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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 1,225 records · Page 68

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NASA NTRS1987

Certainty grids for mobile robots

A numerical representation of uncertain and incomplete sensor knowledge called Certainty Grids has been used successfully in several mobile robot control programs, and has proven itself to be a powerful and efficient unifying solution for sensor fusion, motion planning, landmark identification, and many other central problems. Researchers propose to build a software framework running on processors onboard the new Uranus mobile robot that will maintain a probabilistic, geometric map of the robot's surroundings as it moves. The certainty grid representation will allow this map to be incrementally updated in a uniform way from various sources including sonar, stereo vision, proximity and contact sensors. The approach can correctly model the fuzziness of each reading, while at the same time combining multiple measurements to produce sharper map features, and it can deal correctly with uncertainties in the robot's motion. The map will be used by planning programs to choose clear paths, identify locations (by correlating maps), identify well-known and insufficiently sensed terrain, and perhaps identify objects by shape. The certainty grid representation can be extended in the same dimension and used to detect and track moving objects.

Moravec, H. P.↗

NASA NTRS1989

REDEX: The ranging equipment diagnostic expert system

REDEX, an advanced prototype expert system that diagnoses hardware failures in the Ranging Equipment (RE) at NASA's Ground Network tracking stations is described. REDEX will help the RE technician identify faulty circuit cards or modules that must be replaced, and thereby reduce troubleshooting time. It features a highly graphical user interface that uses color block diagrams and layout diagrams to illustrate the location of a fault. A semantic network knowledge representation technique was used to model the design structure of the RE. A catalog of generic troubleshooting rules was compiled to represent heuristics that are applied in diagnosing electronic equipment. Specific troubleshooting rules were identified to represent additional diagnostic knowledge that is unique to the RE. Over 50 generic and 250 specific troubleshooting rules have been derived. REDEX is implemented in Prolog on an IBM PC AT-compatible workstation. Block diagram graphics displays are color-coded to identify signals that have been monitored or inferred to have nominal values, signals that are out of tolerance, and circuit cards and functions that are diagnosed as faulty. A hypertext-like scheme is used to allow the user to easily navigate through the space of diagrams and tables. Over 50 graphic and tabular displays have been implemented. REDEX is currently being evaluated in a stand-alone mode using simulated RE fault scenarios. It will soon be interfaced to the RE and tested in an online environment. When completed and fielded, REDEX will be a concrete example of the application of expert systems technology to the problem of improving performance and reducing the lifecycle costs of operating NASA's communications networks in the 1990's.

Luczak, Edward C.↗

NASA NTRS1988

Crater identification and resolution of lunar radar images

The relations between the identification of dominant lunar landforms, craters, and radar images at three resolutions are investigated. Although the percentage of craters that can be identified is found to increase with diameter or relief for any given resolution, it is noted that craters have not been identified at all diameters and relief. It is shown that the relation between the percentage of identified craters and their dimensions depends on the size-frequency distributions of both diameters and relief, and that crater identification depends strongly on the resolution of the radar image.

Moore, H. J.↗

NASA NTRS1988

Learning from examples - Generation and evaluation of decision trees for software resource analysis

A general solution method for the automatic generation of decision (or classification) trees is investigated. The approach is to provide insights through in-depth empirical characterization and evaluation of decision trees for software resource data analysis. The trees identify classes of objects (software modules) that had high development effort. Sixteen software systems ranging from 3,000 to 112,000 source lines were selected for analysis from a NASA production environment. The collection and analysis of 74 attributes (or metrics), for over 4,700 objects, captured information about the development effort, faults, changes, design style, and implementation style. A total of 9,600 decision trees were automatically generated and evaluated. The trees correctly identified 79.3 percent of the software modules that had high development effort or faults, and the trees generated from the best parameter combinations correctly identified 88.4 percent of the modules on the average.

Selby, Richard W.↗

NASA NTRS1989

A data base documenting fluids and materials processing experiments performed in space

A data base identifying over 600 low gravity fluids and materials processing experiments performed in the low gravity environment prior to 1988 has been created at NASA Marshall Space Flight Center. The compilation has been separated into two parts, designated as Version 1 and Version 2. Version 1 identifies over 500 experiments performed during sounding rocket, Apollo, Apollo-Soyuz, Skylab, and U.S. Space Shuttle missions, while Version 2 identifies over 100 experiments performed specifically within a Soviet spacecraft including sounding rocket, Soyuz, Salyut, and Mir missions.

Winter, C. A.↗

NASA NTRS1989

Newborn stars and stellar winds in Barnard 228

Imaging and spectroscopic observations of premain-sequence stars in the B228 molecular cloud have identified three sites of extended, shock-excited nebulosity. A highly collimated, blueshifted jet is associated with the T Tauri star Sz68 (CoD -33:10685 deg). A candidate Herbig-Haro object is found near Sz68 and the T Tauri star Sz69. A third region of shock-excited nebulosity is identified near the embedded newborn star IRAS 15398-3359. IR excesses observed toward these stellar sources may imply a relationship between outflow activity and the presence of a circumstellar disk. Only one of the two outflow sources with well-defined orientations is aligned with the large-scale, magnetic-field geometry of the cloud in contrast to the global alignment of outflows in the Taurus cloud complex. Data for three previously unidentified emission-line stars are presented. A faint 18th magnitude dMe star located 48 arcsecs west of Sz68 is identified.

Heyer, Mark H.↗

NASA NTRS1987

A feasibility assessment of installation, operation and disposal options for nuclear reactor power system concepts for a NASA growth space station

A preliminary feasibility assessment of the integration of reactor power system concepts with a projected growth space station architecture was conducted to address a variety of installation, operational disposition, and safety issues. A previous NASA sponsored study, which showed the advantages of space station - attached concepts, served as the basis for this study. A study methodology was defined and implemented to assess compatible combinations of reactor power installation concepts, disposal destinations, and propulsion methods. Three installation concepts that met a set of integration criteria were characterized from a configuration and operational viewpoint, with end-of-life disposal mass identified. Disposal destinations that met current aerospace nuclear safety criteria were identified and characterized from an operational and energy requirements viewpoint, with delta-V energy requirement as a key parameter. Chemical propulsion methods that met current and near-term application criteria were identified and payload mass and delta-V capabilities were characterized. These capabilities were matched against concept disposal mass and destination delta-V requirements to provide the feasibility of each combination.

Bloomfield, Harvey S.↗

NASA NTRS1986

Independent Orbiter Assessment (IOA): Analysis of the manned maneuvering unit

Results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items (PCIs). To preserve indepedence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. This report documents the independent analysis results corresponding to the Manned Maneuvering Unit (MMU) hardware. The MMU is a propulsive backpack, operated through separate hand controllers that input the pilot's translational and rotational maneuvering commands to the control electronics and then to the thrusters. The IOA analysis process utilized available MMU hardware drawings and schematics for defining hardware subsystems, assemblies, components, and hardware items. Final levels of detail were evaluated and analyzed for possible failure modes and effects. Criticality was assigned based upon the worst case severity of the effect for each identified failure mode. The IOA analysis of the MMU found that the majority of the PCIs identified are resultant from the loss of either the propulsion or control functions, or are resultant from inability to perform an immediate or future mission. The five most severe criticalities identified are all resultant from failures imposed on the MMU hand controllers which have no redundancy within the MMU.

Bailey, P. S.↗

NASA NTRS1989

Crater identification and resolution of lunar radar images

Moore, H. J.↗

NASA NTRS1989

Study of high-speed civil transports

A systems study to identify the economic potential for a high-speed commercial transport (HSCT) has considered technology, market characteristics, airport infrastructure, and environmental issues. Market forecasts indicate a need for HSCT service in the 2000/2010 time frame conditioned on economic viability and environmental acceptability. Design requirements focused on a 300 passenger, 3 class service, and 6500 nautical mile range based on the accelerated growth of the Pacific region. Compatibility with existing airports was an assumed requirement. Mach numbers between 2 and 25 were examined in conjunction with the appropriate propulsion systems, fuels, structural materials, and thermal management systems. Aircraft productivity was a key parameter with aircraft worth, in comparison to aircraft price, being the airline-oriented figure of merit. Aircraft screening led to determination that Mach 3.2 (TSJF) would have superior characteristics to Mach 5.0 (LNG) and the recommendation that the next generation high-speed commercial transport aircraft use a kerosene fuel. The sensitivity of aircraft performance and economics to environmental constraints (e.g., sonic boom, engine emissions, and airport/community noise) was identified together with key technologies. In all, current technology is not adequate to produce viable HSCTs for the world marketplace. Technology advancements must be accomplished to meet environmental requirements (these requirements are as yet undetermined for sonic boom and engine emissions). High priority is assigned to aircraft gross weight reduction which benefits both economics and environmental aspects. Specific technology requirements are identified and national economic benefits are projected.

Source record↗

NASA NTRS1989

Impact of domain analysis on reuse methods

The SPS is performing a study for the U.S. Army CECOM on the impact of domain analysis on reuse methods. Domain analysis is the first activity that should be performed in the development of reusable software. It identifies the commonalities between systems within a given problem (such as navigation systems or database management). In the software arena these commonalities are implemented as software components that can be reused by new systems within that application domain. The objectives of the study are to develop an approach that makes domain analysis practical and effective for the Army, to reinforce the importance of domain analysis for software reuse programs, and to summarize and coalesce domain analysis information into a single reference source. Existing methods and tools are being analyzed, critical issues identified, and key automation issues addressed. Based on these, a methodology and set of guidelines for domain analysis are being developed. Potential automated tools will be identified for each activity in the methodology.

Gilroy, Kathy↗

NASA NTRS1990

A global approach for the identification of structural connection properties

A general procedure is developed for identifying properties of structural joints. The procedure, which uses experimental response data, is considered general because it is applicable to any size or type of structural system. The present procedure, which identifies characteristics such as damping and stiffness, accommodates both linear and nonlinear joint properties and may process test data measured at arbitrary stations on the structural system. The method identifies joint characteristics by performing a global fit between predicted and measured data. It overcomes limitations of previous methods in that it can better deal with parameter-dependent constraints (e.g., gaps). The method is demonstrated with a simplified model of a bladed disk assembly having friction damping and mistuning.

Lawrence, Charles↗

NASA NTRS1990

MEASURE: An integrated data-analysis and model identification facility

The first phase of the development of MEASURE, an integrated data analysis and model identification facility is described. The facility takes system activity data as input and produces as output representative behavioral models of the system in near real time. In addition a wide range of statistical characteristics of the measured system are also available. The usage of the system is illustrated on data collected via software instrumentation of a network of SUN workstations at the University of Illinois. Initially, statistical clustering is used to identify high density regions of resource-usage in a given environment. The identified regions form the states for building a state-transition model to evaluate system and program performance in real time. The model is then solved to obtain useful parameters such as the response-time distribution and the mean waiting time in each state. A graphical interface which displays the identified models and their characteristics (with real time updates) was also developed. The results provide an understanding of the resource-usage in the system under various workload conditions. This work is targeted for a testbed of UNIX workstations with the initial phase ported to SUN workstations on the NASA, Ames Research Center Advanced Automation Testbed.

Singh, Jaidip↗

NASA NTRS1990

Users Manual for the NASA Lewis Ice Accretion Prediction Code (LEWICE)

LEWICE is an ice accretion prediction code that applies a time-stepping procedure to calculate the shape of an ice accretion. The potential flow field is calculated in LEWICE using the Douglas Hess-Smith 2-D panel code (S24Y). This potential flow field is then used to calculate the trajectories of particles and the impingement points on the body. These calculations are performed to determine the distribution of liquid water impinging on the body, which then serves as input to the icing thermodynamic code. The icing thermodynamic model is based on the work of Messinger, but contains several major modifications and improvements. This model is used to calculate the ice growth rate at each point on the surface of the geometry. By specifying an icing time increment, the ice growth rate can be interpreted as an ice thickness which is added to the body, resulting in the generation of new coordinates. This procedure is repeated, beginning with the potential flow calculations, until the desired icing time is reached. The operation of LEWICE is illustrated through the use of five examples. These examples are representative of the types of applications expected for LEWICE. All input and output is discussed, along with many of the diagnostic messages contained in the code. Several error conditions that may occur in the code for certain icing conditions are identified, and a course of action is recommended. LEWICE has been used to calculate a variety of ice shapes, but should still be considered a research code. The code should be exercised further to identify any shortcomings and inadequacies. Any modifications identified as a result of these cases, or of additional experimental results, should be incorporated into the model. Using it as a test bed for improvements to the ice accretion model is one important application of LEWICE.

Ruff, Gary A.↗

NASA NTRS1990

Nuclear power systems for lunar and Mars exploration

Initial studies of a variety of mission scenarios for the new Space Exploration Initiative, and the technologies necessary to enable or significantly enhance them, have identified the development of advanced space power systems whether solar, chemical or nuclear to be of prime importance. Lightweight, compact, reliable power systems for planetary rovers and a variety of surface vehicles, utility surface power, and power for advanced propulsion systems have been identified as critical needs for these missions. These mission scenarios, the concomitant power system requirements, and power system options considered are discussed. The significant potential benefits of nuclear power are identified for meeting the power needs of the above applications.

Sovie, R. J.↗

NASA NTRS1989

A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator

Using a method based upon resolving joint velocities using reciprocal screw quantities, compact analytical expressions are generated for the inverse solution of the joint rates of a seven revolute (spherical-revolute-spherical) manipulator. The method uses a sequential decomposition of screw coordinates to identify reciprocal screw quantities used in the resolution of a particular joint rate solution, and also to identify a Jacobian null-space basis used for the direct solution of optimal joint rates. The results of the screw decomposition are used to study special configurations of the manipulator, generating expressions for the inverse velocity solution for all non-singular configurations of the manipulator, and identifying singular configurations and their characteristics. Two functions are therefore served: a new general method for the solution of the inverse velocity problem is presented; and complete analytical expressions are derived for the resolution of the joint rates of a seven degree of freedom manipulator useful for telerobotic and industrial robotic application.

Podhorodeski, R. P.↗

NASA NTRS1989

Lifting-body option for a Space Station rescue vehicle

With the proposed development of the Space Station Freedom, the need for an assured crew return capability (ACRC) has been identified. During the past 2 years within NASA, there has been an ongoing activity to establish the design requirements for such a vehicle and to identify candidate vehicle concepts that can satisfy these requirements. From this activity, three primary design reference missions and four candidate vehicle concepts have been identified. In support of this activity, the emphasis at Langley has been to assess the potential application of a lifting-body concept derived from work on the HL-10 and X-24 programs in the late sixties. A vehicle systems analysis has been completed including wind-tunnel tests, aerodynamic heating predictions, six-degree-of-freedom entry simulations, and a global landing opportunities assessment. This report summarizes the results of work at Langley over the past 2 years to define the candidate lifting-body ACRC vehicle and provides insight into potential benefits of the higher cross range of this concept in accomplishing the Space Station rescue mission.

Hook, W. Ray↗

NASA NTRS1989

REDEX - The ranging equipment diagnostic expert system

Luczak, Edward C.↗