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NASA NTRS2005

Lessons Learned from Autonomous Sciencecraft Experiment

An Autonomous Science Agent has been flying onboard the Earth Observing One Spacecraft since 2003. This software enables the spacecraft to autonomously detect and responds to science events occurring on the Earth such as volcanoes, flooding, and snow melt. The package includes AI-based software systems that perform science data analysis, deliberative planning, and run-time robust execution. This software is in routine use to fly the EO-l mission. In this paper we briefly review the agent architecture and discuss lessons learned from this multi-year flight effort pertinent to deployment of software agents to critical applications.

Autonomous Sciencecraft Experiment (ASE)↗

NASA NTRS2012

Automated Operations Development for Advanced Exploration Systems

Automated space operations command and control software development and its implementation must be an integral part of the vehicle design effort. The software design must encompass autonomous fault detection, isolation, recovery capabilities and also provide single button intelligent functions for the crew. Development, operations and safety approval experience with the Timeliner system on-board the International Space Station (ISS), which provided autonomous monitoring with response and single command functionality of payload systems, can be built upon for future automated operations as the ISS Payload effort was the first and only autonomous command and control system to be in continuous execution (6 years), 24 hours a day, 7 days a week within a crewed spacecraft environment. Utilizing proven capabilities from the ISS Higher Active Logic (HAL) System [1] , along with the execution component design from within the HAL 9000 Space Operating System [2] , this design paper will detail the initial HAL System software architecture and interfaces as applied to NASA s Habitat Demonstration Unit (HDU) in support of the Advanced Exploration Systems, Autonomous Mission Operations project. The development and implementation of integrated simulators within this development effort will also be detailed and is the first step in verifying the HAL 9000 Integrated Test-Bed Component [2] designs effectiveness. This design paper will conclude with a summary of the current development status and future development goals as it pertains to automated command and control for the HDU.

Haddock, Angie↗

NASA NTRS2017

The Large UV/Optical/Infrared Surveyor (LUVOIR): Decadal Mission Concept Design Update

In preparation for the 2020 Astrophysics Decadal Survey, NASA has commissioned the study of four large mission concepts, including the Large Ultraviolet / Optical / Infrared (LUVOIR) Surveyor. The LUVOIR Science and Technology Definition Team (STDT) has identified a broad range of science objectives including the direct imaging and spectral characterization of habitable exoplanets around sun-like stars, the study of galaxy formation and evolution, the epoch of reionization, star and planet formation, and the remote sensing of Solar System bodies. NASA’s Goddard Space Flight Center (GSFC) is providing the design and engineering support to develop executable and feasible mission concepts that are capable of the identified science objectives. We present an update on the first of two architectures being studied: a 15-meter-diameter segmented-aperture telescope with a suite of serviceable instruments operating over a range of wavelengths between 100 nm to 2.5 microns. Four instruments are being developed for this architecture: an optical / near-infrared coronagraph capable of 10(exp -10) contrast at inner working angles as small as 2 lambda/D; the LUVOIR UV Multi-object Spectrograph (LUMOS), which will provide low- and medium-resolution UV (100 – 400 nm) multi-object imaging spectroscopy in addition to far-UV imaging; the High Definition Imager (HDI), a high-resolution wide-field-of-view NUV-Optical-IR imager; and a UV spectro-polarimeter being contributed by Centre National d’Etudes Spatiales (CNES). A fifth instrument, a multi-resolution optical-NIR spectrograph, is planned as part of a second architecture to be studied in late 2017.

Decadal Study; Astrophysics; LUVOIR↗

NASA NTRSDate not supplied

NASA Small Spacecraft Technology Program

NASA's Small Spacecraft Technology (SST) program within NASA’s Space Technology Mission Directorate, expands the ability to execute unique missions through rapid development and demonstration of capabilities for small spacecraft applicable to exploration, science and the commercial space sector. Through targeted development and frequent in space testing, the program: Enables execution of missions at much lower cost than previously possible; Substantially reduces the time required for development of spacecraft; Enables new mission architectures through the use of small spacecraft; Expands the reach of small spacecraft to new destinations and challenging new environments; and Enables the augmentation of existing assets and future missions with supporting small spacecraft. An overview the program's technology demonstration missions will be provided.

Roger C Hunter↗

NASA NTRSDate not supplied

NASA Small Spacecraft Technology (SST) Program - Recent and Upcoming Technology Demonstrations and Development Efforts

The Small Spacecraft Technology (SST) program within NASA’s Space Technology Mission Directorate, expands the ability to execute unique missions through rapid development and demonstration of capabilities for small spacecraft applicable to exploration, science and the commercial space sector. Through targeted development and frequent in space testing, the program: • Enables execution of missions at much lower cost than previously possible • Substantially reduces the time required for development of spacecraft • Enables new mission architectures through the use of small spacecraft • Expands the reach of small spacecraft to new destinations and challenging new environments • Enables the augmentation of existing assets and future missions with supporting small spacecraft. The program achieves its objectives through: • Identification and investment in the development of new subsystem technologies to enhance or expand the capabilities of small spacecraft • Sponsorship of flight demonstrations of new technologies, capabilities and applications for small spacecraft • Promotion of the use of small spacecraft as platforms for testing and demonstrating technologies and capabilities that might have more general applications in larger-scale spacecraft and systems Technologies funded by the program that are key to advancing the utility and capability of small spacecraft were demonstrated in 2022 and 2023. Notable on-orbit demonstrations include the following. • The Cislunar Autonomous Positioning System Technology Operations and Navigation Experiment’s (CAPSTONE) navigation technology that was demonstrated for the first time in 2023 could provide autonomous onboard navigation information for future lunar missions, minimizing or eliminating human-in-the-loop mission operations. • The optical communications technology also demonstrated in 2023 by the TeraByte InfraRed Delivery (TBIRD) payload that launched on Pathfinder Technology Demonstrator-3, achieved 200 gigabit per second (Gbps) throughput on a space-to-ground optical link between a satellite in orbit and Earth, the highest data rate ever achieved by optical communications technology. • The precision laser pointing performance of NASA’s CubeSat Infrared CrossLink A (CLICK) spacecraft’s fine steering mirror control system was successfully demonstrated. This element of the laser communications system will be used to demonstrate two-way crosslink communication in low-Earth orbit by CLICK B/C anticipated to launch in late 2024. Investments in subsystem technology development through funding to university, industry, and other government partners in a number of areas will be discussed. Among others, topic areas include propulsion, autonomous swarm technology, edge computing, and thermal control. Additionally, the status of the CubeSat-alternative platform, DiskSat, strategies for accelerating the demonstration of technology payloads via the Realizing Rapid, Reduced-cost high-Risk Research (R5) project, and the status of recently completed and upcoming on-orbit demonstrations will also be presented.

Roger C Hunter↗

NASA NTRS1992

O-Plan2: The open planning architecture

The O-Plan2 Project at the Artificial Intelligence Applications Institute of the University of Edinburgh is exploring a practical computer based environment to provide for specification, generation, interaction with, and execution of activity plans. O-Plan2 is intended to be a domain-independent general planning and control framework with the ability to embed detailed knowledge of the domain. Various aspects of the project are presented.

Drabble, Brian↗

NASA NTRS1990

Intelligent control and adaptive systems; Proceedings of the Meeting, Philadelphia, PA, Nov. 7, 8, 1989

Various papers on intelligent control and adaptive systems are presented. Individual topics addressed include: control architecture for a Mars walking vehicle, representation for error detection and recovery in robot task plans, real-time operating system for robots, execution monitoring of a mobile robot system, statistical mechanics models for motion and force planning, global kinematics for manipulator planning and control, exploration of unknown mechanical assemblies through manipulation, low-level representations for robot vision, harmonic functions for robot path construction, simulation of dual behavior of an autonomous system. Also discussed are: control framework for hand-arm coordination, neural network approach to multivehicle navigation, electronic neural networks for global optimization, neural network for L1 norm linear regression, planning for assembly with robot hands, neural networks in dynamical systems, control design with iterative learning, improved fuzzy process control of spacecraft autonomous rendezvous using a genetic algorithm.

Rodriguez, Guillermo↗

NASA NTRS1993

Software Coherence in Multiprocessor Memory Systems

Processors are becoming faster and multiprocessor memory interconnection systems are not keeping up. Therefore, it is necessary to have threads and the memory they access as near one another as possible. Typically, this involves putting memory or caches with the processors, which gives rise to the problem of coherence: if one processor writes an address, any other processor reading that address must see the new value. This coherence can be maintained by the hardware or with software intervention. Systems of both types have been built in the past; the hardware-based systems tended to outperform the software ones. However, the ratio of processor to interconnect speed is now so high that the extra overhead of the software systems may no longer be significant. This issue is explored both by implementing a software maintained system and by introducing and using the technique of offline optimal analysis of memory reference traces. It finds that in properly built systems, software maintained coherence can perform comparably to or even better than hardware maintained coherence. The architectural features necessary for efficient software coherence to be profitable include a small page size, a fast trap mechanism, and the ability to execute instructions while remote memory references are outstanding.

Bolosky, William Joseph↗

NASA NTRS2008

A Data Type for Efficient Representation of Other Data Types

A self-organizing, monomorphic data type denoted a sequence has been conceived to address certain concerns that arise in programming parallel computers. A sequence in the present sense can be regarded abstractly as a vector, set, bag, queue, or other construct. Heretofore, in programming a parallel computer, it has been necessary for the programmer to state explicitly, at the outset, what parts of the program and the underlying data structures must be represented in parallel form. Not only is this requirement not optimal from the perspective of implementation; it entails an additional requirement that the programmer have intimate understanding of the underlying parallel structure. The present sequence data type overcomes both the implementation and parallel structure obstacles. In so doing, the sequence data type provides unified means by which the programmer can represent a data structure for natural and automatic decomposition to a parallel computing architecture. Sequences exhibit the behavioral and structural characteristics of vectors, but the underlying representations are automatically synthesized from combinations of programmers advice and execution use metrics. Sequences can vary bidirectionally between sparseness and density, making them excellent choices for many kinds of algorithms. The novelty and benefit of this behavior lies in the fact that it can relieve programmers of the details of implementations. The creation of a sequence enables decoupling of a conceptual representation from an implementation. The underlying representation of a sequence is a hybrid of representations composed of vectors, linked lists, connected blocks, and hash tables. The internal structure of a sequence can automatically change from time to time on the basis of how it is being used. Those portions of a sequence where elements have not been added or removed can be as efficient as vectors. As elements are inserted and removed in a given portion, then different methods are utilized to provide both an access and memory strategy that is optimized for that portion and the use to which it is put.

James, Mark↗

NASA NTRS2010

360-Degree Visual Detection and Target Tracking on an Autonomous Surface Vehicle

This paper describes perception and planning systems of an autonomous sea surface vehicle (ASV) whose goal is to detect and track other vessels at medium to long ranges and execute responses to determine whether the vessel is adversarial. The Jet Propulsion Laboratory (JPL) has developed a tightly integrated system called CARACaS (Control Architecture for Robotic Agent Command and Sensing) that blends the sensing, planning, and behavior autonomy necessary for such missions. Two patrol scenarios are addressed here: one in which the ASV patrols a large harbor region and checks for vessels near a fixed asset on each pass and one in which the ASV circles a fixed asset and intercepts approaching vessels. This paper focuses on the ASV's central perception and situation awareness system, dubbed Surface Autonomous Visual Analysis and Tracking (SAVAnT), which receives images from an omnidirectional camera head, identifies objects of interest in these images, and probabilistically tracks the objects' presence over time, even as they may exist outside of the vehicle's sensor range. The integrated CARACaS/SAVAnT system has been implemented on U.S. Navy experimental ASVs and tested in on-water field demonstrations.

ASV (AUTONOMOUS SEA SURFACE VEHICLE)↗

NASA NTRS2005

Domain Compilation for Embedded Real-Time Planning

A recently conceived approach to automated real-time control of the actions of a robotic system enables an embedded real-time planning algorithm to develop plans that are more robust than they would otherwise be, without imposing an excessive computational burden. This approach occupies a middle ground between two prior approaches known in the art as the universal-plan and hybrid approaches. Ever since discovering the performance limitations of taking a sense-plan-act approach to controlling robots, the robotics community has endeavored to follow a behavior-based approach in which a behavior includes a rapid feedback loop between state estimation and motor control. Heretofore, system architectures following this approach have been based, variously, on algorithms that implement universal plans or algorithms that function as hybrids of planners and executives. In a typical universal-plan case, a set of behaviors is merged into the plan, but the system must be restricted to relatively small problem domains to avoid having to reason about too many states and represent them in the plan. In the hybrid approach, one implements actions as small sets of behaviors, each applicable to a limited set of circumstances. Each action is intended to bring the system to a subgoal state. A planning algorithm is used to string these actions together into a sequence to traverse the state space from an initial or current state to a goal state. The hybrid approach works well in a static environment, but it is inherently brittle in a dynamic environment because a failure can occur when the environment strays beyond the region of applicability of the current activity. In the present approach, a system can vary from the hybrid approach to the universal-plan approach, depending on a single integer parameter, denoted n, which can range from 1 to a maximum domain-dependent value of M. As illustrated in the figure, n = 1 represents the hybrid approach, in which each linked action covers a small part of the state space of the system. As n increases, the portion of state space associated with each action and its subgoal grows. When n reaches M, coverage extends over the full state space, so that the system contains a universal plan.

Barrett, Anthony↗

NASA NTRSDate not supplied

Enabling Execution of a Legacy CFD Mini Application on Accelerators Using OpenMP

We describe the process and outcome of our efforts to port a legacy Fortran benchmark code to heterogeneous GPU-accelerated computing architectures using OpenMP. The benchmark code is one of the multi-zone NAS Parallel Benchmarks (NPB-MZ) called SP-MZ. This “mini-app” mimics the computation and data movement that is found in popular legacy and modern implicit computational fluid dynamics (CFD)solvers. Our objective was to examine how efficiently legacy Fortran codes can be ported to accelerators by leveraging OpenMP directives. We describe the development and optimization process and demonstrate the performance impact of various code modifications. We show select profiling results from the Nvidia nvvp profiler to help others diagnose and overcome performance issues in their own applications. We present results for two compute systems endowed with Nvidia V100 accelerators.

Ioannis Nompelis↗

NASA NTRS2002

The D3 Middleware Architecture

DARWIN is a NASA developed, Internet-based system for enabling aerospace researchers to securely and remotely access and collaborate on the analysis of aerospace vehicle design data, primarily the results of wind-tunnel testing and numeric (e.g., computational fluid-dynamics) model executions. DARWIN captures, stores and indexes data; manages derived knowledge (such as visualizations across multiple datasets); and provides an environment for designers to collaborate in the analysis of test results. DARWIN is an interesting application because it supports high-volumes of data. integrates multiple modalities of data display (e.g., images and data visualizations), and provides non-trivial access control mechanisms. DARWIN enables collaboration by allowing not only sharing visualizations of data, but also commentary about and views of data. Here we provide an overview of the architecture of D3, the third generation of DARWIN. Earlier versions of DARWIN were characterized by browser-based interfaces and a hodge-podge of server technologies: CGI scripts, applets, PERL, and so forth. But browsers proved difficult to control, and a proliferation of computational mechanisms proved inefficient and difficult to maintain. D3 substitutes a pure-Java approach for that medley: A Java client communicates (though RMI over HTTPS) with a Java-based application server. Code on the server accesses information from JDBC databases, distributed LDAP security services, and a collaborative information system. D3 is a three tier-architecture, but unlike 'E-commerce' applications, the data usage pattern suggests different strategies than traditional Enterprise Java Beans - we need to move volumes of related data together, considerable processing happens on the client, and the 'business logic' on the server-side is primarily data integration and collaboration. With D3, we are extending DARWIN to handle other data domains and to be a distributed system, where a single login allows a user transparent access to test results from multiple servers and authority domains.

Walton, Joan↗

NASA NTRS2006

The K9 On-Board Rover Architecture

This paper describes the software architecture of NASA Ames Research Center s K9 rover. The goal of the onboard software architecture team was to develop a modular, flexible framework that would allow both high- and low-level control of the K9 hardware. Examples of low-level control are the simple drive or pan/tilt commands which are handled by the resource managers, and examples of high-level control are the command sequences which are handled by the conditional executive. In between these two control levels are complex behavioral commands which are handled by the pilot, such as drive to goal with obstacle avoidance or visually servo to a target. This paper presents the design of the architecture as of Fall 2000. We describe the state of the architecture implementation as well as its current evolution. An early version of the architecture was used for K9 operations during a dual-rover field experiment conducted by NASA Ames Research Center (ARC) and the Jet Propulsion Laboratory (JPL) from May 14 to May 16, 2000.

Bresina, John L.↗

NASA NTRS1998

High-Performance Monitoring Architecture for Large-Scale Distributed Systems Using Event Filtering

Monitoring is an essential process to observe and improve the reliability and the performance of large-scale distributed (LSD) systems. In an LSD environment, a large number of events is generated by the system components during its execution or interaction with external objects (e.g. users or processes). Monitoring such events is necessary for observing the run-time behavior of LSD systems and providing status information required for debugging, tuning and managing such applications. However, correlated events are generated concurrently and could be distributed in various locations in the applications environment which complicates the management decisions process and thereby makes monitoring LSD systems an intricate task. We propose a scalable high-performance monitoring architecture for LSD systems to detect and classify interesting local and global events and disseminate the monitoring information to the corresponding end- points management applications such as debugging and reactive control tools to improve the application performance and reliability. A large volume of events may be generated due to the extensive demands of the monitoring applications and the high interaction of LSD systems. The monitoring architecture employs a high-performance event filtering mechanism to efficiently process the large volume of event traffic generated by LSD systems and minimize the intrusiveness of the monitoring process by reducing the event traffic flow in the system and distributing the monitoring computation. Our architecture also supports dynamic and flexible reconfiguration of the monitoring mechanism via its Instrumentation and subscription components. As a case study, we show how our monitoring architecture can be utilized to improve the reliability and the performance of the Interactive Remote Instruction (IRI) system which is a large-scale distributed system for collaborative distance learning. The filtering mechanism represents an Intrinsic component integrated with the monitoring architecture to reduce the volume of event traffic flow in the system, and thereby reduce the intrusiveness of the monitoring process. We are developing an event filtering architecture to efficiently process the large volume of event traffic generated by LSD systems (such as distributed interactive applications). This filtering architecture is used to monitor collaborative distance learning application for obtaining debugging and feedback information. Our architecture supports the dynamic (re)configuration and optimization of event filters in large-scale distributed systems. Our work represents a major contribution by (1) survey and evaluating existing event filtering mechanisms In supporting monitoring LSD systems and (2) devising an integrated scalable high- performance architecture of event filtering that spans several kev application domains, presenting techniques to improve the functionality, performance and scalability. This paper describes the primary characteristics and challenges of developing high-performance event filtering for monitoring LSD systems. We survey existing event filtering mechanisms and explain key characteristics for each technique. In addition, we discuss limitations with existing event filtering mechanisms and outline how our architecture will improve key aspects of event filtering.

Maly, K.↗

NASA NTRS1998

Expert System Architecture for Rocket Engine Numerical Simulators: A Vision

Simulation of any complex physical system like rocket engines involves modeling the behavior of their different components using mostly numerical equations. Typically a simulation package would contain a set of subroutines for these modeling purposes and some other ones for supporting jobs. A user would create an input file configuring a system (part or whole of a rocket engine to be simulated) in appropriate format understandable by the package and run it to create an executable module corresponding to the simulated system. This module would then be run on a given set of input parameters in another file. Simulation jobs are mostly done for performance measurements of a designed system, but could be utilized for failure analysis or a design job such as inverse problems. In order to use any such package the user needs to understand and learn a lot about the software architecture of the package, apart from being knowledgeable in the target domain. We are currently involved in a project in designing an intelligent executive module for the rocket engine simulation packages, which would free any user from this burden of acquiring knowledge on a particular software system. The extended abstract presented here will describe the vision, methodology and the problems encountered in the project. We are employing object-oriented technology in designing the executive module. The problem is connected to the areas like the reverse engineering of any simulation software, and the intelligent systems for simulation.

Mitra, D.↗

NASA NTRS1988

Concurrent Image Processing Executive (CIPE)

The design and implementation of a Concurrent Image Processing Executive (CIPE), which is intended to become the support system software for a prototype high performance science analysis workstation are discussed. The target machine for this software is a JPL/Caltech Mark IIIfp Hypercube hosted by either a MASSCOMP 5600 or a Sun-3, Sun-4 workstation; however, the design will accommodate other concurrent machines of similar architecture, i.e., local memory, multiple-instruction-multiple-data (MIMD) machines. The CIPE system provides both a multimode user interface and an applications programmer interface, and has been designed around four loosely coupled modules; (1) user interface, (2) host-resident executive, (3) hypercube-resident executive, and (4) application functions. The loose coupling between modules allows modification of a particular module without significantly affecting the other modules in the system. In order to enhance hypercube memory utilization and to allow expansion of image processing capabilities, a specialized program management method, incremental loading, was devised. To minimize data transfer between host and hypercube a data management method which distributes, redistributes, and tracks data set information was implemented.

Lee, Meemong↗

NASA NTRS2016

Implementing Ethernet Services on the Payload Executive Processor (PEP)

The Ethernet interface is more common and easier interface to implement for payload developers already familiar with Ethernet protocol in their labs. The Ethernet interface allows for a more distributed payload architecture. Connections can be placed in locations not serviced by the PEP 1553 bus. The Ethernet interface provides a new access port into the PEP so as to use the already existing services. Initial capability will include a subset of services with a plan to expand services later.

Pruett, David↗