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At least 1,099 records · Page 61
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Kinematic functions for the 7 DOF robotics research arm

The Robotics Research Model K-1207 manipulator is a redundant 7R serial link arm with offsets at all joints. To uniquely determine joint angles for a given end-effector configuration, the redundancy is parameterized by a scalar variable which corresponds to the angle between the manipulator elbow plane and the vertical plane. The forward kinematic mappings from joint-space to end-effector configuration and elbow angle, and the augmented Jacobian matrix which gives end-effector and elbow angle rates as a function of joint rates, are also derived.

Kreutz, K.↗
NASA NTRS1989

Parallel algorithms for computation of the manipulator inertia matrix

The development of an O(log2N) parallel algorithm for the manipulator inertia matrix is presented. It is based on the most efficient serial algorithm which uses the composite rigid body method. Recursive doubling is used to reformulate the linear recurrence equations which are required to compute the diagonal elements of the matrix. It results in O(log2N) levels of computation. Computation of the off-diagonal elements involves N linear recurrences of varying-size and a new method, which avoids redundant computation of position and orientation transforms for the manipulator, is developed. The O(log2N) algorithm is presented in both equation and graphic forms which clearly show the parallelism inherent in the algorithm.

Amin-Javaheri, Masoud↗
NASA NTRS1989

Learning in stochastic neural networks for constraint satisfaction problems

Researchers describe a newly-developed artificial neural network algorithm for solving constraint satisfaction problems (CSPs) which includes a learning component that can significantly improve the performance of the network from run to run. The network, referred to as the Guarded Discrete Stochastic (GDS) network, is based on the discrete Hopfield network but differs from it primarily in that auxiliary networks (guards) are asymmetrically coupled to the main network to enforce certain types of constraints. Although the presence of asymmetric connections implies that the network may not converge, it was found that, for certain classes of problems, the network often quickly converges to find satisfactory solutions when they exist. The network can run efficiently on serial machines and can find solutions to very large problems (e.g., N-queens for N as large as 1024). One advantage of the network architecture is that network connection strengths need not be instantiated when the network is established: they are needed only when a participating neural element transitions from off to on. They have exploited this feature to devise a learning algorithm, based on consistency techniques for discrete CSPs, that updates the network biases and connection strengths and thus improves the network performance.

Johnston, Mark D.↗
NASA NTRS1990

A personal computer-based, multitasking data acquisition system

A multitasking, data acquisition system was written to simultaneously collect meteorological radar and telemetry data from two sources. This system is based on the personal computer architecture. Data is collected via two asynchronous serial ports and is deposited to disk. The system is written in both the C programming language and assembler. It consists of three parts: a multitasking kernel for data collection, a shell with pull down windows as user interface, and a graphics processor for editing data and creating coded messages. An explanation of both system principles and program structure is presented.

Bailey, Steven A.↗
NASA NTRS1989

Optical backplane interconnect switch for data processors and computers

An optoelectronic integrated device design is reported which can be used to implement an all-optical backplane interconnect switch. The switch is sized to accommodate an array of processors and memories suitable for direct replacement into the basic avionic multiprocessor backplane. The optical backplane interconnect switch is also suitable for direct replacement of the PI bus traffic switch and at the same time, suitable for supporting pipelining of the processor and memory. The 32 bidirectional switchable interconnects are configured with broadcast capability for controls, reconfiguration, and messages. The approach described here can handle a serial interconnection of data processors or a line-to-link interconnection of data processors. An optical fiber demonstration of this approach is presented.

Hendricks, Herbert D.↗
NASA NTRS1990

Head-down bed rest impairs vagal baroreflex responses and provokes orthostatic hypotension

The hypothesis that baroreflex malfunction contributes to orthostatic hypotension in microgravity was tested by studying vagally mediated carotid baroreceptor-cardiac reflexes in healthy human subjects before, during, and after 30 days of 6-deg head-down bed rest. The baroreflex response relationships were provoked with ramped neck pressure-suction sequences comprising pressure elevations to 40 mm Hg followed by serial R-wave-triggered 15-mm Hg reductions to -65 mm0 Hg; each R-R interval was plotted as a function of systolic pressure minus the neck chamber pressure applied during the interval. It is shown that head-down bed rest led to an impairment of vagal baroreflex function and that it was associated with an impairment of hemodynamic adjustments to standing, indicating that baroreflex impairment may contribute to orthostatic hypotension observed in spacecrews after a flight.

Convertino, Victor A.↗
NASA NTRS1989

Multiprogramming performance degradation - Case study on a shared memory multiprocessor

The performance degradation due to multiprogramming overhead is quantified for a parallel-processing machine. Measurements of real workloads were taken, and it was found that there is a moderate correlation between the completion time of a program and the amount of system overhead measured during program execution. Experiments in controlled environments were then conducted to calculate a lower bound on the performance degradation of parallel jobs caused by multiprogramming overhead. The results show that the multiprogramming overhead of parallel jobs consumes at least 4 percent of the processor time. When two or more serial jobs are introduced into the system, this amount increases to 5.3 percent

Dimpsey, R. T.↗
NASA NTRS1989

Spectral solution of the incompressible Navier-Stokes equations on the Connection Machine2

The issue of solving the time-dependent incompressible Navier-Stokes equations on the Connection Machine 2 is addressed, for the problem of transition to turbulence of the steady flow in a channel. The spectral algorithm used serially requires O(N4) operations when solving the equations on an N x N x N grid; using the massive parallelism of the CM, it becomes an O(N2) problem. Preliminary timings of the code, written in LISP, are included and compared with a corresponding code optimized for the Cray-2 for a 128 x 128 x 101 grid.

Tomboulian, Sherryl↗
NASA NTRS1990

Control of a GaAs monolithic Ka-band phase shifter using a high-speed optical interconnect

The use of a high-speed optical interconnect in the control of a Ka-band GaAs monolithic phase shifter is described. A 16-b serial control signal was used to modulate the output of a laser transmitter, and the transmitted optical signal was detected and demultiplexed into 16 parallel electrical outputs using a high-speed hybrid GaAs optoelectronic integrated circuit. Four of the parallel output lines were interfaced to the 4-b phase shifter, and high-speed, optically controlled switching of the phase shifter was observed at clock frequencies to 30 MHz using an interferometric technique.

Bhasin, K. B.↗
NASA NTRS1990

Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator system

An algorithm is proposed for automatically generating both the forward and inverse kinematics of a serial-link N-degree-of-freedom reconfigurable manipulator (RM). Generation of the kinematic equations that govern a modular manipulator starts with geometric descriptions of the units, or modules, as well as their sequence in the manipulator. This geometric information is used to obtain the Denavit-Hartenberg (DH) parameters of an RM. The DH kinematic parameters are then used to obtain the forward kinematic transformation of the system. The problem of obtaining the inverse kinematics of RMs is addressed, and the idea of scaling an RM to automate the inverse kinematics and make the procedure as general as possible is proposed.

Kelmar, Laura↗
NASA NTRS1990

3-D components of a biological neural network visualized in computer generated imagery. II - Macular neural network organization

Computer-assisted reconstructions of small parts of the macular neural network show how the nerve terminals and receptive fields are organized in 3-dimensional space. This biological neural network is anatomically organized for parallel distributed processing of information. Processing appears to be more complex than in computer-based neural network, because spatiotemporal factors figure into synaptic weighting. Serial reconstruction data show anatomical arrangements which suggest that (1) assemblies of cells analyze and distribute information with inbuilt redundancy, to improve reliability; (2) feedforward/feedback loops provide the capacity for presynaptic modulation of output during processing; (3) constrained randomness in connectivities contributes to adaptability; and (4) local variations in network complexity permit differing analyses of incoming signals to take place simultaneously. The last inference suggests that there may be segregation of information flow to central stations subserving particular functions.

Ross, Muriel D.↗
NASA NTRS1989

Penn State Imaging X-ray Spectrometer

The design and performance of a CCD X-ray camera developed at Penn State are described. The camera uses a frame-store CCD as the detector element. A laboratory version using a PC-based CCD controller and data-acquisition system and a thermoelectric cooler is being used for laboratory testing. This camera has been used to measure read noise of less than 1.5 e(-) with the serial clocks running backwards to suppress dark current. The energy resolution at 5.9 keV with the CCD running in its normal configuration is 120 eV. A flight version of this camera is being built to make spectrally resolved images of the Pup A SNR.

Burrows, David N.↗
NASA NTRS1990

The Meteorological Measurement System on the NASA ER-2 aircraft

A Meteorological Measurement System (MMS) was designed and installed on one of the NASA high-altitude ER-2 aircraft (NASA 706). The MMS provides in situ measurements of free-stream pressure (+ or - 0.3 mb), temperature (+ or - 0.3 C), and wind vector (+ or - 1 m/s). It incorporates a high-resolution inertial navigation system specially configured for scientific applications, a radome differential pressure system for measurements of the airflow angles, and a compact, computer-controlled data acquisition system to sample, process and store 45 variables on tape and on disk. The MMS hardware and software development is described, and resolution and accuracy of the instrumentation discussed. Custom software facilitates preflight system checkout, inflight data acquisition, and fast postflight data download. It accommodates various modes of MMS data: analog and digital, serial and parallel, and synchronous and asynchronous. Flight results are presented to demonstrate the capability of the system.

Scott, Stan G.↗
NASA NTRS1991

Algorithmically Specialized Parallel Architecture For Robotics

Computing system called Robot Mathematics Processor (RMP) contains large number of processor elements (PE's) connected in various parallel and serial combinations reconfigurable via software. Special-purpose architecture designed for solving diverse computational problems in robot control, simulation, trajectory generation, workspace analysis, and like. System an MIMD-SIMD parallel architecture capable of exploiting parallelism in different forms and at several computational levels. Major advantage lies in design of cells, which provides flexibility and reconfigurability superior to previous SIMD processors.

Fijany, Amir↗
NASA NTRS1991

Bar-Code-Scribing Tool

Proposed hand-held tool applies indelible bar code to small parts. Possible to identify parts for management of inventory without tags or labels. Microprocessor supplies bar-code data to impact-printer-like device. Device drives replaceable scribe, which cuts bar code on surface of part. Used to mark serially controlled parts for military and aerospace equipment. Also adapts for discrete marking of bulk items used in food and pharmaceutical processing.

Badinger, Michael A.↗
NASA NTRS1991

Resolving Phase Ambiguities In OQPSK

Improved design for modulator and demodulator in offset-quaternary-phase-key-shifting (OQPSK) communication system enables receiver to resolve ambiguity in estimated phase of received signal. Features include unique-code-word modulation and detection and digital implementation of Costas loop in carrier-recovery subsystem. Enchances performance of carrier-recovery subsystem, reduces complexity of receiver by removing redundant circuits from previous design, and eliminates dependence of timing in receiver upon parallel-to-serial-conversion clock.

Nguyen, Tien M.↗
NASA NTRS1991

System Decommutes And Displays Telemetry Data

TDPlus computer program software system for decommutation of pulse-code-modulation (PCM) telemetry signals. Provides synchronization, conversion into engineering units, and display of serial bit streams. Transforms IBM PC-compatible computer into PCM-telemetry-decommutation system. Synchronizes telemetric signals data and enables conversion back into such meaningful forms as voltage, current, pressure, and the like. Also controls operation of digital-to-analog converters to ship data to paper strip charts or to parallel digital ports for offloading to other computers. Software used to process actual data only when telemetry-data-processing computer modified in accordance with specifications contained in "TDPlus TM Data Processor" (GSC-13291). Written in Turbo C and 8088 Assembly language.

Massey, D. E.↗
NASA NTRS1990

A conservative approach to parallelizing the Sharks World simulation

Parallelizing a benchmark problem for parallel simulation, the Sharks World, is described. The described solution is conservative, in the sense that no state information is saved, and no 'rollbacks' occur. The used approach illustrates both the principal advantage and principal disadvantage of conservative parallel simulation. The advantage is that by exploiting lookahead an approach was found that dramatically improves the serial execution time, and also achieves excellent speedups. The disadvantage is that if the model rules are changed in such a way that the lookahead is destroyed, it is difficult to modify the solution to accommodate the changes.

Nicol, David M.↗