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NASA NTRS1989

Real-Time MENTAT programming language and architecture

Real-time MENTAT, a programming environment designed to simplify the task of programming real-time applications in distributed and parallel environments, is described. It is based on the same data-driven computation model and object-oriented programming paradigm as MENTAT. It provides an easy-to-use mechanism to exploit parallelism, language constructs for the expression and enforcement of timing constraints, and run-time support for scheduling and exciting real-time programs. The real-time MENTAT programming language is an extended C++. The extensions are added to facilitate automatic detection of data flow and generation of data flow graphs, to express the timing constraints of individual granules of computation, and to provide scheduling directives for the runtime system. A high-level view of the real-time MENTAT system architecture and programming language constructs is provided.

Grimshaw, Andrew S.↗

NASA NTRS1992

NASA/LMSC coherent LIDAR airborne shear sensor: System capabilities and flight test plans

The primary objective of the NASA/LMSC Coherent Lidar Airborne Shear Sensor (CLASS) system flight tests is to evaluate the capability of an airborne coherent lidar system to detect, measure, and predict hazardous wind shear ahead of the aircraft with a view to warning flight crew of any impending dangers. On NASA's Boeing 737 Transport Systems Research Vehicle, the CLASS system will be used to measure wind velocity fields and, by incorporating such measurements with real-time aircraft state parameters, identify regions of wind shear that may be detrimental to the aircraft's performance. Assessment is to be made through actual wind shear encounters in flight. Wind shear measurements made by the class system will be compared to those made by the aircraft's in situ wind shear detection system as well as by ground-based Terminal Doppler Weather Radar (TDWR) and airborne Doppler radar. By examining the aircraft performance loss (or gain) due to wind shear that the lidar predicts with that actually experienced by the aircraft, the performance of the CLASS system as a predictive wind shear detector will be assessed.

Robinson, Paul↗

NASA NTRS1992

Observations of optical counterparts of Gamma-Ray bursts

This is a final report for a contract begun in Dec. 1987 and ended in Mar. 1989 to use the existing Lincoln Laboratory Experimental Test Site in Socorro, NM to search for optical counterparts to gamma-ray bursts. The objective was to develop an autonomous staring system to search for stationary, transient optical flashes. The search was to use an existing 31-inch telescope equipped with a sensitive video detector. The approach for the search was to develop real-time processing software to monitor the video signal from the detector and to record any transient, point-like flashes that occurred in the field of view. The system would have been able to detect fainter flashes (B is approximately 15(sup m) in 1/30 s, delta(m(sub v)) = 0.25(sup m)) than other systems but lacked a large field of view (only 1.2 deg diameter) necessary to give a high probability of detecting a random flash on the sky. As such, the plan was to monitor known gamma-ray burst error boxes and wait for a repetition of an earlier event. The high payoff of good sensitivity with high angular resolution (1 pixel = 10sec) and good time resolution (30 s) to allow post-burst searches warranted funding if the cost was not prohibitive. The contract began in the middle of the three-year cycle for High Energy Astrophysics Gamma-Ray Astronomy Research and Analysis Program. This final report briefly describes the portion of the plan completed under the original contract.

Knight, Frederick K.↗

NASA NTRS1989

Real-time edge tracking using a tactile sensor

Object recognition through the use of input from multiple sensors is an important aspect of an autonomous manipulation system. In tactile object recognition, it is necessary to determine the location and orientation of object edges and surfaces. A controller is proposed that utilizes a tactile sensor in the feedback loop of a manipulator to track along edges. In the control system, the data from the tactile sensor is first processed to find edges. The parameters of these edges are then used to generate a control signal to a hybrid controller. Theory is presented for tactile edge detection and an edge tracking controller. In addition, experimental verification of the edge tracking controller is presented.

Berger, Alan D.↗

NASA NTRS1994

Parallel Processing Systems for Passive Ranging During Helicopter Flight

The complexity of rotorcraft missions involving operations close to the ground result in high pilot workload. In order to allow a pilot time to perform mission-oriented tasks, sensor-aiding and automation of some of the guidance and control functions are highly desirable. Images from an electro-optical sensor provide a covert way of detecting objects in the flight path of a low-flying helicopter. Passive ranging consists of processing a sequence of images using techniques based on optical low computation and recursive estimation. The passive ranging algorithm has to extract obstacle information from imagery at rates varying from five to thirty or more frames per second depending on the helicopter speed. We have implemented and tested the passive ranging algorithm off-line using helicopter-collected images. However, the real-time data and computation requirements of the algorithm are beyond the capability of any off-the-shelf microprocessor or digital signal processor. This paper describes the computational requirements of the algorithm and uses parallel processing technology to meet these requirements. Various issues in the selection of a parallel processing architecture are discussed and four different computer architectures are evaluated regarding their suitability to process the algorithm in real-time. Based on this evaluation, we conclude that real-time passive ranging is a realistic goal and can be achieved with a short time.

Sridhar, Bavavar↗

NASA NTRS1994

Advanced information processing system: Authentication protocols for network communication

In safety critical I/O and intercomputer communication networks, reliable message transmission is an important concern. Difficulties of communication and fault identification in networks arise primarily because the sender of a transmission cannot be identified with certainty, an intermediate node can corrupt a message without certainty of detection, and a babbling node cannot be identified and silenced without lengthy diagnosis and reconfiguration . Authentication protocols use digital signature techniques to verify the authenticity of messages with high probability. Such protocols appear to provide an efficient solution to many of these problems. The objective of this program is to develop, demonstrate, and evaluate intercomputer communication architectures which employ authentication. As a context for the evaluation, the authentication protocol-based communication concept was demonstrated under this program by hosting a real-time flight critical guidance, navigation and control algorithm on a distributed, heterogeneous, mixed redundancy system of workstations and embedded fault-tolerant computers.

Harper, Richard E.↗

NASA NTRS1987

Full-scale engine demonstration of an advanced sensor failure detection, isolation and accommodation algorithm: Preliminary results

The objective of the advanced detection, isolation, and accommodation (ADIA) program is to improve the overall demonstrated reliability of digital electronic control systems for turbine engines. For this purpose, algorithms were developed which detect, isolate, and accommodate sensor failures using analytical redundancy. Preliminary results of a full scale engine demonstration of the ADIA algorithm are presented. Minimum detectable levels of sensor failures for an F100 turbofan engine control system are determined and compared to those obtained during a previous evaluation of this algorithm using a real-time hybrid computer simulation of the engine.

Merrill, Walter C.↗

NASA NTRS1987

Full-scale engine demonstration of an advanced sensor failure detection isolation, and accommodation algorithm - Preliminary results

Merrill, Walter C.↗

NASA NTRS1991

Science information systems: Archive, access, and retrieval

The objective of this research is to develop technology for the automated characterization and interactive retrieval and visualization of very large, complex scientific data sets. Technologies will be developed for the following specific areas: (1) rapidly archiving data sets; (2) automatically characterizing and labeling data in near real-time; (3) providing users with the ability to browse contents of databases efficiently and effectively; (4) providing users with the ability to access and retrieve system independent data sets electronically; and (5) automatically alerting scientists to anomalies detected in data.

Campbell, William J.↗

NASA NTRS1987

An astrometric facility for planetary detection on the space station

An Astrometric Telescope Facility (ATF) for planetary detection is being studied as a potential space station initial operating capability payload. The primary science objective of this mission is the detection and study of planetary systems around other stars. In addition, the facility will be capable of other astrometric measurements such as stellar motions of other galaxies and highly precise direct measurement of stellar distance within the Milky Way Galaxy. The results of a recently completed ATF preliminary systems definition study are summarized. Results of this study indicate that the preliminary concept for the facility is fully capable of meeting the science objective without the development of any new technologies. A simple straightforward operations approach was developed for the ATF. A real-time facility control is not normally required, but does maintain a near real-time ground monitoring capability for the facility and science data stream on a full-time basis. Facility observational sequences are normally loaded once a week. In addition, the preliminary system is designed to be fail-safe and single-fault tolerant. Routine interactions by the space station crew with the ATF will not be necessary, but onboard controls are provided for crew override as required for emergencies and maintenance.

Nishioka, Kenji↗

NASA NTRS1995

Making intelligent systems team players. A guide to developing intelligent monitoring systems

This reference guide for developers of intelligent monitoring systems is based on lessons learned by developers of the DEcision Support SYstem (DESSY), an expert system that monitors Space Shuttle telemetry data in real time. DESSY makes inferences about commands, state transitions, and simple failures. It performs failure detection rather than in-depth failure diagnostics. A listing of rules from DESSY and cue cards from DESSY subsystems are included to give the development community a better understanding of the selected model system. The G-2 programming tool used in developing DESSY provides an object-oriented, rule-based environment, but many of the principles in use here can be applied to any type of monitoring intelligent system. The step-by-step instructions and examples given for each stage of development are in G-2, but can be used with other development tools. This guide first defines the authors' concept of real-time monitoring systems, then tells prospective developers how to determine system requirements, how to build the system through a combined design/development process, and how to solve problems involved in working with real-time data. It explains the relationships among operational prototyping, software evolution, and the user interface. It also explains methods of testing, verification, and validation. It includes suggestions for preparing reference documentation and training users.

Land, Sherry A.↗

NASA NTRS1991

The properties of and analytical methods for detection of LiOH and Li2CO3

Lithium hydroxide (LiOH) is used as a CO2 absorbent in the Shuttle Extravehicular Mobility Unit (EMU) Portable Life Support System (PLSS). The first objective was to survey parameters that may be used to indicate conversion of LiOH to Li2CO3, and compile a list of all possible properties, including physical, chemical, structural, and electrical, that may serve to indicate the occurrence of reaction. These properties were compiled for the reactant (LiOH), the intermediate monohydrate compound (LiOH.H2O), and the final product (Li2CO3). The second objective was to survey measurement and analytical techniques which may be used in conjunction with each of the properties identified above, to determine the extent of conversion of LiOH to Li2CO3. Both real-time and post-run techniques were of interest. The techniques were also evaluated in terms of complexity, technology readiness, materials/equipment availability, and cost, where possible.

Selvaduray, Guna↗

NASA NTRS1991

A two dimensional artificial reality

The current presumption is that it is necessary to don goggles, gloves and a data suit to experience artificial reality. However, there is another technology that offers an alternative or complement to the encumbering techniques associated with NASA. In VIDEOPLACE, your image appears in a 2D graphic world created by a computer. The VIDEOPLACE computer can analyze a person's image in 1/30 second and can detect when an object is touched. Thus, it can generate a graphic or auditory response to an illusory contact. VIDEOPLACE technology exists in two formats: the VIDEODESK and the VIDEOPLACE. In the VIDEODESK environment, the image of your hands can be used to perform the normal mouse functions, such as menuing and drawing. In addition, you have the advantage of multipoint control. For instance, you can use the thumbs and forefingers of each hand as control points for a spline curve. Perhaps most important, the image of your hands can be compressed and transmitted to a colleague over an ISDN voice channel to appear on the remote screen superimposed over identical information. Likewise, the image of your colleague's hands can appear on both screens. The result is that the two of you can use your hands to point to features on your respective screens as you speak, exactly as you would if you were sitting together. In the VIDEOPLACE environment, you can interact with graphic creatures and the images of other people in other locations in a graphic world. Your whole body can be moved, scaled and rotated in real-time without regard to the laws of physics. Thus, VIDEOPLACE can be used to create a fantasy world in which the laws of cause and effect are composed by an artist.

Krueger, Myron W.↗

NASA NTRS1995

The CCD/Transit Instrument (CTI) data-analysis system

The automated software system for archiving, analyzing, and interrogating data from the CCD/Transit Instrument (CTI) is described. The CTI collects up to 450 Mbytes of image-data each clear night in the form of a narrow strip of sky observed in two colors. The large data-volumes and the scientific aims of the project make it imperative that the data are analyzed within the 24-hour period following the observations. To this end a fully automatic and self evaluating software system has been developed. The data are collected from the telescope in real-time and then transported to Tucson for analysis. Verification is performed by visual inspection of random subsets of the data and obvious cosmic rays are detected and removed before permanent archival is made to the optical disc. The analysis phase is performed by a pair of linked algorithms, one operating on the absolute pixel-values and the other on the spatial derivative of the data. In this way both isolated and merged images are reliably detected in a single pass. In order to isolate the latter algorithm from the effects of noise spikes a 3x3 Hanning filter is applied to the raw data before the analysis is run. The algorithms reduce the input pixel-data to a database of measured parameters for each image which has been found. A contrast filter is applied in order to assign a detection-probability to each image and then x-y calibration and intensity calibration are performed using known reference stars in the strip. These are added to as necessary by secondary standards boot-strapped from the CTI data itself. The final stages involve merging the new data into the CTI Master-list and History-list and the automatic comparison of each new detection with a set of pre-defined templates in parameter-space to find interesting objects such as supernovae, quasars and variable stars. Each stage of the processing from verification to interesting image selection is performed under a data-logging system which both controls the pipe-lining of data through the system and records key performance monitor parameters which are built into the software. Furthermore, the data from each stage are stored in databases to facilitate evaluation, and all stages offer the facility to enter keyword-indexed free-format text into the data-logging system. In this way a large measure of certification is built into the system to provide the necessary confidence in the end results.

Cawson, M. G. M.↗

NASA NTRS1989

The Real Time Display Builder (RTDB)

The Real Time Display Builder (RTDB) is a prototype interactive graphics tool that builds logic-driven displays. These displays reflect current system status, implement fault detection algorithms in real time, and incorporate the operational knowledge of experienced flight controllers. RTDB utilizes an object-oriented approach that integrates the display symbols with the underlying operational logic. This approach allows the user to specify the screen layout and the driving logic as the display is being built. RTDB is being developed under UNIX in C utilizing the MASSCOMP graphics environment with appropriate functional separation to ease portability to other graphics environments. RTDB grew from the need to develop customized real-time data-driven Space Shuttle systems displays. One display, using initial functionality of the tool, was operational during the orbit phase of STS-26 Discovery. RTDB is being used to produce subsequent displays for the Real Time Data System project currently under development within the Mission Operations Directorate at NASA/JSC. The features of the tool, its current state of development, and its applications are discussed.

Kindred, Erick D.↗

NASA NTRS1990

A real-time robot arm collision detection system

A data structure and update algorithm are presented for a prototype real time collision detection safety system for a multi-robot environment. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes 3-D space into eight equal cubic octants until each octant meets some decomposition criteria. The octree stores cylspheres (cylinders with spheres on each end) and rectangular solids as primitives (other primitives can easily be added as required). These primitives make up the two seven degrees-of-freedom robot arms and environment modeled by the system. Octree nodes containing more than a predetermined number N of primitives are decomposed. This rule keeps the octree small, as the entire environment for the application can be modeled using a few dozen primitives. As robot arms move, the octree is updated to reflect their changed positions. During most update cycles, any given primitive does not change which octree nodes it is in. Thus, modification to the octree is rarely required. Incidents in which one robot arm comes too close to another arm or an object are reported. Cycle time for interpreting current joint angles, updating the octree, and detecting/reporting imminent collisions averages 30 milliseconds on an Intel 80386 processor running at 20 MHz.

Shaffer, Clifford A.↗

NASA NTRS1990

AVHRR monitoring of U.S. crops during the 1988 drought

Effects of the 1988 drought on crops in the U.S. Corn Belt were assessed and monitored by the Foreign Crop Condition Assessment Division (FCCAD), U.S. Department of Agriculture. The primary data were vegetation index numbers (VINs), each of which was calculated as an average vegetation index of a geographically referenced cell of AVHRR pixels. Using VINs, the FCCAD was able to detect the existence of drought early in the season, monitor changing conditions, and provide objective assessments of the drought's extent and severity. Field observations confirmed the image analyses, and underlined the importance of the timing of extreme weather events with respect to crop stages for interpreting VINs. The analyses were conducted in an operational environment, providing a unique test of the AVHRR data for large area, near real-time crop monitoring. Because large area, operational remote sensing of crops is quite different from traditional, controlled, small plot research studies, more work is needed to link the two; this would improve crop assessment capabilities.

Teng, William L.↗

NASA NTRS1991

Radar measurements of the orbital debris environment

The collection and preliminary processing of the first significant accumulation of orbital debris data collected by the Haystack radar is described. The data are collected in the 'beam park' mode of operation in which the radar stares in a fixed direction and debris randomly passes through the field of view. Haystack's processing system performed automatic real-time processing and threshold detection, and saved only data associated with a possible detection. Approximately 123 hours of data were collected with the radar beam parked at an elevation angle of 10 deg and an azimuth of 180 deg; 3.8 hours were collected at an elevation angle of 30 deg and an azimuth of 180 deg; and 33.9 hours were collected at an elevation angle of 90 deg. A computer model of the response of the Haystack radar while in beam park operation is described. The model calculates the probability of detection and collection area for all sizes and orbital inclinations of debris visible to the radar. At this time, the approximate sizes of the detected objects have not been determined. However, the observed detection rates and cumulative signal to noise ratio distributions agree well with the results of the radar response model using NASA's current orbital debris environment.

Stansbery, Eugene G.↗