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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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Information on the Ada programming language is given. Topics covered include computer graphics, uniformity issues, Ada maintenance, and real time extensions.
Copies of the agenda, list of attendees, meeting summaries, and all presentations and exhibit material are contained. Included are plenary sessions, exhibits of advanced networking applications, and user subgroup meetings on NASA Science Internet policy, networking, security, and user services and applications topics.
The capabilities of the existing communication links within the polar regions, as well as between the polar regions and the continental United States, are summarized. These capabilities are placed in the context of the principal scientific disciplines that are active in polar research, and in the context of how scientists both utilize and are limited by present technologies. Based on an assessment of the scientific objectives potentially achievable with improved communication capabilities, a list of requirements on and recommendations for communication capabilities necessary to support polar science over the next ten years is given.
All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.
Researchers developed a robust control law for slow motions for the accurate trajectory control of a flexible robot. The control law does not need larger velocity gains than position gains, which some researchers need to ensure the stability of a rigid robot. Initial experimentation for the Small Articulated Manipulator (SAM) shows that control laws that use smaller velocity gains are more robust to signal noise than the control laws that use larger velocity gains. Researchers analyzed the stability of the composite control law, the robust control for the slow motion, and the strain rate feedback for the fast control. The stability analysis was done by using a quadratic Liapunov function. Researchers found that the flexible motion of links could be controlled by relating the input force to the flexible signals which are sensed at the near tip of each link. The signals are contaminated by the time delayed input force. However, the effect of the time delayed input force can be reduced by giving a certain configuration to the SAM.
The papers of the panels appointed by the Astronomy and Astrophysics survey Committee are compiled. These papers were advisory to the survey committee and represent the opinions of the members of each panel in the context of their individual charges. The following subject areas are covered: radio astronomy, infrared astronomy, optical/IR from ground, UV-optical from space, interferometry, high energy from space, particle astrophysics, theory and laboratory astrophysics, solar astronomy, planetary astronomy, computing and data processing, policy opportunities, benefits to the nation from astronomy and astrophysics, status of the profession, and science opportunities.
The problem of image management for NASA's Space Shuttle program and the future role of expert systems are considered. The difficulties involved in the storage and retrieval of the estimated 100,000 color photographs used for verification of essential installation, test, and repair procedures for Space Shuttle prelaunch are discussed. It is noted that the collection, classification, storage, and retrieval of high-quality pictoral images is possible through the use of pixels and an expert systems-assisted relational data base management system. The development of a query by pictorial example process is discussed. The NASA Intelligent Interactive Visual Data Base Management Systems project is detailed. It aims to conduct a systems analysis of a large-scale traditional image processing operation, collect data on critical human performance factors in the areas of image creation, processing, classification, storage, and retreival, and validate the attributes identified through the creation and testing of prototype models.
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This paper describes the importance of considering computer security as part of software quality assurance practice. The intended audience is primarily those professionals involved in the design, development, and quality assurance of software. Many issues are raised which point to the need ultimately for integration of quality assurance and computer security disciplines. To address some of the issues raised, the NASA Automated Information Security program is presented as a model which may be used for improving interactions between the quality assurance and computer security community of professionals.
Multilimbed industrial robots that have at least one arm and two or more legs are suggested for enlarging robot workspace in industrial automation. To plan the motion of a multilimbed robot, the arm-leg motion-coordination problem is raised and task decomposition is proposed to solve the problem; that is, a given task described by the destination position and orientation of the end-effector is decomposed into subtasks for arm manipulation and for leg locomotion, respectively. The former is defined as the end-effector position and orientation with respect to the legged main body, and the latter as the main-body position and orientation in the world coordinates. Three approaches are proposed for the task decomposition. The approaches are further evaluated in terms of energy consumption, from which an optimal approach can be selected.
The Raman Excitation + Laser Induced Electronic Fluorescence (RELIEF) velocity measurement method is based on vibrationally tagging oxygen molecules and observing their displacement after a short period of time. Two papers that discuss the use and implementation of the RELIEF technique are presented in this final report. Additionally, the end of the report contains a listing of the personnel involved and the reference documents used in the production of this final report.
The purpose of this experiment is to develop an in-depth understanding of the behavior of heat pipes in space. Both fixed conductance heat pipes (FCHPs) with axial grooves and variable conductance heat pipes (VCHPs) with porous wicks will be investigated. This understanding will be applied to the development of improved performance heat pipes subjected to various accelerations in space, including those encountered on a lunar base or Mars mission. More efficient, reliable, and lighter weight spacecraft thermal control systems should result from these investigations.
Previously, several research tasks have been conducted, some observations were obtained, and several possible suggestions have been contemplated involving software quality assurance engineering at NASA Johnson. These research tasks are briefly described. Also, a brief discussion is given on the role of software quality assurance in software engineering along with some observations and suggestions. A brief discussion on a training program for software quality assurance engineers is provided. A list of assurance factors as well as quality factors are also included. Finally, a process model which can be used for searching and collecting software quality assurance tools is presented.
The Hybrid Automated Reliability Predictor (HARP) integrated reliability (HiREL) workstation tool system marks another step toward the goal of producing a totally integrated computer aided design (CAD) workstation design capability. Since a reliability engineer must generally graphically represent a reliability model before he can solve it, the use of a graphical input description language increases productivity and decreases the incidence of error. The captured image displayed on a cathode ray tube (CRT) screen serves as a documented copy of the model and provides the data for automatic input to the HARP reliability model solver. The introduction of dependency gates to a fault tree notation allows the modeling of very large fault tolerant system models using a concise and visually recognizable and familiar graphical language. In addition to aiding in the validation of the reliability model, the concise graphical representation presents company management, regulatory agencies, and company customers a means of expressing a complex model that is readily understandable. The graphical postprocessor computer program HARPO (HARP Output) makes it possible for reliability engineers to quickly analyze huge amounts of reliability/availability data to observe trends due to exploratory design changes.
This is a report on the research conducted during the period October 1, 1991 through December 31, 1991. The research is divided into two primary areas: (1) generalization of the Fault Isolation using Bit Strings (FIBS) technique to permit fuzzy information to be used to isolate faults in the tracking and communications system of the Space Station; and (2) a study of the activity that should occur in the on board systems in order to attempt to recover from failures that are external to the Space Station.
The topics are presented in viewgraph form and include: project development; current system upgrade requirements; and ASAL 1992 objectives.
An in-house developed proprietary advanced computational fluid dynamics code called SHARP (Trademark) is a primary tool for many flow simulations and design analyses. The SHARP code is a time dependent, two dimensional (2-D) axisymmetric numerical solution technique for the compressible Navier-Stokes equations. The solution technique in SHARP uses a vectorizable implicit, second order accurate in time and space, finite volume scheme based on an upwind flux-difference splitting of a Roe-type approximated Riemann solver, Van Leer's flux vector splitting, and a fourth order artificial dissipation scheme with a preconditioning to accelerate the flow solution. Turbulence is simulated by an algebraic model, and ultimately the kappa-epsilon model. Some other capabilities of the code are 2-D two-phase Lagrangian particle tracking and cell blockages. Extensive development and testing has been conducted on the 3-D version of the code with flow, combustion, and turbulence interactions. The emphasis here is on the specific applications of SHARP in Solid Rocket Motor design. Information is given in viewgraph form.
Progress realized in the development of a Computer Aided Grid Interface (CAGI) software system in integrating CAD/CAM geometric system output and/or Interactive Graphics Exchange Standard (IGES) files, geometry manipulations associated with grid generation, and robust grid generation methodologies is presented. CAGI is being developed in a modular fashion and will offer fast, efficient and economical response to geometry/grid preparation, allowing the ability to upgrade basic geometry in a step-by-step fashion interactively and under permanent visual control along with minimizing the differences between the actual hardware surface descriptions and corresponding numerical analog. The computer code GENIE is used as a basis. The Non-Uniform Rational B-Splines (NURBS) representation of sculptured surfaces is utilized for surface grid redistribution. The computer aided analysis system, PATRAN, is adapted as a CAD/CAM system. The progress realized in NURBS surface grid generation, the development of IGES transformer, and geometry adaption using PATRAN will be presented along with their applicability to grid generation associated with rocket propulsion applications.