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NASA NTRS1993

Galileo spacecraft anomaly and safing recovery

A high-level anomaly recovery plan which identifies the steps necessary to recover from a spacecraft 'Safing' incident was developed for the Galileo spacecraft prior to launch. Since launch, a total of four in-flight anomalies have lead to entry into a system fault protection 'Safing' routine which has required the Galileo flight team to refine and execute the recovery plan. These failures have allowed the flight team to develop an efficient recovery process when permanent spacecraft capability degradation is minimal and the cause of the anomaly is quickly diagnosed. With this previous recovery experience and the very focused boundary conditions of a specific potential failure, a Gaspra asteroid recovery plan was designed to be implemented in as quickly as forty hours (desired goal). This paper documents the work performed above, however, the Galileo project remains challenged to develop a generic detailed recovery plan which can be implemented in a relatively short time to configure the spacecraft to a nominal state prior to future high priority mission objectives.

Basilio, Ralph R.↗

NASA NTRS1993

Making tomorrow's mistakes today: Evolutionary prototyping for risk reduction and shorter development time

In the early days of JPL's solar system exploration, each spacecraft mission required its own dedicated data system with all software applications written in the mainframe's native assembly language. Although these early telemetry processing systems were a triumph of engineering in their day, since that time the computer industry has advanced to the point where it is now advantageous to replace these systems with more modern technology. The Space Flight Operations Center (SFOC) Prototype group was established in 1985 as a workstation and software laboratory. The charter of the lab was to determine if it was possible to construct a multimission telemetry processing system using commercial, off-the-shelf computers that communicated via networks. The staff of the lab mirrored that of a typical skunk works operation -- a small, multi-disciplinary team with a great deal of autonomy that could get complex tasks done quickly. In an effort to determine which approaches would be useful, the prototype group experimented with all types of operating systems, inter-process communication mechanisms, network protocols, packet size parameters. Out of that pioneering work came the confidence that a multi-mission telemetry processing system could be built using high-level languages running in a heterogeneous, networked workstation environment. Experience revealed that the operating systems on all nodes should be similar (i.e., all VMS or all PC-DOS or all UNIX), and that a unique Data Transport Subsystem tool needed to be built to address the incompatibilities of network standards, byte ordering, and socket buffering. The advantages of building a telemetry processing system based on emerging industry standards were numerous: by employing these standards, we would no longer be locked into a single vendor. When new technology came to market which offered ten times the performance at one eighth the cost, it would be possible to attach the new machine to the network, re-compile the application code, and run. In addition, we would no longer be plagued with lack of manufacturer support when we encountered obscure bugs. And maybe, hopefully, the eternal elusive goal of software portability across different vendors' platforms would finally be available. Some highlights of our prototyping efforts are described.

Friedman, Gary↗

NASA NTRS1993

Tensoral for post-processing users and simulation authors

The CTR post-processing effort aims to make turbulence simulations and data more readily and usefully available to the research and industrial communities. The Tensoral language, which provides the foundation for this effort, is introduced here in the form of a user's guide. The Tensoral user's guide is presented in two main sections. Section one acts as a general introduction and guides database users who wish to post-process simulation databases. Section two gives a brief description of how database authors and other advanced users can make simulation codes and/or the databases they generate available to the user community via Tensoral database back ends. The two-part structure of this document conforms to the two-level design structure of the Tensoral language. Tensoral has been designed to be a general computer language for performing tensor calculus and statistics on numerical data. Tensoral's generality allows it to be used for stand-alone native coding of high-level post-processing tasks (as described in section one of this guide). At the same time, Tensoral's specialization to a minute task (namely, to numerical tensor calculus and statistics) allows it to be easily embedded into applications written partly in Tensoral and partly in other computer languages (here, C and Vectoral). Embedded Tensoral, aimed at advanced users for more general coding (e.g. of efficient simulations, for interfacing with pre-existing software, for visualization, etc.), is described in section two of this guide.

Dresselhaus, Eliot↗

NASA NTRS1992

Software Management Environment (SME) concepts and architecture, revision 1

This document presents the concepts and architecture of the Software Management Environment (SME), developed for the Software Engineering Branch of the Flight Dynamic Division (FDD) of GSFC. The SME provides an integrated set of experience-based management tools that can assist software development managers in managing and planning flight dynamics software development projects. This document provides a high-level description of the types of information required to implement such an automated management tool.

Hendrick, Robert↗

NASA NTRS1994

Object-based task-level control: A hierarchical control architecture for remote operation of space robots

Expanding man's presence in space requires capable, dexterous robots capable of being controlled from the Earth. Traditional 'hand-in-glove' control paradigms require the human operator to directly control virtually every aspect of the robot's operation. While the human provides excellent judgment and perception, human interaction is limited by low bandwidth, delayed communications. These delays make 'hand-in-glove' operation from Earth impractical. In order to alleviate many of the problems inherent to remote operation, Stanford University's Aerospace Robotics Laboratory (ARL) has developed the Object-Based Task-Level Control architecture. Object-Based Task-Level Control (OBTLC) removes the burden of teleoperation from the human operator and enables execution of tasks not possible with current techniques. OBTLC is a hierarchical approach to control where the human operator is able to specify high-level, object-related tasks through an intuitive graphical user interface. Infrequent task-level command replace constant joystick operations, eliminating communications bandwidth and time delay problems. The details of robot control and task execution are handled entirely by the robot and computer control system. The ARL has implemented the OBTLC architecture on a set of Free-Flying Space Robots. The capability of the OBTLC architecture has been demonstrated by controlling the ARL Free-Flying Space Robots from NASA Ames Research Center.

Stevens, H. D.↗

NASA NTRS1992

The NASA sponsored HSCT propulsion studies

One objective of the NASA-sponsored High Speed Civil Transport (HSCT) propulsion studies is to determine the potential benefits of alternative advanced technologies. These benefits should be explicitly expressed in terms of meeting either environmental acceptability or economic viability. The potential benefit information is used to screen alternative technology candidates to the most promising technologies that, if successfully developed, will enable the propulsion system to achieve high performance and low weight without unduly sacrificing favorable emissions and noise characteristics. A second objective is the provision of key information to high-level decision makers--enabling them to make rational decisions concerning the technology program content. It will be necessary to pursue more than one concept/technology until experimental validity is convincingly demonstrated. Some technologies will likely fail to achieve their stated goals, and timely program redirection depends upon far-sighted system studies to provide such information.

Strack, William C.↗

NASA NTRS1993

Measuring and assessing maintainability at the end of high level design

Software architecture appears to be one of the main factors affecting software maintainability. Therefore, in order to be able to predict and assess maintainability early in the development process we need to be able to measure the high-level design characteristics that affect the change process. To this end, we propose a measurement approach, which is based on precise assumptions derived from the change process, which is based on Object-Oriented Design principles and is partially language independent. We define metrics for cohesion, coupling, and visibility in order to capture the difficulty of isolating, understanding, designing and validating changes.

Briand, Lionel C.↗

NASA NTRS1989

The KAPTUR environment: An operations concept

This report presents a high-level specification and operations concept for KAPTUR, a development environment based on knowledge acquisition for preservation of tradeoffs and underlying rationales. KAPTUR is intended to do what its name implies: to capture knowledge that is required or generated during the development process, but that is often lost because it is contextual, i.e., it does not appear directly in the end-products of development. Such knowledge includes issues that were raised during development, alternatives that were considered, and the reasons for choosing one alternative over others. Contextual information is usually only maintained as a memory in a developer's mind. As time passes, the memories become more vague and individuals become unavailable, and eventually the knowledge is lost. KAPTUR seeks to mitigate this process of attrition by recording and organizing contextual knowledge as it is generated.

Source record↗

NASA NTRS1994

CLIPS template system for program understanding

Program understanding is a subfield of software reengineering and attempts to recognize the run-time behavior of source code. To this point, success in this area has been limited to very small code segments. An expert system, HLAR (High-Level Algorithm Recognizer), has been written in CLIPS and recognizes three sorting algorithms, selection sort, quicksort, and heapsort. This paper describes the HLAR system in general and, in depth, the CLIPS templates used for program representation and understanding.

Finkbine, Ronald B.↗

NASA NTRS1993

Interactive interface for National Center for Atmospheric Research (NCAR) graphics

NCAR Graphics is a FORTRAN 77 library of over 30 high-level graphics modules which are heavily used by science and engineering researchers at over 1500 sites world-wide including many universities and government agencies. These Earth science oriented modules now have a FORTRAN callable subroutine interface which excludes their use by non-programming researchers. This proposal outlines the development of a fully interactive 'point and click' menu-based interface using the prevailing toolkit standard for the X-Window System. Options for direct output to the display window and/or output to a computer Graphics Metafile (CGM) will be provided. X, PEX, and PHIGS will be implemented as the underlying windowing and graphics standards. Associated meteorological and geometric data sets would exploit the network extended NASA Common Data Format, netCDF.

Buzbee, William↗

NASA NTRS1993

Construction of an advanced software tool for planetary atmospheric modeling

Scientific model-building can be a time intensive and painstaking process, often involving the development of large complex computer programs. Despite the effort involved, scientific models cannot be distributed easily and shared with other scientists. In general, implemented scientific models are complicated, idiosyncratic, and difficult for anyone but the original scientist/programmer to understand. We propose to construct a scientific modeling software tool that serves as an aid to the scientist in developing, using and sharing models. The proposed tool will include an interactive intelligent graphical interface and a high-level domain-specific modeling language. As a testbed for this research, we propose to develop a software prototype in the domain of planetary atmospheric modeling.

Friedland, Peter↗

NASA NTRS1992

Meeting human needs

Manned space flight can be viewed as an interaction of three general elements: the human crewmember, spacecraft systems, and the environment. While the human crewmember is a crucial element in the system, certain physiological, psychological, environ- mental and spacecraft systems factors can compromise human performance in space. These factors include atmospheric pressure, physiology, uncertainties associated with space radiation, the potential for exposure to toxic materials in the closed environment, and spacecraft habitability. Health protection in space, for current and future missions, relies on a philosophy of risk reduction, which in the space program is achieved in four ways-through health maintenance, health care, design criteria, an selection and training. Emphasis is place upon prevention, through selection criteria and careful screening. Spacecraft health care systems must be absolutely reliable, and they will be automated and computerized to the maximum extent possible, but still designed with the human crewmember's capabilities in mind. The autonomy and technological sophistication of future missions will require a greater emphasis on high-level interaction between the human operator and automated systems, with effective allocation of tasks between humans and machines. Performance in space will include complex tasks during extravehicular activity (EVA) and on planetary surfaces, and knowledge of crewmembers' capability and limitations during such operations will be critical to mission success. Psychological support will become increasingly important on space missions, as crews spend long periods in remote and potentially hazardous environments. The success of future missions will depend on both individual psychological health and group cohesion and productivity, particularly as crew profiles become more heterogeneous. Thus, further human factors are needed in the area of small-group dynamics and performance.

Nicogossian, Arnauld E.↗

NASA NTRS1990

Building distributed rule-based systems using the AI Bus

The AI Bus software architecture was designed to support the construction of large-scale, production-quality applications in areas of high technology flux, running heterogeneous distributed environments, utilizing a mix of knowledge-based and conventional components. These goals led to its current development as a layered, object-oriented library for cooperative systems. This paper describes the concepts and design of the AI Bus and its implementation status as a library of reusable and customizable objects, structured by layers from operating system interfaces up to high-level knowledge-based agents. Each agent is a semi-autonomous process with specialized expertise, and consists of a number of knowledge sources (a knowledge base and inference engine). Inter-agent communication mechanisms are based on blackboards and Actors-style acquaintances. As a conservative first implementation, we used C++ on top of Unix, and wrapped an embedded Clips with methods for the knowledge source class. This involved designing standard protocols for communication and functions which use these protocols in rules. Embedding several CLIPS objects within a single process was an unexpected problem because of global variables, whose solution involved constructing and recompiling a C++ version of CLIPS. We are currently working on a more radical approach to incorporating CLIPS, by separating out its pattern matcher, rule and fact representations and other components as true object oriented modules.

Schultz, Roger D.↗

NASA NTRS1992

On the Retrieval and Analysis of Multilevel Clouds

An accurate satellite retrieval of cloud properties depends upon the detection and analysis of multilayered, overlapping cloud systems that surface observations show to be common. Multiple cloud layers are often found, for instance, in frontal situations, where cirrus overlays boundary layer convective cloud or low-to mid-level stratus cloud. Surface observers (Hahan et al., 1982) indicate that over ocean in the Northern Hemisphere between 30 deg. N and 60 deg. N, 51 percent of observations are of multilevel clouds. A satellite analysis by Coakley (1983) over the Pacific Ocean finds that more than 50 percent of 500 (250 sq km) frames exhibit evidence of multilayered cloud systems. The questions addressed in this study are the following: What error is introduced when inferring the cloud pressure from a Field-Of-View (FOV) that contains some arbitrary amount of transparent cloud overlaying a lower-level black cloud, such as stratus, by making the assumption that there is only a single cloud layer in the FOV, and what may be done to improve the cloud retrieval? The CO2 slicing methods (e.g. McCleese and Wilson, 1976; Smith and Platt, 1978; Chahine, 1974) have been shown to provide accurate means of inferring cirrus cloud altitude from passive infrared radiance measurements. The CO2 techniques have been applied to radiometric data from several instruments, notably the High Resolution Infrared Radiometric Sounder (HIRS/2, hereafter referred to as HIRS), the VISSR Atmospheric Sounder (VAS) (e.g., Menzel et al., 1983; Wylie and Menzel, 1989), and most recently to the High Resolution Interferometer Sounder (HIS) (Smith and Frey, 1990). The methods take advantage of the fact that infrared CO2 sounding channels spaced closely in wavenumber each have varying opacity to CO2, thereby causing each channel to be sensitive to a different level in the atmosphere. The techniques have been shown to be effective for single-layered, nonblack, mid- to high-level clouds such as cirrus, but are generally applied operationally to any given cloud occurrence. The CO2 slicing algorithms are most accurate for clouds than occur in a single, well-defined layer, or for multi-layered cloud cases in which the uppermost cloud layer is nearly black. Significant cloud height retrieval errors may ensue if the HIRS Field-Of-View (FOV) is cotaminated with low cloud. McCleese and Wilson (1976) have shown that the retrieved cloud height for the case of multiple cloud layers is a weighted average of the cloud heights actually present. The weight is approximately proportional to the product of the cloud heigt and the effective cloud amount. The effect of their result is that the uppermost cloud layer dominates the cloud pressure retrieval. Beyond stating that the higher cloud dominates the cloud pressure retrieval, there is no quantitative information to provide a way of estimating the errors in cloud pressure retrieval one should expect for certain common multilevel cloud situations or any suggestions on how to reduce the errors. In this paper we estimate the magnitude of the errors and use a simple algorithm to reduce the errors in optically thin cloud height retrival.

Baum, Bryan A.↗

NASA NTRS1992

Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

Chen, Vincent Wei-Kang↗

NASA NTRS1987

Considerations for Multiprocessor Topologies

Choosing a multiprocessor interconnection topology may depend on high-level considerations, such as the intended application domain and the expected number of processors. It certainly depends on low-level implementation details, such as packaging and communications protocols. The authors first use rough measures of cost and performance to characterize several topologies. They then examine how implementation details can affect the realizable performance of a topology.

INTERPROCESSOR COMMUNICATION↗

NASA NTRS1991

Design Strategy for a Formally Verified Reliable Computing Platform

This paper presents a high-level design for a reliable computing platform for real-time control applications. The design tradeoffs and analyses related to the development of a formally verified reliable computing platform are discussed. The design strategy advocated in this paper requires the use of techniques that can be completely characterized mathematically as opposed to more powerful or more flexible algorithms whose performance properties can only be analyzed by simulation and testing. The need for accurate reliability models that can be related to the behavior models is also stressed. Tradeoffs between reliability and voting complexity are explored. In particular, the transient recovery properties of the system are found to be fundamental to both the reliability analysis as well as the "correctness" models.

Butler, Ricky W.↗

NASA NTRS1993

COAST:The Controller's Assistant

COAST, the Controller's Assistant, is a semi-automated player of the CBS wargave training simulation. It uses rule-based techniques to maneuver a collection of platoons through a complex infiltration mission in response to a single high-level order from a CBS controller.

Game Controller semi-automated player↗