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NASA NTRS1987

Scheduling periodic jobs using imprecise results

One approach to avoid timing faults in hard, real-time systems is to make available intermediate, imprecise results produced by real-time processes. When a result of the desired quality cannot be produced in time, an imprecise result of acceptable quality produced before the deadline can be used. The problem of scheduling periodic jobs to meet deadlines on a system that provides the necessary programming language primitives and run-time support for processes to return imprecise results is discussed. Since the scheduler may choose to terminate a task before it is completed, causing it to produce an acceptable but imprecise result, the amount of processor time assigned to any task in a valid schedule can be less than the amount of time required to complete the task. A meaningful formulation of the scheduling problem must take into account the overall quality of the results. Depending on the different types of undesirable effects caused by errors, jobs are classified as type N or type C. For type N jobs, the effects of errors in results produced in different periods are not cumulative. A reasonable performance measure is the average error over all jobs. Three heuristic algorithms that lead to feasible schedules with small average errors are described. For type C jobs, the undesirable effects of errors produced in different periods are cumulative. Schedulability criteria of type C jobs are discussed.

Chung, Jen-Yao↗

NASA NTRS1989

The Real Time Display Builder (RTDB)

The Real Time Display Builder (RTDB) is a prototype interactive graphics tool that builds logic-driven displays. These displays reflect current system status, implement fault detection algorithms in real time, and incorporate the operational knowledge of experienced flight controllers. RTDB utilizes an object-oriented approach that integrates the display symbols with the underlying operational logic. This approach allows the user to specify the screen layout and the driving logic as the display is being built. RTDB is being developed under UNIX in C utilizing the MASSCOMP graphics environment with appropriate functional separation to ease portability to other graphics environments. RTDB grew from the need to develop customized real-time data-driven Space Shuttle systems displays. One display, using initial functionality of the tool, was operational during the orbit phase of STS-26 Discovery. RTDB is being used to produce subsequent displays for the Real Time Data System project currently under development within the Mission Operations Directorate at NASA/JSC. The features of the tool, its current state of development, and its applications are discussed.

Kindred, Erick D.↗

NASA NTRS1989

Parallel processing of real-time dynamic systems simulation on OSCAR (Optimally SCheduled Advanced multiprocessoR)

Parallel processing of real-time dynamic systems simulation on a multiprocessor system named OSCAR is presented. In the simulation of dynamic systems, generally, the same calculation are repeated every time step. However, we cannot apply to Do-all or the Do-across techniques for parallel processing of the simulation since there exist data dependencies from the end of an iteration to the beginning of the next iteration and furthermore data-input and data-output are required every sampling time period. Therefore, parallelism inside the calculation required for a single time step, or a large basic block which consists of arithmetic assignment statements, must be used. In the proposed method, near fine grain tasks, each of which consists of one or more floating point operations, are generated to extract the parallelism from the calculation and assigned to processors by using optimal static scheduling at compile time in order to reduce large run time overhead caused by the use of near fine grain tasks. The practicality of the scheme is demonstrated on OSCAR (Optimally SCheduled Advanced multiprocessoR) which has been developed to extract advantageous features of static scheduling algorithms to the maximum extent.

Kasahara, Hironori↗

NASA NTRS1990

Real-time adaptive aircraft scheduling

One of the most important functions of any air traffic management system is the assignment of ground-holding times to flights, i.e., the determination of whether and by how much the take-off of a particular aircraft headed for a congested part of the air traffic control (ATC) system should be postponed in order to reduce the likelihood and extent of airborne delays. An analysis is presented for the fundamental case in which flights from many destinations must be scheduled for arrival at a single congested airport; the formulation is also useful in scheduling the landing of airborne flights within the extended terminal area. A set of approaches is described for addressing a deterministic and a probabilistic version of this problem. For the deterministic case, where airport capacities are known and fixed, several models were developed with associated low-order polynomial-time algorithms. For general delay cost functions, these algorithms find an optimal solution. Under a particular natural assumption regarding the delay cost function, an extremely fast (O(n ln n)) algorithm was developed. For the probabilistic case, using an estimated probability distribution of airport capacities, a model was developed with an associated low-order polynomial-time heuristic algorithm with useful properties.

Kolitz, Stephan E.↗

NASA NTRS1990

Inverse dynamics of adaptive structures used as space cranes

As a precursor to the real-time control of fast moving adaptive structures used as space cranes, a formulation is given for the flexibility induced motion relative to the nominal motion (i.e., the motion that assumes no flexibility) and for obtaining the open loop time varying driving forces. An algorithm is proposed for the computation of the relative motion and driving forces. The governing equations are given in matrix form with explicit functional dependencies. A simulator is developed to implement the algorithm on a digital computer. In the formulations, the distributed mass of the crane is lumped by two schemes, vz., 'trapezoidal' lumping and 'Simpson's rule' lumping. The effects of the mass lumping schemes are shown by simulator runs.

Das, S. K.↗

NASA NTRS1990

Scheduling periodic jobs that allow imprecise results

The problem of scheduling periodic jobs in hard real-time systems that support imprecise computations is discussed. Two workload models of imprecise computations are presented. These models differ from traditional models in that a task may be terminated any time after it has produced an acceptable result. Each task is logically decomposed into a mandatory part followed by an optional part. In a feasible schedule, the mandatory part of every task is completed before the deadline of the task. The optional part refines the result produced by the mandatory part to reduce the error in the result. Applications are classified as type N and type C, according to undesirable effects of errors. The two workload models characterize the two types of applications. The optional parts of the tasks in an N job need not ever be completed. The resulting quality of each type-N job is measured in terms of the average error in the results over several consecutive periods. A class of preemptive, priority-driven algorithms that leads to feasible schedules with small average error is described and evaluated.

Chung, Jen-Yao↗

NASA NTRS1990

Real-time failure control (SAFD)

The Real Time Failure Control program involves development of a failure detection algorithm, referred as System for Failure and Anomaly Detection (SAFD), for the Space Shuttle Main Engine (SSME). This failure detection approach is signal-based and it entails monitoring SSME measurement signals based on predetermined and computed mean values and standard deviations. Twenty four engine measurements are included in the algorithm and provisions are made to add more parameters if needed. Six major sections of research are presented: (1) SAFD algorithm development; (2) SAFD simulations; (3) Digital Transient Model failure simulation; (4) closed-loop simulation; (5) SAFD current limitations; and (6) enhancements planned for.

Panossian, Hagop V.↗

NASA NTRS1991

A case study for the real-time experimental evaluation of the VIPER microprocessor

An experiment to evaluate the applicability of the Verifiable Integrated Processor for Enhanced Reliability (VIPER) microprocessor to real time control is described. The VIPER microprocessor was invented by the Royal Signals and Radar Establishment (RSRE), U.K., and is an example of the use of formal mathematical methods for developing electronic digital systems with a high degree of assurance on the system design and implementation correctness. The experiment consisted of selecting a control law, writing the control law algorithm for the VIPER processor, and providing real time, dynamic inputs into the processor and monitoring the outputs. The control law selected and coded for the VIPER processor was the yaw damper function of an automatic landing program for a 737 aircraft. The mechanisms for interfacing the VIPER Single Board Computer to the VAX host are described. Results include run time experiences, performance evaluation, and comparison of VIPER and FORTRAN yaw damper algorithm output for accuracy estimation.

Carreno, Victor A.↗

NASA NTRS1991

The NASA Lewis integrated propulsion and flight control simulator

A new flight simulation facility has been developed at NASA Lewis to allow integrated propulsion-control and flight-control algorithm development and evaluation in real time. As a preliminary check of the simulator facility and the correct integration of its components, the control design and physics models for an STOVL fighter aircraft model have been demonstrated, with their associated system integration and architecture, pilot vehicle interfaces, and display symbology. The results show that this fixed-based flight simulator can provide real-time feedback and display of both airframe and propulsion variables for validation of integrated systems and testing of control design methodologies and cockpit mechanizations.

Bright, Michelle M.↗

NASA NTRS1991

A 640-MHz 32-megachannel real-time polyphase-FFT spectrum analyzer

A polyphase fast Fourier transform (FFT) spectrum analyzer being designed for NASA's Search for Extraterrestrial Intelligence (SETI) Sky Survey at the Jet Propulsion Laboratory is described. By replacing the time domain multiplicative window preprocessing with polyphase filter processing, much of the processing loss of windowed FFTs can be eliminated. Polyphase coefficient memory costs are minimized by effective use of run length compression. Finite word length effects are analyzed, producing a balanced system with 8 bit inputs, 16 bit fixed point polyphase arithmetic, and 24 bit fixed point FFT arithmetic. Fixed point renormalization midway through the computation is seen to be naturally accommodated by the matrix FFT algorithm proposed. Simulation results validate the finite word length arithmetic analysis and the renormalization technique.

Zimmerman, G. A.↗

NASA NTRS1992

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

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

Hall, Gardiner A.↗

NASA NTRS1992

Real-time processing of radar return on a parallel computer

NASA is working with the FAA to demonstrate the feasibility of pulse Doppler radar as a candidate airborne sensor to detect low altitude windshears. The need to provide the pilot with timely information about possible hazards has motivated a demand for real-time processing of a radar return. Investigated here is parallel processing as a means of accommodating the high data rates required. A PC based parallel computer, called the transputer, is used to investigate issues in real time concurrent processing of radar signals. A transputer network is made up of an array of single instruction stream processors that can be networked in a variety of ways. They are easily reconfigured and software development is largely independent of the particular network topology. The performance of the transputer is evaluated in light of the computational requirements. A number of algorithms have been implemented on the transputers in OCCAM, a language specially designed for parallel processing. These include signal processing algorithms such as the Fast Fourier Transform (FFT), pulse-pair, and autoregressive modelling, as well as routing software to support concurrency. The most computationally intensive task is estimating the spectrum. Two approaches have been taken on this problem, the first and most conventional of which is to use the FFT. By using table look-ups for the basis function and other optimizing techniques, an algorithm has been developed that is sufficient for real time. The other approach is to model the signal as an autoregressive process and estimate the spectrum based on the model coefficients. This technique is attractive because it does not suffer from the spectral leakage problem inherent in the FFT. Benchmark tests indicate that autoregressive modeling is feasible in real time.

Aalfs, David D.↗

NASA NTRS1993

Adjoint-Operator Learning For A Neural Network

Electronic neural networks made to synthesize initially unknown mathematical models of time-dependent phenomena or to learn temporally evolving patterns by use of algorithms based on adjoint operators. Algorithms less complicated, involve less computation and solve learning equations forward in time possibly simultaneously with equations of evolution of neural network, thereby both increasing computational efficiency and making real-time applications possible.

Barhen, Jacob↗

NASA NTRS1992

WELDSMART: A vision-based expert system for quality control

This work was aimed at exploring means for utilizing computer technology in quality inspection and evaluation. Inspection of metallic welds was selected as the main application for this development and primary emphasis was placed on visual inspection, as opposed to other inspection methods, such as radiographic techniques. Emphasis was placed on methodologies with the potential for use in real-time quality control systems. Because quality evaluation is somewhat subjective, despite various efforts to classify discontinuities and standardize inspection methods, the task of using a computer for both inspection and evaluation was not trivial. The work started out with a review of the various inspection techniques that are used for quality control in welding. Among other observations from this review was the finding that most weld defects result in abnormalities that may be seen by visual inspection. This supports the approach of emphasizing visual inspection for this work. Quality control consists of two phases: (1) identification of weld discontinuities (some of which may be severe enough to be classified as defects), and (2) assessment or evaluation of the weld based on the observed discontinuities. Usually the latter phase results in a pass/fail judgement for the inspected piece. It is the conclusion of this work that the first of the above tasks, identification of discontinuities, is the most challenging one. It calls for sophisticated image processing and image analysis techniques, and frequently ad hoc methods have to be developed to identify specific features in the weld image. The difficulty of this task is generally not due to limited computing power. In most cases it was found that a modest personal computer or workstation could carry out most computations in a reasonably short time period. Rather, the algorithms and methods necessary for identifying weld discontinuities were in some cases limited. The fact that specific techniques were finally developed and successfully demosntrated to work illustrates that the general approach taken here appears to be promising for commercial development of computerized quality inspection systems. Inspection based on these techniques may be used to supplement or substitute more elaborate inspection methods, such as x-ray inspections.

Andersen, Kristinn↗

NASA NTRS1992

Learning a trajectory using adjoint functions and teacher forcing

A new methodology for faster supervised temporal learning in nonlinear neural networks is presented which builds upon the concept of adjoint operators to allow fast computation of the gradients of an error functional with respect to all parameters of the neural architecture, and exploits the concept of teacher forcing to incorporate information on the desired output into the activation dynamics. The importance of the initial or final time conditions for the adjoint equations is discussed. A new algorithm is presented in which the adjoint equations are solved simultaneously (i.e., forward in time) with the activation dynamics of the neural network. We also indicate how teacher forcing can be modulated in time as learning proceeds. The results obtained show that the learning time is reduced by one to two orders of magnitude with respect to previously published results, while trajectory tracking is significantly improved. The proposed methodology makes hardware implementation of temporal learning attractive for real-time applications.

Toomarian, Nikzad B.↗

NASA NTRS1993

Measurement methods and algorithms for comparison of local and remote clocks

Several methods for characterizing the performance of clocks with special emphasis on using calibration information that is acquired via an unreliable or noisy channel is discussed. Time-domain variance estimators and frequency-domain techniques such as cross-spectral analysis are discussed. Each of these methods has advantages and limitations that will be illustrated using data obtained via GPS, ACTS, and other methods. No one technique will be optimum for all of these analyses, and some of these problems cannot be completely characterized by any of the techniques discussed. The inverse problem of communicating frequency and time corrections to a real-time steered clock are also discussed. Methods were developed to mitigate the disastrous problems of data corruption and loss of computer control.

Levine, Judah↗

NASA NTRS1993

Formal methods for dependable real-time systems

The motivation for using formal methods to specify and reason about real time properties is outlined and approaches that were proposed and used are sketched. The formal verifications of clock synchronization algorithms are concluded as showing that mechanically supported reasoning about complex real time behavior is feasible. However, there was significant increase in the effectiveness of verification systems since those verifications were performed, at it is to be expected that verifications of comparable difficulty will become fairly routine. The current challenge lies in developing perspicuous and economical approaches to the formalization and specification of real time properties.

Rushby, John↗

NASA NTRS1990

A computational procedure for multibody systems including flexible beam dynamics

A computational procedure suitable for the solution of equations of motions for flexible multibody systems has been developed. The flexible beams are modeled using a fully nonlinear theory which accounts for both finite rotations and large deformations. The present formulation incorporates physical measures of conjugate Cauchy stress and covariant strain increments. As a consequence, the beam model can easily be interfaced with real-time strain measurements and feedback control systems. A distinct feature of the present work is the computational preservation of total energy for undamped systems; this is obtained via an objective strain increment/stress update procedure combined with an energy-conserving time integration algorithm which contains an accurate update of angular orientations. The procedure is demonstrated via several example problems.

Downer, J. D.↗