of homogeneous turbulence.

The problem of turbulent spectrum engenders two coupled hierarchies: one originates from the development of stress, leading to a transfer function, and the other from the development of an eddy viscosity. In order to incorporate physical roles among scales, the turbulent velocity fluctuation is decomposed into a series of ranks in the increasing order of randomness, contributing successively to energy or stress, eddy viscosity, relaxation frequency, and higher-rank frequencies in the memory chain. As a result, the first hierarchy mentioned above becomes closed at the quadrupole correlation. The second hierarchy governs the eddy viscosities of different ranks, related to relaxation frequencies of such ranks, in the form of a memory chain. It is cut off by an implicit viscous mechanism. For zero wind gradient, the spectrum in the inertial subrange recovers the Kolmogoroff k to the minus 5/3 law with a numerical constant 1.58, in good agreement with experiments. For a strong wind gradient, the spectrum in the production subrange has a k to the minus 1 law.

Tchen, C. M.↗

NASA NTRS1983

A Summary of HDM

A brief summary of the Hierarchical Development Methodology (HDM) is provided. The design of a system is decomposed into a hierarchy of abstract machines, linearly ordered with a different abstract machine at each level in the hierarchy. Each abstract machine in the hierarchy is dependent only on the functionality of lower level machines. The facilities of the highest level abstract machine, and only those of that machine, are visible to a user of the system. A machine is itself decomposed into modules, each module having operations and data structures which typically define a single abstract data concept. As in the Parnas module concept, the module is the programming unit of HDM; each of the modules may be independently implemented. The programs implementing a module can access the data structures of their own abstract machine, but not those of lower level machines.

Source record↗

NASA NTRS1987

Hierarchical control of intelligent machines applied to space station telerobots

A hierarchical architecture is described which supports space station telerobots in a variety of modes. The system is divided into three hierarchies: task decomposition, world model, and sensory processing. Goals at each level of the task decomposition hierarchy are divided both spatially and temporally into simpler commands for the next lower level. This decomposition is repeated until, at the lowest level, the drive signals to the robot actuators are generated. To accomplish its goals, task decomposition modules must often use information stored in the world model. The purpose of the sensory system is to update the world model as rapidly as possible to keep the model in registration with the physical world. The architecture of the entire control system hierarchy and how it can be applied to space telerobot applications are discussed.

Albus, J. S.↗

NASA NTRS1990

Modeling the pressure-strain correlation of turbulence: An invariant dynamical systems approach

The modeling of the pressure-strain correlation of turbulence is examined from a basic theoretical standpoint with a view toward developing improved second-order closure models. Invariance considerations along with elementary dynamical systems theory are used in the analysis of the standard hierarchy of closure models. In these commonly used models, the pressure-strain correlation is assumed to be a linear function of the mean velocity gradients with coefficients that depend algebraically on the anisotropy tensor. It is proven that for plane homogeneous turbulent flows the equilibrium structure of this hierarchy of models is encapsulated by a relatively simple model which is only quadratically nonlinear in the anisotropy tensor. This new quadratic model - the SSG model - is shown to outperform the Launder, Reece, and Rodi model (as well as more recent models that have a considerably more complex nonlinear structure) in a variety of homogeneous turbulent flows. Some deficiencies still remain for the description of rotating turbulent shear flows that are intrinsic to this general hierarchy of models and, hence, cannot be overcome by the mere introduction of more complex nonlinearities. It is thus argued that the recent trend of adding substantially more complex nonlinear terms containing the anisotropy tensor may be of questionable value in the modeling of the pressure-strain correlation. Possible alternative approaches are discussed briefly.

Speziale, Charles G.↗

NASA NTRS1990

Automated control of hierarchical systems using value-driven methods

An introduction is given to the Value-driven methodology, which has been successfully applied to solve a variety of difficult decision, control, and optimization problems. Many real-world decision processes (e.g., those encountered in scheduling, allocation, and command and control) involve a hierarchy of complex planning considerations. For such problems it is virtually impossible to define a fixed set of rules that will operate satisfactorily over the full range of probable contingencies. Decision Science Applications' value-driven methodology offers a systematic way of automating the intuitive, common-sense approach used by human planners. The inherent responsiveness of value-driven systems to user-controlled priorities makes them particularly suitable for semi-automated applications in which the user must remain in command of the systems operation. Three examples of the practical application of the approach in the automation of hierarchical decision processes are discussed: the TAC Brawler air-to-air combat simulation is a four-level computerized hierarchy; the autonomous underwater vehicle mission planning system is a three-level control system; and the Space Station Freedom electrical power control and scheduling system is designed as a two-level hierarchy. The methodology is compared with rule-based systems and with other more widely-known optimization techniques.

Pugh, George E.↗

NASA NTRS1991

Modelling the pressure-strain correlation of turbulence - An invariant dynamical systems approach

Speziale, Charles G.↗

NASA NTRS1992

Artificial intelligence approach to planning the robotic assembly of large tetrahedral truss structures

An assembly planner for tetrahedral truss structures is presented. To overcome the difficulties due to the large number of parts, the planner exploits the simplicity and uniformity of the shapes of the parts and the regularity of their interconnection. The planning automation is based on the computational formalism known as production system. The global data base consists of a hexagonal grid representation of the truss structure. This representation captures the regularity of tetrahedral truss structures and their multiple hierarchies. It maps into quadratic grids and can be implemented in a computer by using a two-dimensional array data structure. By maintaining the multiple hierarchies explicitly in the model, the choice of a particular hierarchy is only made when needed, thus allowing a more informed decision. Furthermore, testing the preconditions of the production rules is simple because the patterned way in which the struts are interconnected is incorporated into the topology of the hexagonal grid. A directed graph representation of assembly sequences allows the use of both graph search and backtracking control strategies.

Homemdemello, Luiz S.↗

NASA NTRS1992

Software architecture for a distributed real-time system in Ada, with application to telerobotics

The architecture structure and software design methodology presented is described in the context of telerobotic application in Ada, specifically the Engineering Test Bed (ETB), which was developed to support the Flight Telerobotic Servicer (FTS) Program at GSFC. However, the nature of the architecture is such that it has applications to any multiprocessor distributed real-time system. The ETB architecture, which is a derivation of the NASA/NBS Standard Reference Model (NASREM), defines a hierarchy for representing a telerobot system. Within this hierarchy, a module is a logical entity consisting of the software associated with a set of related hardware components in the robot system. A module is comprised of submodules, which are cyclically executing processes that each perform a specific set of functions. The submodules in a module can run on separate processors. The submodules in the system communicate via command/status (C/S) interface channels, which are used to send commands down and relay status back up the system hierarchy. Submodules also communicate via setpoint data links, which are used to transfer control data from one submodule to another. A submodule invokes submodule algorithms (SMA's) to perform algorithmic operations. Data that describe or models a physical component of the system are stored as objects in the World Model (WM). The WM is a system-wide distributed database that is accessible to submodules in all modules of the system for creating, reading, and writing objects.

Olsen, Douglas R.↗

NASA NTRS1992

Recognition and characterization of hierarchical interstellar structure. II - Structure tree statistics

A new method of image analysis is described, in which images partitioned into 'clouds' are represented by simplified skeleton images, called structure trees, that preserve the spatial relations of the component clouds while disregarding information concerning their sizes and shapes. The method can be used to discriminate between images of projected hierarchical (multiply nested) and random three-dimensional simulated collections of clouds constructed on the basis of observed interstellar properties, and even intermediate systems formed by combining random and hierarchical simulations. For a given structure type, the method can distinguish between different subclasses of models with different parameters and reliably estimate their hierarchical parameters: average number of children per parent, scale reduction factor per level of hierarchy, density contrast, and number of resolved levels. An application to a column density image of the Taurus complex constructed from IRAS data is given. Moderately strong evidence for a hierarchical structural component is found, and parameters of the hierarchy, as well as the average volume filling factor and mass efficiency of fragmentation per level of hierarchy, are estimated. The existence of nested structure contradicts models in which large molecular clouds are supposed to fragment, in a single stage, into roughly stellar-mass cores.

Houlahan, Padraig↗

NASA NTRS1995

Fast Multipole Methods for Three-Dimensional N-body Problems

We are developing computational tools for the simulations of three-dimensional flows past bodies undergoing arbitrary motions. High resolution viscous vortex methods have been developed that allow for extended simulations of two-dimensional configurations such as vortex generators. Our objective is to extend this methodology to three dimensions and develop a robust computational scheme for the simulation of such flows. A fundamental issue in the use of vortex methods is the ability of employing efficiently large numbers of computational elements to resolve the large range of scales that exist in complex flows. The traditional cost of the method scales as Omicron (N(sup 2)) as the N computational elements/particles induce velocities at each other, making the method unacceptable for simulations involving more than a few tens of thousands of particles. In the last decade fast methods have been developed that have operation counts of Omicron (N log N) or Omicron (N) (referred to as BH and GR respectively) depending on the details of the algorithm. These methods are based on the observation that the effect of a cluster of particles at a certain distance may be approximated by a finite series expansion. In order to exploit this observation we need to decompose the element population spatially into clusters of particles and build a hierarchy of clusters (a tree data structure) - smaller neighboring clusters combine to form a cluster of the next size up in the hierarchy and so on. This hierarchy of clusters allows one to determine efficiently when the approximation is valid. This algorithm is an N-body solver that appears in many fields of engineering and science. Some examples of its diverse use are in astrophysics, molecular dynamics, micro-magnetics, boundary element simulations of electromagnetic problems, and computer animation. More recently these N-body solvers have been implemented and applied in simulations involving vortex methods. Koumoutsakos and Leonard (1995) implemented the GR scheme in two dimensions for vector computer architectures allowing for simulations of bluff body flows using millions of particles. Winckelmans presented three-dimensional, viscous simulations of interacting vortex rings, using vortons and an implementation of a BH scheme for parallel computer architectures. Bhatt presented a vortex filament method to perform inviscid vortex ring interactions, with an alternative implementation of a BH scheme for a Connection Machine parallel computer architecture.

Koumoutsakos, P.↗

NASA NTRS1992

Becoming Reactive by Concretization

One way to build a reactive system is to construct an action table indexed by the current situation or stimulus. The action table describes what course of action to pursue for each situation or stimulus. This paper describes an incremental approach to constructing the action table through achieving goals with a hierarchical search system. These hierarchies are generated with transformations called concretizations, which add constraints to a problem and which can reduce the search space. The basic idea is that an action for a state is looked up in the action table and executed whenever the action table has an entry for that state; otherwise, a path is found to the nearest (cost-wise in a graph with costweighted arcs) state that has a mappring from a state in the next highest hierarchy. For each state along the solution path, the successor state in the path is cached in the action table entry for that state. Without caching, the hierarchical search system can logarithmically reduce search. When the table is complete the system no longer searches: it simply reacts by proceeding to the state listed in the table for each state. Since the cached information is specific only to the nearest state in the next highest hierarchy and not the goal, inter-goal transfer of reactivity is possible. To illustrate our approach, we show how an implemented hierarchical search system can completely reactive.

Prieditis, Armand↗

NASA NTRS2002

The Join-Up Meeting

I recently took on a new assignment and, as is my norm, I scheduled a series of one-hour, 1:1 join-up meetings with the various lead personnel on the team and their hierarchy. During one of these meetings, the person I was meeting with informed me how pleasantly surprised she was that I had scheduled this meeting as very few individuals took the time anymore to have them. I was shocked. I was taught that establishing a 1:1 relationship with the people on your team is critical to the project's success. This was the first time I'd heard anything like this about join-up meetings. I filed this feedback away. Later I was talking to my project manager-mentor, and he indicated he had finished his join-up meetings with every person in his new organization. He also indicated his predecessor had conducted few, if any, join-up meetings. Again, I was shocked. When I reflected on these two experiences, I realized a very negative trend might be emerging in our fast-paced, schedule-driven, 500-e-mail-per-day, cell-phone -ringing, 24/7 -communication, multi-tasking work lives: NO FACE TIME! Face time is what you spend with people to talk about the project you are working on, their expectations of you, your expectations of them, your hierarchy's expectations about each of you, and/or-last but certainly not least-what each of you plans on achieving during the project. A 1:1, face-to-face, join-up meeting is the only way I know to build solid trust between the project manager and the team members and their hierarchy.

Cameron, W. Scott↗

NASA NTRS2008

RHSEG and Subdue: Background and Preliminary Approach for Combining these Technologies for Enhanced Image Data Analysis, Mining and Knowledge Discovery

Under a project recently selected for funding by NASA's Science Mission Directorate under the Applied Information Systems Research (AISR) program, Tilton and Cook will design and implement the integration of the Subdue graph based knowledge discovery system, developed at the University of Texas Arlington and Washington State University, with image segmentation hierarchies produced by the RHSEG software, developed at NASA GSFC, and perform pilot demonstration studies of data analysis, mining and knowledge discovery on NASA data. Subdue represents a method for discovering substructures in structural databases. Subdue is devised for general-purpose automated discovery, concept learning, and hierarchical clustering, with or without domain knowledge. Subdue was developed by Cook and her colleague, Lawrence B. Holder. For Subdue to be effective in finding patterns in imagery data, the data must be abstracted up from the pixel domain. An appropriate abstraction of imagery data is a segmentation hierarchy: a set of several segmentations of the same image at different levels of detail in which the segmentations at coarser levels of detail can be produced from simple merges of regions at finer levels of detail. The RHSEG program, a recursive approximation to a Hierarchical Segmentation approach (HSEG), can produce segmentation hierarchies quickly and effectively for a wide variety of images. RHSEG and HSEG were developed at NASA GSFC by Tilton. In this presentation we provide background on the RHSEG and Subdue technologies and present a preliminary analysis on how RHSEG and Subdue may be combined to enhance image data analysis, mining and knowledge discovery.

Tilton, James C.↗

NASA NTRS2015

Acceptance of Safety and Mission Success Risks

NASA has developed an objectives based hierarchy for guiding Reliability and Maintainability (RM) activities. This presentation overviews the hierarchy and proposes to the international trilateral partners to formulate a task force to consider the elements of the NASA RM framework, as captured in the hierarchy of RM considerations, to identify commonalities and differences in the way RM is addressed by the flight projects among the partners.

safety↗

NASA NTRS2015

Proposal for a Comparison of Reliability and Maintainability Activities Across ESA, JAXA, and NASA

NASA has developed an objectives based hierarchy for guiding Reliability and Maintainability activities. This presentation overviews the hierarchy and proposes to the international trilateral partners to formulate a task force to consider the elements of the NASA RM framework, as captured in the hierarchy of RM considerations, to identify commonalities and differences in the way reliability and maintainability is addressed by the flight projects among the partners.

JAXA↗

NASA NTRS2021

Kinetically Tunable, Active Auxetic, and Variable Recruitment Active Textiles from Hierarchical Assemblies

Multifunctional textiles with programmable, multi-axial, distributed, and scalable actuation are highly desirable and presently unrealized. 1D torque-unbalanced active yarns within 2D textile structures are exploited to produce soft and scalable active textiles that exhibit tunable displacements, forces, stiffnesses, and kinematic deformations. Through a textile hierarchy spanning active material composition, yarn construction, textile geometry, and system architecture, these active textiles accomplish kinetic tunability, variable recruitment behaviors, and auxetic effects without mechanical contact, called active auxetic effects. New modes of pre-programmed multi-axial performance are enabled by geometrically manipulating—specifically pre-stressing and constraining—active filaments in torsion and leveraging their structural elastic instability within a textile geometry. The new kinematic motion afforded by torque-unbalanced active yarns enhances the performance of active textiles, which accomplish tensile strokes over 40%, generated blocked forces up to 308 N m−1, and specific work over 0.4. kJ kg−1. Advances in active textiles are demonstrated through multifunctional 3D applications, including a variable constriction pump that exhibits sequential actuation, a wearable that conforms multi-axially around the body, and a soft exoskeleton that performs assistive motions and on-body anchoring simultaneously. By harnessing the capabilities of active materials within a textile hierarchy, advances in the potentiality of multifunctional textiles are presented.

Active auxetic effects↗

NASA NTRS1973

Backlund transformation for solutions of the Korteweg-de Vries equation

We present a Backlund transformation operating on solutions of the Korteweg-de Vries equation. It provides a unifying approach to the theory of solitary waves (solutions). Recursive application of the transformation to any solution of the Korteweg-de Vries equation generates a hierarchy of solutions for which an algebraic recursion relation is obtained. Every such hierarchy (one of which is the known family of pure multisoliton solutions) thus admits a nonlinear superposition principle.

Wahlquist, H. D.↗

NASA NTRS1974

Buckling of cylindrical shells with random imperfections

Buckling of long cylindrical shells with random imperfections subjected to axial loads is treated using the method of truncated hierarchy. A system of homogeneous variational equations is set up to examine the existence of bifurcation in the neighborhood of the equilibrium state. These equations are linear and involve stationary random coefficients. The truncated-hierarchy method is applied, and characteristic equations are obtained. Various exponential cosine correlation functions associated with asymmetric imperfections are examined numerically. Qualitatively, the results obtained are as anticipated.

Fersht, R. S.↗