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At least 1,279 records · Page 71

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NASA NTRS1993

Performance analysis of a robotic system for space-based assembly

A dual arm system for space-based assembly has been under development and experimentation at the Center of Intelligent Robotic Systems for Space Exploration. This paper will describe the components of this system and will then focus on the specific problem of predicting response time of the integrated system. This hierarchical system consists of a task representation and planning level, a coordination level, and an execution level to carry out the desired assembly task. A common modeling methodology based on Petri nets was used to model the various subtasks throughout the levels of the hierarchy. The Petri net model can then be analyzed for liveness and boundedness that, in turn, are used to detect the existence of deadlock or conflict in the system. The model can also be used to calculate the time it will take to complete an assembly task once an operator issues a command. These modeling results are compared with the actual experimental results obtained from carrying out the assembly task.

Desrochers, Alan↗

NASA NTRS1993

Protocols for distributive scheduling

The increasing complexity of space operations and the inclusion of interorganizational and international groups in the planning and control of space missions lead to requirements for greater communication, coordination, and cooperation among mission schedulers. These schedulers must jointly allocate scarce shared resources among the various operational and mission oriented activities while adhering to all constraints. This scheduling environment is complicated by such factors as the presence of varying perspectives and conflicting objectives among the schedulers, the need for different schedulers to work in parallel, and limited communication among schedulers. Smooth interaction among schedulers requires the use of protocols that govern such issues as resource sharing, authority to update the schedule, and communication of updates. This paper addresses the development and characteristics of such protocols and their use in a distributed scheduling environment that incorporates computer-aided scheduling tools. An example problem is drawn from the domain of space shuttle mission planning.

Richards, Stephen F.↗

NASA NTRS1992

Observations of plasma sheet expansion at substorm onset, R = 15 to 22 Re

We have used a large number of auroral magnetograms to identify four isolated substorms and estimate their onset times. At the onsets, ISEE-1 was in the vicinity of magnetic midnight at radial distances of 15.6 to 21.8 Re and very near the outer boundary of the plasma sheet. We find that, for each event, the plasma sheet expanded, and the magnetic field dipolarized at the inferred onset time. Our most definitive event occurred while ISEE was at a geocentric radial distance of 21.8 Re. This result conflicts with previous understanding, though further verification of the result is required. Our observations show very similar characteristics to those observed at synchronous orbit, and they are consistent with an extension of a portion of the substorm current wedge to the radial distance of the satellite. If this explanation is correct, ISEE must have been within the longitude range of the substorm current wedge at the onsets.

Lyons, L. R.↗

NASA NTRS1992

Extreme ultraviolet spectroscopy of Capella

The X-ray active binary system Capella was observed with a moderate-resolution extreme ultraviolet spectrograph from 200 to 330 A. Two low-level emission features were detected. One most likely is geocoronal He II 304 A emission, while the other probably originates from the corona of Capella. The weak stellar emission at 304 A is in direct conflict with predictions of the intrinsic stellar He II flux based on standard scaling arguments but is consistent with the only previous observation of Capella in the EUV. The most plausible explanation for the lack of stellar 304 A emission is a warm wind from the active G0 III star.

Green, James C.↗

NASA NTRS1992

Statistics of the cosmic Mach number from numerical simulations of a cold dark matter universe

Results are presented of an analysis of the cosmic Mach number, M, the ratio of the streaming velocity, v, to the random velocity dispersion, sigma, of galaxies in a given patch of the universe, which was performed on the basis of hydrodynamical simulations of the cold dark matter scenario. Galaxy formation is modeled by application of detailed physical processes rather than by the ad hoc assumption of 'bias' between dark matter and galaxy fluctuations. The correlation between M and sigma is found to be very weak for both components. No evidence is found for a physical 'velocity bias' in the quantities which appear in the definition of M. Standard cold-dark-matter-dominated universes are in conflict, at a statistically significant level, with the available observation, in that they predict a Mach number considerably lower than is observed.

Suto, Yasushi↗

NASA NTRS1992

Ureilites - A critical review

The paper discusses the current state of understanding of the petrogenesis of ureilites (which are ultramafic rocks considered to be products of a common planetary differentiation process), identifies areas in which basic knowledge is lacking, and suggests directions for future work on these rocks. The petrographic, chemical, and isotopic characteristics of ureilites are summarized, and petrogenetic implications of these characteristics are discussed. Particular attention is given to the apparent contradiction between the igneous and primitive features of ureilites. Several recently proposed models for ureilite petrogenesis are evaluated in terms of how well they satisfy these constraints and how they attempt to resolve the conflict between the igneous and primitive features. It is concluded that none of the proposed models satisfy all constraints satisfactorily.

Goodrich, Cyrena A.↗

NASA NTRS1991

The best-fit universe

Inflation provides very strong motivation for a flat Universe, Harrison-Zel'dovich (constant-curvature) perturbations, and cold dark matter. However, there are a number of cosmological observations that conflict with the predictions of the simplest such model: one with zero cosmological constant. They include the age of the Universe, dynamical determinations of Omega, galaxy-number counts, and the apparent abundance of large-scale structure in the Universe. While the discrepancies are not yet serious enough to rule out the simplest and most well motivated model, the current data point to a best-fit model with the following parameters: Omega(sub B) approximately equal to 0.03, Omega(sub CDM) approximately equal to 0.17, Omega(sub Lambda) approximately equal to 0.8, and H(sub 0) approximately equal to 70 km/(sec x Mpc) which improves significantly the concordance with observations. While there is no good reason to expect such a value for the cosmological constant, there is no physical principle that would rule out such.

Turner, Michael S.↗

NASA NTRS1991

The structure of the interstellar medium

We have compared theoretical H I models to a large area H I channel map centered at 1 = 205 deg, b = 0 deg. One set of models were calculated in which uncorrelated clouds of H I populate space. Of the cloud models considered, which include 'Spitzer'-type clouds and the McKee-Ostriker formulation, none were able to reproduce the data successfully. In another class of models, holes and holes with shells permeate an otherwise continuous H I medium. Although not entirely successful, these models contain characteristics that are similar to the data. In order to reproduce the amplitude of the H I variations on angular scales of over 1 deg, the volume occupied by ionized gas must be less than 30 percent, in sharp conflict with the models that suggest that the volume of the ISM is dominated by hot gas.

Bregman, Joel N.↗

NASA NTRS1992

V/V(max) test applied to SMM gamma-ray bursts

We have applied the V/V(max) test to candidate gamma-ray bursts detected by the Gamma-Ray Spectrometer (GRS) aboard the SMM satellite to examine quantitatively the uniformity of the burst source population. For a sample of 132 candidate bursts identified in the GRS data by an automated search using a single uniform trigger criterion we find average V/V(max) = 0.40 +/- 0.025. This value is significantly different from 0.5, the average for a uniform distribution in space of the parent population of burst sources; however, the shape of the observed distribution of V/V(max) is unusual and our result conflicts with previous measurements. For these reasons we can currently draw no firm conclusion about the distribution of burst sources.

Matz, S. M.↗

NASA NTRS1992

On ionized napthalene (C10H8(+)) as a carrier of diffuse interstellar bands

A recent laboratory study of ionized napthalene (C10H8(+)) has led to the suggestion that some of the unidentified diffuse interstellar bands may be formed by this molecular ion in the diffuse interstellar medium. In particular, there is a close match between a laboratory feature at 6741 A and a weak diffuse band at 6742 A, and some near-coincidences at other wavelengths. The same laboratory data show that other diffuse bands may be found, including one at 6151 A, if indeed C10H8(+) is responsible. This paper reports a search for the 6151 A feature, with negative results. The derived upper limits appear to be in conflict with the C10H8(+) hypothesis, but may not be, due to uncertainties in the expected width of the predicted interstellar feature, and due to the fact that the observations do not include data on the 6742 A band, so it is not known whether this putative C10H8(+) feature is present in the observed clouds.

Snow, Theodore P.↗

NASA NTRS1991

Visual field information in Nap-of-the-Earth flight by teleoperated Helmet-Mounted displays

The human ability to derive Control-Oriented Visual Field Information from teleoperated Helmet-Mounted displays in Nap-of-the-Earth flight, is investigated. The visual field with these types of displays originates from a Forward Looking Infrared Radiation Camera, gimbal-mounted at the front of the aircraft and slaved to the pilot's line-of-sight, to obtain wide-angle visual coverage. Although these displays are proved to be effective in Apache and Cobra helicopter night operations, they demand very high pilot proficiency and work load. Experimental work presented in the paper has shown that part of the difficulties encountered in vehicular control by means of these displays can be attributed to the narrow viewing aperture and head/camera slaving system phase lags. Both these shortcomings will impair visuo-vestibular coordination, when voluntary head rotation is present. This might result in errors in estimating the Control-Oriented Visual Field Information vital in vehicular control, such as the vehicle yaw rate or the anticipated flight path, or might even lead to visuo-vestibular conflicts (motion sickness). Since, under these conditions, the pilot will tend to minimize head rotation, the full wide-angle coverage of the Helmet-Mounted Display, provided by the line-of-sight slaving system, is not always fully utilized.

Grunwald, Arthur J.↗

NASA NTRS1991

Pictorial communication in virtual and real environments

Papers about the communication between human users and machines in real and synthetic environments are presented. Individual topics addressed include: pictorial communication, distortions in memory for visual displays, cartography and map displays, efficiency of graphical perception, volumetric visualization of 3D data, spatial displays to increase pilot situational awareness, teleoperation of land vehicles, computer graphics system for visualizing spacecraft in orbit, visual display aid for orbital maneuvering, multiaxis control in telemanipulation and vehicle guidance, visual enhancements in pick-and-place tasks, target axis effects under transformed visual-motor mappings, adapting to variable prismatic displacement. Also discussed are: spatial vision within egocentric and exocentric frames of reference, sensory conflict in motion sickness, interactions of form and orientation, perception of geometrical structure from congruence, prediction of three-dimensionality across continuous surfaces, effects of viewpoint in the virtual space of pictures, visual slant underestimation, spatial constraints of stereopsis in video displays, stereoscopic stance perception, paradoxical monocular stereopsis and perspective vergence. (No individual items are abstracted in this volume)

Ellis, Stephen R.↗

NASA NTRS1993

A prototype case-based reasoning human assistant for space crew assessment and mission management

We present a prototype human assistant system for space crew assessment and mission management. Our system is based on case episodes from American and Russian space missions and analog environments such as polar stations and undersea habitats. The general domain of small groups in isolated and confined environments represents a near ideal application area for case-based reasoning (CBR) - there are few reliable rules to follow, and most domain knowledge is in the form of cases. We define the problem domain and outline a unique knowledge representation system driven by conflict and communication triggers. The prototype system is able to represent, index, and retrieve case studies of human performance. We index by social, behavioral, and environmental factors. We present the problem domain, our current implementation, our research approach for an operational system, and prototype performance and results.

Owen, Robert B.↗

NASA NTRS1991

Modular removable precision mechanism for alignment of an FUV spatial heterodyne interferometer

Spaceflight optical instruments have two conflicting requirements. They need to be both rigid and lightweight. In addition, for interferometric far ultraviolet spectrometers, the requirements for precision positioning are more severe than for conventional spectrometers. To meet the challenge of lightweight optical instruments, a modular adjustment mechanism was developed to position two orthogonal axes of a universal three-axis gimbal support system with a positioning accuracy on the order of 10 arc seconds. The mechanism was designed as a self-contained assembly which can be removed after final alignment of a spacebound optical instrument to reduce its in-flight mass. To demonstrate the concept, a number of these assemblies were made and mounted on two of the positioning axes of a far ultraviolet spatial heterodyne interferometer. A shaft clamp was used on each positioning axis to retain the adjusted position. This paper describes the design of the mechanism and presents optical test results.

Tom, James L.↗

NASA NTRS1993

The open cluster IC 4665

The results of a combined astrometric, photometric, and spectroscopic program to identify members of the open cluster IC 4665 are presented. Numerous new proper motion/photometric candidate members and at least 23 M dwarfs with H-alpha emission have been identified. A reanalysis of IC 4665 age using different methods yields conflicting results ranging from about 3 X 10 exp 7 yr to the age of the Pleiades. This study provides a list of candidate cluster members in the intermediate and low-mass regime of this cluster. Future spectroscopic observations of these candidates should eventually identify true cluster members.

Prosser, Charles F.↗

NASA NTRS1993

The suppression of pulsar and gamma-ray burst annihilation lines by magnetic photon splitting

Neutron stars, relativistic and compact by nature, show great potential for the copious creation of electron-positron pairs in the magnetospheres; these rapidly cool, thermalize, and then annihilate. It is therefore expected that many neutron sources might display evidence of pair annihilation lines in the 400-500 keV range. It is shown that magnetic photon splitting, which operates effectively at these energies and in the enormous neutron star magnetic fields, can destroy an annihilation feature by absorbing line photons and reprocessing them to lower energies. In so doing, photon splitting creates a soft gamma-ray bump and a broad quasi-power-law contribution to the X-ray continuum, which is too flat to conflict with the observed X-ray paucity in gamma-ray bursts. The destruction of the line occurs in neutron stars with surface fields of 5 x 10 exp 12 G or maybe even less, depending on the size of the emission region.

Baring, Matthew G.↗

NASA NTRS1993

Light-curve solutions for S Cancri and TT Hydrae with rapid rotation

Physical model light- and velocity-curve solutions for S Cancri and TT Hydrae are obtained, and analyses with incorporation of asynchronous rotation are carried out. A photometric rotation rate for the primary star of TT Hya is determined, and excellent agreement with results from spectral line profiles is found. Both separate light- and velocity-curve solutions and simultaneous light-velocity solutions are listed. The photometric rotation for S Cnc from existing light curves is indeterminate, but is compatible with line profile measures. Evidence for third light from the light curves of S Cnc is found. An explanation for the apparent conflict between the rotational states and mass-transfer activities of the two binaries is suggested.

Van Hamme, W.↗

NASA NTRS1992

Extragalactic scenarios for gamma-ray bursts

The cosmological distance scale to gamma-ray bursts is indicated by the observed distribution of the bursts in angle and intensity. The redshifts of the weakest and the strongest bursts detected by the BATSE experiment are estimated to be z = 1.5 and z = 0.2, respectively, while the strongest bursts detected by the PVO in its 11 years of operation were at z = 0.05. The bursts' rate is about 10 exp -6 per year in a galaxy like ours, and a typical energy release is about 10 exp 51 ergs, assuming isotropic emission. The rate of the neutron star and black hole collisions in close binaries is somewhat higher, and those collisions release 10 exp 53 - 10 exp 54 ergs in a burstlike form, making them the primary candidates for the observed gamma-ray events. Contrary to the common belief, no observations available to date are in conflict with the cosmological distance to the bursters. A detection of gravitational lensing of some bursts, the redshift of the weakest events, and the absorption of soft X-rays by the interstellar matter in the plane of our galaxy, are the specific predictions of the cosmological scenario.

Paczynski, Bohdan↗