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NASA NTRS1989

Decision net, directed graph, and neural net processing of imaging spectrometer data

A decision-net solution involving a novel hierarchical classifier and a set of multiple directed graphs, as well as a neural-net solution, are respectively presented for large-class problem and mixture problem treatments of imaging spectrometer data. The clustering method for hierarchical classifier design, when used with multiple directed graphs, yields an efficient decision net. New directed-graph rules for reducing local maxima as well as the number of perturbations required, and the new starting-node rules for extending the reachability and reducing the search time of the graphs, are noted to yield superior results, as indicated by an illustrative 500-class imaging spectrometer problem.

Casasent, David↗

NASA NTRS1990

The collisional evolution of the spin of a nonspherical body

The nonspherical shapes of asteroids are considered through a generalization of the Harris (1979) model of asteroid spin rates' collisional evolution. Since a body in spin equilibrium rotates about its axis of maximum moment of inertia, the computation of the mean-squared impact parameter through averaging over all directions of flux is not strictly valid; nevertheless, these complications have been found not to alter the conclusions reachable by means of the simpler model.

Harris, A. W.↗

NASA NTRS1990

Time optimal feedback control of discrete systems with bounded inputs

Deadbeat control theory gives a feedback solution to the time optimal control of discrete time systems. Experience has shown the results to be impractical because they ignore bounds on the actuator strength. This paper develops two algorithms for generating time optimal control in feedback form for discrete systems with bounded controls. The results are also applicable for generating recovery regions and the set of reachable states. For multiple control problems a method of generating sublayers is developed which decreases off-line and on-line computational effort. Two algorithms are presented with somewhat different computational and storage requirements. The algorithms are practical within certain dimension constraints, and are natural for implementation with parallel processing.

Chen, Xin↗

NASA NTRS1990

Energy input and HI spin temperatures in low pressure regions

Two recent (unpublished) HI emission/absorption studies carried out with good sensitivity using the Arecibo 21 cm beam are discussed. One study (Colgan, Salpeter and Terzian) looked for high velocity clouds of our own Galaxy in absorption in the directions of 63 of the brightest continuum sources reachable with the Arecibo telescope. HI emission mapping in the neighborhood of these directions was also carried out. The other study (Corbelli and Schneider) looked for absorption along lines of sight to about 50 weaker sources which pass within a few diameters of nearby disk galaxies. Neither study detected any absorption.

Corbelli, E.↗

NASA NTRS1990

Performability analysis using semi-Markov reward processes

Beaudry (1978) proposed a simple method of computing the distribution of performability in a Markov reward process. Two extensions of Beaudry's approach are presented. The method is generalized to a semi-Markov reward process by removing the restriction requiring the association of zero reward to absorbing states only. The algorithm proceeds by replacing zero-reward nonabsorbing states by a probabilistic switch; it is therefore related to the elimination of vanishing states from the reachability graph of a generalized stochastic Petri net and to the elimination of fast transient states in a decomposition approach to stiff Markov chains. The use of the approach is illustrated with three applications.

Ciardo, Gianfranco↗

NASA NTRS1987

SPAN: Astronomy and astrophysics

The Space Physics Analysis Network (SPAN) is a multi-mission, correlative data comparison network which links science research and data analysis computers in the U.S., Canada, and Europe. The purpose of this document is to provide Astronomy and Astrophysics scientists, currently reachable on SPAN, with basic information and contacts for access to correlative data bases, star catalogs, and other astrophysic facilities accessible over SPAN.

Thomas, Valerie L.↗

NASA NTRS1991

Task sequence planning in a robot workcell using AND/OR nets

An approach to task sequence planning for a generalized robotic manufacturing or material handling workcell is described. Given the descriptions of the objects in this system and all feasible geometric relationships among these objects, an AND/OR net which describes the relationships of all feasible geometric states and associated feasibility criteria for net transitions is generated. This AND/OR net is mapped into a Petri net which incorporates all feasible sequences of operations. The resulting Petri net is shown to be bounded and have guaranteed properties of liveness, safeness, and reversibility. Sequences are found from the reachability tree of the Petri net. Feasibility criteria for net transitions may be used to generate an extended Petri net representation of lower level command sequences. The resulting Petri net representation may be used for on-line scheduling and control of the system of feasible sequences. A simulation example of the sequences is described.

Cao, Tiehua↗

NASA NTRS1991

Control of discrete event systems modeled as hierarchical state machines

The authors examine a class of discrete event systems (DESs) modeled as asynchronous hierarchical state machines (AHSMs). For this class of DESs, they provide an efficient method for testing reachability, which is an essential step in many control synthesis procedures. This method utilizes the asynchronous nature and hierarchical structure of AHSMs, thereby illustrating the advantage of the AHSM representation as compared with its equivalent (flat) state machine representation. An application of the method is presented where an online minimally restrictive solution is proposed for the problem of maintaining a controlled AHSM within prescribed legal bounds.

Brave, Y.↗

NASA NTRS1993

The SSABLE system - Automated archive, catalog, browse and distribution of satellite data in near-real time

Historically, locating and browsing satellite data has been a cumbersome and expensive process. This has impeded the efficient and effective use of satellite data in the geosciences. SSABLE is a new interactive tool for the archive, browse, order, and distribution of satellite date based upon X Window, high bandwidth networks, and digital image rendering techniques. SSABLE provides for automatically constructing relational database queries to archived image datasets based on time, data, geographical location, and other selection criteria. SSABLE also provides a visual representation of the selected archived data for viewing on the user's X terminal. SSABLE is a near real-time system; for example, data are added to SSABLE's database within 10 min after capture. SSABLE is network and machine independent; it will run identically on any machine which satisfies the following three requirements: 1) has a bitmapped display (monochrome or greater); 2) is running the X Window system; and 3) is on a network directly reachable by the SSABLE system. SSABLE has been evaluated at over 100 international sites. Network response time in the United States and Canada varies between 4 and 7 s for browse image updates; reported transmission times to Europe and Australia typically are 20-25 s.

Simpson, James J.↗

NASA NTRS1989

A dual-armed free flyer

This summary presents the main conclusions and results of the design studies conducted by a group of 13 students at the University of Maryland. The students, all participants in the spring 1989 course ENEE418 in the Electrical Engineering Department, met weekly in a two-hour class to discuss and evaluate design alternatives. The main problem considered was the design and control of a planar testbed simulating a free-flying space robot for applications in satellite servicing. This project grew out of the 1988 class where a dual-armed free flyer (DAFF) was designed and partially built. This year, a group of six students continued the development of the DAFF, achieving computer-controlled motion of the DAFF's arms. All fabrication and testing of the DAFF is being conducted in the Intelligent Servosystems Laboratory at the University of Maryland. While the work related to the design and development of the DAFF is the main subject of the report, it should be noted that other students in the ENEE418 class have investigated additional issues related to manipulation in space. For example, one group studied a new parallel linkage based manipulator for fine motion applications such as in assembly operations in space. They investigated the mechanism's kinematics, its reachable workspace, and precision of applying forces and torques. In yet another project, a student set out to measure and map the friction characteristics of the actuators used in the Modular Dextrous Hand, which has been recently developed in the Intelligent Servosystems Laboratory. The results are expected to help compensate for this friction, which is a highly nonlinear disturbance and presents significant problems in high-precision, low-speed operations. This summary continues with the discussion of the results obtained by the group of students who have been working on developing the DAFF testbed.

Beck, D.↗

NASA NTRS1992

Mass spectrometer-pyrolysis experiment for atmospheric and soil sample analysis on the surface of Mars

Results from the Viking mission will form the foundation for future in-depth investigations of atmosphere-surface interactions on Mars. The two Viking landers carried impressive instrumentation to obtain and analyze soil samples: the sites were observed by cameras, and the collector head was located on a long boom and allowed the collection of large samples at various depths. A selection of grain sizes was possible and a distribution system supplied a number of experiments with soil material. Despite stationary vehicles, a wide sampling field was reachable. The GCMS system, responsible for atmospheric as well as surface soil analysis, worked well on both landers. Atmospheric measurements resulted in the determination of the abundance of noble gases as well as of other molecular species. Isotopic composition measurements included the important ratios of C-13/C-12, N-15/N-14, and Ar-36/Ar-40. To verify these past results and to advance detailed studies of noble gas isotope ratios and minor constituents, better instrument sensitivities, higher precision, and lower background contributions are required in future Mars missions. Soil analysis during the Viking mission concentrated on organic material. Heating cycles were performed to 500 C and only water and carbon dioxide were identified. Higher pyrolysis temperatures are of primary importance to advance our understanding of the mineralogy and gas loading of surface material and atmospheric exchange.

Mauersberger, Konrad↗

NASA NTRS1992

Deep near-infrared survey of the Southern Sky (DENIS)

DENIS (Deep Near-Infrared Survey of the Southern Sky) will be the first complete census of astronomical sources in the near-infrared spectral range. The challenges of this novel survey are both scientific and technical. Phenomena radiating in the near-infrared range from brown dwarfs to galaxies in the early stages of cosmological evolution, the scientific exploitation of data relevant over such a wide range requires pooling expertise from several of the leading European astronomical centers. The technical challenges of a project which will provide an order of magnitude more sources than given by the IRAS space mission, and which will involve advanced data-handling and image-processing techniques, likewise require pooling of hardware and software resources, as well as of human expertise. The DENIS project team is composed of some 40 scientists, computer specialists, and engineers located in 5 European Community countries (France, Germany, Italy, The Netherlands, and Spain), with important contributions from specialists in Australia, Brazil, Chile, and Hungary. DENIS will survey the entire southern sky in 3 colors, namely in the I band at a wavelength of 0.8 micron, in the 1.25 micron J band, and in the 2.15 micron K' band. The sensitivity limits will be 18th magnitude in the I band, 16th in the J band, and 14.5th in the K' band. The angular resolution achieved will be 1 arcsecond in the I band, and 3.0 arcseconds in the J and K' bands. The European Southern Observatory 1 m telescope on La Silla will be dedicated to survey use during operations expected to last four years, commencing in late 1993. DENIS aims to provide the astronomical community with complete digitized infrared images of the full southern sky and a catalogue of extracted objects, both of the best quality and in readily accessible form. This will be achieved through dedicated software packages and specialized catalogues, and with assistance from the Leiden and Paris Data Analysis Centers. The data will be mailed on DAT tapes from La Silla to the two Data Analysis Centers for further processing. Two centers are necessary because of the shear quantity of data and because of the complementary roles the Centers will develop, each exploiting its own particular expertise. The Leiden Data Analysis Center (LDAC) will extract objects, establish their parameters, and archive them into a source catalogue. The LDAC will collaborate with the Groningen Space Research group that has gained experience in infrared image handling from the IRAS satellite. The Paris Data Analysis Center (PDAC) will be responsible for archiving and preprocessing the raw data to provide a homogeneous set of data suitable for further reduction in both the Leiden and Paris data analysis streams. The PDAC will also extract and archive images for the sources flagged by the LDAC as extended, and create a catalogue of galaxies. In exploiting the DENIS data we foresee the collaboration with other data analysis centers, such as the Observatoire de Lyon where the relevant DENIS catalogue of galaxies can be incorporated into their extragalactic database. The Point Sources and the Small Extended Sources catalogues could be incorporated in the Late Type Star database at Montpellier, and in the SIMBAD database as CDS. At Groningen the IRAS Point Source catalogue and/or image data can be merged with the DENIS catalogues. At Meudon algorithms and software will be developed with main goal assessing the limits reachable for the homogeneity and intrinsic consistency between the ensemble of the images in the data base (flat-fielding, relative positioning of the fields, bootstrapped flux calibration) but also for the data analysis.

Deul, E.↗

NASA NTRS1995

Model checking

Automatic formal verification methods for finite-state systems, also known as model-checking, successfully reduce labor costs since they are mostly automatic. Model checkers explicitly or implicitly enumerate the reachable state space of a system, whose behavior is described implicitly, perhaps by a program or a collection of finite automata. Simple properties, such as mutual exclusion or absence of deadlock, can be checked by inspecting individual states. More complex properties, such as lack of starvation, require search for cycles in the state graph with particular properties. Specifications to be checked may consist of built-in properties, such as deadlock or 'unspecified receptions' of messages, another program or implicit description, to be compared with a simulation, bisimulation, or language inclusion relation, or an assertion in one of several temporal logics. Finite-state verification tools are beginning to have a significant impact in commercial designs. There are many success stories of verification tools finding bugs in protocols or hardware controllers. In some cases, these tools have been incorporated into design methodology. Research in finite-state verification has been advancing rapidly, and is showing no signs of slowing down. Recent results include probabilistic algorithms for verification, exploitation of symmetry and independent events, and the use symbolic representations for Boolean functions and systems of linear inequalities. One of the most exciting areas for further research is the combination of model-checking with theorem-proving methods.

Dill, David L.↗

NASA NTRS1997

Analyzing Tabular and State-Transition Requirements Specifications in PVS

We describe PVS's capabilities for representing tabular specifications of the kind advocated by Parnas and others, and show how PVS's Type Correctness Conditions (TCCs) are used to ensure certain well-formedness properties. We then show how these and other capabilities of PVS can be used to represent the AND/OR tables of Leveson and the Decision Tables of Sherry, and we demonstrate how PVS's TCCs can expose and help isolate errors in the latter. We extend this approach to represent the mode transition tables of the Software Cost Reduction (SCR) method in an attractive manner. We show how PVS can check these tables for well-formedness, and how PVS's model checking capabilities can be used to verify invariants and reachability properties of SCR requirements specifications, and inclusion relations between the behaviors of different specifications. These examples demonstrate how several capabilities of the PVS language and verification system can be used in combination to provide customized support for specific methodologies for documenting and analyzing requirements. Because they use only the standard capabilities of PVS, users can adapt and extend these customizations to suit their own needs. Those developing dedicated tools for individual methodologies may find these constructions in PVS helpful for prototyping purposes, or as a useful adjunct to a dedicated tool when the capabilities of a full theorem prover are required. The examples also illustrate the power and utility of an integrated general-purpose system such as PVS. For example, there was no need to adapt or extend the PVS model checker to make it work with SCR specifications described using the PVS TABLE construct: the model checker is applicable to any transition relation, independently of the PVS language constructs used in its definition.

Owre, Sam↗

NASA NTRS1997

Conflict Detection and Resolution for Future Air Transportation Management

With a Free Flight policy, the emphasis for air traffic control is shifting from active control to passive air traffic management with a policy of intervention by exception. Aircraft will be allowed to fly user preferred routes, as long as safety Alert Zones are not violated. If there is a potential conflict, two (or more) aircraft must be able to arrive at a solution for conflict resolution without controller intervention. Thus, decision aid tools are needed in Free Flight to detect and resolve conflicts, and several problems must be solved to develop such tools. In this report, we analyze and solve problems of proximity management, conflict detection, and conflict resolution under a Free Flight policy. For proximity management, we establish a system based on Delaunay Triangulations of aircraft at constant flight levels. Such a system provides a means for analyzing the neighbor relationships between aircraft and the nearby free space around air traffic which can be utilized later in conflict resolution. For conflict detection, we perform both 2-dimensional and 3-dimensional analyses based on the penetration of the Protected Airspace Zone. Both deterministic and non-deterministic analyses are performed. We investigate several types of conflict warnings including tactical warnings prior to penetrating the Protected Airspace Zone, methods based on the reachability overlap of both aircraft, and conflict probability maps to establish strategic Alert Zones around aircraft.

Krozel, Jimmy↗

NASA NTRS1999

Microwave Treatment for Cardiac Arrhythmias

Method and apparatus are provided for propagating microwave energy into heart tissues to produce a desired temperature profile therein at tissue depths sufficient for thermally ablating arrhythmogenic cardiac tissue to treat ventricular tachycardia and other arrhythmias while preventing excessive heating of surrounding tissues, organs, and blood. A wide bandwidth double-disk antenna is effective for this purpose over a bandwidth of about six gigahertz. A computer simulation provides initial screening capabilities for an antenna such as antenna, frequency, power level, and power application duration. The simulation also allows optimization of techniques for specific patients or conditions. In operation, microwave energy between about 1 Gigahertz and 12 Gigahertz is applied to monopole microwave radiator having a surface wave limiter. A test setup provides physical testing of microwave radiators to determine the temperature profile created in actual heart tissue or ersatz heart tissue. Saline solution pumped over the heart tissue with a peristaltic pump simulates blood flow. Optical temperature sensors disposed at various tissue depths within the heart tissue detect the temperature profile without creating any electromagnetic interference. The method may be used to produce a desired temperature profile in other body tissues reachable by catheter such as tumors and the like.

Arndt, G. Dickey↗

NASA NTRS2000

Transcatheter Antenna For Microwave Treatment

Method and apparatus are provided for propagating microwave energy into heart tissues to produce a desired temperature profile therein at tissue depths sufficient for thermally ablating arrhythmogenic cardiac tissue to treat ventricular tachycardia and other arrhythmias while preventing excessive heating of surrounding tissues, organs, and blood. A wide bandwidth double-disk antenna is effective for this purpose over a bandwidth of about six gigahertz. A computer simulation provides initial screening capabilities for an antenna such as antenna, frequency, power level, and power application duration. The simulation also allows optimization of techniques for specific patients or conditions. In operation, microwave energy between about 1 Gigahertz and 12 Gigahertz is applied to monopole microwave radiation having a surface wave limiter. A test setup provides physical testing of microwave radiators to determine the temperature profile created in actual heart tissue or ersatz heart tissue. Saline solution pumped over the heart tissue with a peristaltic pump simulates blood flow. Optical temperature sensors disposed at various tissue depths within the heart tissue detect the temperature profile without creating any electromagnetic interference. The method may he used to produce a desired temperature profile in other body tissues reachable by catheter such as tumors and the like.

Arndt, G. Dickey↗

NASA NTRS2001

In Vivo Simulator for Microwave Treatment

Method and apparatus are provided for propagating microwave energy into heart tissues to produce a desired temperature profile therein at tissue depths sufficient for thermally ablating arrhythmogenic cardiac tissue to treat ventricular tachycardia and other arrhythmias while preventing excessive heating of surrounding tissues, organs, and blood. A wide bandwidth double-disk antenna is effective for this purpose over a bandwidth of about 6 GHz. A computer simulation provides initial screening capabilities for an antenna such as antenna. frequency, power level, and power application duration. The simulation also allows optimization of techniques for specific patients or conditions. In operation, microwave energy between about 1 GHz and 12 GHz is applied to monopole microwave radiator having a surface wave limiter. A test setup provides physical testing of microwave radiators to determine the temperature profile created in actual heart tissue or ersatz heart tissue. Saline solution pumped over the heart tissue with a peristaltic pump simulates blood flow. Optical temperature sensors disposed at various tissue depths within the heart tissue detect the temperature profile without creating any electromagnetic interference. The method may be used to produce a desired temperature profile in other body tissues reachable by catheter such as tumors and the like.

Arndt, G. Dickey↗