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At least 1,063 records · Page 59

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NASA NTRS1989

A method for solution of the Euler-Bernoulli beam equation in flexible-link robotic systems

An efficient numerical method for solving the partial differential equation (PDE) governing the flexible manipulator control dynamics is presented. A finite-dimensional model of the equation is obtained through discretization in both time and space coordinates by using finite-difference approximations to the PDE. An expert program written in the Macsyma symbolic language is utilized in order to embed the boundary conditions into the program, accounting for a mass carried at the tip of the manipulator. The advantages of the proposed algorithm are many, including the ability to (1) include any distributed actuation term in the partial differential equation, (2) provide distributed sensing of the beam displacement, (3) easily modify the boundary conditions through an expert program, and (4) modify the structure for running under a multiprocessor environment.

Tzes, Anthony P.↗

NASA NTRS1991

EXODUS: Integrating intelligent systems for launch operations support

Kennedy Space Center (KSC) is developing knowledge-based systems to automate critical operations functions for the space shuttle fleet. Intelligent systems will monitor vehicle and ground support subsystems for anomalies, assist in isolating and managing faults, and plan and schedule shuttle operations activities. These applications are being developed independently of one another, using different representation schemes, reasoning and control models, and hardware platforms. KSC has recently initiated the EXODUS project to integrate these stand alone applications into a unified, coordinated intelligent operations support system. EXODUS will be constructed using SOCIAL, a tool for developing distributed intelligent systems. EXODUS, SOCIAL, and initial prototyping efforts using SOCIAL to integrate and coordinate selected EXODUS applications are described.

Adler, Richard M.↗

NASA NTRS1991

Large Deformation Behavior of Long Shallow Cylindrical Composite Panels

An exact solution is presented for the large deformation response of a simply supported orthotropic cylindrical panel subjected to a uniform line load along a cylinder generator. The cross section of the cylinder is circular and deformations up to the fully snapped through position are investigated. The orthotropic axes are parallel to the generator and circumferential directions. The governing equations are derived using laminated plate theory, nonlinear strain-displacement relations, and applying variational principles. The response is investigated for the case of a panel loaded exactly at midspan and for a panel with the load offset from midspan. The mathematical formulation is one dimensional in the circumferential coordinate. Solutions are obtained in closed-form. An experimental apparatus was designed to load the panels. Experimental results of displacement controlled tests performed on graphite-epoxy curved panels are compared with analytical predictions.

Carper, Douglas M.↗

NASA NTRS1992

Design for interaction between humans and intelligent systems during real-time fault management

Initial results are reported to provide guidance and assistance for designers of intelligent systems and their human interfaces. The objective is to achieve more effective human-computer interaction (HCI) for real time fault management support systems. Studies of the development of intelligent fault management systems within NASA have resulted in a new perspective of the user. If the user is viewed as one of the subsystems in a heterogeneous, distributed system, system design becomes the design of a flexible architecture for accomplishing system tasks with both human and computer agents. HCI requirements and design should be distinguished from user interface (displays and controls) requirements and design. Effective HCI design for multi-agent systems requires explicit identification of activities and information that support coordination and communication between agents. The effects are characterized of HCI design on overall system design and approaches are identified to addressing HCI requirements in system design. The results include definition of (1) guidance based on information level requirements analysis of HCI, (2) high level requirements for a design methodology that integrates the HCI perspective into system design, and (3) requirements for embedding HCI design tools into intelligent system development environments.

Malin, Jane T.↗

NASA NTRS1994

System concept definition of the Grumman superconducting Electromagnetic Suspension (EMS) Maglev design

Grumman, under contract to the Army Corps of Engineers, completed a System Concept Definition (SCD) study to design a high-speed 134 m/s (300 m.p.h.) magnetically levitated (Maglev) transportation system. The primary development goals were to design a Maglev that is safe, reliable, environmentally acceptable, and low-cost. The cost issue was a predominant one, since previous studies have shown that an economically viable Maglev system (one that is attractive to investors for future models of passenger and/or freight transportation) requires a cost that is about $12.4 M/km ($20 Million per mile). The design is based on the electromagnetic suspension (EMS) system using superconducting iron-core magnets mounted along both sides of the vehicle. The EMS system has several advantages compared to the electrodynamic suspension (EDS) Maglev systems such as low stray magnetic fields in the passenger cabin and the surrounding areas, uniform load distribution along the full length of the vehicle, and small pole pitch for smoother propulsion and ride comfort. It is also levitated at all speeds and incorporates a wrap-around design of safer operation. The Grumman design has all the advantages of an EMS system identified above, while eliminating (or significantly improving) drawbacks associated with normal magnet powered EMS systems. Improvements include larger gap clearance, lighter weight, lower number of control servos, and higher off line switching speeds. The design also incorporates vehicle tilt (plus or minus 9 deg) for higher coordinated turn and turn out speed capability.

Proise, M.↗

NASA NTRS1992

Image Tiling for Profiling Large Objects

Three dimensional surface measurements of large objects arc required in a variety of industrial processes. The nature of these measurements is changing as optical instruments arc beginning to replace conventional contact probes scanned over the objects. A common characteristic of the optical surface profilers is the trade off between measurement accuracy and field of view. In order to measure a large object with high accuracy, multiple views arc required. An accurate transformation between the different views is needed to bring about their registration. In this paper, we demonstrate how the transformation parameters can be obtained precisely by choosing control points which lie in the overlapping regions of the images. A good starting point for the transformation parameters is obtained by having a knowledge of the scanner position. The selection of the control points arc independent of the object geometry. By successively recording multiple views and obtaining transformation with respect to a single coordinate system, a complete physical model of an object can be obtained. Since all data arc in the same coordinate system, it can thus be used for building automatic models for free form surfaces.

Venkataraman, Ajit↗

NASA NTRS2002

Definition of Contravariant Velocity Components

This is an old issue in computational fluid dynamics (CFD). What is the so-called contravariant velocity or contravariant velocity component? In the article, we review the basics of tensor analysis and give the contravariant velocity component a rigorous explanation. For a given coordinate system, there exist two uniquely determined sets of base vector systems - one is the covariant and another is the contravariant base vector system. The two base vector systems are reciprocal. The so-called contravariant velocity component is really the contravariant component of a velocity vector for a time-independent coordinate system, or the contravariant component of a relative velocity between fluid and coordinates, for a time-dependent coordinate system. The contravariant velocity components are not physical quantities of the velocity vector. Their magnitudes, dimensions, and associated directions are controlled by their corresponding covariant base vectors. Several 2-D (two-dimensional) linear examples and 2-D mass-conservation equation are used to illustrate the details of expressing a vector with respect to the covariant and contravariant base vector systems, respectively.

Hung, Ching-Mao↗

NASA NTRS2003

An Overview of the Process for Pre-Launch Checkout and Transition Activities in Support of the International Space Station (ISS) Payload Operations Integration Center

The objective of this paper is to provide future ISS scientists and/or engineers with an overview of the coordination process for the preparation and implementation of the pre-launch checkout and transition activities as observed from the Marshall Control Flight Center (MSFC) Payload Operations Integration Center perspective. This includes 4 major phases: (1) Verification and validation of the new command and telemetry databases that are needed for new payload experiments and new onboard formats; (2) Integration testing of the new ground control software and hardware; (3) Final internal and external pre-launch checkouts with cadre and experiment teams; (4) Performance of the actual synchronized transition between MSFC, Johnson Space Center (JSC), and ISS onboard configuration to new onboard software, ground software, and databases.

Digesu, Sam↗

NASA NTRS1997

Team play with a powerful and independent agent: operational experiences and automation surprises on the Airbus A-320

Research and operational experience have shown that one of the major problems with pilot-automation interaction is a lack of mode awareness (i.e., the current and future status and behavior of the automation). As a result, pilots sometimes experience so-called automation surprises when the automation takes an unexpected action or fails to behave as anticipated. A lack of mode awareness and automation surprises can he viewed as symptoms of a mismatch between human and machine properties and capabilities. Changes in automation design can therefore he expected to affect the likelihood and nature of problems encountered by pilots. Previous studies have focused exclusively on early generation "glass cockpit" aircraft that were designed based on a similar automation philosophy. To find out whether similar difficulties with maintaining mode awareness are encountered on more advanced aircraft, a corpus of automation surprises was gathered from pilots of the Airbus A-320, an aircraft characterized by high levels of autonomy, authority, and complexity. To understand the underlying reasons for reported breakdowns in human-automation coordination, we also asked pilots about their monitoring strategies and their experiences with and attitude toward the unique design of flight controls on this aircraft.

NASA Discipline Space Human Factors↗

NASA NTRS2004

Model-based Executive Control through Reactive Planning for Autonomous Rovers

This paper reports on the design and implementation of a real-time executive for a mobile rover that uses a model-based, declarative approach. The control system is based on the Intelligent Distributed Execution Architecture (IDEA), an approach to planning and execution that provides a unified representational and computational framework for an autonomous agent. The basic hypothesis of IDEA is that a large control system can be structured as a collection of interacting agents, each with the same fundamental structure. We show that planning and real-time response are compatible if the executive minimizes the size of the planning problem. We detail the implementation of this approach on an exploration rover (Gromit an RWI ATRV Junior at NASA Ames) presenting different IDEA controllers of the same domain and comparing them with more classical approaches. We demonstrate that the approach is scalable to complex coordination of functional modules needed for autonomous navigation and exploration.

Finzi, Alberto↗

NASA NTRS2004

Sensory-Motor Adaptation to Space Flight: Human Balance Control and Artificial Gravity

Gravity, which is sensed directly by the otolith organs and indirectly by proprioceptors and exteroceptors, provides the CNS a fundamental reference for estimating spatial orientation and coordinating movements in the terrestrial environment. The sustained absence of gravity during orbital space flight creates a unique environment that cannot be reproduced on Earth. Loss of this fundamental CNS reference upon insertion into orbit triggers neuro-adaptive processes that optimize performance for the microgravity environment, while its reintroduction upon return to Earth triggers neuro-adaptive processes that return performance to terrestrial norms. Five pioneering symposia on The Role of the Vestibular Organs in the Exploration of Space were convened between 1965 and 1970. These innovative meetings brought together the top physicians, physiologists, and engineers in the vestibular field to discuss and debate the challenges associated with human vestibular system adaptation to the then novel environment of space flight. These highly successful symposia addressed the perplexing problem of how to understand and ameliorate the adverse physiological effects on humans resulting from the reduction of gravitational stimulation of the vestibular receptors in space. The series resumed in 2002 with the Sixth Symposium, which focused on the microgravity environment as an essential tool for the study of fundamental vestibular functions. The three day meeting included presentations on historical perspectives, vestibular neurobiology, neurophysiology, neuroanatomy, neurotransmitter systems, theoretical considerations, spatial orientation, psychophysics, motor integration, adaptation, autonomic function, space motion sickness, clinical issues, countermeasures, and rehabilitation. Scientists and clinicians entered into lively exchanges on how to design and perform mutually productive research and countermeasure development projects in the future. The problems posed by long duration missions dominated these discussions and were driven by the paucity of data available. These issues along with more specific recommendations arising from the above discussions will be addressed an upcoming issue of the Journal of Vestibular Research.

Paloski, William H.↗

NASA NTRS2010

Propellant Sloshing Parameter Extraction from CFD Analysis

Propellant slosh is a potential source of disturbance critical to the stability of space vehicle. The sloshing dynamics is typically represented by a mechanical model of spring mass damper. This mechanical model is then included in the equation of motion of the entire vehicle for Guidance, Navigation and Control analysis. The typical parameters required by the mechanical model include natural frequency of the sloshing, sloshing mass, sloshing mass center coordinates, and critical damping coefficient. During the 1960 s US space program, these parameters were either computed from analytical solution for simple geometry or by experimental testing for the sub-scaled configurations. The purpose of this work is to demonstrate the soundness of a CFD approach in modeling the detailed fluid dynamics of tank sloshing and the excellent accuracy in extracting mechanical properties for different tank configurations and at different fill levels. The validation studies included straight cylinder against analytical solution, and sub-scaled Centaur LOX and LH2 tanks with and without baffles against experimental results. This effort shows that CFD technology can provide accurate mechanical parameters for any tank configuration, and is especially valuable to the future design of propellant tanks, as there is no previous experimental data available for the same size and configuration.

Yang, H. Q.↗

NASA NTRS1989

Synthetic perspective optical flow: Influence on pilot control tasks

One approach used to better understand the impact of visual flow on control tasks has been to use synthetic perspective flow patterns. Such patterns are the result of apparent motion across a grid or random dot display. Unfortunately, the optical flow so generated is based on a subset of the flow information that exists in the real world. The danger is that the resulting optical motions may not generate the visual flow patterns useful for actual flight control. Researchers conducted a series of studies directed at understanding the characteristics of synthetic perspective flow that support various pilot tasks. In the first of these, they examined the control of altitude over various perspective grid textures (Johnson et al., 1987). Another set of studies was directed at studying the head tracking of targets moving in a 3-D coordinate system. These studies, parametric in nature, utilized both impoverished and complex virtual worlds represented by simple perspective grids at one extreme, and computer-generated terrain at the other. These studies are part of an applied visual research program directed at understanding the design principles required for the development of instruments displaying spatial orientation information. The experiments also highlight the need for modeling the impact of spatial displays on pilot control tasks.

Bennett, C. Thomas↗

NASA NTRS2003

Patterns of global gene expression in rat skeletal muscle during unloading and low-intensity ambulatory activity

Physical inactivity and unloading lead to diverse skeletal muscle alterations. Our goal was to identify the genes in skeletal muscle whose expression is most sensitive to periods of unloading/reduced physical activity and that may be involved in triggering initial responses before phenotypic changes are evident. The ability of short periods of physical activity/loading as an effective countermeasure against changes in gene expression mediated by inactivity was also tested. Affymetrix microarrays were used to compare mRNA levels in the soleus muscle under three experimental treatments (n = 20-29 rats each): 12-h hindlimb unloading (HU), 12-h HU followed by 4 h of intermittent low-intensity ambulatory and postural activity (4-h reloading), and control (with ambulatory and postural activity). Using a combination of criteria, we identified a small set of genes (approximately 1% of 8,738 genes on the array or 4% of significant expressed genes) with the most reproducible and largest responses to altered activity. Analysis revealed a coordinated regulation of transcription for a large number of key signaling proteins and transcription factors involved in protein synthesis/degradation and energy metabolism. Most (21 of 25) of the gene expression changes that were downregulated during HU returned at least to control levels during the reloading. In surprising contrast, 27 of 38 of the genes upregulated during HU remained significantly above control, but most showed trends toward reversal. This introduces a new concept that, in general, genes that are upregulated during unloading/inactivity will be more resistant to periodic reloading than those genes that are downregulated. This study reveals genes that are the most sensitive to loading/activity in rat skeletal muscle and indicates new targets that may initiate muscle alterations during inactivity.

NASA Discipline Musculoskeletal↗

NASA NTRS2014

SPHERES National Lab Facility

SPHERES is a facility of the ISS National Laboratory with three IVA nano-satellites designed and delivered by MIT to research estimation, control, and autonomy algorithms. Since Fall 2010, The SPHERES system is now operationally supported and managed by NASA Ames Research Center (ARC). A SPHERES Program Office was established and is located at NASA Ames Research Center. The SPHERES Program Office coordinates all SPHERES related research and STEM activities on-board the International Space Station (ISS), as well as, current and future payload development. By working aboard ISS under crew supervision, it provides a risk tolerant Test-bed Environment for Distributed Satellite Free-flying Control Algorithms. If anything goes wrong, reset and try again! NASA has made the capability available to other U.S. government agencies, schools, commercial companies and students to expand the pool of ideas for how to test and use these bowling ball-sized droids. For many of the researchers, SPHERES offers the only opportunity to do affordable on-orbit characterization of their technology in the microgravity environment. Future utilization of SPHERES as a facility will grow its capabilities as a platform for science, technology development, and education.

Free Flyer↗

NASA NTRS1973

Hydrogen adsorption and diffusion, and subcritical-crack growth in high strength steels and nickel base alloys

Embrittlement, or the enhancement of crack growth by gaseous hydrogen in high strength alloys, is of primary interest in selecting alloys for various components in the space shuttle. Embrittlement is known to occur at hydrogen gas pressures ranging from fractions to several hundred atmospheres, and is most severe in the case of martensitic high strength steels. Kinetic information on subcritical crack growth in gaseous hydrogen is sparse at this time. Corroborative information on hydrogen adsorption and diffusion is inadequate to permit a clear determination of the rate controlling process and possible mechanism in hydrogen enhanced crack growth, and for estimating behavior over a range of temperatures and pressures. Therefore, coordinated studies of the kinetics of crack growth, and adsorption and diffusion of hydrogen, using identical materials, have been initiated. Comparable conditions of temperature and pressure will be used in the chemical and mechanical experiments. Inconel 718 alloy and 18Ni(200) maraging steel have been selected for these studies. Results from these studies are expected to provide not only a better understanding of the gaseous hydrogen embrittlement phenomenon itself, but also fundamental information on hydrogen adsorption and diffusion, and crack growth information that can be used directly for design.

Wei, R. P.↗

NASA NTRS1980

Analysis of eighty-four commercial aviation incidents - Implications for a resource management approach to crew training

A resource management approach to aircrew performance is defined and utilized in structuring an analysis of 84 exemplary incidents from the NASA Aviation Safety Reporting System. The distribution of enabling and associated (evolutionary) and recovery factors between and within five analytic categories suggests that resource management training be concentrated on: (1) interpersonal communications, with air traffic control information of major concern; (2) task management, mainly setting priorities and appropriately allocating tasks under varying workload levels; and (3) planning, coordination, and decisionmaking concerned with preventing and recovering from potentially unsafe situations in certain aircraft maneuvers.

Murphy, M. R.↗

NASA NTRS1984

Kinetics of chromium ion absorption by cross-linked polyacrylate films

Three cross-linked ion exchange membranes were studied as to their ability to absorb chromium ion from aqueous chromium III nitrate solutions. Attention was given to the mechanism of absorption, composition of the absorbed product, and the chemical bonding. The membranes were: calcium polyacrylate, polyacrylic acid, and a copolymer of acrylic acid and vinyl alcohol. For the calcium polyacrylate and the copolymer, parabolic kinetics were observed, indicating the formation of a chromium polyacrylate phase as a coating on the membrane. The rate of absorption is controlled by the diffusion of the chromium ion through this coating. The product formed in the copolymer involves the formation of a coordination complex of a chromium ion with 6 carboxylic acid groups from the same molecule. The absorption of the chromium ion by the polyacrylic acid membranes appears to be more complicated, involving cross-linking. This is due to the coordination of the chromium ion with carboxylic acid groups from more than one polymer molecule. The absorption rate of the chromium ion by the calcium salt membrane was found to be more rapid than that by the free polyacrylic acid membrane.

May, C. E.↗