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At least 1,243 records · Page 69

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NASA NTRS1989

Mars Rover Sample Return: A sample collection and analysis strategy for exobiology

For reasons defined elsewhere it is reasonable to search for biological signatures, both chemical and morphological, of extinct life on Mars. Life on Earth requries the presence of liquid water, therefore, it is important to explore sites on Mars where standing bodies of water may have once existed. Outcrops of layered deposits within the Valles Marineris appear to be ancient lake beds. Because the outcrops are well exposed, relatively shallow core samples would be very informative. The most important biological signature to detect would be organics, microfossils, or larger stromato-like structures, although the presence of cherts, carbonates, clays, and shales would be significant. In spite of the limitations of current robotics and pattern recognition, and the limitations of rover power, computation, Earth communication bandwidth, and time delays, a partial scenario was developed to implement such a scientific investigation. The rover instrumentation and the procedures and decisions and IR spectrometer are described in detail. Preliminary results from a collaborative effort are described, which indicate the rover will be able to autonomously detect stratification, and hence will ease the interpretation burden and lead to greater scientific productivity during the rover's lifetime.

Sims, M. H.↗

NASA NTRS1987

Development of a semi-autonomous service robot with telerobotic capabilities

The importance to the United States of semi-autonomous systems for application to a large number of manufacturing and service processes is very clear. Two principal reasons emerge as the primary driving forces for development of such systems: enhanced national productivity and operation in environments whch are hazardous to humans. Completely autonomous systems may not currently be economically feasible. However, autonomous systems that operate in a limited operation domain or that are supervised by humans are within the technology capability of this decade and will likely provide reasonable return on investment. The two research and development efforts of autonomy and telerobotics are distinctly different, yet interconnected. The first addresses the communication of an intelligent electronic system with a robot while the second requires human communication and ergonomic consideration. Discussed here are work in robotic control, human/robot team implementation, expert system robot operation, and sensor development by the American Welding Institute, MTS Systems Corporation, and the Colorado School of Mines--Center for Welding Research.

Jones, J. E.↗

NASA NTRS1988

Numerical simulations of the profile properties of undeformed first-year sea ice during the growth season

A model is presented for estimating salinity profiles for the first-year sea ice during the growth season, in which ice growth equations were coupled with salt entrapment and brine drainage relations to obtain the relationship between the initial ice salinity and the ice-growth velocity and seawater salinity, as well as the subsequent drainage of brine from the ice. The results obtained were found to be in reasonable agreement with field observations in that they showed characteristic C-shaped profiles similar to natural profiles. The average ice salinity values were also in reasonable agreement with field data. The predicted ice property profiles give composite plate properties that are significantly different from bulk property estimates that would result by assuming that sea ice could be represented as a homogeneous plate.

Cox, G. F. N.↗

NASA NTRS1988

A new look at coding for APD-based direct-detection optical channels

Coding for avalanche-photodiode (APD)-based direct-detection optical channels is investigated using a simple channel model that clearly points out the difference between the signal-dependent optical noise channel model and the additive white Gaussian noise channel model. Coding and modulation are viewed as a single entity, and the coding/modulation gain (CMG) is used to analyze and construct good codes for APD-based optical receivers. It is shown that the structure of block codes, when used in conjunction with on-off keying signaling, renders these codes fairly inefficient with respect to obtaining reasonable CMG on the optical channel. In contrast, codes (or modulations) that use fewer channel ones (pulses) than information ones per block can offer substantial CMG on the optical channel. For bandwidth-constrained applications, it is proposed that pulse-position modulation be used with more than one pulse per word to obtain reasonable CMG while consuming small amounts of bandwidth.

Herro, Mark A.↗

NASA NTRS1989

Mapping of the solar wind electric field on the earth's polar caps

A quantitative model of a magnetically interconnected (open) magnetosphere is developed as a perturbation of Voight's closed magnetosphere model with a given magnetopause shape. The model is shown to give a reasonable representation of the open magnetosphere configuration and is especially useful in testing the magnetospheric consequences of various merging theories. The convection pattern obtained for southward IMF is in reasonable agreement with observations, especially in the manifestation of a convection 'throat' near noon. For northward IMF, this region of constricted flow is rotated in local time in the direction of the IMF, also in accordance with observations.

Toffoletto, F. R.↗

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 NTRS1988

Treatment of uncertainty in artificial intelligence

The present assessment of the development status of research efforts concerned with AI reasoning under conditions of uncertainty emphasizes the importance of appropriateness in the approach selected for both the epistemic and the computational levels. At the former level, attention is given to the form of uncertainty-representation and the fidelity of its reflection of actual problems' uncertainties; at the latter level, such issues as the availability of the requisite information and the complexity of the reasoning process must be considered. The tradeoff between these levels must always be the focus of AI system-developers' attention.

Berenji, Hamid R.↗

NASA NTRS1989

A development framework for distributed artificial intelligence

The authors describe distributed artificial intelligence (DAI) applications in which multiple organizations of agents solve multiple domain problems. They then describe work in progress on a DAI system development environment, called SOCIAL, which consists of three primary language-based components. The Knowledge Object Language defines models of knowledge representation and reasoning. The metaCourier language supplies the underlying functionality for interprocess communication and control access across heterogeneous computing environments. The metaAgents language defines models for agent organization coordination, control, and resource management. Application agents and agent organizations will be constructed by combining metaAgents and metaCourier building blocks with task-specific functionality such as diagnostic or planning reasoning. This architecture hides implementation details of communications, control, and integration in distributed processing environments, enabling application developers to concentrate on the design and functionality of the intelligent agents and agent networks themselves.

Adler, Richard M.↗

NASA NTRS1989

Identification and verification of termination conditions in fine motion in presence of sensor errors and geometric uncertainties

Results are reported from a search for reasonable constraints under which an automatic uncertainty-handling strategy (for robot part-mating tasks) is guaranteed to succeed. The concept of contact formations is introduced to describe contacts among parts in a system, aiming at reducing the dimensionality of assembly verification. Also described is a technique for identifying contact formations in spite of errors in sensing and geometric uncertainties. It is impossible to verify termination conditions in general. Design constraints for which verification can be guaranteed are formulated and shown to be reasonable in the sense that they do not impose unrealistic conditions on typical designs. Results of implementation on a robot system consisting of a PUMA robot with RTI force/torque sensors support the theoretical derivations and show empirically that good results can still be obtained when the theoretical constraints are relaxed somewhat.

Desai, Rajiv S.↗

NASA NTRS1989

An experiment-based comparative study of fuzzy logic control

An approach is presented to the control of a dynamic physical system through the use of approximate reasoning. The approach has been implemented in a program named POLE, and the authors have successfully built a prototype hardware system to solve the cartpole balancing problem in real-time. The approach provides a complementary alternative to the conventional analytical control methodology and is of substantial use when a precise mathematical model of the process being controlled is not available. A set of criteria for comparing controllers based on approximate reasoning and those based on conventional control schemes is furnished.

Berenji, Hamid R.↗

NASA NTRS1989

Vacuum microelectronics for beam power and rectennas

Vacuum Microelectronic devices can be described as vacuum transistors or micro-miniature vacuum tubes, as one chooses. The fundamental reason behind this new technology is the very large current densities available from field emitters, namely as high as 10(8) A/sq cm. Array current densities as high as 1000 A/sq cm have been measured. Total electron transit times from source to drain for 1 micron feature size devices have been predicted to be about 150fs. This very short transit time implies the possibility of submillimeter wave transmitters and rectennas in devices which can operate with reasonably high voltages and which are small in size and are lightweight. In addition, they are expected to be extremely radiation hard and very temperature insensitive. That is, they are expected to have radiation hardness characteristics similar to vacuum tubes, and both the high temperature and low temperature limits should be determined by the package. That is, there should be no practical intrinsic temperature or carrier freezeout problems for devices based on metals or composites. But the technology is difficult to implement at the present time because it is based on 300 to 500 angstrom radius field emitters which must be relatively uniform. There is also the need to understand the non-equilibrium transport physics in the near-surface regions of the field emitters.

Gray, Henry F.↗

NASA NTRS1989

Optical dispersion relations for diamondlike carbon films

Ellipsometric measurements on plasma deposited diamondlike amorphous carbon (a-C:H) films were taken in the visible, (E=1.75 to 3.5 eV). The films were deposited on Si and their properties were varied using high temperature (up to 750 C) anneals. The real (n) and imaginary (k) parts of the complex index of refraction N were obtained simultaneously. Following the theory of Forouhi and Bloomer, a least squares fit was used to find the dispersion relations n(E) and k(E). Reasonably good fits were obtained, showing that the theory can be used for a-C:H films. Moreover, the value of the energy gap (Eg) obtained in this way was compared to the Eg value using conventional Tauc plots and reasonably good agreement was obtained.

Alterovitz, Samuel A.↗

NASA NTRS1989

Meteoritic basalts

The objectives were to: explain the abundances of siderophile elements in the SNC meteorite suite, of putative Martian origin; discover the magmatic origins and possibly magma compositions behind the Nakhla meteorite, one of the SNC meteorites; and a re-evaluation of the petrology of Angra dos Reis, a unique meteorite linked to the earliest planetary bodies of the solar nebula. A re-evaluation of its petrography showed that the accepted scenario for its origin, as a cumulate igneous rock, was not consistent with the meteorite's textures (Treiman). More likely is that the meteorite represents a prophyritic igneous rock, originally with magma dominant. Studies of the Nakhla meteorite, of possible Martian origin, although difficult, were successful. It became necessary to reject the basic categorization of Nakhla: that is was a cumulate igneous rock. Detailed studies of the chemical zoning of Nakhlas' minerals, coupled with the failure of experimental studies to yield expected results, forced the conclusion that Nakhla is not a cumulate rock in the usual sense: a rock composed of igneous crystals and intercrystal magma. Study of the siderophile element abundances in the SNC meteorite groups involved trying to find reasonable core formation processes and parameters that would reproduce the observed abundances. Modelling was successful, and delimited a range of models which overlap with those reasonable from geophysical constraints.

Treiman, Allan H.↗

NASA NTRS1990

Time and truth in plans

Some of the logical components of a rule based planning and scheduling system are described. The researcher points out a deficiency in the conventional truth maintenance approach to this class of problems and suggests a new mechanism which overcomes the problem. This extension of the idea of justification truth maintenance may seem at first to be a small philosophical step. However, it embodies a process of basic human reasoning which is so common and automatic as to escape conscious detection without careful introspection. It is vital to any successful implementation of a rule based planning reasoner.

Hazelton, Lyman R., Jr.↗

NASA NTRS1990

Constraint-based evaluation of sequential procedures

Constraining the operation of an agent requires knowledge of the restrictions to physical and temporal capabilities of that agent, as well as an inherent understanding of the desires being processed by that agent. Usually a set of constraints are available that must be adhered to in order to foster safe operations. In the worst case, violation of a constraint may be cause to terminate operation. If the agent is carrying out a plan, then a method for predicting the agent's desires, and therefore possible constraint violations, is required. The conceptualization of constraint-based reasoning used herein assumes that a system knows how to select a constraint for application as well as how to apply that constraint once it is selected. The application of constraint-based reasoning for evaluating certain kinds of plans known as sequential procedures is discussed. By decomposing these plans, it is possible to apply context dependent constraints in production system fashion without incorporating knowledge of the original planning process.

Barry, Matthew R.↗

NASA NTRS1989

Slow shocks in coronal mass ejections

The possibility that slow-mode shock compression may produce at least some of the increased brightness observed at the leading edge of coronal mass ejections is investigated. Among the reasons given for the possible existence of slow shocks are the following: (1) transient velocities are often greater than the upstream sound speed but less than the Alfven speed, (2) the presence of a slow shock is consistent with the flat top observed in some transients, and (3) the lateral extension of slow shocks may be responsible for distributing adjacent structures as also seen on the observations. It is shown that there may be some difficulties with this suggestion for transients originating inside the closed-field region at the base of a preexisting coronal streamer. First of all, slow mode characteristics have difficulty emerging from the closed-field region at the streamer base so they can merge to form a slow shock, unless a preceding, large-amplitude disturbance opens the field lines. In addition, a slow shock cannot exist at the center of the streamer current sheet. Finally, numerical simulations demonstrate that at least the last two (and possibly all) of the above reasons for slow shocks can be satisfied by a disturbance whose leading edge propagates at the local fast-mode speed without any shocks. The leading portion of the transient that would be seen in white-light coronagraphs propagates at a speed either less than or equal to the fast-mode speed.

Steinolfson, R. S.↗

NASA NTRS1990

Qualitative models for space system engineering

The objectives of this project were: (1) to investigate the implications of qualitative modeling techniques for problems arising in the monitoring, diagnosis, and design of Space Station subsystems and procedures; (2) to identify the issues involved in using qualitative models to enhance and automate engineering functions. These issues include representing operational criteria, fault models, alternate ontologies, and modeling continuous signals at a functional level of description; and (3) to develop a prototype collection of qualitative models for fluid and thermal systems commonly found in Space Station subsystems. Potential applications of qualitative modeling to space-systems engineering, including the notion of intelligent computer-aided engineering are summarized. Emphasis is given to determining which systems of the proposed Space Station provide the most leverage for study, given the current state of the art. Progress on using qualitative models, including development of the molecular collection ontology for reasoning about fluids, the interaction of qualitative and quantitative knowledge in analyzing thermodynamic cycles, and an experiment on building a natural language interface to qualitative reasoning is reported. Finally, some recommendations are made for future research.

Forbus, Kenneth D.↗

NASA NTRS1990

Experimental and analytical study of close-coupled ventral nozzles for ASTOVL aircraft

Flow in a generic ventral nozzle system was studied experimentally and analytically with a block version of the PARC3D computational fluid dynamics program (a full Navier-Stokes equation solver) in order to evaluate the program's ability to predict system performance and internal flow patterns. For the experimental work a one-third-size model tailpipe with a single large rectangular ventral nozzle mounted normal to the tailpipe axis was tested with unheated air at steady-state pressure ratios up to 4.0. The end of the tailpipe was closed to simulate a blocked exhaust nozzle. Measurements showed about 5 1/2 percent flow-turning loss, reasonable nozzle performance coefficients, and a significant aftward axial component of thrust due to flow turning loss, reasonable nozzle performance coefficients, and a significant aftward axial component of thrust due to flow turning more than 90 deg. Flow behavior into and through the ventral duct is discussed and illustrated with paint streak flow visualization photographs. For the analytical work the same ventral system configuration was modeled with two computational grids to evaluate the effect of grid density. Both grids gave good results. The finer-grid solution produced more detailed flow patterns and predicted performance parameters, such as thrust and discharge coefficient, within 1 percent of the measured values. PARC3D flow visualization images are shown for comparison with the paint streak photographs. Modeling and computational issues encountered in the analytical work are discussed.

Mcardle, Jack G.↗