DAIDALUS, ICAROUS, SIRIUS, and Their Batch Simulation Capabilities
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Detect and Avoid↗
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Formal Methods in the Development of Highly Assured Software for Unmanned Aircraft Systems
In traditional software development methodologies, operational and functional requirements of systems are often specified in structured natural language notations. These restricted notations provide good documentation support, but only provide limited support for semantic analysis. These notations are generally not rich enough to unambiguously specify the requirements of safety-critical systems that, for example, involve complex numerical computations or that interact with the physical environment. Examples of these safety-critical systems are autonomous vehicles such as unmanned aircraft systems. This talk advocates the use of expressive formal logics, such as higher-order logic, to specify the operational and functional requirement of unmanned systems and to prove the correctness of these requirements. Semantic analysis of requirements written in higher-order logic is supported through the use of interactive theorem provers. Formal models serve as ideal reference implementations of functional requirements. Hence, formal logics enable software validation techniques where software implementations can be checked against functional requirements in a mechanical way. The Formal Methods group in the Safety-Critical Avionics Systems Branch at NASA Langley Research Center has conducted research on the development and application of formal verification techniques to safety-critical applications of interest to NASA for more than 30 years. This talk illustrates the use of formal methods in the development of highly-assured autonomous unmanned aircraft systems.
Formal Methods↗
Probing the cosmic gamma-ray burst rate with trigger simulations of the swift burst alert telescope
The gamma-ray burst (GRB) rate is essential for revealing the connection between GRBs, supernovae, and stellar evolution. Additionally, the GRB rate at high redshift provides a strong probe of star formation history in the early universe. While hundreds of GRBs are observed by Swift, it remains difficult to determine the intrinsic GRB rate due to the complex trigger algorithm of Swift. Current studies of the GRB rate usually approximate the Swift trigger algorithm by a single detection threshold. However, unlike the previously flown GRB instruments, Swift has over 500 trigger criteria based on photon count rate and an additional image threshold for localization. To investigate possible systematic biases and explore the intrinsic GRB properties, we develop a program that is capable of simulating all the rate trigger criteria and mimicking the image threshold. Our simulations show that adopting the complex trigger algorithm of Swift increases the detection rate of dim bursts. As a result, our simulations suggest that bursts need to be dimmer than previously expected to avoid overproducing the number of detections and to match with Swift observations. Moreover, our results indicate that these dim bursts are more likely to be high redshift events than low-luminosity GRBs. This would imply an even higher cosmic GRB rate at large redshifts than previous expectations based on star formation rate measurements, unless other factors, such as the luminosity evolution, are taken into account. The GRB rate from our best result gives a total number of 4568{sub −1429}{sup +825} GRBs per year that are beamed toward us in the whole universe.
79 ASTRONOMY AND ASTROPHYSICS↗
Hazard avoidance for a Mars rover
The challenging geology of the surface of Mars, when coupled with the impossibility of continuous remote driving from earth, dictate the need for autonomous hazard detection, recognition and possibly hazard avoidance capabilities onboard any robotic Mars roving vehicle. The main technical issues represented by terrain hazards are accidental damage and vehicle entrapment. Several approaches to vehicle design geared to prevent such immobilization threats are identified. The gamut of alternatives for rover autonomy are also presented, and the applicability of the various options for the Mars Rover/Sample Return mission are assessed in the context of the technology state of the art for hazard sensors and processing algorithms.
Spiessbach, Andrew J.↗
High-temperature all-fiber non-destructive multi-parameter sensing system with consistent performance
A high-temperature all-fiber non-destructive multi-parameter sensing system is developed. The system can operate consistently in a wide range of temperature changes by specially designed active signal generation and detection units. It is capable of monitoring temperature up to 600°C and cracks on metal pipes with an acoustic wave generation unit and an acoustic detection unit. A gold-coated multi-mode fiber is used to deliver a laser pulse for acoustic excitation while minimizing parasitic acoustic signals at high temperature. An in-fiber Fabry–Perot fiber Bragg grating (FP-FBG) is fabricated in another single-mode fiber and bonded to the test object for acoustic detection. The FP-FBG avoids strain redistribution inside the bonder at high temperature to ensure consistent operation. The feasibility of the system for temperature monitoring and crack detection in real-world applications is also demonstrated on an industry-standard P91 pipe.
He, Jiaji (ORCID:0000000165661887)↗
Perseveration effects in detection tasks with correlated decision intervals
An investigation of the behavior of the human decisionmaker is described for a task related to the problem of a pilot using a traffic situation display to avoid collisions. This sequential signal detection task is characterized by highly correlated signals with time varying strength. Experimental results are presented and the behavior of the observers is analyzed using the theory of Markov processes and classical signal detection theory. Mathematical models are developed which describe the main result of the experiment: that correlation in sequential signals induced perseveration in the observer response and a strong tendency to repeat their previous decision, even when they were wrong.
Gai, E. G.↗
Reducing false positives of microcalcification detection systems by removal of breast arterial calcifications
Purpose: In the past decades, computer-aided detection (CADe) systems have been developed to aid screening radiologists in the detection of malignant microcalcifications. These systems are useful to avoid perceptual oversights and can increase the radiologists’ detection rate. However, due to the high number of false positives marked by these CADe systems, they are not yet suitable as an independent reader. Breast arterial calcifications (BACs) are one of the most frequent false positives marked by CADe systems. In this study, a method is proposed for the elimination of BACs as positive findings. Removal of these false positives will increase the performance of the CADe system in finding malignant microcalcifications. Methods: A multistage method is proposed for the removal of BAC findings. The first stage consists of a microcalcification candidate selection, segmentation and grouping of the microcalcifications, and classification to remove obvious false positives. In the second stage, a case-based selection is applied where cases are selected which contain BACs. In the final stage, BACs are removed from the selected cases. The BACs removal stage consists of a GentleBoost classifier trained on microcalcification features describing their shape, topology, and texture. Additionally, novel features are introduced to discriminate BACs from other positive findings. Results: The CADe system was evaluated with and without BACs removal. Here, both systems were applied on a validation set containing 1088 cases of which 95 cases contained malignant microcalcifications. After bootstrapping, free-response receiver operating characteristics and receiver operating characteristics analyses were carried out. Performance between the two systems was compared at 0.98 and 0.95 specificity. At a specificity of 0.98, the sensitivity increased from 37% to 52% and the sensitivity increased from 62% up to 76% at a specificity of 0.95. Partial areas under the curve in the specificity range of 0.8–1.0 were significantly different between the system without BACs removal and the system with BACs removal, 0.129 ± 0.009 versus 0.144 ± 0.008 (p<0.05), respectively. Additionally, the sensitivity at one false positive per 50 cases and one false positive per 25 cases increased as well, 37% versus 51% (p<0.05) and 58% versus 67% (p<0.05) sensitivity, respectively. Additionally, the CADe system with BACs removal reduces the number of false positives per case by 29% on average. The same sensitivity at one false positive per 50 cases in the CADe system without BACs removal can be achieved at one false positive per 80 cases in the CADe system with BACs removal. Conclusions: By using dedicated algorithms to detect and remove breast arterial calcifications, the performance of CADe systems can be improved, in particular, at false positive rates representative for operating points used in screening.
60 APPLIED LIFE SCIENCES↗
A TCAS-II Resolution Advisory Detection Algorithm
The Traffic Alert and Collision Avoidance System (TCAS) is a family of airborne systems designed to reduce the risk of mid-air collisions between aircraft. TCAS~II, the current generation of TCAS devices, provides resolution advisories that direct pilots to maintain or increase vertical separation when aircraft distance and time parameters are beyond designed system thresholds. This paper presents a mathematical model of the TCAS~II Resolution Advisory (RA) logic that assumes accurate aircraft state information. Based on this model, an algorithm for RA detection is also presented. This algorithm is analogous to a conflict detection algorithm, but instead of predicting loss of separation, it predicts resolution advisories. It has been formally verified that for a kinematic model of aircraft trajectories, this algorithm completely and correctly characterizes all encounter geometries between two aircraft that lead to a resolution advisory within a given lookahead time interval. The RA detection algorithm proposed in this paper is a fundamental component of a NASA sense and avoid concept for the integration of Unmanned Aircraft Systems in civil airspace.
Munoz, Cesar↗
Compute Element and Interface Box for the Hazard Detection System
The Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is building a sensor that enables a spacecraft to evaluate autonomously a potential landing area to generate a list of hazardous and safe landing sites. It will also provide navigation inputs relative to those safe sites. The Hazard Detection System Compute Element (HDS-CE) box combines a field-programmable gate array (FPGA) board for sensor integration and timing, with a multicore computer board for processing. The FPGA does system-level timing and data aggregation, and acts as a go-between, removing the real-time requirements from the processor and labeling events with a high resolution time. The processor manages the behavior of the system, controls the instruments connected to the HDS-CE, and services the "heavy lifting" computational requirements for analyzing the potential landing spots.
Villalpando, Carlos Y.↗
Optical Images of an Exosolar Planet 25 Light-Years from Earth
Fomalhaut is a bright star 7.7 parsec (25 light year) from Earth that harbors a belt of cold dust with a structure consistent with gravitational sculpting by an orbiting planet. Here, we present optical observations of an exoplanet candidate. Fomalhaut b. In the plane of the belt, Fomalhaut b lies approximately 119 astronomical units (AU) from the star, and within 18 All of the dust belt. We detect counterclockwise orbital motion using Hubble Space Telescope observations separated by 1.73 years. Dynamical models of the interaction between the planet and the belt indicate that the planet's mass is at most three times that of Jupiter for the belt to avoid gravitational disruption. The flux detected at 0.8 micron flux is also consistent with that of a planet with mass a few limes that of Jupiter. The brightness at 0.6 microns and the lack of detection at longer wavelengths suggest that the detected flux may include starlight reflected off a circumplanetary disk, with dimension comparable to the orbits of the Galilean satellites. We also observed variability of unknown origin at 0.6 microns.
Clampin, Mark↗
Optical Images of an Exosolar Planet 25 Light Years from Earth
Fomalhaut is a bright star 7.7 parsecs (25 light years) from Earth that harbors a belt of cold dust with a structure consistent with gravitational sculpting by an orbiting planet. Here, we present optical observations of an exoplanet candidate, Fomalhaut b. In the plane of the belt, Fomalhaut b lies approximately 119 astronomical units (AU) from the star and 18 AU from the dust belt, matching predictions. We detect counterclockwise orbital motion using Hubble Space Telescope observations separated by 1.73 years. Dynamical models of the interaction between the planet and the belt indicate that the planet's mass is at most three times that of Jupiter for the belt to avoid gravitational disruption. The flux detected at 0.8 m is also consistent with that of a planet with mass no greater than a few times that of Jupiter. The brightness at 0.6 micron and the lack of detection at longer wavelengths suggest that the detected flux may include starlight reflected off a circumplanetary disk, with dimension comparable to the orbits of the Galilean satellites. We also observed variability of unknown origin at 0.6 micron.
Kalas, Paul↗
WARM GAS IN THE VIRGO CLUSTER. I. DISTRIBUTION OF Ly{alpha} ABSORBERS
The first systematic study of the warm gas (T = 10{sup 4-5} K) distribution across a galaxy cluster is presented using multiple background QSOs in and around the Virgo Cluster. We detect 25 Ly{alpha} absorbers (N{sub HI} = 10{sup 13.1-15.4} cm{sup -2}) in the Virgo velocity range toward 9 of 12 QSO sightlines observed with the Cosmic Origin Spectrograph, with a cluster impact parameter range of 0.36-1.65 Mpc (0.23-1.05 R{sub vir}). Including 18 Ly{alpha} absorbers previously detected by STIS or GHRS toward 7 of 11 background QSOs in and around the Virgo Cluster, we establish a sample of 43 absorbers toward a total of 23 background probes for studying the incidence of Ly{alpha} absorbers in and around the Virgo Cluster. With these absorbers, we find (1) warm gas is predominantly in the outskirts of the cluster and avoids the X-ray-detected hot intracluster medium (ICM). Also, Ly{alpha} absorption strength increases with cluster impact parameter. (2) Ly{alpha}-absorbing warm gas traces cold H I-emitting gas in the substructures of the Virgo Cluster. (3) Including the absorbers associated with the surrounding substructures, the warm gas covering fraction (100% for N{sub HI} > 10{sup 13.1} cm{sup -2}) is in agreement with cosmological simulations. We speculate that the observed warm gas is part of large-scale gas flows feeding the cluster both in the ICM and galaxies.
79 ASTRONOMY AND ASTROPHYSICS↗
Pi/4-QPSK modems for satellite sound/data broadcast systems
The use of pi/4-quadrature phase-shift keying (QPSK) modems for satellite sound broadcast systems (SSBS) broadcasting to mobile or portable receivers is proposed. Three different differential detectors (including the FM-discriminator followed by integrate-sample-and-dump filter) and a novel coherent detector are discussed. The degradation caused by the frequency offset between the local oscillator (LO) and the unmodulated carrier (CR) in the baseband differential detector is studied. The performance of both coherently and differentially detected pi/4-QPSK in a Gaussian channel is also studied. It is shown that with a frequency offset of more than 3 percent of the symbol rate, the performance degradation is more than 1 dB at 0.0001. The out-of-band power of the nonlinearly amplified bandlimited pi/4-QPSK signals is reduced from -13 dB to -37 dB if a 2-dB output back-off amplifier is used instead of a hardlimiter. The performance of the pi/4-QPSK is equivalent to that of QPSK, although the pi/4-QPSK has the advantage of less spectrum restoration after nonlinear amplification. The coherent demodulator and differential decoder avoid the three-level detection and achieve the same bit-error-rate performance as DEQPSK with a simple circuit.
Liu, Chia-Liang↗
Robust Kalman filter design for predictive wind shear detection
Severe, low-altitude wind shear is a threat to aviation safety. Airborne sensors under development measure the radial component of wind along a line directly in front of an aircraft. In this paper, optimal estimation theory is used to define a detection algorithm to warn of hazardous wind shear from these sensors. To achieve robustness, a wind shear detection algorithm must distinguish threatening wind shear from less hazardous gustiness, despite variations in wind shear structure. This paper presents statistical analysis methods to refine wind shear detection algorithm robustness. Computational methods predict the ability to warn of severe wind shear and avoid false warning. Comparative capability of the detection algorithm as a function of its design parameters is determined, identifying designs that provide robust detection of severe wind shear.
Stratton, Alexander D.↗
Development of advanced vacuum technologies for extending plasma pulse duration on EAST
Advanced vacuum technologies, including pumping, fueling and wall conditioning, have been successfully developed or upgraded to efficiently control the fuel and impurity particles to extend the plasma pulse duration in the experimental advanced superconducting tokamak (EAST). To improve the particle exhaust rate cryopumps with a 60% increase in pumping speed and ∼2 times increase in saturation capacity have been developed, and molecular pumps with a ∼30% increase in pumping speed have been upgraded. In order to monitor the molecular pump status while avoiding bearing faults and overload accidents, a fault detection system has been built which can offer an early warning to avoid more losses within the fusion device. A series of fueling technologies have been developed including gas injection system, supersonic molecular beam injector, pellet injector (PI), massive gas injector and shattered pellet injector, installed at the midplane and divertor positions at different ports to improve fueling uniformity and efficiency. Meanwhile, routine wall conditioning such as electric and hot N 2 baking, ion cyclotron wall conditioning and glow discharge cleaning have been successfully developed to remove the impurity particles from the inner component and materials. The low Z material wall coating and real-time powder injection during plasma discharge are also designed and applied to further improve particle control capability. Finally, by using these advanced vacuum related technologies, good vacuum (<2 × 10 −6 Pa) and wall conditions are realized, and the fuel and impurity particles can be effectively and stably controlled, which promotes the achievement of the record plasma of ∼1056 s pulse duration with the line-averaged electron density of 1.8 × 10 19 m −3 on EAST. They provide a very important reference for vacuum system design and operation for future fusion devices.
EAST↗
Enumeration and Fluorescence In Situ Hybridization of Microbial Bioburden on Cleanroom Surfaces
Introduction: Microorganisms are everywhere on Earth, even in the cleanest of places. Spacecraft assembly cleanrooms can harbor low levels of living and dead microbial cells (e.g., [1,2]), and cleanroom bioburden can also include organic molecules from industrial sources and in situ biomass. Life detection missions require careful attention to avoid contaminants that can be easily convoluted with analytical targets. We are evaluating epifluorescent microscopy and fluorescence in situ hybridization (FISH) as methods to complement organic contamination detection techniques. Epifluorescent cell counting offers an accurate and cost-effective way to quantify low levels of surface biomass. FISH could allow for the identification of residual organisms, and can be targeted to detect active populations of specific organisms such as bacteria known to resist cleaning procedures. This effort is part of a larger study that is concentrated on characterizing the surface and airborne molecular organic contamination background in Johnson Space Center (JSC) Astromaterials curation laboratories and Goddard Space Flight Center (GSFC) spacecraft assembly rooms, and understanding contaminants in the context of cleaning procedures and residual bioburden. Methods: Samples were collected by swabbing surfaces in ISO 5 and ISO 7 equivalent cleanrooms at JSC. Swabs for FISH were fixed in 4% paraformaldehyde (PFA) for 3 hours and then stored in 1:1 ethanol:PBS, while swabs for cell counting were stored in 4% PFA until analysis to avoid any cell loss during centrifugation that could impact quantification of very low biomass samples. Cell counting was performed with SYBR Gold as in [3], but adapted for very low biomass. FISH was performed as in [4], using DAPI as a counterstain for all DNA-containing cells. Negative controls included wells with no probe applied, to test for natural fluorescence, as well as the nonsense probe NONEUB (reverse complement of EUB338) to evaluate non-specific probe binding. Results and Discussion: Cleanroom surfaces had 102-103 cells cm-2. The extremely low biomass of these samples was challenging for enumeration, and required careful and routine use of “field” and laboratory blanks. FISH was performed with the general archaeal and bacterial probes ARCH915 and EUB338 (EUBMIX, [4]), probe GAMBET ([4]), and PSE227, which targets the genus Pseudomonas [5]). The latter two probes were selected because Pseudomonas spp. and other Gammaproteobacteria have not been isolated from cleanroom surfaces but do appear frequently in rRNA gene libraries from these surfaces. While some active bacteria were identified (Fig. 1c), most cells detectable by DAPI did not have a strong or any fluorescent signal (e.g., Fig. 1d), indicating that the vast majority of cells are dead or inactive. This suggests that cleaning protocols are effective at inactivating microbial contaminants, but that dead or inactive cells can remain on surfaces. Cells were often clumped in a weakly autofluorescent matrix, possibly biofilm material (Fig. 1c,d). We also observed other particulate material that was collected by the swabs, including apparent textile fibers (Fig. 1b). Our results are consistent with other studies that show that the bioburden present in clean rooms includes active, dormant, and dead cells. We will discuss how FISH and epifluorescent cell counting could be applied in planetary protection protocols, including the advantages and disadvantages of FISH and cell counting for routine use, as well as different possible applications for more specialized FISH procedures. References: [1] Moissl-Eichinger et al. (2015) Sci Rep, 5, 9156 [2] Hendrickson et al. (2021) Microbiome, 9, 238 [3] Jones et al. (2017) Appl Environ Microbiol, 83, e00909-17 [4] Jones et al. (2015) Appl Environ Microbiol, 81, 1242-1250. [5] Watt et al. (2006) Environ Microbiol, 8, 871-884
C J Huff↗
Application of Advanced Wide Area Early Warning Systems with Adaptive Protection
Recent blackouts of power systems in North America and throughout the world have shown how critical a reliable power system is to modern societies, and the enormous economic and societal damage a blackout can cause. It has been noted that unanticipated operation of protection systems can contribute to cascading phenomena and, ultimately, blackouts. This project developed and field-tested two methods of Adaptive Protection systems utilizing synchrophasor data. One method detects conditions of system stress that can lead to unintended relay operation, and initiates a supervisory signal to modify relay response in real time to avoid false trips. The second method detects the possibility of false trips of impedance relays as stable system swings “encroach” on the relays’ impedance zones, and produces an early warning so that relay engineers can re-evaluate relay settings. In addition, real-time synchrophasor data produced by this project was used to develop advanced visualization techniques for display of synchrophasor data to utility operators and engineers.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Collision detection for planning collision-free motion of two robot arms
The authors focus on collision detection for planning collision-free motion of two robot arms in a common workspace. A collision-free motion is obtained by detecting collisions along the straight-line trajectories of the robots using a sphere model for the wrists and then replanning the paths and/or trajectories of one or both of the robots to avoid collisions. A novel approach to collision detection is presented and a discussion on collision avoidance is given.
Basta, Robert A.↗