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NASA NTRS2019

Recent Enhancements to NASA’s PCBoom Sonic Boom Propagation Code

This paper presents the recent updates the author has made to PCBoom sonic boom propagation code on its computational efficiency, predictive capability, and file operations. The updated version has recently been released and has a Burgers’ equation solver, which is computationally more efficient than that in the older version by 2 to 3 orders of magnitude. The updated version also enhances the accuracy of the sonic boom propagation prediction by accounting for the full wind effects on the shock wave propagation. Predictions from the updated PCBoom are compared with predictions from the older version and with data from flight tests. Other upgrades and changes that have been made in the latest version include support for Unix-like operating systems, bug fixes, and generation of new types of output files that allow for better manipulation of PCBoom-generated data.

Lonzaga, Joel B.↗

NASA NTRS1999

Practical Application of Model Checking in Software Verification

This paper presents our experiences in applying the JAVA PATHFINDER (J(sub PF)), a recently developed JAVA to SPIN translator, in the finding of synchronization bugs in a Chinese Chess game server application written in JAVA. We give an overview of J(sub PF) and the subset of JAVA that it supports and describe the abstraction and verification of the game server. Finally, we analyze the results of the effort. We argue that abstraction by under-approximation is necessary for abstracting sufficiently smaller models for verification purposes; that user guidance is crucial for effective abstraction; and that current model checkers do not conveniently support the computational models of software in general and JAVA in particular.

Havelund, Klaus↗

NASA NTRS1985

A knowledge based software engineering environment testbed

The Carnegie Group Incorporated and Boeing Computer Services Company are developing a testbed which will provide a framework for integrating conventional software engineering tools with Artifical Intelligence (AI) tools to promote automation and productivity. The emphasis is on the transfer of AI technology to the software development process. Experiments relate to AI issues such as scaling up, inference, and knowledge representation. In its first year, the project has created a model of software development by representing software activities; developed a module representation formalism to specify the behavior and structure of software objects; integrated the model with the formalism to identify shared representation and inheritance mechanisms; demonstrated object programming by writing procedures and applying them to software objects; used data-directed and goal-directed reasoning to, respectively, infer the cause of bugs and evaluate the appropriateness of a configuration; and demonstrated knowledge-based graphics. Future plans include introduction of knowledge-based systems for rapid prototyping or rescheduling; natural language interfaces; blackboard architecture; and distributed processing

Gill, C.↗

NASA NTRS1992

The IRAS Minor Planet Survey

This report documents the program and data used to identify known asteroids observed by the Infrared Astronomical Satellite (IRAS) and to compute albedos and diameters from their IRAS fluxes. It also presents listings of the results obtained. These results supplant those in the IRAS Asteroid and Comet Survey, 1986. The present version used new and improved asteroid orbital elements for 4679 numbered asteroids and 2632 additional asteroids for which at least two-opposition elements were available as of mid-1991. It employed asteroid absolute magnitudes on the International Astronomical Union system adopted in 1991. In addition, the code was modified to increase the reliability of associating asteroids with IRAS sources and rectify several shortcomings in the final data products released in 1986. Association reliability was improved by decreasing the position difference between an IRAS source and a predicted asteroid position required for an association. The shortcomings addressed included the problem of flux overestimation for low SNR sources and the systematic difference in albedos and diameters among the three wavelength bands (12, 25, and 60 micrometers). Several minor bugs in the original code were also corrected.

Tedesco, Edward F.↗

NASA NTRS2021

Integration of an Arm Kinematics Hot Patch onboard the Curiosity Rover

NASA's Mars Science Laboratory (MSL) mission has updated the Curiosity rover's flight software multiple times since landing on Mars on August 6, 2012. The most common patching method has been a hot patch, in which running flight software is modified after being copied into RAM from its persistent storage. The latest hot patch to be installed on Curiosity fixed an issue in the robotic arm software that computes generalized inverse kinematics. Additional unit testing performed since the start of the surface mission revealed that this software can sometimes produce erroneous solutions.The cause was identified as numerical instability in a quartic root finder. When the inputs to that solver are not well conditioned, floating-point numerical issuescan cause erroneous roots to be reported. In theory, this could result in the robotic arm turret instruments being commanded to unintended positions, for example, below the terrain surface. Out of approximately 3.7 million unit test cases, 97.2\% of the position errors were below 5 mm. However, there were 16 test cases where theposition error was greater than 20 cm, and the maximum position error was 1.2 meters.The patch was uploaded to Curiosity on sol 2642 (January 11, 2020) after the solution was developed, re-implemented as a hot patch, and validated and verified using Earth-based Curiosity testbeds. A checkout test of the patch was performed on Curiosity on sol 2657, and nominal use of the patch began on sol 2658. In this paper, we describe the steps that led to integrating the arm kinematic hot patch into Curiosity's flight software, from the discovery of the bug to the nominal use of the patch in flight.

Maimone, Mark↗

NASA NTRS1998

Parallel 3D Multi-Stage Simulation of a Turbofan Engine

A 3D multistage simulation of each component of a modern GE Turbofan engine has been made. An axisymmetric view of this engine is presented in the document. This includes a fan, booster rig, high pressure compressor rig, high pressure turbine rig and a low pressure turbine rig. In the near future, all components will be run in a single calculation for a solution of 49 blade rows. The simulation exploits the use of parallel computations by using two levels of parallelism. Each blade row is run in parallel and each blade row grid is decomposed into several domains and run in parallel. 20 processors are used for the 4 blade row analysis. The average passage approach developed by John Adamczyk at NASA Lewis Research Center has been further developed and parallelized. This is APNASA Version A. It is a Navier-Stokes solver using a 4-stage explicit Runge-Kutta time marching scheme with variable time steps and residual smoothing for convergence acceleration. It has an implicit K-E turbulence model which uses an ADI solver to factor the matrix. Between 50 and 100 explicit time steps are solved before a blade row body force is calculated and exchanged with the other blade rows. This outer iteration has been coined a "flip." Efforts have been made to make the solver linearly scaleable with the number of blade rows. Enough flips are run (between 50 and 200) so the solution in the entire machine is not changing. The K-E equations are generally solved every other explicit time step. One of the key requirements in the development of the parallel code was to make the parallel solution exactly (bit for bit) match the serial solution. This has helped isolate many small parallel bugs and guarantee the parallelization was done correctly. The domain decomposition is done only in the axial direction since the number of points axially is much larger than the other two directions. This code uses MPI for message passing. The parallel speed up of the solver portion (no 1/0 or body force calculation) for a grid which has 227 points axially.

Turner, Mark G.↗

NASA NTRS1993

Making tomorrow's mistakes today: Evolutionary prototyping for risk reduction and shorter development time

In the early days of JPL's solar system exploration, each spacecraft mission required its own dedicated data system with all software applications written in the mainframe's native assembly language. Although these early telemetry processing systems were a triumph of engineering in their day, since that time the computer industry has advanced to the point where it is now advantageous to replace these systems with more modern technology. The Space Flight Operations Center (SFOC) Prototype group was established in 1985 as a workstation and software laboratory. The charter of the lab was to determine if it was possible to construct a multimission telemetry processing system using commercial, off-the-shelf computers that communicated via networks. The staff of the lab mirrored that of a typical skunk works operation -- a small, multi-disciplinary team with a great deal of autonomy that could get complex tasks done quickly. In an effort to determine which approaches would be useful, the prototype group experimented with all types of operating systems, inter-process communication mechanisms, network protocols, packet size parameters. Out of that pioneering work came the confidence that a multi-mission telemetry processing system could be built using high-level languages running in a heterogeneous, networked workstation environment. Experience revealed that the operating systems on all nodes should be similar (i.e., all VMS or all PC-DOS or all UNIX), and that a unique Data Transport Subsystem tool needed to be built to address the incompatibilities of network standards, byte ordering, and socket buffering. The advantages of building a telemetry processing system based on emerging industry standards were numerous: by employing these standards, we would no longer be locked into a single vendor. When new technology came to market which offered ten times the performance at one eighth the cost, it would be possible to attach the new machine to the network, re-compile the application code, and run. In addition, we would no longer be plagued with lack of manufacturer support when we encountered obscure bugs. And maybe, hopefully, the eternal elusive goal of software portability across different vendors' platforms would finally be available. Some highlights of our prototyping efforts are described.

Friedman, Gary↗

NASA NTRS2004

Evaluation of Open-Source Hard Real Time Software Packages

Reliable software is, at times, hard to find. No piece of software can be guaranteed to work in every situation that may arise during its use here at Glenn Research Center or in space. The job of the Software Assurance (SA) group in the Risk Management Office is to rigorously test the software in an effort to ensure it matches the contract specifications. In some cases the SA team also researches new alternatives for selected software packages. This testing and research is an integral part of the department of Safety and Mission Assurance. Real Time operation in reference to a computer system is a particular style of handing the timing and manner with which inputs and outputs are handled. A real time system executes these commands and appropriate processing within a defined timing constraint. Within this definition there are two other classifications of real time systems: hard and soft. A soft real time system is one in which if the particular timing constraints are not rigidly met there will be no critical results. On the other hand, a hard real time system is one in which if the timing constraints are not met the results could be catastrophic. An example of a soft real time system is a DVD decoder. If the particular piece of data from the input is not decoded and displayed to the screen at exactly the correct moment nothing critical will become of it, the user may not even notice it. However, a hard real time system is needed to control the timing of fuel injections or steering on the Space Shuttle; a delay of even a fraction of a second could be catastrophic in such a complex system. The current real time system employed by most NASA projects is Wind River's VxWorks operating system. This is a proprietary operating system that can be configured to work with many of NASA s needs and it provides very accurate and reliable hard real time performance. The down side is that since it is a proprietary operating system it is also costly to implement. The prospect of replacing this somewhat costly implementation is the focus of one of the SA group s current research projects. The explosion of open source software in the last ten years has led to the development of a multitude of software solutions which were once only produced by major corporations. The benefits of these open projects include faster release and bug patching cycles as well as inexpensive if not free software solutions. The main packages for hard real time solutions under Linux are Real Time Application Interface (RTAI) and two varieties of Real Time Linux (RTL), RTLFree and RTLPro. During my time here at NASA I have been testing various hard real time solutions operating as layers on the Linux Operating System. All testing is being run on an Intel SBC 2590 which is a common embedded hardware platform. The test plan was provided to me by the Software Assurance group at the start of my internship and my job has been to test the systems by developing and executing the test cases on the hardware. These tests are constructed so that the Software Assurance group can get hard test data for a comparison between the open source and proprietary implementations of hard real time solutions.

Mattei, Nicholas S.↗