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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 1,711 records · Page 95
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Extended Impedance Control Using Real and Virtual Sensors for Redundant Manipulators

Control of a redundant manipulator based on an impedence control framework with multiple simultaneous control sources is described. Each control source provides a different behavior type. An application is decomposed into multiple simultaneous behaviors whose resultant behavior will provide the motion necessary to execute the task. The simultaneous control inputs are merged using impedance control to compute a resultant command to the manipulator. The task space of each behavior can have the dimensionality of the mechanism being controlled. Control of a seven degree of freedom manipulator is described here with an available task space for each behavior of dimensionality seven.

telerobotics control architecture simultaneous beh↗
NASA NTRS2002

Virtual real time

Explore the source record for details and available documents.

VRT flight software↗
NASA NTRS2007

Capabilities of NASA's Space Physics Data Facility as Resources to Enable the Heliophysics Virtual discipline Observatories (VxOs)

SPDF now supports a broad range of data, user services and other activities. These include: CDAWeb current multi-mission data graphics, listings, file subsetting and supersetting by time and parameters; SSCWeb and 3-D Java client orbit graphics, listings and conjunction queries; OMNIWeb 1/5/60 minute interplanetary parameters at Earth; product-level SPASE descriptions of data including holdings of nssdcftp; VSPO SPASE-based heliophysics-wide product site finding and data use;, standard Data format Translation Webservices (DTWS); metrics software and others. These data and services are available through standard user and application webservices interfaces, so middleware services such as the Heliophysics VxOs, and externally-developed clients or services, can readily leverage our data and capabilities. Beyond a short summary of the above, we will then conduct the talk as a conversation to evolving VxO needs and planned approach to leverage such existing and ongoing services.

McGuire, Robert E.↗
NASA NTRS2008

The School of Virtual Knocks: Learning from Doing--Without Pain of Mistakes

The present day educational process, as currently practiced, is no longer necessarily synonymous with learning, and the concept of learning is becoming disassociated with knowledge acquisition. True, learning is not accidental, nor is the absence of learning normally by choice. It is the result, intended or otherwise, of decisions made by government, researchers, educators, students, parents, and the wider community. It is underpinned by the quality of teaching, the relevancy of the instruction to the student's world, and the perseverance of the student's desire to learn. It is these choices that are driving the wedge between teaching and learning. The learning outcomes are derived by curriculum developers, educational psychologists, government and industry.Yet as advances in understanding how students learn have been made, the advances in technology, specifically models and simulation, which are able to underpin complex knowledge domains, have been left behind if not ignored. While a majority of stakeholders in education agree that the current educational environment is missing the mark, it is important to underpin those impressions with a basis of knowledge. This paper reviews education in order to foster the conclusion that education must change and that the enabling methodologies and technologies already exist in the form of models and simulation.

Darby, Michael↗
NASA NTRS2008

SHINE Virtual Machine Model for In-flight Updates of Critical Mission Software

This software is a new target for the Spacecraft Health Inference Engine (SHINE) knowledge base that compiles a knowledge base to a language called Tiny C - an interpreted version of C that can be embedded on flight processors. This new target allows portions of a running SHINE knowledge base to be updated on a "live" system without needing to halt and restart the containing SHINE application. This enhancement will directly provide this capability without the risk of software validation problems and can also enable complete integration of BEAM and SHINE into a single application. This innovation enables SHINE deployment in domains where autonomy is used during flight-critical applications that require updates. This capability eliminates the need for halting the application and performing potentially serious total system uploads before resuming the application with the loss of system integrity. This software enables additional applications at JPL (microsensors, embedded mission hardware) and increases the marketability of these applications outside of JPL.

Plesea, Lucian↗
NASA NTRS2008

Virtual Reality System Offers a Wide Perspective

Robot Systems Technology Branch engineers at Johnson Space Center created the remotely controlled Robonaut for use as an additional "set of hands" in extravehicular activities (EVAs) and to allow exploration of environments that would be too dangerous or difficult for humans. One of the problems Robonaut developers encountered was that the robot s interface offered an extremely limited field of vision. Johnson robotics engineer, Darby Magruder, explained that the 40-degree field-of-view (FOV) in initial robotic prototypes provided very narrow tunnel vision, which posed difficulties for Robonaut operators trying to see the robot s surroundings. Because of the narrow FOV, NASA decided to reach out to the private sector for assistance. In addition to a wider FOV, NASA also desired higher resolution in a head-mounted display (HMD) with the added ability to capture and display video.

Source record↗
NASA NTRS2009

Facilitating Heliophysics Research by the Virtual Wave Observatory (VWO) Context Data Search Capability

Wave phenomena, ranging from freely propagating electromagnetic radiation (e.g., solar radio bursts, AKR) to plasma wave modes trapped in various plasma regimes (e.g., whistlers, Langmuir and ULF waves) and atmospheric gravity waves, are ubiquitous in the heliosphere. Because waves can propagate, wave data obtained at a given observing location may pertain to wave oscillations generated locally or from afar. While wave data analysis requires knowledge of wave characteristics specific to different wave modes, the search for appropriate data for heliophysics wave studies also requires knowledge of wave phenomena. In addition to deciding whether the interested wave activity is electrostatic (i.e., locally trapped) or electromagnetic (with propagation over distances), considerations must be given to the dependence of the wave activity on observer's location or viewing geometry, propagating frequency range and whether the wave data were acquired by passive or active observations. Occurances of natural wave emissions i the magnetosphere (e.g, auroral kilometric radiation) are often dependent also on the state (e.e., context) of the magnetosphere that varies with the changing solar wind, IMF and geomagnetic conditions. Fung and Shao [2008] showed recently that magnetospheric state can be specified by a set of suitably time-shifted solar wind, IMF and the multi-scale geomagnetic response parameters. These parameters form a magnetospheric state vector that provides the basis for searching magnetospheric wave data by their context conditions. Using the IMAGE Radio Plasma Imager (RPI) data and the NASA Magnetospheric State Query System (MSOS) [Fung, 2004], this presentation demonstrates the VWO context data search capability under development and solicits feedback from the Heliophysics research community for improvements.

Fung, Shing F.↗
NASA NTRS2010

Route Generation for a Synthetic Character (BOT) Using a Partial or Incomplete Knowledge Route Generation Algorithm in UT2004 Virtual Environment

This paper presents a new Route Generation Algorithm that accurately and realistically represents human route planning and navigation for Military Operations in Urban Terrain (MOUT). The accuracy of this algorithm in representing human behavior is measured using the Unreal Tournament(Trademark) 2004 (UT2004) Game Engine to provide the simulation environment in which the differences between the routes taken by the human player and those of a Synthetic Agent (BOT) executing the A-star algorithm and the new Route Generation Algorithm can be compared. The new Route Generation Algorithm computes the BOT route based on partial or incomplete knowledge received from the UT2004 game engine during game play. To allow BOT navigation to occur continuously throughout the game play with incomplete knowledge of the terrain, a spatial network model of the UT2004 MOUT terrain is captured and stored in an Oracle 11 9 Spatial Data Object (SOO). The SOO allows a partial data query to be executed to generate continuous route updates based on the terrain knowledge, and stored dynamic BOT, Player and environmental parameters returned by the query. The partial data query permits the dynamic adjustment of the planned routes by the Route Generation Algorithm based on the current state of the environment during a simulation. The dynamic nature of this algorithm more accurately allows the BOT to mimic the routes taken by the human executing under the same conditions thereby improving the realism of the BOT in a MOUT simulation environment.

Hanold, Gregg T.↗