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NASA NTRS1987

Stochastic control of infinite dimensional systems in Hilbert space: A factorization perspective

A factorization perspective on problems of optimal causal estimation and optimal causal control of linear stochastic systems defined on an infinite-dimensional Hilbert space is presented. A separation principle is derived for the case in which the system input/output map is generated by an abstract evolution operator. The factorization formalism allows for an essentially algebraic approach to these problems.

Milman, Mark M.↗

NASA NTRS1989

An innovations approach to decoupling of multibody dynamics and control

The problem of hinged multibody dynamics is solved using an extension of the innovations approach of linear filtering and prediction theory to the problem of mechanical system modeling and control. This approach has been used quite effectively to diagonalize the equations for filtering and prediction for linear state space systems. It has similar advantages in the study of dynamics and control of multibody systems. The innovations approach advanced here consists of expressing the equations of motion in terms of two closely related processes: (1) the innovations process e, a sequence of moments, obtained from the applied moments T by means of a spatially recursive Kalman filter that goes from the tip of the manipulator to its base; (2) a residual process, a sequence of velocities, obtained from the joint-angle velocities by means of an outward smoothing operations. The innovations e and the applied moments T are related by means of the relationships e = (I - L)T and T = (I + K)e. The operation (I - L) is a causal lower triangular matrix which is generated by a spatially recursive Kalman filter and the corresponding discrete-step Riccati equation. Hence, the innovations and the applied moments can be obtained from each other by means of a causal operation which is itself casually invertible.

Rodriguez, G.↗

NASA NTRS1990

Dynamic test input generation for multiple-fault isolation

Recent work is Causal Reasoning has provided practical techniques for multiple fault diagnosis. These techniques provide a hypothesis/measurement diagnosis cycle. Using probabilistic methods, they choose the best measurements to make, then update fault hypotheses in response. For many applications such as computers and spacecraft, few measurement points may be accessible, or values may change quickly as the system under diagnosis operates. In these cases, a hypothesis/measurement cycle is insufficient. A technique is presented for a hypothesis/test-input/measurement diagnosis cycle. In contrast to generating tests a priori for determining device functionality, it dynamically generates tests in response to current knowledge about fault probabilities. It is shown how the mathematics previously used for measurement specification can be applied to the test input generation process. An example from an efficient implementation called Multi-Purpose Causal (MPC) is presented.

Schaefer, Phil↗

NASA NTRS1990

A diagnosis system using object-oriented fault tree models

Spaceborne computing systems must provide reliable, continuous operation for extended periods. Due to weight, power, and volume constraints, these systems must manage resources very effectively. A fault diagnosis algorithm is described which enables fast and flexible diagnoses in the dynamic distributed computing environments planned for future space missions. The algorithm uses a knowledge base that is easily changed and updated to reflect current system status. Augmented fault trees represented in an object-oriented form provide deep system knowledge that is easy to access and revise as a system changes. Given such a fault tree, a set of failure events that have occurred, and a set of failure events that have not occurred, this diagnosis system uses forward and backward chaining to propagate causal and temporal information about other failure events in the system being diagnosed. Once the system has established temporal and causal constraints, it reasons backward from heuristically selected failure events to find a set of basic failure events which are a likely cause of the occurrence of the top failure event in the fault tree. The diagnosis system has been implemented in common LISP using Flavors.

Iverson, David L.↗

NASA NTRS1990

The structure of random discrete spacetime

The usual picture of spacetime consists of a continuous manifold, together with a metric of Lorentzian signature which imposes a causal structure on the spacetime. A model, first suggested by Bombelli et al., is considered in which spacetime consists of a discrete set of points taken at random from a manifold, with only the causal structure on this set remaining. This structure constitutes a partially ordered set (or poset). Working from the poset alone, it is shown how to construct a metric on the space which closely approximates the metric on the original spacetime manifold, how to define the effective dimension of the spacetime, and how such quantities may depend on the scale of measurement. Possible desirable features of the model are discussed.

Brightwell, Graham↗

NASA NTRS1989

Selective simulation and selective sensor interpretation in monitoring

An approach to selective processing in monitoring is described. The approach is designed to provide informative feedback on whether a system is performing nominally in the current operating context without exceeding available resources for prediction and interpretation. At the center of the approach to selective sensor interpretation and simulation is a causal model of the system being monitored. The architecture of the monitoring system, called PREMON, is described as well as how causal models of physical systems are represented and simulated.

Doyle, Richard J.↗

NASA NTRS1989

Automatic determination of fault effects on aircraft functionality

The problem of determining the behavior of physical systems subsequent to the occurrence of malfunctions is discussed. It is established that while it was reasonable to assume that the most important fault behavior modes of primitive components and simple subsystems could be known and predicted, interactions within composite systems reached levels of complexity that precluded the use of traditional rule-based expert system techniques. Reasoning from first principles, i.e., on the basis of causal models of the physical system, was required. The first question that arises is, of course, how the causal information required for such reasoning should be represented. The bond graphs presented here occupy a position intermediate between qualitative and quantitative models, allowing the automatic derivation of Kuipers-like qualitative constraint models as well as state equations. Their most salient feature, however, is that entities corresponding to components and interactions in the physical system are explicitly represented in the bond graph model, thus permitting systematic model updates to reflect malfunctions. Researchers show how this is done, as well as presenting a number of techniques for obtaining qualitative information from the state equations derivable from bond graph models. One insight is the fact that one of the most important advantages of the bond graph ontology is the highly systematic approach to model construction it imposes on the modeler, who is forced to classify the relevant physical entities into a small number of categories, and to look for two highly specific types of interactions among them. The systematic nature of bond graph model construction facilitates the process to the point where the guidelines are sufficiently specific to be followed by modelers who are not domain experts. As a result, models of a given system constructed by different modelers will have extensive similarities. Researchers conclude by pointing out that the ease of updating bond graph models to reflect malfunctions is a manifestation of the systematic nature of bond graph construction, and the regularity of the relationship between bond graph models and physical reality.

Feyock, Stefan↗

NASA NTRS1985

Non-airborne conflicts: The causes and effects of runway transgressions

The 1210 ASRS runway transgression reports are studied and expanded to yield descriptive statistics. Additionally, a one of three subset was studied in detail for purposes of evaluating the causes, risks, and consequences behind trangression events. Occurrences are subdivided by enabling factor and flight phase designations. It is concluded that a larger risk of collision is associated with controller enabled departure transgressions over all other categories. The influence of this type is especially evident during the period following the air traffic controllers' strike of 1981. Causal analysis indicates that, coincidentally, controller enabled departure transgressions also, show the strongest correlations between causal factors. It shows that departure errors occur more often when visibility is reduced, and when multiple takeoff runways or intersection takeoffs are employed. In general, runway transgressions attributable to both pilot and controller errors arise from three problem areas: information transfer, awareness, and spatial judgement. Enhanced awareness by controllers will probably reduce controller enabled incidents.

Tarrel, Richard J.↗

NASA NTRS1991

Structure of random discrete spacetime

Brightwell, Graham↗

NASA NTRS1992

How to securely replicate services (preliminary version)

A method is presented for constructing replicated services that retain their availability and integrity despite several servers and clients being corrupted by an intruder, in addition to others failing benignly. More precisely, a service is replicated by 'n' servers in such a way that a correct client will accept a correct server's response if, for some prespecified parameter, k, at least k servers are correct and fewer than k servers are correct. The issue of maintaining causality among client requests is also addressed. A security breach resulting from an intruder's ability to effect a violation of causality in the sequence of requests processed by the service is illustrated. An approach to counter this problem is proposed that requires that fewer than k servers are corrupt and, to ensure liveness, that k is less than or = n - 2t, where t is the assumed maximum total number of both corruptions and benign failures suffered by servers in any system run. An important and novel feature of these schemes is that the client need not be able to identify or authenticate even a single server. Instead, the client is required only to possess at most two public keys for the service.

Reiter, Michael↗

NASA NTRS1992

An architecture for the development of real-time fault diagnosis systems using model-based reasoning

Presented here is an architecture for implementing real-time telemetry based diagnostic systems using model-based reasoning. First, we describe Paragon, a knowledge acquisition tool for offline entry and validation of physical system models. Paragon provides domain experts with a structured editing capability to capture the physical component's structure, behavior, and causal relationships. We next describe the architecture of the run time diagnostic system. The diagnostic system, written entirely in Ada, uses the behavioral model developed offline by Paragon to simulate expected component states as reflected in the telemetry stream. The diagnostic algorithm traces causal relationships contained within the model to isolate system faults. Since the diagnostic process relies exclusively on the behavioral model and is implemented without the use of heuristic rules, it can be used to isolate unpredicted faults in a wide variety of systems. Finally, we discuss the implementation of a prototype system constructed using this technique for diagnosing faults in a science instrument. The prototype demonstrates the use of model-based reasoning to develop maintainable systems with greater diagnostic capabilities at a lower cost.

Hall, Gardiner A.↗

NASA NTRS1992

How to securely replicate services

A method is presented for constructing replicated services that retain their availability and integrity despite several servers and clients corrupted by an intruder, in addition to others failing benignly. More precisely, a service is replicated by n servers in such a way that a correct client will accept a correct server's response if, for some prespecified parameter k, at least k servers are correct and fewer than k servers are corrupt. The issue of maintaining causality among client requests is also addressed. A security breach resulting from an intruder's ability to effect a violation of causality in the sequence of requests processed by the service is illustrated. An approach to counter this problem is proposed that requires fewer than k servers to be corrupt and that is live if at least k+b servers are correct, where b is the assumed maximum total number of corrupt servers in any system run. An important and novel feature of these schemes is that the client need not be able to identify or authenticate even a single server. Instead, the client is required only to possess at most two public keys for the service. The practicality of these schemes is illustrated through a discussion of several issues pertinent to their implementation and use, and their intended role in a secure version of the Isis system is also described.

Reiter, Michael↗

NASA NTRS1992

An IIR median hybrid filter

A new class of nonlinear filters, the so-called class of multidirectional infinite impulse response median hybrid filters, is presented and analyzed. The input signal is processed twice using a linear shift-invariant infinite impulse response filtering module: once with normal causality and a second time with inverted causality. The final output of the MIMH filter is the median of the two-directional outputs and the original input signal. Thus, the MIMH filter is a concatenation of linear filtering and nonlinear filtering (a median filtering module). Because of this unique scheme, the MIMH filter possesses many desirable properties which are both proven and analyzed (including impulse removal, step preservation, and noise suppression). A comparison to other existing median type filters is also provided.

Bauer, Peter H.↗

NASA NTRS1991

2-D nonlinear IIR-filters for image processing - An exploratory analysis

A new nonlinear IIR filter structure is introduced and its deterministic properties are analyzed. It is shown to be better suited for image processing applications than its linear shift-invariant counterpart. The new structure is obtained from causality inversion of a 2D quarterplane causal linear filter with respect to the two directions of propagation. It is demonstrated, that by using this design, a nonlinear 2D lowpass filter can be constructed, which is capable of effectively suppressing Gaussian or impulse noise without destroying important image information.

Bauer, P. H.↗

NASA NTRS1992

Event-driven simulation in SELMON: An overview of EDSE

EDSE (event-driven simulation engine), a model-based event-driven simulator implemented for SELMON, a tool for sensor selection and anomaly detection in real-time monitoring is described. The simulator is used in conjunction with a causal model to predict future behavior of the model from observed data. The behavior of the causal model is interpreted as equivalent to the behavior of the physical system being modeled. An overview of the functionality of the simulator and the model-based event-driven simulation paradigm on which it is based is provided. Included are high-level descriptions of the following key properties: event consumption and event creation, iterative simulation, synchronization and filtering of monitoring data from the physical system. Finally, how EDSE stands with respect to the relevant open issues of discrete-event and model-based simulation is discussed.

Rouquette, Nicolas F.↗

NASA NTRS1994

Science observed: The mass-extinction debates

The upheaval triggered in 1980 by the Alvarez-Berkeley group impact hypothesis transformed the literature of mass extinctions from an unfocused, sporadic collection of papers that virtually ignored extraterrestrial causes and treated endogenous ones only sparingly better to an integrated, diverse body of literature. Research programs organized seemingly overnight spawned collaborative teams whose members, often from distant, isolated disciplines, redirected their careers in order to address the captivating, high-stakes issues. The initial, generally skeptical, cool reception of the impact hypothesis might have been predicted for any of a number of reasons: such an instantaneous catastrophe contravened earth science's reigning philosophy of uniformitarianism; it was formulated from a form of evidence - siderophile element anomalies - alien to the community charged with its appraisal; it advanced a causal mechanism that was improbable in terms of canonical knowledge; and it was proffered mainly by specialists alien to earth and biological science, especially paleobiology. Early on it became clear that irrespective of which causal hypothesis was chosen, the chosen one would be the strongest predictor of how the chooser would select and apply standards in assessing evidence bearing on all such hypothesis. Less strong correlation also appeared between disciplinary speciality and the assessment of evidence. Such correlations varied with the level of specialization; the most robust correlations appeared in the broadest areas of science practice. The gestalt (mindset) seemingly engendered by the embrace of an extinction hypothesis overrode, or was stronger than, the intellectual predispositions attributable to disciplinary specialty.

Glen, W.↗

NASA NTRS1994

A unifying comparison of nearly scatter free transport models

Gombosi et al. (1993) recently derived a modified telegrapher's equation for charged particle transport under the influence of isotropic scattering. This equation obeys causality and disallows upstream diffusion for particles with random velocities smaller than the bulk flow velocity. The acausal diffusion equation was obtained to lowest order in the expansion of smallness prameters. The paper by Gombosi et al. (1993) prompted responses from Pauls et al. (1993) and Earl (1993). This paper is written to explain the differences between the methods, assumptions, and results of Gombosi et al. (1993), Pauls et al. (1993), and Earl (1993) and presents a new method of obtaining approximate solutions. It is shown that the assumptions used by Gombosi et al. (1993) and Pauls et al. (1993) are physically equivalent. In our solution method, the solution of the modified telegrapher's equation is obtained as the casual limit of solutions accurate to second order in the smallness parameter expansion. In order to investigate the coherent velocity, we have also developed `wavenumber eigenfunctions' which account for all the pitch angle dependence in our Boltzmann equation. Using truncation, Earl (1993) obtains approximations for the wavenumber dependence of the lowest two frequency modes, which correspond to two of the wavenumber eigenmodes. We find that a consequence of including only two wavenumber eigenmodes is that one obtains solutions which disobey causality at sufficiently short times. Furthermore, the coherent velocity of the two eigenmodes is strongly dependent on wavenumber and approaches the particle velocity in the limit of large wavenumber for both isotropic and anisotropic scattering processes. We conclude that Earl's (1993) solutions and solutions obtained using the new solution method implicitly assume weak acausality and reasonable behavior in the temporal regime, t less than 4 tau. The solutions are not strictly consistent with the behavior of the lowest two frequency modes but have similar behavior in the regime of low wavenumber.

Schwadron, N. A.↗

NASA NTRS1993

Workload management and geographic disorientation in aviation incidents: A review of the ASRS data base

NASA's Aviation Safety Reporting System (ASRS) incident reports are reviewed in two related areas: pilots' failures to appropriately manage tasks, and breakdowns in geographic orientation. Examination of 51 relevant reports on task management breakdowns revealed that altitude busts and inappropriate runway usee were the most frequently reported consequences. Task management breakdowns appeared to occur at all levels of expertise, and prominent causal factors were related to breakdowns in crew communications, over-involvement with the flight management system and, for small (general aviation) aircraft, preoccupation with weather. Analysis of the 83 cases of geographic disorientation suggested that these too occurred at all levels of pilot experience. With regard to causal factors, a majority was related to poor cockpit resource management, in which inattention led to a loss of geographic awareness. Other leading causes were related to poor weather and poor decision making. The potential of the ASRS database for contributing to research and design issues is addressed.

Williams, Henry P.↗