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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 1,243 records · Page 69
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

An Ada implementation of the network manager for the advanced information processing system

From an implementation standpoint, the Ada language provided many features which facilitated the data and procedure abstraction process. The language supported a design which was dynamically flexible (despite strong typing), modular, and self-documenting. Adequate training of programmers requires access to an efficient compiler which supports full Ada. When the performance issues for real time processing are finally addressed by more stringent requirements for tasking features and the development of efficient run-time environments for embedded systems, the full power of the language will be realized.

Nagle, Gail A.↗
NASA NTRS1986

Implementation of Ada protocols on Mil-STD-1553 B data bus

Standardization activity of data communication in avionic systems started in 1968 for the purpose of total system integration and the elimination of heavy wire bundles carrying signals between various subassemblies. The growing complexity of avionic systems is straining the capabilities of MIL-STD-1553 B (first issued in 1973), but a much greater challenge to it is posed by Ada, the standard language adopted for real-time, computer embedded-systems. Hardware implementation of Ada communication protocols in a contention/token bus or token ring network is proposed. However, during the transition period when the current command/response multiplex data bus is still flourishing and the development environment for distributed multi-computer Ada systems is as yet lacking, a temporary accomodation of the standard language with the standard bus could be very useful and even highly desirable. By concentrating all status informtion and decisions at the bus controller, it was found to be possible to construct an elegant and efficient harware impelementation of the Ada protocols at the bus interface. This solution is discussed.

Ruhman, Smil↗
NASA NTRS1986

An Ada implementation for fault detection, isolation and reconfiguration using a fault-tolerant processor

The design and implementation, in Ada, of the Fault Detection, Isolation, and Reconfiguration (FDIR) Manager for the triply redundant, tightly synchronized, Fault Tolerant Processor (FTP) are covered. It also examines the suitability of Ada, in the context of the FTP, for real time control tasks. The operational concepts behind the FTP are explained, and the structure of the resultant Ada code is discussed.

Greeley, Gregory L.↗
NASA NTRS1986

Run-time implementation issues for real-time embedded Ada

A motivating factor in the development of Ada as the department of defense standard language was the high cost of embedded system software development. It was with embedded system requirements in mind that many of the features of the language were incorporated. Yet it is the designers of embedded systems that seem to comprise the majority of the Ada community dissatisfied with the language. There are a variety of reasons for this dissatisfaction, but many seem to be related in some way to the Ada run-time support system. Some of the areas in which the inconsistencies were found to have the greatest impact on performance from the standpoint of real-time systems are presented. In particular, a large part of the duties of the tasking supervisor are subject to the design decisions of the implementer. These include scheduling, rendezvous, delay processing, and task activation and termination. Some of the more general issues presented include time and space efficiencies, generic expansions, memory management, pragmas, and tracing features. As validated compilers become available for bare computer targets, it is important for a designer to be aware that, at least for many real-time issues, all validated Ada compilers are not created equal.

Maule, Ruth A.↗
NASA NTRS1986

Using Ada to implement the operations management system in a community of experts

An architecture is described for the Space Station Operations Management System (OMS), consisting of a distributed expert system framework implemented in Ada. The motivation for such a scheme is based on the desire to integrate the very diverse elements of the OMS while taking maximum advantage of knowledge based systems technology. Part of the foundation of an Ada based distributed expert system was accomplished in the form of a proof of concept prototype for the KNOMES project (Knowledge-based Maintenance Expert System). This prototype successfully used concurrently active experts to accomplish monitoring and diagnosis for the Remote Manipulator System. The basic concept of this software architecture is named ACTORS for Ada Cognitive Task ORganization Scheme. It is when one considers the overall problem of integrating all of the OMS elements into a cooperative system that the AI solution stands out. By utilizing a distributed knowledge based system as the framework for OMS, it is possible to integrate those components which need to share information in an intelligent manner.

Frank, M. S.↗
NASA NTRS1987

Finite element implementation of viscoplastic models

A brief description of the implementation in MARK, the general purpose finite element structural analysis code, of two viscoplastic models developed by Robinson is given. One model is for isotropic materials and the other is for metal matrix composites. Also presented are analytical results obtained for hot section components using these models.

Arya, V. K.↗
NASA NTRS1989

Implementation of equivalent domain integral method in the two-dimensional analysis of mixed mode problems

An equivalent domain integral (EDI) method for calculating J-intergrals for two-dimensional cracked elastic bodies is presented. The details of the method and its implementation are presented for isoparametric elements. The total and product integrals consist of the sum of an area of domain integral and line integrals on the crack faces. The line integrals vanish only when the crack faces are traction free and the loading is either pure mode 1 or pure mode 2 or a combination of both with only the square-root singular term in the stress field. The EDI method gave accurate values of the J-integrals for two mode I and two mixed mode problems. Numerical studies showed that domains consisting of one layer of elements are sufficient to obtain accurate J-integral values. Two procedures for separating the individual modes from the domain integrals are presented. The procedure that uses the symmetric and antisymmetric components of the stress and displacement fields to calculate the individual modes gave accurate values of the integrals for all problems analyzed. The EDI method when applied to a problem of an interface crack in two different materials showed that the mode 1 and mode 2 components are domain dependent while the total integral is not. This behavior is caused by the presence of the oscillatory part of the singularity in bimaterial crack problems. The EDI method, thus, shows behavior similar to the virtual crack closure method for bimaterial problems.

Raju, I. S.↗
NASA NTRS1989

Implementing nested conditional statements in SIMD machines

Single instruction, multiple data (SIMD) computers consist of a very large number of processors executing a common sequence of instructions. Maintaining the full speedup potential of such machines is most sensitive to conditional execution in their programs, regions of code where some processing elements (PEs) perform no useful work. Techniques are presented for efficiently implementing nested conditional statements, specifically if and case statements, in SIMD machines, while adding minimal specialized hardware.

Middleton, David↗
NASA NTRS1988

Implementation of a hypersonic rarefied flow particle simulation on the Connection Machine

A very efficient direct particle simulation algorithm for hypersonic rarefied flows is presented and its implmentation on a Connection Machine is described. The implementation simulates ideal diatomic Maxwell molecules with three translational and two rotational degrees of freedom. Results for a 2-D simulation of supersonic flow over a 30 deg wedge are presented and used for validation.

Dagum, Leonardo↗
NASA NTRS1989

Implementing the Simple Biosphere Model (SiB) in a general circulation model: Methodologies and results

The Simple Biosphere MOdel (SiB) of Sellers et al., (1986) was designed to simulate the interactions between the Earth's land surface and the atmosphere by treating the vegetation explicitly and relistically, thereby incorporating biophysical controls on the exchanges of radiation, momentum, sensible and latent heat between the two systems. The steps taken to implement SiB in a modified version of the National Meteorological Center's spectral GCM are described. The coupled model (SiB-GCM) was used with a conventional hydrological model (Ctl-GCM) to produce summer and winter simulations. The same GCM was used with a conventional hydrological model (Ctl-GCM) to produce comparable 'control' summer and winter variations. It was found that SiB-GCM produced a more realistic partitioning of energy at the land surface than Ctl-GCM. Generally, SiB-GCM produced more sensible heat flux and less latent heat flux over vegetated land than did Ctl-GCM and this resulted in the development of a much deeper daytime planetary boundary and reduced precipitation rates over the continents in SiB-GCM. In the summer simulation, the 200 mb jet stream and the wind speed at 850 mb were slightly weakened in the SiB-GCM relative to the Ctl-GCM results and equivalent analyses from observations.

Sato, N.↗
NASA NTRS1988

A system for evaluating Ada implementations using synthesized benchmarks

A system is described that allows project designers to evaluate the suitability of an Ada implementation for a particular application using tailored benchmarks. Specification of the load that an application is expected to generate is written in an Ada-like notation. An Ada program is then synthesized that generates the specified load. Studies of the way in which performance varies with various parameters of the application can be performed by the system automatically.

Knight, John C.↗
NASA NTRS1989

Stability and implementation of partitioned CSI solution procedures

A partitioned procedure developed for the efficient solution of control-structure interaction (CSI) problems is presented with emphasis on its computational stability, implementation aspects, and accuracy characteristics. The partitioned CSI procedure proposed here can facilitate the use of large-scale structural analysis for control-structure interaction problems. It is anticipated that real-time CSI simulations will become routine if adequate advances are made in the construction of reduced-order observers and, for some time variant problems, if substantially faster parallel solution procedures for the Riccati equations become available.

Park, K. C.↗
NASA NTRS1989

Efficient implementation of essentially non-oscillatory shock-capturing schemes. II

The present elaboration of essentially nonoscillatory (ENO) shock-capturing schemes proceeds with a novel, simplified expression for the ENO construction procedure having its basis in numerical fluxes rather than cell-averages. The ENO-local Lax-Friedrichs and ENO-Roe schemes introduced yield sharper shock transitions and greater overall accuracy than previous ENO-scheme implementations. Numerical fluxes and TVD Runge-Kutta time discretizations are used to apply Harten's subcell-resolution concept (1986) and Yang's artificial compression method to the current ENO schemes, in the interest of sharper contact discontinuities.

Shu, Chi-Wang↗
NASA NTRS1989

Configuration control of redundant manipulators - Theory and implementation

A simple approach for controlling the manipulator configuration over the entire motion is presented, based on augmentation of the manipulator forward kinematics. User-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to control the configuration variables and achieve tracking of the desired reference trajectories. This achieves the desired end-effector motion while utilizing redundancy to achieve any additional task. Simulation results for a direct-drive two-link arm are given to illustrate the proposed control scheme. The scheme has also been implemented for real-time control of three links of a PUMA 560 industrial robot. The simulation and experimental results validate the configuration control scheme and demonstrate its capabilities for performing various realistic tasks.

Seraji, Homayoun↗
NASA NTRS1989

Design and implementation of a multi-sensor robot system for printed circuit board insertion

The design and implementation of a robot system equipped with multiple sensors are described. The robotic assembly system couples the task sequence of the robot with information from different sensors, enabling the system to handle uncertainties encountered during task execution. The target task involves the insertion of a printed circuit board into a card cage. The sensors used are an overhead three-dimensional vision system, a fingertip cross-fire sensor, and a 6-DOF force/torque sensor. The vision system is used to locate the printed circuit boards and the insertion slots. Information provided by the cross-fire sensor is used to complement the information from the vision system in order to obtain a proper grasping location on the printed circuit board. A fuzzy-logic-based system is used to interpret the forces and torques generated by the force/torque sensor during the insertion process. The repeated success of this assembly task over many experimental trials verifies the modeling and controller assumptions.

Sood, Deepak↗
NASA NTRS1989

Design and implementation of a robot control system with traded and shared control capability

Preliminary results are reported from efforts to design and develop a robotic system that will accept and execute commands from either a six-axis teleoperator device or an autonomous planner, or combine the two. Such a system should have both traded as well as shared control capability. A sharing strategy is presented whereby the overall system, while retaining positive features of teleoperated and autonomous operation, loses its individual negative features. A two-tiered shared control architecture is considered here, consisting of a task level and a servo level. Also presented is a computer architecture for the implementation of this system, including a description of the hardware and software.

Hayati, S.↗
NASA NTRS1989

Parallel implementation and evaluation of motion estimation system algorithms on a distributed memory multiprocessor using knowledge based mappings

Several techniques to perform static and dynamic load balancing techniques for vision systems are presented. These techniques are novel in the sense that they capture the computational requirements of a task by examining the data when it is produced. Furthermore, they can be applied to many vision systems because many algorithms in different systems are either the same, or have similar computational characteristics. These techniques are evaluated by applying them on a parallel implementation of the algorithms in a motion estimation system on a hypercube multiprocessor system. The motion estimation system consists of the following steps: (1) extraction of features; (2) stereo match of images in one time instant; (3) time match of images from different time instants; (4) stereo match to compute final unambiguous points; and (5) computation of motion parameters. It is shown that the performance gains when these data decomposition and load balancing techniques are used are significant and the overhead of using these techniques is minimal.

Choudhary, Alok Nidhi↗