NASREN: Standard reference model for telerobot control

A hierarchical architecture is described which supports space station telerobots in a variety of modes. The system is divided into three hierarchies: task decomposition, world model, and sensory processing. Goals at each level of the task dedomposition heirarchy are divided both spatially and temporally into simpler commands for the next lower level. This decomposition is repreated until, at the lowest level, the drive signals to the robot actuators are generated. To accomplish its goals, task decomposition modules must often use information stored it the world model. The purpose of the sensory system is to update the world model as rapidly as possible to keep the model in registration with the physical world. The architecture of the entire control system hierarch is described and how it can be applied to space telerobot applications

Hierarchical control of intelligent machines applied to space station telerobots

A hierarchical architecture is described which supports space station telerobots in a variety of modes. The system is divided into three hierarchies: task decomposition, world model, and sensory processing. Goals at each level of the task decomposition hierarchy are divided both spatially and temporally into simpler commands for the next lower level. This decomposition is repeated until, at the lowest level, the drive signals to the robot actuators are generated. To accomplish its goals, task decomposition modules must often use information stored in the world model. The purpose of the sensory system is to update the world model as rapidly as possible to keep the model in registration with the physical world. The architecture of the entire control system hierarchy and how it can be applied to space telerobot applications are discussed

Wading in the Lethe

To Honor (by Wendy Jones Johnson, circa 1976) The rosebud mouth, the round, little thighs, Our plump, bright elf with the dark, blue eyes Our lives before were so incomplete Soon the flutter inside of two, tiny feet We thought we knew freedom The years before you came Now we know the wonder of creating life\u27s flame Aflame to grow, to flicker, and at last be an ember To enrich our lives for years to remember How we cherish and love you, your innocent glee, You, the miracle of warmth and sensitivity. My mother wrote this poem when I was an infant, and it has always served as a reminder to me of her love, warmth, and creativity. Even though the original text is yellowing beneath a glass frame and temporarily collecting dust in my in-laws’ basement, I had no trouble transcribing these lines from memory. I hope that time will never blur or erase them. Although several of my family and friends are dear to me and have significantly influenced my development as a person and writer, my mother has been, and to an extent, continues to be, the most influential of these. From the time I first learned to read, between two and three years of age, my mother began filling my small, wooden bookcase to overflowing with volumes of poetry, fairy tales, nursery rhymes, and fables. A few of my favorites were Shel Silverstein’s The Giving Tree, The Velveteen Rabbit, A Children’s Garden of Verses, Lyle the Crocodile, and two encyclopedic books on various breeds of dogs and cats. My mother also subscribed to Ideals poetry magazine, and I have many fond memories of nights and mornings spent cuddled up in her bed, reading the latest issue

Development of a CFC Critical Area Response (CAR) package

During the past two years, the NASA Marshall Space Flight Center (MSFC) has studied means to improve the transfer of technology from a major federal lab to a significant portion of an industrial segment. In the past, technology transfers had taken place with individual firms, or small groups of firms. This method of 'customized' transfer is often time consuming and can reduce the effectiveness of a response. Thus, a method was achieved to develop a standardized package on replacement of Chlorofluorocarbons (CFC's) that could be sent out to a large number of firms with minimum follow-up

Early Size Distributions of Chondrule Subgroups Overprinted by the Final Accumulation Process of Particle Components in Allende

Populations of compositionally distinct particles are fundamental components of undifferentiated chondritic meteorites. Many theories explain the formation of chondrites, one class of which includes mechanisms for sorting the component particles in the solar nebula prior to their accretion. Mechanisms include sorting by mass, turbulent concentration, X-winds, and photophoresis, which will produce characteristic distributions of observable properties such as particle size. Distinguishing processes that occur in specific astrophysical environments requires characterization of particle types, which include refractory Ca-Al-rich Inclusions (CAIs) and less-refractory chondrules. Previous investigations of modal abundances of CAIs and chondrules exist, but differences within and between these two groups, both of which are made up of diverse subgroups with different thermal histories and chemical compositions, remain mostly unstudied. The presence of rims, a significant event occurring after the formation of at least some chondrules, have also yet to be considered with respect to sorting. Here we present the sizes of CAIs and chondrules in Allende with attention to the smallest sizes, subgroups, and particle rims

Technology transfer from NASA to targeted industries, volume 2

This volume contains the following materials to support Volume 1: (1) Survey of Metal Fabrication Industry in Alabama; (2) Survey of Electronics Manufacturing/Assembly Industry in Alabama; (3) Apparel Modular Manufacturing Simulators; (4) Synopsis of a Stereolithography Project; (5) Transferring Modular Manufacturing Technology to an Apparel Firm; (6) Letters of Support; (7) Fact Sheets; (8) Publications; and (9) One Stop Access to NASA Technology Brochure

Molecular and mass spectroscopic analysis of isotopically labeled organic residues

Experimental studies aimed at understanding the evolution of complex organic molecules on interstellar grains were performed. The photolysis of frozen gas mixtures of various compositions containing H2O, CO, NH3, and CH4 was studied. These species were chosen because of their astrophysical importance as deducted from observational as well as theoretical studies of ice mantles on interstellar grains. These ultraviolet photolyzed ices were warmed up in order to produce refractory organic molecules like the ones formed in molecular clouds when the icy mantles are being irradiated and warmed up either by a nearby stellar source or impulsive heating. The laboratory studies give estimates of the efficiency of production of such organic material under interstellar conditions. It is shown that the gradual carbonization of organic mantles in the diffuse cloud phase leads to higher and higher visual absorptivity - yellow residues become brown in the laboratory. The obtained results can be applied to explaining the organic components of comets and their relevance to the origin of life

A STUDY OF QUALITY REQUIREMENT CONVEYANCE FOR ASSIGNMENTS IN TECHNOLOGY AND ENGINEERING MASTER’S DEGREE PROGRAMS

Quality requirements are not easy to define. In higher education, defining quality requirements and communicating those requirements to students may be accomplished through a variety of mechanisms. Students still may not know what it takes to get a good grade on an assignment and may have to wait for an instructor to clarify the assignment. This study was conducted because students and instructors may have different opinions as to which forms of feedforward and what technology are best to convey assignment requirements. The purpose of this study was to determine effective feedforward mechanisms as well as the technology used to convey quality requirements for assignments. A Delphi Panel was utilized to identify feedforward mechanisms as well as technology currently used. A survey was conducted to quantify waste in the assignment process via statistical testing. Minitab 19 with selected T-tests were used to determine if there is a difference between students and instructors as to what feedforward mechanisms or combinations of feedforward mechanisms are preferred to effectively convey quality requirements. The study involved Master-degree seeking students and instructors as well as university resources from teaching excellence programs from three universities. Combining the information from the Delphi Panel and the survey, a model was created that using the syllabus and instructions as mechanisms to convey quality requirements for assignments. Depending on the assignment a rubric, criteria sheet, or model/sample may be used to clarify requirements. Using the web-based learning management system allows students to access information outside of the classroom and at any time. The LMS can contain written as well as video or audio recordings of assignment information. The results of this study have led to improvements in a Project Management course at the University of Kansas

Technology transfer initiatives

This report summarizes the University of Alabama in Huntsville (UAH) technology transfer activities with the Marshall Space Flight Center (MSFC) for the period of April 1993 through December 1993. Early in 1993, the MSFC/TUO and UAH conceived of the concept of developing stand-alone, integrated data packages on MSFC technology that would serve industrial needs previously determined to be critical. Furthermore, after reviewing over 500 problem statements received by MSFC, it became obvious that many of these requests could be satisfied by a standard type of response. As a result, UAH has developed two critical area response (CAR) packages: CFC (chlorofluorocarbon) replacements and modular manufacturing and simulation. Publicity included news releases, seminars, articles and conference papers. The Huntsville Chamber of Commerce established the Technology Transfer Subcommittee with the charge to identify approaches for the Chamber to assist its members, as well as non-members, access to the technologies at the federal laboratories in North Alabama. The Birmingham Chamber of Commerce has expressed interest in establishing a similar technology transfer program. This report concludes with a section containing a tabulation of the problem statements, including CAR packages, submitted to MSFC from January 1992 through December 1993

Editorial foreword: Angiogenesis: Cells, tissues and organs

On the occasion of his 90th birthday, this Special Issue is dedicated to Professor Robert Auerbach. Born 1929 in Berlin, Germany, he and his family escaped Nazi Germany in 1939 and emigrated to the United States, where he became a zoologist and ultimately Professor and Director of the Developmental Biology Training Program at the Department of Zoology, Madison, University of Wisconsin, USA. In Auerbach's laboratory, students and scientists of many different nations, including politically persecuted ones, harmoniously worked together on different aspects of angiogenesis. One of the hallmarks of Auerbach's career as a scientist was and is his generosity towards others, sharing his equipment and ideas freely, his integrity and his collegiality. His significant contributions to angiogenesis and tumour research include the finding that angiogenesis in tumours can occur even after their irradiation (Auerbach, Arensman, Kubai, & Folkman, 1975) and an explanation of organ selectivity in the spread of metastasizing cancer cells (Auerbach, 1988). Through his outstanding papers on in vitro methods in angiogenesis research, he also supported animal welfare (Alby & Auerbach, 1984; Auerbach, Lewis, Shinners, Kubai, & Akhtar, 2003; Gumkowski, Kaminska, Kaminski, Morrissey, & Auerbach, 1987; Obeso, Weber, & Auerbach, 1990)