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NASA NTRS2015

Towards Real-Time, On-Board, Hardware-Supported Sensor and Software Health Management for Unmanned Aerial Systems

For unmanned aerial systems (UAS) to be successfully deployed and integrated within the national airspace, it is imperative that they possess the capability to effectively complete their missions without compromising the safety of other aircraft, as well as persons and property on the ground. This necessity creates a natural requirement for UAS that can respond to uncertain environmental conditions and emergent failures in real-time, with robustness and resilience close enough to those of manned systems. We introduce a system that meets this requirement with the design of a real-time onboard system health management (SHM) capability to continuously monitor sensors, software, and hardware components. This system can detect and diagnose failures and violations of safety or performance rules during the flight of a UAS. Our approach to SHM is three-pronged, providing: (1) real-time monitoring of sensor and software signals; (2) signal analysis, preprocessing, and advanced on-the-fly temporal and Bayesian probabilistic fault diagnosis; and (3) an unobtrusive, lightweight, read-only, low-power realization using Field Programmable Gate Arrays (FPGAs) that avoids overburdening limited computing resources or costly re-certification of flight software. We call this approach rt-R2U2, a name derived from its requirements. Our implementation provides a novel approach of combining modular building blocks, integrating responsive runtime monitoring of temporal logic system safety requirements with model-based diagnosis and Bayesian network-based probabilistic analysis. We demonstrate this approach using actual flight data from the NASA Swift UAS.

Unmanned Aerial System↗

NASA NTRS2011

Relaxing USOS Solar Array Constraints for Russian Vehicle Undocking

With the retirement of Space Shuttle cargo delivery capability and the ten year life extension of the International Space Station (ISS) more emphasis is being put on preservation of the service life of ISS critical components. Current restrictions on the United States Orbital Segment (USOS) Solar Array (SA) positioning during Russian Vehicle (RV) departure from ISS nadir and zenith ports cause SA to be positioned in the plume field of Service Module thrusters and lead to degradation of SAs as well as potential damage to Sun tracking Beta Gimbal Assemblies (BGA). These restrictions are imposed because of the single fault tolerant RV Motion Control System (MCS), which does not meet ISS Safety requirements for catastrophic hazards and dictates 16 degree Solar Array Rotary Joint position, which ensures that ISS and RV relative motion post separation, does lead to collision. The purpose of this paper is to describe a methodology and the analysis that was performed to determine relative motion trajectories of the ISS and separating RV for nominal and contingency cases. Analysis was performed in three phases that included ISS free drift prior to Visiting Vehicle separation, ISS and Visiting Vehicle relative motion analysis and clearance analysis. First, the ISS free drift analysis determined the worst case attitude and attitude rate excursions prior to RV separation based on a series of different configurations and mass properties. Next, the relative motion analysis calculated the separation trajectories while varying the initial conditions, such as docking mechanism performance, Visiting Vehicle MCS failure, departure port location, ISS attitude and attitude rates at the time of separation, etc. The analysis employed both orbital mechanics and rigid body rotation calculations while accounting for various atmospheric conditions and gravity gradient effects. The resulting relative motion trajectories were then used to determine the worst case separation envelopes during the clearance analysis. Analytical models were developed individually for each stage and the results were used to build initial conditions for the following stages. In addition to the analysis approach, this paper also discusses the analysis results, showing worst case relative motion envelopes, the recommendations for ISS appendage positioning and the suggested approach for future analyses.

Menkin, Evgeny↗

NASA NTRSDate not supplied

Repurposing Drilling Control Diagnostics for Subsurface Edge Detection and Boundary Advisement During Planetary Drilling

Informed decision-making during lunar drilling and sampling missions will require data monitoring tools and specialized ground data systems. Accurate and updated situational awareness, with ongoing data monitoring, is critical for timely responses by to incoming science data. Traverse plans and scheduled activities may need to be flexibly changed in order to react to unexpected data or situations. Unlike (for example) Mars missions, the relative lightspeed closeness of the Moon allows for near-real-time ground processing of incoming mission and instrument data. An Apollo-class lunar regolith drill will in a sense “travel” a meter or two vertically at a given subsurface characterization site. As the drill penetrates into lunar regolith, it is likely to encounter a range of material densities, orientations, fracture toughness, and (perhaps) ice percentages. Lunar drill telemetry can provide science teams with a valuable first look into the subsurface structure, the regolith bulk properties, and constituents at each drilled site. Real-time AI-based recognition and reaction to downhole situations has been developed for automated deeper drilling on Mars and beyond. We can leverage the same knowledge bases and pattern-matching as areal-time interpreter of the subsurface, a situational awareness tool during drilling operations. We recently (Sept. 2019) demonstrated this AI drilling monitoring and analysis capability, in control of in-situ drilling and sampling operations, mounted on a KREX-2 rover in Chile’s Atacama Desert. Terrestrial automated drilling log analyses in oil exploration have used similar machine learning techniques in classifying and identifying features in drilling logs –but these typically are designed assuming a drilling fluid influencing downhole measurements and data (permeability, resistivity). Drilling models and existing AI software designed to detect and respond to drilling faults and hard materials can be repurposed, for near-real-time (ground-based) interpretation of drilling telemetry –a potentially valuable advisory tool for strata boundaries and changes in drilling parameters. On the Moon, this approach could be used to study the structure and to some extent the composition of lunar regolith vs. borehole depth, based on recognizable variations in fracture hardness, drilling energy and penetration rates while actively drilling. Since the early 2000s, a series of increasingly-capable real-time drilling telemetry interpretation and characterization software tools have been developed. These subsurface models and software tools have monitored the real-time drilling data received, and automatically identified changes in drill behavior (e.g., encountering a harder target layer, bit inclusions, drill choking due to infall downhole, and others) correlating these with subsurface structures and features. We discuss the mappings between drill borehole parameters, faults or events detected, and modeled changes in rock layer boundaries, in examples drawn from field testing at analog sites in an Arctic impact crater, Rio Tinto, and Chile’s Atacama Desert. These demonstrate how subsurface structural boundaries led to fault detections and responses by the software.

drilling advisor↗

NASA NTRS1992

What can we learn about impact mechanics from large craters on Venus?

More than 50 unequivocal peak-ring craters and multiringed impact basins have been identified on Venus from Earth-based Arecibo, Venera 15/16, and Magellan radar images. These ringed craters are relatively pristine, and so serve as an important new dataset that will further understanding of the structural and rheological properties of the venusian surface and of impact mechanics in general. They are also the most direct analogues for craters formed on the Earth in Phanerozoic time. Finite-element simulations of basin collapse and ring formation were undertaken in collaboration with V. J. Hillgren (University of Arizona). These calculations used an axisymmetric version of the viscoelastic finite element code TECTON, modeled structures on the scale of Klenova or Meitner, and demonstrated two major points. First, viscous flow and ring formation are possible on the timescale of crater collapse for the sizes of multiringed basins seen on Venus and heat flows appropriate to the plant. Second, an elastic lithosphere overlying a Newtonian viscous asthenosphere results mainly in uplift beneath the crater. Inward asthenospheric flow mainly occurs at deeper levels. Lithospheric response is dominantly vertical and flexural. Tensional stress maxima occur and ring formation by normal faulting is predicted in some cases, but these predicted rings occur too far out to explain observed ring spacings on Venus (or on the Moon). Overall, these estimates and models suggest that multiringed basin formation is indeed possible at the scales observed on Venus. Furthermore, due to the strong inverse dependence of solid-state viscosity on stress, the absence of Cordilleran-style ring faulting in craters smaller than Meitner or Klenova makes sense. The apparent increase in viscosity of shock-fluidized rock with crater diameter, greater interior temperatures accessed by larger, deeper craters, and decreased non-Newtonian viscosity associated with larger craters may conspire to make the transition with diameter from peak-ring crater to Orientale-type multiringed basin rather abrupt.

Mckinnon, William B.↗

NASA NTRS1993

Aspects of modelling the tectonics of large volcanoes on the terrestrial planets

Analytic solutions for the responses of planetary lithospheres to volcanic loads have been used to model faulting and infer elastic plate thicknesses. Predictions of the distribution of faulting around volcanic loads, based on the application of Anderson's criteria for faulting to the results of the models, do not agree well with observations. Such models do not give the stress state in the load itself, but only suggest a state of horizontal compressive stress there. Further, these models have considered only the effect of an instantaneously emplaced load. They do not address the time evolution of stresses, nor do they consider the effect of a load which grows. A finite element approach allows us to assign elements to the load itself, and thus permits calculation of the stress state and stress history within the edifice. The effects of episodic load growth can also be treated. When these effects are included, models give much better agreement with observations. We use the finite element code TECTON to construct axisymmetric models of volcanoes resting on an elastic lithospheric plate overlying a viscoelastic asthenosphere. We have implemented time-dependent material properties in order to simulate incremental volcano growth. The viscoelastic layer was taken to extend to a sufficient depth so that a rigid lower boundary has no significant influence on the results. The code first calculates elastic deformations and stresses and then determines the time-dependent viscous deformations and stresses. Time in the model scales as the Maxwell time tau(m) in the asthenosphere. We consider a volcano 25 km in height and 200 km in radius on an elastic lithosphere 40 km thick (parameters approximately appropriate to Ascraeus Mons). The volcano consists of three load increments applied at intervals of 1000 tau(m). Contours of maximum deviatoric stress in the fully-grown edifice at the conclusion of flexure (t = 3000 tau(m)) are shown.

Mcgovern, Patrick J.↗

NASA NTRS1997

Lunar and Planetary Science XXVIII

The present conference discusses such topics as density crossovers in lunar picrites, the geology of the Cassini impact basin, Mars, nanobacteria in carbonates, the properties of shocked aerogels, a chemical model of Comet Halley, lunar mascons, the impact evolution of icy regoliths, the geology of the Venera 8 landing site, the photogeologic mapping of northern Venus, HST observations of Mars, observational constraints on the rotational dynamics of Mars, and primordial magnetic field measurements from the moon. Also discussed are models of the S2 fluorescence spectra of comets, Martian crater ejecta, the heights of Venusian steep-sided domes, cloud-climate interactions on Venus, the Humorum basin geology from Clementine data, an early Amazonian lake in the Gale crater of Mars, nebular fractionations and Mn-Cr systematics, the Rock Chipper planetary surface sample collection, Mariner 10 stereo images of Mercury, remote and local stresses and Calderas on Mars, the electrostatic charging of saltating particles, SO2 detected on Callisto, the Mars Explorer Planetary Data System, an assessment of explosive venting on Europa, the sequential faulting history of the Mars Valles Marineris, a search for Martian sediments, the composition and internal structure of Europa, long-term and 'diurnal' tidal stresses on Europa, and episodic greenhouse climates on Mars.

Source record↗

NASA NTRS1990

Improving system reliability through formal analysis and use of checks in software

Software is playing increasingly important roles in avionics systems. It is widely used in navigation and, in some cases, in control loops that maintain aircraft stability. To guarantee the safety of flight systems, the FAA requires that critical components have a probability of failure no greater than 10(exp -9) per hour of flight. Software is being used to diagnose system components for failure. SIFT (Software Implemented Fault Tolerance) was a computer system developed to study the use of software to check for failure and manage processor reconfiguration. To guarantee that software satisfies its specifications, formal verification can be used. With this a program and its specification are viewed as mathematical objects, and a mathematical proof is used to show that the program and its specification are equivalent. In previous research, a theory of checking was developed to offer assistance in analyzing specifications and designing run-time checks. In the theory, checking is considered abstractly in terms of n-ary relations much like those of relational database theory. Within the theory check are categorized, checks on input and checks on results are considered, and formal attention is given to the minimization and logical combination of checks. The focus is upon input checks and the obstacles in checking input to critical systems. A central concern is with a property referred to as independence. The concern is with circumstances under which it is possible to apply isolated, independent checks to separate sensor inputs and be assure that all illegal input will be properly detected. Presently, independence is being investigated and checked in the context of the GCS (Guidance and Control System). The GCS simulator is intended for testing software that implements control laws for landing spacecraft. The large number of inputs and their complex interrelationships provide an exciting context in which to investigate independence and the difficulties of supplying input checks.

Staknis, Mark E.↗

NASA NTRS1981

Hierarchical specification of the SIFT fault tolerant flight control system

The specification and mechanical verification of the Software Implemented Fault Tolerance (SIFT) flight control system is described. The methodology employed in the verification effort is discussed, and a description of the hierarchical models of the SIFT system is given. To meet the objective of NASA for the reliability of safety critical flight control systems, the SIFT computer must achieve a reliability well beyond the levels at which reliability can be actually measured. The methodology employed to demonstrate rigorously that the SIFT computer meets as reliability requirements is described. The hierarchy of design specifications from very abstract descriptions of system function down to the actual implementation is explained. The most abstract design specifications can be used to verify that the system functions correctly and with the desired reliability since almost all details of the realization were abstracted out. A succession of lower level models refine these specifications to the level of the actual implementation, and can be used to demonstrate that the implementation has the properties claimed of the abstract design specifications.

Melliar-Smith, P. M.↗

NASA NTRS2005

The Future of Bio-technology

Hosts of technologies, most notably in electronics, have been on the path of miniaturization for decades and in 2005 they have crossed the threshold of the nano-scale. Crossing the nano-scale threshold is a milestone in miniaturization, setting impressive new standards for component-packing densities. It also brings technology to a scale at which quantum effects and fault tolerance play significant roles and approaches the feasible physical limit form many conventional "top-down" manufacturing methods. I will suggest that the most formidable manufacturing problems in nanotechnology will be overcome and major breakthroughs will occur in a host of technologies, when nanotechnology converges with bio-technology; i.e. I will argue that the future of bio-technology is in nanotechnology. In 2005, methods in molecular biology, microscopy, bioinformatics, biochemistry, and genetic engineering have focused considerable attention on the nano-scale. On this scale, biology is a kind of recursive chemistry in which molecular recognition, self-assembly, self-organization and self-referencing context-control lead to the emergence of the complexity of structures and processes that are fundamental to all life forms. While we are still far from understanding this complexity, we are on the threshold of being able to use at least some of these biological properties for .technology. I will discuss the use of biomolecules, such as DNA, RNA, and proteins as "tools" for the bio-technologist of the future. More specifically, I will present in some detail an example of how we are using a genetically engineered 60-kDa protein (HSP60) from an organism living in near boiling sulfuric acid to build nano-scale templates for arranging metallic nanoparticles. These "extremophile" HSP60s self-assemble into robust double-ring structures called "chaperonins," which further assemble into filaments and arrays with nanometer accuracy. I will discuss our efforts to use chaperonins to organize quantum dots, electronic and magnetic nano-particles for electronic and photonic applications.

Trent, Jonathan↗

NASA NTRS1988

The Use of Efficient Broadcast Protocols in Asynchronous Distributed Systems

Reliable broadcast protocols are important tools in distributed and fault-tolerant programming. They are useful for sharing information and for maintaining replicated data in a distributed system. However, a wide range of such protocols has been proposed. These protocols differ in their fault tolerance and delivery ordering characteristics. There is a tradeoff between the cost of a broadcast protocol and how much ordering it provides. It is, therefore, desirable to employ protocols that support only a low degree of ordering whenever possible. This dissertation presents techniques for deciding how strongly ordered a protocol is necessary to solve a given application problem. It is shown that there are two distinct classes of application problems: problems that can be solved with efficient, asynchronous protocols, and problems that require global ordering. The concept of a linearization function that maps partially ordered sets of events to totally ordered histories is introduced. How to construct an asynchronous implementation that solves a given problem if a linearization function for it can be found is shown. It is proved that in general the question of whether a problem has an asynchronous solution is undecidable. Hence there exists no general algorithm that would automatically construct a suitable linearization function for a given problem. Therefore, an important subclass of problems that have certain commutativity properties are considered. Techniques for constructing asynchronous implementations for this class are presented. These techniques are useful for constructing efficient asynchronous implementations for a broad range of practical problems.

Schmuck, Frank Bernhard↗

NASA NTRS2006

NASA Tech Briefs, January 2006

Topics covered include: Semiautonomous Avionics-and-Sensors System for a UAV; Biomimetic/Optical Sensors for Detecting Bacterial Species; System Would Detect Foreign-Object Damage in Turbofan Engine; Detection of Water Hazards for Autonomous Robotic Vehicles; Fuel Cells Utilizing Oxygen From Air at Low Pressures; Hybrid Ion-Detector/Data-Acquisition System for a TOF-MS; Spontaneous-Desorption Ionizer for a TOF-MS; Equipment for On-Wafer Testing From 220 to 325 GHz; Computing Isentropic Flow Properties of Air/R-134a Mixtures; Java Mission Evaluation Workstation System; Using a Quadtree Algorithm To Assess Line of Sight; Software for Automated Generation of Cartesian Meshes; Optics Program Modified for Multithreaded Parallel Computing; Programs for Testing Processor-in-Memory Computing Systems; PVM Enhancement for Beowulf Multiple-Processor Nodes; Ion-Exclusion Chromatography for Analyzing Organics in Water; Selective Plasma Deposition of Fluorocarbon Films on SAMs; Water-Based Pressure-Sensitive Paints; System Finds Horizontal Location of Center of Gravity; Predicting Tail Buffet Loads of a Fighter Airplane; Water Containment Systems for Testing High-Speed Flywheels; Vapor-Compression Heat Pumps for Operation Aboard Spacecraft; Multistage Electrophoretic Separators; Recovering Residual Xenon Propellant for an Ion Propulsion System; Automated Solvent Seaming of Large Polyimide Membranes; Manufacturing Precise, Lightweight Paraboloidal Mirrors; Analysis of Membrane Lipids of Airborne Micro-Organisms; Noninvasive Diagnosis of Coronary Artery Disease Using 12-Lead High-Frequency Electrocardiograms; Dual-Laser-Pulse Ignition; Enhanced-Contrast Viewing of White-Hot Objects in Furnaces; Electrically Tunable Terahertz Quantum-Cascade Lasers; Few-Mode Whispering-Gallery-Mode Resonators; Conflict-Aware Scheduling Algorithm; and Real-Time Diagnosis of Faults Using a Bank of Kalman Filters.

Source record↗

NASA NTRS2011

Imaging the Moon's Core with Seismology

Constraining the structure of the lunar core is necessary to improve our understanding of the present-day thermal structure of the interior and the history of a lunar dynamo, as well as the origin and thermal and compositional evolution of the Moon. We analyze Apollo deep moonquake seismograms using terrestrial array processing methods to search for the presence of reflected and converted energy from the lunar core. Although moonquake fault parameters are not constrained, we first explore a suite of theoretical focal spheres to verify that fault planes exist that can produce favorable core reflection amplitudes relative to direct up-going energy at the Apollo stations. Beginning with stacks of event seismograms from the known distribution of deep moonquake clusters, we apply a polarization filter to account for the effects of seismic scattering that (a) partitions energy away from expected components of ground motion, and (b) obscures all but the main P- and S-wave arrivals. The filtered traces are then shifted to the predicted arrival time of a core phase (e.g. PcP) and stacked to enhance subtle arrivals associated with the Moon s core. This combination of filtering and array processing is well suited for detecting deep lunar seismic reflections, since we do not expect scattered wave energy from near surface (or deeper) structure recorded at varying epicentral distances and stations from varying moonquakes at varying depths to stack coherently. Our results indicate the presence of a solid inner and fluid outer core, overlain by a partial-melt-containing boundary layer (Table 1). These layers are consistently observed among stacks from four classes of reflections: P-to-P, S-to-P, P-to-S, and S-to-S, and are consistent with current indirect geophysical estimates of core and deep mantle properties, including mass, moment of inertia, lunar laser ranging, and electromagnetic induction. Future refinements are expected following the successful launch of the GRAIL lunar orbiter and SELENE 2 lunar lander missions.

Weber, Renee C.↗

NASA NTRS1989

The effect of hydrogen on the deformation behavior of a single crystal nickel-base superalloy

The effect of hydrogen on the tensile deformation behavior of PWA 1480 is presented. Tensile tests were interrupted at different plastic strain levels to observe the development of the dislocation structure. Transmission electron microscopy (TEM) foils were cut perpendicular to the tensile axis to allow the deformation of both phases to be simultaneously observed as well as parallel to zone axes (III) to show the superdislocations on their slip planes. Similar to other nickel-base superalloys, hydrogen was detrimental to the room temperature tensile properties of PWA 1480. There was little effect on strength, however the material was severely embrittled. Even without hydrogen, the elongation-to-failure was only approximately 3 percent. The tensile fracture surface was made up primarily of ductile voids with regions of cleavage fracture. These cleavage facets are the eutectic (gamma') in the microstructure. It was shown by quantitative fractography that hydrogen embrittles the eutectic (gamma') and causes the crack path to seek out and fracture through the eutectic (gamma'). There was two to three times the amount of cleavage on the fracture surface of the hydrogen-charged samples than on the surface of the uncharged samples. The effect of hydrogen can also be seen in the dislocation structure. There is a marked tendency for dislocation trapping in the gamma matrix with and without hydrogen at all plastic strain levels. Without hydrogen there is a high dislocation density in the gamma matrix leading to strain exhaustion in this region and failure through the matrix. The dislocation structure at failure with hydrogen is slightly different. The TEM foils cut parallel to zone axes (III) showed dislocations wrapping around gamma precipitates. Zone axes (001) foils show that there is a lower dislocation density in the gamma matrix which can be linked to the effects of hydrogen on the fracture behavior. The primary activity in the gamma precipitates is in the form of superlattice intrinsic stacking faults (SISFs). These faults have also been reported in other ordered alloys and superalloys.

Walston, W. S.↗