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At least 127 records · Page 7

Characterization of the relationship of the cure cycle chemistry to cure cycle processing properties

Dynamic Dielectric measurements made over a wide range of frequency provide a sensitive and convenient means for monitoring the cure process in thermosets and thermoplastics. The measurement of dielectric relaxation is one of only a few instrumental techniques available for studying molecular properties in both the liquid and solid states. Furthermore, it is probably the only convenient experimental technique for studying the polymerization process of going from a monomeric liquid of varying viscosity to a crosslinked, insoluble, high temperature solid. The objective of the research is to develop on-line dielectric instrumentation for quantitative nondestructive material evaluation and closed loop smart cure cycle control. The key is to relate the chemistry of the cure cycle process to the dielectric properties of the polymer system by correlating the time, temperature, and frequency dependent dielectric measurements with chemical characterization measurements. Measurement of the wide variation in magnitude of the complex permittivity with both frequency and state of cure, coupled with chemical characterization work, have been shown in the laboratory to have the potential to determine: resin quality, composition and age; cure cycle window boundaries; onset of flow and point of maximum flow; extent of and completion of reaction; evolution of volatiles; T sub g; and, crosslinking and molecular weight buildup.

Kranbuehl, D. E.↗

Carbon isotopic analysis of atmospheric methane by isotope-ratio-monitoring gas chromatography-mass spectrometry

Less than 15 min are required for the determination of delta C(sub PDB)-13 with a precision of 0.2 ppt(1 sigma, single measurement) in 5-mL samples of air containing CH4 at natural levels (1.7 ppm). An analytical system including a sample-introduction unit incorporating a preparative gas chromatograph (GC) column for separation of CH4 from N2, O2, and Ar is described. The 15-min procedure includes time for operation of that system, high-resolution chromatographic separation of the CH4, on-line combustion and purification of the products, and isotopic calibration. Analyses of standards demonstrate that systematic errors are absent and that there is no dependence of observed values of delta on sample size. For samples containing 100 ppm or more CH4, preconcentration is not required and the analysis time is less than 5 min. The system utilizes a commercially available, high-sensitivity isotope-ratio mass spectrometer. For optimal conditions of smaple handling and combustion, performance of the system is within a factor of 2 of the shot-noise limit. The potential exists therefore for analysis of samples as small as 15 pmol CH4 with a standard deviation of less than 1 ppt.

Merritt, Dawn A.↗

Simulator method and apparatus for practicing the mating of an observer-controlled object with a target

A servo controlled target replica, and a surface bearing a computer generated line drawing of an object are individually viewed by separate television cameras allowing a two-dimensional composite of the target replica and the object to be displayed on a monitor simulating what an observer would see through a window in a spacecraft. The target replica is coded along one self coordinate axis in such a way that the distance of an elemental area on the target along the axis is capable of being remotely readout by a television camera. A third television camera responsive to the code reads out this information by which the Z-coordinate, relative to the observer, can be calculated, on-line with the scan, for the contents of each picture element of the scene televised by the target camera.

Polstorff, W. K.↗

Sensor Fault Detection and Diagnosis Simulation of a Helicopter Engine in an Intelligent Control Framework

This paper presents an application of a fault detection and diagnosis scheme for the sensor faults of a helicopter engine. The scheme utilizes a model-based approach with real time identification and hypothesis testing which can provide early detection, isolation, and diagnosis of failures. It is an integral part of a proposed intelligent control system with health monitoring capabilities. The intelligent control system will allow for accommodation of faults, reduce maintenance cost, and increase system availability. The scheme compares the measured outputs of the engine with the expected outputs of an engine whose sensor suite is functioning normally. If the differences between the real and expected outputs exceed threshold values, a fault is detected. The isolation of sensor failures is accomplished through a fault parameter isolation technique where parameters which model the faulty process are calculated on-line with a real-time multivariable parameter estimation algorithm. The fault parameters and their patterns can then be analyzed for diagnostic and accommodation purposes. The scheme is applied to the detection and diagnosis of sensor faults of a T700 turboshaft engine. Sensor failures are induced in a T700 nonlinear performance simulation and data obtained are used with the scheme to detect, isolate, and estimate the magnitude of the faults.

Litt, Jonathan↗

Space Bioreactor Science Workshop

The first space bioreactor has been designed for microprocessor control, no gaseous headspace, circulation and resupply of culture medium, and a slow mixing in very low shear regimes. Various ground based bioreactors are being used to test reactor vessel design, on-line sensors, effects of shear, nutrient supply, and waste removal from continuous culture of human cells attached to microcarriers. The small (500 ml) bioreactor is being constructed for flight experiments in the Shuttle middeck to verify systems operation under microgravity conditions and to measure the efficiencies of mass transport, gas transfer, oxygen consumption, and control of low shear stress on cells. Applications of microcarrier cultures, development of the first space bioreactor flight system, shear and mixing effects on cells, process control, and methods to monitor cell metabolism and nutrient requirements are among the topics covered.

Morrison, Dennis R.↗

Real-time diagnostics for a reusable rocket engine

A hierarchical, decentralized diagnostic system is proposed for the Real-Time Diagnostic System component of the Intelligent Control System (ICS) for reusable rocket engines. The proposed diagnostic system has three layers of information processing: condition monitoring, fault mode detection, and expert system diagnostics. The condition monitoring layer is the first level of signal processing. Here, important features of the sensor data are extracted. These processed data are then used by the higher level fault mode detection layer to do preliminary diagnosis on potential faults at the component level. Because of the closely coupled nature of the rocket engine propulsion system components, it is expected that a given engine condition may trigger more than one fault mode detector. Expert knowledge is needed to resolve the conflicting reports from the various failure mode detectors. This is the function of the diagnostic expert layer. Here, the heuristic nature of this decision process makes it desirable to use an expert system approach. Implementation of the real-time diagnostic system described above requires a wide spectrum of information processing capability. Generally, in the condition monitoring layer, fast data processing is often needed for feature extraction and signal conditioning. This is usually followed by some detection logic to determine the selected faults on the component level. Three different techniques are used to attack different fault detection problems in the NASA LeRC ICS testbed simulation. The first technique employed is the neural network application for real-time sensor validation which includes failure detection, isolation, and accommodation. The second approach demonstrated is the model-based fault diagnosis system using on-line parameter identification. Besides these model based diagnostic schemes, there are still many failure modes which need to be diagnosed by the heuristic expert knowledge. The heuristic expert knowledge is implemented using a real-time expert system tool called G2 by Gensym Corp. Finally, the distributed diagnostic system requires another level of intelligence to oversee the fault mode reports generated by component fault detectors. The decision making at this level can best be done using a rule-based expert system. This level of expert knowledge is also implemented using G2.

Guo, T. H.↗

Graphics simulation and training aids for advanced teleoperation

Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations.

Kim, Won S.↗

Characterization of and sensor-model verification and control of the properties of PMR-13 during processing

This study presents an in situ sensor and a process-simulation model developed for monitoring and controlling the cure process of PMR-15. The time-temperature dependence of the buildup in the molecular network structure, extent of reaction, viscosity, flow, and consolidation during the cure of PMR-15 are discussed. The relationship of the time-temperature cycle used during imidization to the length of the endcapped chains formed is examined. The relationship of the time-temperature cure-processing cycle to the reaction kinetics, viscosity, flow, and consolidation during crosslinking is analyzed using frequency-dependent electromagnetic sensors and the Loos processing model. Application of the FDEMS sensing technique and the process-simulation model for quality assurance processing and automated on-line control of cure is discussed.

Kranbuehl, D.↗

SCAILET: An intelligent assistant for satellite ground terminal operations

NASA Lewis Research Center has applied artificial intelligence to an advanced ground terminal. This software application is being deployed as an experimenter interface to the link evaluation terminal (LET) and was named Space Communication Artificial Intelligence for the Link Evaluation Terminal (SCAILET). The high-burst-rate (HBR) LET provides 30-GHz-transmitting and 20-GHz-receiving, 220-Mbps capability for wide band communications technology experiments with the Advanced Communication Technology Satellite (ACTS). The HBR-LET terminal consists of seven major subsystems. A minicomputer controls and monitors these subsystems through an IEEE-488 or RS-232 protocol interface. Programming scripts (test procedures defined by design engineers) configure the HBR-LET and permit data acquisition. However, the scripts are difficult to use, require a steep learning curve, are cryptic, and are hard to maintain. This discourages experimenters from utilizing the full capabilities of the HBR-LET system. An intelligent assistant module was developed as part of the SCAILET software. The intelligent assistant addresses critical experimenter needs by solving and resolving problems that are encountered during the configuring of the HBR-LET system. The intelligent assistant is a graphical user interface with an expert system running in the background. In order to further assist and familiarize an experimenter, an on-line hypertext documentation module was developed and included in the SCAILET software.

Shahidi, A. K.↗

Isotope Ratio Monitoring Gas Chromatography Mass Spectrometry (IRM-GCMS)

On Earth, the C-13 content of organic compounds is depleted by roughly 13 to 23 permil from atmospheric carbon dioxide. This difference is largely due to isotope effects associated with the fixation of inorganic carbon by photosynthetic organisms. If life once existed on Mars, then it is reasonable to expect to observe a similar fractionation. Although the strongly oxidizing conditions on the surface of Mars make preservation of ancient organic material unlikely, carbon-isotope evidence for the existence of life on Mars may still be preserved. Carbon depleted in C-13 could be preserved either in organic compounds within buried sediments, or in carbonate minerals produced by the oxidation of organic material. A technique is introduced for rapid and precise measurement of the C-13 contents of individual organic compounds. A gas chromatograph is coupled to an isotope-ratio mass spectrometer through a combustion interface, enabling on-line isotopic analysis of isolated compounds. The isotope ratios are determined by integration of ion currents over the course of each chromatographic peak. Software incorporates automatic peak determination, corrections for background, and deconvolution of overlapped peaks. Overall performance of the instrument was evaluated by the analysis of a mixture of high purity n-alkanes of know isotopic composition. Isotopic values measured via IRM-GCMS averaged withing 0.55 permil of their conventionally measured values.

Freeman, K. H.↗

Medical and surgical applications of space biosensor technology

Researchers in space life sciences are rapidly approaching a technology impasse. Many of the critical questions on the impact of spaceflight on living systems simply cannot be answered with the limited available technologies. Research subjects, particularly small animal models like the rat, must be allowed to function relatively untended and unrestrained for long periods to fully reflect the impact of microgravity and spaceflight on their behavior and physiology. These requirements preclude the use of present hard-wired instrumentation techniques and limited data acquisition systems. Implantable sensors and miniaturized biotelemetry are the only means of capturing the fundamental and critical data. This same biosensor and biotelemetry technology has direct application to Earth-based medicine and surgery. Continuous, on-line data acquisition and improved measurement capabilities combined with the ease and flexibility offered by automated, wireless, and portable instruments and data systems, should provide a boon to the health care industry. Playing a key role in this technology revolution is the Sensors 2000! (S2K!) Program at NASA Ames Research Center. S2K!, in collaboration with space life sciences researchers and managers, provides an integrated capability for sensor technology development and applications, including advanced biosensor technology development, spaceflight hardware development, and technology transfer and commercialization. S2K! is presently collaborating on several spaceflight projects with dual-use medical applications. One prime example is a collaboration with the Fetal Treatment Center (FTC) at the University of California at San Francisco. The goal is to develop and apply implantable chemical sensor and biotelemetry technology to continuously monitor fetal patients during extra-uterine surgery, replacement into the womb, through birth and beyond. Once validated for ground use, the method will be transitioned to spaceflight applications to remotely monitor key biochemical parameters in flight animals. Successful application of NASA implantable biosensor and biotelemetry technologies should accelerate the advancement of this and other modern medical procedures while furthering the exploration of life in space.

NASA Discipline General Space Life Sciences↗

Design definition of the Laser Atmospheric Wind Sounder (LAWS), phase 2. Volume 1: Executive summary

The LAWS phase 1 and phase 2 studies have been completed on schedule and have led to significant advances in CO2 laser development. The Phase 2 Design Definition Study has shown that a large scanning mirror/high pulse energy laser LAWS Instrument is feasible and within the existing technology. The capability to monitor wind velocities with backscatter ratios of 10(exp 11) m(exp -1) SR(exp -1) is feasible. The weight budget allocated for the baseline LAWS is adequate, and sufficient reserves exist with the potential downsized configuration. With the possible decrease in available power from the baseline of 2.2 kW guideline, power and shot management is critical for the baseline configuration (15 to 20 J). This is particularly true during the 100 day occultation period each year. With the downsized configurations (5 to 7 J), power management is still necessary during the occultation but is primarily limited to shot management over the polar regions. The breadboard effort has produced significant laser advances for a tight 18 month schedule and the minimum budgets available from NASA, Lockheed, and TDS. Using the NASA funds and Lockheed and TDS fixed assets budgets, the breadboard was designed, fabricated, and brought on-line with first laser light within 16 months after ATP. First laser beam was obtained on 21 April 1992 at a 5 J power level. Tests since then have been conducted at sustained, repetitive pulse levels of over 7 J and 20 Hz. This is an increase of over two or three times greater than any system previously developed from this type laser. Increased power levels and additional life tests will be accomplished in the next LAWS phase. The Lockheed LAWS design will operate in the gravity gradient mode on-orbit, and all possible instrument vibration and jitter modes have been considered. Adequate pointing stability and control is state-of-the-art technology for the critical time periods, frequency rates, and control responses required by LAWS. Lockheed recommends a 6-1/2 year phase C/D program for LAWS to provide adequate feedback from the engineering unit and the qualification unit to the final flight unit. Assuming a one year period for LAWS integration to the spacecraft, followed by a six-month period for launch vehicle integration, LAWS could be successfully developed and launched in eight years. Our baseline design or downsized design can be accommodated by either the Atlas 2AS or the Delta launch vehicles. Lockheed's recommendation is that, based on the successful phase 2 design study and breadboard program, a follow-on 18 month extended breadboard testing program and additional system engineering studies, primarily in interfacing with a to be defined platform, be initiated. This should be immediately followed by the phase C/D program, leading to a LAWS launch in late 2001 or early 2002.

Source record↗

A computer controlled signal preprocessor for laser fringe anemometer applications

The operation of most commercially available laser fringe anemometer (LFA) counter-processors assumes that adjustments are made to the signal processing independent of the computer used for reducing the data acquired. Not only does the researcher desire a record of these parameters attached to the data acquired, but changes in flow conditions generally require that these settings be changed to improve data quality. Because of this limitation, on-line modification of the data acquisition parameters can be difficult and time consuming. A computer-controlled signal preprocessor has been developed which makes possible this optimization of the photomultiplier signal as a normal part of the data acquisition process. It allows computer control of the filter selection, signal gain, and photo-multiplier voltage. The raw signal from the photomultiplier tube is input to the preprocessor which, under the control of a digital computer, filters the signal and amplifies it to an acceptable level. The counter-processor used at Lewis Research Center generates the particle interarrival times, as well as the time-of-flight of the particle through the probe volume. The signal preprocessor allows computer control of the acquisition of these data.Through the preprocessor, the computer also can control the hand shaking signals for the interface between itself and the counter-processor. Finally, the signal preprocessor splits the pedestal from the signal before filtering, and monitors the photo-multiplier dc current, sends a signal proportional to this current to the computer through an analog to digital converter, and provides an alarm if the current exceeds a predefined maximum. Complete drawings and explanations are provided in the text as well as a sample interface program for use with the data acquisition software.

Oberle, Lawrence G.↗

Online monitoring of lanthanide species with combined spectroscopy in flowing aqueous aerosol systems

Combined spectroscopic analysis through absorption and laser-induced breakdown spectroscopy (LIBS) was used to monitor Nd and Pr concentrations in a flowing aqueous system. A unique, online sampling approach was employed that allowed for an approximately closed analysis loop of liquids from a reservoir. Absorption spectroscopy was performed with an optical flow cell, and LIBS was performed on an aerosol stream. Multivariate calibrations based on combined absorption and LIBS signals were built for Nd and Pr and then used to monitor concentrations in mixed solutions in a series of spiking tests. In these tests, the concentrations of Nd and Pr in solution were intermittently changed while spectroscopic signals were monitored in real-time. The combined spectroscopic signals and multivariate models were successful in monitoring changing concentrations of lanthanide species with high accuracy and minimal latency. Root-mean squared error of predictions were 0.015 mol L −1 and 0.019 mol L −1 for Nd and Pr respectively, and these lanthanides were able to be monitored to an accuracy of < 0.2 wt%. This work demonstrates both the capabilities of a sampling system for online analysis of liquids and the capabilities of multimodal spectroscopic characterization for real-time, continuous tracking of species in potentially hazardous liquid systems.

absorbance spectroscopy↗

The data acquisition system for the Anglo-Australian Observatory 2-degree field project

The Anglo-Australian Observatory (AAO) is building a system that will provide a two-degree field of view at prime focus. A robot positioner will be used to locate up to 400 optical fibers at pre-determined positions in this field. While observations are being made using one set of 400 fibers, the robot will be positioning a second set of fibers in a background field that can be moved in to replace the first when the telescope is moved to a new position. The fibers feed two spectrographs each with a 1024 square CCD detector. The software system being produced to control this involves Vaxes for overall control and data recording, UNIX workstations for fiber configuration calculations and on-line data reduction, and VME systems running VxWorks for real-time control of critical parts such as the positioner robot. The system has to be able to interact with the observatory's present data acquisition systems, which use the ADAM system. As yet, the real-time parts of ADAM have not been ported to Unix, and so we are having to produce a smaller-scale system that is similar but inherently distributed (which ADAM is not). We are using this system as a testbed for ideas that we hope may eventually influence an ADAM II system. The system we are producing is based on a message system that is designed to be able to handle inter-process and inter-processor messages of any length, efficiently, and without ever requiring a task to block (i.e., be unresponsive to 'cancel' messages, enquiry messages), other than when deliberately waiting for external input - all of which will be through such messages. The essential requirement is that a message 'send' operation should never be able to block. The messages will be hierarchical, self-defining, machine-independent data structures. This allows us to provide very simple monitoring of messages for diagnostic purposes, and allows general purpose interface programs to be written without needing to share precise byte by byte message format definitions. Programs in this system have interfaces defined simply in terms of named actions and their parameters. Real-time control programs are required to be able to handle a number of such actions concurrently; data reduction programs will normally only need to handle one action at a time ('process an image', 'display a spectrum', etc).

Shortridge, K.↗

Guest Investigator Studies with the Compton Gamma Ray Observatory

The cumulative all-sky survey by the Compton Gamma Ray Observatory (CGRO), composed of data acquired during the first three years of the mission, included a number of regions of very limited exposure. The most glaring deficiency in coverage was toward the region of the South Galactic Pole (SGP), which received significantly less exposure than other directions- by a factor of at least 2 to 3. Furthermore, nearly all of the SGP exposure was accumulated during the first year of the mission. Since blazars are known to be time-variable, and of unknown duty cycle, a pointing of the CCRO in that direction was considered highly desirable, and long overdue. In addition, data gathered from a pointing toward the SGP and its comparison with comprehensive data available for the North Galactic Pole would be extremely valuable to investigators studying the extragalactic diffuse emission. The reasons outlined above prompted our initiation of a Cycle 4 campaign to systematically search with EGRET and COMPTEL for gamma-ray emission from sources near the South Galactic Pole. The Cycle 4 SGP campaign consisted of tnvo 14-day observations separated in in time by approximately 10 months. The temporal separation of the observations was requested to allow a test for possible variations in the detected sources. Our primary targets were 38 FSRQs which lie within 30 degrees of the SGP, and which satisfy the basic criteria for candidate gamma-ray AGNs,flat-spectrum radio sources, many of which exhibit blazar-type properties). These targets were selected from the standard references, and from the available on-line databases (e.g., the NASA Extragalactic Database, NED), as the most promising AGN targets in the vicinity of the SGP. A 30 radius from the SGP was chosen as the boundary of our survey, since the selected targets would then fall within the most sensitive portion of the fields of view of EGRET and COMPTEL (i.e., within a 30 zenith angle), for a CGRO pointing directed exactly at the SGP. Our South Galactic Pole Survey yielded a number of exciting results. The EGRET data were analyzed using the maximum likelihood techniques to estimate the intensity, spectrum, and position of gamma-ray sources in the field of view. Our analysis revealed four sources at energies greater than 100 MeV with likelihood ratios corresponding to greater than 30 detections (Vestrand et al. 1996). One of the sources is associated with the well known gamma-ray blazar PKS 0208-512, but the other three were previously unknown. Among the new detections was PKS 2155-304 which is often considered a prototype of the x-ray selected BL Lacs. PKS 2155-304, which was also detected at hard x-ray energies by CGRO/OSSE, is one of the brightest BL Lac objects in the sky at optical through x-ray energies and has a history of rapid, strong multiwavelength variability. As such, it has been the subject of intensive, contemporaneous, multiwavelength monitoring covering radio frequencies to x-ray energies.

Vestrand, W. T.↗

Scholarly Electronic Full-Text Publications via the Internet: Issues and Impacts

On-line access to complete texts of scholarly journal articles, conference papers, and books is facilitated by rapidly developing World-wide Web Internet access and capabilities. Meanwhile, print publications continue to be produced and read in spite of the proliferation of many networked electronic publications. The purpose of this presentation is to highlight fundamental issues impacting stakeholder groups, as the trend continues towards migration from paper to affordable ubiquitous networked full-text publications. Librarians, publishers, authors and end-users have various viewpoints, interests, and concerns. There are many issues challenging all stakeholder groups. For instance, all share concerns about administering copyright compliance and enforcing fair use. Uncontrollable electronic downstreaming could result in infringed copyright, while limiting a publisher's entitled revenue stream. Moreover, metered fee-based access may hamper scholarly information research. And, self-authoring on the Internet without peer filtering could lead to information clutter. Many related issues challenge librarians in particular. Among these are rising journal subscription prices, regardless if offered in print or electronic. Some electronic offerings are independent of print, others supplement or duplicate print; several publishers presently require subscribing to print in order to access electronic. Furthermore, numbers of publications are n'ow being marketed via the Internet directly to end-users, which can be viewed as encouraging users to bypass the traditional library. A key issue challenging publishers today is the rapidly expanding electronic user base that is demanding delivery of added-value full-text to desktop computers. Also of growing concern appears to be the decline in print sales to libraries, thereby reducing traditional revenue stream potential. Nowadays, publishers are more hesitant about investing in the production of publications geared toward small niche subjects, since these tend to require higher pricing and carry limited sales potential. Both electronic and print publications necessitate similar editorial, production, operating, and marketing dollars. Tradeoffs owing to delivery format difference do not necessarily mean less dollars need to be spent. Authors wishing to publish books are facing a decline in the role of scholarly monographs in electronic media. However, they are witnessing increased roles of electronic preprints and electronic journal articles. Moreover, the Internet fosters self-publishing without peer monitoring or formal review. Issues challenging end-users include electronic barriers to peer-reviewed formal published works (i.e., fee-based subscriptions to journal literature vs. traditional free-library concept). This often means password only access or IP address controlled site-licensed access. Also, in an uncontrolled Internet environment, sometimes there is a blurring of publication authorship/ownership, as various pieces of publications are cut/pasted into/re-posted on various, disconnected Web searchable home pages.

Kosmin, Linda J.↗

The ATLAS integrated structural analysis and design software system

The ATLAS system provides an extensive set of integrated technical computer-program modules for the analysis and design of general structural configurations, as well as capabilities that are particularly suited for the aeroelastic design of flight vehicles. The system is based on the stiffness formulation of the finite element structural analysis method and can be executed in batch and interactive computing environments on CDC 6600/CYBER computers. Problem-definition input data are written in an engineering-oriented language using a free field format. Input-data default values, generation options, and data quality checks provided by the preprocessors minimize the amount of data and flowtime for problem definition/verfication. Postprocessors allow selected input and calculated data to be extracted, manipulated, and displayed via on-line and off-line prints or plots for monitoring and verifying problem solutions. The sequence and mode of execution of selected program modules are controlled by a common user-oriented language.

Dreisbach, R. L.↗