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All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

Developing a Robust, Interoperable GNSS Space Service Volume (SSV) for the Global Space User Community

For over two decades, researchers, space users, Global Navigation Satellite System (GNSS) service providers, and international policy makers have been working diligently to expand the space-borne use of the Global Positioning System (GPS) and, most recently, to employ the full complement of GNSS constellations to increase spacecraft navigation performance. Space-borne Positioning, Navigation, and Timing (PNT) applications employing GNSS are now ubiquitous in Low Earth Orbit (LEO). GNSS use in space is quickly expanding into the Space Service Volume (SSV), the signal environment in the volume surrounding the Earth that enables real-time PNT measurements from GNSS systems at altitudes of 3000 km and above. To support the current missions and planned future missions within the SSV, initiatives are being conducted in the United States and internationally to ensure that GNSS signals are available, robust, and yield precise navigation performance. These initiatives include the Interagency Forum for Operational Requirements (IFOR) effort in the United States, to support GPS SSV signal robustness through future design changes, and the United Nations-sponsored International Committee on GNSS (ICG), to coordinate SSV development across all international GNSS constellations and regional augmentations. The results of these efforts have already proven fruitful, enabling new missions through radically improved navigation and timing performance, ensuring quick recovery from trajectory maneuvers, improving space vehicle autonomy and making GNSS signals more resilient from potential disruptions. Missions in the SSV are operational now and have demonstrated outstanding PNT performance characteristics; much better than what was envisioned less than a decade ago. The recent launch of the first in a series of US weather satellites will employ the use of GNSS in the SSV to substantially improve weather prediction and public-safety situational awareness of fast moving events, including hurricanes, flash floods, severe storms, tornados and wildfires. Thus, the benefits of the GNSS expansion and use into the SSV are tremendous, resulting in orders of magnitude return in investment to national governments and extraordinary societal benefits, including lives saved and critical infrastructure and property protected. However, this outstanding success is tempered by dual challenges: that for GPS, the current SSV specifications do not adequately protect SSV future use; and that for GNSS, the capabilities that are currently available are not protected in the future by specifications.

Bauer, Frank H.↗
NASA NTRSDate not supplied

Improving Efficacy and Safety of Pharmacological Treatment Through Precision Health and Pharmacogenomics

INTRODUCTION: Future spaceflight will require increased crew medical autonomy as exploration class missions expand in duration and distance from Earth, especially for Mars missions. As mission duration increases, it will be essential to have appropriate amounts of effective medication to ensure the maintenance of crew health and performance. Conversely, mass and volume constraints will become more severe as future spaceflight expands beyond low Earth orbit, where resupply is difficult or becomes impossible. These constraints thus convey an urgency to tailor medications for individual crewmembers and further examine appropriate dosing regimens. BACKGROUND: Precision Health is an exciting area of medicine focused on maintaining an individual’s health and performance through in-depth understanding of an individual’s unique clinical and environmental history, genetic makeup, and molecular profiles. This approach can be adapted to better predict, monitor, and address physiological responses to the spaceflight environment. A subset of this field is pharmacogenomics (PGX), the study of how the expressed genome impacts drug responses with the goal of prescribing the right dose of the right drug at the right time. Specifically, PGX testing provides valuable information on an individual’s precise allelic variations to guide physicians in making informed decisions on drug choice and dosing to avoid adverse events and maximize efficacy. The study goal was to identify which current space pharmacy drugs could be evaluated using PGX testing and to understand the potential impact on the health and wellness of the astronaut population. Additionally, we sought to evaluate clinically available FDA-approved PGX testing solutions to better understand its applicability. METHODS: A complete list of drugs on the ISS was analyzed for risk and likelihood of drug failure and PGX actionability. This analysis encompassed both astronauts’ personal medications, including supplements and over the counter drugs (n=151) contained in the ISS medical accessory kit (IMAK), and ISS MedKit formulary medications (n=95). Duplicate medications and different formulations were removed, which resulted in a total of 157 drugs used in the subsequent analysis. A 5x5 risk assessment table was produced by examining the likelihood of drug failure compared to the consequence of drug failure (LxC). Likelihood of individual drug failure was defined by whether existing processes are sufficient to prevent ineffective treatment or impactful side effect events, as ranked from 1 (very low, can easily be prevented) to 5 (very high, cannot be prevented) during a Mars mission. In contrast, the consequence of drug failure was defined by impact to safety, schedule, cost, or technical criteria and ranked from 1 (very low) to 5 (very high). An assessment of PGX reference laboratories is currently underway to evaluate sample requirements, benefit analysis (cost vs. utility of allele variant analysis), relevance to inflight medication usage, quality of reporting in enabling clinical application, and ease of integration into electronic medical records. RESULTS: Risk assessments (LxC 5x5 table) indicated 128 medications were in the green zone where risk is acceptable, with the remaining 29 of the medications in the yellow or red zone driven predominantly due to drug failure or safety concerns. We found that current PGX testing results could impact 21% of the total medications in the ISS MedKit and IMAK; of these, 9 medications currently have direct clinically actionable guidance available. Results of the clinical PGX solution evaluations as related to these medications will be presented. CONCLUSION: PGX testing has demonstrated clear benefits in terrestrial medicine and clinical environments for the selection of proper medications, avoiding adverse drug reactions, and maximizing drug efficacy. We propose that similar benefits would be bestowed on the astronaut and commercial spaceflight passenger population by performing preemptive preflight PGX testing to reduce risk of mission failure due to ineffective or toxic medications, improve drug efficacy, and further open the door to countermeasure research. For example, PGX results could allow tailoring of specific medications at optimal doses more precisely to each individual astronaut, particularly in areas of space motion sickness, sleep aids, and analgesics. An additional benefit is that PGX results could provide information for better planning of the components of a space pharmacy for deep space missions to be more effective and efficient in the utilization of limited pharmaceutical resources. Finally, while PGX testing of the astronaut corps is not currently conducted, this approach could provide immediate impact in support of mission success by reducing risks, optimizing astronaut performance, and providing valuable insights into long-term astronaut health. Such advancements in clinical decision making are important next steps in building dynamic individual risk profiles for astronauts, increasing selection of the best treatment choice, and providing tailored countermeasures for individual crewmembers.

Pharmacogenomics↗
NASA NTRS2002

Global Precipitation Measurement Program and the Development of Dual-Frequency Precipitation Radar

The Global Precipitation Measurement (GPM) program is a mission to measure precipitation from space, and is a similar but much expanded mission of the Tropical Rainfall Measuring Mission. Its scope is not limited to scientific research, but includes practical and operational applications such as weather forecasting and water resource management. To meet the requirements of operational use, the GPM uses multiple low-orbiting satellites to increase the sampling frequency and to create three-hourly global rain maps that will be delivered to the world in quasi-real time. A dual-frequency radar (DPR) will be installed on the primary satellite that plays an important role in the whole mission. The DPR will realize measurement of precipitation with high sensitivity, high precision and high resolutions. This paper describes an outline of the GPM program, its issues and the roles and development of the DPR.

Iguchi, Toshio↗
NASA NTRS1988

Precise orbit determination for NASA's earth observing system using GPS (Global Positioning System)

An application of a precision orbit determination technique for NASA's Earth Observing System (EOS) using the Global Positioning System (GPS) is described. This technique allows the geometric information from measurements of GPS carrier phase and P-code pseudo-range to be exploited while minimizing requirements for precision dynamical modeling. The method combines geometric and dynamic information to determine the spacecraft trajectory; the weight on the dynamic information is controlled by adjusting fictitious spacecraft accelerations in three dimensions which are treated as first order exponentially time correlated stochastic processes. By varying the time correlation and uncertainty of the stochastic accelerations, the technique can range from purely geometric to purely dynamic. Performance estimates for this technique as applied to the orbit geometry planned for the EOS platforms indicate that decimeter accuracies for EOS orbit position may be obtainable. The sensitivity of the predicted orbit uncertainties to model errors for station locations, nongravitational platform accelerations, and Earth gravity is also presented.

Williams, B. G.↗
NASA NTRS1991

Monte-Carlo methods make Dempster-Shafer formalism feasible

One of the main obstacles to the applications of Dempster-Shafer formalism is its computational complexity. If we combine m different pieces of knowledge, then in general case we have to perform up to 2(sup m) computational steps, which for large m is infeasible. For several important cases algorithms with smaller running time were proposed. We prove, however, that if we want to compute the belief bel(Q) in any given query Q, then exponential time is inevitable. It is still inevitable, if we want to compute bel(Q) with given precision epsilon. This restriction corresponds to the natural idea that since initial masses are known only approximately, there is no sense in trying to compute bel(Q) precisely. A further idea is that there is always some doubt in the whole knowledge, so there is always a probability p(sub o) that the expert's knowledge is wrong. In view of that it is sufficient to have an algorithm that gives a correct answer a probability greater than 1-p(sub o). If we use the original Dempster's combination rule, this possibility diminishes the running time, but still leaves the problem infeasible in the general case. We show that for the alternative combination rules proposed by Smets and Yager feasible methods exist. We also show how these methods can be parallelized, and what parallelization model fits this problem best.

Kreinovich, Vladik YA.↗
NASA NTRS2018

An Introduction to Global Navigation Satellite Systems

Products that rely on Global Navigation Satellite Systems (GNSS) have become an essential part of daily life for millions of people around the world. In addition to enabling navigation, these constellations of satellites and the signals they transmit provide a global, precise timing source, used in everything from electrical power grid phasing to synchronization of financial networks. This tutorial introduces the concept of radio navigation, describes the features of GNSS signals that make navigation possible, and explains how these signals are processed by GNSS receivers. The resulting measurements and error sources, such as atmospheric effects and multipath, are discussed. Then methods are presented for combining these measurements into a position, velocity, and time estimate. The tutorial concludes with a brief status report on the GNSS constellations, space applications and recent flight experiences, and active areas of research.

Ashman, Ben↗
NASA NTRS2019

NASA SEXTANT Mission Operations Architecture

The Station Explorer for X-Ray Timing and Navigation (SEXTANT) mission is a technology demonstration enhancement to the Neutron Star Interior Composition Explorer (NICER) mission, a NASA Astrophysics Explorer Mission of Opportunity to the International Space Station (ISS) that was launched in June of 2017. The NICER instrument is a precision pointing X-ray telescope that times pulsar sourced photon arrivals which the SEXTANT mission uses to perform autonomous onboard X-ray Pulsar Navigation (XNAV). By comparing the detected time of arrival of X-ray photons to a reference of expected pulsar timing models, one can infer a range and range rate measurement based on light time delay. Since both timing and orientation information comes from a celestial source, this technology could provide a GPS-like navigation capability available throughout our Solar System and beyond. Applications that XNAV can support include outer planet and interstellar missions, manned missions, libration orbit missions, and current infrastructure such as the Deep Space Network (DSN). The SEXTANT team successfully completed a first demonstration of in-space and autonomous XNAV in November 2017. NICER and SEXTANT have separate teams, with NICER being the primary team with its own science objectives. Operational modes for both missions must have concurrent and independent components as well as an integrated ground system. This paper describes on the operational infrastructure and successful operations for performing X-ray Pulsar Navigation with the Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) demonstration. This paper first details the infrastructure implemented, then the concept of operations, and finally the operations for the SEXTANT demonstration and lessons learned.

Ground Systems↗
NASA NTRS1992

Precision GPS ephemerides and baselines

The required knowledge of the Global Positioning System (GPS) satellite position accuracy can vary depending on a particular application. Application to relative positioning of receiver locations on the ground to infer Earth's tectonic plate motion requires the most accurate knowledge of the GPS satellite orbits. Research directed towards improving and evaluating the accuracy of GPS satellite orbits was conducted at the University of Texas Center for Space Research (CSR). Understanding and modeling the forces acting on the satellites was a major focus of the research. Other aspects of orbit determination, such as the reference frame, time system, measurement modeling, and parameterization, were also investigated. Gravitational forces were modeled by truncated versions of extant gravity fields such as, Goddard Earth Model (GEM-L2), GEM-T1, TEG-2, and third body perturbations due to the Sun and Moon. Nongravitational forces considered were the solar radiation pressure, and perturbations due to thermal venting and thermal imbalance. At the GPS satellite orbit accuracy level required for crustal dynamic applications, models for the nongravitational perturbation play a critical role, since the gravitational forces are well understood and are modeled adequately for GPS satellite orbits.

Source record↗
NASA NTRS1977

The velocity correlation function in cosmic-ray diffusion theory

It is shown that Earl's (1973) eigenvalue sum for the cosmic-ray spatial diffusion coefficient parallel to the mean magnetic field is precisely equivalent to the time integral of the particle-velocity correlation function parallel to the mean field. A derivation due to Kubo (1957) is applied to cosmic-ray pitch-angle scattering, and it is proven that all nine components of the cosmic-ray diffusion tensor can be expressed as integrals over the velocity correlation function. A pitch-angle correlation function is derived, and the effect of long-wavelength turbulence on the velocity correlation function and spatial diffusion coefficients is examined. Application of the velocity-correlation method to a realistic case involving both pitch-angle scattering and appreciable fluctuation in the direction of the local field indicates that long-wavelength turbulence in the local field reduces the parallel diffusion coefficient and places an upper limit on the ratio of the perpendicular to parallel diffusion coefficients.

Forman, M. A.↗
NASA NTRS2015

Microlith-Based Catalytic Reactor for Air Quality and Trace Contaminant Control Applications

Traditionally, gaseous compounds such as methane, carbon monoxide, and trace contaminants have posed challenges for maintaining clean air in enclosed spaces such as crewed spacecraft cabins as they are hazardous to humans and are often difficult to remove by conventional adsorption technology. Catalytic oxidizers have provided a reliable and robust means of disposing of even trace levels of these compounds by converting them into carbon dioxide and water. Precision Combustion, Inc. (PCI) and NASA - Marshall (MSFC) have been developing, characterizing, and optimizing high temperature catalytic oxidizers (HTCO) based on PCI's patented Microlith® technology to meet the requirements of future extended human spaceflight explorations. Current efforts have focused on integrating the HTCO unit with a compact, simple recuperative heat exchanger to reduce the overall system size and weight while also reducing its energy requirements. Previous efforts relied on external heat exchangers to recover the waste heat and recycle it to the oxidizer to minimize the system's power requirements; however, these units contribute weight and volume burdens to the overall system. They also result in excess heat loss due to the separation of the HTCO and the heat recuperator, resulting in lower overall efficiency. Improvements in the recuperative efficiency and close coupling of HTCO and heat recuperator lead to reductions in system energy requirements and startup time. Results from testing HTCO units integrated with heat recuperators at a variety of scales for cabin air quality control and heat melt compactor applications are reported and their benefits over previous iterations of the HTCO and heat recuperator assembly are quantified in this paper.

Vilekar, Saurabh↗
NASA NTRS1973

Testing and evaluation of the LES-6 pulsed plasma thruster by means of a torsion pendulum system

Performance characteristics of the LES-6 pulsed plasma thruster over a range of input conditions were investigated by means of a torsion pendulum system. Parameters of particular interest included the impulse bit and time average thrust (and their repeatability), specific impulse, mass ablated per discharge, specific thrust, energy per unit area, efficiency, and variation of performance with ignition command rate. Intermittency of the thruster as affected by input energy and igniter resistance were also investigated. Comparative experimental data correlation with the data presented. The results of these tests indicate that the LES-6 thruster, with some identifiable design improvements, represents an attractive reaction control thruster for attitude contol applications on long-life spacecraft requiring small metered impulse bits for precise pointing control of science instruments.

Hamidian, J. P.↗
NASA NTRS1994

A real-time prediction of UTC

The reference time scale for all scientific and technologic applications on the Earth, the Universal Coordinated Time (UTC), must be as stable, reliable, and accurate as possible. With this in view the BIPM and before it the BIH, have always calculated and then disseminated UTC with a delay of about 80 days. There are three fundamental reasons for doing this: (1) It takes some weeks for data, gathered from some 200 clocks spread world-wide, to be collected and for errors to be eliminated; (2) changes in clock rates can only be measured with high precision well after the fact; and (3) the measurement noise originating in time links, in particular using Loran-C, is smoothed out only when averaging over an extended period. Until mid-1992, the ultimate stability of UTC was reached at averaging times of about 100 days and corresponded to an Allan deviation sigma(sub y)(tau) of about 1,5x10(exp -14) then compared to the best primary clock in the world, the PTB CS2. For several years now, a predicted UTC has been computed by the USNO through an extrapolation of the values as published in deferred time by the BIPM. This is made available through the USNO Series 4, through the USNO Automated Data Service, and through GPS signals. Due to the instability of UTC, the poor predictability of the available clocks, and the intentional SA degradation of GPS signals, the real-time access to this extrapolated UTC has represented the true deferred-time UTC only to within several hundreds of nanoseconds.

Thomas, Claudine↗
NASA NTRS2012

Compact, Lightweight Adsorber and Sabatier Reactor for CO2 Capture and Reduction for Consumable and Propellant Production

The utilization of CO2 to produce (or recycle) life support consumables, such as O2 and H2O, and to generate propellant fuels is an important aspect of NASA's concept for future, long duration planetary exploration. One potential approach is to capture and use CO2 from the Martian atmosphere to generate the consumables and propellant fuels. Precision Combustion, Inc. (PCI), with support from NASA, continues to develop its regenerable adsorber technology for capturing CO2 from gaseous atmospheres (for cabin atmosphere revitalization and in-situ resource utilization applications) and its Sabatier reactor for converting CO2 to methane and water. Both technologies are based on PCI's Microlith(R) substrates and have been demonstrated to reduce size, weight, and power consumption during CO2 capture and methanation process. For adsorber applications, the Microlith substrates offer a unique resistive heating capability that shows potential for short regeneration time and reduced power requirements compared to conventional systems. For the Sabatier applications, the combination of the Microlith substrates and durable catalyst coating permits efficient CO2 methanation that favors high reactant conversion, high selectivity, and durability. Results from performance testing at various operating conditions will be presented. An effort to optimize the Sabatier reactor and to develop a bench-top Sabatier Development Unit (SDU) will be discussed.

Junaedi, Christian↗
NASA NTRS1990

Aeroservoelasticity

The paper describes recent accomplishments and current research projects along four main thrusts in aeroservoelasticity at NASA Langley. One activity focuses on enhancing the modeling and analysis procedures to accurately predict aeroservoelastic interactions. Improvements to the minimum-state method of approximating unsteady aerodynamics are shown to provide precise low-order models for design and simulation tasks. Recent extensions in aerodynamic correction-factor methodology are also described. With respect to analysis procedures, the paper reviews novel enhancements to matched filter theory and random process theory for predicting the critical gust profile and the associated time-correlated gust loads for structural design considerations. Two research projects leading towards improved design capability are also summarized: (1) an integrated structure/control design capability and (2) procedures for obtaining low-order robust digital control laws for aeroelastic applications.

Noll, Thomas E.↗
NASA NTRS1995

Microwave Imaging and Holographic Diagnostic to Antennas in Cylindrical Near-Field Measurement

In this paper, the issues pertaining to microwave imaging and holographic diagnostic to antennas in cylindrical near-field measurements are addressed. The theoretical approach is based on expanding the work in [1] and [2] where a cylindrical wave expansion of the field on a cylindrical near-field surface is given. The sampling probe is modeled by its equivalent aperture current (idealized circular aperture) and incorporated into the near-field to far-field transformation. The method of steepest decent is applied to obtain the far-field. In its implementation, however, one could specify directly the angular spectrum at which the far-field is desired to be calculated without resorting to interpolation. The microwave imaging and holographic diagnostic is based on back projection where a plane wave expansion of the far-field is obtained. This approach necessitates the knowledge of the far-field at exact angular spectrum resulting from application of 2-D FFT. Hence, we were able to construct simply the near-field on a plane not necessarily on the aperture plane of the test antenna but also on planes perpendicular to the aperture plane [3]. And a 3-D high resolution and high precision antenna imaging of the test antenna is obtained from cylindrical near-field simulated measurements. In addition microwave holographic diagnostic of large NASA scatterometer radar antenna obtained from measured near-field on a cylindrical surface will be given if time permits.

Microwave Imaging Holographic↗
NASA NTRSDate not supplied

Improving Efficacy and Safety of Pharmacological Treatment Through Precision Medicine and Pharmacogenomics for Human Deep Space Exploration

INTRODUCTION: Future spaceflight will require increased crew medical autonomy as exploration class missions expanding duration and distance from Earth, especially for Mars missions. As mission duration increases, it will be even more essential to have appropriate amounts of effective medication to ensure the maintenance of crew health and performance. Conversely, mass and volume constraints will become more severe as future spaceflight expands beyond low Earth orbit, where resupply is difficult or becomes impossible. These constraints thus convey an urgency to further tailor medications included in the spacecraft formulary and increased examination of appropriate dosing regimens. BACKGROUND: Precision Health is an exciting area of cutting-edge research and medicine focused on maintaining an individual’s health and performance through in-depth understanding of an individual’s unique factors and molecular profiles. This approach can be adapted to better predict, monitor, and address physiological responses to the spaceflight environment. One example is the field of pharmacogenomics (PGX),the study of how the expressed genome impacts drug responses with the goal of prescribing the right dose of the right drug at the right time. Specifically, PGX testing provides valuable information on an individual’s precise allelic variations to guide physicians in making informed decisions on pharmaceutical choice and dosing to avoid adverse drug events and maximize pharmacological efficacy. The goal of this study was to evaluate which drugs in the current space pharmacy could be evaluated using PGX testing and to understand the potential impact on the health and wellness of the astronaut population. Additionally, we sought to evaluate clinically available FDA-approved PGX testing solutions to better understand its applicability. METHODS: A complete list of drugs onboard the International Space Station (ISS) was analyzed for risk and likelihood of drug failure and PGX actionability. This analysis encompassed both personal astronaut medications, including supplements and over the counter drugs (n=151) and ISS MedKit formulary medications (n=95). Duplicate medications and different formulations were removed, which resulted in 157 total drugs used in the subsequent analysis. A 5x5 risk assessment table was produced by examining the likelihood of drug failure compared to the consequence of drug failure. Likelihood of individual drug failure was defined by whether existing processes are sufficient to prevent adverse events, as ranked from 1 (very low, can easily be prevented) to 5 (very high, cannot be prevented) during a Mars mission. In contrast, the consequence of drug failure was defined by impact to safety, schedule, cost or technical and ranked from 1 (very low) to 5 (very high).A comprehensive assessment of commercially available PGX solutions is currently underway to evaluate specimen requirements, cost/benefit analysis (cost vs. number of alleles assessed), utility of variant analysis, relevance to inflight medication usage, quality of reporting in enabling clinical application, and ease of integration into electronic medical records. RESULTS: Risk assessments(LxC 5x5 table) indicated29medicationswere in the yellow or red zone driven predominantly by drug failure or safety concerns, with the remainder(n=128)of the medications in the green zone where risk is acceptable. We found that current PGX testing results could impact 21% of the total medications in the ISS MedKit and IMAK; of these, 9 medications currently have direct clinically actionable guidance available. Results of the clinical PGX solution evaluations as related to these medications will be presented. CONCLUSION: PGX testing has demonstrated clear benefits in terrestrial medicine and clinical environments for the selection of proper medications, avoiding adverse drug reactions, and maximizing drug efficacy. We propose that similar benefits would be bestowed on the astronaut and commercial spaceflight passenger population by performing preemptive pre-flight PGX testing to reduce risk of mission failure due to ineffective or toxic medications, improve targeting drug efficacy and safety, and further open the door to countermeasure research exploring PGX-related allelic variants. For example, PGX results could allow tailoring of specific medications at optimal doses more precisely to each individual astronaut, particularly in areas of space motion sickness, sleep aids, and analgesics. An additional benefit is that PGX results could provide information for better planning of the components of a space pharmacy for deep space missions to be more cost effective and more efficient in the utilization of limited pharmaceutical resources. Finally, while PGX testing of the astronaut corps is not currently conducted, this approach could provide immediate impact in support of mission success by reducing risks, optimizing astronaut performance, and providing valuable insights into long-term astronaut health. Such advancements in clinical decision making are important next steps in building dynamic individual risk profiles for astronauts, increasing crew autonomy and providing tailored countermeasures

Alice R W Tang↗
NASA NTRS2005

Apex Reference Manual 3.0 Beta

Apex is a toolkit for constructing software that behaves intelligently and responsively in demanding task environments. Reflecting its origin at NASA where Apex continues to be developed, current applications include: a) Providing autonomous mission management and tactical control capabilities for unmanned aerial vehicles including an autonomous surveillance helicopter and a simulation prototype of an unmanned fixed-wing aircraft to be used for wildfire mapping; b) Simulating human air traffic controllers, pilots and astronauts to help predict how people might respond to changes in equipment or procedures; and c) Predicting the precise duration and sequence of routine human behaviors based on a human-computer interaction engineering technique called CPM-GOMS. Among Apex s components are a set of implemented reasoning services, such as those for reactive planning and temporal pattern recognition; a software architecture that embeds and integrates these services and allows additional reasoning elements to be added as extensions; a formal language for specifying agent knowledge; a simulation environment to facilitate prototyping and analysis; and Sherpa, a set of tools for visualizing autonomy logic and runtime behavior. In combination, these are meant to provide a flexible and usable framework for creating, testing, and deploying intelligent agent software. Overall, our goal in developing Apex is to lower economic barriers to developing intelligent software agents. New ideas about how to extend or modify the system are evaluated in terms of their impact in reducing the time, expertise, and inventiveness required to build and maintain applications. For example, potential enhancements to the AI reasoning capabilities in the system are reviewed not only for usefulness and distinctiveness, but also for their impact on the readability and general usability of Apex s behavior representation language (PDL) and on the transparency of resulting behavior. A second central part of our approach is to iteratively refine Apex based on lessons learned from as diverse a set of applications as possible. Many applications have been developed by users outside the core development team including engineers, researchers, and students. Usability is thus a central concern for every aspect of Apex visible to a user, including PDL, Sherpa, the Apex installation process, APIs, and user documentation. Apex users vary in their areas of expertise and in their familiarity with autonomy technology. Focusing on usability, a development philosophy summarized by the project motto "Usable Autonomy," has been important part of enabling diverse users to employ Apex successfully and to provide feedback needed to guide iterative, user-centered refinement.

Freed, Michael A.↗
NASA NTRSDate not supplied

A Strategic Approach for Dense, Integrated, Vehicle Navigation

Drone usage has been on the rise in recent years with applications that include parcel delivery, wildlife protection, precision farming, law enforcement, and industrial inspection, just to name a few. Once regulations and safety policies are put in place to allow for the widespread use of unmanned drones, the number of aircraft in the National Airspace System (NAS) is expected to skyrocket to millions, potentially congesting the airspace which increases the likelihood of separation violations and possibly incidents. Currently, flight infrastructure can only support a few thousand aircraft flying over the United States National Airspace System (NAS) at any given time. A delay at one airport can send ripple effects throughout the system, causing more delays and missed connections. In air traffic control, separation is the concept of keeping an “ownship” aircraft outside a minimum distance from “intruder” aircraft to reduce the risk of the aircraft colliding, as well as preventing accidents due to secondary factors, such as wake turbulence. Maintaining proper separation is often a safety critical property for fixed-wing drones in the airspace. This paper addresses drone separation in time and distance for high volume corridors (en route) and lanes (on ground), merging as well as crossing intersections of multiple corridors/lanes. In this paper, the term drone is applied to both Unmanned Aerial Vehicle (UAV) and small Unmanned Aircraft System (UAS) vehicles operating autonomously. There exists a gamut of approaches to the merging and crossing problems. At one end of the extreme are the conservative yet low cost and verifiable solutions of today that deal with two drones at a time. At the other end are complex Machine Learning-based solutions with high computing requirements for fully autonomous drones of the future that are expected to handle all contentions. This paper presents a feasible and verifiable strategic approach to these problems that is based on distributed cooperation between the drones and the infrastructure. Three phases of the strategic approach (Prepare, Adjust, Commit) are presented. Simulation results are presented that show the proposed approach is stable and resilient to induced perturbations and guarantees a set of fixed-wing drones to merge and cross intersections by adjusting their speed based on their distance to the aircraft in front of them while remaining in the equilibrium state. The equilibrium state is defined as the state when a set of n aircraft move at a relatively constant speed and uniform spacing from each other in a congested system. A congested system is defined as the state when at least one aircraft cannot move at its maximum allowed speed. Unlike existing centralized and pre-planned approaches, the proposed solution is fully distributed and enables autonomous aircraft to decide to adjust their speed and distance with respect to the preceding aircraft, dynamically. Simulation results are presented that assess the feasibility of the approach.

Distributed↗