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NASA NTRS1989

DEVS representation of dynamical systems - Event-based intelligent control

It is shown how systems can be advantageously represented as discrete-event models by using DEVS (discrete-event system specification), a set-theoretic formalism. Such DEVS models provide a basis for the design of event-based logic control. In this control paradigm, the controller expects to receive confirming sensor responses to its control commands within definite time windows determined by its DEVS model of the system under control. The event-based contral paradigm is applied in advanced robotic and intelligent automation, showing how classical process control can be readily interfaced with rule-based symbolic reasoning systems.

Zeigler, Bernard P.↗

NASA NTRS1990

M-52 spray booth qualification test

The procedures, performance, and results obtained from the M-52 spray booth qualification test are documented. The test was conducted at Thiokol Corporation, Space Operations, M-52 Inert Parts Preparation facility. The purpose of this testing sequence was to ensure the spray booth would produce flight qualified hardware. The testing sequence was conducted in two series. The first series was conducted under CTP-0142, Revision 1. The second series was conducted in accordance with CTP-0142, Revision 2. The test sequence started with CTP-0142, Revision 1. The series consisted of the contamination removal test and the performance test. The contamination removal test was used to assess the Teflon level in the spray booth. The performance test consisted of painting and Chemloking a forward dome inside the spray booth per flight procedures. During the performance test, two sets of witness panels (case/insulation and steel/epoxy/steel) were prepared and pull tested. The CTP-0142, Revision 2, series of testing consisted of re-testing the steel/epoxy/steel witness panels. The pull tests analysis indicates the results of the tensile tests were comparable to the systems tunnel witness panel database. The exposed panel set and the control panel set average tensile values were above the 1-basis lower limits established on the systems tunnel witness panel database. It is recommended that the M-52 spray booth be qualified for producing flight hardware.

Source record↗

NASA NTRS1990

Finite-dimensional compensators for infinite-dimensional systems via Galerkin-type approximation

In this paper existence and construction of stabilizing compensators for linear time-invariant systems defined on Hilbert spaces are discussed. An existence result is established using Galkerin-type approximations in which independent basis elements are used instead of the complete set of eigenvectors. A design procedure based on approximate solutions of the optimal regulator and optimal observer via Galerkin-type approximation is given and the Schumacher approach is used to reduce the dimension of compensators. A detailed discussion for parabolic and hereditary differential systems is included.

Ito, Kazufumi↗

NASA NTRS1990

An analysis of defect densities found during software inspections

Software inspection is a technical evaluation process for finding and removing defects in requirements, design, code, and tests. Detailed data was collected during the first three years of experience at JPL on 203 inspections. Statistics are discussed for this set of inspections. Included, on a per inspection basis, are averages of: staff time expended, pages covered, major defects found, minor defects found, and inspection team size. Analysis of variance showed a significantly higher density of defects during requirements inspections. It was also observed, that the defect densities found decreased exponentially as the work products approached the coding phase. Increasing the pace of the inspection meeting decreased the density of defects found. This relationship was observed to hold for both major and minor defect densities, although it was more pronounced for minor defects. Guidelines are provided for conducting successful software inspections based upon three years of JPL experience.

Kelly, John C.↗

NASA NTRS1992

Automatic detection of anomalies in Space Shuttle Main Engine turbopumps

A prototype expert system (developed on both PC and Symbolics 3670 lisp machine) for detecting anomalies in turbopump vibration data has been tested with data from ground tests 902-473, 902-501, 902-519, and 904-097 of the Space Shuttle Main Engine (SSME). The expert system has been utilized to analyze vibration data from each of the following SSME components: high-pressure oxidizer turbopump, high-pressure fuel turbopump, low-pressure fuel turbopump, and preburner boost pump. The expert system locates and classifies peaks in the power spectral density of each 0.4-sec window of steady-state data. Peaks representing the fundamental and harmonic frequencies of both shaft rotation and bearing cage rotation are identified by the expert system. Anomalies are then detected on the basis of sequential criteria and two threshold criteria set individually for the amplitude of each of these peaks: a prior threshold used during the first few windows of data in a test, and a posterior threshold used thereafter. In most cases the anomalies detected by the expert system agree with those reported by NASA. The two cases where there is significant disagreement will be further studied and the system design refined accordingly.

Lo, Ching F.↗

NASA NTRS1992

Symmetry properties in polarimetric remote sensing

This paper presents the relations among polarimetric backscattering coefficients from the viewpoint of symmetry groups. Symmetry of geophysical media encountered in remote sensing due to reflection, rotation, azimuthal, and centrical symmetry groups is considered for both reciprocal and nonreciprocal cases. On the basis of the invariance under symmetry transformations in the linear polarization basis, the scattering coefficients are related by a set of equations which restrict the number of independent parameters in the polarimetric covariance matrix. The properties derived under these transformations are general and apply to all scattering mechanisms in a given symmetrical configuration. The scattering coefficients calculated from theoretical models for layer random media and rough surfaces are shown to obey the derived symmetry relations. Use of symmetry properties in remote sensing of structural and environmental responses of scattering media is discussed. As a practical application, the results from this paper provide new methods for the external calibration of polarimetric radars without the deployment of man-made calibration targets.

Nghiem, S. V.↗

NASA NTRS1992

Hover performance analysis of advanced rotor blades

This is an effort aimed at validating recent hover prediction methods. The experimental basis for this validation work is an extensive set of loads, wake and performance data, which were obtained from a pressure instrumented model UH-60 rotor tested at the Sikorsky hover test facility and at Duits-Nederlandse Windtunnel (DNW). This model was equipped with replaceable tips - including a tapered and a BERP-type tip - which permitted studies of the effects of rotor geometry. The central prediction method studied is a free-wake, vortex embedded, full-potential CFD method - called HELIX-I. It is found that the HELIX-I code produces very good comparisons with the data including wake, surface pressure and performance. Comparisons with the measured radial load distributions have permitted an improved understanding of the wake resolution modelling requirements of CFD methods. Since HELIX-I is a combined Eulerian/Lagrangian method, limited comparisons are also made with a Lagrangian boundary element code (called EHPIC) and an Eulerian Navier-Stokes code (called TURNS). In most cases all methods produce good comparisons with the data. It is found that the HELIX-I code provides a good compromise between the speed of boundary integral methods and the comprehensive nature of Navier-Stokes methods.

Tung, C.↗

NASA NTRS1994

Visible light nitrogen dioxide spectrophotometer intercomparison: Mount Kobau, British Columbia, July 28 to August 10, 1991

Under the auspices of the World Meteorological Organization, Environment Canada hosted an international comparison of visible light spectrophotometers at Mt. Kobau, British Columbia in August of 1991. Instruments from four countries were involved. The intercomparison results have indicated that some significant differences exist in the responses of the various instruments, and have provided a basis for the comparison of the historical data sets which currently exist as a result of the independent researches carried out in the past in the former Soviet Union, New Zealand, and Canada.

Mcelroy, C. T.↗

NASA NTRS1994

Comparative pulsation calculations with OP and OPAL opacities

Comparative linear nonadiabatic pulsation calculations are presented using the OPAL and Opacity Project opacities. The two sets of opacities include effects due to intermediate coupling and fine structure as well as new abundances. We used two mass luminosity (M-L) relations, one standard (BIT), and one employing substantial convective core overshoot (COV). The two sets of opacities cannot be differentiated on the basis of the stellar pulsation calculations presented here. The BIT relation can model the beat and bump Cepheids with masses between 4 and 7 solar mass, while if the overshoot relation is used, masses between 2 and 6 solar mass are required. In the RR Lyrae regime, we find the inferred masses of globular cluster RRd stars to be little influenced by the choice of OPAL or OP. Finally, the limited modeling we have done is not able to constrain the Cepheid M-L relation based upon period ratios observed in the beat and bump stars.

Kanbur, Shashi M.↗

NASA NTRS2000

ACIS Door Failure Investigation and Mitigation Procedures

NASA's Chandra X-ray Observatory (formerly AXAF) was launched on July 23, 1999 and is currently in orbit performing scientific studies. Chandra is the third of NASA's Great Observatories to be launched, following the Hubble Space Telescope and the Compton Gamma Ray Observatory. One of four primary science instruments on Chandra, and one of only two focal plane instruments, is the Advanced CCD Imaging Spectrometer, or ACIS. The ACIS focal plane and Optical Blocking Filter (OBF) must be launched under vacuum, so a tightly sealed, functioning door and venting subsystem were implemented. The door was opened two and one-half weeks after launch (after most out-gassing of composite materials) and allowed X-rays to be imaged by the ACIS CCD's in the focal plane. A failure of this door to open on-orbit would have eliminated all ACIS capabilities, severely degrading mission science. During the final pre-flight thermal-vacuum test of the fully integrated Chandra Observatory at TRW, the ACIS door failed to open when commanded to do so. This paper describes the efforts, under considerable time pressure, by NASA, its contractors and outside review teams to investigate the failure and to develop modified hardware and procedures which would correct the problem. Of interest is the fact that the root cause of the test failure was never clearly identified despite massive effort. We ultimately focussed on hardware and procedures designed to mitigate the effects of potential, but unproven, failure modes. We describe a frequent real-world engineering situation in which one must proceed on the best basis possible in the absence of the complete set of facts.

Podgorski, William A.↗

NASA NTRS2000

Geology of the Smythii and Marginis Region of the Moon: Using Integrated Remotely Sensed Data

We characterized the diverse and complex geology of the eastern limb region of the Moon using a trio of remote-sensing data sets: Clementine, Lunar Prospector, and Apollo. On the basis of Clementine-derived iron and titanium maps we classify the highlands into low-iron (3-6 wt % FeO) and high-iron (6-9 wt % FeO) units. The association of the latter with basalt deposits west of Smythii basin suggests that the highland chemical variation is the result of mixing between basalt and highland lithologies. Mare Smythii and Mare Marginis soils are compositionally similar, containing moderate iron (15-18 wt % FeO) and titanium (2.5-3.5 wt % TiO2). Smythii basin, in addition to the basalt deposits, contains an older, moderate-albedo plains unit. Our investigation reveals that the dark basin plains unit has a distinct albedo, chemistry, and surface texture and formed as a result of impact-mixing between highland and mare lithologies in approximately equal proportions. Clementine iron and maturity maps show that swirls along the northern margin of Mare Marginis have the same iron composition as the surrounding nonswirl material and indicate that the swirl material is bright because of its low agglutinate content. Gravity data for the eastern limb show high, positive Bouguer gravity anomalies for areas of thin basalt cover (e.g., Smythii basin and complex craters Joliot, Lomonosov, and Neper). We deduce that the uplift of dense mantle material is the primary (and mare basaltic fill the secondary) source for generating the concentration of mass beneath large craters and basins.

Gillis, Jeffrey J.↗

NASA NTRS2010

TEACH (Train to Enable/Achieve Culturally Sensitive Healthcare)

Personnel from diverse ethnic and demographic backgrounds come together in both civilian and military healthcare systems, facing diagnoses that at one level are equalizers: coronary disease is coronary disease, breast cancer is breast cancer. Yet the expression of disease in individuals from different backgrounds, individual patient experience of disease as a particular illness, and interactions between patients and providers occurring in any given disease scenario, all vary enormously depending on the fortuity of the equation of "which patient happens to arrive in whose exam room." Previously, providers' absorption of lessons-learned depended on learning as an apprentice would when exposed over time to multiple populations. As a result, and because providers are often thrown into situations where communications falter through inadequate direct patient experience, diversity in medicine remains a training challenge. The questions then become: Can simulation and virtual training environments (VTEs) be deployed to short-track and standardize this sort of random-walk problem? Can we overcome the unevenness of training caused by some providers obtaining the valuable exposure to diverse populations, whereas others are left to "sink or swim"? This paper summarizes developing a computer-based VTE called TEACH (Training to Enable/Achieve Culturally Sensitive Healthcare). TEACH was developed to enhance healthcare providers' skills in delivering culturally sensitive care to African-American women with breast cancer. With an authoring system under development to ensure extensibility, TEACH allows users to role-play in clinical oncology settings with virtual characters who interact on the basis of different combinations of African American sub-cultural beliefs regarding breast cancer. The paper reports on the roll-out and evaluation of the degree to which these interactions allow providers to acquire, practice, and refine culturally appropriate communication skills and to achieve cultural and individual personalization of healthcare in their clinical practices.

Maulitz, Russell↗

NASA NTRS2010

The Sao Paulo Lightning Mapping Array (SPLMA): Prospects to GOES-R GLM and CHUVA

This paper presents the characteristics and prospects of a Lightning Mapping Array to be deployed at the city of S o Paulo (SPLMA). This LMA network will provide CHUVA campaign with total lightning, lightning channel mapping and detailed information on the locations of cloud charge regions for the thunderstorms investigated during one of its IOP. The real-time availability of LMA observations will also contribute to and support improved weather situational awareness and mission execution. For GOES-R program it will form the basis of generating unique and valuable proxy data sets for both GLM and ABI sensors in support of several on-going research investigations

Albrecht, Rachel I.↗

NASA NTRS2012

Comparison of MODIS and VIIRS On-board Blackbody Performance

MODIS has 16 thermal emissive bands (TEBs), covering wavelengths from 3.7 to 14.4 microns. MODIS TEBs are calibrated on-orbit by a v-grooved blackbody (BB) on a scan-by-scan basis. The BB temperatures are measured by a set of 12 thennistors. As expected, the BB temperature uncertainty and stability have direct impact on the quality of TEB calibration and, therefore, the quality of the science products derived from TEB observations. Since launch, Terra and Aqua MODIS have successfully operated for more than 12 and 10 years, respectively. Their on-board BB performance has been satisfactory in meeting the TEB calibration requirements. The first VIIRS, launched on-board the Suomi NPP spacecraft on October 28, 2011, has successfully completed its initial Intensive Calibration and Validation (ICV) phase. VIIRS has 7 thermal emissive bands (TEBs), covering wavelengths from 3.7 to 12.4 microns. Designed with strong MODIS heritage, VIIRS uses a similar BB for its TEB calibration. Like MODIS, VIIRS BB is nominally controlled at a pre-determined temperature (set point). Periodically, a BB Warm-Up and Cool-Down (WUCD) operation is performed, during which the BB temperatures vary from instrument ambient (temperature) to 315K. This paper examines NPP VIIRS BB on-orbit performance. It focuses on its BB temperature scan-to-scan variations at nominally controlled temperature as well as during its WUCD operation and their impact on TEB calibration uncertainty. Comparisons of VIIRS (NPP) and MODIS (Terra and Aqua) BB on-orbit performance and lessons learned for future improvements are also presented in this paper.

Xiong, Jack↗

NASA NTRS2013

Eyes on the Earth 3D

Eyes on the Earth 3D software gives scientists, and the general public, a realtime, 3D interactive means of accurately viewing the real-time locations, speed, and values of recently collected data from several of NASA's Earth Observing Satellites using a standard Web browser (climate.nasa.gov/eyes). Anyone with Web access can use this software to see where the NASA fleet of these satellites is now, or where they will be up to a year in the future. The software also displays several Earth Science Data sets that have been collected on a daily basis. This application uses a third-party, 3D, realtime, interactive game engine called Unity 3D to visualize the satellites and is accessible from a Web browser.

Kulikov, anton I.↗

NASA NTRS2015

Predicting Clear-Sky Reflectance Over Snow/Ice in Polar Regions

Satellite remote sensing of clouds requires an accurate estimate of the clear-sky radiances for a given scene to detect clouds and aerosols and to retrieve their microphysical properties. Knowing the spatial and angular variability of clear-sky albedo is essential for predicting clear-sky radiance at solar wavelengths. The Clouds and the Earth's Radiant Energy System (CERES) Project uses the nearinfrared (NIR; 1.24, 1.6 or 2.13 micrometers), visible (VIS; 0.63 micrometers) and vegetation (VEG; 0.86 micrometers) channels available on the Terra and Aqua Moderate Resolution Imaging Spectroradiometer (MODIS) to help identify clouds and retrieve their properties in both snow-free and snow-covered conditions. Thus, it is critical to have reliable distributions of clear-sky albedo for all of these channels. In CERES Edition 4 (Ed4), the 1.24-micrometer channel is used to retrieve cloud optical depth over snow/ice-covered surfaces. Thus, it is especially critical to accurately predict the 1.24-micrometer clear-sky albedo alpha and reflectance rho for a given location and time. Snow albedo and reflectance patterns are very complex due to surface texture, particle shapes and sizes, melt water, and vegetation protrusions from the snow surface. To minimize those effects, this study focuses on the permanent snow cover of Antarctica where vegetation is absent and melt water is minimal. Clear-sky albedos are determined as a function of solar zenith angle (SZA) from observations over all scenes determined to be cloud-free to produce a normalized directional albedo model (DRM). The DRM is used to develop alpha(SZA=0 degrees) on 10 foot grid for each season. These values provide the basis for predicting r at any location and set of viewing & illumination conditions. This paper examines the accuracy of this approach for two theoretical snow surface reflectance models.

Chen, Yan↗

NASA NTRS2018

Optimal Control Prediction Method for Control Allocation

This paper proposes a novel prediction method for online optimal control allocation that extends the volume of moments achievable with the Moore-Penrose generalized inverse to the entire Attainable Moment Set. This method formulates the control allocation problem using selected basis vectors and associated gains which reduces the optimization problem dimensions and provides physical insight into the resulting optimal solutions. The proposed algorithm finds the entire family of unique optimal control solutions along the desired moment vector from the origin to the boundary of the Attainable Moment Set. Numerical results for the Moore-Penrose prediction method show that the unique minimal controls obtained yield the desired moment with near machine precision accuracy while maintaining control effectors within specified position limits. This method has been fully validated against the unique solution obtained on the boundary of the Attainable Moment Set using the Durham Direct Allocation method. Minimal control solutions obtained for moments in the interior of the Attainable Moment Set, similarly yield the desired moment to near machine precision while providing control solutions that are smaller (i.e. 2-norm) than solutions found with traditional control allocation algorithms (e.g. interior point methods) applied to the minimal control problem. Numerical simulations using a Matlab® autocoded executable (MEX) for the representative real world problem of 3-moments with 20 individual control effectors and prescribed control position limits show a mean computation speed of approximately 125 Hz which is sufficient to enable real-time flight allocation.

Acheson, Michael J.↗

NASA NTRS2018

GMI-IPS: Python Processing Software for Aircraft Campaigns

NASA's Atmospheric Tomography Mission (ATom) seeks to understand the impact of anthropogenic air pollution on gases in the Earth's atmosphere. Four flight campaigns are being deployed on a seasonal basis to establish a continuous global-scale data set intended to improve the representation of chemically reactive gases in global atmospheric chemistry models. The Global Modeling Initiative (GMI), is creating chemical transport simulations on a global scale for each of the ATom flight campaigns. To meet the computational demands required to translate the GMI simulation data to grids associated with the flights from the ATom campaigns, the GMI ICARTT Processing Software (GMI-IPS) has been developed and is providing key functionality for data processing and analysis in this ongoing effort. The GMI-IPS is written in Python and provides computational kernels for data interpolation and visualization tasks on GMI simulation data. A key feature of the GMI-IPS, is its ability to read ICARTT files, a text-based file format for airborne instrument data, and extract the required flight information that defines regional and temporal grid parameters associated with an ATom flight. Perhaps most importantly, the GMI-IPS creates ICARTT files containing GMI simulated data, which are used in collaboration with ATom instrument teams and other modeling groups. The initial main task of the GMI-IPS is to interpolate GMI model data to the finer temporal resolution (1-10 seconds) of a given flight. The model data includes basic fields such as temperature and pressure, but the main focus of this effort is to provide species concentrations of chemical gases for ATom flights. The software, which uses parallel computation techniques for data intensive tasks, linearly interpolates each of the model fields to the time resolution of the flight. The temporally interpolated data is then saved to disk, and is used to create additional derived quantities. In order to translate the GMI model data to the spatial grid of the flight path as defined by the pressure, latitude, and longitude points at each flight time record, a weighted average is then calculated from the nearest neighbors in two dimensions (latitude, longitude). Using SciPya's Regular Grid Interpolator, interpolation functions are generated for the GMI model grid and the calculated weighted averages. The flight path points are then extracted from the ATom ICARTT instrument file, and are sent to the multi-dimensional interpolating functions to generate GMI field quantities along the spatial path of the flight. The interpolated field quantities are then written to a ICARTT data file, which is stored for further manipulation. The GMI-IPS is aware of a generic ATom ICARTT header format, containing basic information for all flight campaigns. The GMI-IPS includes logic to edit metadata for the derived field quantities, as well as modify the generic header data such as processing dates and associated instrument files. The ICARTT interpolated data is then appended to the modified header data, and the ICARTT processing is complete for the given flight and ready for collaboration. The output ICARTT data adheres to the ICARTT file format standards V1.1. The visualization component of the GMI-IPS uses Matplotlib extensively and has several functions ranging in complexity. First, it creates a model background curtain for the flight (time versus model eta levels) with the interpolated flight data superimposed on the curtain. Secondly, it creates a time-series plot of the interpolated flight data. Lastly, the visualization component creates averaged 2D model slices (longitude versus latitude) with overlaid flight track circles at key pressure levels. The GMI-IPS consists of a handful of classes and supporting functionality that have been generalized to be compatible with any ICARTT file that adheres to the base class definition. The base class represents a generic ICARTT entry, only defining a single time entry and 3D spatial positioning parameters. Other classes inherit from this base class; several classes for input ICARTT instrument files, which contain the necessary flight positioning information as a basis for data processing, as well as other classes for output ICARTT files, which contain the interpolated model data. Utility classes provide functionality for routine procedures such as: comparing field names among ICARTT files, reading ICARTT entries from a data file and storing them in data structures, and returning a reduced spatial grid based on a collection of ICARTT entries. Although the GMI-IPS is compatible with GMI model data, it can be adapted with reasonable effort for any simulation that creates Hierarchical Data Format (HDF) files. The same can be said of its adaptability to ICARTT files outside of the context of the ATom mission. The GMI-IPS contains just under 30,000 lines of code, eight classes, and a dozen drivers and utility programs. It is maintained with GIT source code management and has been used to deliver processed GMI model data for the ATom campaigns that have taken place to date.

Damon, M. R.↗