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NASA NTRS2014

Modernization of the Cassini Ground System

The Cassini Spacecraft and its ground system have been operational for over 16 years. Modernization presents several challenges due to the personnel, processes, and tools already invested and embedded into the current ground system structure. Every mission's ground system has its own unique complexities and challenges, involving various organizational units. As any mission from its inception to its execution, schedules are always tight. This forces GDS engineers to implement a working ground system that is not necessarily fully optimized. Ground system challenges increase as technology evolves and cyber threats become more sophisticated. Cassini's main challenges were due to its ground system existing before many security requirements were levied on the multi-mission tools and networks. This caused a domino effect on Cassini GDS tools that relied on outdated technological features. In the aerospace industry reliable and established technology is preferred over innovative yet less proven technology. Loss of data for a spacecraft mission can be catastrophic; therefore, there is a reluctance to make changes and updates to the ground system. Nevertheless, all missions and associated teams face the need to modernize their processes and tools. Systems development methods from well-known system analysis and design principles can be applied to many missions' ground systems. Modernization should always be considered, but should be done in such a way that it does not affect flexibility nor interfere with established practices. Cassini has accomplished a secure and efficient ground data system through periodic updates. The obstacles faced while performing the modernization of the Cassini ground system will be outlined, as well as the advantages and challenges that were encountered.

Razo, Gus↗

NASA NTRS2014

Modernization of the Cassini Ground System

Razo, Gus↗

NASA NTRS1999

Tracker: Image-Processing and Object-Tracking System Developed

Tracker is an object-tracking and image-processing program designed and developed at the NASA Lewis Research Center to help with the analysis of images generated by microgravity combustion and fluid physics experiments. Experiments are often recorded on film or videotape for analysis later. Tracker automates the process of examining each frame of the recorded experiment, performing image-processing operations to bring out the desired detail, and recording the positions of the objects of interest. It can load sequences of images from disk files or acquire images (via a frame grabber) from film transports, videotape, laser disks, or a live camera. Tracker controls the image source to automatically advance to the next frame. It can employ a large array of image-processing operations to enhance the detail of the acquired images and can analyze an arbitrarily large number of objects simultaneously. Several different tracking algorithms are available, including conventional threshold and correlation-based techniques, and more esoteric procedures such as "snake" tracking and automated recognition of character data in the image. The Tracker software was written to be operated by researchers, thus every attempt was made to make the software as user friendly and self-explanatory as possible. Tracker is used by most of the microgravity combustion and fluid physics experiments performed by Lewis, and by visiting researchers. This includes experiments performed on the space shuttles, Mir, sounding rockets, zero-g research airplanes, drop towers, and ground-based laboratories. This software automates the analysis of the flame or liquid s physical parameters such as position, velocity, acceleration, size, shape, intensity characteristics, color, and centroid, as well as a number of other measurements. It can perform these operations on multiple objects simultaneously. Another key feature of Tracker is that it performs optical character recognition (OCR). This feature is useful in extracting numerical instrumentation data that are embedded in images. All the results are saved in files for further data reduction and graphing. There are currently three Tracking Systems (workstations) operating near the laboratories and offices of Lewis Microgravity Science Division researchers. These systems are used independently by students, scientists, and university-based principal investigators. The researchers bring their tapes or films to the workstation and perform the tracking analysis. The resultant data files generated by the tracking process can then be analyzed on the spot, although most of the time researchers prefer to transfer them via the network to their offices for further analysis or plotting. In addition, many researchers have installed Tracker on computers in their office for desktop analysis of digital image sequences, which can be digitized by the Tracking System or some other means. Tracker has not only provided a capability to efficiently and automatically analyze large volumes of data, saving many hours of tedious work, but has also provided new capabilities to extract valuable information and phenomena that was heretofore undetected and unexploited.

Klimek, Robert B.↗

NASA NTRS1993

Man-machine cooperation in advanced teleoperation

Teleoperation experiments at JPL have shown that advanced features in a telerobotic system are a necessary condition for good results, but that they are not sufficient to assure consistently good performance by the operators. Two or three operators are normally used during training and experiments to maintain the desired performance. An alternative to this multi-operator control station is a man-machine interface embedding computer programs that can perform some of the operator's functions. In this paper we present our first experiments with these concepts, in which we focused on the areas of real-time task monitoring and interactive path planning. In the first case, when performing a known task, the operator has an automatic aid for setting control parameters and camera views. In the second case, an interactive path planner will rank different path alternatives so that the operator will make the correct control decision. The monitoring function has been implemented with a neural network doing the real-time task segmentation. The interactive path planner was implemented for redundant manipulators to specify arm configurations across the desired path and satisfy geometric, task, and performance constraints.

Fiorini, Paolo↗

NASA NTRS2003

Improved Testing Capability and Adaptability Through the Use of Wireless Sensors

From the first Saturn V rocket booster (S-II-T) testing in 1966 and the routine Space Shuttle Main Engine (SSME) testing beginning in 1975, to more recent test programs such as the X-33 Aerospike Engine, the Integrated Powerhead Development (IPD) program, and the Hybrid Sounding Rocket (HYSR), Stennis Space Center (SSC) continues to be a premier location for conducting large-scale testing. Central to each test program is the capability for sensor systems to deliver reliable measurements and high quality data, while also providing a means to monitor the test stand area to the highest degree of safety and sustainability. Sensor wiring is routed along piping and through cable trenches, making its way from the engine test area, through the test stand area and to the signal conditioning building before final transfer to the test control center. When sensor requirements lie outside the reach of the routine sensor cable routing, the use of wireless sensor networks becomes particularly attractive due to their versatility and ease of installation. As part of an on-going effort to enhance the testing capabilities of Stennis Space Center, the Test Technology and Development group has found numerous applications for its sensor-adaptable wireless sensor suite. While not intended for critical engine measurements or control loops, in-house hardware and software development of the sensor suite can provide improved testing capability for a range of applications including the safety monitoring of propellant storage barrels and as an experimental test-bed for embedded health monitoring paradigms.

Solano, Wanda M.↗

NASA NTRS2013

Flat Surface Damage Detection System (FSDDS)

The Flat Surface Damage Detection system (FSDDS} is a sensory system that is capable of detecting impact damages to surfaces utilizing a novel sensor system. This system will provide the ability to monitor the integrity of an inflatable habitat during in situ system health monitoring. The system consists of three main custom designed subsystems: the multi-layer sensing panel, the embedded monitoring system, and the graphical user interface (GUI). The GUI LABVIEW software uses a custom developed damage detection algorithm to determine the damage location based on the sequence of broken sensing lines. It estimates the damage size, the maximum depth, and plots the damage location on a graph. Successfully demonstrated as a stand alone technology during 2011 D-RATS. Software modification also allowed for communication with HDU avionics crew display which was demonstrated remotely (KSC to JSC} during 2012 integration testing. Integrated FSDDS system and stand alone multi-panel systems were demonstrated remotely and at JSC, Mission Operations Test using Space Network Research Federation (SNRF} network in 2012. FY13, FSDDS multi-panel integration with JSC and SNRF network Technology can allow for integration with other complementary damage detection systems.

Williams, Martha↗

NASA NTRS2004

An Approach to V&V of Embedded Adaptive Systems

Rigorous Verification and Validation (V&V) techniques are essential for high assurance systems. Lately, the performance of some of these systems is enhanced by embedded adaptive components in order to cope with environmental changes. Although the ability of adapting is appealing, it actually poses a problem in terms of V&V. Since uncertainties induced by environmental changes have a significant impact on system behavior, the applicability of conventional V&V techniques is limited. In safety-critical applications such as flight control system, the mechanisms of change must be observed, diagnosed, accommodated and well understood prior to deployment. In this paper, we propose a non-conventional V&V approach suitable for online adaptive systems. We apply our approach to an intelligent flight control system that employs a particular type of Neural Networks (NN) as the adaptive learning paradigm. Presented methodology consists of a novelty detection technique and online stability monitoring tools. The novelty detection technique is based on Support Vector Data Description that detects novel (abnormal) data patterns. The Online Stability Monitoring tools based on Lyapunov's Stability Theory detect unstable learning behavior in neural networks. Cases studies based on a high fidelity simulator of NASA's Intelligent Flight Control System demonstrate a successful application of the presented V&V methodology. ,

Liu, Yan↗

NASA NTRS2002

Improved equivalent circuit for twin slot terahertz receivers

Series-fed coplanar waveguide embedding circuits are being developed for terahertz mixers using, in particular, submicron-sized superconducting devices, such as hot electron bolometers as the nonlinear element. Although these mixers show promising performance, they usually also show a considerable downward shift in the center frequency, when compared with simulations obtained by using simplified models. This makes it very difficult to design low-noise mixers for a given THz frequency. This shiftis principally caused by parasitics due to the extremely small details (in terms of wavelength) of the device, and by the electrical properties of the RF choke filter in the DC/IF line. In this paper, we present an improved equivalent network model of such mixer circuits which agrees with measured results at THz frequencies and we propose a new set of THz bolometric mixers that have been fabricated and are currently being tested.

HEB slot antennas CPW↗

NASA NTRS2009

Workflow Agents vs. Expert Systems: Problem Solving Methods in Work Systems Design

During the 1980s, a community of artificial intelligence researchers became interested in formalizing problem solving methods as part of an effort called "second generation expert systems" (2nd GES). How do the motivations and results of this research relate to building tools for the workplace today? We provide an historical review of how the theory of expertise has developed, a progress report on a tool for designing and implementing model-based automation (Brahms), and a concrete example how we apply 2nd GES concepts today in an agent-based system for space flight operations (OCAMS). Brahms incorporates an ontology for modeling work practices, what people are doing in the course of a day, characterized as "activities." OCAMS was developed using a simulation-to-implementation methodology, in which a prototype tool was embedded in a simulation of future work practices. OCAMS uses model-based methods to interactively plan its actions and keep track of the work to be done. The problem solving methods of practice are interactive, employing reasoning for and through action in the real world. Analogously, it is as if a medical expert system were charged not just with interpreting culture results, but actually interacting with a patient. Our perspective shifts from building a "problem solving" (expert) system to building an actor in the world. The reusable components in work system designs include entire "problem solvers" (e.g., a planning subsystem), interoperability frameworks, and workflow agents that use and revise models dynamically in a network of people and tools. Consequently, the research focus shifts so "problem solving methods" include ways of knowing that models do not fit the world, and ways of interacting with other agents and people to gain or verify information and (ultimately) adapt rules and procedures to resolve problematic situations.

Clancey, William J.↗

NASA NTRS2001

Implementation of a General Real-Time Visual Anomaly Detection System Via Soft Computing

The intelligent visual system detects anomalies or defects in real time under normal lighting operating conditions. The application is basically a learning machine that integrates fuzzy logic (FL), artificial neural network (ANN), and generic algorithm (GA) schemes to process the image, run the learning process, and finally detect the anomalies or defects. The system acquires the image, performs segmentation to separate the object being tested from the background, preprocesses the image using fuzzy reasoning, performs the final segmentation using fuzzy reasoning techniques to retrieve regions with potential anomalies or defects, and finally retrieves them using a learning model built via ANN and GA techniques. FL provides a powerful framework for knowledge representation and overcomes uncertainty and vagueness typically found in image analysis. ANN provides learning capabilities, and GA leads to robust learning results. An application prototype currently runs on a regular PC under Windows NT, and preliminary work has been performed to build an embedded version with multiple image processors. The application prototype is being tested at the Kennedy Space Center (KSC), Florida, to visually detect anomalies along slide basket cables utilized by the astronauts to evacuate the NASA Shuttle launch pad in an emergency. The potential applications of this anomaly detection system in an open environment are quite wide. Another current, potentially viable application at NASA is in detecting anomalies of the NASA Space Shuttle Orbiter's radiator panels.

Dominguez, Jesus A.↗

NASA NTRS1994

Advanced information processing system: Authentication protocols for network communication

In safety critical I/O and intercomputer communication networks, reliable message transmission is an important concern. Difficulties of communication and fault identification in networks arise primarily because the sender of a transmission cannot be identified with certainty, an intermediate node can corrupt a message without certainty of detection, and a babbling node cannot be identified and silenced without lengthy diagnosis and reconfiguration . Authentication protocols use digital signature techniques to verify the authenticity of messages with high probability. Such protocols appear to provide an efficient solution to many of these problems. The objective of this program is to develop, demonstrate, and evaluate intercomputer communication architectures which employ authentication. As a context for the evaluation, the authentication protocol-based communication concept was demonstrated under this program by hosting a real-time flight critical guidance, navigation and control algorithm on a distributed, heterogeneous, mixed redundancy system of workstations and embedded fault-tolerant computers.

Harper, Richard E.↗

NASA NTRS2014

Development of Compact, Modular Lunar Heat Flow Probes

Geothermal heat flow measurements are a high priority for the future lunar geophysical network missions recommended by the latest Decadal Survey and previously the International Lunar Network. Because the lander for such a mission will be relatively small, the heat flow instrumentation must be a low-mass and low-power system. The instrument needs to measure both thermal gradient and thermal conductivity of the regolith penetrated. It also needs to be capable of excavating a deep enough hole (approx. 3 m) to avoid the effect of potential long-term changes of the surface thermal environment. The recently developed pneumatic excavation system can largely meet the low-power, low-mass, and the depth requirements. The system utilizes a stem which winds out of a pneumatically driven reel and pushes its conical tip into the regolith. Simultaneously, gas jets, emitted from the cone tip, loosen and blow away the soil. The thermal sensors consist of resistance temperature detectors (RTDs) embedded on the stem and an insitu thermal conductivity probe attached to the cone tip. The thermal conductivity probe consists of a short 'needle' (2.4-mm diam. and 15- to 20-mm length) that contains a platinum RTD wrapped in a coil of heater wire. During a deployment, when the penetrating cone reaches a desired depth, it stops blowing gas, and the stem pushes the needle into the yet-to-be excavated, undisturbed bottom soil. Then, it begins heating and monitors the temperature. Thermal conductivity of the soil can determined from the rate of temperature increase with time. When the measurement is complete, the system resumes excavation until it reaches the next targeted depth.

Lunar↗

NASA NTRS2003

A Framework for Intelligent Rocket Test Facilities with Smart Sensors

A long-term center goal at the John C. Stennis Space Center (SSC) is the formulation and implementation of a framework for an Intelligent Rocket Test Facility (IRTF), which incorporates distributed smart sensor elements. The IRTF is to provide reliable, high-confident measurements. Specific objectives include: 1. Definition of a framework and architecture that supports implementation of highly autonomous methodologies founded on basic physical principles and embedded knowledge. 2. Modeling of autonomous sensors and processes as self-sufficient, evolutionary elements. 3. Development of appropriate communications protocols to enable the complex interactions that must take place to allow timely and high-quality flow of of information among all the autonomous elements of the system. 4. Development of lab-scale prototypes of key system elements. Though our application is next-generation rocket test facilities, applications for the approach are much wider and include monitoring of shuttle launch operations, air and spacecraft operations and health monitoring, and other large-scale industrial system operations such as found in processing and manufacturing plans. Elements of prototype IRTF have been implemented in preparation for advanced development and validation using rocket test stand facilities as SSC. This work has identified issues that are important to further development of complex network and should be of interest to other working with sensor networks.

Figueroa, Fernando↗

NASA NTRS1988

Integration of task level planning and diagnosis for an intelligent robot

The use of robots in the future must go beyond present applications and will depend on the ability of a robot to adapt to a changing environment and to deal with unexpected scenarios (i.e., picking up parts that are not exactly where they were expected to be). The objective of this research is to demonstrate the feasibility of incorporating high level planning into a robot enabling it to deal with anomalous situations in order to minimize the need for constant human instruction. The heuristics can be used by a robot to apply information about previous actions towards accomplishing future objectives more efficiently. The system uses a decision network that represents the plan for accomplishing a task. This enables the robot to modify its plan based on results of previous actions. The system serves as a method for minimizing the need for constant human instruction in telerobotics. This paper describes the integration of expert systems and simulation as a valuable tool that goes far beyond this project. Simulation can be expected to be used increasingly as both hardware and software improve. Similarly, the ability to merge an expert system with simulation means that we can add intelligence to the system. A malfunctioning space satellite is described. The expert system uses a series of heuristics in order to guide the robot to the proper location. This is part of task level planning. The final part of the paper suggests directions for future research. Having shown the feasibility of an expert system embedded in a simulation, the paper then discusses how the system can be integrated with the MSFC graphics system.

Gerstenfeld, Arthur↗

NASA NTRS1993

A Novel Optical/digital Processing System for Pattern Recognition

This paper describes two processing algorithms that can be implemented optically: the Radon transform and angular correlation. These two algorithms can be combined in one optical processor to extract all the basic geometric and amplitude features from objects embedded in video imagery. We show that the internal amplitude structure of objects is recovered by the Radon transform, which is a well-known result, but, in addition, we show simulation results that calculate angular correlation, a simple but unique algorithm that extracts object boundaries from suitably threshold images from which length, width, area, aspect ratio, and orientation can be derived. In addition to circumventing scale and rotation distortions, these simulations indicate that the features derived from the angular correlation algorithm are relatively insensitive to tracking shifts and image noise. Some optical architecture concepts, including one based on micro-optical lenslet arrays, have been developed to implement these algorithms. Simulation test and evaluation using simple synthetic object data will be described, including results of a study that uses object boundaries (derivable from angular correlation) to classify simple objects using a neural network.

Boone, Bradley G.↗

NASA NTRS1998

Issues and Methods for Assessing COTS Reliability, Maintainability, and Availability

Many vendors produce products that are not domain specific (e.g., network server) and have limited functionality (e.g., mobile phone). In contrast, many customers of COTS develop systems that am domain specific (e.g., target tracking system) and have great variability in functionality (e.g., corporate information system). This discussion takes the viewpoint of how the customer can ensure the quality of COTS components. In evaluating the benefits and costs of using COTS, we must consider the environment in which COTS will operate. Thus we must distinguish between using a non-mission critical application like a spreadsheet program to produce a budget and a mission critical application like military strategic and tactical operations. Whereas customers will tolerate an occasional bug in the former, zero tolerance is the rule in the latter. We emphasize the latter because this is the arena where there are major unresolved problems in the application of COTS. Furthermore, COTS components may be embedded in the larger customer system. We refer to these as embedded systems. These components must be reliable, maintainable, and available, and must be with the larger system in order for the customer to benefit from the advertised advantages of lower development and maintenance costs. Interestingly, when the claims of COTS advantages are closely examined, one finds that to a great extent these COTS components consist of hardware and office products, not mission critical software [1]. Obviously, COTS components are different from custom components with respect to one or more of the following attributes: source, development paradigm, safety, reliability, maintainability, availability, security, and other attributes. However, the important question is whether they should be treated differently when deciding to deploy them for operational use; we suggest the answer is no. We use reliability as an example to justify our answer. In order to demonstrate its reliability, a COTS component must pass the same reliability evaluations as the custom components, otherwise the COTS components will be the weakest link in the chain of components and will be the determinant of software system reliability. The challenge is that there will be less information available for evaluating COTS components than for custom components but this does not mean we should despair and do nothing. Actually, there is a lot we can do even in the absence of documentation on COTS components because the customer will have information about how COTS components are to be used in the larger system. To illustrate our approach, we will consider the reliability, maintainability, and availability (RMA) of COTS components as used in larger systems. Finally, COTS suppliers might consider increasing visibility into their products to assist customers in determining the components' fitness for use in a particular application. We offer ideas of information that would be useful to customers, and what vendors might do to provide it.

Schneidewind, Norman F.↗

NASA NTRS2014

CSP: A Multifaceted Hybrid Architecture for Space Computing

Research on the CHREC Space Processor (CSP) takes a multifaceted hybrid approach to embedded space computing. Working closely with the NASA Goddard SpaceCube team, researchers at the National Science Foundation (NSF) Center for High-Performance Reconfigurable Computing (CHREC) at the University of Florida and Brigham Young University are developing hybrid space computers that feature an innovative combination of three technologies: commercial-off-the-shelf (COTS) devices, radiation-hardened (RadHard) devices, and fault-tolerant computing. Modern COTS processors provide the utmost in performance and energy-efficiency but are susceptible to ionizing radiation in space, whereas RadHard processors are virtually immune to this radiation but are more expensive, larger, less energy-efficient, and generations behind in speed and functionality. By featuring COTS devices to perform the critical data processing, supported by simpler RadHard devices that monitor and manage the COTS devices, and augmented with novel uses of fault-tolerant hardware, software, information, and networking within and between COTS devices, the resulting system can maximize performance and reliability while minimizing energy consumption and cost. NASA Goddard has adopted the CSP concept and technology with plans underway to feature flight-ready CSP boards on two upcoming space missions.

Reconfigurable↗

NASA NTRS2013

Combining Through-Thickness Reinforcement and Self-Healing for Improved Damage Tolerance and Durability of Composites

A study was undertaken to develop a prototype method for adding through-thickness hollow glass tubes infused with uncured resin and hardener in a carbon Z-pin through-thickness reinforcement field embedded in a composite laminate. Two types of tube insertion techniques were attempted in an effort to ensure the glass tubes survived the panel manufacturing process. A self-healing resin was chosen with a very low viscosity, two component, liquid epoxy resin system designed to be mixed at a 2-to-1 ratio of epoxy to hardener. IM7/8552 carbon epoxy double cantilever beam (DCB) specimens were cut from the hybrid Z-pin and glass tube reinforced panels and tested. In-situ injection of resin and hardener directly into glass tubes, in a staggered pattern to allow for 2-to-1 ratio mixing, resulted in partial healing of the fracture plane, but only if the injection was performed while the specimen was held at maximum load after initial fracture. Hence, there is some potential for healing delamination via resin and hardener delivered through a network of through-thickness glass tubes, but only if the tubes are connected to a reservoir where additional material may be injected as needed.

O'Brien, T. Kevin↗