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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 NTRS1987

The generic task toolset: High level languages for the construction of planning and problem solving systems

The current generation of languages for the construction of knowledge-based systems as being at too low a level of abstraction is criticized, and the need for higher level languages for building problem solving systems is advanced. A notion of generic information processing tasks in knowledge-based problem solving is introduced. A toolset which can be used to build expert systems in a way that enhances intelligibility and productivity in knowledge acquistion and system construction is described. The power of these ideas is illustrated by paying special attention to a high level language called DSPL. A description is given of how it was used in the construction of a system called MPA, which assists with planning in the domain of offensive counter air missions.

Chandrasekaran, B.↗
NASA NTRS1988

Report on the activities of the PSN/NASA Task Group

Since July '86 the PSN/NASA Task Group for Tether Flight Demonstrations has been working to find applications of tethers in space, the development of which might be of mutual interest to the two agencies. Seven projects have so far been identified and some more will probably be added. A technical evaluation and a managerial plan have been outlined for each.

Loria, Alberto↗
NASA NTRS1989

Multi-tasking computer control of video related equipment

The flexibility, cost-effectiveness and widespread availability of personal computers now makes it possible to completely integrate the previously separate elements of video post-production into a single device. Specifically, a personal computer, such as the Commodore-Amiga, can perform multiple and simultaneous tasks from an individual unit. Relatively low cost, minimal space requirements and user-friendliness, provides the most favorable environment for the many phases of video post-production. Computers are well known for their basic abilities to process numbers, text and graphics and to reliably perform repetitive and tedious functions efficiently. These capabilities can now apply as either additions or alternatives to existing video post-production methods. A present example of computer-based video post-production technology is the RGB CVC (Computer and Video Creations) WorkSystem. A wide variety of integrated functions are made possible with an Amiga computer existing at the heart of the system.

Molina, Rod↗
NASA NTRS1989

Prototype part task trainer: A remote manipulator system simulator

The Part Task Trainer program (PTT) is a kinematic simulation of the Remote Manipulator System (RMS) for the orbiter. The purpose of the PTT is to supply a low cost man-in-the-loop simulator, allowing the student to learn operational procedures which then can be used in the more expensive full scale simulators. PTT will allow the crew members to work on their arm operation skills without the need for other people running the simulation. The controlling algorithms for the arm were coded out of the Functional Subsystem Requirements Document to ensure realistic operation of the simulation. Relying on the hardware of the workstation to provide fast refresh rates for full shaded images allows the simulation to be run on small low cost stand alone work stations, removing the need to be tied into a multi-million dollar computer for the simulation. PTT will allow the student to make errors which in full scale mock up simulators might cause failures or damage hardware. On the screen the user is shown a graphical representation of the RMS control panel in the aft cockpit of the orbiter, along with a main view window and up to six trunion and guide windows. The dials drawn on the panel may be turned to select the desired mode of operation. The inputs controlling the arm are read from a chair with a Translational Hand Controller (THC) and a Rotational Hand Controller (RHC) attached to it.

Shores, David↗
NASA NTRS1989

Technology and task parameters relating to the effectiveness of the bracing strategy

The bracing strategy has been proposed in various forms as a way to improve robot performance. One version of the strategy employs independent stages of motion. The first stage, referred to as the large or bracing arm, carries the second stage of motion. After the first stage has completed its motion it is braced to provide a more rigid base of motion with a more accurate relationship to the parts to be manipulated. The hypothesis is that more rapid completion of certain tasks is possible with lighter arms using the bracing strategy. While it is easy to make conceptual arguments why this should be so, it is less easy to specify even approximately when this will be true for some reasonably generic situation. There is no relevant experience base with bracing arms to be compared to non-bracing arms. Furthermore, if one were interested in obtaining such practical experience, there would be no methodical guidance on the selection of an interesting case, one in which the unproven approach, bracing, can show its superiority. If one such case exists, only the extent of applicability of the new approach is in question. One set of interesting cases is likely to be applications in which a large workspace must be covered, but where a series of small accurate moves will remain within a smaller region of the total workspace. A prototype application with these characteristics is set up and a skeleton design of arms using the competing strategies are compared.

Book, Wayne J.↗
NASA NTRS1989

Load balancing and task decomposition techniques for parallel implementation of integrated vision systems algorithms

Several techniques are presented to perform static and dynamic load balancing schemes for integrated vision systems. These techniques are novel in the sense that they capture the computational requirements of a task by examining the data when they are produced. Furthermore, they can be applied to many integrated vision systems because many algorithms in different systems are either the same or have similar computational characteristics. These techniques are evaluated by applying them to the algorithms in a motion estimation system. It is shown that the performance gains when these techniques are used are significant and the overhead of using these techniques is minimal. The performance is evaluated by implementing the algorithms using the presented techniques on a hypercube multiprocessor system.

Choudhary, Alok N.↗
NASA NTRS1989

Autonomous organization of grasping tasks

This paper describes an architecture for the control of robotic devices, and in particular of anthropomorphic hands, characterized by a hierarchical structure in which every level of the architecture contains data and control function with varying degree of abstraction. Bottom levels of the hierarchy interface directly with sensors and actuators, and process raw data and motor commands. Higher levels perform more symbolic types of tasks, such as application of Boolean rules and general planning operations. The implementation of the layer has to be consistent with the type of operation and its requirements for real time control. One implementation of the rule level, with a Boolean artificial neural network which would have a response time sufficient for producing reflex corrective action at the actuator level is presented.

Fiorini, Paolo↗
NASA NTRS1990

The implementation of STOVL task-tailored control modes in a fighter cockpit

The implementation of Short Takeoff/Vertical Landing (STOVL) specific task tailored control modes in a supersonic fighter/attack aircraft cockpit is investigated. A detailed linear model exhibiting STOVL Level 1 handling qualities is implemented in a real time engineering workstation environment with an F-16 cockpit mock-up. Conventional F-16 control inceptors are utilized to achieve effective STOVL operation and reduced pilot workload throughout the transition to hover flight region. Favorable pilot comments indicate the existing F-16 cockpit configuration with a force sidestick is adaptable to STOVL operation.

Whatley, David W.↗
NASA NTRS1990

Learning control for minimizing a quadratic cost during repetitions of a task

In many applications, control systems are asked to perform the same task repeatedly. Learning control laws have been developed over the last few years that allow the controller to improve its performance each repetition, and to converge to zero error in tracking a desired trajectory. This paper generates a new type of learning control law that learns to minimize a quadratic cost function for tracking. Besides being of interest in its own right, this objective alleviates the need to specify a desired trajectory that can actually be performed by the system. The approach used here is to adapt appropriate methods from numerical optimization theory in order to produce learning control algorithms that adjust the system command from repetition to repetition in order to converge to the quadratic cost optimal trajectory.

Longman, Richard W.↗
NASA NTRS1990

Operator function modeling: Cognitive task analysis, modeling and intelligent aiding in supervisory control systems

The design, implementation, and empirical evaluation of task-analytic models and intelligent aids for operators in the control of complex dynamic systems, specifically aerospace systems, are studied. Three related activities are included: (1) the models of operator decision making in complex and predominantly automated space systems were used and developed; (2) the Operator Function Model (OFM) was used to represent operator activities; and (3) Operator Function Model Expert System (OFMspert), a stand-alone knowledge-based system was developed, that interacts with a human operator in a manner similar to a human assistant in the control of aerospace systems. OFMspert is an architecture for an operator's assistant that uses the OFM as its system and operator knowledge base and a blackboard paradigm of problem solving to dynamically generate expectations about upcoming operator activities and interpreting actual operator actions. An experiment validated the OFMspert's intent inferencing capability and showed that it inferred the intentions of operators in ways comparable to both a human expert and operators themselves. OFMspert was also augmented with control capabilities. An interface allowed the operator to interact with OFMspert, delegating as much or as little control responsibility as the operator chose. With its design based on the OFM, OFMspert's control capabilities were available at multiple levels of abstraction and allowed the operator a great deal of discretion over the amount and level of delegated control. An experiment showed that overall system performance was comparable for teams consisting of two human operators versus a human operator and OFMspert team.

Mitchell, Christine M.↗
NASA NTRS1990

Evaluation of the Trajectory Operations Applications Software Task (TOAST). Volume 2: Interview transcripts

The Trajectory Operations Applications Software Task (TOAST) is a software development project whose purpose is to provide trajectory operation pre-mission and real-time support for the Space Shuttle. The purpose of the evaluation was to evaluate TOAST as an Application Manager - to assess current and planned capabilities, compare capabilities to commercially-available off the shelf (COTS) software, and analyze requirements of MCC and Flight Analysis Design System (FADS) for TOAST implementation. As a major part of the data gathering for the evaluation, interviews were conducted with NASA and contractor personnel. Real-time and flight design users, orbit navigation users, the TOAST developers, and management were interviewed. Code reviews and demonstrations were also held. Each of these interviews was videotaped and transcribed as appropriate. Transcripts were edited and are presented chronologically.

Perkins, Sharon↗
NASA NTRS1990

Task reports on developing techniques for scattering by 3D composite structures and to generate new solutions in diffraction theory using higher order boundary conditions

There are two tasks described in this report. First, an extension of a two dimensional formulation is presented for a three dimensional body of revolution. With the introduction of a Fourier expansion of the vector electric and magnetic fields, a coupled two dimensional system is generated and solved via the finite element method. An exact boundary condition is employed to terminate the mesh and the fast fourier transformation is used to evaluate the boundary integrals for low O(n) memory demand when an iterative solution algorithm is used. Second, the diffraction by a material discontinuity in a thick dielectric/ferrite layer is considered by modeling the layer as a distributed current sheet obeying generalized sheet transition conditions (GSTC's).

Volakis, John L.↗
NASA NTRS1991

Task reports on developing techniques for scattering by 3D composite structures and to generate new solutions in diffraction theory using higher order boundary conditions

There are two tasks described in this report. First, an extension of a two dimensional formulation is presented for a three dimensional body of revolution. A Fourier series expansion of the vector electric and magnetic fields is employed to reduce the dimensionality of the system, and an exact boundary condition is employed to terminate the mesh. The mesh termination boundary is chosen such that it leads to convolutional boundary operators for low O(n) memory demand. Second, rigorous uniform geometrical theory of diffraction (UTD) diffraction coefficients are presented for a coated convex cylinder simulated with generalized impedance boundary conditions. Ray solutions are obtained which remain valid in the transition region and reduce uniformly those in the deep lit and shadow regions. A uniform asymptotic solution is also presented for observations in the close vicinity of the cylinder.

Volakis, John L.↗
NASA NTRS1991

QUEST/Ada (query utility environment for software testing of Ada: The development of a program analysis environment for Ada, task 1, phase 3

The results of research and development efforts of the first six months of Task 1, Phase 3 of the project are presented. The goals of Phase 3 are: (1) to further refine the rule base and complete the comparative rule base evaluation; (2) to implement and evaluate a concurrency testing prototype; (3) to convert the complete (unit-level and concurrency) testing prototype to a workstation environment; and (4) to provide a prototype development document to facilitate the transfer of research technology to a working environment. These goals were partially met and the results are summarized.

Brown, David B.↗
NASA NTRS1991

GRASP/Ada: Graphical Representations of Algorithms, Structures, and Processes for Ada. The development of a program analysis environment for Ada: Reverse engineering tools for Ada, task 2, phase 3

The main objective is the investigation, formulation, and generation of graphical representations of algorithms, structures, and processes for Ada (GRASP/Ada). The presented task, in which various graphical representations that can be extracted or generated from source code are described and categorized, is focused on reverse engineering. The following subject areas are covered: the system model; control structure diagram generator; object oriented design diagram generator; user interface; and the GRASP library.

Cross, James H., II↗
NASA NTRS1990

A representation for error detection and recovery in robot task plans

A general definition is given of the problem of error detection and recovery in robot assembly systems, and a general representation is developed for dealing with the problem. This invariant representation involves a monitoring process which is concurrent, with one monitor per task plan. A plan hierarchy is discussed, showing how diagnosis and recovery can be handled using the representation.

Lyons, D. M.↗
NASA NTRS1990

Task directed sensing

High-level robot control research must confront the limitations imposed by real sensors if robots are to be controlled effectively in the real world. In particular, sensor limitations make it impossible to maintain a complete, detailed world model of the situation surrounding the robot. To address the problems involved in planning with the resulting incomplete and uncertain world models, traditional robot control architectures must be altered significantly. Task-directed sensing and control is suggested as a way of coping with world model limitations by focusing sensing and analysis resources on only those parts of the world relevant to the robot's active goals. The RAP adaptive execution system is used as an example of a control architecture designed to deploy sensing resources in this way to accomplish both action and knowledge goals.

Firby, R. James↗
NASA NTRS1990

Telerobotic control issues related to real task applications in the space environment

Recent findings concerning the definition of the expected control environment associated with the Space Station are examined. The range of expected near-term and far-term task applications for robotic systems is provided, and the essential control issues related to the application environment are derived. In addition, an approximate control envelope for teleoperated and autonomous robotic systems is established.

Zimmerman, Wayne↗