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At least 1,081 records · Page 60
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Terrestrial geophysics in the SeaRISE project

Some areas of research in the SeaRISE project are briefly discussed. They are as follows: (1) Radar Sounding serves multiple purposes. The most general and obvious is mapping ice thickness and the surface and bedrock topography of the ice sheet. (2) The purpose of Seismic Shooting, in addition to water depth measurements on floating ice, is to provide information about the internal physical characteristics of the ice sheet, the rock beneath it, and the interface between the two. (3) Passive Seismic monitoring of microearthquakes can be used to study brittle fracture within the ice or the rock beneath it. Common parameters available from these studies are fault location, orientation, and displacement, as well as the size of the rupture area, stress drop, and energy released. (4) There is a large contrast in Electrical Resistivity between ice or permafrost on the one hand and liquid water or wet rock on the other hand. Thus, electrical resistivity profiles have the ability of revealing the depth to the melting point, whether it is found at the base of the ice or in the subglacial rock. (5) Gravity anomalies, especially combined with seismic measurements, are an effective tool for determining deeper crustal structure. Anomalies averaged over extensive areas are useful also for their potential to reveal isostatic imbalance, which is a measure of average glacial change over the last several hundred years.

Bentley, C. R.↗
NASA NTRS1989

Servomotor-Linked Articulated Versatile End Effector (SLAVE2)

A strategy is presented for the design and construction of a large master/slave-controlled, five-finger robotic hand. Each of the five fingers will possess four independent axes each driven by a brushless DC servomotor and, thus, four degrees-of-freedom. It is proposed that commercially available components be utilized as much as possible to fabricate a working laboratory model of the device with an anticipated overall length of approximately three feet (0.9 m). The fingers are to be designed to accommodate proximity, tactile, or force/torque sensors imbedded in their structure. In order to provide for the simultaneous control of the operator wears a specially instrumented glove which produces control signals corresponding to the finger configuration and which is capable of conveying sensor feedback signals to the operator. Two dexterous hand master devices are currently commercially available for this application with both undergoing continuing development.

Ajayi-Majebi, Abayomi J.↗
NASA NTRS1991

The convergence rate of approximate solutions for nonlinear scalar conservation laws

The convergence rate is discussed of approximate solutions for the nonlinear scalar conservation law. The linear convergence theory is extended into a weak regime. The extension is based on the usual two ingredients of stability and consistency. On the one hand, the counterexamples show that one must strengthen the linearized L(sup 2)-stability requirement. It is assumed that the approximate solutions are Lip(sup +)-stable in the sense that they satisfy a one-sided Lipschitz condition, in agreement with Oleinik's E-condition for the entropy solution. On the other hand, the lack of smoothness requires to weaken the consistency requirement, which is measured in the Lip'-(semi)norm. It is proved for Lip(sup +)-stable approximate solutions, that their Lip'convergence rate to the entropy solution is of the same order as their Lip'-consistency. The Lip'-convergence rate is then converted into stronger L(sup p) convergence rate estimates.

Nessyahu, Haim↗
NASA NTRS1991

Influence of channel base current and varying return stroke speed on the calculated fields of three important return stroke models

Compared here are the calculated fields of the Traveling Current Source (TCS), Modified Transmission Line (MTL), and the Diendorfer-Uman (DU) models with a channel base current assumed in Nucci et al. on the one hand and with the channel base current assumed in Diendorfer and Uman on the other hand. The characteristics of the field wave shapes are shown to be very sensitive to the channel base current, especially the field zero crossing at 100 km for the TCS and DU models, and the magnetic hump after the initial peak at close range for the TCS models. Also, the DU model is theoretically extended to include any arbitrarily varying return stroke speed with height. A brief discussion is presented on the effects of an exponentially decreasing speed with height on the calculated fields for the TCS, MTL, and DU models.

Thottappillil, Rajeev↗
NASA NTRS1989

Tests for Hurwitz and Schur properties of convex combination of complex polynomials

Given that two polynomials having complex coefficients are Hurwitz (Schur) a test based on the application of the resultant theory is advanced to determine whether the set formed from the convex combination of the specified polynomials is also Hurwitz (Schur). The procedure, on the one hand, provides a unified approach to the relevant testing procedure for both continuous- and discrete-time systems and, on the other hand, generalizes earlier results restricted to the case of polynomials with real coefficients.

Bose, N. K.↗
NASA NTRS1990

Intelligent control and adaptive systems; Proceedings of the Meeting, Philadelphia, PA, Nov. 7, 8, 1989

Various papers on intelligent control and adaptive systems are presented. Individual topics addressed include: control architecture for a Mars walking vehicle, representation for error detection and recovery in robot task plans, real-time operating system for robots, execution monitoring of a mobile robot system, statistical mechanics models for motion and force planning, global kinematics for manipulator planning and control, exploration of unknown mechanical assemblies through manipulation, low-level representations for robot vision, harmonic functions for robot path construction, simulation of dual behavior of an autonomous system. Also discussed are: control framework for hand-arm coordination, neural network approach to multivehicle navigation, electronic neural networks for global optimization, neural network for L1 norm linear regression, planning for assembly with robot hands, neural networks in dynamical systems, control design with iterative learning, improved fuzzy process control of spacecraft autonomous rendezvous using a genetic algorithm.

Rodriguez, Guillermo↗
NASA NTRS1991

The many faces of F stars - A rotational modulation study of Capella, Procyon, and Caph with the International Ultraviolet Explorer

Far-UV spectroscopy of the F stars Capella, Procyon, and Caph is reported. Although all three stars are regard as chromospherically 'active', none exhibited any sensible rotational modulations, indicating a smooth surface distribution of chromospheric emission. Balancing this nonsolar behavior are a variety of puzzling differences among the three stars. On the one hand, the C IV features of Procyon are narrow, while that of the Capella secondary and Caph are broad; differences in v sin i alone cannot explain the dichotomy. On the other hand, the high-excitation emissions of the Capella secondary and Procyon, but not Caph, exhibit statistically significant redshifts. The significance of these results is discussed in the light of the speculation by Simon and Drake (1989) that the X-ray deficient coronae of the early F dwarfs are produced by classical acoustic heating.

Ayres, Thomas R.↗
NASA NTRS1991

Hybrid simulations of rotational discontinuities

1D hybrid simulations of rotational discontinuities (RDs) are presented. When the angle between the discontinuity normal and the magnetic field (theta-BN) is 30 deg, the RD broadens into a quasi-steady state of width 60-80 c/omega-i. The hodogram has a characteristic S-shape. When theta-BN = 60 deg, the RD is much narrower (10 c/omega-i). For right handed rotations, the results are similar to theta-BN = 30 deg. For left handed rotations, the RD does not evolve much from its initial conditions and the S-shape in the hodogram is much less visible. The results can be understood in terms of matching a fast mode wavelike structure upstream of the RD with an intermediate mode one downstream.

Goodrich, C. C.↗
NASA NTRS1992

J-Hook Latching Mechanism

J-hook latching mechanism which joins modules of equipment together and holds cargoes in vehicles relatively simple, strong, and self-aligning. Objects brought together into coarse alignment, shaft turned, causing upper object, mounting bracket, and fixed nut to travel downward on left-handed thread and traveling nut upward on right-handed thread. This allows J-hook to turn under spring load and reach under receptacle.

Milam, M. Bruce↗
NASA NTRS1990

Optimal parallel solution of sparse triangular systems

A method for the parallel solution of triangular sets of equations is described that is appropriate when there are many right-handed sides. By preprocessing, the method can reduce the number of parallel steps required to solve Lx = b compared to parallel forward or backsolve. Applications are to iterative solvers with triangular preconditioners, to structural analysis, or to power systems applications, where there may be many right-handed sides (not all available a priori). The inverse of L is represented as a product of sparse triangular factors. The problem is to find a factored representation of this inverse of L with the smallest number of factors (or partitions), subject to the requirement that no new nonzero elements be created in the formation of these inverse factors. A method from an earlier reference is shown to solve this problem. This method is improved upon by constructing a permutation of the rows and columns of L that preserves triangularity and allow for the best possible such partition. A number of practical examples and algorithmic details are presented. The parallelism attainable is illustrated by means of elimination trees and clique trees.

Alvarado, Fernando L.↗
NASA NTRS1991

Global analysis of fermion mixing with exotics

The limits are analyzed on deviation of the lepton and quark weak-couplings from their standard model values in a general class of models where the known fermions are allowed to mix with new heavy particles with exotic SU(2) x U(1) quantum number assignments (left-handed singlets or right-handed doublets). These mixings appear in many extensions of the electroweak theory such as models with mirror fermions, E(sub 6) models, etc. The results update previous analyses and improve considerably the existing bounds.

Nardi, Enrico↗
NASA NTRS1991

Functional characteristics of the calcium modulated proteins seen from an evolutionary perspective

We have constructed dendrograms relating 173 EF-hand proteins of known amino acid sequence. We aligned all of these proteins by their EF-hand domains, omitting interdomain regions. Initial dendrograms were computed by minimum mutation distance methods. Using these as starting points, we determined the best dendrogram by the method of maximum parsimony, scored by minimum mutation distance. We identified 14 distinct subfamilies as well as 6 unique proteins that are perhaps the sole representatives of other subfamilies. This information is given in tabular form. Within subfamilies one can easily align interdomain regions. The resulting dendrograms are very similar to those computed using domains only. Dendrograms constructed using pairs of domains show general congruence. However, there are enough exceptions to caution against an overly simple scheme in which one pair of gene duplications leads from one domain precurser to a four domain prototype from which all other forms evolved. The ability to bind calcium was lost and acquired several times during evolution. The distribution of introns does not conform to the dendrogram based on amino acid sequences. The rates of evolution appear to be much slower within subfamilies, especially within calmodulin, than those prior to the definition of subfamily.

Kretsinger, R. H.↗
NASA NTRS1991

Development and application of virtual reality for man/systems integration

While the graphical presentation of computer models signified a quantum leap over presentations limited to text and numbers, it still has the problem of presenting an interface barrier between the human user and the computer model. The user must learn a command language in order to orient themselves in the model. For example, to move left from the current viewpoint of the model, they might be required to type 'LEFT' at a keyboard. This command is fairly intuitive, but if the viewpoint moves far enough that there are no visual cues overlapping with the first view, the user does not know if the viewpoint has moved inches, feet, or miles to the left, or perhaps remained in the same position, but rotated to the left. Until the user becomes quite familiar with the interface language of the computer model presentation, they will be proned to lossing their bearings frequently. Even a highly skilled user will occasionally get lost in the model. A new approach to presenting type type of information is to directly interpret the user's body motions as the input language for determining what view to present. When the user's head turns 45 degrees to the left, the viewpoint should be rotated 45 degrees to the left. Since the head moves through several intermediate angles between the original view and the final one, several intermediate views should be presented, providing the user with a sense of continuity between the original view and the final one. Since the primary way a human physically interacts with their environment should monitor the movements of the user's hands and alter objects in the virtual model in a way consistent with the way an actual object would move when manipulated using the same hand movements. Since this approach to the man-computer interface closely models the same type of interface that humans have with the physical world, this type of interface is often called virtual reality, and the model is referred to as a virtual world. The task of this summer fellowship was to set up a virtual reality system at MSFC and begin applying it to some of the questions which concern scientists and engineers involved in space flight. A brief discussion of this work is presented.

Brown, Marcus↗
NASA NTRS1992

Self-organization via active exploration in robotic applications

We describe a neural network based robotic system. Unlike traditional robotic systems, our approach focussed on non-stationary problems. We indicate that self-organization capability is necessary for any system to operate successfully in a non-stationary environment. We suggest that self-organization should be based on an active exploration process. We investigated neural architectures having novelty sensitivity, selective attention, reinforcement learning, habit formation, flexible criteria categorization properties and analyzed the resulting behavior (consisting of an intelligent initiation of exploration) by computer simulations. While various computer vision researchers acknowledged recently the importance of active processes (Swain and Stricker, 1991), the proposed approaches within the new framework still suffer from a lack of self-organization (Aloimonos and Bandyopadhyay, 1987; Bajcsy, 1988). A self-organizing, neural network based robot (MAVIN) has been recently proposed (Baloch and Waxman, 1991). This robot has the capability of position, size rotation invariant pattern categorization, recognition and pavlovian conditioning. Our robot does not have initially invariant processing properties. The reason for this is the emphasis we put on active exploration. We maintain the point of view that such invariant properties emerge from an internalization of exploratory sensory-motor activity. Rather than coding the equilibria of such mental capabilities, we are seeking to capture its dynamics to understand on the one hand how the emergence of such invariances is possible and on the other hand the dynamics that lead to these invariances. The second point is crucial for an adaptive robot to acquire new invariances in non-stationary environments, as demonstrated by the inverting glass experiments of Helmholtz. We will introduce Pavlovian conditioning circuits in our future work for the precise objective of achieving the generation, coordination, and internalization of sequence of actions.

Ogmen, H.↗
NASA NTRS1992

High temperature, flexible, fiber-preform seal

A seal is mounted in a rectangular groove in a movable structural panel. The seal comprises a fiber preform constructed of multiple layers of fiber having a uniaxial core. Helical fibers are wound over the core. The fibers are of materials capable of withstanding high temperatures and are both left-hand and right-hand wound. An outer layer wrapped over said helical fibers prevents abrasion damage.

Steinetz, Bruce M.↗
NASA NTRS1992

Evaluation of force-torque displays for use with space station telerobotic activities

Recent experiments which addressed Space Station remote manipulation tasks found that tactile force feedback (reflecting forces and torques encountered at the end-effector through the manipulator hand controller) does not improve performance significantly. Subjective response from astronaut and non-astronaut test subjects indicated that force information, provided visually, could be useful. No research exists which specifically investigates methods of presenting force-torque information visually. This experiment was designed to evaluate seven different visual force-torque displays which were found in an informal telephone survey. The displays were prototyped in the HyperCard programming environment. In a within-subjects experiment, 14 subjects nullified forces and torques presented statically, using response buttons located at the bottom of the screen. Dependent measures included questionnaire data, errors, and response time. Subjective data generally demonstrate that subjects rated variations of pseudo-perspective displays consistently better than bar graph and digital displays. Subjects commented that the bar graph and digital displays could be used, but were not compatible with using hand controllers. Quantitative data show similar trends to the subjective data, except that the bar graph and digital displays both provided good performance, perhaps do to the mapping of response buttons to display elements. Results indicate that for this set of displays, the pseudo-perspective displays generally represent a more intuitive format for presenting force-torque information.

Hendrich, Robert C.↗
NASA NTRS1992

Computational structures technology and UVA Center for CST

Rapid advances in computer hardware have had a profound effect on various engineering and mechanics disciplines, including the materials, structures, and dynamics disciplines. A new technology, computational structures technology (CST), has recently emerged as an insightful blend between material modeling, structural and dynamic analysis and synthesis on the one hand, and other disciplines such as computer science, numerical analysis, and approximation theory, on the other hand. CST is an outgrowth of finite element methods developed over the last three decades. The focus of this presentation is on some aspects of CST which can impact future airframes and propulsion systems, as well as on the newly established University of Virginia (UVA) Center for CST. The background and goals for CST are described along with the motivations for developing CST, and a brief discussion is made on computational material modeling. We look at the future in terms of technical needs, computing environment, and research directions. The newly established UVA Center for CST is described. One of the research projects of the Center is described, and a brief summary of the presentation is given.

Noor, Ahmed K.↗
NASA NTRS1991

Summary of compliant and multi-arm control at NASA. Langley Research Center

The topics are presented in viewgraph form and include the: single arm system, single arm axis system, single arm control systems, single arm hand controller axis system, single arm position axis system, single arm vision axis system, single arm force axis system, multi-arm system, multi-arm axis system, and the dual arm hand control axis system with control signals.

Fenton W Harrison↗