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At least 1,225 records · Page 68

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NASA NTRS1989

The flight telerobotic servicer: From functional architecture to computer architecture

After a brief tutorial on the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) functional architecture, the approach to its implementation is shown. First, interfaces must be defined which are capable of supporting the known algorithms. This is illustrated by considering the interfaces required for the SERVO level of the NASREM functional architecture. After interface definition, the specific computer architecture for the implementation must be determined. This choice is obviously technology dependent. An example illustrating one possible mapping of the NASREM functional architecture to a particular set of computers which implements it is shown. The result of choosing the NASREM functional architecture is that it provides a technology independent paradigm which can be mapped into a technology dependent implementation capable of evolving with technology in the laboratory and in space.

Lumia, Ronald↗

NASA NTRS1989

Speech versus manual control of camera functions during a telerobotic task

Voice input for control of camera functions was investigated in this study. Objective were to (1) assess the feasibility of a voice-commanded camera control system, and (2) identify factors that differ between voice and manual control of camera functions. Subjects participated in a remote manipulation task that required extensive camera-aided viewing. Each subject was exposed to two conditions, voice and manual input, with a counterbalanced administration order. Voice input was found to be significantly slower than manual input for this task. However, in terms of remote manipulator performance errors and subject preference, there was no difference between modalities. Voice control of continuous camera functions is not recommended. It is believed that the use of voice input for discrete functions, such as multiplexing or camera switching, could aid performance. Hybrid mixes of voice and manual input may provide the best use of both modalities. This report contributes to a better understanding of the issues that affect the design of an efficient human/telerobot interface.

Bierschwale, John M.↗

NASA NTRS1990

The white dwarf luminosity function - A possible probe of the galactic halo

The dynamically inferred dark halo mass density, amounting to above 0.01 solar masses/cu pc at the sun's Galactocentric radius, can be composed of faint white dwarfs provided that the halo formed in a sufficiently early burst of star formation. The model is constrained by the observed disk white dwarf luminosity function which falls off below log (L/solar L) = -4.4, due to the onset of star formation in the disk. By using a narrow range for the initial mass function and an exponentially decaying halo star formation rate with an e-folding time equal to the free-fall time, all the halo dark matter is allowed to be in cool white dwarfs which lie beyond the falloff in the disk luminosity function. Although it is unlikely that all the dark matter is in these dim white dwarfs, a definite signature in the low-luminosity end of the white dwarf luminosity function is predicted even if they comprise only 1 percent of the dark matter. Current CCD surveys should answer the question of the existence of this population within the next few years.

Tamanaha, Christopher M.↗

NASA NTRS1990

The ratio of molecular to atomic gas in spiral galaxies as a function of morphological type

In order to gain an understanding of the global processes which influence cloud and star formation in disk galaxies, it is necessary to determine the relative amounts of atomic, molecular, and ionized gas both as a function of position in galaxies and from galaxy to galaxy. With observations of the CO distributions in over 200 galaxies now completed as part of the Five College Radio Astronomy Observatory (FCRAO) Extragalactic CO Survey (Young et al. 1989), researchers are finally in a position to determine the type dependence of the molecular content of spiral galaxies, along with the ratio of molecular to atomic gas as a function of type. Do late type spirals really have more gas than early types when the molecular gas content is included. Researchers conclude that there is more than an order of magnitude decrease in the ratio of molecular to atomic gas mass as a function of morphological type from Sa-Sd; an average Sa galaxy has more molecular than atomic gas, and an average Sc has less. Therefore, the total interstellar gas mass to blue luminosity ratio, M sub gas/L sub B, increases by less than a factor of two as a function of type from Sa-Sd. The dominant effect found is that the phase of the gas in the cool interstellar medium (ISM) varies along the Hubble sequence. Researchers suggest that the more massive and centrally concentrated galaxies are able to achieve a molecular-dominated ISM through the collection of more gas in the potential. That gas may then form molecular clouds when a critical density is exceeded. The picture which these observations support is one in which the conversion of atomic gas to molecular gas is a global process which depends on large scale dynamics (cf Wyse 1986). Among interacting and merging systems, researchers find considerable scatter in the M(H2)/M(HI) ratio, with the mean ratio similar to that in the early type galaxies. The high global ratio of molecular to atomic gas could result from the removal of HI gas, the enhanced conversion of HI into H2, or both.

Knezek, Patricia M.↗

NASA NTRS1990

Neural computation of arithmetic functions

An area of application of neural networks is considered. A neuron is modeled as a linear threshold gate, and the network architecture considered is the layered feedforward network. It is shown how common arithmetic functions such as multiplication and sorting can be efficiently computed in a shallow neural network. Some known results are improved by showing that the product of two n-bit numbers and sorting of n n-bit numbers can be computed by a polynomial-size neural network using only four and five unit delays, respectively. Moreover, the weights of each threshold element in the neural networks require O(log n)-bit (instead of n-bit) accuracy. These results can be extended to more complicated functions such as multiple products, division, rational functions, and approximation of analytic functions.

Siu, Kai-Yeung↗

NASA NTRS1991

Computer program for Bessel and Hankel functions

A set of FORTRAN subroutines for calculating Bessel and Hankel functions is presented. The routines calculate Bessel and Hankel functions of the first and second kinds, as well as their derivatives, for wide ranges of integer order and real or complex argument in single or double precision. Depending on the order and argument, one of three evaluation methods is used: the power series definition, an Airy function expansion, or an asymptotic expansion. Routines to calculate Airy functions and their derivatives are also included.

Kreider, Kevin L.↗

NASA NTRS1992

Numerical evaluation of the incomplete airy functions and their application to high frequency scattering and diffraction

The incomplete Airy integrals serve as canonical functions for the uniform ray optical solutions to several high frequency scattering and diffraction problems that involve a class of integrals characterized by two stationary points that are arbitrarily close to one another or to an integration endpoint. Integrals of such analytical properties describe transition region phenomena associated with composite shadow boundaries. An efficient and accurate method for computing the incomplete Airy functions would make the solutions to such problems useful for engineering purposes. Here, a convergent series solution form for the incomplete Airy functions is derived. Asymptotic expansions involving several terms were also developed and serve as large argument approximations. The combination of the series solution form with the asymptotic formulae provides for an efficient and accurate computation of the incomplete Airy functions. Validation of accuracy is accomplished using direct numerical integration data.

Constantinides, E. D.↗

NASA NTRS1990

On a cost functional for H2/H(infinity) minimization

A cost functional is proposed and investigated which is motivated by minimizing the energy in a structure using only collocated feedback. Defined for an H(infinity)-norm bounded system, this cost functional also overbounds the H2 cost. Some properties of this cost functional are given, and preliminary results on the procedure for minimizing it are presented. The frequency domain cost functional is shown to have a time domain representation in terms of a Stackelberg non-zero sum differential game.

Macmartin, Douglas G.↗

NASA NTRS1991

The three-point correlation function for Abell clusters - Observations and simulations

Results are reported of a 3D study tracing the three-point correlation function of Abell clusters and of a comparison of this with the biased cold dark matter (CDM) simulations of Park (1990). For the observations, the maximum likelihood fits are Z11 = 0.85 and Q111 = 0.1, in excellent agreement with the result of the 2D study of Toth et al. (1989). For Park's simulation, maximum likelihood fits of Q11 = 0.9 and Q111 = 0.0 are found, which is in excellent agreement with the observational result. It is concluded that the standard biased CDM gravitational instability model reproduces the observed form of the three-point correlation functions for Abell clusters remarkably well. The number of triples as a function of the sides of triangles for Abell clusters, and the number of triples as a function of the sides of triangles for clusters in Park's simulation are illustrated on graphs.

Gott, J. R., III↗

NASA NTRS1992

Determination of pyrotechnic functional margin

Following the failure of a previously qualified pyrotechnically actuated pin puller design, an investigation led to a redesign and requalification. The emphasis of the second qualification was placed on determining the functional margin of the pin puller by comparing the energy deliverable by the pyrotechnic cartridge to the energy required to accomplish the function. Also determined were the effects of functional variables. This paper describes the failure investigation, the test methods employed and the results of the evaluation, and provides a recommended approach to assure the successful functioning of pyrotechnic devices.

Bement, Laurence J.↗

NASA NTRS1991

Functional models of power electronic components for system studies

A novel approach to model power electronic circuits has been developed to facilitate simulation studies of system-level issues. The underlying concept for this approach is to develop an equivalent circuit, the functional model, that performs the same functions as the actual circuit but whose operation can be simulated by using larger time step size and the reduction in model complexity, the computation time required by a functional model is significantly shorter than that required by alternative approaches. The authors present this novel modeling approach and discuss the functional models of two major power electronic components, the DC/DC converter unit and the load converter, that are being considered by NASA for use in the Space Station Freedom electric power system. The validity of these models is established by comparing the simulation results with available experimental data and other simulation results obtained by using a more established modeling approach. The usefulness of this approach is demonstrated by incorporating these models into a power system model and simulating the system responses and interactions between components under various conditions.

Tam, Kwa-Sur↗

NASA NTRS1993

Determination of pyrotechnic functional margin

Bement, Laurence J.↗

NASA NTRS1993

Wigner expansions for partition functions of nonrelativistic and relativistic oscillator systems

The equilibrium quantum statistics of various anharmonic oscillator systems including relativistic systems is considered within the Wigner phase space formalism. For this purpose the Wigner series expansion for the partition function is generalized to include relativistic corrections. The new series for partition functions and all thermodynamic potentials yield quantum corrections in terms of powers of h(sup 2) and relativistic corrections given by Kelvin functions (modified Hankel functions) K(sub nu)(mc(sup 2)/kT). As applications, the symmetric Toda oscillator, isotonic and singular anharmonic oscillators, and hindered rotators, i.e. oscillators with cosine potential, are addressed.

Zylka, Christian↗

NASA NTRS1992

Angle-dependent Green's functions for relativistic Compton reflection

Using analytic methods, we derived the first-order Green's functions, in terms of the observing angle, for the reflected spectra after a single Compton scattering of relativistic photons by a plane-parallel semiinfinite medium of cold electrons. We also calculated the total Green's functions for incident photons of 511 keV, using Monte Carlo methods. We show that both the first-order and total Green's functions have strong angular dependences and that the first-order Green's functions play a dominant role in determining the properties of the total reflected spectra.

Hua, Xin-Min↗

NASA NTRS1991

Explicit construction of quadratic Lyapunov functions for the small gain, positivity, circle, and Popov theorems and their application to robust stability

Lyapunov function proofs of sufficient conditions for asymptotic stability are given for feedback interconnections of bounded real and positive real transfer functions. Two cases are considered: (1) a proper bounded real (resp., positive real) transfer function with a bounded real (resp., positive real) time-varying memoryless nonlinearity; and (2) two strictly proper bounded real (resp., positive real) transfer functions. A similar treatment is given for the circle and Popov theorems. Application of these results to robust stability with time-varying bounded real, positive real, and sector-bounded uncertainty is discussed.

Haddad, Wassim M.↗

NASA NTRS1992

Forcing function effects on unsteady aerodynamic gust response. II - Low solidity airfoil row response

The paper investigates the fundamental gust modeling assumption on the basis of a series of experiments performed in the Purdue Annular Cascade Research Facility. The unsteady period flow field is generated by rotating flows of perforated plates and airfoil cascades, with the resulting unsteady periodic chordwise pressure response of a downstream low solidity stator row determined by miniature pressure transducers embedded within selected airfoils. When the forcing function exhibited the characteristics of a linear-theory gust, the resulting response on the downstream stator airfoils was in excellent agreement with the linear-theory models. When the forcing function did not exhibit linear-theory gust characteristics, the resulting unsteady aerodynamic response of the downstream stators was much more complex and correlated poorly with the linear-theory gust predictions. It is shown that the forcing function generator significantly affects the resulting gust response, with the complexity of the response characteristics increasing from the perforated-plate to the airfoil-cascade forcing functions.

Henderson, Gregory H.↗

NASA NTRS1993

Newton algorithm for fitting transfer functions to frequency response measurements

In this paper the problem of synthesizing transfer functions from frequency response measurements is considered. Given a complex vector representing the measured frequency response of a physical system, a transfer function of specified order is determined that minimizes the sum of the magnitude-squared of the frequency response errors. This nonlinear least squares minimization problem is solved by an iterative global descent algorithm of the Newton type that converges quadratically near the minimum. The unknown transfer function is expressed as a sum of second-order rational polynomials, a parameterization that facilitates a numerically robust computer implementation. The algorithm is developed for single-input, single-output, causal, stable transfer functions. Two numerical examples demonstrate the effectiveness of the algorithm.

Spanos, J. T.↗

NASA NTRS1992

Control design based on a linear state function observer

An approach to the design of low-order controllers for large scale systems is proposed. The method is derived from the theory of linear state function observers. First, the realization of a state feedback control law is interpreted as the observation of a linear function of the state vector. The linear state function to be reconstructed is the given control law. Then, based on the derivation for linear state function observers, the observer design is formulated as a parameter optimization problem. The optimization objective is to generate a matrix that is close to the given feedback gain matrix. Based on that matrix, the form of the observer and a new control law can be determined. A four-disk system and a lightly damped beam are presented as examples to demonstrate the applicability and efficacy of the proposed method.

Su, Tzu-Jeng↗