ALBERT

Beschreibung: This viewgraph presentation covers the following topics. Construction activities envisioned for the assembly of large platforms in space (as well as interplanetary spacecraft and bases on extraterrestrial surfaces) require computational tools that exceed the capability of conventional construction management programs. The Center for Space Construction is investigating the requirements for new computational tools and, at the same time, suggesting the expansion of graduate and undergraduate curricula to include proficiency in Computer Aided Engineering (CAE) though design courses and individual or team projects in advanced space systems design. In the center's research, special emphasis is placed on problems of constructability and of the interruptability of planned activity sequences to be carried out by crews operating under hostile environmental conditions. The departure point for the planned work is the acquisition of the MCAE I-DEAS software, developed by the Structural Dynamics Research Corporation (SDRC), and its expansion to the level of capability denoted by the acronym IDEAS**2 currently used for configuration maintenance on Space Station Freedom. In addition to improving proficiency in the use of I-DEAS and IDEAS**2, it is contemplated that new software modules will be developed to expand the architecture of IDEAS**2. Such modules will deal with those analyses that require the integration of a space platform's configuration with a breakdown of planned construction activities and with a failure modes analysis to support computer aided system engineering (CASE) applied to space construction.

Beschreibung: Through the Surveyor 3 and 7, and Apollo 11-17 missions a knowledge of the mechanical properties of Lunar regolith were gained. These properties, including material cohesion, friction, in-situ density, grain-size distribution and shape, and porosity, were determined by indirect means of trenching, penetration, and vane shear testing. Several of these properties were shown to be significantly different from those of terrestrial soils, such as an interlocking cohesion and tensile strength formed in the absence of moisture and particle cementation. To characterize the strength and deformation properties of Lunar regolith experiments have been conducted on a lunar soil simulant at various initial densities, fabric arrangements, and composition. These experiments included conventional triaxial compression and extension, direct tension, and combined tension-shear. Experiments have been conducted at low levels of effective confining stress. External conditions such as membrane induced confining stresses, end platten friction and material self weight have been shown to have a dramatic effect on the strength properties at low levels of confining stress. The solution has been to treat these external conditions and the specimen as a full-fledged boundary value problem rather than the idealized elemental cube of mechanics. Centrifuge modeling allows for the study of Lunar soil-structure interaction problems. In recent years centrifuge modeling has become an important tool for modeling processes that are dominated by gravity and for verifying analysis procedures and studying deformation and failure modes. Centrifuge modeling is well established for terrestrial enginering and applies equally as well to Lunar engineering. A brief review of the experiments is presented in graphic and outline form.

Beschreibung: Nonthermal radio emissions from earth, Jupiter, Saturn, and Uranus are reviewed. The dominant source of emission at each planet appears to be AKR-like auroral emission in the X-mode. O-mode emissions are substantially responsible. There is a remarkably constant scaling factor relating the total solar wind input power into each planetary system and the AKR-like auroral emissions.

Beschreibung: This article presents the results of a fit of a model of the Martian satellite orbits to earthbased and spacecraft-based observations. An assessment of the orbit accuracies is given and the orbits are compared with those obtained by previous investigators.

Beschreibung: The petrology and chronology of early lunar crust is examined using the least equivocal of the available petrographic and age data on lunar rock samples, and the possible processes which produced the lunar crust are discussed. The results suggest that the lunar anorthositic crust was formed by about 120 Ma after the primary accretion of the moon at 4.56 Ga. At least some members of the diverse Mg-suites of rocks, such as norites, troctolites, and dunites, crystallized within a very few 100s of Ma after 4.56 Ga. A trace-element-rich material (KREEP) was formed by about 4.3 Ga ago, and this residue was subsequently reworked in melting and impact processes such that most samples which contain it have ages around 3.9-4.0 Ga. The findings also suggest that the onset of ferrous mare basalt volcanism began about 4.33 Ga, much earlier than was once assumed, and was still in process before the end of the most intense period of bombardment (3.9-4.0 Ga ago).

Beschreibung: The findings made by the Voyager 2 Neptune encounter are reviewed. Data on the bowshock, magnetic field, magnetosphere, rings, plasma sheet, aurora, moons, and dust of Neptune are discussed. Findings made concerning Triton are summarized.

Beschreibung: The composition of lunar regolith and its attendant properties are discussed. Tables are provided listing lunar minerals, the abundance of plagioclase feldspar, pyroxene, olivine, and ilmenite in lunar materials, typical compositions of common lunar minerals, and cumulative grain-size distribution for a large number of lunar soils. Also provided are charts on the chemistry of breccias, the chemistry of lunar glass, and the comparative chemistry of surface soils for the Apollo sites. Lunar agglutinates, constructional particles made of lithic, mineral, and glass fragments welded together by a glassy matrix containing extremely fine-grained metallic iron and formed by micrometeoric impacts at the lunar surface, are discussed. Crystalline, igneous rock fragments, breccias, and lunar glass are examined. Volatiles implanted in lunar materials and regolith maturity are also addressed.

Beschreibung: Theoretical models of planetary-ring dynamics are discussed in a detailed analytical review and illustrated with graphs and diagrams. The streamline concept is introduced, and the phenomena associated with the transport of angular momentum are described. Particular attention is then given to (1) broad rings like those of Saturn (shepherding, density-wave excitation, gaps, bending-wave excitation, multiringlet structures, inner-edge shepherding, and the possibility of polar rings around Neptune), (2) narrow rings like those of Uranus (shepherding, ring shapes, and a self-gravity model of rigid precession), and (3) ring arcs like those seen in stellar-occultation observations of Neptune.

Beschreibung: Images of Neptune obtained by the narrow-angle camera of the Voyager 2 spacecraft reveal large-scale cloud features that persist for several months or longer. The features' periods of rotation about the planetary axis range from 15.8 to 18.4 hours. The atmosphere equatorward of -53 deg rotates with periods longer than the 16.05-hour period deduced from Voyager's planetary radio astronomy experiment (presumably the planet's internal rotation period). The wind speeds computed with respect to this radio period range from 20 meters per second eastward to 325 meters per second westward. Thus, the cloud-top wind speeds are roughly the same for all the planets ranging from Venus to Neptune, even though the solar energy inputs to the atmospheres vary by a factor of 1000.

Beschreibung: The theory of turbulent plumes maintained above steady line sources of buoyancy is worked out in detail within the limitations of Taylor's entrainment assumption. It is applied to the structure of a pure plume injected into a stably stratified atmosphere. Volcanic basalt eruptions that develop from long, narrow vents create line source plumes, which rise well above the magmatic fire fountains playing near the ground level. The eruption of Laki in 1783 may provide an example of this style of eruption. Flood basalts are more ancient examples. Evidence of enormous fissure eruptions that occurred in the past on Mars and Venus also exists. Owing to the different properties of the atmospheres on these two planets from those on the earth, heights of line source plumes are expected to vary in the ratios 1:6:0.6 (earth:Mars:Venus). It is very unlikely that the observed increase of sulfur dioxide above the Venusian cloud deck in 1978 could have been due to a line source volcanic eruption, even if it had been a flood basalt eruption.

Beschreibung: An analytical and numerical study of the stability of polar rings around Neptune is presented. The stability proofs are based on various methods used to study gas disks in galaxies. It is shown that stable polar rings can exist despite energy dissipation by collisions between particles. Also, four equilibrium orientations which pass nearly over the pole of Neptune are found, two of which are stable in the presence of dissipation.

Beschreibung: Issues related to the establishment of lunar observatories are briefly addressed. The advantages of placing an observatory in a crater at one of the poles, where permanent darkness exists, are pointed out, and the methods required to emplace and operate such an observatory are considered. Planning for the installation of the first set of observatory instruments is discussed.

Beschreibung: The authors describe an intelligent tool designed to aid managers of software development projects in planning, managing, and controlling the development process of medium- to large-scale software projects. Its purpose is to reduce uncertainties in the budget, personnel, and schedule planning of software development projects. It is based on dynamic model for the software development and maintenance life-cycle process. This dynamic process is composed of a number of time-varying, interacting developmental phases, each characterized by its intended functions and requirements. System dynamics is used as a modeling methodology. The resulting Software LIfe-Cycle Simulator (SLICS) and the hybrid expert simulation system of which it is a subsystem are described.

Beschreibung: The phenomena of the Saturn system discovered by the Voyager missions are addressed. The characteristics of the rings, including grooves, spikes, and warps, are described, and the discovery of bombarded rings and young rings is discussed. The unique and unexplained properties of Enceladus are summarized, and the possibility that some moons of Saturn have been reassembled is addressed. The interaction of moons with the rings is examined, and the possibility that Titan's atmosphere may contain complex molecules that are the precursors of life is considered.

Beschreibung: Spectral data from earth observations have indicated the presence of N2 and CH4 on Triton. This paper outlines the use of the 1-D radiative-convective model developed for Titan to calculate the current pressure of N2 and CH4 on Triton. The production of haze material is obtained by scaling down from the Titan value. Results and predictions for the Voyager Triton encounter are as follows: A N2-CH4 atmosphere on Triton is thermodynamically self consistent and would have a surface pressure of approximately 50 millibar; due to the chemically produced haze, Triton has a hot atmosphere with a temperature of approximately 130 K; Triton's troposphere is a region of saturation of the major constituent of the atmosphere, N2.

Beschreibung: The process by which ambient gases can be implanted into silicates by shocks was investigated by analyzing the noble-gas content of several experimentally and naturally shocked silicate samples. The retentivity of shock-implanted gas during stepwise heating in the laboratory was defined in terms of two parameters, namely, the activation energy for diffusion and the extraction temperature at which 50 percent of the gas is released, both of which correlate with the shock pressure. The experiments indicate that, with increasing shock pressure, gas implantation occurs through an increasing production of microcracks/defects in the silicate lattice. The degree of annealing of these defects control the degree of diffusive loss of implanted gas.

Beschreibung: The long-term modulation of Saturn's nonthermal radio emission in the kilometric wavelength range has been studied based upon data obtained by Voyagers 1 and 2. A comparison of the ballistic and hydrodynamic propagation of solar wind features from the spacecraft to Saturn allows the uncertainty inherent in the projection to be determined. The results confirm the previous suggestion that momentum, ram pressure, and kinetic energy flux are the primary solar wind parameters that drive the nonthermal radio emission. It is suggested that, under certain conditions and for limited periods of time, the magnetic properties and time derivatives of the solar wind have increased importance.

Beschreibung: It has been observed from the plasma experiments on the Pioneer Venus Orbiter that the altitude of the upper boundary of the ionosphere decreases in response to increasing solar wind dynamic pressure. However, at pressures above about 2.5 x 10 to the -8th dynes/sq cm, the further decrease in the ionopause height is rather small. Following the model of Cloutier et al. (1969), it is suggested that during high solar wind conditions, when the ionopause is formed at lower altitudes, the solar wind induces vertical and horizontal flows which sweep away the ionospheric plasma that is produced locally by photoionization. As a result, a disturbed photodynamical ionosphere is formed which has the scale height of the ionizable neutral constituent. It is shown that such a photodynamical ionosphere is observed at the subsolar ionopause under these conditions. As a consequence of this interaction, the ionopause altitude is observed to follow the small-scale height of the ionizable species, atomic oxygen, showing only small changes with solar wind pressure.

Beschreibung: Asteroids appear in light of telescopic and meteority studies to be the most accessible repositories of early solar system history available. In the cooler regions of the outer asteroid belt, apparently unaffected by severe heating, the C, P, and D populations appear to harbor significant inventories of volatiles; the larger primordial belt population may have had an even greater percentage of volatile-rich, low-albedo asteroids, constituting a potent asteroid for veneering early terrestrial planet atmospheres. The volatile-rich asteroids contain carbon, structurally bound and adsorbed water, as well as remnants of interstellar material predating the solar system.

Beschreibung: The development and implementation of the Voyager missions are reviewed. The interplanetary missions preceding Voyager are discussed, focusing on the technological development leading up to the Voyager spacecraft. The main results from Voyager observations of Jupiter, Saturn, and Uranus are outlined. Also, consideration is given to the prospects for observations of Neptune.

Beschreibung: Isotopic analysis of nesquehonite recovered from the surface of the LEW 85320 H5 ordinary chondrite shows that the delta C-13 and delta O-18 values of the two generations of bicarbonate (Antarctic and Texas) are different: delta C-13 = + 7.9 per mil and + 4.2 per mil; delta O-18 = + 17.9 per mil and + 12.1 per mil, respectively. Carbon isotopic compositions are consistent with equilibrium formation from atmospheric carbon dioxide at - 2 + or - 4 C (Antarctic) and + 16 + or - 4 C (Texas). Oxygen isotopic data imply that the water required for nesquehonite precipitation was derived from atmospheric water vapor or glacial meltwater which had locally exchanged with silicates, either in the meteorite or in underlying bedrock. Although carbonates with similar delta C-13 values have been identified in the SNC meteorites EETA 79001 and Nakhla, petrographic and temperature constraints argue against their simply being terrestrial weathering products.

Beschreibung: The inherent strong seriality of closely coupled systems is circumvented by defining a family of permutations for reordering equation sets whose matrix of coefficients is Hermitian block tridiagonal. The authors show how these permutations can be used to achieve relatively high concurrency in the Cholesky factorization of banded systems at the expense of introducing limited extra computations due to fill-in terms in the factors. Directed graphs are developed for the concurrent factorization of the transformed matrix of coefficients by the Cholesky algorithm. Expressions for speedup and efficiency are derived in terms of parameters of the permutation, set of equations, and machine architecture.

Beschreibung: A primary concern in the formation of a multinational Mars-exploration program is that of technology transfer, which would be most acute in the U.S./U.S.S.R. case but would exist in lesser degree among other nations. Another concern is that of management-complexity, which could inflate total costs and substantially counteract the anticipated benefits of spreading program costs among a number of nations. It is presently suggested that these problems can be substantially reduced by having each nation become responsible for one (or more) complete flight system. Each nation's role in mission operations must be clear, and the cleanliness of interfaces among flight systems must carry over into mission operations.

Beschreibung: The development history and characteristics of the interactive trajectory-optimization programs MOSES (D'Amario et al., 1981) and PLATO (D'Amario et al., 1982) are briefly reviewed, with an emphasis on their application to the Galileo mission. The requirements imposed by a mission involving flybys of several planetary satellites or planets are discussed; the formulation of the parameter-optimization problem is outlined; and particular attention is given to the use of multiconic methods to model the gravitational attraction of Jupiter in MOSES. Diagrams and tables of numerical data are included.

Beschreibung: NASA-Lewis has developed a public-domain computer program, designated 'Ceramic Analysis and Reliability Evaluation of Structures' (CARES) for calculating the fast-fracture reliability of macroscopically isotropic ceramic components subjected to the complex thermomechanical loadings typical of heat engines. The design methodology employed by CARES encompasses linear elastic fracture mechanics theory, extreme value statistics, and material microstructures; component integrity is conceived as a function of the entire field solution of the stresses, rather than being based solely on the most highly stressed point.

Beschreibung: Algorithms for geometrically nonlinear finite element analysis are presented which exploit the vector processing capability of the VPS-32, which is closely related to the CYBER 205. By manipulating vectors (which are long lists of numbers) rather than individual numbers, very high processing speeds are obtained. Long vector lengths are obtained without extensive replication or reordering by storage of intermediate results in strategic patterns at all stages of the computations. Comparisons of execution times with those from programs using either scalar or other vector programming techniques indicate that the algorithms presented are quite efficient.

Beschreibung: Observations of the stratospheric IR emission structure on Saturn are presented. The high-spatial-resolution global images show a variety of new features, including a narrow equatorial belt of enhanced emission at 7.8 micron, a prominent symmetrical north polar hotspot at all three wavelengths, and a midlatitude structure which is asymmetrically brightened at the east limb. The results confirm the polar brightening and reversal in position predicted by recent models for seasonal thermal variations of Saturn's stratosphere.

Beschreibung: An overview of the Voyager 2 encounter with Neptune is presented, including a brief discussion of the trajectory, the planned observations, and highlights of the results described in the 11 companion papers. Neptune's blue atmosphere has storm systems reminiscent of those in Jupiter's atmosphere. An optically thin methane ice cloud exists near the 1.5-bar pressure level, and an optically thick cloud exists below 3 bars. Neptune's magnetic field is highly tilted and offset from the planet's center; it rotates with a period of 16.11 hours. Two narrow and two broad rings circle the planet; the outermost of these rings has three optically thicker arc segments. Six new moons were discovered in circular prograde orbits, all well inside Triton's retrograde orbit. Triton has a highly reflective and geologically young surface, a thin nitrogen atmosphere, and at least two active geyser-like plumes.

Beschreibung: Recent models of the internal structure of Pluto and Charon, made possible by analysis of the Pluto/Charon mutual events are reviewed. At a mean density of just over 2 g/cu cm and a predicted rock mass fraction of roughly 0.7, the Pluto/Charon system is significantly rockier than the icy satellites of the giant planets, a contrast which may reflect its formation in a CO-rich outer solar nebula rather than a circumplanetary nebula. Pluto and Charon may in fact be so rocky that they lost volatiles early in their history (possibly during a Charon-forming impact event), although this is still an open issue.

Beschreibung: Preliminary results from electric field measurements in the environment of Mars using the plasma-wave system on board Phobos 2 are reported. Electron-plasma oscillations observed upstream of the bow shock correspond to a solar-wind density of 2/cu cm. The shock-foot boundary was crossed up to three times on each orbit. The shock ramp was detected at altitudes between 0.45 and 0.75 Mars radii R(M) above the planetary surface. The density increased by about a factor of two at the ramp. The shock position, although variable, seems to be consistent with previous measurements. The downstream magnetosheath contained broadband electric-field noise below the plasma frequency. The boundary of th obstacle, or plasmapause, was crossed at altitudes of the order of 0.28 R(M); the cold plasma density was highly variable within the planetopause and reached the unexpected value of 700/cu cm on the third orbit, at 0.25 R(M) altitude. Bursts of waves with frequencies below the electron cyclotron frequency occur within the planetopause.

Beschreibung: The magnetic fields of Mars have been measured from Phobos 2 with high temporal resolution in the tail and down to an 850-km altitude. During four successive highly elliptical orbits, the position of the bow shock as well as that of a transition layer, the 'planetopause', were identified. Subsequent circular orbits at 6000-km altitude provided the first high-resolution data in the planetary tail and indicate that the interplanetary magnetic field mainly controls the magnetic tail. Magnetic turbulence was also detected when the spacecraft crossed the orbit of Phobos, indicating the possible existence of a torus near the orbit of this moon.

Beschreibung: The formation of the ice-rock cores of the giant planets by density wave-assisted accretion is outlined. The process could be rapid (100,000-1,000,000 yr) and completed within the probable lifetime of the solar nebula. The mechanism works for both Jupiter and Saturn and does not require a large excess of mass over that believed present in their cores.

Beschreibung: This paper identifies and documents several well-preserved examples of Martian strike-slip faults and examines their relationships to wrinkle-ridges. The strike-slip faulting predates or overlaps periods of wrinkle-ridge growth southeast of Valles Marineris, and some wrinkle ridges may have nucleated and grown as a result of strike-slip displacements along the echelon fault arrays. Lateral displacements of several km inferred along these arrays may be related to tectonism in Tharsis.

Beschreibung: Results are presented on the long-term behavior of the main peak electron density in the Venus ionosphere during the solar cycle 21, based on 104 radio occultation measurements of the vertical electron density profile in the dayside ionosphere of Venus carried out aboard the Pioneer Venus Orbiter spacecraft (along with published data on 11 Venera 9-10 measurements). The equation representing the electron temperature at h = 140 km is presented. The results imply that the electron temperature at h = 140 km decreased by about 25 percent from solar maximum to solar minimum, compared to a decrease of 50-75 percent above 200 km found by Kliore and Mullen (1989).

Beschreibung: Theoretical models of early Martian atmospheric evolution describe the maintenance of a dense CO2 atmosphere and a warm, wet climate until the end of the heavy-bombardment phase of impacting. However, the presence of very young, earthlike fluvial valleys on the northern flank of Alba Patera conflicts with this scenario. Whereas the widespread ancient Martian valleys generally have morphologies indicative of sapping erosion by the slow outflow of subsurface water, the local Alba valleys were probably formed by surface-runoff processes. Because subsurface water flow might be maintained by hydrothermal energy inputs and because surface-runoff valleys developed late in Martian history, it is not necessary to invoke drastically different planet-wide climatic conditions to explain valley development on Mars. The Alba fluvial valleys can be explained by hydrothermal activity or outflow-channel discharges that locally modified the atmosphere, including precipitation and local overland flow on low-permeability volcanic ash.

Beschreibung: On the Mars rover sample-return mission, the rover vehicle will collect and select samples from different locations on the Martian surface to be brought back to earth for laboratory studies. It is anticipated that an in situ energy-dispersive X-ray fluorescence (XRF) spectrometer will be on board the rover. On such a mission, sample selection is of higher priority than in situ quantitative chemical anlaysis. With this in mind, a pattern recognition technique is proposed as a simple, direct, and speedy alternative to detailed chemical analysis of the XRF spectra. The validity and efficacy of the pattern recognition technique are demonstrated by the analyses of laboratory XRF spectra obtained from a series of geological samples, in the form both of standardized pressed pellets and as unprepared rocks. It is found that pattern recognition techniques applied to the raw XRF spectra can provide for the same discrimination among samples as a knowledge of their actual chemical composition.

Beschreibung: The present photoelectric lightcurve observations of 44 Nysa at one aspect, and 64 Angelina at both polar aspects, indicate the presence of an opposition spike or brightening of approximately 0.25 mag within several deg of zero-phase angle. Since the three curves are identical within the bounds of observational scatter, the opposition spike cannot be judged anomalous within the asteroid taxonomic class E. The general similarity of the observed phase curves to those of the Uranian satellites and the rings of Saturn supports the status of the spike as an ordinary property of moderate-to-high albedo atmosphereless surfaces.

Beschreibung: In order to ascertain the features of organic compound-production in planetary atmospheres under the effects of plasmas and shocks, various mixtures of N2, CH4, and H2 modeling the atmosphere of Titan were subjected to discrete sparks, laser-induced plasmas, and UV radiation. The experimental results obtained suggest that UV photolysis from the plasma is an important organic compound synthesis process, as confirmed by the photolysis of gas samples that were exposed to the light but not to the shock waves emitted by the sparks. The thermodynamic equilibrium theory is therefore incomplete in the absence of photolysis.

Beschreibung: An account is given of the results of photometric light curve observations in the V band for asteroids, yielding estimates of the mean and maximum reduced magnitudes for each object. On the basis of fits of the H-G magnitude relation for 33 objects, the mean values of the slope parameter are examined for different taxonomic classes; these values are then applied to the analysis of less complete data sets. While in the case of the moderate albedo S and M class asteroids the H-G relation appears to fit the available data, the relation for dark asteroids appears to predict more of an opposition than is characteristically present.

Beschreibung: Voyager imaging, radio occultation, and stellar occultation data for the regular structure of Saturn's inner Cassini Division are presently analyzed. The regular optical depth variation observed by the radio occultation experiment scan and the feature noted in Voyager images is the same structure, namely the gravitational wakes of two 10-km radius satellites orbiting within the division. The structure is azimuthally symmetric, and is judged to rule out the possibility that large moonlets may be responsible for the observed structure.

Beschreibung: TEM and IR spectroscopy investigations of the interplanetary dust particles (IDPs) collected in the stratosphere have shown the majority of IDPs in the layer-lattice silicate and pyroxene classes to not have been heated to temperatures above 600 C during atmospheric entry. This implies that they arrive at the upper atmosphere with low geocentric encounter velocities, and limits the possible encounter trajectories for these particles to relatively circular prograde orbits. On this basis, it is judged unlikely that these IDPs are from earth-crossing comets or asteroids; collected IDPs dominated by olivine include a larger portion of above-600 C-heated particles, suggesting their capture from more eccentric orbits.

Beschreibung: The present examination of the west Deuteronilus Mensae region of Mars notes the changes in fretted terrain across the gradational boundary from uplands to lowlands to include a reduction of canyon wall slopes and depths, so that the fretted terrain north of the gradational boundary appears matted, but not obscured. The two process-classes that may account for the lateral overlap are the erosion of stratified upland terrain, and the deposition of plains materials onto the sloping upland margin and fretted terrain. A variety of plains-emplacement mechanisms is considered.

Beschreibung: The compositional contrast between the giant-planet satellites and the significantly rockier Pluto/Charon system is indicative of different formation mechanisms; cosmic abundance calculations, in conjunction with an assumption of the Pluto/Charon system's direct formation from solar nebula condensates, strongly suggest that most of the carbon in the outer solar nebula was in CO form, in keeping with both the inheritance from the dense molecular clouds in the interstellar medium, and/or the Lewis and Prinn (1980) kinetic-inhibition model of solar nebula chemistry. Laboratory studies of carbonaceous chondrites and Comet Halley flyby studies suggest that condensed organic material, rather than elemental carbon, is the most likely candidate for the small percentage of the carbon-bearing solid in the outer solar nebula.

Beschreibung: An attempt is made to provide a constraint on the combined mass of Janus and Epimetheus from an analysis of Voyager I and Voyager 2 data and ground-based observations obtained during the 1966 and 1980 ring plane crossings. The results of the analysis presented here suggest that the total mass is 2.59 + or - 0.26 x 10 to the 21st g, the mass ratio is 3.61 + or - 0.01, and Janus' density is 0.67 + or - 0.10 g/cu cm. The low density of Janus is attributed to its porosity rather than composition.

Beschreibung: A coordinated multinational Mars Surveyor Program involving a series of robotic missions is proposed in order to select worthwhile human landing sites for discoveries, for safe operations, and for testing and proving technologies for making human flight to Mars possible. Some characteristics motivating exploration of the planet are briefly discussed, including the possibility of life, geological features, and meteorological conditions. The necessity for preliminary exploration of Mars by robots prior to human exploration is discussed, and the rationale behind a multinational approach for a Mars Surveyor Program is presented.

Beschreibung: Arecibo high-resolution (1.5 to 2 km) radar data of Venus for the area extending from Beta Regio to western Eisila Regio provide strong evidence that the mountains in Beta and Eisila Regiones and plains in and adjacent to Guinevere Planitia are of volcanic origin. Recognized styles of volcanism include large volcanic edifices on the Beta and Eisila rises related to regional structural trends, plains with multiple source vents and a mottled appearance due to the ponding of volcanic flows, and plains with bright features surrounded by extensive quasi-circular radar-dark halos. The high density of volcanic vents in the plains suggests that heat loss by abundant and widely distributed plains volcanism may be more significant than previously recognized. The low density of impact craters greater than 15 km in diameter in this region compared to the average density for the higher northern latitudes suggests that the plains have a younger age.

Beschreibung: In February and March 1989 the Phobos 2 spacecraft took 37 television images of Phobos from a distance of 190-1100 km. The data are being used to update the three-dimensional model of Phobos, to provide improved determinations of its density and orbital dynamics, and to study its surface color, composition, and texture. Preliminary findings are presented here which include different integrated photometric behavior in visible and near-infrared bands, observation of a region immediately west of Stickney which is relatively free of large grooves, the prevalence of bright rims on grooves and younger craters, and low bulk density.

Beschreibung: The nearly ubiquitous presence of a negative Eu anomaly in the mare basalts has been suggested to indicate prior separation and flotation of plagioclase from the basalt source region during its crystallization from a lunar magma ocean (LMO). Are there any mare basalts derived from a mantle source which did not experience prior plagioclase separation? Crystal chemical rationale for REE substitution in pyroxene suggests that the combination of REE size and charge, M2 site characteristics of pyroxene, fO2, magma chemistry, and temperature may account for the negative Eu anomaly in the source region of some types of primitive, low TiO2 mare basalts. This origin for the negative Eu anomaly does not preclude the possibility of the LMO as many mare basalts still require prior plagioclase crystallization and separation and/or hybridization involving a KREEP component.

Beschreibung: Pioneer Venus ion composition measurements are used to study the Venus ionosphere during solar minimum. It is suggested that the topside electron density profile at Venus during solar minimum has two distinct regimes. One beween 140 and 180 km is dominated by O2(+) ions which are in photochemical equilibrium. The other regime is above 180 km and is dominated by O(+) ions which are disturbed by the solar wind induced plasma transport. For Pioneer Venus, Mariner 10, and Venera 9 and 10 data, it is found that Venus exhibits a photodynamical type of ionopause during solar minimum.

Beschreibung: Voyager 2's IR observations of Neptune encompass thermal emissions and broadband radiometer measurements of reflected solar radiation. Temperature maps were obtained for the planet between 80 deg S and 30 deg N for two atmospheric layers, one in the lower stratosphere and the other in the troposphere. The relatively warm pole and equator, with cooler midlatitudes, are qualitatively similar to Uranus, despite the two planets' very different obliquities and internal heat fluxes. Powerful wavelike longitudinal thermal structure is noted, of which some appears to be associated with the Great Dark Spot; a localized cold region uncorrelated with any visible feature is found in the lower stratosphere.

Beschreibung: Detection of very intense short radio bursts from Neptune was possible as early as 30 days before closest approach and at least 22 days after closest approach. The bursts lay at frequencies in the range 100 to 1300 kilohertz, were narrowband and strongly polarized, and presumably originated in southern polar regions of the planet. Episodes of smooth emissions in the frequency range from 20 to 865 kilohertz were detected during an interval of at least 10 days around closest approach. The bursts and the smooth emissions can be described in terms of rotation in a period of 16.11 + or - 0.05 hours. The bursts came at regular intervals throughout the encounter, including episodes both before and after closest approach. The smooth emissions showed a half-cycle phase shift between the five episodes before and after closest approach. This experiment detected the foreshock of Neptune's magnetosphere and the impacts of dust at the times of ring-plane crossings and also near the time of closest approach. Finally, there is no evidence for Neptunian electrostatic discharges.

Beschreibung: Based on the success of several two-dimensional (latitude, longitude) linear barotropic instability models at matching some of the observed characteristics of the cloud level, polar region of the Venus atmosphere, a more realistic, linear, three-dimensional (height, latitude and longitude) model has been developed to further test the hypothesis that the observed features can be described by linear instability theory. The approach taken is to vary the model input parameters to see whether it is possible to produce modes that resemble the observations of wave activity and to compare those input parameters with other observations of the mean state. Sensitivity studies show that in addition to a well-documented dependence on the mean zonal wind, the growth and propagation of unstable modes depends on the latitude variation of the mean temperature (and hence static stability). These studies have led to the specification of a model basic state wind and temperature field that produces modes which are matched to observations of spatial structure, preferred wavenumber and phase speed of the polar disturbances. Wavenumber 2 is found to have the shortest growth time and unlike the two-dimensional results, wavenumbers 1-3 share a nearly common period of about 3 days. The derived basic state has a temperature field that is quite similar to Pioneer Venus observations; however, in some regions the model basic state wind field departs from cyclostrophic values based on temperature observations.

Beschreibung: The acceptance test errors of a computer software project to determine if the errors could be detected or avoided in earlier phases of development. GROAGSS (Gamma Ray Observatory Attitude Ground Support System) was selected as the software project to be examined. The development of the software followed the standard Flight Dynamics Software Development methods. GROAGSS was developed between August 1985 and April 1989. The project is approximately 250,000 lines of code of which approximately 43,000 lines are reused from previous projects. GROAGSS had a total of 1715 Change Report Forms (CRFs) submitted during the entire development and testing. These changes contained 936 errors. Of these 936 errors, 374 were found during the acceptance testing. These acceptance test errors were first categorized into methods of avoidance including: more clearly written requirements; detail review; code reading; structural unit testing; and functional system integration testing. The errors were later broken down in terms of effort to detect and correct, class of error, and probability that the prescribed detection method would be successful. These determinations were based on Software Engineering Laboratory (SEL) documents and interviews with the project programmers. A summary of the results of the categorizations is presented. The number of programming errors at the beginning of acceptance testing can be significantly reduced. The results of the existing development methodology are examined for ways of improvements. A basis is provided for the definition is a new development/testing paradigm. Monitoring of the new scheme will objectively determine its effectiveness on avoiding and detecting errors.

Beschreibung: In space teleoperation additional problems arise, including signal transmission time delays. These can greatly reduce operator performance. Recent advances in graphics open new possibilities for addressing these and other problems. Currently a multi-camera system with normal 3-D TV and video graphics capabilities is being developed. Trained and untrained operators will be tested for high precision performance using two force reflecting hand controllers and a voice recognition system to control two robot arms and up to 5 movable stereo or non-stereo TV cameras. A number of new techniques of integrating TV and video graphics displays to improve operator training and performance in teleoperation and supervised automation are evaluated.

Beschreibung: Geometric uncertainty may cause various failures during the execution of a robot control program. Avoiding such failures makes it necessary to reason about the effects of uncertainty in order to implement robust strategies. Researchers first point out that a manipulation program has to be faced with two types of uncertainty: those that might be locally processed using appropriate sensor based motions, and those that require a more global processing leading to insert new sensing operations. Then, they briefly describe how they solved the two related problems in the SHARP system: how to automatically synthesize a fine motion strategy allowing the robot to progressively achieve a given assembly relation despite position uncertainty, and how to represent uncertainty and to determine the points where a given manipulation program might fail.

Beschreibung: Many lobbyists in Washington have argued that artificial intelligence (AI) is an alternative to manned space activity. In actuality, this is the opposite of the truth, especially as regards artificial neural networks (ANNs), that form of AI which has the greatest hope of mimicking human abilities in learning, ability to interface with sensors and actuators, flexibility and balanced judgement. ANNs and their relation to expert systems (the more traditional form of AI), and the limitations of both technologies are briefly reviewed. A Few highlights of recent work on ANNs, including an NSF-sponsored workshop on ANNs for control applications are given. Current thinking on ANNs for use in certain key areas (the National Aerospace Plane, teleoperation, the control of large structures, fault diagnostics, and docking) which may be crucial to the long term future of man in space is discussed.

Beschreibung: An approach is presented to the integrated design problem for actively controlled large, flexible mechanical systems for which Control Structure Interaction (CSI) problems are of concern. The two coupled design problems were identified as the optimal Structural Design problem the optimal Controller Design problem. These two problems can be addressed within a decision making loop that would consider each separately, and then sequentially analyze the effects of one on the other. Embedded in such a loop would be the simulation and coordination tasks as part of the decision tools required in a total (software) package. All of the above are compute-intensive tasks. In any such task, possible decompositions and gains due to the inherent parallelism have to be exploited. The problems under consideration, as applied to large flexible mechanical structures, are particularly suited to be mapped onto multicomputer systems in a hypercube topology.

Beschreibung: A parallel processing scheme for a single chain robot arm is presented for high speed computation on a shared memory multiprocessor. A recursive formulation that is derived from a virtual work form of the d'Alembert equations of motion is utilized for robot arm dynamics. A joint drive system that consists of a motor rotor and gears is included in the arm dynamics model, in order to take into account gyroscopic effects due to the spinning of the rotor. The fine grain parallelism of mechanical and control subsystem models is exploited, based on independent computation associated with bodies, joint drive systems, and controllers. Efficiency and effectiveness of the parallel scheme are demonstrated through simulations of a telerobotic manipulator arm. Two different mechanical subsystem models, i.e., with and without gyroscopic effects, are compared, to show the trade-off between efficiency and accuracy.

Beschreibung: Finding the weight distributions of block codes is a problem of theoretical and practical interest. Yet the weight distributions of most block codes are still unknown except for a few classes of block codes. Here, by using the inclusion and exclusion principle, an explicit formula is derived which enumerates the complete weight distribution of an (n,k,d) linear code using a partially known weight distribution. This expression is analogous to the Pless power-moment identities - a system of equations relating the weight distribution of a linear code to the weight distribution of its dual code. Also, an approximate formula for the weight distribution of most linear (n,k,d) codes is derived. It is shown that for a given linear (n,k,d) code over GF(q), the ratio of the number of codewords of weight u to the number of words of weight u approaches the constant Q = q(-)(n-k) as u becomes large. A relationship between the randomness of a linear block code and the minimum distance of its dual code is given, and it is shown that most linear block codes with rigid algebraic and combinatorial structure also display certain random properties which make them similar to random codes with no structure at all.

Beschreibung: A decoding method for a (23,12) Golay code is extended to the important 1/2-rate (24,12) Golay code so that three errors can be corrected and four errors can be detected. It is shown that the method can be extended to any decoding method which can correct three errors in the (23,12) Golay code.

Beschreibung: A software package enabling engineers to conduct experiments to determine the actual performance of long constraint-length convolutional codes over the Voyager 1 communication link directly from the Jet Propulsion Laboratory (JPL) has been developed. Using this software, engineers are able to enter test data from the Laboratory in Pasadena, California. The software encodes the data and then sends the encoded data to a personal computer (PC) at the Goldstone Deep Space Complex (GDSC) over telephone lines. The encoded data are sent to the transmitter by the PC at GDSC. The received data, after being echoed back by Voyager 1, are first sent to the PC at GDSC, and then are sent back to the PC at the Laboratory over telephone lines for decoding and further analysis. All of these operations are fully integrated and are completely automatic. Engineers can control the entire software system from the Laboratory. The software encoder and the hardware decoder interface were developed for other applications, and have been modified appropriately for integration into the system so that their existence is transparent to the users. This software provides: (1) data entry facilities, (2) communication protocol for telephone links, (3) data displaying facilities, (4) integration with the software encoder and the hardware decoder, and (5) control functions.

Beschreibung: AUTOCON is an automated computer-aided design tool for the synthesis and optimization of linear multivariable control systems based upon user-defined control parameter optimization. Violations in stability and performance requirements are computed from constraints on Single Input/Single Output (SISO) open- and closed-loop transfer function frequency responses, and from constraints on the singular-value frequency responses of Multiple Input/Multiple Output (MIMO) transfer functions, for all critical plant variations. Optimum nonlinear programming algorithms are used in the search for local constrained solutions in which violations in stability and performance are caused either to vanish or be minimized for a proper selection of the control parameters. Classical control system stability and performance design can, in this way, be combined with modern multivariable robustness methods to offer general frequency response loop-shaping via a computer-aided design tool. Complete Nichols, Nyquist, Bode, singular-value Bode magnitude and transient response plots are produced, including user-defined boundary responses. AUTOCON is used to synthesize and optimize the lateral/directional flight control system for a typical high-performance aircraft.

Beschreibung: Estimation of the sensitivity of problem functions with respect to problem variables forms the basis for many of our modern day algorithms for engineering optimization. The most common application of problem sensitivities has been in the calculation of objective function and constraint partial derivatives for determining search directions and optimality conditions. A second form of sensitivity analysis, parameter sensitivity, has also become an important topic in recent years. By parameter sensitivity, researchers refer to the estimation of changes in the modeling functions and current design point due to small changes in the fixed parameters of the formulation. Methods for calculating these derivatives have been proposed by several authors (Armacost and Fiacco 1974, Sobieski et al 1981, Schmit and Chang 1984, and Vanderplaats and Yoshida 1985). Two drawbacks to estimating parameter sensitivities by current methods have been: (1) the need for second order information about the Lagrangian at the current point, and (2) the estimates assume no change in the active set of constraints. The first of these two problems is addressed here and a new algorithm is proposed that does not require explicit calculation of second order information.

Beschreibung: The nonlinear mathematical programming method (formal optimization) has had many applications in engineering design. A figure illustrates the use of optimization techniques in the design process. The design process begins with the design problem, such as the classic example of the two-bar truss designed for minimum weight as seen in the leftmost part of the figure. If formal optimization is to be applied, the design problem must be recast in the form of an optimization problem consisting of an objective function, design variables, and constraint function relations. The middle part of the figure shows the two-bar truss design posed as an optimization problem. The total truss weight is the objective function, the tube diameter and truss height are design variables, with stress and Euler buckling considered as constraint function relations. Lastly, the designer develops or obtains analysis software containing a mathematical model of the object being optimized, and then interfaces the analysis routine with existing optimization software such as CONMIN, ADS, or NPSOL. This final state of software development can be both tedious and error-prone. The Sizing and Optimization Language (SOL), a special-purpose computer language whose goal is to make the software implementation phase of optimum design easier and less error-prone, is presented.

Beschreibung: The Computerized Design Synthesis (CDS) system under development at McDonnell Douglas Helicopter Company (MDHC) is targeted to make revolutionary improvements in both response time and resource efficiency in the conceptual and preliminary design of rotorcraft systems. It makes the accumulated design database and supporting technology analysis results readily available to designers and analysts of technology, systems, and production, and makes powerful design synthesis software available in a user friendly format.

Beschreibung: An in-depth kinematic analysis of a three degree of freedom fully-parallel robotic shoulder module is presented. The major goal of the analysis is to determine appropriate link dimensions which will provide a maximized workspace along with desirable input to output velocity and torque amplification. First order kinematic influence coefficients which describe the output velocity properties in terms of actuator motions provide a means to determine suitable geometric dimensions for the device. Through the use of computer simulation, optimal or near optimal link dimensions based on predetermined design criteria are provided for two different structural designs of the mechanism. The first uses three rotational inputs to control the output motion. The second design involves the use of four inputs, actuating any three inputs for a given position of the output link. Alternative actuator placements are examined to determine the most effective approach to control the output motion.

Beschreibung: A teleoperated robot was used to assemble the Experimental Assembly of Structures in Extra-vehicular activity (EASE) space structure under neutral buoyancy conditions, simulating a telerobot performing structural assembly in the zero gravity of space. This previous work used a manually controlled teleoperator as a test bed for system performance evaluations. From these results several Artificial Intelligence options were proposed. One of these was further developed into a real time assembly planner. The interface for this system is effective in assembling EASE structures using windowed graphics and a set of networked menus. As the problem space becomes more complex and hence the set of control options increases, a natural language interface may prove to be beneficial to supplement the menu based control strategy. This strategy can be beneficial in situations such as: describing the local environment, maintaining a data base of task event histories, modifying a plan or a heuristic dynamically, summarizing a task in English, or operating in a novel situation.

Beschreibung: The applicability of conjugate gradient algorithms for computation of the manipulator forward dynamics is investigated. The redundancies in the previously proposed conjugate gradient algorithm are analyzed. A new version is developed which, by avoiding these redundancies, achieves a significantly greater efficiency. A preconditioned conjugate gradient algorithm is also presented. A diagonal matrix whose elements are the diagonal elements of the inertia matrix is proposed as the preconditioner. In order to increase the computational efficiency, an algorithm is developed which exploits the synergism between the computation of the diagonal elements of the inertia matrix and that required by the conjugate gradient algorithm.

Beschreibung: Some authors take a classical approach to the simultaneous structure/control optimization by attempting to simultaneously minimize the weighted sum of the total mass and a quadratic form, subject to all of the structural and control constraints. Here, the optimization will be based on the dynamic response of a structure to an external unknown stochastic disturbance environment. Such a response to excitation approach is common to both the structural and control design phases, and hence represents a more natural control/structure optimization strategy than relying on artificial and vague control penalties. The design objective is to find the structure and controller of minimum mass such that all the prescribed constraints are satisfied. Two alternative solution algorithms are presented which have been applied to this problem. Each algorithm handles the optimization strategy and the imposition of the nonlinear constraints in a different manner. Two controller methodologies, and their effect on the solution algorithm, will be considered. These are full state feedback and direct output feedback, although the problem formulation is not restricted solely to these forms of controller. In fact, although full state feedback is a popular choice among researchers in this field (for reasons that will become apparent), its practical application is severely limited. The controller/structure interaction is inserted by the imposition of appropriate closed-loop constraints, such as closed-loop output response and control effort constraints. Numerical results will be obtained for a representative flexible structure model to illustrate the effectiveness of the solution algorithms.

Beschreibung: A technique for control design and simulation using the ADAMS software and a control design software package is presented. For design of control systems ADAMS generates a minimum realization linear time invariant (LTI), state space representation of multi-body models. This LTI representation can be produced in formats for input to several commercial control design packages. The user can exercise various design strategies in the control design software to arrive at a suitable compensator. The resulting closed loop model can then be simulated using ADAMS. This procedure is illustrated with two examples.

Beschreibung: The structured singular value, U, is an important linear algebra tool to study a class of matrix perturbation problems. It is useful for analyzing the robustness of stability and performance of uncertain, (nominally) linear systems. Computation of (M) is difficult, and usually, upper and lower bounds are all that can be reliably computed. Upper bounds give conservative estimates of the sizes of allowable perturbations. The maximum singular value of a matrix M is an upper bound for (M). As an upper bound, it can be improved by finding a transformations to the data (i.e. M) which do not change the structured singular value, but do reduce the maximum singular value. Typically, upper bound algorithms involve searches over sets of transformations to yield the tightest bound. Lower bound algorithms are intelligent searches for minimum-norm solutions to multivariable polynomial equations, and are based on various optimality conditions that hold at the global (and, unfortunately, some local) minima. The current methods to compute both of these types of bounds are reviewed. Theoretical justification and extensive numerical experience with the various algorithms are covered.

Beschreibung: Some key results in the literature in the area of robustness analysis for linear feedback systems with structured model uncertainty are reviewed. Some new results are given. Model uncertainty is described as a combination of real uncertain parameters and norm bounded unmodeled dynamics. Here the focus is on the case of parametric uncertainty. An elementary and unified derivation of the celebrated theorem of Kharitonov and the Edge Theorem is presented. Next, an algorithmic approach for robustness analysis in the cases of multilinear and polynomic parametric uncertainty (i.e., the closed loop characteristic polynomial depends multilinearly and polynomially respectively on the parameters) is given. The latter cases are most important from practical considerations. Some novel modifications in this algorithm which result in a procedure of polynomial time behavior in the number of uncertain parameters is outlined. Finally, it is shown how the more general problem of robustness analysis for combined parametric and dynamic (i.e., unmodeled dynamics) uncertainty can be reduced to the case of polynomic parametric uncertainty, and thus be solved by means of the algorithm.

Beschreibung: Multibody system equations can be generated in various forms. All of these may be interpreted as results of two basic approaches, the augmentation- and the elimination-method. The former method yields the descriptor form of the system motion, a set of differential-algebraic equations (DAE), and the latter the state space representation, a minimal set of ordinary differential equations (ODE). Both of these methods are surveyed. Particular emphasis is on the discussion of recursive computational schemes, generating the equations of motion with a number of operations, which is proportional to the number N of system bodies (O(N)-formulations). For simulation purposes one would like to create that set of system equations, which can be generated most efficiently and for which the most efficient and reliable solution techniques are available. Numerical solution techniques for ODE have been studied in great detail and they are well-developed. By contrast, DAE have not been investigated for such a long time. In view of new developments in the latter field the generation of all the equations required for an efficient and reliable solution of DAE describing multibody system motion is discussed. These methods, i.e., an O(N)-formulation and new techniques for solving DAE, are implemented in the SIMPACK code. Its capabilities are illustrated by simulation of multibody robot models.

Beschreibung: The formulation of an Order (n) algorithm for DISCOS (Dynamics Interaction Simulation of Controls and Structures), which is an industry-standard software package for simulation and analysis of flexible multibody systems is presented. For systems involving many bodies, the new Order (n) version of DISCOS is much faster than the current version. Results of the experimental validation of the dynamics software are also presented. The experiment is carried out on a seven-joint robot arm at NASA's Goddard Space Flight Center. The algorithm used in the current version of DISCOS requires the inverse of a matrix whose dimension is equal to the number of constraints in the system. Generally, the number of constraints in a system is roughly proportional to the number of bodies in the system, and matrix inversion requires O(p exp 3) operations, where p is the dimension of the matrix. The current version of DISCOS is therefore considered an Order (n exp 3) algorithm. In contrast, the Order (n) algorithm requires inversion of matrices which are small, and the number of matrices to be inverted increases only linearly with the number of bodies. The newly-developed Order (n) DISCOS is currently capable of handling chain and tree topologies as well as multiple closed loops. Continuing development will extend the capability of the software to deal with typical robotics applications such as put-and-place, multi-arm hand-off and surface sliding.

Beschreibung: Computer graphics can now expand its new subset, wide-angle projection, to be as significant a generic capability as computer graphics itself. Some prior work in computer graphics is presented which leads to an attractive further subset of wide-angle projection, called hemispheric projection, to be a major communication media. Hemispheric film systems have long been present and such computer graphics systems are in use in simulators. This is the leading edge of capabilities which should ultimately be as ubiquitous as CRTs (cathode-ray tubes). These assertions are not from degrees in science or only from a degree in graphic design, but in a history of computer graphics innovations, laying groundwork by demonstration. The author believes that it is timely to look at several development strategies, since hemispheric projection is now at a point comparable to the early stages of computer graphics, requiring similar patterns of development again.

Beschreibung: To carry out unanticipated operations with resources already in space is part of the rationale for a permanently manned space station in Earth orbit. The astronauts aboard a space station will require an on-board, spatial display tool to assist the planning and rehearsal of upcoming operations. Such a tool can also help astronauts to monitor and control such operations as they occur, especially in cases where first-hand visibility is not possible. A computer graphics visualization system designed for such an application and currently implemented as part of a ground-based simulation is described. The visualization system presents to the user the spatial information available in the spacecraft's computers by drawing a dynamic picture containing the planet Earth, the Sun, a star field, and up to two spacecraft. The point of view within the picture can be controlled by the user to obtain a number of specific visualization functions. The elements of the display, the methods used to control the display's point of view, and some of the ways in which the system can be used are described.

Beschreibung: Recent advances in optimal control have brought design techniques based on optimization of H(2) and H(infinity) norm criteria, closer to be attractive alternatives to single-loop design methods for linear time-variant systems. Significant steps forward in this technology are the deeper understanding of performance and robustness issues of these design procedures and means to perform design trade-offs. However acceptance of the technology is hindered by the lack of convenient design tools to exercise these powerful multivariable techniques, while still allowing single-loop design formulation. Presented is a unique computer tool for designing arbitrary low-order linear time-invarient controllers than encompasses both performance and robustness issues via the familiar H(2) and H(infinity) norm optimization. Application to disturbance rejection design for a commercial transport is demonstrated.

Beschreibung: The existing q-Markov COVER realization theory does not take into account the problems of arithmetic errors due to both the quantization of states and coefficients of the reduced order model. All q-Markov COVERs allow some freedom in the choice of parameters. Here, researchers exploit this freedom in the existing theory to optimize the models with respect to these finite wordlength effects.

Beschreibung: Competitive leadership in the international marketplace, superiority in national defense, excellence in productivity, and safety of both private and public systems are all national defense goals which are dependent on superior engineering design. In recent years, it has become more evident that early design decisions are critical, and when only based on performance often result in products which are too expensive, hard to manufacture, or unsupportable. Better use of computer-aided design tools and information-based technologies is required to produce better quality United States products. A program is outlined here to explore the use of knowledge based expert systems coupled with numerical optimization, database management techniques, and designer interface methods in a networked design environment to improve and assess design changes due to changing emphasis or requirements. The initial structural design of a tiltrotor aircraft wing is used as a representative example to demonstrate the approach being followed.

Beschreibung: Computational aspects are addressed which impact the requirements for developing a next generation software system for flexible multibody dynamics simulation which include: criteria for selecting candidate formulation, pairing of formulations with appropriate solution procedures, need for concurrent algorithms to utilize computer hardware advances, and provisions for allowing open-ended yet modular analysis modules.

Beschreibung: Taking pictures with a camera that uses a digital recording medium instead of film has the advantage of recording and transmitting images without the use of a darkroom or a courier. However, high-resolution images contain an enormous amount of information and strain data-storage systems. Image compression will allow multiple images to be stored in the High-Resolution Electronic Still Camera. The camera is under development at Johnson Space Center. Fidelity of the reproduced image and compression speed are of tantamount importance. Lossless compression algorithms are fast and faithfully reproduce the image, but their compression ratios will be unacceptably low due to noise in the front end of the camera. Future efforts will include exploring methods that will reduce the noise in the image and increase the compression ratio.

Beschreibung: Particles in the mass range from 10 to the minus 7th power to 10 to the minus 3rd power grams contribute 80 percent of the total mass influx of meteoritic material in the 10 to the minus 13th power to 10 to the 6th power gram mass range at Earth (Hughes, 1978). On Earth atmospheric entry, all but the smallest particles in the 10 to the minus 7th power to 10 to the minus 3rd power gram mass range, about 60 to 1200 micrometers in diameter, are heated sufficiently to melt and vaporize. Mars, because of its lower escape velocity and larger atmospheric scale height, is a much more favorable site for unmelted survival of micrometeorites on atmospheric deceleration. Researchers calculate that a significant fraction of particles throughout the 60 to 1200 micrometer diameter range will survive atmospheric entry unmelted. Thus returned Mars soils may offer a resource for sampling micrometeorites in a size range uncollectable in unaltered form at Earth. The addition of meteoritic material to the Mars soils should perturb their chemical composition, as has been detected using the soils on the Moon (Anders, et al., 1973). Using measured mass influx at Earth and estimates of the Mars/Earth flux ratio, researchers estimate a mass influx at Mars of between 2,700 and 202,000 metric tons per year.

Beschreibung: The current Life Sciences Laboratory Equipment (LSLE) microcomputer for life sciences experiment data acquisition is now obsolete. Among the weaknesses of the current microcomputer are small memory size, relatively slow analog data sampling rates, and the lack of a bulk data storage device. While life science investigators normally prefer data to be transmitted to Earth as it is taken, this is not always possible. No down-link exists for experiments performed in the Shuttle middeck region. One important aspect of a replacement microcomputer is provision for in-flight storage of experimental data. The Write Once, Read Many (WORM) optical disk was studied because of its high storage density, data integrity, and the availability of a space-qualified unit. In keeping with the goals for a replacement microcomputer based upon commercially available components and standard interfaces, the system studied includes a Small Computer System Interface (SCSI) for interfacing the WORM drive. The system itself is designed around the STD bus, using readily available boards. Configurations examined were: (1) master processor board and slave processor board with the SCSI interface; (2) master processor with SCSI interface; (3) master processor with SCSI and Direct Memory Access (DMA); (4) master processor controlling a separate STD bus SCSI board; and (5) master processor controlling a separate STD bus SCSI board with DMA.

Beschreibung: NASA programs for manned space flight are in their 27th year. Scientists and engineers who worked continuously on the development of aerospace technology during that period are approaching retirement. The resulting loss to the organization will be considerable. Although this problem is general to the NASA community, the problem was explored in terms of the institutional memory and technical expertise of a single individual in the Man-Systems division. The main domain of the expert was spacecraft lighting, which became the subject area for analysis in these studies. The report starts with an analysis of the cumulative expertise and institutional memory of technical employees of organizations such as NASA. A set of solutions to this problem are examined and found inadequate. Two solutions were investigated at length: hypertext and expert systems. Illustrative examples were provided of hypertext and expert system representation of spacecraft lighting. These computer technologies can be used to ameliorate the problem of the loss of invaluable personnel.

Beschreibung: Integrated Services Digital Network (ISDN); coding for color TV, video conferencing, video conferencing/telephone, and still color images; ISO color image coding standard; and ISO still picture standard are briefly discussed. This presentation is represented by viewgraphs only.

Beschreibung: The need to increase the information return from space-borne imaging systems has increased in the past decade. The use of multi-spectral data has resulted in the need for finer spatial resolution and greater spectral coverage. Onboard signal processing will be necessary in order to utilize the available Tracking and Data Relay Satellite System (TDRSS) communication channel at high efficiency. A generally recognized approach to the increased efficiency of channel usage is through data compression techniques. The compression technique implemented is a differential pulse code modulation (DPCM) scheme with a non-uniform quantizer. The need to advance the state-of-the-art of onboard processing was recognized and a GaAs integrated circuit technology was chosen. An Adaptive Programmable Processor (APP) chip set was developed which is based on an 8-bit slice general processor. The reason for choosing the compression technique for the Multi-spectral Linear Array (MLA) instrument is described. Also a description is given of the GaAs integrated circuit chip set which will demonstrate that data compression can be performed onboard in real time at data rate in the order of 500 Mb/s.

Beschreibung: Adaptive data compression techniques can be viewed as consisting of a model specified by a database common to the encoder and decoder, an encoding rule and a rule for updating the model to ensure that the encoder and decoder always agree on the interpretation of the next transmission. The techniques which fit this framework range from run-length coding, to adaptive Huffman and arithmetic coding, to the string-matching techniques of Lempel and Ziv. The compression obtained by arithmetic coding is dependent on the generality of the source model. For many sources, an independent-letter model is clearly insufficient. Unfortunately, a straightforward implementation of a Markov model requires an amount of space exponential in the number of letters remembered. The Directed Acyclic Word Graph (DAWG) can be constructed in time and space proportional to the text encoded, and can be used to estimate the probabilities required for arithmetic coding based on an amount of memory which varies naturally depending on the encoded text. The tail of that portion of the text which was encoded is the longest suffix that has occurred previously. The frequencies of letters following these previous occurrences can be used to estimate the probability distribution of the next letter. Experimental results indicate that compression is often far better than that obtained using independent-letter models, and sometimes also significantly better than other non-independent techniques.

Beschreibung: The noiseless data-compression algorithms introduced by Lempel and Ziv (LZ) parse an input data string into successive substrings each consisting of two parts: The citation, which is the longest prefix that has appeared earlier in the input, and the innovation, which is the symbol immediately following the citation. In extremal versions of the LZ algorithm the citation may have begun anywhere in the input; in incremental versions it must have begun at a previous parse position. Originally the citation and the innovation were encoded, either individually or jointly, into an output word to be transmitted or stored. Subsequently, it was speculated that the cost of this encoding may be excessively high because the innovation contributes roughly 1g(A) bits, where A is the size of the input alphabet, regardless of the compressibility of the source. To remedy this excess, it was suggested to store the parsed substring as usual, but encoding for output only the citation, leaving the innovation to be encoded as the first symbol of the next substring. Being thus included in the next substring, the innovation can participate in whatever compression that substring enjoys. This strategy is called deferred innovation. It is exemplified in the algorithm described by Welch and implemented in the C program compress that has widely displaced adaptive Huffman coding (compact) as a UNIX system utility. The excessive expansion is explained, an implicit warning is given against using the deferred innovation compressors on nearly incompressible data.

Beschreibung: Fractals are geometric or data structures which do not simplify under magnification. Fractal Image Compression is a technique which associates a fractal to an image. On the one hand, the fractal can be described in terms of a few succinct rules, while on the other, the fractal contains much or all of the image information. Since the rules are described with less bits of data than the image, compression results. Data compression with fractals is an approach to reach high compression ratios for large data streams related to images. The high compression ratios are attained at a cost of large amounts of computation. Both lossless and lossy modes are supported by the technique. The technique is stable in that small errors in codes lead to small errors in image data. Applications to the NASA mission are discussed.

Beschreibung: Vector Quantization (VQ) is fast becoming an accepted, if not preferred method for image compression. The VQ performs well when compressing all types of imagery including Video, Electro-Optical (EO), Infrared (IR), Synthetic Aperture Radar (SAR), Multi-Spectral (MS), and digital map data. The only requirement is to change the codebook to switch the compressor from one image sensor to another. There are several approaches for designing codebooks for a vector quantizer. Adaptive Vector Quantization is a procedure that simultaneously designs codebooks as the data is being encoded or quantized. This is done by computing the centroid as a recursive moving average where the centroids move after every vector is encoded. When computing the centroid of a fixed set of vectors the resultant centroid is identical to the previous centroid calculation. This method of centroid calculation can be easily combined with VQ encoding techniques. The defined quantizer changes after every encoded vector by recursively updating the centroid of minimum distance which is the selected by the encoder. Since the quantizer is changing definition or states after every encoded vector, the decoder must now receive updates to the codebook. This is done as side information by multiplexing bits into the compressed source data.

Beschreibung: The objective of preprocessing for machine vision is to extract intrinsic target properties. The most important properties ordinarily are structure and reflectance. Illumination in space, however, is a significant problem as the extreme range of light intensity, stretching from deep shadow to highly reflective surfaces in direct sunlight, impairs the effectiveness of standard approaches to machine vision. To overcome this critical constraint, an image coding scheme is being investigated which combines local intensity adaptivity, image enhancement, and data compression. It is very effective under the highly variant illumination that can exist within a single frame or field of view, and it is very robust to noise at low illuminations. Some of the theory and salient features of the coding scheme are reviewed. Its performance is characterized in a simulated space application, the research and development activities are described.

Beschreibung: Improvements to the XTRAN3S computer program are summarized. Work on this code, for steady and unsteady aerodynamic and aeroelastic analysis in the transonic flow regime has concentrated on the following areas: (1) Maintenance of the XTRAN3S code, including correction of errors, enhancement of operational capability, and installation on the Cray X-MP system; (2) Extension of the vectorization concepts in XTRAN3S to include additional areas of the code for improved execution speed; (3) Modification of the XTRAN3S algorithm for improved numerical stability for swept, tapered wing cases and improved computational efficiency; and (4) Extension of the wing-only version of XTRAN3S to include pylon and nacelle or external store capability.

Beschreibung: THREAD programming language, which was developed to meet the needs of researchers in developing robotics applications that perform such tasks as grasp, trajectory design, sensor data analysis, and interfacing with external subsystems in order to perform servo-level control of manipulators and real time sensing is discussed. The philosophy behind THREAD, the issues which entered into its design, and the features of the language are discussed from the viewpoint of researchers who want to develop algorithms in a simulation environment, and from those who want to implement physical robotics systems. The detailed functions of the many complex robotics algorithms and tools which are part of the language are not explained, but an overall impression of their capability is given.

Beschreibung: A fast 3-D object recognition algorithm that can be used as a quick-look subsystem to the vision system for the Special-Purpose Dexterous Manipulator (SPDM) is described. Global features that can be easily computed from range data are used to characterize the images of a viewer-centered model of an object. This algorithm will speed up the processing by eliminating the low level processing whenever possible. It may identify the object, reject a set of bad data in the early stage, or create a better environment for a more powerful algorithm to carry the work further.

Beschreibung: Robotics is a promising technology for assembly, servicing, and maintenance of platforms in space. Several aspects of planning and guidance for telesupervised and fully autonomous robotic servicers are investigated. Guidance algorithms for proximity operation of a free flyer are described. Numeric trajectory optimization is combined with artificial intelligence based obstacle avoidance. An initial algorithm and the results of its simulating platform servicing scenario are discussed. A second algorithm experiment is then proposed.

Beschreibung: A facility was established that uses collected data and feeds it into mathematical models that generate improved data arrays by correcting for various losses, base line drift, and conversion to unity scaling. These developed data arrays have headers and other identifying information affixed and are subsequently stored in a Laser Materials and Characteristics data base which is accessible to various users. The two part data base: absorption - emission spectra and tabulated data, is developed around twelve laser models. The tabulated section of the data base is divided into several parts: crystalline, optical, mechanical, and thermal properties; aborption and emission spectra information; chemical name and formulas; and miscellaneous. A menu-driven, language-free graphing program will reduce and/or remove the requirement that users become competent FORTRAN programmers and the concomitant requirement that they also spend several days to a few weeks becoming conversant with the GEOGRAF library and sequence of calls and the continual refreshers of both. The work included becoming thoroughly conversant with or at least very familiar with GEOGRAF by GEOCOMP Corp. The development of the graphing program involved trial runs of the various callable library routines on dummy data in order to become familiar with actual implementation and sequencing. This was followed by trial runs with actual data base files and some additional data from current research that was not in the data base but currently needed graphs. After successful runs, with dummy and real data, using actual FORTRAN instructions steps were undertaken to develop the menu-driven language-free implementation of a program which would require the user only know how to use microcomputers. The user would simply be responding to items displayed on the video screen. To assist the user in arriving at the optimum values needed for a specific graph, a paper, and pencil check list was made available to use on the trial runs.

Beschreibung: Program EAGLE (Eglin Arbitrary Geometry Implicit Euler) Numerical Grid Generation System is a composite (multi-block) algebraic or elliptic grid generation system designed to discretize the domain in and/or around any arbitrarily shaped three dimensional regions. This system combines a boundary conforming surface generation scheme and includes plotting routines designed to take full advantage of the DISSPLA Graphics Package (Version 9.0). Program EAGLE is written to compile and execute efficiently on any Cray machine with or without solid state disk (SSD) devices. Also, the code uses namelist inputs which are supported by all Cray machines using the FORTRAN compiler CFT77. The namelist inputs makes it easier for the user to understand the inputs and operation of Program EAGLE. EAGLE's numerical grid generator is constructed in the following form: main program, EGG (executive routine); subroutine SURFAC (surface generation routine); subroutine GRID (grid generation routine); and subroutine GRDPLOT (grid plotting routines). The EAGLE code was modified to use on the NASA-LaRC SNS computer (Cray 2S) system. During the modification a conversion program was developed for the output data of EAGLE's subroutine GRID to permit the data to be graphically displayed by IRIS workstations, using Plot3D. The code of program EAGLE was modified to make operational subroutine GRDPLOT (using DI-3000 Graphics Software Packages) on the NASA-LaRC SNS Computer System. How to implement graphically, the output data of subroutine GRID was determined on any NASA-LaRC graphics terminal that has access to the SNS Computer System DI-300 Graphics Software Packages. A Quick Reference User Guide was developed for the use of program EAGLE on the NASA-LaRC SNS Computer System. One or more application program(s) was illustrated using program EAGLE on the NASA LaRC SNS Computer System, with emphasis on graphics illustrations.

Beschreibung: Ultra network is a recently installed very high speed graphic hardware at NASA Langley Research Center. The Ultra Network interfaced to Voyager through its HSX channel is capable of transmitting up to 800 million bits of information per second. It is capable of displaying fifteen to twenty frames of precomputed images of size 1024 x 2368 with 24 bits of color information per pixel per second. Modeling and rendering techniques are being developed in computer graphics and implemented on Ultra hardware. A ray tracer is being developed for use at the Flight Software and Graphic branch. Changes were made to make the ray tracer compatible with Voyager.

Beschreibung: Analysis of the postbuckling behavior of composite shell structures pose many difficult and challenging problems in the field of structural mechanics. Current analysis methods perform well for most cases in predicting the postbuckling response of undamaged components. To predict component behavior accurately at higher load levels, the analysis must include the effects of local material failures. The CSM testbed software system is a highly modular structural analysis system currently under development at Langley Research Center. One of the primary goals of the CSM testbed is to provide a software environment for the development of advanced structural analysis methods and modern numerical methods which will exploit advanced computer architecture such as parallel-vector processors. Development of a progressive failure analysis method consists of the design and implementation of a processor which will perform the ply-level progressive failure analysis and the development of a geometrically nonlinear analysis procedure which incorporates the progressive failure processor. Regarding the development of the progressive failure processor, two components are required: failure criteria and a degradation model. For the initial implementation, the failure criteria of Hashin will be used. For a matrix failure which typically indicates the development of transverse matrix cracks, the ply properties will be degraded. Work to date includes the design of the progressive failure analysis processor and initial plans for the controlling geometrically nonlinear analysis procedure. The implementation of the progressive failure analysis has begun. Access to the model database and the Hashin failure criteria are completed. Work is in progress on the input/output operations for the processor related data and the finite element model updating procedures. In total the progressive failure processor is approximately one-third complete.