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The results are presented of a study to generate a functional system design of a multiprocessing computer system capable of satisfying the computational requirements of a space station. These data management system requirements were specified to include: (1) real time control, (2) data processing and storage, (3) data retrieval, and (4) remote terminal servicing.
Payloads are secured in the orbiter payload bay by the payload retention system or are equipped with their own unique retention systems. The orbiter payload retention mechanisms provide structural attachments for each payload by using four or five attachment points to secure the payload within the orbiter payload bay during all phases of the orbiter mission. The payload retention system (PRS) is an electromechanical system that provides standarized payload carrier attachment fittings to accommodate up to five payloads for each orbiter flight. The mechanisms are able to function under either l-g or zero-g conditions. Payload berthing or deberthing on orbit is accomplished by utilizing the remote manipulator system (RMS). The retention mechanisms provide the capability for either vertical or horizontal payload installation or removal. The payload support points are selected to minimize point torsional, bending, and radial loads imparted to the payloads. In addition to the remotely controlled latching system, the passive system used for nondeployable payloads performs the same function as the RMS except it provides fixed attachments to the orbiter.
Developments in telerobotics applicable to nuclear and space environments are discussed. The advanced servomanipulator (ASM) slave arm force-reflected servomanipulators designed for modular remote maintainability of the Advanced Integrated Maintenance System is examined. Consideration is given to the master controller, transporter, interface package, operator control station, and the control system for the ASM arm. A prototype of a telerobot capable of performing the activity of an astronaut during EVA is developed. The mechanical and control system features of the telerobot are described.
Marshall Space Flight Center mobile communications platform designs for future lunar missions led to improvements to fleets of tactical robots now being deployed by U.S. Army. The Multi-function Agile Remote Control Robot (MARCbot) helps soldiers search out and identify improvised explosive devices. NASA used the MARCbots to test its mobile communications platform, and in working with it, made the robot faster while adding capabilities -- upgrading to a digital camera, encrypting the controllers and video transmission, as well as increasing the range and adding communications abilities. They also simplified the design, providing more plug-and-play sensors and replacing some of the complex electronics with more trouble-free, low-cost components. Applied Geo Technology, a tribally-owned corporation in Choctaw, Mississippi, was given the task of manufacturing the modified robots. The company is now producing 40 units per month, 300 of which have already been deployed overseas.
One of the key areas of the National Advanced Robotics Centre's enabling technologies research program is that of the human system interface, phase 1 of which started in July 1989 and is currently addressing the potential of virtual environments to permit intuitive and natural interactions between a human operator and a remote robotic vehicle. The aim of the first 12 months of this program (to September, 1990) is to develop a virtual human-interface demonstrator for use later as a test bed for human factors experimentation. This presentation will describe the current state of development of the test bed, and will outline some human factors issues and problems for more general discussion. In brief, the virtual telepresence system for remote driving has been designed to take the following form. The human operator will be provided with a helmet-mounted stereo display assembly, facilities for speech recognition and synthesis (using the Marconi Macrospeak system), and a VPL DataGlove Model 2 unit. The vehicle to be used for the purposes of remote driving is a Cybermotion Navmaster K2A system, which will be equipped with a stereo camera and microphone pair, mounted on a motorized high-speed pan-and-tilt head incorporating a closed-loop laser ranging sensor for camera convergence control (currently under contractual development). It will be possible to relay information to and from the vehicle and sensory system via an umbilical or RF link. The aim is to develop an interactive audio-visual display system capable of presenting combined stereo TV pictures and virtual graphics windows, the latter featuring control representations appropriate for vehicle driving and interaction using a graphical 'hand,' slaved to the flex and tracking sensors of the DataGlove and an additional helmet-mounted Polhemus IsoTrack sensor. Developments planned for the virtual environment test bed include transfer of operator control between remote driving and remote manipulation, dexterous end effector integration, virtual force and tactile sensing (also the focus of a current ARRL contract, initially employing a 14-pneumatic bladder glove attachment), and sensor-driven world modeling for total virtual environment generation and operator-assistance in remote scene interrogation.
NASA Langley Research Center (LaRC) and The MITRE Corporation (MITRE) have developed, and successfully demonstrated, an integrated simulation-to-flight capability for evaluating sense and avoid (SAA) system elements. This integrated capability consists of a MITRE developed fast-time computer simulation for evaluating SAA algorithms, and a NASA LaRC surrogate unmanned aircraft system (UAS) equipped to support hardware and software in-the-loop evaluation of SAA system elements (e.g., algorithms, sensors, architecture, communications, autonomous systems), concepts, and procedures. The fast-time computer simulation subjects algorithms to simulated flight encounters/ conditions and generates a fitness report that records strengths, weaknesses, and overall performance. Reviewed algorithms (and their fitness report) are then transferred to NASA LaRC where additional (joint) airworthiness evaluations are performed on the candidate SAA system-element configurations, concepts, and/or procedures of interest; software and hardware components are integrated into the Surrogate UAS research systems; and flight safety and mission planning activities are completed. Onboard the Surrogate UAS, candidate SAA system element configurations, concepts, and/or procedures are subjected to flight evaluations and in-flight performance is monitored. The Surrogate UAS, which can be controlled remotely via generic Ground Station uplink or automatically via onboard systems, operates with a NASA Safety Pilot/Pilot in Command onboard to permit safe operations in mixed airspace with manned aircraft. An end-to-end demonstration of a typical application of the capability was performed in non-exclusionary airspace in October 2011; additional research, development, flight testing, and evaluation efforts using this integrated capability are planned throughout fiscal year 2012 and 2013.
One of the fielding requirements for Advanced and Small Modular Reactors (AR/SMR) is the ability to support remote and autonomous operations. Autonomous Control Systems (ACS) are found on platforms such as Autonomous Space Vehicles, Cruise Missiles, and advanced driver-assistance systems. Each of these ACS implementations depends upon a set of decision support subsystems responsible for supporting Autonomous Mission Managers (names vary based upon field and author preferences). These Autonomous Mission Managers receive inputs from system sensors (e.g., LIDAR collection from an automobile travelling down a street; transients from a nuclear reactor), and perform a set of classifications (e.g., Red Traffic Light; Small Pedestrian at 10m; Load Rejection; Single Coolant Pump Trip), and then use these classifications in combination with recommendation algorithms to achieve platform goals (e.g., Stop the Vehicle at the Traffic Light, Avoid the Small Pedestrian; Trip the Reactor to prevent a Safety Event). The design, implementation, and fielding of an ACS capability will alter the cyber-attack surface such that existing risk management plans will need to be updated to include how to protect and defend against data-science and decision-support-system attack classes. These attack classes would include protection of the design and training environments where algorithm selection and testing and training data would be obvious attack vectors. These attack classes would also require an informed set of detection and response procedures to identify anomalous behaviors and document best practices for anomaly assessment and vulnerability mitigation and remediation. Last year we published a Cyber Threat Assessment Methodology for Autonomous and Remote Operations for AR/SMRs along with a companion publication on Cyber Attack and Defense Use Cases. The focus of the methodology was on describing and enumerating ACS processes, components, and functions such that security engineers could: evaluate subversion options against the target; identify threat actor attributes and capabilities derived from each subversion option; and identify security controls and response countermeasures. The Use Cases document offered detailed methodology examples including an assessment of a Military Base SMR, an Autonomous System Decision Loop, and implementation of AR/SMR Machine Learning algorithms. Our proposal at the end of last year was to focus on implementation of subversion prototypes related to the last Use Case area: AR/SMR Machine Learning (ML) Algorithms. We included six attack scenarios in our Use Cases paper: a Poisoning Attack against ML functions implemented using an FPGA; a Trojaning Attack against ML classifiers exploiting the excitability of Nuclear Engineers; a Backdooring Attack against ML Training environments to ensure persistence of an attack vector; a False Positive Evasion Attack against multi-factor Access Control Systems using clever inputs; an Inference Attack against ML models by an Insider with access to the Operational environment; and an Adversarial Reprogramming Attack against a Material Access Control Video Surveillance System. At the beginning of this year these six attack scenarios were provided to our research teams at Georgia Tech and Idaho State University and each team successfully implemented a subversion attack against a ML implementation to include transient misclassifications. While this is a notable outcome from this type of research, this paper offers the reader insight into not only how to structure and execute these types of attacks, but into the thought process behind how the researcher investigated the problem space, performed initial algorithm implementation, and the trial-and-error behind arriving at the successful subversion prototypes. We include in this paper a set of associated Scenarios on how these subversion prototypes could be implemented and an initial set of guidance for AR/SMR architects, Nuclear Regulators, and Cyber Defenders to implement awareness and defense capabilities into their current operational portfolios.
Results of a NASA sponsored study of V/STOL Propulsion Control Analysis are presented. The study involved propulsion control requirements, design concepts and procedures, and control designs for supersonic V/STOL. A variable cycle engine with a remote augmented lift system was used as a basis for establishing typical operating requirements and control concepts, and a nonlinear engine model was developed for control development as a precursor to a real-time simulation capability. A simplified aircraft model was also used to investigate transition requirements, and a long-range technology plan was developed to define subsequent program requirements for achieving a real-time piloted simulation capability.
Increased applications of automation technology identified as necessary for NASA to carry out its missions within the constraints of future funding and available physical resources are described. A concept for a Remote Orbital Servicing System (ROSS) based on present teleoperator and robotics technology is presented. A single servicer design compatible with three specified spacecraft, capable of performing service to the same extent as manned extravehicular activity, controlled from a ground control station, and using currently available technology is conceptualized.
Included is a set of viewgraphs that present the results of a study conducted at the LaRC Space Station Freedom Office at the request of the Space Station Freedom Level 1 Program Office and the JSC ACRV Project Office to determine the implications of accommodating two Soyuz TM spacecraft as Assured Crew Return Vehicles (ACRV) on the Space Station Freedom (SSF) at the Permanently Crewed Capability (PCC) stage. The study examined operational as well as system issues associated with the accommodation of the Soyuz for several potential configuration options. Operational issues considered include physical hardware clearances, worst case Soyuz departure paths, and impacts to baseline operations such as Pressurized Logistics Module (PLM) exchange, Space Station Remote Manipulator System (SSRMS) attachment, Extravehicular Activity (EVA), and automatic rendezvous and docking (AR&D). Systems impact analysis included determining differences between Soyuz interface requirements and SSF capabilities for the Electrical Power System (EPS), Thermal Control System (TCS), Communications and Tracking (C&T), Audio-Video Subsystem (A/V), Data Management System (DMS), and Environmental Control and Life Support System (ECLSS). Significant findings of this study have indicated that the current AV capability of the Soyuz will need to be increased to provide adequate departure clearances for a worst case escape from an uncontrolled SSF and that an interface element will be required to mate the Soyuz vehicles to station, provide for AR&D structural loads, and to house Soyuz-to-SSF system interfaces.
Version 3 of the NPARC Navier-Stokes code includes support for large-grain (block level) parallelism using explicit message passing between a heterogeneous collection of computers. This capability has the potential for significant performance gains, depending upon the block data distribution. The parallel implementation uses a master/worker arrangement of processes. The master process assigns blocks to workers, controls worker actions, and provides remote file access for the workers. The processes communicate via explicit message passing using an interface library which provides portability to a number of message passing libraries, such as PVM (Parallel Virtual Machine). A Bourne shell script is used to simplify the task of selecting hosts, starting processes, retrieving remote files, and terminating a computation. This script also provides a simple form of fault tolerance. An analysis of the computational performance of NPARC is presented, using data sets from an F/A-18 inlet study and a Rocket Based Combined Cycle Engine analysis. Parallel speedup and overall computational efficiency were obtained for various NPARC run parameters on a cluster of IBM RS6000 workstations. The data show that although NPARC performance compares favorably with the estimated potential parallelism, typical data sets used with previous versions of NPARC will often need to be reblocked for optimum parallel performance. In one of the cases studied, reblocking increased peak parallel speedup from 3.2 to 11.8.
The First Generation Magnox Storage Pond (FGMSP) is an open-air pond on the Sellafield site (U.K.) constructed to receive and store spent nuclear fuel from the UK's fleet of Magnox reactors. Operations ceased in 1986, leaving a significant mobile (sludge from the corrosion of fuel cladding) and solids (fuel, fuel fragments and other debris) inventory. In December 2013, Westinghouse Electric Company and EnergySolutions proposed to create an Additional Sludge Retrieval (ASR) capability, with the aim of starting sustainable sludge transfer and hazard reduction as soon as possible. The ASR project team proposed a sludge retrievals concept based on the use of a self-propelled, remote controlled Floating Platform. The deployment system was derived from a Floating Platform concept developed by Westinghouse to support field operations in European nuclear power plants. The system was designed, manufactured and successfully tested in real scale conditions, and was installed and fully commissioned in March 2015. (authors)
The architecture for the Modular Telerobot Task Execution System (MOTES) as implemented in the Supervisory Telerobotics (STELER) Laboratory is described. MOTES is the software component of the remote site of a local-remote telerobotic system which is being developed for NASA for space applications, in particular Space Station Freedom applications. The system is being developed to provide control and supervised autonomous control to support both space based operation and ground-remote control with time delay. The local-remote architecture places task planning responsibilities at the local site and task execution responsibilities at the remote site. This separation allows the remote site to be designed to optimize task execution capability within a limited computational environment such as is expected in flight systems. The local site task planning system could be placed on the ground where few computational limitations are expected. MOTES is written in the Ada programming language for a multiprocessor environment.
There is a need to acquire autonomously cryogenic hydrocarbon liquid sample from remote planetary locations such as the lakes of Titan for instruments such as mass spectrometers. There are several problems that had to be solved relative to collecting the right amount of cryogenic liquid sample into a warmer spacecraft, such as not allowing the sample to boil off or fractionate too early; controlling the intermediate and final pressures within carefully designed volumes; designing for various particulates and viscosities; designing to thermal, mass, and power-limited spacecraft interfaces; and reducing risk. Prior art inlets for similar instruments in spaceflight were designed primarily for atmospheric gas sampling and are not useful for this front-end application. These cryogenic liquid sample acquisition system designs for remote space applications allow for remote, autonomous, controlled sample collections of a range of challenging cryogenic sample types. The design can control the size of the sample, prevent fractionation, control pressures at various stages, and allow for various liquid sample levels. It is capable of collecting repeated samples autonomously in difficult lowtemperature conditions often found in planetary missions. It is capable of collecting samples for use by instruments from difficult sample types such as cryogenic hydrocarbon (methane, ethane, and propane) mixtures with solid particulates such as found on Titan. The design with a warm actuated valve is compatible with various spacecraft thermal and structural interfaces. The design uses controlled volumes, heaters, inlet and vent tubes, a cryogenic valve seat, inlet screens, temperature and cryogenic liquid sensors, seals, and vents to accomplish its task.
Light emerging from natural water bodies and measured by remote sensing radiometers contains information about the local type and concentrations of phytoplankton, non-algal particles and colored dissolved organic matter in the underlying waters. An increase in spectral resolution in forthcoming satellite and airborne remote sensing missions is expected to lead to new or improved capabilities to characterize aquatic ecosystems. Such upcoming missions include NASA’s Plankton, Aerosol, Cloud, ocean Ecosystem PACE Mission; the NASA Surface Biology and Geology observable mission; and NASA Airborne Visible / Infrared Imaging Spectrometer (AVIRIS) - Next Generation airborne missions. In anticipation of these missions, we present a dataset of geographically diverse, quality-controlled, high spectral resolution inherent and apparent optical property (IOP/AOP) aquatic data. The data are intended to be of use to increase our understanding of aquatic optical properties, to develop aquatic remote sensing data product algorithms, and to perform calibration and validation activities for forthcoming aquatic-focused imaging spectrometry missions. The dataset is comprised of contributions from several investigators and investigating teams collected over a range of geographic areas and water types, including inland water, estuaries and oceans. Specific in situ measurements include particulate absorption, particulate attenuation, non-algal particulate or detritus absorption, colored dissolved organic matter absorption, phytoplankton absorption, total absorption, total attenuation, particulate backscattering, total backscatter, remote sensing reflectance, and irradiance reflectance. The dataset can be downloaded from PANGAEA: (https://www.pangaea.de/TBD ).
When molecules are placed between closely spaced mirrors, they interact strongly with the photons that are trapped between them, generating new quantum states which are no longer exclusively material nor photonic alone, but rather, coherent superpositions of both. These hybrid states are known as molecular polaritons, given that they arise from the strong interaction between the electric field of light and the electrical polarization of the molecules. Recently, experimental advances in nano‐ and microfabrication of molecular polariton architectures have successfully demonstrated their feasibility to control the rate and outcome of a certain class of chemical reactions in condensed phases. Importantly, these reactions proceed in strongly dissipative environments such as liquid solvents and lossy mirrors that allow for photons to escape from their confinement. The purpose of this research is to formulate quantum mechanical theories and computational tools that can elucidate the origin of these intriguing phenomena and simultaneously predict capabilities that this new generation of molecular materials affords. Attention is placed on harnessing polaritons to carry out photophysics and photochemistry that challenge currently existing paradigms, such as the optimization of energy conversion processes in organic solar cell or light‐emitting devices, or unconventional phenomena such as long‐range excitation energy transfer, remote control of chemical reactions, and a new quantum mechanical regime of chemical reactivity due to wavefunction overlaps amongst a large number of molecular polaritons (Bose condensation). This research explores a frontier of Chemistry and Physics where electrons, vibrations, and photons interact strongly with each other to generate emergent behavior that can be creatively exploited to address contemporary challenges in Basic Energy Sciences.
The Seasat-A spacecraft, scheduled for launch in May 1978, will produce a global ocean data set covering a one-year nominal mission. Because this is a proof-of-concept mission, data processing algorithms are expected to evolve as the data base grows. To support the evolution and evaluation of algorithms, and to experiment with various techniques for processing the data, an algorithm development facility (ADF) is being developing. The ADF will provide access to the data base and to highly modularized processing programs. The processing programs will be subject to easy and frequent modification by a remote user community of sensor managers and experiment teams, who will use this capability to evaluate the overall performance of the sensors and the algorithms using surface truth data. The ADF concepts of software standardization and interface control are expected to have general applicability for adaptive data processing systems.
It is technically feasible to design a satellite communication system to serve the United States electric utility industry's needs relative to load management, real-time operations management, remote meter reading, and to determine the costs of various elements of the system. A definition of distribution control and monitoring functions is given. Associated communications traffic is quantified. A baseline conceptual design in terms of operating capability and equipment is described, important factors to be considered in designing a system are examined, and preliminary cost data are provided. Factors associated with implementation are discussed and conclusions and recommendations are listed.