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At least 1,117 records · Page 62
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Specialty functions singularity mechanics problems

The focus is in the development of more accurate and efficient advanced methods for solution of singular problems encountered in mechanics. At present, finite element methods in conjunction with special functions, boolean sum and blending interpolations are being considered. In dealing with systems which contain a singularity, special finite elements are being formulated to be used in singular regions. Further, special transition elements are being formulated to couple the special element to the mesh that models the rest of the system, and to be used in conjunction with 1-D, 2-D and 3-D elements within the same mesh. Computational simulation with a least squares fit is being utilized to construct special elements, if there is an unknown singularity in the system. A novel approach is taken in formulation of the elements in that: (1) the material properties are modified to include time, temperature, coordinate and stress dependant behavior within the element; (2) material properties vary at nodal points of the elements; (3) a hidden-symbolic computation scheme is developed and utilized in formulating the elements; and (4) special functions and boolean sum are utilized in order to interpolate the field variables and their derivatives along the boundary of the elements. It may be noted that the proposed methods are also applicable to fluids and coupled problems.

Sarigul, Nesrin↗
NASA NTRS1988

Efficient Jacobian inversion for the control of simple robot manipulators

Symbolic inversion of the Jacobian matrix for spherical wrist arms is investigated. It is shown that, taking advantage of the simple geometry of these arms, the closed-form solution of the system Q = J-1X, representing a transformation from task space to joint space, can be obtained very efficiently. The solutions for PUMA, Stanford, and a six-revolute-joint coplanar arm, along with all singular points, are presented. The solution for each joint variable is found as an explicit function of the singular points which provides a better insight into the effect of different singular points on the motion and force exertion of each individual joint. For the above arms, the computation cost of the solution is on the same order as the cost of forward kinematic solution and it is significantly reduced if forward kinematic solution is already obtained. A comparison with previous methods shows that this method is the most efficient to date.

Fijany, Amir↗
NASA NTRS1988

Model-based orientation-independent 3-D machine vision techniques

Orientation-dependent techniques for the identification of a three-dimensional object by a machine vision system are represented in parts. In the first part, the data consist of intensity images of polyhedral objects obtained by a single camera, while in the second part, the data consist of range images of curved objects obtained by a laser scanner. In both cases, the attributed graphic representation of the object surface is used to drive the respective algorithm. In this representation, a graph node represents a surface patch and a link represents the adjacency between two patches. The attributes assigned to nodes are moment invariants of the corresponding face for polyhedral objects. For range images, the Gaussian curvature is used as a segmentation criterion for providing symbolic shape attributes. Identification is achieved by an efficient graph-matching algorithm used to match the graph obtained from the data to a subgraph of one of the model graphs stored in the commputer memory.

De Figueiredo, R. J. P.↗
NASA NTRS1988

A user interface for a knowledge-based planning and scheduling system

The objective of EMPRESS (Expert Mission Planning and Replanning Scheduling System) is to support the planning and scheduling required to prepare science and application payloads for flight aboard the US Space Shuttle. EMPRESS was designed and implemented in Zetalisp on a 3600 series Symbolics Lisp machine. Initially, EMPRESS was built as a concept demonstration system. The system has since been modified and expanded to ensure that the data have integrity. Issues underlying the design and development of the EMPRESS-I interface, results from a system usability assessment, and consequent modifications are described.

Mulvehill, Alice M.↗
NASA NTRS1988

The undetected error probability for Reed-Solomon codes

McEliece and Swanson (1986) offered an upper bound on P(E)u, the decoder error probability given u symbol errors occur. In the present study, by using a combinatoric technique such as the principle of inclusion and exclusion, an exact formula for P(E)u is derived. The P(E)u of a maximum distance separable code is observed to approach Q rapidly as u gets large, where Q is the probability that a completely random error pattern will cause decoder error. An upper bound for the expansion P(E)u/Q - 1 is derived, and is shown to decrease nearly exponentially as u increases. This proves analytically that P(E)u indeed approaches Q as u becomes large, and that some laws of large number come into play.

Cheung, Kar-Ming↗
NASA NTRS1988

Integrating causal reasoning at different levels of abstraction

In this paper, a problem-solving system which uses a multilevel causal model of its domain is described. The system functions in the role of a pilot's assistant in the domain of commercial air transport emergencies. The model represents causal relationships among the aircraft subsystems, the effectors (engines, control surfaces), the forces that act on an aircraft in flight (thrust, lift), and the aircraft's flight profile (speed, altitude, etc.). The causal relationships are represented at three levels of abstraction: Boolean, qualitative, and quantitative, and reasoning about causes and effects can take place at each of these levels. Since processing at each level has different characteristics with respect to speed, the type of data required, and the specificity of the results, the problem-solving system can adapt to a wide variety of situations. The system is currently being implemented in the KEE(TM) development environment on a Symbolics Lisp machine.

Hudlicka, Eva↗
NASA NTRS1988

The development of an automated flight test management system for flight test planning and monitoring

The development of an automated flight test management system (ATMS) as a component of a rapid-prototyping flight research facility for AI-based flight systems concepts is described. The rapid-prototyping facility includes real-time high-fidelity simulators, numeric and symbolic processors, and high-performance research aircraft modified to accept commands for a ground-based remotely augmented vehicle facility. The flight system configuration of the ATMS includes three computers: the TI explorer LX and two GOULD SEL 32/27s.

Hewett, Marle D.↗
NASA NTRS1988

Advanced feature extraction in remote sensing using artificial intelligence and geographic information systems

Traditional computer-assisted image-analysis techniques in remote sensing lag well behind human abilities in terms of both speed and accuracy. A fundamental limitation of computer-assisted techniques is their inability to assimilate a variety of different data types leading to an interpretation in a manner similar to human image interpretation. Expert systems and computer-vision techniques are proposed as a potential solution to these limitations. Some aspects of human expertise in image analysis may be codified into expert systems. Image understanding and symbolic reasoning provide a means of assimilating spatial information and spatial reasoning into the analysis procedure. Knowledge-based image-analysis systems incorporate many of these concepts and have been implemented for some well defined problem domains. Geographic information systems represent an excellent environment for this type of analysis, providing both analytic tools and contextual information to the analysis procedure.

Estes, John E.↗
NASA NTRS1989

False lock in quadriphase receivers with unequal I- and Q-channel data rates

Results are presented concerning the noise-free false-lock problem in quadriphase receivers with unequal I-channel and Q-channel data rates. It is shown that false lock may occur when the incoming carrier frequency and the loop VCO (voltage-controlled oscillator) frequency differ by an amount that is a linear combination of a quarter of I-channel and Q-channel data rates. General expressions for the false-lock performance of quadriphase receivers are given for random as well as periodic data patterns. Specific closed-form expressions for the false-lock margin are are derived when the arm filters of the quadriphase receivers are single-pole Butterworth filters, and the format of the random data is NRZ (nonreturn-to-zero). Numerical evaluations of false-lock margin as a function of the product of 3-dB arm-filter bandwidth and symbol duration are carried out for random data using various arm filters and for different periodic I-chanel and Q-channel data patterns.

Cideciyan, Roy D.↗
NASA NTRS1988

Modem simulations for possible use in Space Station

Two candidate modem structures for use in the Space Station Multiple-Access Communications System were simulated using a software simulation package to obtain symbol error-rate curves. These systems represent an evolutionary QPSK-through-8 PSK modulation format for the input data streams. It was found that the use of phase-staggered QPSK modems would give lower expected implementation loss than a modem based upon the polarity-Costas-loop method. However, the latter would represent a simpler hardware investment to realize the modem structure for both QPSK and 8 PSK.

Horan, Stephen↗
NASA NTRS1989

DEVS representation of dynamical systems - Event-based intelligent control

It is shown how systems can be advantageously represented as discrete-event models by using DEVS (discrete-event system specification), a set-theoretic formalism. Such DEVS models provide a basis for the design of event-based logic control. In this control paradigm, the controller expects to receive confirming sensor responses to its control commands within definite time windows determined by its DEVS model of the system under control. The event-based contral paradigm is applied in advanced robotic and intelligent automation, showing how classical process control can be readily interfaced with rule-based symbolic reasoning systems.

Zeigler, Bernard P.↗
NASA NTRS1988

Helicopter human factors

The state-of-the-art helicopter and its pilot are examined using the tools of human-factors analysis. The significant role of human error in helicopter accidents is discussed; the history of human-factors research on helicopters is briefly traced; the typical flight tasks are described; and the noise, vibration, and temperature conditions typical of modern military helicopters are characterized. Also considered are helicopter controls, cockpit instruments and displays, and the impact of cockpit design on pilot workload. Particular attention is given to possible advanced-technology improvements, such as control stabilization and augmentation, FBW and fly-by-light systems, multifunction displays, night-vision goggles, pilot night-vision systems, night-vision displays with superimposed symbols, target acquisition and designation systems, and aural displays. Diagrams, drawings, and photographs are provided.

Hart, Sandra G.↗
NASA NTRS1989

A rapid prototyping facility for flight research in advanced systems concepts

The Dryden Flight Research Facility of the NASA Ames Research Facility of the NASA Ames Research Center is developing a rapid prototyping facility for flight research in flight systems concepts that are based on artificial intelligence (AI). The facility will include real-time high-fidelity aircraft simulators, conventional and symbolic processors, and a high-performance research aircraft specially modified to accept commands from the ground-based AI computers. This facility is being developed as part of the NASA-DARPA automated wingman program. This document discusses the need for flight research and for a national flight research facility for the rapid prototyping of AI-based avionics systems and the NASA response to those needs.

Duke, Eugene L.↗
NASA NTRS1989

More on the decoder error probability for Reed-Solomon codes

The decoder error probability for Reed-Solomon codes (more generally, linear maximum distance separable codes) is examined. McEliece and Swanson offered an upper bound on P sub E (u), the decoder error probability given that u symbol errors occur. This upper bound is slightly greater than Q, the probability that a completely random error pattern will cause decoder error. By using a combinatoric technique, the principle of inclusion and exclusion, an exact formula for P sub E (u) is derived. The P sub E (u) for the (255,223) Reed-Solomon Code used by NASA, and for the (31,15) Reed-Solomon code (JTIDS code), are calculated using the exact formula, and the P sub E (u)'s are observed to approach the Q's of the codes rapidly as u gets larger. An upper bound for the expression is derived, and is shown to decrease nearly exponentially as u increases. This proves analytically that P sub E (u) indeed approaches Q as u becomes large, and some laws of large numbers come into play.

Cheung, Kar-Ming↗
NASA NTRS1988

SPECTRUM - A system for the analysis of imaging spectrometer data

This paper examines several design issues related to the development of SPECTRUM, a knowledge-based system for the geological interpretation of imaging spectrometer data. SPECTRUM is implemented using a combination of the programming languages STAR and C, which are coupled both at the level of procedures - involving function calls between the two languages - and at the level of data structures - involving the formation of a hybrid knowledge base shared by the two languages. Aspects of the coupling relating to each level of the implementation are described, followed by a listing of general observations regarding the coupling of symbolic and numerical techniques as extracted from the SPECTRUM project.

Borchardt, Gary C.↗
NASA NTRS1989

Labeled trees and the efficient computation of derivations

The effective parallel symbolic computation of operators under composition is discussed. Examples include differential operators under composition and vector fields under the Lie bracket. Data structures consisting of formal linear combinations of rooted labeled trees are discussed. A multiplication on rooted labeled trees is defined, thereby making the set of these data structures into an associative algebra. An algebra homomorphism is defined from the original algebra of operators into this algebra of trees. An algebra homomorphism from the algebra of trees into the algebra of differential operators is then described. The cancellation which occurs when noncommuting operators are expressed in terms of commuting ones occurs naturally when the operators are represented using this data structure. This leads to an algorithm which, for operators which are derivations, speeds up the computation exponentially in the degree of the operator. It is shown that the algebra of trees leads naturally to a parallel version of the algorithm.

Grossman, Robert↗
NASA NTRS1989

QUEST/Ada: Query utility environment for software testing of Ada

Results of research and development efforts are presented for Task 1, Phase 2 of a general project entitled, The Development of a Program Analysis Environment for Ada. A prototype of the QUEST/Ada system was developed to collect data to determine the effectiveness of the rule-based testing paradigm. The prototype consists of five parts: the test data generator, the parser/scanner, the test coverage analyzer, a symbolic evaluator, and a data management facility, known as the Librarian. These components are discussed at length. Also presented is an experimental design for the evaluations, an overview of the project, and a schedule for its completion.

Brown, David B.↗
NASA NTRS1989

A knowledge-based machine vision system for space station automation

A simple knowledge-based approach to the recognition of objects in man-made scenes is being developed. Specifically, the system under development is a proposed enhancement to a robot arm for use in the space station laboratory module. The system will take a request from a user to find a specific object, and locate that object by using its camera input and information from a knowledge base describing the scene layout and attributes of the object types included in the scene. In order to use realistic test images in developing the system, researchers are using photographs of actual NASA simulator panels, which provide similar types of scenes to those expected in the space station environment. Figure 1 shows one of these photographs. In traditional approaches to image analysis, the image is transformed step by step into a symbolic representation of the scene. Often the first steps of the transformation are done without any reference to knowledge of the scene or objects. Segmentation of an image into regions generally produces a counterintuitive result in which regions do not correspond to objects in the image. After segmentation, a merging procedure attempts to group regions into meaningful units that will more nearly correspond to objects. Here, researchers avoid segmenting the image as a whole, and instead use a knowledge-directed approach to locate objects in the scene. The knowledge-based approach to scene analysis is described and the categories of knowledge used in the system are discussed.

Chipman, Laure J.↗