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At least 1,513 records · Page 84
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Custom electronic subsystems for the laboratory telerobotic manipulator

The National Aeronautics and Space Administration (NASA) Space Station Program presents new opportunities for the application of telerobotic and robotic systems. The Laboratory Telerobotic Manipulator (LTM) is a highly advanced 7 degrees-of-freedom (DOF) telerobotic/robotic manipulator. It was developed and built for the Automation Technology Branch at NASA's Langley Research Center (LaRC) for work in research and to demonstrate ground-based telerobotic manipulator system hardware and software systems for future NASA applications in the hazardous environment of space. The LTM manipulator uses an embedded wiring design with all electronics, motor power, and control and communication cables passing through the pitch-yaw differential joints. This design requires the number of cables passing through the pitch/yaw joint to be kept to a minimum. To eliminate the cables needed to carry each pitch-yaw joint's sensor data to the VME control computers, a custom-embedded electronics package for each manipulator joint was developed. The electronics package collects and sends the joint's sensor data to the VME control computers over a fiber optic cable. The electronics package consist of five individual subsystems: the VME Link Processor, the Joint Processor and the Joint Processor power supply in the joint module, the fiber optics communications system, and the electronics and motor power cabling.

Glassell, R. L.↗
NASA NTRS1991

Conceptual study of on orbit production of cryogenic propellants by water electrolysis

The feasibility is assessed of producing cryogenic propellants on orbit by water electrolysis in support of NASA's proposed Space Exploration Initiative (SEI) missions. Using this method, water launched into low earth orbit (LEO) would be split into gaseous hydrogen and oxygen by electrolysis in an orbiting propellant processor spacecraft. The resulting gases would then be liquified and stored in cryogenic tanks. Supplying liquid hydrogen and oxygen fuel to space vehicles by this technique has some possible advantages over conventional methods. The potential benefits are derived from the characteristics of water as a payload, and include reduced ground handling and launch risk, denser packaging, and reduced tankage and piping requirements. A conceptual design of a water processor was generated based on related previous studies, and contemporary or near term technologies required. Extensive development efforts would be required to adapt the various subsystems needed for the propellant processor for use in space. Based on the cumulative results, propellant production by on orbit water electrolysis for support of SEI missions is not recommended.

Moran, Matthew E.↗
NASA NTRS1991

Multiphase complete exchange on a circuit switched hypercube

On a distributed memory parallel computer, the complete exchange (all-to-all personalized) communication pattern requires each of n processors to send a different block of data to each of the remaining n - 1 processors. This pattern is at the heart of many important algorithms, most notably the matrix transpose. For a circuit switched hypercube of dimension d(n = 2(sup d)), two algorithms for achieving complete exchange are known. These are (1) the Standard Exchange approach that employs d transmissions of size 2(sup d-1) blocks each and is useful for small block sizes, and (2) the Optimal Circuit Switched algorithm that employs 2(sup d) - 1 transmissions of 1 block each and is best for large block sizes. A unified multiphase algorithm is described that includes these two algorithms as special cases. The complete exchange on a hypercube of dimension d and block size m is achieved by carrying out k partial exchange on subcubes of dimension d(sub i) Sigma(sup k)(sub i=1) d(sub i) = d and effective block size m(sub i) = m2(sup d-di). When k = d and all d(sub i) = 1, this corresponds to algorithm (1) above. For the case of k = 1 and d(sub i) = d, this becomes the circuit switched algorithm (2). Changing the subcube dimensions d, varies the effective block size and permits a compromise between the data permutation and block transmission overhead of (1) and the startup overhead of (2). For a hypercube of dimension d, the number of possible combinations of subcubes is p(d), the number of partitions of the integer d. This is an exponential but very slowly growing function and it is feasible over these partitions to discover the best combination for a given message size. The approach was analyzed for, and implemented on, the Intel iPSC-860 circuit switched hypercube. Measurements show good agreement with predictions and demonstrate that the multiphase approach can substantially improve performance for block sizes in the 0 to 160 byte range. This range, which corresponds to 0 to 40 floating point numbers per processor, is commonly encountered in practical numeric applications. The multiphase technique is applicable to all circuit-switched hypercubes that use the common e-cube routing strategy.

Bokhari, Shahid H.↗
NASA NTRS1990

Queueing models for token and slotted ring networks

Currently the end-to-end delay characteristics of very high speed local area networks are not well understood. The transmission speed of computer networks is increasing, and local area networks especially are finding increasing use in real time systems. Ring networks operation is generally well understood for both token rings and slotted rings. There is, however, a severe lack of queueing models for high layer operation. There are several factors which contribute to the processing delay of a packet, as opposed to the transmission delay, e.g., packet priority, its length, the user load, the processor load, the use of priority preemption, the use of preemption at packet reception, the number of processors, the number of protocol processing layers, the speed of each processor, and queue length limitations. Currently existing medium access queueing models are extended by adding modeling techniques which will handle exhaustive limited service both with and without priority traffic, and modeling capabilities are extended into the upper layers of the OSI model. Some of the model are parameterized solution methods, since it is shown that certain models do not exist as parameterized solutions, but rather as solution methods.

Peden, Jeffery H.↗
NASA NTRS1991

Computational needs survey of NASA automation and robotics missions. Volume 1: Survey and results

NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is that mission computing requirements are frequently unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. A preliminary set of advanced mission computational processing requirements of automation and robotics (A&R) systems are provided for use by NASA, industry, and academic communities. These results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implementation capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Volume one includes the survey and results. Volume two contains the appendixes.

Davis, Gloria J.↗
NASA NTRS1990

Autonomous production of propellants

The autonomous production of propellants is addressed. Since 80 to 90 percent of a spacecraft's mass is typically propellants, it is advantageous to produce propellants in strategic locations en route to, and at, the desired mission destination. This reduces the weight of the spacecraft and the cost of each mission. Since one of the primary goals of the space program is safety, a totally automated propellant production system is desirable. This system would remove, from hostile, high-risk extraterrestrial environments, the constant human intervention currently required in the production of many propellants. This enables the exploration of space to be more than the search for and production of fuel. As a proof-of-concept demonstration, one specific case was chosen for this study. That case was a composite propellant processor (the principle is more important than the application), and the specific processor used saved SERC the considerable cost of acquiring a new liquid propellant processor that would also have required similar automation.

Ramohalli, Kumar↗
NASA NTRS1991

Computational needs survey of NASA automation and robotics missions. Volume 2: Appendixes

NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is the fact that mission computing requirements are frequency unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. Here, NASA, industry and academic communities are provided with a preliminary set of advanced mission computational processing requirements of automation and robotics (A and R) systems. The results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implemented capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Here, appendixes are provided.

Davis, Gloria J.↗
NASA NTRS1991

Verification of the FtCayuga fault-tolerant microprocessor system. Volume 2: Formal specification and correctness theorems

Presented here is a formal specification and verification of a property of a quadruplicately redundant fault tolerant microprocessor system design. A complete listing of the formal specification of the system and the correctness theorems that are proved are given. The system performs the task of obtaining interactive consistency among the processors using a special instruction on the processors. The design is based on an algorithm proposed by Pease, Shostak, and Lamport. The property verified insures that an execution of the special instruction by the processors correctly accomplishes interactive consistency, providing certain preconditions hold, using a computer aided design verification tool, Spectool, and the theorem prover, Clio. A major contribution of the work is the demonstration of a significant fault tolerant hardware design that is mechanically verified by a theorem prover.

Bickford, Mark↗
NASA NTRS1991

Verification of the FtCayuga fault-tolerant microprocessor system. Volume 1: A case study in theorem prover-based verification

The design and formal verification of a hardware system for a task that is an important component of a fault tolerant computer architecture for flight control systems is presented. The hardware system implements an algorithm for obtaining interactive consistancy (byzantine agreement) among four microprocessors as a special instruction on the processors. The property verified insures that an execution of the special instruction by the processors correctly accomplishes interactive consistency, provided certain preconditions hold. An assumption is made that the processors execute synchronously. For verification, the authors used a computer aided design hardware design verification tool, Spectool, and the theorem prover, Clio. A major contribution of the work is the demonstration of a significant fault tolerant hardware design that is mechanically verified by a theorem prover.

Srivas, Mandayam↗
NASA NTRS1990

SETI prototype system for NASA's Sky Survey microwave observing project - A progress report

Two complementary search strategies, a Targeted Search and a Sky Survey, are part of NASA's SETI microwave observing project scheduled to begin in October of 1992. The current progress in the development of hardware and software elements of the JPL Sky Survey data processing system are presented. While the Targeted Search stresses sensitivity allowing the detection of either continuous or pulsed signals over the 1-3 GHz frequency range, the Sky Survey gives up sensitivity to survey the 99 percent of the sky that is not covered by the Targeted Search. The Sky Survey spans a larger frequency range from 1-10 GHz. The two searches will deploy special-purpose digital signal processing equipment designed and built to automate the observing and data processing activities. A two-million channel digital wideband spectrum analyzer and a signal processor system will serve as a prototype for the SETI Sky Survey processor. The design will permit future expansion to meet the SETI requirement that the processor concurrently search for left and right circularly polarized signals.

Klein, M. J.↗
NASA NTRS1991

Parallel algorithms for boundary value problems

A general approach to solve boundary value problems numerically in a parallel environment is discussed. The basic algorithm consists of two steps: the local step where all the P available processors work in parallel, and the global step where one processor solves a tridiagonal linear system of the order P. The main advantages of this approach are twofold. First, this suggested approach is very flexible, especially in the local step and thus the algorithm can be used with any number of processors and with any of the SIMD or MIMD machines. Secondly, the communication complexity is very small and thus can be used as easily with shared memory machines. Several examples for using this strategy are discussed.

Lin, Avi↗
NASA NTRS1991

Conceptual study of on orbit production of cryogenic propellants by water electrolysis

The feasibility is assessed of producing cryogenic propellants on orbit by water electrolysis in support of NASA's proposed Space Exploration Initiative (SEI) missions. Using this method, water launched into low earth orbit (LEO) would be split into gaseous hydrogen and oxygen by electrolysis in an orbiting propellant processor spacecraft. The resulting gases would then be liquified and stored in cryogenic tanks. Supplying liquid hydrogen and oxygen fuel to space vehicles by this technique has some possible advantages over conventional methods. The potential benefits are derived from the characteristics of water as a payload, and include reduced ground handling and launch risk, denser packaging, and reduced tankage and piping requirements. A conceptual design of a water processor was generated based on related previous studies, and contemporary or near term technologies required. Extensive development efforts would be required to adapt the various subsystems needed for the propellant processor for use in space. Based on the cumulative results, propellant production by on orbit water electrolysis for support of SEI missions is not recommended.

Moran, Matthew E.↗
NASA NTRS1990

Supercomputing systems - A projection to 2000

Advances in computer architecture, computer science, computational methods, and constituent technologies are expected to lead to significant advances in the performance of scientific supercomputing system capabilities over the next decade. By the year 2000, single 1-in-sq dies are projected to incorporate four processors, each of which would be operating faster than 750 million instructions per second (MIPS) for a total on-chip processing performance in excess of 2000 MIPS. Scalable parallel processors can be expected to contain thousands of such multiple processor chips. In general, semiconductor performance advances appear to change about one order of magnitude every five years. Rotating magnetic memory and communications technology are not advancing as rapidly, with the result that the allocation of functions within the system configurations fo future supercomputer systems will require important changes. Availability of massively parallel heterogeneous processing capabilities should be a catalyst leading to new approaches for applications.

Lundstrom, S. F.↗
NASA NTRS1991

Particle simulation in a multiprocessor environment

A parallel implementation of a particle simulation method that is portable between a wide class of multiprocessor computers is presented. A fine grain spatial decomposition is utilized where several subdomains having a regular structure are computed at each processing node. This leads directly to an efficient and straightforward load balancing scheme if the number of subdomains at each processor is permitted to vary in an appropriate manner. Three dimensional simulations incorporating full thermochemical nonequilibrium are possible using the resulting code. Vectorizable algorithms are retained from earlier work allowing efficient use of deeply pipelined node processors where available. Performance results are presented from three different machine architectures demonstrating the portability of the code. On a 128-node Intel iPSC/860, performance is twice that of a single Cray-Y/MP CPU running a highly vectorized simulation code. Speedup is linear over the full range of number of processors on all target machines, indicating scalability of the method to higher degrees of parallelism.

Mcdonald, Jeffrey D.↗
NASA NTRS1991

A contention-based bus-control scheme for multiprocessor systems

The authors study contention-based bus-control schemes for scheduling processors in using a bit-parallel shared bus. The protocol is designed under the requirements that each processor exhibit a random access behavior, that there be no centralized bus control in the system, and that access be granted in real time. The proposed scheme is based on splitting algorithms used in conventional contention-resolution schemes, and utilizes two-state information obtained from collision detection. Two versions of the bus-control scheme are studied. The static one resolves contentions of N requesting processors in an average of O(logW/2N) iterations, where W is the number of bits in the bit-parallel bus. An adaptive version resolves contentions in an average time that is independent of N.

Juang, Jie-Yong↗
NASA NTRS1993

Transient Finite Element Computations on a Variable Transputer System

A parallel program to analyze transient finite element problems was written and implemented on a system of transputer processors. The program uses the explicit time integration algorithm which eliminates the need for equation solving, making it more suitable for parallel computations. An interprocessor communication scheme was developed for arbitrary two dimensional grid processor configurations. Several 3-D problems were analyzed on a system with a small number of processors.

Smolinski, Patrick J.↗
NASA NTRS1992

Configuration control of seven-degree-of-freedom arms

A seven degree of freedom robot arm with a six degree of freedom end effector is controlled by a processor employing a 6 by 7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more) by 7 Jacobian matrix for defining 1 (or more) user specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more) by 7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7 by 7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arm. One of the kinematic functions constraints the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizes a sum of gravitational torques on the joints. Still another kinematic function constrains the location of the arm to perform collision avoidance. Generically, one kinematic function minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or gravity torques associated with individual joints.

Seraji, Homayoun↗
NASA NTRS1992

High order parallel numerical schemes for solving incompressible flows

The use of parallel computers for numerically solving flow fields has gained much importance in recent years. This paper introduces a new high order numerical scheme for computational fluid dynamics (CFD) specifically designed for parallel computational environments. A distributed MIMD system gives the flexibility of treating different elements of the governing equations with totally different numerical schemes in different regions of the flow field. The parallel decomposition of the governing operator to be solved is the primary parallel split. The primary parallel split was studied using a hypercube like architecture having clusters of shared memory processors at each node. The approach is demonstrated using examples of simple steady state incompressible flows. Future studies should investigate the secondary split because, depending on the numerical scheme that each of the processors applies and the nature of the flow in the specific subdomain, it may be possible for a processor to seek better, or higher order, schemes for its particular subcase.

Lin, Avi↗