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At least 1,243 records · Page 69
All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E

The derivation of the equations is presented, the rate control algorithm described, and simulation methodologies summarized. A set of dynamics equations that can be used recursively to calculate forces and torques acting at the joints of an n link manipulator given the manipulator joint rates are derived. The equations are valid for any n link manipulator system with any kind of joints connected in any sequence. The equations of motion for the class of manipulators consisting of n rigid links interconnected by rotary joints are derived. A technique is outlined for reducing the system of equations to eliminate contraint torques. The linearized dynamics equations for an n link manipulator system are derived. The general n link linearized equations are then applied to a two link configuration. The coordinated rate control algorithm used to compute individual joint rates when given end effector rates is described. A short discussion of simulation methodologies is presented.

Lowrie, J. W.↗
NASA NTRS1983

Integrated control system concept for high-speed aircraft

The synthesis and evaluation of flight control system architectures for future aircraft are discussed in terms of design features and the requirements for fighter aircraft. Advanced fighter configurations may feature canards, flaperons, two-dimensional vectoring nozzles, a mixing compression inlet, and an advanced turbojet engine. Survey and evaluation technology will also progress to include distributed microprocessors, VLSI and VHSIC microcircuitry, optical circuits, analytic redundancy, etc. Bottom-p and top-down architectures have been investigated to fulfill the reliability, maintainability, cost, and performance goals. A centralized architecture has been devised with line-removable units to facilitate maintainability and reduce weight. Descriptions are provided of the performance parameters and applications of optical elements, photoelastic pressure sensors, rare earth sensors, computing elements, and information transfer system.

Carlin, C. M.↗
NASA NTRS1984

An integrated software system for geometric correction of LANDSAT MSS imagery

A system for geometrically correcting LANDSAT MSS imagery includes all phases of processing, from receiving a raw computer compatible tape (CCT) to the generation of a corrected CCT (or UTM mosaic). The system comprises modules for: (1) control of the processing flow; (2) calculation of satellite ephemeris and attitude parameters, (3) generation of uncorrected files from raw CCT data; (4) creation, management and maintenance of a ground control point library; (5) determination of the image correction equations, using attitude and ephemeris parameters and existing ground control points; (6) generation of corrected LANDSAT file, using the equations determined beforehand; (7) union of LANDSAT scenes to produce and UTM mosaic; and (8) generation of output tape, in super-structure format.

Parada, N. D. J.↗
NASA NTRS1983

Distributed asynchronous microprocessor architectures in fault tolerant integrated flight systems

The paper discusses the implementation of fault tolerant digital flight control and navigation systems for rotorcraft application. It is shown that in implementing fault tolerance at the systems level using advanced LSI/VLSI technology, aircraft physical layout and flight systems requirements tend to define a system architecture of distributed, asynchronous microprocessors in which fault tolerance can be achieved locally through hardware redundancy and/or globally through application of analytical redundancy. The effects of asynchronism on the execution of dynamic flight software is discussed. It is shown that if the asynchronous microprocessors have knowledge of time, these errors can be significantly reduced through appropiate modifications of the flight software. Finally, the papear extends previous work to show that through the combined use of time referencing and stable flight algorithms, individual microprocessors can be configured to autonomously tolerate intermittent faults.

Dunn, W. R.↗
NASA NTRS1984

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation.

Haley, D. C.↗
NASA NTRS1984

An Assessment of Integrated Flywheel System Technology

The current state of the technology in flywheel storage systems and ancillary components, the technology in light of future requirements, and technology development needs to rectify these shortfalls were identified. Technology efforts conducted in Europe and in the United States were reviewed. Results of developments in composite material rotors, magnetic suspension systems, motor/generators and electronics, and system dynamics and control were presented. The technology issues for the various disciplines and technology enhancement scenarios are discussed. A summary of the workshop, and conclusions and recommendations are presented.

Keckler, C. R.↗
NASA NTRS1986

Evaluation of automated decision making methodologies and development of an integrated robotic system simulation: Study results

The implementation of a generic computer simulation for manipulator systems (ROBSIM) is described. The program is written in FORTRAN, and allows the user to: (1) Interactively define a manipulator system consisting of multiple arms, load objects, targets, and an environment; (2) Request graphic display or replay of manipulator motion; (3) Investigate and simulate various control methods including manual force/torque and active compliance control; and (4) Perform kinematic analysis, requirements analysis, and response simulation of manipulamotion. Previous reports have described the algorithms and procedures for using ROBSIM. These reports are superseded and additional features which were added are described. They are: (1) The ability to define motion profiles and compute loads on a common base to which manipulator arms are attached; (2) Capability to accept data describing manipulator geometry from a Computer Aided Design data base using the Initial Graphics exchange Specification format; (3) A manipulator control algorithm derived from processing the TV image of known reference points on a target; and (4) A vocabulary of simple high level task commands which can be used to define task scenarios.

Haley, D. C.↗
NASA NTRS1984

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix A

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use.

Haley, D. C.↗
NASA NTRS1984

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix B

The purpose of the Robotics Simulation (ROBSIM) program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotic systems. ROBSIM is programmed in FORTRAN 77 and implemented on a VAX 11/750 computer using the VMS operating system. This programmer's guide describes the ROBSIM implementation and program logic flow, and the functions and structures of the different subroutines. With this manual and the in-code documentation, and experienced programmer can incorporate additional routines and modify existing ones to add desired capabilities.

Haley, D. C.↗
NASA NTRS1986

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix A: ROBSIM user's guide

The purpose of the Robotics Simulation Program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotics systems. ROBSIM is program in FORTRAN 77 for use on a VAX 11/750 computer under the VMS operating system. This user's guide describes the capabilities of the ROBSIM programs, including the system definition function, the analysis tools function and the postprocessor function. The options a user may encounter with each of these executables are explained in detail and the different program prompts appearing to the user are included. Some useful suggestions concerning the appropriate answers to be given by the user are provided. An example user interactive run in enclosed for each of the main program services, and some of the capabilities are illustrated.

Haley, D. C.↗
NASA NTRS1986

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix B: ROBSIM programmer's guide

The purpose of the Robotic Simulation (ROBSIM) program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotic systems. ROBSIM is programmed in FORTRAM 77 and implemented on a VAX 11/750 computer using the VMS operating system. The programmer's guide describes the ROBSIM implementation and program logic flow, and the functions and structures of the different subroutines. With the manual and the in-code documentation, an experienced programmer can incorporate additional routines and modify existing ones to add desired capabilities.

Haley, D. C.↗
NASA NTRS1987

Methods for design and evaluation of integrated hardware/software systems for concurrent computation

Two testbed programming environments to support the evaluation of a large range of parallel architectures have been implemented under the program Parallel Implementation of Scientific Computing Environments (PISCES). The PISCES 1 environment was applied to two areas of aerospace interest: a sparse matrix iterative equation solver and a dynamic scene analysis system. Currently, the NICE/SPAR testbed system for structural analysis is being modified for parallel operation under PISCES 2; the PISCES 1 applications are also being adapted for PISCES 2. A new formal model of concurrent computation has been developed, based on the mathematical system known as H graph semantics together with a timed Petri net model of the parallel aspects of a system.

Pratt, Terrence W.↗
NASA NTRS1987

Software for integrated manufacturing systems, part 1

For several years, a broad, unified approach to programming manufacturing cells, factory floors, and other manufacturing systems has been developed. It is based on a blending of distributed Ada, software components, generics and formal models. Among other things the machines and devices which make up the components, and the entire manufacturing cell is viewed as an assembly of software components. The purpose of this project is to reduce cost, increase the reliability and increase the flexibility of manufacturing software. An overview is given of the approach and an experimental generic factory floor controller that was developed using the approach is described. The controller is generic in the sense that it can control any one of a large class of factory floors making an arbitrary mix of parts.

Naylor, A. W.↗
NASA NTRS1987

Software for integrated manufacturing systems, part 2

Part 1 presented an overview of the unified approach to manufacturing software. The specific characteristics of the approach that allow it to realize the goals of reduced cost, increased reliability and increased flexibility are considered. Why the blending of a components view, distributed languages, generics and formal models is important, why each individual part of this approach is essential, and why each component will typically have each of these parts are examined. An example of a specification for a real material handling system is presented using the approach and compared with the standard interface specification given by the manufacturer. Use of the component in a distributed manufacturing system is then compared with use of the traditional specification with a more traditional approach to designing the system. An overview is also provided of the underlying mechanisms used for implementing distributed manufacturing systems using the unified software/hardware component approach.

Volz, R. A.↗
NASA NTRS1988

Preliminary analysis of an integrated logistics system for OSSA payloads. Volume 4: Supportability analysis of the 1.8m centrifuge

Supportability issues for the 1.8 meter centrifuge in the Life Science Research Facility are addressed. The analysis focuses on reliability and maintainability and the potential impact on supportability and affordability. Standard logistics engineering methodologies that will be applied to all Office of Space Science and Applications' (OSSA) payload programs are outlined. These methodologies are applied to the 1.8 meter centrifuge.

Palguta, T.↗
NASA NTRS1988

The Transportable Applications Environment - An interactive design-to-production development system

An account is given of the design philosophy and architecture of the Transportable Applications Environment (TAE), an executive program binding a system of applications programs into a single, easily operable whole. TAE simplifies the job of a system developer by furnishing a stable framework for system-building; it also integrates system activities, and cooperates with the host operating system in order to perform such functions as task-scheduling and I/O. The initial TAE human/computer interface supported command and menu interfaces, data displays, parameter-prompting, error-reporting, and online help. Recent extensions support graphics workstations with a window-based, modeless user interface.

Perkins, Dorothy C.↗