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NASA NTRS2005

Activity Scratchpad Prototype: Simplifying the Rover Activity Planning Cycle

The Mars Exploration Rover mission depends on the Science Activity Planner as its primary interface to the Spirit and Opportunity Rovers. Scientists alternate between a series of mouse clicks and keyboard inputs to create a set of instructions for the rovers. To accelerate planning by minimizing mouse usage, a rover planning editor should receive the majority of inputted commands from the keyboard. Thorough investigation of the Eclipse platform's Java editor has provided the understanding of the base model for the Activity Scratchpad. Desirable Eclipse features can be mapped to specific rover planning commands, such as auto-completion for activity titles and content assist for target names. A custom editor imitating the Java editor's features was created with an XML parser for experimenting purposes. The prototype editor minimized effort for redundant tasks and significantly improved the visual representation of XML syntax by highlighting keywords, coloring rules, folding projections, and providing hover assist, templates and an outline view of the code.

Abramyan, Lucy↗
NASA NTRS2006

Real-time Enhancement, Registration, and Fusion for a Multi-Sensor Enhanced Vision System

Over the last few years NASA Langley Research Center (LaRC) has been developing an Enhanced Vision System (EVS) to aid pilots while flying in poor visibility conditions. The EVS captures imagery using two infrared video cameras. The cameras are placed in an enclosure that is mounted and flown forward-looking underneath the NASA LaRC ARIES 757 aircraft. The data streams from the cameras are processed in real-time and displayed on monitors on-board the aircraft. With proper processing the camera system can provide better-than- human-observed imagery particularly during poor visibility conditions. However, to obtain this goal requires several different stages of processing including enhancement, registration, and fusion, and specialized processing hardware for real-time performance. We are using a real-time implementation of the Retinex algorithm for image enhancement, affine transformations for registration, and weighted sums to perform fusion. All of the algorithms are executed on a single TI DM642 digital signal processor (DSP) clocked at 720 MHz. The image processing components were added to the EVS system, tested, and demonstrated during flight tests in August and September of 2005. In this paper we briefly discuss the EVS image processing hardware and algorithms. We then discuss implementation issues and show examples of the results obtained during flight tests. Keywords: enhanced vision system, image enhancement, retinex, digital signal processing, sensor fusion

Hines, Glenn D.↗
NASA NTRS2006

Towards a Compositional SPIN

This paper discusses our initial experience with introducing automated assume-guarantee verification based on learning in the SPIN tool. We believe that compositional verification techniques such as assume-guarantee reasoning could complement the state-reduction techniques that SPIN already supports, thus increasing the size of systems that SPIN can handle. We present a "light-weight" approach to evaluating the benefits of learning-based assume-guarantee reasoning in the context of SPIN: we turn our previous implementation of learning for the LTSA tool into a main program that externally invokes SPIN to provide the model checking-related answers. Despite its performance overheads (which mandate a future implementation within SPIN itself), this approach provides accurate information about the savings in memory. We have experimented with several versions of learning-based assume guarantee reasoning, including a novel heuristic introduced here for generating component assumptions when their environment is unavailable. We illustrate the benefits of learning-based assume-guarantee reasoning in SPIN through the example of a resource arbiter for a spacecraft. Keywords: assume-guarantee reasoning, model checking, learning.

Pasareanu, Corina S.↗
NASA NTRS2006

NASA Taxonomies for Searching Problem Reports and FMEAs

Many types of hazard and risk analyses are used during the life cycle of complex systems, including Failure Modes and Effects Analysis (FMEA), Hazard Analysis, Fault Tree and Event Tree Analysis, Probabilistic Risk Assessment, Reliability Analysis and analysis of Problem Reporting and Corrective Action (PRACA) databases. The success of these methods depends on the availability of input data and the analysts knowledge. Standard nomenclature can increase the reusability of hazard, risk and problem data. When nomenclature in the source texts is not standard, taxonomies with mapping words (sets of rough synonyms) can be combined with semantic search to identify items and tag them with metadata based on a rich standard nomenclature. Semantic search uses word meanings in the context of parsed phrases to find matches. The NASA taxonomies provide the word meanings. Spacecraft taxonomies and ontologies (generalization hierarchies with attributes and relationships, based on terms meanings) are being developed for types of subsystems, functions, entities, hazards and failures. The ontologies are broad and general, covering hardware, software and human systems. Semantic search of Space Station texts was used to validate and extend the taxonomies. The taxonomies have also been used to extract system connectivity (interaction) models and functions from requirements text. Now the Reconciler semantic search tool and the taxonomies are being applied to improve search in the Space Shuttle PRACA database, to discover recurring patterns of failure. Usual methods of string search and keyword search fall short because the entries are terse and have numerous shortcuts (irregular abbreviations, nonstandard acronyms, cryptic codes) and modifier words cannot be used in sentence context to refine the search. The limited and fixed FMEA categories associated with the entries do not make the fine distinctions needed in the search. The approach assigns PRACA report titles to problem classes in the taxonomy. Each ontology class includes mapping words - near-synonyms naming different manifestations of that problem class. The mapping words for Problems, Entities and Functions are converted to a canonical form plus any of a small set of modifier words (e.g. non-uniformity NOT + UNIFORM.) The report titles are parsed as sentences if possible, or treated as a flat sequence of word tokens if parsing fails. When canonical forms in the title match mapping words, the PRACA entry is associated with the corresponding Problem, Entity or Function in the ontology. The user can search for types of failures associated with types of equipment, clustering by type of problem (e.g., all bearings found with problems of being uneven: rough, irregular, gritty ). The results could also be used for tagging PRACA report entries with rich metadata. This approach could also be applied to searching and tagging failure modes, failure effects and mitigations in FMEAs. In the pilot work, parsing 52K+ truncated titles (the test cases that were available), has resulted in identification of both a type of equipment and type of problem in about 75% of the cases. The results are displayed in a manner analogous to Google search results. The effort has also led to the enrichment of the taxonomy, adding some new categories and many new mapping words. Further work would make enhancements that have been identified for improving the clustering and further reducing the false alarm rate. (In searching for recurring problems, good clustering is more important than reducing false alarms). Searching complete PRACA reports should lead to immediate improvement.

Malin, Jane T.↗
NASA NTRS2006

Explaining Verification Conditions

The Hoare approach to program verification relies on the construction and discharge of verification conditions (VCs) but offers no support to trace, analyze, and understand the VCs themselves. We describe a systematic extension of the Hoare rules by labels so that the calculus itself can be used to build up explanations of the VCs. The labels are maintained through the different processing steps and rendered as natural language explanations. The explanations can easily be customized and can capture different aspects of the VCs; here, we focus on their structure and purpose. The approach is fully declarative and the generated explanations are based only on an analysis of the labels rather than directly on the logical meaning of the underlying VCs or their proofs. Keywords: program verification, Hoare calculus, traceability.

Deney, Ewen↗
NASA NTRS2004

Optimal Sensor Allocation for Fault Detection and Isolation

Automatic fault diagnostic schemes rely on various types of sensors (e.g., temperature, pressure, vibration, etc) to measure the system parameters. Efficacy of a diagnostic scheme is largely dependent on the amount and quality of information available from these sensors. The reliability of sensors, as well as the weight, volume, power, and cost constraints, often makes it impractical to monitor a large number of system parameters. An optimized sensor allocation that maximizes the fault diagnosibility, subject to specified weight, volume, power, and cost constraints is required. Use of optimal sensor allocation strategies during the design phase can ensure better diagnostics at a reduced cost for a system incorporating a high degree of built-in testing. In this paper, we propose an approach that employs multiple fault diagnosis (MFD) and optimization techniques for optimal sensor placement for fault detection and isolation (FDI) in complex systems. Keywords: sensor allocation, multiple fault diagnosis, Lagrangian relaxation, approximate belief revision, multidimensional knapsack problem.

Azam, Mohammad↗
NASA NTRS2007

Bisphosphonate Treatment: Risk Management in Long Duration Spaceflight

Bisphosphonates are a class of pharmaceuticals used to treat diverse bone disorders such as osteoporosis, Paget's disease, and multiple myeloma. They constitute a class of drugs which adhere to bony surfaces and interfere with the resorptive activity of osteoclasts. They also represent a potential countermeasure towards the loss of bone mass experienced by astronauts during spaceflight. Recently, the medical literature has revealed cases of osteonecrosis of the jaw in individuals receiving intravenous bisphosphonate therapy with a smaller number of cases occurring in individuals receiving the oral form of the medication. Risk management for long duration missions requires consideration of mission success and lifetime health care of astronauts. We performed MEDLINE and PubMed searches (1966 December 2006) using the following keywords: osteonecrosis, jaw, bisphosphonates. Additional references were obtained from the citations of the retrieved articles. Injectable bisphosphonates such as pamidronate and zoledronic acid have been highlighted recently in the literature due to a possible link with osteonecrosis of the jaw. The mechanism of action remains unclear but may be linked to physiologic microdamage in the jawbones resulting from suppression of bone metabolism. The most predisposing factors appear to be the type and dose of bisphosphonate used, a history of dental surgery, trauma, and/or dental infection. In addition, patients diagnosed with a malignancy such as breast cancer or multiple myeloma, who have been on intravenous bisphosphonate therapy for several months seem to be at increased risk. The use of oral bisphosphonates appears to place patients more at risk from acute events such as gastrointestinal tract injury or perforation. Although some studies report little to no increase in GI events compared to placebo, we must remember that in microgravity, astronauts may be unable to comply with medication instructions. They may have difficulty remaining upright for the required 30-45 minutes post-ingestion. We are currently unaware if this inability to comply with instructions on the package insert may lead to an increased risk for GI events. There is a potential long-term complication that resides with both forms of bisphosphonate therapy. In order to repair normally occurring physiologic microdamage to bone, both osteoclastic resorption and osteoblastic bone deposition must be functional. Controversy exists in the literature regarding whether prolonged use of bisphosphonates may lead to the suppression of bone turnover and accumulation of microdamage. Bisphosphonates are a powerful class of drugs that suppress bone turnover, but may cause serious adverse clinical events such as gastrointestinal tract injury or osteonecrosis of the jaw. Unfortunately, little to no data exists currently which may help us provide answers regarding the risks of their use in a healthy astronaut cohort. While controversy exists in the literature regarding their mechanism and long-term consequences, the potential mission impact or lifetime health care impact of an adverse clinical event resulting from bisphosphonate therapy must be considered.

Fogarty, Jennifer A.↗
NASA NTRS2006

Serving Fisheries and Ocean Metadata to Communities Around the World

NASA's Global Change Master Directory (GCMD) assists the oceanographic community in the discovery, access, and sharing of scientific data by serving on-line fisheries and ocean metadata to users around the globe. As of January 2006, the directory holds more than 16,300 Earth Science data descriptions and over 1,300 services descriptions. Of these, nearly 4,000 unique ocean-related metadata records are available to the public, with many having direct links to the data. In 2005, the GCMD averaged over 5 million hits a month, with nearly a half million unique hosts for the year. Through the GCMD portal (http://qcrnd.nasa.qov/), users can search vast and growing quantities of data and services using controlled keywords, free-text searches or a combination of both. Users may now refine a search based on topic, location, instrument, platform, project, data center, spatial and temporal coverage. The directory also offers data holders a means to post and search their data through customized portals, i.e. online customized subset metadata directories. The discovery metadata standard used is the Directory Interchange Format (DIF), adopted in 1994. This format has evolved to accommodate other national and international standards such as FGDC and IS019115. Users can submit metadata through easy-to-use online and offline authoring tools. The directory, which also serves as a coordinating node of the International Directory Network (IDN), has been active at the international, regional and national level for many years through its involvement with the Committee on Earth Observation Satellites (CEOS), federal agencies (such as NASA, NOAA, and USGS), international agencies (such as IOC/IODE, UN, and JAXA) and partnerships (such as ESIP, IOOS/DMAC, GOSIC, GLOBEC, OBIS, and GoMODP), sharing experience, knowledge related to metadata and/or data management and interoperability.

Meaux, Melanie↗
NASA NTRS2007

Serving Fisheries and Ocean Metadata to Communities Around the World

NASA's Global Change Master Directory (GCMD) assists the oceanographic community in the discovery, access, and sharing of scientific data by serving on-line fisheries and ocean metadata to users around the globe. As of January 2006, the directory holds more than 16,300 Earth Science data descriptions and over 1,300 services descriptions. Of these, nearly 4,000 unique ocean-related metadata records are available to the public, with many having direct links to the data. In 2005, the GCMD averaged over 5 million hits a month, with nearly a half million unique hosts for the year. Through the GCMD portal (http://gcmd.nasa.gov/), users can search vast and growing quantities of data and services using controlled keywords, free-text searches, or a combination of both. Users may now refine a search based on topic, location, instrument, platform, project, data center, spatial and temporal coverage, and data resolution for selected datasets. The directory also offers data holders a means to advertise and search their data through customized portals, which are subset views of the directory. The discovery metadata standard used is the Directory Interchange Format (DIF), adopted in 1988. This format has evolved to accommodate other national and international standards such as FGDC and IS019115. Users can submit metadata through easy-to-use online and offline authoring tools. The directory, which also serves as the International Directory Network (IDN), has been providing its services and sharing its experience and knowledge of metadata at the international, national, regional, and local level for many years. Active partners include the Committee on Earth Observation Satellites (CEOS), federal agencies (such as NASA, NOAA, and USGS), international agencies (such as IOC/IODE, UN, and JAXA) and organizations (such as ESIP, IOOS/DMAC, GOSIC, GLOBEC, OBIS, and GoMODP).

Meaux, Melanie F.↗
NASA NTRS2007

An Online Resource for Flight Test Safety Planning

A viewgraph presentation describing an online database for flight test safety techniques is shown. The topics include: 1) Goal; 2) Test Hazard Analyses; 3) Online Database Background; 4) Data Gathering; 5) NTPS Role; 6) Organizations; 7) Hazard Titles; 8) FAR Paragraphs; 9) Maneuver Name; 10) Identified Hazard; 11) Matured Hazard Titles; 12) Loss of Control Causes; 13) Mitigations; 14) Database Now Open to the Public; 15) FAR Reference Search; 16) Record Field Search; 17) Keyword Search; and 18) Results of FAR Reference Search.

Lewis, Greg↗
NASA NTRS2006

Spitzer Space Telescope Sequencing Operations Software, Strategies, and Lessons Learned

The Space Infrared Telescope Facility (SIRTF) was launched in August, 2003, and renamed to the Spitzer Space Telescope in 2004. Two years of observing the universe in the wavelength range from 3 to 180 microns has yielded enormous scientific discoveries. Since this magnificent observatory has a limited lifetime, maximizing science viewing efficiency (ie, maximizing time spent executing activities directly related to science observations) was the key operational objective. The strategy employed for maximizing science viewing efficiency was to optimize spacecraft flexibility, adaptability, and use of observation time. The selected approach involved implementation of a multi-engine sequencing architecture coupled with nondeterministic spacecraft and science execution times. This approach, though effective, added much complexity to uplink operations and sequence development. The Jet Propulsion Laboratory (JPL) manages Spitzer s operations. As part of the uplink process, Spitzer s Mission Sequence Team (MST) was tasked with processing observatory inputs from the Spitzer Science Center (SSC) into efficiently integrated, constraint-checked, and modeled review and command products which accommodated the complexity of non-deterministic spacecraft and science event executions without increasing operations costs. The MST developed processes, scripts, and participated in the adaptation of multi-mission core software to enable rapid processing of complex sequences. The MST was also tasked with developing a Downlink Keyword File (DKF) which could instruct Deep Space Network (DSN) stations on how and when to configure themselves to receive Spitzer science data. As MST and uplink operations developed, important lessons were learned that should be applied to future missions, especially those missions which employ command-intensive operations via a multi-engine sequence architecture.

missions operations↗
NASA NTRS2007

Flight Test Hazard Planning Near the Speed of Light

A viewgraph presentation describing flight test safety near the speed of light is shown. The topics include: 1) Concept; 2) Portal Content; 3) Activity to Date; 4) FTS Database Updatd FAA Program; 5) FAA Flight Test Risk Management; 6) CFR 14 Part 21.35 Current and proposed changes; 7) An Online Resource for Flight Test Safety Planning; 8) Data Gathering; 9) NTPS Role; 10) Example Maturation; 11) Many Varied Inputs; 12) Matured Stall Hazards; 13) Loss of Control Mitigations; 14) FAA Access; 15) NASA PBMA Website Link; 16) FAR Reference Search; 17) Record Field Search; 18) Keyword Search; and 19) Results of FAR Reference Search.

Henwood, Bart↗
NASA NTRS2008

3D Position and Velocity Vector Computations of Objects Jettisoned from the International Space Station Using Close-Range Photogrammetry Approach

Measurement of the jettisoned object departure trajectory and velocity vector in the International Space Station (ISS) reference frame is vitally important for prompt evaluation of the object s imminent orbit. We report on the first successful application of photogrammetric analysis of the ISS imagery for the prompt computation of the jettisoned object s position and velocity vectors. As post-EVA analyses examples, we present the Floating Potential Probe (FPP) and the Russian "Orlan" Space Suit jettisons, as well as the near-real-time (provided in several hours after the separation) computations of the Video Stanchion Support Assembly Flight Support Assembly (VSSA-FSA) and Early Ammonia Servicer (EAS) jettisons during the US astronauts space-walk. Standard close-range photogrammetry analysis was used during this EVA to analyze two on-board camera image sequences down-linked from the ISS. In this approach the ISS camera orientations were computed from known coordinates of several reference points on the ISS hardware. Then the position of the jettisoned object for each time-frame was computed from its image in each frame of the video-clips. In another, "quick-look" approach used in near-real time, orientation of the cameras was computed from their position (from the ISS CAD model) and operational data (pan and tilt) then location of the jettisoned object was calculated only for several frames of the two synchronized movies. Keywords: Photogrammetry, International Space Station, jettisons, image analysis.

Papanyan, Valeri↗
NASA NTRS2008

Evaluations of Risks from the Lunar and Mars Radiation Environments

Protecting astronauts from the space radiation environments requires accurate projections of radiation in future space missions. Characterization of the ionizing radiation environment is challenging because the interplanetary plasma and radiation fields are modulated by solar disturbances and the radiation doses received by astronauts in interplanetary space are likewise influenced. The galactic cosmic radiation (GCR) flux for the next solar cycle was estimated as a function of interplanetary deceleration potential, which has been derived from GCR flux and Climax neutron monitor rate measurements over the last 4 decades. For the chaotic nature of solar particle event (SPE) occurrence, the mean frequency of SPE at any given proton fluence threshold during a defined mission duration was obtained from a Poisson process model using proton fluence measurements of SPEs during the past 5 solar cycles (19-23). Analytic energy spectra of 34 historically large SPEs were constructed over broad energy ranges extending to GeV. Using an integrated space radiation model (which includes the transport codes HZETRN [1] and BRYNTRN [2], and the quantum nuclear interaction model QMSFRG[3]), the propagation and interaction properties of the energetic nucleons through various media were predicted. Risk assessment from GCR and SPE was evaluated at the specific organs inside a typical spacecraft using CAM [4] model. The representative risk level at each event size and their standard deviation were obtained from the analysis of 34 SPEs. Risks from different event sizes and their frequency of occurrences in a specified mission period were evaluated for the concern of acute health effects especially during extra-vehicular activities (EVA). The results will be useful for the development of an integrated strategy of optimizing radiation protection on the lunar and Mars missions. Keywords: Space Radiation Environments; Galactic Cosmic Radiation; Solar Particle Event; Radiation Risk; Risk Analysis; Radiation Protection.

Kim, Myung-Hee↗
NASA NTRS2008

Radiation Measured during ISS-Expedition 13 with Different Dosimeters

Radiation in low Earth orbit (LEO) is mainly composed of Galactic Cosmic Rays (GCR), solar energetic particles and particles in SAA (South Atlantic Anomaly). The biological impact of space radiation to astronauts depends strongly on the particles linear energy transfer (LET) and is dominated by high LET radiation. It is important to measure the LET spectrum for the space radiation field and to investigate the influence of radiation on astronauts. At present, the preferred active dosimeters sensitive to all LET are the tissue equivalent proportional counter (TEPC) and silicon detectors in various configurations; the preferred passive dosimeters are thermoluminescence dosimeters (TLDs) and optically stimulated luminescence dosimeters (OSLDs) sensitive to low LET as well as CR-39 plastic nuclear track detectors (PNTDs) sensitive to high LET. The TEPC, CR-39 PNTDs, TLDs and OSLDs were used to investigate the radiation exposure for the ISS mission Expedition 13 (ISS-12S) in LEO. LET spectra and radiation quantities (fluence, absorbed dose, dose equivalent and quality factor) were measured for the space mission with different dosimeters. This paper introduces the operational principles for the dosimeters, describes the method to combine the results measured by TLDs/OSLDs and CR-39 PNTDs, and presents the LET spectra and the radiation quantities measured. Keywords: space radiation; cosmic rays; active and passive dosimeters; LET spectra

Zhou, D.↗
NASA NTRS2008

Damping of High-temperature Shape Memory Alloys

Researchers at NASA Glenn Research Center have been investigating high temperature shape memory alloys as potential damping materials for turbomachinery rotor blades. Analysis shows that a thin layer of SMA with a loss factor of 0.04 or more would be effective at reducing the resonant response of a titanium alloy beam. Two NiTiHf shape memory alloy compositions were tested to determine their loss factors at frequencies from 0.1 to 100 Hz, at temperatures from room temperature to 300 C, and at alternating strain levels of 34-35x10(exp -6). Elevated damping was demonstrated between the M(sub s) and M(sub f) phase transformation temperatures and between the A(sub s) and A(sub f) temperatures. The highest damping occurred at the lowest frequencies, with a loss factor of 0.2-0.26 at 0.1 Hz. However, the peak damping decreased with increasing frequency, and showed significant temperature hysteresis in heating and cooling. Keywords: High-temperature, shape memory alloy, damping, aircraft engine blades, NiTiHf

Duffy, Kirsten P.↗
NASA NTRS2008

Strategies of Healthy Adults Walking on a Laterally Oscillating Treadmill

We mounted a treadmill on top of a six degree-of-freedom motion base platform to investigate locomotor responses produced by healthy adults introduced to a dynamic walking surface. The experiment examined self-selected strategies employed by participants when exposed to continuous, sinusoidal lateral motion of the support surface while walking. Torso translation and step width were used to classify responses used to stabilize gait in a novel, dynamic environment. Two response categories emerged. Participants tended to either fix themselves in space (FIS), allowing the treadbelt to move laterally beneath them, or they fixed themselves to the base (FTB), moving laterally as the motion base oscillated. The degree of fixation in both extremes varied across participants. This finding suggests that normal adults have innate and varied preferences for reacquiring gait stability, some depending more heavily on vision (FIS group) and others on proprioception (FTB group). Keywords: Human locomotion, Unstable surface, Treadmill, Adaptation, Stability

Brady, Rachel A.↗
NASA NTRS2006

Ultrasonication of Bismuth Telluride Nanocrystals Fabricated by Solvothermal Method

The objective of this study is to evaluate the effect of ultrasonication on bismuth telluride nanocrystals prepared by solvothermal method. In this study, a low dimensional nanocrystal of bismuth telluride (Bi2Te3) was synthesized by a solvothermal process in an autoclave at 180 C and 200 psi. During the solvothermal reaction, organic surfactants effectively prevented unwanted aggregation of nanocrystals in a selected solvent while controlling the shape of the nanocrystal. The atomic ratio of bismuth and tellurium was determined by energy dispersive spectroscopy (EDS). The cavitational energy created by the ultrasonic probe was varied by the ultrasonication process time, while power amplitude remained constant. The nanocrystal size and its size distribution were measured by field emission scanning electron microscopy (FESEM) and a dynamic light scattering system. When the ultrasonication time increased, the average size of bismuth telluride nanocrystal gradually increased due to the direct collision of nanocrystals. The polydispersity of the nanocrystals showed a minimum when the ultrasonication was applied for 5 min. Keywords: bismuth telluride, nanocrystal, low-dimensional, ultrasonication, solvothermal

Chu, Sang-Hyon↗