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NASA NTRS2012

Anomaly Detection in Test Equipment via Sliding Mode Observers

Nonlinear observers were originally developed based on the ideas of variable structure control, and for the purpose of detecting disturbances in complex systems. In this anomaly detection application, these observers were designed for estimating the distributed state of fluid flow in a pipe described by a class of advection equations. The observer algorithm uses collected data in a piping system to estimate the distributed system state (pressure and velocity along a pipe containing liquid gas propellant flow) using only boundary measurements. These estimates are then used to further estimate and localize possible anomalies such as leaks or foreign objects, and instrumentation metering problems such as incorrect flow meter orifice plate size. The observer algorithm has the following parts: a mathematical model of the fluid flow, observer control algorithm, and an anomaly identification algorithm. The main functional operation of the algorithm is in creating the sliding mode in the observer system implemented as software. Once the sliding mode starts in the system, the equivalent value of the discontinuous function in sliding mode can be obtained by filtering out the high-frequency chattering component. In control theory, "observers" are dynamic algorithms for the online estimation of the current state of a dynamic system by measurements of an output of the system. Classical linear observers can provide optimal estimates of a system state in case of uncertainty modeled by white noise. For nonlinear cases, the theory of nonlinear observers has been developed and its success is mainly due to the sliding mode approach. Using the mathematical theory of variable structure systems with sliding modes, the observer algorithm is designed in such a way that it steers the output of the model to the output of the system obtained via a variety of sensors, in spite of possible mismatches between the assumed model and actual system. The unique properties of sliding mode control allow not only control of the model internal states to the states of the real-life system, but also identification of the disturbance or anomaly that may occur.

Solano, Wanda M.↗

NASA NTRS1993

Use of high performance networks and supercomputers for real-time flight simulation

In order to meet the stringent time-critical requirements for real-time man-in-the-loop flight simulation, computer processing operations must be consistent in processing time and be completed in as short a time as possible. These operations include simulation mathematical model computation and data input/output to the simulators. In 1986, in response to increased demands for flight simulation performance, NASA's Langley Research Center (LaRC), working with the contractor, developed extensions to the Computer Automated Measurement and Control (CAMAC) technology which resulted in a factor of ten increase in the effective bandwidth and reduced latency of modules necessary for simulator communication. This technology extension is being used by more than 80 leading technological developers in the United States, Canada, and Europe. Included among the commercial applications are nuclear process control, power grid analysis, process monitoring, real-time simulation, and radar data acquisition. Personnel at LaRC are completing the development of the use of supercomputers for mathematical model computation to support real-time flight simulation. This includes the development of a real-time operating system and development of specialized software and hardware for the simulator network. This paper describes the data acquisition technology and the development of supercomputing for flight simulation.

Cleveland, Jeff I., II↗

NASA NTRS2004

Simulating Operation of a Planetary Rover

Simulating Operation of a Planetary Rover Rover Analysis, Modeling, and Simulations (ROAMS) is a computer program that simulates the operation of a robotic vehicle (rover) engaged in exploration of a remote planet. ROAMS is a roverspecific extension of the DARTS and Dshell programs, described in prior NASA Tech Briefs articles, which afford capabilities for mathematical modeling of the dynamics of a spacecraft as a whole and of its instruments, actuators, and other subsystems. ROAMS incorporates mathematical models of kinematics and dynamics of rover mechanical subsystems, sensors, interactions with terrain, solar panels and batteries, and onboard navigation and locomotion-control software. ROAMS provides a modular simulation framework that can be used for analysis, design, development, testing, and operation of rovers. ROAMS can be used alone for system performance and trade studies. Alternatively, ROAMS can be used in an operator-in-the-loop or flight-software closed-loop environment. ROAMS can also be embedded within other software for use in analysis and development of algorithms, or for Monte Carlo studies, using a variety of terrain models, to generate performance statistics. Moreover, taking advantage of realtime features of the underlying DARTS/Dshell simulation software, ROAMS can also be used for real-time simulations.

Jain, Abhinandan↗

NASA NTRS2015

Software Validation via Model Animation

This paper explores a new approach to validating software implementations that have been produced from formally-verified algorithms. Although visual inspection gives some confidence that the implementations faithfully reflect the formal models, it does not provide complete assurance that the software is correct. The proposed approach, which is based on animation of formal specifications, compares the outputs computed by the software implementations on a given suite of input values to the outputs computed by the formal models on the same inputs, and determines if they are equal up to a given tolerance. The approach is illustrated on a prototype air traffic management system that computes simple kinematic trajectories for aircraft. Proofs for the mathematical models of the system's algorithms are carried out in the Prototype Verification System (PVS). The animation tool PVSio is used to evaluate the formal models on a set of randomly generated test cases. Output values computed by PVSio are compared against output values computed by the actual software. This comparison improves the assurance that the translation from formal models to code is faithful and that, for example, floating point errors do not greatly affect correctness and safety properties.

Dutle, Aaron M.↗

NASA NTRS1993

Software For Fault-Tree Diagnosis Of A System

Fault Tree Diagnosis System (FTDS) computer program is automated-diagnostic-system program identifying likely causes of specified failure on basis of information represented in system-reliability mathematical models known as fault trees. Is modified implementation of failure-cause-identification phase of Narayanan's and Viswanadham's methodology for acquisition of knowledge and reasoning in analyzing failures of systems. Knowledge base of if/then rules replaced with object-oriented fault-tree representation. Enhancement yields more-efficient identification of causes of failures and enables dynamic updating of knowledge base. Written in C language, C++, and Common LISP.

Iverson, Dave↗

NASA NTRS1977

Theory of motion of Jupiter's Galilean satellites

Final results are presented for a theory enabling one to calculate the positions of the Galilean satellites and their partial derivatives. Extensive use of algebraic manipulation software on a digital computer is made to generate the final expressions. The theory is, in effect, a revitalization of Sampson's (1921) theory. Algebraic and mathematical errors existing in Sampson's work are removed, some neglected effects due to solar interactions and the 3-7 commensurability are introduced, allowance is made for nonzero amplitude and phase of the free libration, and the final results are expressed as analytic functions of variations in 49 arbitrary constants of integration and physical parameters. The theory is constructed in a manner which readily allows for future revision, and analytic expressions are provided for the partial derivatives with respect to the 49 parameters.

Lieske, J. H.↗

NASA NTRS1993

Tensoral: A system for post-processing turbulence simulation data

Many computer simulations in engineering and science -- and especially in computational fluid dynamics (CFD) -- produce huge quantities of numerical data. These data are often so large as to make even relatively simple post-processing of this data unwieldy. The data, once computed and quality-assured, is most likely analyzed by only a few people. As a result, much useful numerical data is under-utilized. Since future state-of-the-art simulations will produce even larger datasets, will use more complex flow geometries, and will be performed on more complex supercomputers, data management issues will become increasingly cumbersome. My goal is to provide software which will automate the present and future task of managing and post-processing large turbulence datasets. My research has focused on the development of these software tools -- specifically, through the development of a very high-level language called 'Tensoral'. The ultimate goal of Tensoral is to convert high-level mathematical expressions (tensor algebra, calculus, and statistics) into efficient low-level programs which numerically calculate these expressions given simulation datasets. This approach to the database and post-processing problem has several advantages. Using Tensoral the numerical and data management details of a simulation are shielded from the concerns of the end user. This shielding is carried out without sacrificing post-processor efficiency and robustness. Another advantage of Tensoral is that its very high-level nature lends itself to portability across a wide variety of computing (and supercomputing) platforms. This is especially important considering the rapidity of changes in supercomputing hardware.

Dresselhaus, Eliot↗

NASA NTRS1994

High performance real-time flight simulation at NASA Langley

In order to meet the stringent time-critical requirements for real-time man-in-the-loop flight simulation, computer processing operations must be deterministic and be completed in as short a time as possible. This includes simulation mathematical model computational and data input/output to the simulators. In 1986, in response to increased demands for flight simulation performance, personnel at NASA's Langley Research Center (LaRC), working with the contractor, developed extensions to a standard input/output system to provide for high bandwidth, low latency data acquisition and distribution. The Computer Automated Measurement and Control technology (IEEE standard 595) was extended to meet the performance requirements for real-time simulation. This technology extension increased the effective bandwidth by a factor of ten and increased the performance of modules necessary for simulator communications. This technology is being used by more than 80 leading technological developers in the United States, Canada, and Europe. Included among the commercial applications of this technology are nuclear process control, power grid analysis, process monitoring, real-time simulation, and radar data acquisition. Personnel at LaRC have completed the development of the use of supercomputers for simulation mathematical model computational to support real-time flight simulation. This includes the development of a real-time operating system and the development of specialized software and hardware for the CAMAC simulator network. This work, coupled with the use of an open systems software architecture, has advanced the state of the art in real time flight simulation. The data acquisition technology innovation and experience with recent developments in this technology are described.

Cleveland, Jeff I., II↗

NASA NTRS1996

MCTP Summer Research Internship Program. Research Presentation Day: Experience Mathematics and Science in the Real World

This paper presents the summaries of the MCTP Summer Research Internship Program. Technological areas discussed include: Mathematical curriculum development for real world problems; Rain effects on air-water gas exchange; multi-ring impact basins on mars; developing an interactive multimedia educational cd-rom on remote sensing; a pilot of an activity for for the globe program; fossils in maryland; developing children's programming for the american horticultural society at river farm; children's learning, educational programs of the national park service; a study of climate and student satisfaction in two summer programs for disadvantaged students interested in careers in mathematics and science; the maryland governor's academy, integrating technology into the classroom; stream sampling with the maryland biological stream survey (MBSS); the imaging system inspection software technology, the preparation and detection of nominal and faulted steel ingots; event-based science, the development of real-world science units; correlation between anxiety and past experiences; environmental education through summer nature camp; enhancing learning opportunities at the Salisbury zoo; plant growth experiment, a module for the middle school classroom; the effects of proxisome proliferators in Japanese medaka embryos; development of a chapter on birth control and contraceptive methodologies as part of an interactive computer-based education module on hiv and aids; excretion of gentamicin in toadfish and goldfish; the renaissance summer program; and Are field trips important to the regional math science center?

Source record↗

NASA NTRS1994

Calculation Software

MathSoft Plus 5.0 is a calculation software package for electrical engineers and computer scientists who need advanced math functionality. It incorporates SmartMath, an expert system that determines a strategy for solving difficult mathematical problems. SmartMath was the result of the integration into Mathcad of CLIPS, a NASA-developed shell for creating expert systems. By using CLIPS, MathSoft, Inc. was able to save the time and money involved in writing the original program.

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NASA NTRS1978

Digital techniques for processing Landsat imagery

An overview of the basic techniques used to process Landsat images with a digital computer, and the VICAR image processing software developed at JPL and available to users through the NASA sponsored COSMIC computer program distribution center is presented. Examples of subjective processing performed to improve the information display for the human observer, such as contrast enhancement, pseudocolor display and band rationing, and of quantitative processing using mathematical models, such as classification based on multispectral signatures of different areas within a given scene and geometric transformation of imagery into standard mapping projections are given. Examples are illustrated by Landsat scenes of the Andes mountains and Altyn-Tagh fault zone in China before and after contrast enhancement and classification of land use in Portland, Oregon. The VICAR image processing software system which consists of a language translator that simplifies execution of image processing programs and provides a general purpose format so that imagery from a variety of sources can be processed by the same basic set of general applications programs is described.

Green, W. B.↗

NASA NTRS1976

Electrodynamics of long conducting tethers in the near-earth environment

An analytical approach was developed to evaluate the electrodynamic interactions affecting a thin, bare metallic wire moving in the ionosphere. The wire's diameter was smaller than the Debye length; therefore, the plasma sheath around the wire was taken into account in computing inducing drag force and torque. Computer programs were prepared for the numerical evaluation of mathematical functions that were required to compute the distribution of the potential along the wire and of the current in the wire. Numerical calculations based on this software are shown.

Dobrowolny, M.↗

NASA NTRS2024

Automated Detection of Spurious Signals in VLBI Phase Calibration Data

In this memorandum, a set of processing strategies for automatic masking of phase calibration tones is outlined as implemented in the software package PIMA in the task Generate Phase Calibration Mask, or GEPM. The task relies on a robust procedure of cleaning phase calibration data before employing several mathematical strategies designed to selectively identify spurious signals from phase calibration tones. These strategies were derived as more rigorous implementations of heuristics traditionally used by analysts in manually identifying problematic phase calibration data. The task is intended to automate the process of generating a phase calibration mask and in so doing increase the speed and regularity of VLBI analysis. At the outset of the project, a series of goals were identified to evaluate the success of this mask generation. This included the development of an algorithm to identify and mask short-term (defined as less than 10 seconds in length) spurious signals affecting phase calibration data, the development of an algorithm to identify and mask phase calibration tones affected by constant radio-frequency interference, the implementation of a detection scheme for identifying large jumps in phase calibration phase caused by clock breaks, and finally a method of reporting phase calibration health metrics to the user. Processing of over 10 experiments has demonstrated that the final form of the task GEPM as detailed in this technical memorandum satisfies each of these conditions and satisfactorily performs the task of automatic phase calibration data masking, although the wide variety in quality and characteristics of phase calibration data makes a single solution to the problem quite difficult. A series of user inputs have therefore been defined to assist analysts in tailoring automatic masking to specific stations and phase calibration generators. The vast majority of applicable code was written in FORTRAN to increase execution speed and ease of interfacing with the existing code base in PIMA, but a wrapper function in Python was also written to allow for a simpler method of interacting with GEPM and inputting relevant parameters. In addition to this report, thorough documentation was added to the already existing repositories associated with PIMA as a whole.

Geodesy↗

NASA NTRS1972

Development of spectral analysis math models and software program and spectral analyzer, digital converter interface equipment design

Spectral analyses of angle-modulated communication systems is studied by: (1) performing a literature survey of candidate power spectrum computational techniques, determining the computational requirements, and formulating a mathematical model satisfying these requirements; (2) implementing the model on UNIVAC 1230 digital computer as the Spectral Analysis Program (SAP); and (3) developing the hardware specifications for a data acquisition system which will acquire an input modulating signal for SAP. The SAP computational technique uses extended fast Fourier transform and represents a generalized approach for simple and complex modulating signals.

Hayden, W. L.↗

NASA NTRS1972

Mathematical computer programs: A compilation

Computer programs, routines, and subroutines for aiding engineers, scientists, and mathematicians in direct problem solving are presented. Also included is a group of items that affords the same users greater flexibility in the use of software.

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NASA NTRS2004

Dynamic visual acuity using "far" and "near" targets

CONCLUSIONS: DVA may be useful for assessing the functional consequences of an impaired gaze stabilization mechanism or for testing the effectiveness of a rehabilitation paradigm. Because target distance influences the relative contributions of canal and otolith inputs, the ability to measure DVA at near and far viewing distances may also lead to tests that will independently assess canal and otolith function. OBJECTIVE: To present and test a methodology that uses dynamic visual acuity (DVA) to assess the efficacy of compensatory gaze mechanisms during a functionally relevant activity that differentially measures canal and otolith function. MATERIAL AND METHODS: The effect of treadmill walking at a velocity of 1.79 m/s on subjects' visual acuity was assessed at each of two viewing distances. A custom-written threshold determination program was used to display Landolt C optotypes on a laptop computer screen during a "far" (4 m) target condition and on a micro-display for a "near" (50 cm) target condition. The walking acuity scores for each target distance were normalized by subtracting a corresponding acuity measure obtained while standing still on the treadmill belt. RESULTS: As predicted by subjective reports of relative target motion, the decrease in visual acuity was significantly greater (p < 0.00001) for the near compared to the far condition.

Pattern Recognition, Visual/physiology↗

NASA NTRS1973

Active optics simulation system

The active optics simulation system (AOSS) is a set of computer programs and associated software to be used in the development, design, and evaluation of a primary mirror control system for a large space telescope, (e.g., the tentatively proposed 3-meter telescope). The mathematical models of component subsystems and the solution of the physical processes that occur within the mirror surface control system were obtained, and based on these models AOSS simulates the behavior of the entire mirror surface control system as well as the behavior of the component subsystems. The program has a modular structure so that any subsystem module can be replaced or modified with minimum disruption of the rest of the simulation program.

Chi, C. H.↗

NASA NTRS1987

Application of optimization techniques to spacecaft fuel usage minimization in deep space navigation

Mathematical analysis of the minimization of spacecraft fuel usage for both impulsive and finite motor burns is presented. A high precision integrated trajectory search program (SEPV) and several optimization software libraries are used to solve minimum fuel usage problems. The SEPV program has the capacity to vary either the initial spacecraft state or the finite burn parameters to acquire a specified set of target values. Several test examples for the Voyager 2 Uranus Encounter and the Galileo Jupiter Orbiter are presented to show that spacecraft fuel consumption can be minimized in targeting maneuver strategies. The fuel savings achieved by the optimum solution can be significant.

Wang, Tseng-Chan↗