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DOE OSTI2021

Cyber Threat Assessment Methodology for Autonomous and Remote Operations for Advanced Reactors (Conference Presentation)

The next generation of Advanced Reactors include planned capabilities for both Autonomous (operating without human interaction for a set period-of-time) and Remote (operating with human interaction from a separate physical location) Operations. Existing Nuclear Reactor architectures include a set of safety and security constraints tightly coupled with personnel policies and procedures. As Advanced Reactors are fielded with these new Autonomous and Remote operational capabilities, the architectures and associated infrastructure services and components will perceivably expand the overall attack surface and risk calculations with regards to safe and secure operations. This paper is part of an FY21 work program focused on ensuring Advanced Reactor designs are informed with threat-based guidance on design and operation of Secure Architectures with a specific focus on the deployment of Autonomous Systems in support of Advanced Reactor Operations. The next phase of this research program is to complement produce a methodology for assessment of the cyber threat against these architectures as well as a catalogue of Use Cases to support the Advanced Reactor community in their implementation of Autonomous and Remote Operations.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1998

Integration of the Remote Agent for the NASA Deep Space One Autonomy Experiment

This paper describes the integration of the Remote Agent (RA), a spacecraft autonomy system which is scheduled to control the Deep Space 1 spacecraft during a flight experiment in 1999. The RA is a reusable, model-based autonomy system that is quite different from software typically used to control an aerospace system. We describe the integration challenges we faced, how we addressed them, and the lessons learned. We focus on those aspects of integrating the RA that were either easier or more difficult than integrating a more traditional large software application because the RA is a model-based autonomous system. A number of characteristics of the RA made integration process easier. One example is the model-based nature of RA. Since the RA is model-based, most of its behavior is not hard coded into procedural program code. Instead, engineers specify high level models of the spacecraft's components from which the Remote Agent automatically derives correct system-wide behavior on the fly. This high level, modular, and declarative software description allowed some interfaces between RA components and between RA and the flight software to be automatically generated and tested for completeness against the Remote Agent's models. In addition, the Remote Agent's model-based diagnosis system automatically diagnoses when the RA models are not consistent with the behavior of the spacecraft. In flight, this feature is used to diagnose failures in the spacecraft hardware. During integration, it proved valuable in finding problems in the spacecraft simulator or flight software. In addition, when modifications are made to the spacecraft hardware or flight software, the RA models are easily changed because they only capture a description of the spacecraft. one does not have to maintain procedural code that implements the correct behavior for every expected situation. On the other hand, several features of the RA made it more difficult to integrate than typical flight software. For example, the definition of correct behavior is more difficult to specify for a system that is expected to reason about and flexibly react to its environment than for a traditional flight software system. Consequently, whenever a change is made to the RA it is more time consuming to determine if the resulting behavior is correct. We conclude the paper with a discussion of future work on the Remote Agent as well as recommendations to ease integration of similar autonomy projects.

Dorais, Gregory A.↗

NASA NTRS2005

Cerebellum Augmented Rover Development

Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

King, Matthew↗

NASA NTRS2022

Formal Methods for Trusted Space Autonomy, Boon or Bane?

Trusted Space Autonomy is challenging in that space systems are complex artifacts deployed in a high stakes environment with complicated operational settings. Thus far these challenges have been met using the full arsenal of tools: formal methods, informal methods, testing, runtime techniques, and operations processes. Using examples from previous deployments of autonomy to the Remote Agent on DS-1, Autonomous Sciencecraft on EO-1, WATCH on MER, IPEX, AEGIS on MER, MSL, and M2020, and the M2020 Onboard planner, we discuss how each of these approaches have been used to enable successful deployment of autonomy. We next focus on relatively limited use of formal methods (both prior to deployment and runtime methods). From the needs perspective, formal methods represent the best chance for reliable autonomy as testing, informal methods, and operations accommodations do not scale well with increasing complexity of the autonomous system. However from the practice perspective, formal methods have been limited in their application due to difficulty in eliciting formal specifications and challenges in representing complex constraints such as metric time and resources. We discuss some of these challenges as well as the opportunity to extend formal and informal methods into runtime validation systems.

Chien, Steve↗

NASA NTRS2000

Using Model-Based Reasoning for Autonomous Instrument Operation

Multiprobe missions are an important part of NASA's future: Cluster, Magnetospheric Multi Scale, Global Electrodynamics and Magnetospheric Constellation are representatives from the Sun-Earth Connections Theme. To make such missions robust, reliable, and affordable, ideally the many spacecraft of a constellation must be at least as easy to operate as one spacecraft is today. To support this need for scalability, science instrumentation must become increasingly easy to operate, even as this same instrumentation becomes more capable and advanced. Communication and control resources will be at a premium for future instruments. Many missions will be out of contact with ground operators for extended periods either to reduce operations cost or because of orbits that limit communication to weekly perigee transits. Autonomous capability is necessary if such missions are to effectively achieve their operational objectives. An autonomous system is one that acts given its situation in a mission appropriate manner without external direction to achieve mission goals. To achieve this capability autonomy must be built into the system through judicious design or through a built-in intelligence that recognizes system state and manages system response. To recognize desired or undesired system states, the system must have an implicit or explicit understanding of its expected states given its history and self observations. The systems we are concerned with, science instruments, can have stringent requirements for system state knowledge in addition to requirements driven by health and safety concerns. Without accurate knowledge of the system state, the usefulness of the science instrument may be severely limited. At the same time, health and safety concerns often lead to overly conservative instrument operations further reducing the effectiveness of the instrument. These requirements, coupled with overall mission requirements including lack of communication opportunities and tolerance of environmental hazards, frame the problem of constructing autonomous science instruments. we are developing a model of the Low Energy Neutral Atom instrument (LENA) that is currently flying on board the Imager for Magnetosphere-to-Aurora Global Exploration (IMAGE) spacecraft. LENA is a particle detector that uses high voltage electrostatic optics and time-of-flight mass spectrometry to image neutral atom emissions from the denser regions of the Earth's magnetosphere. As with most spacecraft borne science instruments, phenomena in addition to neutral atoms are detected by LENA. Solar radiation and energetic particles from Earth's radiation belts are of particular concern because they may help generate currents that may compromise LENA's long term performance. An explicit model of the instrument response has been constructed and is currently in use on board IMAGE to dynamically adapt LENA to the presence or absence of energetic background radiations. The components of LENA are common in space science instrumentation, and lessons learned by modelling this system may be applied to other instruments. This work demonstrates that a model-based approach can be used to enhance science instrument effectiveness. Our future work involves the extension of these methods to cover more aspects of LENA operation and the generalization to other space science instrumentation.

Johnson, Mike↗

DOE OSTI2025

Proposed Classifications of Remote Operations for Nuclear Reactors Based on Physical and Cybersecurity Considerations

The incorporation of remote operations into reactor operations is a topic of high interest among advanced and small modular reactor (A/SMR) vendors, with some considering it essential to the success of their business models. However, remote operations are a concept novel to the nuclear industry. While various technical aspects of remote operations have been explored, a significant gap remains in understanding the security implications of integrating remote operations into reactor designs, particularly concerning the security requirements for remote-operations facilities and infrastructure. This report aims to address this gap by first defining classes of remote operation based on the extent of remote access to reactor control systems and grounded in the existing regulatory framework with compatible terminology. Secondly, the report outlines the physical and cybersecurity requirements applicable to remote-operations facilities and infrastructure at each defined class. These requirements are based on existing licensing frameworks provided by 10 Code of Federal Regulations (CFR) Part 50 and 10 CFR Part 52, as well as the upcoming A/SMR licensing framework in the proposed Part 53. The assessment focuses specifically on security regulations, such as 10 CFR Part 73, which includes provisions for both cybersecurity (§ 73.54) and physical security (§ 73.55). This report proposes five classes of remote reactor operations. Class 1 involves remote monitoring only, with no control over reactor systems. Class 2 allows for the remote issuance of allowlisted commands to the reactor facility. Class 3 extends control to non-safety-significant, non-safety-related, or not important to safety systems and equipment. Class 4 permits remote control of safety-significant systems. Finally, Class 5 allows remote control of safety-related systems. It is important to note that these classes were defined purely with functionality in mind, without considering the practicality or feasibility of implementation for each class under current or upcoming regulatory guidance. The intention behind this approach is to enable an assessment of which security requirements apply to each class, allowing readers to evaluate the implementation possibilities for their specific use cases. Following the definition of remote-operation classes, the report assesses the specific physical and cybersecurity requirements applicable to the remote-operations facility and infrastructure within each defined class. This includes defining the types and locations of operators that are possible at each class of operation and, based on operator type and location, as well as functionality within each class, outlining the physical and cybersecurity requirements. By detailing the security requirements by class, the report provides readers with the information needed to determine the type of security program they may need to implement for their desired concept of operation. The next contribution of this report was to assess the practicality of implementing each proposed class of remote operations based upon the security requirement assessment. In short, three of the five proposed remote-operation classes were found to possibly have a practical path forward to implementation under the U.S. regulatory framework. Class 1 remote operations are currently in use in the U.S. while Class 2 and 3 remote operations may be logistically possible to implement under the U.S. regulatory framework. The final two Classes, 4 and 5, would likely be logistically difficult, if not infeasible to implement within the current U.S. physical- and cybersecurity regulatory framework. Given the results of the feasibility assessment, an example architecture is proposed for both Class 2, remote allowlisted commands, and Class 3, remote control of non-safety systems as well as security implication assessments of each architecture. These example implementations are not meant to be prescriptive in terms of how Class 2 or Class 3 remote operations should be deployed; instead, they are intended to be informative to stakeholders on how Class 2 or Class 3 could potentially be applied in order to inform their system design. An example architecture for Class 1 remote monitoring was not provided as Class 1 in already in use in U.S. nuclear operations. Example architectures for Class 4 and Class 5 were not provided due to their assessment of being likely infeasible to implement. The final contribution is an assessment of the physical- and cybersecurity implications of introducing autonomous operations into an A/SMR. What was found was that the security implications can be separated into two cases. Autonomous operations supported by SSCs located only at the reactor site, and autonomous operations supported by SSCs outside of the reactor site. For the first case, the introduction of autonomous systems will likely not change the facility’s requirement to comply with existing cyber and physical security regulation

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗

NASA NTRS2019

New Technologies for Enabling Food Production Beyond LEO

NASA has identified the need for robust and sustainable ‘Pick-and-Eat’ systems for supplementing crew diets with fresh leafy green crops in near-term LEO (Low Earth Orbit), cislunar, and lunar missions. Spaceflight plant growth systems have been primarily designed for conducting space biology studies, but these systems are not optimal for sustained food production. Improved water and nutrient delivery subsystems that do not use bulky and non-reusable media are needed for decreasing the mass of the food production system. Autonomous technologies for monitoring plant health and food safety are needed for ensuring that the food produced is suitable supplementing crew diets with fresh, nutritious salad crops. Improved plant imaging techniques used for high-throughput phenotyping can be leveraged for monitoring plant health. Near-real-time measurements of the microbial ecology of food production systems are needed for assessing food safety. Furthermore, newly identified plant species and cultivars with improved growth habits and contents of antioxidants, vitamins, and minerals when grown in spaceflight environmental conditions are needed. These improvements in food production technologies will enable the design of sustainable life support systems for manned exploration missions beyond Low Earth Orbit.

Monje Mejia, Oscar A.↗

NASA NTRS2022

Applicability of Digital Flight to the Operations of Self-Piloted Unmanned Aircraft Systems in the National Airspace System

Unmanned Aircraft Systems (UAS) hold great promise for a new era of specialized missions, including personal air transportation, cargo flight operations, aerial surveys, inspections, firefighting and more. The anticipated market growth is significant. To unlock its scalability and incumbent benefits requires a human to oversee multiple flights simultaneously, focusing on multi-vehicle mission management and relinquishing to autonomous systems their active role in controlling the aircrafts’ flight paths. Key to the realization of these scalability benefits is minimally-encumbered access to the National Airspace System (NAS), which poses some unique challenges for self-piloted UAS aircraft operations. These include the requirement for compatibility with existing airspace structures and operations including Visual Flight Rules (VFR) and Instrument Flight Rules (IFR), neither of which were developed to accommodate the unique needs and capabilities of UAS. This paper explores the applicability of Digital Flight to the operations of self-piloted UAS. As proposed by NASA, Digital Flight is a flight operations capability, enabled by a set of cooperative procedures and digital technologies, in which flight operators ensure flight-path safety through automated separation and flight path management in lieu of visual procedures and Air Traffic Control separation services. Flights operating under potentially-forthcoming rules of Digital Flight employ advanced automation technologies, information sharing, connectivity to operational data, and cooperative behaviors through distributed decision-making to maintain safety and achieve mission objectives. Designed for integration with VFR and IFR operations in shared NAS airspace, potentially as a third set of flight rules, Digital Flight may provide the mechanism for UAS operators – and all aircraft operators – to scale and diversify their operations beyond what is achievable under current regulations.

DFR↗

DOE OSTI2021

Control systems and methods to enable autonomous drilling

Buerger, Stephen↗

DOE OSTI2022

Control systems and methods to enable autonomous drilling

A system or method for drilling includes autonomously controlling a rotary or percussive drilling process as it transitions through multiple materials with very different dynamics. The method determines a drilling medium based on real-time measurements and comparison to prior drilling data, and identifies the material type, drilling region, and approximately optimal setpoint based on data from at least one operating condition. The controller uses these setpoints initially to execute an optimal search to maximize performance by minimizing mechanical specific energy. Near-bit depth-of-cut estimations are performed using a machine learning prediction deployed in an embedded processor to provide high-speed ROP estimates. The sensing capability is coupled with a near-bit clutching mechanism to support drilling dysfunction mitigation.

Buerger, Stephen↗

DOE OSTI2023

Control systems and methods to enable autonomous drilling

Buerger, Stephen↗

NASA NTRS2018

Armstrong Flight Research Center Research Technology and Engineering 2017

I am delighted to present this report of accomplishments at NASA's Armstrong Flight Research Center. Our dedicated innovators possess a wealth of performance, safety, and technical capabilities spanning a wide variety of research areas involving aircraft, electronic sensors, instrumentation, environmental and earth science, celestial observations, and much more. They not only perform tasks necessary to safely and successfully accomplish Armstrong's flight research and test missions but also support NASA missions across the entire Agency. Armstrong's project teams have successfully accomplished many of the nation's most complex flight research projects by crafting creative solutions that advance emerging technologies from concept development and experimental formulation to final testing. We are developing and refining technologies for ultra-efficient aircraft, electric propulsion vehicles, a low boom flight demonstrator, air launch systems, and experimental x-planes, to name a few. Additionally, with our unique location and airborne research laboratories, we are testing and validating new research concepts. Summaries of each project highlighting key results and benefits of the effort are provided in the following pages. Technology areas for the projects include electric propulsion, vehicle efficiency, supersonics, space and hypersonics, autonomous systems, flight and ground experimental test technologies, and much more. Additional technical information is available in the appendix, as well as contact information for the Principal Investigator of each project. I am proud of the work we do here at Armstrong and am pleased to share these details with you. We welcome opportunities for partnership and collaboration, so please contact us to learn more about these cutting-edge innovations and how they might align with your needs.

yearbook↗

NASA NTRSDate not supplied

AssistTaxi: A Comprehensive Dataset for Taxiway Analysis and Autonomous Operations

The availability of high-quality datasets play a crucial role in advancing research and development especially, for safety critical and autonomous systems. This poster presents AssistTaxi, which is a comprehensive novel dataset which is a collection of images for runway and taxiway analysis. The dataset comprises of more than 300,000 frames of diverse and carefully collected data, gathered from Melbourne (MLB) and Grant-Valkaria (X59) general aviation airports. The importance of AssistTaxi lies in its potential to advance autonomous operations, enabling researchers and developers to train and evaluate algorithms for efficient and safe taxiing. Researchers can utilize AssistTaxi to benchmark their algorithms, assess performance, and explore novel approaches for runway and taxiway analysis. Additionally, the dataset serves as a valuable resource for validating and enhancing existing algorithms as well as facilitating innovation in autonomous operations for aviation. We also propose an initial approach to label the dataset using a contour based detection and line extraction technique.

Data Collection↗

DOE OSTI2020

Autonomous Radiation Mapping and Quantification using an Unmanned Ground Vehicle. Part I - Environment Mapping

When characterizing facilities, advanced autonomous systems are safe, efficient, and cost-effective tools, which can safely deploy state-of-the-art instrumentation without exposing workers to radiation risks. One main focus of the research is the visual mapping of the environment.This paper presents a framework for the mapping aspect that utilizes lidar and SLAM technologies coupled with a monocular camera to create a point cloud of the environment. Upon completion, the present research work aims to provide an autonomous mobile robot the capability to localize itself and aid the user with visualizing the radiation data. Challenges: C++ node needs to properly synchronize image and point cloud data. 3D lidar has resolution of ± 3 cm. Proper camera calibration needed. Transforms need to be precise for proper alignment of image and point-cloud. Results: Voxelated point clouds. Accurate colors from calibrated cameras including details smaller than lidar resolution. Developed Robotics Operating System (ROS) package for ease of transfer to other robot platforms.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2003

NASA Tech Briefs, September 2003

Topics include: Oxygen-Partial-Pressure Sensor for Aircraft Oxygen Mask; Three-Dimensional Venturi Sensor for Measuring Extreme Winds; Swarms of Micron-Sized Sensors; Monitoring Volcanoes by Use of Air-Dropped Sensor Packages; Capacitive Sensors for Measuring Masses of Cryogenic Fluids; UHF Microstrip Antenna Array for Synthetic- Aperture Radar; Multimode Broad-Band Patch Antennas; 164-GHz MMIC HEMT Frequency Doubler; GPS Position and Heading Circuitry for Ships; Software for Managing Parametric Studies; Software Aids Visualization of Computed Unsteady Flow; Software for Testing Electroactive Structural Components; Advanced Software for Analysis of High-Speed Rolling-Element Bearings; Web Program for Development of GUIs for Cluster Computers; XML-Based Generator of C++ Code for Integration With GUIs; Oxide Protective Coats for Ir/Re Rocket Combustion Chambers; Simplified Waterproofing of Aerogels; Improved Thermal-Insulation Systems for Low Temperatures; Device for Automated Cutting and Transfer of Plant Shoots; Extension of Liouville Formalism to Postinstability Dynamics; Advances in Thrust-Based Emergency Control of an Airplane; Ultrasonic/Sonic Mechanisms for Drilling and Coring; Exercise Device Would Exert Selectable Constant Resistance; Improved Apparatus for Measuring Distance Between Axles; Six Classes of Diffraction-Based Optoelectronic Instruments; Modernizing Fortran 77 Legacy Codes; Active State Model for Autonomous Systems; Shields for Enhanced Protection Against High-Speed Debris; Scaling of Two-Phase Flows to Partial-Earth Gravity; Neutral-Axis Springs for Thin-Wall Integral Boom Hinges.

Source record↗

NASA NTRS2019

An Approach for Uncertainty Quantification and Management of Unmanned Aerial Vehicle Health

The increasing interest in low-altitude unmanned aerial vehicle (UAV) operations is bringing along safety concerns. Performance of small, low-cost UAVs drastically changes with type, size and controller of the vehicle. Their reliability is lower when compared to reliability of commercial aircrafts, and the availability of on-board sensors for health and state awareness is extremely limited due to their size and propulsion capabilities. Uncertainty plays a dominant role in such a scenario, where a variety of UAVs of different size, propulsion systems, dynamic performance and reliability enters the low-altitude airspace. Unexpected failures could have dangerous consequences for both equipment and humans within that same airspace. As a result, a number of research works and methodologies are being proposed in the area of UAV dynamic modeling, health and safety monitoring, but uncertainty quantification is rarely addressed. Thus, this paper pro- poses a perspective towards uncertainty quantification for autonomous systems, giving special emphasis to a UAV health monitoring application. A formal approach to classify uncertainty is presented; it is utilized to identify the uncertainty sources in UAVs health and operations, and then map uncertainty within a predictive process. To show the application of the methodology proposed here, the design of a model-based powertrain health monitoring algorithm for small-size UAVs is used as case study. The example illustrates how the uncertainty quantification approach can help the modeling strategy, as well as the assessment of diagnostic and prognostic performance.

Health Monitoring↗

NASA NTRS2006

Completing and Adapting Models of Biological Processes

We present a learning-based method for model completion and adaptation, which is based on the combination of two approaches: 1) R2D2C, a technique for mechanically transforming system requirements via provably equivalent models to running code, and 2) automata learning-based model extrapolation. The intended impact of this new combination is to make model completion and adaptation accessible to experts of the field, like biologists or engineers. The principle is briefly illustrated by generating models of biological procedures concerning gene activities in the production of proteins, although the main application is going to concern autonomic systems for space exploration.

Margaria, Tiziana↗

NASA NTRS2017

Considerations for an Integrated UAS CNS Architecture

The National Aeronautics and Space Administration (NASA) Glenn Research Center (GRC) is investigating revolutionary and advanced universal, reliable, always available, cyber secure and affordable Communication, Navigation, Surveillance (CNS) options for all altitudes of UAS operations. In Spring 2015, NASA issued a Call for Proposals under NASA Research Announcements (NRA) NNH15ZEA001N, Amendment 7 Subtopic 2.4. Boeing was selected to conduct a study with the objective to determine the most promising candidate technologies for Unmanned Air Systems (UAS) air-to-air and air-to-ground data exchange and analyze their suitability in a post-NextGen NAS environment. The overall objectives are to develop UAS CNS requirements and then develop architectures that satisfy the requirements for UAS in both controlled and uncontrolled air space. This contract is funded under NASAs Aeronautics Research Mission Directorates (ARMD) Aviation Operations and Safety Program (AOSP) Safe Autonomous Systems Operations (SASO) project and proposes technologies for the Unmanned Air Systems Traffic Management (UTM) service.There is a need for accommodating large-scale populations of Unmanned Air Systems (UAS) in the national air space. Scale obviously impacts capacity planning for Communication, Navitation, and Surveillance (CNS) technologies. For example, can wireless communications data links provide the necessary capacity for accommodating millions of small UASs (sUAS) nationwide? Does the communications network provide sufficient Internet Protocol (IP) address space to allow air traffic control to securely address both UAS teams as a whole as well as individual UAS within each team? Can navigation and surveillance approaches assure safe route planning and safe separation of vehicles even in crowded skies?Our objective is to identify revolutionary and advanced CNS alternatives supporting UASs operating at all altitudes and in all airspace while accurately navigating in the absence of navigational aids. These CNS alternatives must be reliable, redundant, always available, cyber-secure, and affordable for all types of vehicles including small UAS to large transport category aircraft. The approach will identify CNS technology candidates that can meet the needs of the range of UAS missions to specific air traffic management applications where they will be most beneficial and cost effective.

Templin, Fred L.↗