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NASA NTRS2013

Dynamics and Control of a Disordered System in Space

In this paper, we present some ideas regarding the modeling, dynamics and control aspects of granular spacecraft. Granular spacecraft are complex multibody systems composed of a spatially disordered distribution of a large number of elements, for instance a cloud of N grains in orbit, with N greater than 10(exp 3). These grains can be large (Cubesat-size) or small (mm-size), and can be active, i.e., a fully equipped vehicle capable sensing their own position and attitude, and enabled with propulsion means, or entirely passive. The ultimate objective would be to study the behavior of the single grains and of large ensembles of grains in orbit and to identify ways to guide and control the shape of a cloud composed of these grains so that it can perform a useful function in space, for instance, as an element of an optical imaging system for astrophysical applications. This concept, in which the aperture does not need to be continuous and monolithic, would increase the aperture size several times compared to large NASA observatories such as ATLAST, allowing for a true Terrestrial Planet Imager that would be able to resolve exo-planet details and do meaningful spectroscopy on distant world. In the paper, we address the modeling and autonomous operation of a distributed assembly (the cloud) of large numbers of highly miniaturized space-borne elements (the grains). A multi-scale, multi-physics model is proposed of the dynamics of the cloud in orbit, as well as a control law for cloud shape maintenance, and preliminary simulation studies yield an estimate of the computational effort, indicating a scale factor of approximately N(exp 1.4) as a function of the number of grains. A granular spacecraft can be defined as a collection of a large number of space-borne elements (in the 1000s) designed and controlled such that a desirable collective behavior emerges, either from the interactions among neighboring grains, and/or between the grains and the environment. In this paper, each grain is considered to be a highly miniaturized spacecraft which has limited size and mass, hence it has limited actuation, limited propulsive capability, limited power, limited sensing, limited communication, limited computational resources, limited range of motion, limited lifetime, and may be expendable. The modeling and dynamics of clouds of vehicles is more challenging than with conventional vehicles because we are faced with a probabilistic vehicle composed of a large number of physically disconnected vehicles. First, different scales of motion occur simultaneously in a cloud: translations and rotations of the cloud as a whole (macro-dynamics), relative rotation and translation of one cloud member with respect to another (meso-dynamics), and individual cloud member dynamics (micro-dynamics). Second, the control design needs to be tolerant of the system complexity, of the system architecture (centralized vs. decentralized large scale system control) as well as robust to un-modeled dynamics and noise sources. Figure 1, top left, shows the kinematic parameters of a 1000 element cloud in orbit. The motion of the system is described with respect to a local vertical-local horizontal (LV-LH) orbiting reference frame (x,y,z)=F(sub ORF) of origin O(sub ORF) which rotates with mean motion omega and orbital semi-major axis R(sub 0). The orbital geometry at the initial time is defined in terms of its six orbital elements, and the orbital dynamics equation for point O(sub ORF) is propagated forward in time under the influence of the gravitational field of the primary and other external perturbations, described below. The origin of this frame coincides with the initial position of the center of mass of the system, and the coordinate axes are z along the local vertical, x toward the flight direction, and y in the orbit normal direction. The assumptions we used to model the dynamics are as follows: 1) The inertial frame is fixed at Earth's center. 2) The orbiting Frame ORF follows Keplerian orbit. 3) the cloud system dynamics is referred to ORF. 4) the attitude of each grain uses the principal body frame as body fixed frame. 5) the atmosphere is assumed to be rigidly rotating with the Earth. Regarding the grains forming the cloud: 1) each grain is modeled as a rigid body; 2) a simple attitude estimator provides attitude estimates, 3) a simple guidance logic commands the position and attitude of each grain, 4) a simple local feedback controller based on PD control of local states is used to stabilize the attitude of the vehicle. Regarding the cloud: 1) the cloud as a whole is modeled as an equivalent rigid body in orbit, and 2) an associated graph establishes agent connectivity and enables coupling between modes of motion at the micro and macro scales; 3) a simple guidance and estimation logic is modeled to estimate and command the attitude of this equivalent rigid body; 4) a cloud shape maintenance controller is based on the dynamics of a stable virtual truss in the orbiting frame. Regarding the environmental perturbations acting on the cloud: 1) a non-spherical gravity field including JO (Earth's spherical field) zonal component, J2 (Earth's oblateness) and J3 zonal components is implemented; 2) atmospheric drag is modeled with an exponential model; 3) solar pressure is modeled assuming the Sun is inertially fixed; and 4) the Earth's magnetic field is model using an equivalent dipole model. The equations of motion are written in a referential system with respect to the origin of the orbiting frame and the state is propagated forward in time using an incremental predictor-corrector scheme. A representative cloud with varying number of grains is simulated to identify the limitations in computation time as the number of grains grows. We derive a control law to track a desired surface in the ORF (equivalently to maintain a reference cloud shape) by defining an error from a desired surface shape, and designing a control law that is exponentially stable and reduces the tracking error to zero. Figure 1 (top right) shows a comparison of various requirements for simulation of single spacecraft vs. granular spacecraft, indicating the high degree of complexity that needs to be taken into consideration. The ORF components of control force required by one of the grains is, for this particular case, in the micro-Newton range. However, no attempt has been made yet to reconfigure (or re-orient) the cloud configuration internally, for which forces in the milli-Newton level are expected, depending on the time required to do the reconfiguration. Figure 1, bottom, shows the computation time as a function of the number of grains, indicating an order N(exp 1.43) scaling on a 8 Gb, 1067 MHz RAM MacOSX computer with a 3.06 GHz Intel Core 2 Duo processor. With this metric, the same simulation for a system of N=1000 grains would take 5.4 hours, and 146 hours (i.e., 6 days) for a system with N=10,000 grains. Therefore, efficient ways to simulate this complex system, where not only the time scales of natural system dynamics, but also the sampling times of the Guidance, Navigation, and Control are included, remain to be explored. Additional details on the cloud modeling, dynamics, and control will be described in the paper.

simulation↗
NASA NTRS2006

"One-Stop Shopping" for Ocean Remote-Sensing and Model Data

OurOcean Portal 2.0 (http:// ourocean.jpl.nasa.gov) is a software system designed to enable users to easily gain access to ocean observation data, both remote-sensing and in-situ, configure and run an Ocean Model with observation data assimilated on a remote computer, and visualize both the observation data and the model outputs. At present, the observation data and models focus on the California coastal regions and Prince William Sound in Alaska. This system can be used to perform both real-time and retrospective analyses of remote-sensing data and model outputs. OurOcean Portal 2.0 incorporates state-of-the-art information technologies (IT) such as MySQL database, Java Web Server (Apache/Tomcat), Live Access Server (LAS), interactive graphics with Java Applet at the Client site and MatLab/GMT at the server site, and distributed computing. OurOcean currently serves over 20 real-time or historical ocean data products. The data are served in pre-generated plots or their native data format. For some of the datasets, users can choose different plotting parameters and produce customized graphics. OurOcean also serves 3D Ocean Model outputs generated by ROMS (Regional Ocean Model System) using LAS. The Live Access Server (LAS) software, developed by the Pacific Marine Environmental Laboratory (PMEL) of the National Oceanic and Atmospheric Administration (NOAA), is a configurable Web-server program designed to provide flexible access to geo-referenced scientific data. The model output can be views as plots in horizontal slices, depth profiles or time sequences, or can be downloaded as raw data in different data formats, such as NetCDF, ASCII, Binary, etc. The interactive visualization is provided by graphic software, Ferret, also developed by PMEL. In addition, OurOcean allows users with minimal computing resources to configure and run an Ocean Model with data assimilation on a remote computer. Users may select the forcing input, the data to be assimilated, the simulation period, and the output variables and submit the model to run on a backend parallel computer. When the run is complete, the output will be added to the LAS server for

Li, P. Peggy↗
NASA NTRS2022

Combining Machine Learning and Numerical Simulation for High-Resolution PM2.5 Concentration Forecast

Forecasting ambient PM2.5 concentrations with spatiotemporal coverage is key to alerting decision-makers of pollution episodes and preventing detrimental public exposure, especially in regions with limited ground air monitoring stations. The existing methods either rely on chemical transport models (CTMs) to forecast spatial distribution of PM2.5 with nontrivial uncertainty or statistical algorithms to forecast PM2.5 concentration time-series at air monitoring locations without continuous spatial coverage. In this study, we developed a PM2.5 forecast framework by combining the robust Random Forest algorithm with a publicly accessible global CTM forecast product – NASA’s Goddard Earth Observing System “Composition Forecasting” (GEOS-CF), providing spatiotemporally continuous PM2.5 concentration forecasts for the next five days at a 1-km spatial resolution. Our forecast experiment was conducted for a region in Central China including the populous and polluted Fenwei Plain. The forecast for the next two days had overall validation R2 of 0.76 and 0.64, respectively; the R2 was around 0.5 for the following three forecast days. Spatial cross-validation showed similar validation metrics. Our forecast model, with validation normalized mean bias close to zero, substantially reduced the large biases in GEOS-CF. The proposed framework requires minimal computational resources compared to running CTMs at urban scales, enabling near-real-time PM2.5 forecast in resource-restricted environments.

PM2.5↗
NASA NTRS2004

Coordinating Shared Activities

Shared Activity Coordination (ShAC) is a computer program for planning and scheduling the activities of an autonomous team of interacting spacecraft and exploratory robots. ShAC could also be adapted to such terrestrial uses as helping multiple factory managers work toward competing goals while sharing such common resources as floor space, raw materials, and transports. ShAC iteratively invokes the Continuous Activity Scheduling Planning Execution and Replanning (CASPER) program to replan and propagate changes to other planning programs in an effort to resolve conflicts. A domain-expert specifies which activities and parameters thereof are shared and reports the expected conditions and effects of these activities on the environment. By specifying these conditions and effects differently for each planning program, the domain-expert subprogram defines roles that each spacecraft plays in a coordinated activity. The domain-expert subprogram also specifies which planning program has scheduling control over each shared activity. ShAC enables sharing of information, consensus over the scheduling of collaborative activities, and distributed conflict resolution. As the other planning programs incorporate new goals and alter their schedules in the changing environment, ShAC continually coordinates to respond to unexpected events.

Clement, Bradley↗
NASA NTRSDate not supplied

Building a Bilingual Google Earth Engine Dashboard to Increase Accessibility to Long-term Time Series Remote Sensing Data for Monitoring Saline System Changes in Chile’s Atacama Desert

Saline systems, consisting of salt flats, ponds, and marshes, provide vital water resources to wildlife and communities in northern Chile’s Atacama Desert, one of the driest regions in the world. Mining is extensive in the Atacama, which contains 30% of the world’s lithium reserves and is abundant in potassium and boron. The groundwater that feeds into salt marshes and ponds is extracted in large volumes for mining operations, limiting the availability of water for ecosystems. However, identifying long-term and large-scale environmental impacts from local lithium mining on the saline systems is limited by region inaccessibility and terrain variability. Open access satellite imagery and cloud computing technology has made studying Atacama saline systems feasible and allowed for collaboration across different agencies and countries. The NASA DEVELOP Program partnered with Chile’s la Universidad de La Serena and Servicio Nacional de Geología y Minería (SERNAGEOMIN) to create the Saline Analysis Tool (SalT) in Google Earth Engine (GEE). SalT is used to analyze the extent and distribution of remote saline systems in the Atacama from 1986 to the present day. The tool filters Landsat 5 Thematic Mapper (TM) and Landsat 8 Operational Land Imager (OLI) data from GEE’s data catalog and creates a single composite image per year for analysis. Additional output analyses include land cover classification, Normalized Difference Vegetation Index (NDVI) and Normalized Difference Water Index (NDWI) raster images that can be displayed on the map interface or exported. The tool can also generate time-lapse videos and charts displaying NDVI, NDWI, and land cover over time. A key feature of the tool is the use of a bilingual graphical user interface to make analysis accessible and customizable to different users’ needs—SalT provides options to select an analysis area, analysis time period, and outputs to display or export. The tool also incorporates new Earth observations as they are added to GEE’s catalog. The ability to easily visualize and analyze long-term remote sensing imagery will enable SERNAGEOMIN and la Universidad de la Serena to continually monitor changes in these saline systems and inform future land management policy.

NASA DEVELOP↗
NASA NTRS2025

An Efficient GPU-Accelerated Multi-Source Global Fit Pipeline for LISA Data Analysis

The large-scale analysis task of deciphering gravitational wave signals in the LISA data stream will be difficult, requiring a large amount of computational resources and extensive development of computational methods. Its high dimensionality, multiple model types, and complicated noise profile require a global fit to all parameters and input models simultaneously. In this work, we detail our global fit algorithm, called “Erebor,” designed to accomplish this challenging task. It is capable of analysing current state-of-the-art datasets and then growing into the future as more pieces of the pipeline are completed and added. We describe our pipeline strategy, the algorithmic setup, and the results from our analysis of the LDC2A Sangria dataset, which contains Massive Black Hole Binaries, compact Galactic Binaries, and a parameterized noise spectrum whose parameters are unknown to the user. The Erebor algorithm includes three unique and very useful contributions: GPU acceleration for enhanced computational efficiency; ensemble MCMC sampling with multiple MCMC walkers per temperature for better mixing and parallelized sample creation; and special online updates to reversible-jump (or trans-dimensional) sampling distributions to ensure sampler mixing and accurate initial estimates for detectable sources in the data. We recover posterior distributions for all 15 (6) of the injected MBHBs in the LDC2A training (hidden) dataset. We catalog ∼12000 Galactic Binaries (∼8000 as high confidence detections) for both the training and hidden datasets. All of the sources and their posterior distributions are provided in publicly available catalogs.

LISA global fit↗
NASA NTRS2005

Health Management Applications for International Space Station

Traditional mission and vehicle management involves teams of highly trained specialists monitoring vehicle status and crew activities, responding rapidly to any anomalies encountered during operations. These teams work from the Mission Control Center and have access to engineering support teams with specialized expertise in International Space Station (ISS) subsystems. Integrated System Health Management (ISHM) applications can significantly augment these capabilities by providing enhanced monitoring, prognostic and diagnostic tools for critical decision support and mission management. The Intelligent Systems Division of NASA Ames Research Center is developing many prototype applications using model-based reasoning, data mining and simulation, working with Mission Control through the ISHM Testbed and Prototypes Project. This paper will briefly describe information technology that supports current mission management practice, and will extend this to a vision for future mission control workflow incorporating new ISHM applications. It will describe ISHM applications currently under development at NASA and will define technical approaches for implementing our vision of future human exploration mission management incorporating artificial intelligence and distributed web service architectures using specific examples. Several prototypes are under development, each highlighting a different computational approach. The ISStrider application allows in-depth analysis of Caution and Warning (C&W) events by correlating real-time telemetry with the logical fault trees used to define off-nominal events. The application uses live telemetry data and the Livingstone diagnostic inference engine to display the specific parameters and fault trees that generated the C&W event, allowing a flight controller to identify the root cause of the event from thousands of possibilities by simply navigating animated fault tree models on their workstation. SimStation models the functional power flow for the ISS Electrical Power System and can predict power balance for nominal and off-nominal conditions. SimStation uses realtime telemetry data to keep detailed computational physics models synchronized with actual ISS power system state. In the event of failure, the application can then rapidly diagnose root cause, predict future resource levels and even correlate technical documents relevant to the specific failure. These advanced computational models will allow better insight and more precise control of ISS subsystems, increasing safety margins by speeding up anomaly resolution and reducing,engineering team effort and cost. This technology will make operating ISS more efficient and is directly applicable to next-generation exploration missions and Crew Exploration Vehicles.

Alena, Richard↗
NASA NTRS2025

Efficient GPU-Accelerated MultiSource Global Fit Pipeline for LISA Data Analysis

The large-scale analysis task of deciphering gravitational-wave signals in the LISA data stream will be difficult, requiring a large amount of computational resources and extensive development of computational methods. Its high dimensionality, multiple model types, and complicated noise profile require a global fit to all parameters and input models simultaneously. In this work, we detail our global fit algorithm, called “Erebor,” designed to accomplish this challenging task. It is capable of analyzing current state-of-the-art datasets and then growing into the future as more pieces of the pipeline are completed and added. We describe our pipeline strategy, the algorithmic setup, and the results from our analysis of the LDC2A Sangria dataset, which contains massive black hole binaries, compact galactic binaries, and a parametrized noise spectrum whose parameters are unknown to the user. The Erebor algorithm includes three unique and very useful contributions: GPU acceleration for enhanced computational efficiency; ensemble Markov Chain Monte Carlo (MCMC) sampling with multiple MCMC walkers per temperature for better mixing and parallelized sample creation; and special online updates to reversible-jump (or transdimensional) sampling distributions to ensure sampler mixing and accurate initial estimates for detectable sources in the data.We recover posterior distributions for all 15 (6) of the injected massive black hole binaries (MBHB) in the LDC2A training (hidden) dataset. We catalog ∼12000 galactic binaries (∼8000 as high confidence detections) for both the training and hidden datasets. All of the sources and their posterior distributions are provided in publicly available catalogs.

LISA↗
NASA NTRS1999

NASA Langley Teacher Resource Center at the Virginia Air and Space Center

Nation's education goals through expanding and enhancing the scientific an technological competence of students and educators. To help disseminate NASA instructional materials and educational information, NASA's Education Division has established the Educator Resource Center Network. Through this network (ERCN), educators are provided the opportunity to receive free instructional information, materials, consultation, and training workshops on NASA educational products. The Office of Education at NASA Langley Research Center offers an extension of its Precollege Education program by supporting the NASA LARC Educator Resource Center at the Virginia Air & Space Center, the official visitor center for NASA LARC. This facility is the principal distribution point for educators in the five state service region that includes Virginia, West Virginia, Kentucky, North Carolina and South Carolina. The primary goal, to provide expertise and facilities to help educators access and utilize science, mathematics, and technology instructional products aligned with national standards and appropriate state frameworks and based on NASA's unique mission and results, has been accomplished. This ERC had 15,200 contacts and disseminated over 190,000 instructional items during the period of performance. In addition the manager attended 35 conferences, workshops, and educational meetings as an GR, presenter, or participant. The objective to demonstrate and facilitate the use of educational technologies has been accomplished through the following: The ERC's web page has been developed as a cyber-gateway to a multitude of NASA and other educational resources as well as to Our own database of current resource materials. NASA CORE CD-ROM technology is regularly demonstrated and promoted using the center's computers. NASA TV is available, demonstrated to educators, and used to facilitate the downlinking of NASA educational programming.

Maher, Kim L.↗
NASA NTRS2018

A Concept of Operations for Earth Science Data Archive and Distribution in the Cloud

Science data systems can enable more comprehensive Earth system research by evolving to take advantage of advances in commercial computer technology services. Since their inception twenty five years ago, NASA's Earth Observing System Data and Information System (EOSDIS) Distributed Active Archive Centers (DAACs) have periodically evolved to utilize new technology and expand research using the exponential growth and diversity of Earth observations. Recently, with the advent of a maturing commercial compute services industry and upcoming high data volume missions such as the Surface Water and Ocean Topography (SWOT) mission and the NASA-Indian Space Research Organization Synthetic Aperture Radar (NISAR) mission, options were explored and a decision made to utilize commercial compute and storage services. This paper presents an overview of the concept of operations under development for the DAACs in the Cloud. We highlight the goals and expected advantages of utilizing Cloud services. We outline EOSDIS operations tenets and driving principles. A high-level view of EOSDIS system of systems target architecture serves as context for describing principle interactions. Concepts for key DAAC system and EOSDIS enterprise functions characterize automated end-to-end operations but mark nominal check and recovery points. Concepts are presented for managing Cloud resources, including organizational roles and responsibilities of the NASA project and DAAC personnel. Scenarios we use to further distinguish between what the system will do and what configuration and controls operators will have. Examples include interactions with data providers and data consumers with both in-cloud and on-premise facilities.

Moses, John F.↗
NASA NTRS1998

The SGI/Cray T3E: Experiences and Insights

The NASA Goddard Space Flight Center is home to the fifth most powerful supercomputer in the world, a 1024 processor SGI/Cray T3E-600. The original 512 processor system was placed at Goddard in March, 1997 as part of a cooperative agreement between the High Performance Computing and Communications Program's Earth and Space Sciences Project (ESS) and SGI/Cray Research. The goal of this system is to facilitate achievement of the Project milestones of 10, 50 and 100 GFLOPS sustained performance on selected Earth and space science application codes. The additional 512 processors were purchased in March, 1998 by the NASA Earth Science Enterprise for the NASA Seasonal to Interannual Prediction Project (NSIPP). These two "halves" still operate as a single system, and must satisfy the unique requirements of both aforementioned groups, as well as guest researchers from the Earth, space, microgravity, manned space flight and aeronautics communities. Few large scalable parallel systems are configured for capability computing, so models are hard to find. This unique environment has created a challenging system administration task, and has yielded some insights into the supercomputing needs of the various NASA Enterprises, as well as insights into the strengths and weaknesses of the T3E architecture and software. The T3E is a distributed memory system in which the processing elements (PE's) are connected by a low latency, high bandwidth bidirectional 3-D torus. Due to the focus on high speed communication between PE's, the T3E requires PE's to be allocated contiguously per job. Further, jobs will only execute on the user specified number of PE's and PE timesharing is possible but impractical. With a highly varied job mix in both size and runtime of jobs, the resulting scenario is PE fragmentation and an inability to achieve near 100% utilization. SGI/Cray has provided several scheduling and configuration tools to minimize the impact of fragmentation. These tools include PScheD (the political scheduler), GRM (the global resource manager) and NQE (the Network Queuing Environment). Features and impact of these tools will be discussed, as will resulting performance and utilization data. As a distributed memory system, the T3E is designed to be programmed through explicit message passing. Consequently, certain assumptions related to code design are made by the operating system (UNICOS/mk) and its scheduling tools. With the exception of HPF, which does run on the T3E, however poorly, alternative programming styles have the potential to impact the T3E in unexpected and undesirable ways. Several examples will be presented (preceeded with the disclaimer, "Don't try this at home! Violators will be prosecuted!")

Bernard, Lisa Hamet↗
NASA NTRS2008

The Super Tuesday Outbreak: Forecast Sensitivities to Single-Moment Microphysics Schemes

Forecast precipitation and radar characteristics are used by operational centers to guide the issuance of advisory products. As operational numerical weather prediction is performed at increasingly finer spatial resolution, convective precipitation traditionally represented by sub-grid scale parameterization schemes is now being determined explicitly through single- or multi-moment bulk water microphysics routines. Gains in forecasting skill are expected through improved simulation of clouds and their microphysical processes. High resolution model grids and advanced parameterizations are now available through steady increases in computer resources. As with any parameterization, their reliability must be measured through performance metrics, with errors noted and targeted for improvement. Furthermore, the use of these schemes within an operational framework requires an understanding of limitations and an estimate of biases so that forecasters and model development teams can be aware of potential errors. The National Severe Storms Laboratory (NSSL) Spring Experiments have produced daily, high resolution forecasts used to evaluate forecast skill among an ensemble with varied physical parameterizations and data assimilation techniques. In this research, high resolution forecasts of the 5-6 February 2008 Super Tuesday Outbreak are replicated using the NSSL configuration in order to evaluate two components of simulated convection on a large domain: sensitivities of quantitative precipitation forecasts to assumptions within a single-moment bulk water microphysics scheme, and to determine if these schemes accurately depict the reflectivity characteristics of well-simulated, organized, cold frontal convection. As radar returns are sensitive to the amount of hydrometeor mass and the distribution of mass among variably sized targets, radar comparisons may guide potential improvements to a single-moment scheme. In addition, object-based verification metrics are evaluated for their utility in gauging model performance and QPF variability.

Molthan, Andrew L.↗
NASA NTRS2005

Simulating a Direction-Finder Search for an ELT

A computer program simulates the operation of direction-finding equipment engaged in a search for an emergency locator transmitter (ELT) aboard an aircraft that has crashed. The simulated equipment is patterned after the equipment used by the Civil Air Patrol to search for missing aircraft. The program is designed to be used for training in radio direction-finding and/or searching for missing aircraft without incurring the expense and risk of using real aircraft and ground search resources. The program places a hidden ELT on a map and enables the user to search for the location of the ELT by moving a 14 NASA Tech Briefs, March 2005 small aircraft image around the map while observing signal-strength and direction readings on a simulated direction- finding locator instrument. As the simulated aircraft is turned and moved on the map, the program updates the readings on the direction-finding instrument to reflect the current position and heading of the aircraft relative to the location of the ELT. The software is distributed in a zip file that contains an installation program. The software runs on the Microsoft Windows 9x, NT, and XP operating systems.

Bream, Bruce↗
NASA NTRS1994

A format for the interchange of scheduling models

In recent years a variety of space-activity schedulers have been developed within the aerospace community. Space-activity schedulers are characterized by their need to handle large numbers of activities which are time-window constrained and make high demands on many scarce resources, but are minimally constrained by predecessor/successor requirements or critical paths. Two needs to exchange data between these schedulers have materialized. First, there is significant interest in comparing and evaluating the different scheduling engines to ensure that the best technology is applied to each scheduling endeavor. Second, there is a developing requirement to divide a single scheduling task among different sites, each using a different scheduler. In fact, the scheduling task for International Space Station Alpha (ISSA) will be distributed among NASA centers and among the international partners. The format used to interchange scheduling data for ISSA will likely use a growth version of the format discussed in this paper. The model interchange format (or MIF, pronounced as one syllable) discussed in this paper is a robust solution to the need to interchange scheduling requirements for space activities. It is highly extensible, human-readable, and can be generated or edited with common text editors. It also serves well the need to support a 'benchmark' data case which can be delivered on any computer platform.

Jaap, John P.↗
NASA NTRS2000

Development of X-33/X-34 Aerothermodynamic Data Bases: Lessons Learned and Future Enhancements

A synoptic of programmatic and technical lessons learned in the development of aerothermodynamic data bases for the X-33 and X-34 programs is presented in general terms and from the perspective of the NASA Langley Research Center Aerothermodynamics Branch. The format used is that of the "aerothermodynamic chain," the links of which are personnel, facilities, models/test articles, instrumentation, test techniques, and computational fluid dynamics (CFD). Because the aerodynamic data bases upon which the X-33 and X-34 vehicles will fly are almost exclusively from wind tunnel testing, as opposed to CFD, the primary focus of the lessons learned is on ground-based testing. The period corresponding to the development of X-33 and X-34 aerothermodynamic data bases was challenging, since a number of other such programs (e.g., X-38, X-43) competed for resources at a time of downsizing of personnel, facilities, etc., outsourcing, and role changes as NASA Centers served as subcontractors to industry. The impact of this changing environment is embedded in the lessons learned. From a technical perspective, the relatively long times to design and fabricate metallic force and moment models, delays in delivery of models, and a lack of quality assurance to determine the fidelity of model outer mold lines (OML) prior to wind tunnel testing had a major negative impact on the programs. On the positive side, the application of phosphor thermography to obtain global, quantitative heating distributions on rapidly fabricated ceramic models revolutionized the aerothermodynamic optimization of vehicle OMLs, control surfaces, etc. Vehicle designers were provided with aeroheating information prior to, or in conjunction with, aerodynamic information early in the program, thereby allowing trades to be made with both sets of input; in the past only aerodynamic data were available as input. Programmatically, failure to include transonic aerodynamic wind tunnel tests early in the assessment phase led to delays in the optimization phase, as OMLs required modification to provide adequate transonic aerodynamic performance without sacrificing subsonic and hypersonic performance. Funding schedules for industry, based on technical milestones, also presented challenges to aerothermodynamics seeking optimum flying characteristics across the subsonic to hypersonic speed regimes and minimum aeroheating. This paper is concluded with a brief discussion of enhancements in ground-based testing/CFD capabilities necessary to partially/fully satisfy future requirements.

Miller, C. G.↗
NASA NTRS2002

Motion Planning in a Society of Intelligent Mobile Agents

The majority of the work on this grant involved formal modeling of human-computer integration. We conceptualize computer resources as a multiagent system so that these resources and human collaborators may be modeled uniformly. In previous work we had used modal for this uniform modeling, and we had developed a process-algebraic agent abstraction. In this work, we applied this abstraction (using CSP) in uniformly modeling agents and users, which allowed us to use tools for investigating CSP models. This work revealed the power of, process-algebraic handshakes in modeling face-to-face conversation. We also investigated specifications of human-computer systems in the style of algebraic specification. This involved specifying the common knowledge required for coordination and process-algebraic patterns of communication actions intended to establish the common knowledge. We investigated the conditions for agents endowed with perception to gain common knowledge and implemented a prototype neural-network system that allows agents to detect when such conditions hold. The literature on multiagent systems conceptualizes communication actions as speech acts. We implemented a prototype system that infers the deontic effects (obligations, permissions, prohibitions) of speech acts and detects violations of these effects. A prototype distributed system was developed that allows users to collaborate in moving proxy agents; it was designed to exploit handshakes and common knowledge Finally. in work carried over from a previous NASA ARC grant, about fifteen undergraduates developed and presented projects on multiagent motion planning.

Esterline, Albert C.↗
NASA NTRS1993

The application of automated operations at the Institutional Processing Center

The JPL Institutional and Mission Computing Division, Communications, Computing and Network Services Section, with its mission contractor, OAO Corporation, have for some time been applying automation to the operation of JPL's Information Processing Center (IPC). Automation does not come in one easy to use package. Automation for a data processing center is made up of many different software and hardware products supported by trained personnel. The IPC automation effort formally began with console automation, and has since spiraled out to include production scheduling, data entry, report distribution, online reporting, failure reporting and resolution, documentation, library storage, and operator and user education, while requiring the interaction of multi-vendor and locally developed software. To begin the process, automation goals are determined. Then a team including operations personnel is formed to research and evaluate available options. By acquiring knowledge of current products and those in development, taking an active role in industry organizations, and learning of other data center's experiences, a forecast can be developed as to what direction technology is moving. With IPC management's approval, an implementation plan is developed and resources identified to test or implement new systems. As an example, IPC's new automated data entry system was researched by Data Entry, Production Control, and Advance Planning personnel. A proposal was then submitted to management for review. A determination to implement the new system was made and elements/personnel involved with the initial planning performed the implementation. The final steps of the implementation were educating data entry personnel in the areas effected and procedural changes necessary to the successful operation of the new system.

Barr, Thomas H.↗
NASA NTRS1987

Implementation and validation of a wake model for low-speed forward flight

The computer implementation and calculations of the induced velocities produced by a wake model consisting of a trailing vortex system defined from a prescribed time averaged downwash distribution are detailed. Induced velocities are computed by approximating each spiral turn by a pair of large straight vortex segments positioned at critical points relative to where the induced velocity is required. A remainder term for the rest of the spiral is added. This approach results in decreased computation time compared to classical models where each spiral turn is broken down in small straight vortex segments. The model includes features such a harmonic variation of circulation, downwash outside of the blade and/or outside the tip path plane, blade bound vorticity induced velocity with harmonic variation of circulation and time averaging. The influence of various options and parameters on the results are investigated and results are compared to experimental field measurements with which, a resonable agreement is obtained. The capabilities of the model as well as its extension possibilities are studied. The performance of the model in predicting the recently-acquired NASA Langley Inflow data base for a four-bladed rotor is compared to that of the Scully Free Wake code, a well-established program which requires much greater computational resources. It is found that the two codes predict the experimental data with essentially the same accuracy, and show the same trends.

Komerath, Narayanan M.↗