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CPI's human-implantable automatic implantable defibrillator (AID) is a heart assist system, derived from NASA's space circuitry technology, that can prevent erratic heart action known as arrhythmias. Implanted AID, consisting of microcomputer power source and two electrodes for sensing heart activity, recognizes onset of ventricular fibrillation (VF) and delivers corrective electrical countershock to restore rhythmic heartbeat.
In a typical self-contained space navigation system, celestial observation data are gathered and processed to produce estimated velocity corrections. The results of this paper provide a basis for determining the best celestial measurements and the proper time s to implement velocity corrections. Fundamental to the navigation system is a procedure for processing celestial measurement data which permits incorporation of each individual measurement as it is made in order to provide an improved estimate of position and velocity. In order to "optimize" the navigation, a statistical evaluation of a number of alternative courses of action is made. The various alternatives, which form the basis of a decision process, concern the following: 1) which star and planet combination provides the "best" available observation; 2) whether the best observation gives a sufficient reduction in the predicted target error to warrant making the measurement; and 3) whether the uncertainty in the indicated velocity correction is a small enough percentage of the correction itself to justify an engine re-start and propellant expenditure. Numerical results are presented which illustrate the effectiveness of this approach to the space navigation problem.
The theory of System Health Management (SHM) and of its operational subset Fault Management (FM) states that FM is implemented as a "meta" control loop, known as an FM Control Loop (FMCL). The FMCL detects that all or part of a system is now failed, or in the future will fail (that is, cannot be controlled within acceptable limits to achieve its objectives), and takes a control action (a response) to return the system to a controllable state. In terms of control theory, the effectiveness of each FMCL is estimated based on its ability to correctly estimate the system state, and on the speed of its response to the current or impending failure effects. This paper describes how this theory has been successfully applied on the National Aeronautics and Space Administration's (NASA) Space Launch System (SLS) Program to quantitatively estimate the effectiveness of proposed abort triggers so as to select the most effective suite to protect the astronauts from catastrophic failure of the SLS. The premise behind this process is to be able to quantitatively provide the value versus risk trade‐off for any given abort trigger, allowing decision makers to make more informed decisions. All current and planned crewed launch vehicles have some form of vehicle health management system integrated with an emergency launch abort system to ensure crew safety. While the design can vary, the underlying principle is the same: detect imminent catastrophic vehicle failure, initiate launch abort, and extract the crew to safety. Abort triggers are the detection mechanisms that identify that a catastrophic launch vehicle failure is occurring or is imminent and cause the initiation of a notification to the crew vehicle that the escape system must be activated. While ensuring that the abort triggers provide this function, designers must also ensure that the abort triggers do not signal that a catastrophic failure is imminent when in fact the launch vehicle can successfully achieve orbit. That is, the abort triggers must have low false negative rates to be sure that real crew‐threatening failures are detected, and also low false positive rates to ensure that the crew does not abort from non‐crew‐threatening launch vehicle behaviors. The analysis process described in this paper is a compilation of over six years of lessons learned and refinements from experiences developing abort triggers for NASA's Constellation Program (Ares I Project) and the SLS Program, as well as the simultaneous development of SHM/FM theory. The paper will describe the abort analysis concepts and process, developed in conjunction with SLS Safety and Mission Assurance (S&MA) to define a common set of mission phase, failure scenario, and Loss of Mission Environment (LOME) combinations upon which the SLS Loss of Mission (LOM) Probabilistic Risk Assessment (PRA) models are built. This abort analysis also requires strong coordination with the Multi‐Purpose Crew Vehicle (MPCV) and SLS Structures and Environments (STE) to formulate a series of abortability tables that encapsulate explosion dynamics over the ascent mission phase. The design and assessment of abort conditions and triggers to estimate their Loss of Crew (LOC) Benefits also requires in‐depth integration with other groups, including Avionics, Guidance, Navigation and Control(GN&C), the Crew Office, Mission Operations, and Ground Systems. The outputs of this analysis are a critical input to SLS S&MA's LOC PRA models. The process described here may well be the first full quantitative application of SHM/FM theory to the selection of a sensor suite for any aerospace system.
Some researchers and practitioners have touted the benefits of including eccentric exercise in strength training programs. However, others have challenged its use because they believe that eccentric actions are dangerous and lead to injuries. Much of the controversy may be based on a lack of understanding of the physiology of eccentric actions. This review will present data concerning eccentric exercise in strength training, the physiological characteristics of eccentric exercise, and the possible stimulus for strength development. Also a discussion of strength needs for extended exposure to microgravity will be presented. Not only is the use of eccentric exercise controversial, but the name itself is fraught with problems. The correct pronunciation is with a hard 'c' so that the word sounds like ekscentric. The confusion in pronunciation may have been prevented if the spelling that Asmussen used in 1953, excentric, had been adopted. Another problem concerns the expressions used to describe eccentric exercise. Commonly used expressions are negatives, eccentric contractions, lengthening contractions, resisted muscle lengthenings, muscle lengthening actions, and eccentric actions. Some of these terms are cumbersome (i.e., resisted muscle lengthenings), one is slang (negatives), and another is an oxymoron (lengthening contractions). Only eccentric action is appropriate and adoption of this term has been recommended by Cavanagh. Despite the controversy that surrounds eccentric exercise, it is important to note that these types of actions play an integral role in normal daily activities. Eccentric actions are used during most forms of movement, for example, in walking when the foot touches the ground and the center of mass is decelerated and in lowering objects, such as placing a bag of groceries in the car.
Real-time lab analysis is needed to support clinical decision making and research on human missions to the Moon and Mars. Powerful laboratory instruments, such as flow cytometers, are generally too cumbersome for spaceflight. Here, we show that scant test samples can be measured in microgravity, by a trained astronaut, using a miniature cytometry-based analyzer, the rHEALTH ONE, modified specifically for spaceflight. The base device addresses critical spaceflight requirements including minimal resource utilization and alignment-free optics for surviving rocket launch. To fully enable reduced gravity operation onboard the space station, we incorporated bubble-free fluidics, electromagnetic shielding, and gravity-independent sample introduction. We show microvolume flow cytometry from 10 μL sample drops, with data from five simultaneous channels using 10 μs bin intervals during each sample run, yielding an average of 72 million raw data points in approximately 2 minutes. We demonstrate the device measures each test sample repeatably, including correct identification of a sample that degraded in transit to the International Space Station. This approach can be utilized to further our understanding of spaceflight biology and provide immediate, actionable diagnostic information for management of astronaut health without the need for Earth-dependent analysis.
A path planner and an execution monitoring planner that will enable the rover to navigate to its various destinations safely and correctly while detecting and avoiding hazards are described. An overview of the complete architecture is given. Implementation and testbeds are described. The robot can detect unforseen obstacles and take appropriate action. This includes having the rover back away from the hazard and mark the area as untraversable in the in the rover's internal map. The experiments have consisted of paths roughly 20 m in length. The architecture works with a large variety of rover configurations with different kinematic constraints.
The Supplemental Data Service Provider-Consolidated Dashboard (SDSP-CD) is a preflight planning user interface (UI) that serves to aid operators when drafting routes for small uncrewed aircraft systems (sUASs). The primary function of the SDSP-CD is to identify hazards that an sUAS may encounter along a proposed flight path and assess the severity of these risks. A usability study was conducted on an updated version of the SDSP-CD to determine if the most recent iterations made to the system improved objective performance and subjective user experience. There are two main components of the SDSP-CD interface: (1) the dashboard and (2) the interactive map. The dashboard provides users with hazard and vehicle limitations for each sUAS in their fleet while the map contains a graphical representation of each vehicle’s route, hazard details, and geographic information. A series of preflight risk-assessment questions and tasks were developed to examine how participants interact with the updated version of the SDSP-CD. Additionally, a new service that measures vertiport congestion was developed and included as one of the services that was tested. In the present study, participants were trained to use the SDSP-CD and then completed two simulated scenarios during which they performed a variety of tasks, responded to questions, and completed surveys. The two scenarios developed for the present study were the Package Delivery and Hurricane Preparation scenarios. The Package Delivery scenario involved a fleet of four sUASs delivering low-stakes items (e.g., lunches and snacks) to people in a fictitious city. The Hurricane Preparation scenario involved a fleet of 11 sUASs delivering a range of supplies (from medicine to boardgames) to employees stranded at an office park due to road closures caused by an impending hurricane. Participants assumed the role of a fleet manager during both scenarios and were responsible for managing the sUASs in their fleet. Questions included those with objectively correct responses, open-ended strategy responses, and subjective user experience feedback. It was found that participants were largely successful at using the SDSP-CD interface to answer questions with objectively correct responses. Additionally, participants were able to use reasoning and logic based on the information available in the SDSP-CD to determine the cause of various risks and what actions they would consider taking. Finally, although participants reported that there were elements of the UI that could be improved, overall feedback pertaining to user experience suggested that the SDSP-CD concept is viable.
Basic requirements for obtaining injection laser action in III-V semiconductors are discussed briefly. A detailed review is presented of materials suitable for lasers emitting at 0.67, 1.44, 1.93, and 2.5 microns. A general approach to the problem is presented, based on curves of materials properties published by Sasaki et al. It is also shown that these curves, although useful, may need correction in certain ranges. It is deduced that certain materials combinations, either proposed in the literature or actually tried, are not appropriate for double heterostructure lasers, because the refractive index of the cladding material is higher than the index of the active material, thus resulting in no waveguiding, and high threshold currents. Recommendations are made about the most promising approach to the achievement of laser action in the four wavelengths mentioned above.
After the Columbia Accident Investigation Board (CAIB) report. the NASA Administrator at that time chartered an executive team (known as the Diaz Team) to identify the CAIB report elements with Agency-wide applicability, and to develop corrective measures to address each element. This report documents the chronological development and release of an Agency-wide Standard for Models and Simulations (M&S) (NASA Standard 7009) in response to Action #4 from the report, "A Renewed Commitment to Excellence: An Assessment of the NASA Agency-wide Applicability of the Columbia Accident Investigation Board Report, January 30, 2004".
Abstract In the control-based approach to robotics, complex behavior is created by sequencing and combining control primitives. While it is desirable for the robot to autonomously learn the correct control sequence, searching through the large number of potential solutions can be time consuming. This paper constrains this search to variations of a generalized solution encoded in a framework known as an action schema. A new algorithm, SCHEMA STRUCTURED LEARNING, is proposed that repeatedly executes variations of the generalized solution in search of instantiations that satisfy action schema objectives. This approach is tested in a grasping task where Dexter, the UMass humanoid robot, learns which reaching and grasping controllers maximize the probability of grasp success.
Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).
It is shown how the availability and MTBF (Mean Time Between Failures) of a redundant system with subsystems maintenanced at the points of so-called stationary renewal processes can be determined from the distributions of the intervals between maintenance actions and of the failure-free operating intervals of the subsystems. The results make it possible, for example, to determine the frequency and duration of hidden failure states in computers which are incidentally corrected during the repair of observed failures.
The advanced fighter technology integration (AFTI) F-16 aircraft is a highly complex digital flight control system integrated with advanced avionics and cockpit. The use of dissimilar backup modes if the primary system fails requires the designer to trade off system simplicity and capability. The tradeoff is evident in the AFTI/F-16 aircraft with its limited stability and fly by wire digital flight control systems when a generic software failure occurs the backup or normal mode must provide equivalent envelop protection during the transition to degraded flight control. The complexity of systems like the AFTI/F-16 system defines a second design issue, which is divided into two segments: (1) the effect on testing, (2) and the pilot's ability to act correctly in the limited time available for cockpit decisions. The large matrix of states possible with the AFTI/F-16 flight control system illustrates the difficulty of both testing the system and choosing real time pilot actions. The third generic issue is the possible reductions in the user's reliability expectations where false single channel information can be displayed at the pilot vehicle interface while the redundant set remains functional.
The autonomous power expert (APEX) system is being developed at Lewis Research Center to function as a fault diagnosis advisor for a space power distribution test bed. APEX is a rule-based system capable of detecting faults and isolating the probable causes. APEX also has a justification facility to provide natural language explanations about conclusions reached during fault isolation. To help maintain the health of the power distribution system, additional capabilities were added to APEX. These capabilities allow detection and isolation of incipient faults and enable the expert system to recommend actions/procedure to correct the suspected fault conditions. New capabilities for incipient fault detection consist of storage and analysis of historical data and new user interface displays. After the cause of a fault is determined, appropriate recommended actions are selected by rule-based inferencing which provides corrective/extended test procedures. Color graphics displays and improved mouse-selectable menus were also added to provide a friendlier user interface. A discussion of APEX in general and a more detailed description of the incipient detection, recommended actions, and user interface developments during the last year are presented.
On July 4,1997, the Mars Pathfinder spacecraft lands on Mars and starts conducting technological and scientific experiments. One experiment, the Alpha-Proton-X-ray Spectrometer, uses a sensor head placed against rocks and soil to determine their composition. To guarantee proper placement, a deployment mechanism mounted on the Mars Rover aligns the sensor head to within 20 deg of the rock and soil surfaces. In carrying out its task, the mechanism mimics the action of a human hand and arm. Consisting of a flexible wrist, a parallel link arm, a brush dc motor actuator, and a revolutionary non-pyrotechnic fail-safe release device, the mechanism correctly positions the sensor head on rocks as high as 0.29 m and on targets whose surfaces are tilted as much as 45 deg from the nominal orientation of the sensor head face. The mechanism weighs less than 0.5 kg, can withstand 100 g's, and requires less than 2.8 N x m of actuation torque. The fail-safe coupler utilizes Cerrobend, a metal alloy that melts at 60 C, to fuse the actuator and the rest of the mechanism together. A film heater wrapped around the coupler melts the metal, and Negator springs drive the mechanism into its stowed position. The fail-safe actuates using 6.75 Watts for 5 minutes in the event of an actuator failure.
As software is maintained or reused, it undergoes an evolution which tends to increase the overall complexity of the code. To understand the effects of this, we brought in statistics experts and leading researchers in software complexity, reliability, and their interrelationships. These experts' project has resulted in our ability to statistically correlate specific code complexity attributes, in orthogonal domains, to errors found over time in the HAL/S flight software which flies in the Space Shuttle. Although only a prototype-tools experiment, the result of this research appears to be extendable to all other NASA software, given appropriate data similar to that logged for the Shuttle onboard software. Our research has demonstrated that a more complete domain coverage can be mathematically demonstrated with the approach we have applied, thereby ensuring full insight into the cause-and-effects relationship between the complexity of a software system and the fault density of that system. By applying the operational profile we can characterize the dynamic effects of software path complexity under this same approach We now have the ability to measure specific attributes which have been statistically demonstrated to correlate to increased error probability, and to know which actions to take, for each complexity domain. Shuttle software verifiers can now monitor the changes in the software complexity, assess the added or decreased risk of software faults in modified code, and determine necessary corrections. The reports, tool documentation, user's guides, and new approach that have resulted from this research effort represent advances in the state of the art of software quality and reliability assurance. Details describing how to apply this technique to other NASA code are contained in this document.
The systems experience gained from 17 years of DC-10 operation was used during the design of the MD-11 to automate system operation and reduce crew workload. All functions, from preflight to shutdown at the termination of flight, require little input from the crew. The MD-11 aircraft systems are monitored for proper operation by the Aircraft Systems Controllers (ASC). In most cases, system reconfiguration as a result of a malfunction is automated. Manual input is required for irreversible actions such as engine shutdown, fuel dump, fire agent discharge, or Integrated Drive Generator (IDG) disconnect. During normal operations, when the cockpit is configured for flight, all annunciators on the overhead panel will be extinguished. This Dark Cockpit immediately confirms to the crew that the panels are correctly configured and that no abnormalities are present. Primary systems annunciations are shown in text on the Alert Area of the Engine and Alert Display (EAD). This eliminates the need to scan the overhead. The MD-11 aircraft systems can be manually controlled from the overhead area of the cockpit. The center portion of the overhead panel is composed of the primary aircraft systems panels, which include FUEL, AIR, Electrical (ELEC) and Hydraulic (HYD) systems, which are easily accessible from both flight crew positions. Each Aircraft Systems Controller (ASC) has two automatic channels and a manual mode. All rectangular lights are annunciators. All square lights are combined switches and annunciators called switch/lights. Red switch/lights on the overhead (Level 3 alerts) are for conditions requiring immediate crew action. Amber (Level 2 or Level 1 alerts) indicates a fault or switch out of position requiring awareness or crew interaction. Overhead switches used in normal operating conditions will illuminate blue when in use (Level 0 alerts) such as WING ANTI-ICE - ON. An overhead switch/light with BLACK LETTERING on an amber or red background indicates a system failure and that crew interaction is required. A switch/light with blue or amber lettering and a BLACK BACKGROUND indicates a switch out of normal position and that crew action is necessary only if the system is in manual operation.
Advanced fighter technologies are evolving into highly complex systems. Flight controls are being integrated with advanced avionics to achieve a total system. The advanced fighter technology integration (AFTI) F-16 aircraft is an example of a highly complex digital flight control system integrated with advanced avionics and cockpit. The architecture of these new systems involves several general issues. The use of dissimilar backup modes if the primary system fails requires the designer to trade off system simplicity and capability. This tradeoff is evident in the AFTI/F-16 aircraft with its limited stability and fly-by-wire digital flight control systems. In case of a generic software failure, the backup or normal mode must provide equivalent envelope protection during the transition to degraded flight control. The complexity of systems like the AFTI/F-16 system defines a second design issue, which can be divided into two segments: the effect on testing, and the pilot's ability to act correctly in the limited time available for cockpit decisions. The large matrix of states possible with the AFTI/F-16 flight control system illustrates the difficulty of both testing the system and choosing real-time pilot actions.