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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 901 records · Page 50

Lessons learned in the transition to ADA from FORTRAN at NASA/Goddard

A case study was done at Goddard Space Flight Center, in which two dynamics satellite simulators are developed from the same requirements, one in Ada and the other in FORTRAN. The purpose of the research was to find out how well the prescriptive Ada development model worked to develop the Ada simulator. The FORTRAN simulator development, as well as past FORTRAN developments, provided a baseline for comparison. Since this was the first simulator developed here, the prescriptive Ada development model had many similarities to the usual FORTRAN development model. However, it was modified to include longer design and shorter testing phases, which is generally expected with Ada development. One surprising result was that the percentage of time the Ada project spent in the various development activities was very similar to the percentage of time spent in these activities when doing a FORTRAN project. Another surprising finding was the difficulty the Ada team had with unit testing as well as with integration. In retrospect it is realized that adding additional steps to the design phase, such as an abstract data type analysis, and certain guidelines to the implementation phase, such as to use primarily library units and nest sparingly, would have made development much easier.

Brophy, Carolyn Elizabeth↗

Lessons learned in the transition to Ada from FORTRAN at NASA/Goddard

Two dynamics satellite simulators are developed from the same requirements, one in Ada and the other in FORTRAN. The purpose of the research was to find out how well the prescriptive Ada development model worked to develop the Ada simulator. The FORTRAN simulator development, as well as past FORTRAN developments, provided a baseline for comparison. Since this was the first simulator developed, the prescriptive Ada development model had many similarities to the usual FORTRAN development model. However, it was modified to include longer design and shorter testing phases, which is generally expected with Ada developments. One result was that the percentage of time the Ada project spent in the various development activities was very similar to the percentage of time spent in these activities when doing a FORTRAN project. Another finding was the difficulty the Ada team had with unit testing as well as with integration. It was realized that adding additional steps to the design phase, such as an abstract data type analysis, and certain guidelines to the implementation phase, such as to use primarily library units and nest sparingly, would have made development easier. These are among the recommendations made to be incorporated in a new Ada development model next time.

Brophy, Carolyn Elizabeth↗

A distributed program composition system

A graphical technique for creating distributed computer programs is investigated and a prototype implementation is described which serves as a testbed for the concepts. The type of programs under examination is restricted to those comprising relatively heavyweight parts that intercommunicate by passing messages of typed objects. Such programs are often presented visually as a directed graph with computer program parts as the nodes and communication channels as the edges. This class of programs, called parts-based programs, is not well supported by existing computer systems; much manual work is required to describe the program to the system, establish the communication paths, accommodate the heterogeneity of data types, and to locate the parts of the program on the various systems involved. The work described solves most of these problems by providing an interface for describing parts-based programs in this class in a way that closely models the way programmers think about them: using sketches of diagraphs. Program parts, the computational modes of the larger program system are categorized in libraries and are accessed with browsers. The process of programming has the programmer draw the program graph interactively. Heterogeneity is automatically accommodated by the insertion of type translators where necessary between the parts. Many decisions are necessary in the creation of a comprehensive tool for interactive creation of programs in this class. Possibilities are explored and the issues behind such decisions are presented. An approach to program composition is described, not a carefully implemented programming environment. However, a prototype implementation is described that can demonstrate the ideas presented.

Brown, Robert L.↗

GCS support/development system configuration document

The software programming environment used in the development of Guidance and Control Software (GCS) implementations used in a software error studies experiment conducted by the Research Triangle Institute (RTI) and the NASA-Langley is described. The Radio Technical Commission for Aeronautics RTCA/DO-178A guidelines are fulfilled, and requirements for document number 9 in which the hardware, software, and processes used to develop and maintain the software for the GCS project are described. The software programming environment for GCS largely consists of tools that are included in Digital Equipment Corporations software layered product library or are a part of the VAX/VMS baseline system.

Lowman, Douglas S.↗

Compiling knowledge-based systems from KEE to Ada

The dominant technology for developing AI applications is to work in a multi-mechanism, integrated, knowledge-based system (KBS) development environment. Unfortunately, systems developed in such environments are inappropriate for delivering many applications - most importantly, they carry the baggage of the entire Lisp environment and are not written in conventional languages. One resolution of this problem would be to compile applications from complex environments to conventional languages. Here the first efforts to develop a system for compiling KBS developed in KEE to Ada (trademark). This system is called KATYDID, for KEE/Ada Translation Yields Development Into Delivery. KATYDID includes early prototypes of a run-time KEE core (object-structure) library module for Ada, and translation mechanisms for knowledge structures, rules, and Lisp code to Ada. Using these tools, part of a simple expert system was compiled (not quite automatically) to run in a purely Ada environment. This experience has given us various insights on Ada as an artificial intelligence programming language, potential solutions of some of the engineering difficulties encountered in early work, and inspiration on future system development.

Filman, Robert E.↗

The KALI multi-arm robot programming and control environment

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

Backes, Paul↗

Autonomous sensor-based dual-arm satellite grappling

Dual-arm satellite grappling involves the integration of technologies developed in the Sensing and Perception (S&P) Subsystem for object acquisition and tracking, and the Manipulator Control and Mechanization (MCM) Subsystem for dual-arm control. S&P acquires and tracks the position, orientation, velocity, and angular velocity of a slowly spinning satellite, and sends tracking data to the MCM subsystem. MCM grapples the satellite and brings it to rest, controlling the arms so that no excessive forces or torques are exerted on the satellite or arms. A 350-pound satellite mockup which can spin freely on a gimbal for several minutes, closely simulating the dynamics of a real satellite is demonstrated. The satellite mockup is fitted with a panel under which may be mounted various elements such as line replacement modules and electrical connectors that will be used to demonstrate servicing tasks once the satellite is docked. The subsystems are housed in three MicroVAX II microcomputers. The hardware of the S&P Subsystem includes CCD cameras, video digitizers, frame buffers, IMFEX (a custom pipelined video processor), a time-code generator with millisecond precision, and a MicroVAX II computer. Its software is written in Pascal and is based on a locally written vision software library. The hardware of the MCM Subsystem includes PUMA 560 robot arms, Lord force/torque sensors, two MicroVAX II computers, and unimation pneumatic parallel grippers. Its software is written in C, and is based on a robot language called RCCL. The two subsystems are described and test results on the grappling of the satellite mockup with rotational rates of up to 2 rpm are provided.

Wilcox, Brian↗

Direct adaptive control of a PUMA 560 industrial robot

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Seraji, Homayoun↗

A variational approach to dynamics of flexible multibody systems

This paper presents a variational formulation of constrained dynamics of flexible multibody systems, using a vector-variational calculus approach. Body reference frames are used to define global position and orientation of individual bodies in the system, located and oriented by position of its origin and Euler parameters, respectively. Small strain linear elastic deformation of individual components, relative to their body references frames, is defined by linear combinations of deformation modes that are induced by constraint reaction forces and normal modes of vibration. A library of kinematic couplings between flexible and/or rigid bodies is defined and analyzed. Variational equations of motion for multibody systems are obtained and reduced to mixed differential-algebraic equations of motion. A space structure that must deform during deployment is analyzed, to illustrate use of the methods developed.

Wu, Shih-Chin↗

CONFIG - Adapting qualitative modeling and discrete event simulation for design of fault management systems

CONFIG is a modeling and simulation tool prototype for analyzing the normal and faulty qualitative behaviors of engineered systems. Qualitative modeling and discrete-event simulation have been adapted and integrated, to support early development, during system design, of software and procedures for management of failures, especially in diagnostic expert systems. Qualitative component models are defined in terms of normal and faulty modes and processes, which are defined by invocation statements and effect statements with time delays. System models are constructed graphically by using instances of components and relations from object-oriented hierarchical model libraries. Extension and reuse of CONFIG models and analysis capabilities in hybrid rule- and model-based expert fault-management support systems are discussed.

Malin, Jane T.↗

[NASA/DOD Aerospace Knowledge Diffusion Research Project. Paper 1:] The value of Scientific and Technical Information (STI), its relationship to Research and Development (R&D), and its use by US aerospace engineers and scientists

The relationship between scientific and technical information (STI), its use by aerospace engineers and scientists, and the aerospace R&D process is examined. Data are presented from studies of the role of STI in the performance and management of R&D activities and the behavior of engineers when using and seeking information. Consideration is given to the information sources used to solve technical problems, the production and use of technical communications, and the use of libraries, technical information centers, and on-line data bases.

Pinelli, Thomas E.↗

Multi-media authoring - Instruction and training of air traffic controllers based on ASRS incident reports

This paper discusses the use of computer-assisted instructions and flight simulations to enhance procedural and perceptual motor task training. Attention is called to the fact that incorporating the accident and incident data contained in reports filed with the Aviation Safety Reporting System (ASRS) would be a valuable training tool which the learner could apply for other situations. The need to segment the events is emphasized; this would make it possible to modify events in order to suit the needs of the training environment. Methods were developed for designing meaningful scenario development on runway incursions on the basis of analysis of ASRS reports. It is noted that, while the development of interactive training tools using the ASRS and other data bases holds much promise, the design and production of interactive video programs and laser disks are very expensive. It is suggested that this problem may be overcome by sharing the costs of production to develop a library of materials available to a broad range of users.

Armstrong, Herbert B.↗

Development of the CELSS Emulator at NASA JSC

The Controlled Ecological Life Support System (CELSS) Emulator is under development at the NASA Johnson Space Center (JSC) with the purpose to investigate computer simulations of integrated CELSS operations involving humans, plants, and process machinery. This paper describes Version 1.0 of the CELSS Emulator that was initiated in 1988 on the JSC Multi Purpose Applications Console Test Bed as the simulation framework. The run module of the simulation system now contains a CELSS model called BLSS. The CELSS Emulator makes it possible to generate model data sets, store libraries of results for further analysis, and also display plots of model variables as a function of time. The progress of the project is presented with sample test runs and simulation display pages.

Cullingford, Hatice S.↗

Development of real-time software environments for NASA's modern telemetry systems

An effort has been made to maintain maximum performance and flexibility for NASA-Goddard's VLSI telemetry system elements through the development of two real-time systems: (1) the Base System Environment, which supports generic system integration and furnishes the basic porting of various manufacturers' cards, and (2) the Modular Environment for Data Systems, which supports application-specific developments and furnishes designers with a set of tested generic library functions that can be employed to speed up the development of such application-specific real-time codes. The performance goals and design rationale for these two systems are discussed.

Horner, Ward↗

FFTs in external or hierarchical memory

A description is given of advanced techniques for computing an ordered FFT on a computer with external or hierarchical memory. These algorithms (1) require as few as two passes through the external data set, (2) use strictly unit stride, long vector transfers between main memory and external storage, (3) require only a modest amount of scratch space in main memory, and (4) are well suited for vector and parallel computation. Performance figures are included for implementations of some of these algorithms on Cray supercomputers. Of interest is the fact that a main memory version outperforms the current Cray library FFT routines on the Cray-2, the Cray X-MP, and the Cray Y-MP systems. Using all eight processors on the Cray Y-MP, this main memory routine runs at nearly 2 Gflops.

Bailey, David H.↗

Method and models for R-curve instability calculations

This paper presents a simple method for performing elastic R-curve instability calculations. For a single material-structure combination, the calculations can be done on some pocket calculators. On microcomputers and larger, it permits the development of a comprehensive program having libraries of driving force equations for different configurations and R-curve model equations for different materials. The paper also presents several model equations for fitting to experimental R-curve data, both linear elastic and elastoplastic. The models are fit to data from the literature to demonstrate their viability.

Orange, Thomas W.↗

Computer Processing Of Tunable-Diode-Laser Spectra

Tunable-diode-laser spectrometer measuring transmission spectrum of gas operates under control of computer, which also processes measurement data. Measurements in three channels processed into spectra. Computer controls current supplied to tunable diode laser, stepping it through small increments of wavelength while processing spectral measurements at each step. Program includes library of routines for general manipulation and plotting of spectra, least-squares fitting of direct-transmission and harmonic-absorption spectra, and deconvolution for determination of laser linewidth and for removal of instrumental broadening of spectral lines.

May, Randy D.↗

Graphics Software For VT Terminals

VTGRAPH graphics software tool for DEC/VT computer terminal or terminals compatible with it, widely used by government and industry. Callable in FORTRAN or C language, library program enabling user to cope with many computer environments in which VT terminals used for window management and graphic systems. Provides PLOT10-like package plus color or shade capability for VT240, VT241, and VT300 terminals. User can easily design more-friendly user-interface programs and design PLOT10 programs on VT terminals with different computer systems. Requires ReGis graphics set terminal and FORTRAN compiler.

Wang, Caroline↗