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All sources NASA NTRS DOE OSTI

NASA NTRSDate not supplied

What is the Role of Usability and Trust in Autonomy?

Usability encompasses learnability, efficiency, memorability, effectiveness, and satisfaction. NASA’s standards for usability acceptance criteria focus on interfaces that help operators achieve their tasks efficiently, effectively, and with satisfaction. However, discussions on usability, especially regarding future highly automated and autonomous systems, rarely include trust. As NASA plans for long-duration exploration missions, it envisions astronauts operating more independently from Mission Control on Earth. This independence will drive the development of these highly automated and autonomous systems that astronauts will use daily. To prepare for this future, our team has developed a scheduling and execution software tool that facilitates self-scheduling, allowing astronauts to independently manage their own schedule without Mission Control’s involvement. Over many years, we have developed, matured, and evaluated our software tool in extreme environments, prioritizing user-centered design and high usability. These evaluations have included multiple campaigns in NASA analogs, including NEEMO, BASALT, and HERA, as well as technology demonstrations onboard the International Space Station. Our recent research on software interfaces for future astronaut autonomy revealed a strong correlation between usability and trust measures. In a controlled lab experiment, we asked novice users to perform a complex scheduling task, during which the software immediately validated the schedule’s constraints and checked for violations. We collected usability (User Experience Questionnaire, UEQ) and trust (Trust in Automated Systems scale, TAS) measures; significant, strong, and moderate correlations emerged between several of the UEQ metrics and TAS. These results support the argument for investing in usability early to enable and sustain trust in highly automated and autonomous systems.

usability↗

DOE OSTI2014

Dakota uncertainty quantification methods applied to the NEK-5000 SAHEX model.

This report summarizes the results of a NEAMS project focused on the use of uncertainty and sensitivity analysis methods within the NEK-5000 and Dakota software framework for assessing failure probabilities as part of probabilistic risk assessment. NEK-5000 is a software tool under development at Argonne National Laboratory to perform computational fluid dynamics calculations for applications such as thermohydraulics of nuclear reactor cores. Dakota is a software tool developed at Sandia National Laboratories containing optimization, sensitivity analysis, and uncertainty quantification algorithms. The goal of this work is to demonstrate the use of uncertainty quantification methods in Dakota with NEK-5000.

Weirs, V. Gregory↗

NASA NTRSDate not supplied

COCPIT: Collaborative Activity Planning Software for Mars Perseverance Rover

Since landing on the Martian surface, the Perseverance rover has relied on a distributed team to generate commands for exploring its new environment each sol(Martian day). The team uses a complex suite of software tools to accomplish this challenging task in time for the next window of opportunity to send commands to the rover. A key piece of this software ecosystem is COCPIT (Component-based Campaign Planning, Implementation, and Tactical). COCPIT is part of the next generation of planning and scheduling software tools developed by NASA's Jet Propulsion Laboratory in partnership with NASA's Ames Research Center. COCPIT is a web-based application that allows users to collaboratively view and update the Perseverance rover's activity plans, continuously verify that the plan satisfies constraints, assign targets for directing scientific instruments, document science intent, and model power and data resources. Mars Surface Operations requires diverse expertise from team members within the Engineering, Science, Robotic, and Instrument Operations groups, distributed across North America and Europe. In order to improve efficiency and reduce risk, all teams are able to review and edit their activities simultaneously and see the effects on the plan in its entirety. As part of the Ground Data System (GDS) tool suite, COCPIT is responsible for the activity plan. It provides specialized views that allow operators to understand where there may be room for additional observations, see whether any planning constraints are being violated, and confirm that energy usage and data generation are within the defined limits. It contains details such as which filters a camera will use for a given observation, what the resolution of the images should be, where to store the data onboard, and how long the observation is expected to take. It predicts when specific data will be downlinked from the rover to a passing orbiter, so that the team knows when to expect that data on Earth for evaluation in future planning. Ultimately the information from the COCPIT plan is translated to sequences that will be bundled and radiated to Perseverance for execution. The COCPIT tool is used throughout all planning phases.

activity planning↗

NASA NTRSDate not supplied

COCPIT: Collaborative Activity Planning Software for Mars Perseverance Rover

activity planning↗

NASA NTRS2022

COCPIT: Collaborative Activity Planning Software for Mars Perseverance Rover

Since landing on the Martian surface, the Perseverance rover has relied on a distributed team to generate commands for exploring its new environment each sol (Martian day). The team uses a complex suite of software tools to accomplish this challenging task in time for the next window of opportunity to send commands to the rover. A key piece of this software ecosystem is COCPIT (Component-based Campaign Planning, Implementation, and Tactical). COCPIT is part of the next generation of planning and scheduling software tools developed by NASA's Jet Propulsion Laboratory in partnership with NASA's Ames Research Center. COCPIT is a web-based application that allows users to collaboratively view and update the Perseverance rover's activity plans, continuously verify that the plan satisfies constraints, assign targets for directing scientific instruments, document science intent, and model power and data resources. Mars Surface Operations requires diverse expertise from team members within the Engineering, Science, Robotic, and Instrument Operations groups, distributed across North America and Europe. In order to improve efficiency and reduce risk, all teams are able to review and edit their activities simultaneously and see the effects on the plan in its entirety. As part of the Ground Data System (GDS) tool suite, COCPIT is responsible for the activity plan. It provides specialized views that allow operators to understand where there may be room for additional observations, see whether any planning constraints are being violated, and confirm that energy usage and data generation are within the defined limits. It contains details such as which filters a camera will use for a given observation, what the resolution of the images should be, where to store the data onboard, and how long the observation is expected to take. It predicts when specific data will be downlinked from the rover to a passing orbiter, so that the team knows when to expect that data on Earth for evaluation in future planning. Ultimately the information from the COCPIT plan is translated to sequences that will be bundled and radiated to Perseverance for execution. The COCPIT tool is used throughout all planning phases.

Kanefsky, Bob↗

DOE OSTI2016

TH-CD-207A-02: Implementation of Live EPID-Based Inspiration Level Assessment (LEILA) for Deepinspiration Breath-Hold (DIBH) Monitoring Using MV Fluoroscopy

Purpose: As prior work has shown that current DIBH monitoring approaches using surrogate measures (marker block on chest) do not always correspond with the clinical quantity of interest (lung depth, LD), a software tool and workflow are introduced to use MV fluoroscopy during treatment for real-time / Live EPID-based Inspiration Level Assessment (LEILA). Methods: A prototype software tool calculates and displays the LD during the treatment of left sided breast cancer. Calculations are based on MV cine images which are acquired with the treatment beam thereby not incurring any additional imaging dose. Image capture and processing are implemented using a dedicated frame grabber computer. The calculation engine automatically detects image orientation and includes provisions for large treatment fields that exceed the size of the EPID panel. LD is measured along a line profile in the middle of the field. LEILA’s interface displays the current MV image, a reference image (DRR), the current LD, as well as a trace of LD over treatment time. The display includes patient specific LD tolerances. Tolerances are specified for each field and loaded before the treatment. A visual warning is generated when the tolerance is exceeded. LEILA is initially run in parallel with current DIBH techniques. When later run by itself DIBH setup will be done using skin marks and room laser. Results: Offline tests of LEILA confirmed accurate automatic LD measurement for a variety of patient geometries. Deployment of the EPID during all left sided breast treatments was well tolerated by patients and staff during a multi-month pilot. The frame grabber provides 11 frames-per-second; the MATLAB based LEILA prototype software can analyze five frames-per-second standalone on standard desktop hardware. Conclusion: LEILA provides an automated approach to quantitatively monitor LD on MV images during DIBH treatment. Future improvements include a database and further speed optimization.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2014

The OME Framework for genome-scale systems biology

The life sciences are undergoing continuous and accelerating integration with computational and engineering sciences. The biology that many in the field have been trained on may be hardly recognizable in ten to twenty years. One of the major drivers for this transformation is the blistering pace of advancements in DNA sequencing and synthesis. These advances have resulted in unprecedented amounts of new data, information, and knowledge. Many software tools have been developed to deal with aspects of this transformation and each is sorely needed. However, few of these tools have been forced to deal with the full complexity of genome-scale models along with high throughput genome-scale data. This particular situation represents a unique challenge, as it is simultaneously necessary to deal with the vast breadth of genome-scale models and the dizzying depth of high-throughput datasets. It has been observed time and again that as the pace of data generation continues to accelerate, the pace of analysis significantly lags behind. It is also evident that, given the plethora of databases and software efforts, it is still a significant challenge to work with genome-scale metabolic models, let alone next-generation whole cell models. We work at the forefront of model creation and systems scale data generation. The OME Framework was borne out of a practical need to enable genome-scale modeling and data analysis under a unified framework to drive the next generation of genome-scale biological models. Here we present the OME Framework. It exists as a set of Python classes. However, we want to emphasize the importance of the underlying design as an addition to the discussions on specifications of a digital cell. A great deal of work and valuable progress has been made by a number of communities towards interchange formats and implementations designed to achieve similar goals. While many software tools exist for handling genome-scale metabolic models or for genome-scale data analysis, no implementations exist that explicitly handle data and models concurrently. The OME Framework structures data in a connected loop with models and the components those models are composed of. This results in the first full, practical implementation of a framework that can enable genome-scale design-build-test. Over the coming years many more software packages will be developed and tools will necessarily change. However, we hope that the underlying designs shared here can help to inform the design of future software.

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRS1990

Curvature continuity of cubic Bezier curves in the solid modeling aerospace research tools design software

Preliminary results are presented of an investigation into the development of a procedure to provide curvature continuity between biparametric cubic Bezier surface patches in the computer-aided design package known as SMART (Solid Modeling Aerospace Research Tools). This initial effort was aimed at providing the designer with the ability to locally impose curvature continuity at the intersection of two Bezier curves without disrupting either the curvature or slope continuity that may exist at the ends of these curves. Such a method was found if the original Bezier control points are all coplanar. If they are not, then it is possible to find a minimum deviation from exact curvature continuity. In cases where this is not sufficient, then an entire piecewise curve must be made curvature continuous simultaneously. A method was developed based on cubic splines which is very fast. The procedure returns new Bezier control points which have both slope and curvature continuity.

Roach, Robert L.↗

DOE OSTI2023

Ev Info And Incident Response Solutions

In post-crash situations, passengers, bystanders, and first responders are exposed to the immediate safety risks of stranded energy in electric vehicle (EV) batteries. A potentially damaged battery with an unknown state of safety might go into a thermal runaway without proper handling, leading to potential loss of life and property damage. Therefore, it is imperative to develop methods, guidelines and tools to handle the post-crash EVs appropriately and minimize safety risks from immediately after an EV accident to final disposal or re-entry to the road. This software tool: (1) provides quick access to EV specification, (2) estimate stranded energy left in an EV after a crash specific to EVs in a user-friendly way, (3) inform EV structure/disconnect for appropriate quick post-crash handling, (4) perform the calculation for the first responder to decide on onsite or offsite discharge, and (5) feature appropriate battery disposal and education/lessons learned. This software tool will directly help the emergency responders to handle EV post-crash situations effectively and safely.

Zhang, Bo [Idaho National Laboratory (INL), Idaho ↗

NASA NTRS2011

Adaptation of G-TAG Software for Validating Touch-and-Go Comet Surface Sampling Design Methodology

The G-TAG software tool was developed under the R&TD on Integrated Autonomous Guidance, Navigation, and Control for Comet Sample Return, and represents a novel, multi-body dynamics simulation software tool for studying TAG sampling. The G-TAG multi-body simulation tool provides a simulation environment in which a Touch-and-Go (TAG) sampling event can be extensively tested. TAG sampling requires the spacecraft to descend to the surface, contact the surface with a sampling collection device, and then to ascend to a safe altitude. The TAG event lasts only a few seconds but is mission-critical with potentially high risk. Consequently, there is a need for the TAG event to be well characterized and studied by simulation and analysis in order for the proposal teams to converge on a reliable spacecraft design. This adaptation of the G-TAG tool was developed to support the Comet Odyssey proposal effort, and is specifically focused to address comet sample return missions. In this application, the spacecraft descends to and samples from the surface of a comet. Performance of the spacecraft during TAG is assessed based on survivability and sample collection performance. For the adaptation of the G-TAG simulation tool to comet scenarios, models are developed that accurately describe the properties of the spacecraft, approach trajectories, and descent velocities, as well as the models of the external forces and torques acting on the spacecraft. The adapted models of the spacecraft, descent profiles, and external sampling forces/torques were more sophisticated and customized for comets than those available in the basic G-TAG simulation tool. Scenarios implemented include the study of variations in requirements, spacecraft design (size, locations, etc. of the spacecraft components), and the environment (surface properties, slope, disturbances, etc.). The simulations, along with their visual representations using G-View, contributed to the Comet Odyssey New Frontiers proposal effort by indicating problems and/or benefits of different approaches and designs.

Mandic, Milan↗

NASA NTRS1993

The mission events graphic generator software: A small tool with big results

Utilization of graphics has long been a useful methodology for many aspects of spacecraft operations. A personal computer based software tool that implements straight-forward graphics and greatly enhances spacecraft operations is presented. This unique software tool is the Mission Events Graphic Generator (MEGG) software which is used in support of the Hubble Space Telescope (HST) Project. MEGG reads the HST mission schedule and generates a graphical timeline.

Lupisella, Mark↗

NASA NTRS2008

Communicating Navigation Data Inside the Cassini-Huygens Project: Visualizations and Tools

The Cassini-Huygens Saturn tour poses an interesting navigation challenge. From July 2004 through June 2008, the Cassini orbiter performed 112 of 161 planned maneuvers. This demanding schedule, where maneuvers are often separated by just a few days, motivated the development of maneuver design/analysis automation software tools. Besides generating maneuver designs and presentations, these tools are the mechanism to producing other types of navigation information; information used to facilitate operational decisions on such issues as maneuver cancellation and alternate maneuver strategies. This paper will discuss the navigation data that are communicated inside the Cassini-Huygens Project, as well as the maneuver software tools behind the processing of the data.

maneuver↗

NASA NTRS1991

Translating expert system rules into Ada code with validation and verification

The purpose of this ongoing research and development program is to develop software tools which enable the rapid development, upgrading, and maintenance of embedded real-time artificial intelligence systems. The goals of this phase of the research were to investigate the feasibility of developing software tools which automatically translate expert system rules into Ada code and develop methods for performing validation and verification testing of the resultant expert system. A prototype system was demonstrated which automatically translated rules from an Air Force expert system was demonstrated which detected errors in the execution of the resultant system. The method and prototype tools for converting AI representations into Ada code by converting the rules into Ada code modules and then linking them with an Activation Framework based run-time environment to form an executable load module are discussed. This method is based upon the use of Evidence Flow Graphs which are a data flow representation for intelligent systems. The development of prototype test generation and evaluation software which was used to test the resultant code is discussed. This testing was performed automatically using Monte-Carlo techniques based upon a constraint based description of the required performance for the system.

Becker, Lee↗

DOE OSTI2022

CTF: A modernized, production-level, thermal hydraulic solver for the solution of industry-relevant challenge problems in pressurized water reactors

CTF is a thermal hydraulic (T/H) subchannel tool that has been extensively developed over the past ten years as part of the Consortium for Advanced Simulation of Light Water Reactors (CASL) program. The code was selected early in the CASL program for support of high-impact challenge problems that were found to be relevant to the nuclear industry and its currently operating fleet of pressurized water reactors (PWRs), including issues such as departure from nucleate boiling (DNB), crud-induced power shifts (CIPSs), and reactivity-insertion accidents (RIAs). By incorporating CTF into the multiphysics Virtual Environment for Reactor Application (VERA) core simulator software developed by CASL, CTF has become the primary means of providing fluid and fuel thermal feedback, as well as T/H figure-of-merits (FOMs) in large-scale reactor simulations. With the goal of solving industry challenge problems, CASL placed great emphasis on developing high-quality, high-performance, validated software tools that offer higher fidelity than what is currently possible with current industry methods. In support of this effort, CTF was developed from a research tool into an nuclear quality assurance (NQA-1)–compliant, production-level software tool that is capable of addressing the stated challenge problems and goals of CASL. This work presents a review of the major technological achievements that were realized in developing CTF over the past decade of the CASL program and presents an overview of the code solution approach and closure models.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

NASA NTRS2014

Evolution of the Scope and Capabilities of Uplink Support Software for Mars Surface Operations

In January of 2004 both of the Mars Exploration Rover spacecraft landed safely, initiating daily surface operations at the Jet Propulsion Laboratory for what was anticipated to be approximately three months of mobile exploration. The longevity of this mission, still ongoing after ten years, has provided not only a tremendous return of scientific data but also the opportunity to refine and improve the methodology by which robotic Mars surface missions are commanded. Since the landing of the Mars Science Laboratory spacecraft in August of 2012, this methodology has been successfully applied to operate a Martian rover which is both similar to, and quite different from, its predecessors. For MER and MSL, daily uplink operations can be most broadly viewed as converting the combined interests of both the science and engineering teams into a spacecraft-safe set of transmittable command files. In order to accomplish these ends a discrete set of mission-critical software tools were developed which not only allowed for conformation to established JPL standards and practices but also enabled innovative technologies specific to each mission. Although these primary programs provided the requisite capabilities for meeting the high-level goals of each distinct phase of the uplink process, there was little in the way of secondary software to support the smooth flow of data from one phase to the next. In order to address this shortcoming a suite of small software tools was developed to aid in phase transitions, as well as to automate some of the more laborious and error-prone aspects of uplink operations. This paper describes the evolution of this software suite, from its initial attempts to merely shorten the duration of the operator's shift, to its current role as an indispensable tool enforcing workflow of the uplink operations process and agilely responding to the new and unexpected challenges of missions which can, and have, lasted many years longer than originally anticipated.

CoUGAR↗

NASA NTRS1986

Towards a document structure editor for software requirements analysis

Of the six or seven phases of the software engineering life cycle, requirements analysis tends to be the least understood and the least formalized. Correspondingly, a scarcity of useful software tools exist which aid in the development of user and system requirements. It is proposed that requirements analysis should culminate in a set of documents similar to those that usually accompany a delivered Software product. The design of a software tool, the Document Structure Editor, which facilitates the development of such documentation.

Kowalski, Vincent J.↗

NASA NTRS1991

Neural Architectures for Control

The cerebellar model articulated controller (CMAC) neural architectures are shown to be viable for the purposes of real-time learning and control. Software tools for the exploration of CMAC performance are developed for three hardware platforms, the MacIntosh, the IBM PC, and the SUN workstation. All algorithm development was done using the C programming language. These software tools were then used to implement an adaptive critic neuro-control design that learns in real-time how to back up a trailer truck. The truck backer-upper experiment is a standard performance measure in the neural network literature, but previously the training of the controllers was done off-line. With the CMAC neural architectures, it was possible to train the neuro-controllers on-line in real-time on a MS-DOS PC 386. CMAC neural architectures are also used in conjunction with a hierarchical planning approach to find collision-free paths over 2-D analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The CMAC architectures are trained in real-time for each obstacle field presented. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array. These results are a very good indication of the potential power of the neural architectures in control design. In order to reach as wide an audience as possible, we have run a seminar on neuro-control that has met once per week since 20 May 1991. This seminar has thoroughly discussed the CMAC architecture, relevant portions of classical control, back propagation through time, and adaptive critic designs.

Peterson, James K.↗

NASA NTRS1992

Advanced techniques in reliability model representation and solution

The current tendency of flight control system designs is towards increased integration of applications and increased distribution of computational elements. The reliability analysis of such systems is difficult because subsystem interactions are increasingly interdependent. Researchers at NASA Langley Research Center have been working for several years to extend the capability of Markov modeling techniques to address these problems. This effort has been focused in the areas of increased model abstraction and increased computational capability. The reliability model generator (RMG) is a software tool that uses as input a graphical object-oriented block diagram of the system. RMG uses a failure-effects algorithm to produce the reliability model from the graphical description. The ASSURE software tool is a parallel processing program that uses the semi-Markov unreliability range evaluator (SURE) solution technique and the abstract semi-Markov specification interface to the SURE tool (ASSIST) modeling language. A failure modes-effects simulation is used by ASSURE. These tools were used to analyze a significant portion of a complex flight control system. The successful combination of the power of graphical representation, automated model generation, and parallel computation leads to the conclusion that distributed fault-tolerant system architectures can now be analyzed.

Palumbo, Daniel L.↗