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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 1,027 records · Page 57
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

An 8-DOF dual-arm system for advanced teleoperation performance experiments

This paper describes the electro-mechanical and control features of an 8-DOF manipulator manufactured by AAI Corporation and installed at the Jet Propulsion Lab. (JPL) in a dual-arm setting. The 8-DOF arm incorporates a variety of features not found in other lab or industrial manipulators. Some of the unique features are: 8-DOF revolute configuration with no lateral offsets at joint axes; 1 to 5 payload to weight ratio with 20 kg (44 lb) payload at a 1.75 m (68.5 in.) reach; joint position measurement with dual relative encoders and potentiometer; infinite roll of joint 8 with electrical and fiber optic slip rings; internal fiber optic link of 'smart' end effectors; four-axis wrist; graphite epoxy links; high link and joint stiffness; use of an upgraded JPL Universal Motor Controller (UMC) capable of driving up to 16 joints. The 8-DOF arm is equipped with a 'smart' end effector which incorporates a 6-DOF forcemoment sensor at the end effector base and grasp force sensors at the base of the parallel jaws. The 8-DOF arm is interfaced to a 6 DOF force reflecting hand controller. The same system is duplicated for and installed at NASA-Langley.

Bejczy, Antal K.↗
NASA NTRS1989

Controls Astrophysics and Structures Experiment in Space (CASES) advanced studies and planning

The CASES (Controls, Astrophysics, and Structures Experiment in Space) program consists of a flight demonstration of CSI (Controls-Structures Interactions) technology on the Space Shuttle. The basis structure consists of a 32 m deployable boom with actuators and sensors distributed along its length. Upon deployment from the Orbiter bay, the CASES structure will be characterized dynamically and its deformations controlled by a series of experimental control laws; and cold gas thrusters at its tip will be used to orient the Orbiter to a fixed celestial reference. The scientific observations will consist of hard x-ray imaging, at high resolution, of the Sun and the Galactic center. The hard x-ray observations require stable (few arc min) pointing at these targets for one or more position-sensitive proportional counters in the Orbiter bay, which view the object to be imaged through an aperture-encoding mask at the boom tip. This report gives the concensus developed at the second CASES Science Working Group meeting, which took place at NASA Marshall Space Flight Center May 16-17, 1990. An earlier paper and scientific summaries are available and form the basis for the present discussion.

Wu, S. T.↗
NASA NTRS1992

An investigation of error correcting techniques for OMV data

Papers on the following topics are presented: considerations of testing the Orbital Maneuvering Vehicle (OMV) system with CLASS; OMV CLASS test results (first go around); equivalent system gain available from R-S encoding versus a desire to lower the power amplifier from 25 watts to 20 watts for OMV; command word acceptance/rejection rates for OMV; a memo concerning energy-to-noise ratio for the Viterbi-BSC Channel and the impact of Manchester coding loss; and an investigation of error correcting techniques for OMV and Advanced X-ray Astrophysics Facility (AXAF).

Ingels, Frank↗
NASA NTRS1991

The long hold: Storing data at the National Archives

A description of the information collection and storage needs of the National Archives and Records Administration (NARA) is presented. The unique situation of NARA is detailed. Two aspects which make the issue of obsolescence especially complex and costly are dealing with incoherent data and satisfying unknown and unknowable requirements. The data is incoherent because it comes from a wide range of independent sources, covers unrelated subjects, and is organized and encoded in ways that are not only not controlled but often unknown until received. NARA's mission to preserve and provide access to records with enduring value makes NARA, in effect, the agent of future generations. NARA's responsibility to the future places itself is a perpetual quandary of devotion to serving needs which are unknown.

Thibodeau, Kenneth↗
NASA NTRS1991

Calibration of the Aronson 6-DOF robotic platform

A discussion is presented of the calibration of the Aronson six-degree-of-freedom platform. Absolute encoders are used to determine the starting positions of all six joints. The hardware implemented are described in detail. Software programs are used to calibrate the hardware and to build the look-up tables that are needed in determining the initial joint positions. The descriptions of all software routines used are given.

Lin, Amy Y.↗
NASA NTRS1992

Increasingly automated procedure acquisition in dynamic systems

Procedures are widely used by operators for controlling complex dynamic systems. Currently, most development of such procedures is done manually, consuming a large amount of paper, time, and manpower in the process. While automated knowledge acquisition is an active field of research, not much attention has been paid to the problem of computer-assisted acquisition and refinement of complex procedures for dynamic systems. The Procedure Acquisition for Reactive Control Assistant (PARC), which is designed to assist users in more systematically and automatically encoding and refining complex procedures. PARC is able to elicit knowledge interactively from the user during operation of the dynamic system. We categorize procedure refinement into two stages: diagnosis - diagnose the failure and choose a repair - and repair - plan and perform the repair. The basic approach taken in PARC is to assist the user in all steps of this process by providing increased levels of assistance with layered tools. We illustrate the operation of PARC in refining procedures for the control of a robot arm.

Mathe, Nathalie↗
NASA NTRS1992

NCC Simulation Model: Simulating the operations of the network control center, phase 2

The simulation of the network control center (NCC) is in the second phase of development. This phase seeks to further develop the work performed in phase one. Phase one concentrated on the computer systems and interconnecting network. The focus of phase two will be the implementation of the network message dialogues and the resources controlled by the NCC. These resources are requested, initiated, monitored and analyzed via network messages. In the NCC network messages are presented in the form of packets that are routed across the network. These packets are generated, encoded, decoded and processed by the network host processors that generate and service the message traffic on the network that connects these hosts. As a result, the message traffic is used to characterize the work done by the NCC and the connected network. Phase one of the model development represented the NCC as a network of bi-directional single server queues and message generating sources. The generators represented the external segment processors. The served based queues represented the host processors. The NCC model consists of the internal and external processors which generate message traffic on the network that links these hosts. To fully realize the objective of phase two it is necessary to identify and model the processes in each internal processor. These processes live in the operating system of the internal host computers and handle tasks such as high speed message exchanging, ISN and NFE interface, event monitoring, network monitoring, and message logging. Inter process communication is achieved through the operating system facilities. The overall performance of the host is determined by its ability to service messages generated by both internal and external processors.

Benjamin, Norman M.↗
NASA NTRS1991

Telemetering and telecommunications research

The research center activities during the reporting period have been focused in three areas: (1) developing the necessary equipment and test procedures to support the testing of 8PSK-TCM through TDRSS from the WSGT; (2) extending the theoretical decoder work to higher speeds with a design goal of 600MBPS at 2 bits/Hz; and (3) completing the initial phase of the CPFSK Multi-H research and determining what subsets (if any) of these coding schemes are useful in the TDRSS environment. The equipment for the WSGT TCM testing has been completed and is functioning in the lab at NMSU. Measured results to date indicate that the uncoded system with the modified HRD and NMSU symbol sync operates at 1 to 1.5 dB from theory when processing encoded 8PSK. The NMSU pragmatic decoder when combined with these units produces approximately 2.9 dB of coding gain at 10(exp -5) BER. Our study of CPFSK with Multi-H coding has reached a critical stage. The principal conclusions reached in this activity are: (1) no scheme using Multi-H alone investigated by us or found in the literature produces power/bandwidth trades that are as good as TCM with filtered 8PSK; (2) when Multi-H is combined with convolutional coding, one can obtain better coding gain than with Multi-H alone but still no better power/bandwidth performance than TCM and these gains are available only with complex receivers; (3) the only advantage we can find for the CPFSK schemes over filtered MPSK with TCM is that they are constant envelope (however, constant envelope is of no benefit in a multiple access channel and of questionable benefit in a single access channel since driving the TWT to saturation in this situation is generally acceptable); and (4) based upon these results the center's research program will focus on concluding the existing CPFSK studies.

Osborne, William P.↗
NASA NTRS1991

Interpretation of Voyager UVS observations of occultations by the atmosphere of Neptune

We propose to continue our investigation of the upper atmosphere of Neptune based primarily on the solar occultation measurements made by the Voyager Ultraviolet Spectrometer (UVS). The ultimate goal of this research is to understand the structure and composition of Neptune's upper atmosphere as encoded in the data base obtained by the UVS during the Voyager 2 encounter with Neptune. The UVS occultations provide information essential to studies of atmospheric composition and structure, energy balance, photochemistry, global transport, ionospheric structure, and airglow production mechanisms. In conjunction with other research in progress at the University of Arizona and by our colleagues at other institutions, we not only analyze and interpret individual measurements or observations by the UVS, but also construct models of the upper atmosphere which are consistent with all available data obtained by the UVS. We derive constraints from measurements of the atmospheric emissions and we combine these with constraints derived from the occultation measurements. Principal sources for the atmospheric emissions include dayglow, resonance scattering and, at long wavelengths, the reflected solar spectrum. On the dark side of the planet, a weak H Ly alpha emission is due to resonance scattering of the sky background and perhaps another source. Thus a wide range of physical processes are at work, and each provides its own constraints on the atmosphere.

Sandel, Bill R.↗
NASA NTRS1991

Optical correlators for automated rendezvous and capture

The paper begins with a description of optical correlation. In this process, the propagation physics of coherent light is used to process images and extract information. The processed image is operated on as an area, rather than as a collection of points. An essentially instantaneous convolution is performed on that image to provide the sensory data. In this process, an image is sensed and encoded onto a coherent wavefront, and the propagation is arranged to create a bright spot of the image to match a model of the desired object. The brightness of the spot provides an indication of the degree of resemblance of the viewed image to the mode, and the location of the bright spot provides pointing information. The process can be utilized for AR&C to achieve the capability to identify objects among known reference types, estimate the object's location and orientation, and interact with the control system. System characteristics (speed, robustness, accuracy, small form factors) are adequate to meet most requirements. The correlator exploits the fact that Bosons and Fermions pass through each other. Since the image source is input as an electronic data set, conventional imagers can be used. In systems where the image is input directly, the correlating element must be at the sensing location.

Juday, Richard D.↗
NASA NTRS1993

Flexible high speed CODEC

HARRIS, under contract with NASA Lewis, has developed a hard decision BCH (Bose-Chaudhuri-Hocquenghem) triple error correcting block CODEC ASIC, that can be used in either a bursted or continuous mode. the ASIC contains both encoder and decoder functions, programmable lock thresholds, and PSK related functions. The CODEC provides up to 4 dB of coding gain for data rates up to 300 Mbps. The overhead is selectable from 7/8 to 15/16 resulting in minimal band spreading, for a given BER. Many of the internal calculations are brought out enabling the CODEC to be incorporated in more complex designs. The ASIC has been tested in BPSK, QPSK and 16-ary PSK link simulators and found to perform to within 0.1 dB of theory for BER's of 10(exp -2) to 10(exp -9). The ASIC itself, being a hard decision CODEC, is not limited to PSK modulation formats. Unlike most hard decision CODEC's, the HARRIS CODEC doesn't upgrade BER performance significantly at high BER's but rather becomes transparent.

Wernlund, James V.↗
NASA NTRS1992

Communications and control for electric power systems

A long-term strategy for the integration of new control technologies for power generation and delivery is proposed: the industry would benefit from an evolutionary approach that would adapt to its needs future technologies as well as those that it has so far not heeded. The integrated operation of the entire system, including the distribution system, was proposed as a future goal. The AbNET communication protocols are reviewed, and additions that were made in 1991 are described. In the original network, traffic was controlled by polling at the master station, located at the substation, and routed by a flooding algorithm. In a revised version, the polling and flooding are modified. The question of interfacing low-energy measurement transducers or instrument transformers is considered. There is presently little or no agreement on what the output of optical current transducers (CT's) should be. Appendices deal with the calibration of current transducers; with Delta modulation, a simple means of serially encoding the output of an OCT; and with noise shaping, a method of digital signal processing that trades off the number of bits in a digital sample for a higher number of samples.

Kirkham, H.↗
NASA NTRS1993

The df: A proposed data format standard

A standard is proposed describing a portable format for electronic exchange of data in the physical sciences. Writing scientific data in a standard format has three basic advantages: portability; the ability to use metadata to aid in interpretation of the data (understandability); and reusability. An improperly formulated standard format tends towards four disadvantages: (1) it can be inflexible and fail to allow the user to express his data as needed; (2) reading and writing such datasets can involve high overhead in computing time and storage space; (3) the format may be accessible only on certain machines using certain languages; and (4) under some circumstances it may be uncertain whether a given dataset actually conforms to the standard. A format was designed which enhances these advantages and lessens the disadvantages. The fundamental approach is to allow the user to make her own choices regarding strategic tradeoffs to achieve the performance desired in her local environment. The choices made are encoded in a specific and portable way in a set of records. A fully detailed description and specification of the format is given, and examples are used to illustrate various concepts. Implementation is discussed.

Lait, Leslie R.↗
NASA NTRS1992

Neural processing of gravity information

The goal of this project was to use the linear acceleration capabilities of the NASA Vestibular Research Facility (VRF) at Ames Research Center to directly examine encoding of linear accelerations in the vestibular system of the cat. Most previous studies, including my own, have utilized tilt stimuli, which at very low frequencies (e.g., 'static tilt') can be considered a reasonably pure linear acceleration (e.g., 'down'); however, higher frequencies of tilt, necessary for understanding the dynamic processing of linear acceleration information, necessarily involves rotations which can stimulate the semicircular canals. The VRF, particularly the Long Linear Sled, has promise to provide controlled pure linear accelerations at a variety of stimulus frequencies, with no confounding angular motion.

Schor, Robert H.↗
NASA NTRS1993

Applications of wavelet-based compression to multidimensional Earth science data

A data compression algorithm involving vector quantization (VQ) and the discrete wavelet transform (DWT) is applied to two different types of multidimensional digital earth-science data. The algorithms (WVQ) is optimized for each particular application through an optimization procedure that assigns VQ parameters to the wavelet transform subbands subject to constraints on compression ratio and encoding complexity. Preliminary results of compressing global ocean model data generated on a Thinking Machines CM-200 supercomputer are presented. The WVQ scheme is used in both a predictive and nonpredictive mode. Parameters generated by the optimization algorithm are reported, as are signal-to-noise (SNR) measurements of actual quantized data. The problem of extrapolating hydrodynamic variables across the continental landmasses in order to compute the DWT on a rectangular grid is discussed. Results are also presented for compressing Landsat TM 7-band data using the WVQ scheme. The formulation of the optimization problem is presented along with SNR measurements of actual quantized data. Postprocessing applications are considered in which the seven spectral bands are clustered into 256 clusters using a k-means algorithm and analyzed using the Los Alamos multispectral data analysis program, SPECTRUM, both before and after being compressed using the WVQ program.

Bradley, Jonathan N.↗
NASA NTRS1993

Tree Classification Software

This paper introduces the IND Tree Package to prospective users. IND does supervised learning using classification trees. This learning task is a basic tool used in the development of diagnosis, monitoring and expert systems. The IND Tree Package was developed as part of a NASA project to semi-automate the development of data analysis and modelling algorithms using artificial intelligence techniques. The IND Tree Package integrates features from CART and C4 with newer Bayesian and minimum encoding methods for growing classification trees and graphs. The IND Tree Package also provides an experimental control suite on top. The newer features give improved probability estimates often required in diagnostic and screening tasks. The package comes with a manual, Unix 'man' entries, and a guide to tree methods and research. The IND Tree Package is implemented in C under Unix and was beta-tested at university and commercial research laboratories in the United States.

Buntine, Wray↗
NASA NTRS1993

A Genetic Algorithm Tool (splicer) for Complex Scheduling Problems and the Space Station Freedom Resupply Problem

The Space Station Freedom will require the supply of items in a regular fashion. A schedule for the delivery of these items is not easy to design due to the large span of time involved and the possibility of cancellations and changes in shuttle flights. This paper presents the basic concepts of a genetic algorithm model, and also presents the results of an effort to apply genetic algorithms to the design of propellant resupply schedules. As part of this effort, a simple simulator and an encoding by which a genetic algorithm can find near optimal schedules have been developed. Additionally, this paper proposes ways in which robust schedules, i.e., schedules that can tolerate small changes, can be found using genetic algorithms.

Wang, Lui↗
NASA NTRS1993

Compression of spectral meteorological imagery

Data compression is essential to current low-earth-orbit spectral sensors with global coverage, e.g., meteorological sensors. Such sensors routinely produce in excess of 30 Gb of data per orbit (over 4 Mb/s for about 110 min) while typically limited to less than 10 Gb of downlink capacity per orbit (15 minutes at 10 Mb/s). Astro-Space Division develops spaceborne compression systems for compression ratios from as little as three to as much as twenty-to-one for high-fidelity reconstructions. Current hardware production and development at Astro-Space Division focuses on discrete cosine transform (DCT) systems implemented with the GE PFFT chip, a 32x32 2D-DCT engine. Spectral relations in the data are exploited through block mean extraction followed by orthonormal transformation. The transformation produces blocks with spatial correlation that are suitable for further compression with any block-oriented spatial compression system, e.g., Astro-Space Division's Laplacian modeler and analytic encoder of DCT coefficients.

Miettinen, Kristo↗