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NASA NTRS1992

Artificial Intelligence Research Branch future plans

This report contains information on the activities of the Artificial Intelligence Research Branch (FIA) at NASA Ames Research Center (ARC) in 1992, as well as planned work in 1993. These activities span a range from basic scientific research through engineering development to fielded NASA applications, particularly those applications that are enabled by basic research carried out in FIA. Work is conducted in-house and through collaborative partners in academia and industry. All of our work has research themes with a dual commitment to technical excellence and applicability to NASA short, medium, and long-term problems. FIA acts as the Agency's lead organization for research aspects of artificial intelligence, working closely with a second research laboratory at the Jet Propulsion Laboratory (JPL) and AI applications groups throughout all NASA centers. This report is organized along three major research themes: (1) Planning and Scheduling: deciding on a sequence of actions to achieve a set of complex goals and determining when to execute those actions and how to allocate resources to carry them out; (2) Machine Learning: techniques for forming theories about natural and man-made phenomena; and for improving the problem-solving performance of computational systems over time; and (3) Research on the acquisition, representation, and utilization of knowledge in support of diagnosis design of engineered systems and analysis of actual systems.

Stewart, Helen↗
NASA NTRS1994

A new flux-conserving numerical scheme for the steady, incompressible Navier-Stokes equations

This paper is concerned with the continued development of a new numerical method, the space-time solution element (STS) method, for solving conservation laws. The present work focuses on the two-dimensional, steady, incompressible Navier-Stokes equations. Using first an integral approach, and then a differential approach, the discrete flux conservation equations presented in a recent paper are rederived. Here a simpler method for determining the flux expressions at cell interfaces is given; a systematic and rigorous derivation of the conditions used to simulate the differential form of the governing conservation law(s) is provided; necessary and sufficient conditions for a discrete approximation to satisfy a conservation law in E2 are derived; and an estimate of the local truncation error is given. A specific scheme is then constructed for the solution of the thin airfoil boundary layer problem. Numerical results are presented which demonstrate the ability of the scheme to accurately resolve the developing boundary layer and wake regions using grids which are much coarser than those employed by other numerical methods. It is shown that ten cells in the cross-stream direction are sufficient to accurately resolve the developing airfoil boundary layer.

Scott, James R.↗
NASA NTRS1994

A six degree of freedom, plume-fuel optimal trajectory planner for spacecraft proximity operations using an A* node search

Spacecraft proximity operations are complicated by the fact that exhaust plume impingement from the reaction control jets of space vehicles can cause structural damage, contamination of sensitive arrays and instruments, or attitude misalignment during docking. The occurrence and effect of jet plume impingement can be reduced by planning approach trajectories with plume effects considered. An A* node search is used to find plume-fuel optimal trajectories through a discretized six dimensional attitude-translation space. A plume cost function which approximates jet plume isopressure envelopes is presented. The function is then applied to find relative costs for predictable 'trajectory altering' firings and unpredictable 'deadbanding' firings. Trajectory altering firings are calculated by running the spacecraft jet selection algorithm and summing the cost contribution from each jet fired. A 'deadbanding effects' function is defined and integrated to determine the potential for deadbanding impingement along candidate trajectories. Plume costs are weighed against fuel costs in finding the optimal solution. A* convergence speed is improved by solving approach trajectory problems in reverse time. Results are obtained on a high fidelity space shuttle/space station simulation. Trajectory following is accomplished by a six degree of freedom autopilot. Trajectories planned with, and without, plume costs are compared in terms of force applied to the target structure.

Jackson, Mark Charles↗
NASA NTRS1992

Simulation of particle mixing by turbulent convective flows on the connection machine

Mixing of particles by chaotic flow fields was simulated on the Connection Machine. Each cell was assigned to the processor, and the coordinates of particles residing on the cell were kept in the local memory of the processor. This approach implies the exchange between the local memories, when a particle moves from one cell to another. Approximately 10 exp 5 particles were injected into a time-dependent flow field obtained by solving the nonlinear system of partial differential equations describing turbulent thermal convection. The flow field was calculated on a CRAY, and data were transferred to a CM-200 through a high-speed HIPPI channel.

Malevsky, A. V.↗
NASA NTRS1994

The energetics of Titan's ionosphere

We have developed a comprehensive model to study the dynamics and energetics of the ionosphere of Titan. We solved the one-dimensional, time-dependent, coupled continuity and momentum equations for several ion species, together with single ion and electron energy equations, in order to calculate density, velocity, and temperature profiles. Calculations were carried out for several cases corresponding to different local times and configurations of the Titan-Saturn system. In our model the effects of horizontal magnetic fields were assumed to be negligible, except for their effect on reducing the electron and ion thermal conductivities and inhibiting vertical transport in the subram region. The ionospheric density peak was found to be at an altitude of about 1100 km, in accordance with earlier model calculations. The ionosphere is chemically controlled below an altitude of about 1500 km. Above this level, ion densities differ significantly from their chemical equilibrium values due to strong upward ion velocities. Heat is deposited in a narrow region around the ionospheric peak, resulting in temperature profiles increasing sharply and reaching nearly constant values of 800-1000 deg K for electrons and 300 deg K for ions in the topside, assuming conditions appropriate for the wake region. In the subram region magnetic correction factors make the electron heat conductivities negligible, resulting in electron temperatures increasing strongly with altitude and reaching values in the order of 5000 deg K at our upper boundary located at 2200 km. Ion chemical heating is found to play an important role in shaping the ion energy balance in Titan's ionosphere.

Roboz, A.↗
NASA NTRS1990

Knowledge base rule partitioning design for CLIPS

This describes a knowledge base (KB) partitioning approach to solve the problem of real-time performance using the CLIPS AI shell when containing large numbers of rules and facts. This work is funded under the joint USAF/NASA Advanced Launch System (ALS) Program as applied research in expert systems to perform vehicle checkout for real-time controller and diagnostic monitoring tasks. The Expert System advanced development project (ADP-2302) main objective is to provide robust systems responding to new data frames of 0.1 to 1.0 second intervals. The intelligent system control must be performed within the specified real-time window, in order to meet the demands of the given application. Partitioning the KB reduces the complexity of the inferencing Rete net at any given time. This reduced complexity improves performance but without undo impacts during load and unload cycles. The second objective is to produce highly reliable intelligent systems. This requires simple and automated approaches to the KB verification & validation task. Partitioning the KB reduces rule interaction complexity overall. Reduced interaction simplifies the V&V testing necessary by focusing attention only on individual areas of interest. Many systems require a robustness that involves a large number of rules, most of which are mutually exclusive under different phases or conditions. The ideal solution is to control the knowledge base by loading rules that directly apply for that condition, while stripping out all rules and facts that are not used during that cycle. The practical approach is to cluster rules and facts into associated 'blocks'. A simple approach has been designed to control the addition and deletion of 'blocks' of rules and facts, while allowing real-time operations to run freely. Timing tests for real-time performance for specific machines under R/T operating systems have not been completed but are planned as part of the analysis process to validate the design.

Mainardi, Joseph D.↗
NASA NTRS1995

Optimal Full Information Synthesis for Flexible Structures Implemented on Cray Supercomputers

This paper considers an algorithm for synthesis of optimal controllers for full information feedback. The synthesis procedure reduces to a single linear matrix inequality which may be solved via established convex optimization algorithms. The computational cost of the optimization is investigated. It is demonstrated the problem dimension and corresponding matrices can become large for practical engineering problems. This algorithm represents a process that is impractical for standard workstations for large order systems. A flexible structure is presented as a design example. Control synthesis requires several days on a workstation but may be solved in a reasonable amount of time using a Cray supercomputer.

Lind, Rick↗
NASA NTRS1997

Feedback Implementation of Zermelo's Optimal Control by Sugeno Approximation

This paper proposes an approach to implement optimal control laws of nonlinear systems in real time. Our methodology does not require solving two-point boundary value problems online and may not require it off-line either. The optimal control law is learned using the original Sugeno controller (OSC) from a family of optimal trajectories. We compare the trajectories generated by the OSC and the trajectories yielded by the optimal feedback control law when applied to Zermelo's ship steering problem.

Clifton, C.↗
NASA NTRS2002

Global Positioning System Simulator Field Operational Procedures

Global Positioning System (GPS) simulation is an important activity in the development or qualification of GPS signal receivers for space flight. Because a GPS simulator is a critical resource it is highly desirable to develop a set of field operational procedures to supplement the basic procedures provided by most simulator vendors. Validated field procedures allow better utilization of the GPS simulator in the development of new test scenarios and simulation operations. These procedures expedite simulation scenario development while resulting in scenarios that are more representative of the true design, as well as enabling construction of more complex simulations than previously possible, for example, spacecraft maneuvers. One difficulty in the development of a simulation scenario is specifying various modes of test vehicle motion and associated maneuvers requiring that a user specify some (but not all) of a few closely related simulation parameters. Currently this can only be done by trial and error. A stand-alone procedure that implements the simulator maneuver motion equations and solves for the motion profile transient times, jerk and acceleration would be of considerable value. Another procedure would permit the specification of some configuration parameters that would determine the simulated GPS signal composition. The resulting signal navigation message, for example, would force the receiver under test to use only the intended C-code component of the simulated GPS signal. A representative class of GPS simulation-related field operational procedures is described in this paper. These procedures were developed and used in support of GPS integration and testing for many successful spacecraft missions such as SAC-A, EO-1, AMSAT, VCL, SeaStar, sounding rockets, and by using the industry standard Spirent Global Simulation Systems Incorporated (GSSI) STR series simulators.

Kizhner, Semion↗
NASA NTRS2004

Improving Rotor-Stator Interaction Noise Code Through Analysis of Input Parameters

There are two major sources of aircraft noise. The first is from the airframe and the second is from the engines. The focus of the acoustics branch at NASA Glenn is on the engine noise sources. There are two major sources of engine noise; fan noise and jet noise. Fan noise, produced by rotating machinery of the engine, consists of both tonal noise, which occurs at discrete frequencies, and broadband noise, which occurs across a wide range of frequencies. The focus of my assignment is on the broadband noise generated by the interaction of fan flow turbulence and the stator blades. such as the sweep and stagger angles and blade count, as well as the flow parameters such as intensity of turbulence in the flow. The tool I employed in this work is a computer program that predicts broadband noise from fans. The program assumes that the complex shape of the curved blade can be represented as a single flat plate, allowing it to use fairly simple equations that can be solved in a reasonable amount of time. While the results from such representation provided reasonable estimates of the broadband noise levels, they did not usually represent the entire spectrum accurately. My investigation found that the discrepancy between data and theory can be improved if the leading edge and the trailing edge of the blade are treated separately. Using this approach, I reduced the maximum error in noise level from a high of 30% to less than 5% for the cases investigated. Detailed results of this investigation will be discussed at my presentation. The objective of this study is to investigate the influence of geometric parameters

Unton, Timothy J.↗
NASA NTRS2006

Small Body GN&C Research Report: A G-Guidance Enhancement to Increase Mission Functionality

G-Guidance is a robust G&C (guidance and control) algorithm developed under the small-body GN&C task. The G-Guidance scheme utilizes a model predictive control approach, along with a convexification of the governing dynamics, control constraints, and trajectory/state constraints. This report details an enhancement to the FY2005 G-Guidance algorithm; the addition of a fire-second approach helps to nullify velocity errors and hit desired final velocities much more precisely than the original Fire-first scheme developed in FY2005. The enhancement preserves the primary benefit of the algorithm, which is to ensure required thruster silent times during trajectory maneuvers. The fire-second scheme increases the versatility of the algorithm for missions employing G-Guidance. For instance, a landing sequence could employ the fire-second scheme to ensure a null final velocity at landing, whereas an ascent sequence could utilize a fire-first scheme to ensure there is no drift of the spacecraft toward the ground at the beginning of the maneuver. Examples are provided within to demonstrate a fire-first versus fire-second guidance scheme. As in the existing G-Guidance algorithm, the examples and schemes incorporate gravity models and thruster firing times into discrete dynamics that are solved as a optimal control problem to minimize fuel consumption or thruster energy expenditure.

velocity errors↗
NASA NTRS2008

Enhanced Pseudo-Waypoint Guidance for Spacecraft Maneuvers

An enhanced version of the scheme reported in "Pseudo-Waypoint Guidance for Proximity Spacecraft Maneuvers" (NPO-42753), NASA Tech Briefs, Vol. 31, No. 6 (June 2007), page 73 was developed. To recapitulate: the scheme provides algorithms for guidance and control (G&C) of a spacecraft maneuvering near a small astronomical body. The open-loop guidance problem is solved in advance or in real time by use of the pseudo-waypoint generation (PWG) method. Feedback control is implemented to track PWG trajectories, in a manner that enables updating of G&C in a model-predictive manner. The scheme includes silent periods following each thruster firing. The original version of the scheme provides for a fire-first, followed-by-silence sequence, which is disadvantageous in that the silence after final firing precludes reduction of any remaining velocity error -- an unacceptable result in the case of a maneuver for which a specific final velocity is required. In the enhanced version, the scheme is augmented with a fire-second technique, so that the final velocity can be established with a much higher precision because both the guidance and feedback firing can be performed and ceased at the final maneuver time.

Carson, John↗
NASA NTRS2008

A New Paradigm for Flow Analyses and a Novel Technique to Enhance the Thrust from Scarfed Nozzles

A new flow analysis paradigm and a novel technique to enhance scarfed nozzle thrust are presented. The new paradigm, the space-time Conservation Element and Solution Element (CESE) method, a truly unsteady and genuinely multi-dimensional flow solver that provides accurate solutions for Euler and Navier-Stokes flows, is well suited for next generation flow analyses.In this study, the space-time CESE method was applied to solve scarfed nozzles flow-fields. Nozzle scarfing is frequently used for vectoring control of a space propulsion sub-system; it reduces nozzle weight and length and lowers nozzle thrust. A novel technique to enhance scarfed nozzles' thrust is discussed and investigated. Results of 2D and 3D flow analyses are presented.

Chang, I-Shih↗
NASA NTRS2008

Flow Solver for Incompressible 2-D Drive Cavity

This software solves the Navier-Stokes equations for the incompressible driven cavity flow problem. The code uses second-order finite differencing on a staggered grid using the Chorin projection method. The resulting intermediate Poisson equation is efficiently solved using the fast Fourier transform. Time stepping is done using fourth-order Runge-Kutta for stability at high Reynolds numbers. Features include check-pointing, periodic field snapshots, ongoing reporting of kinetic energy and changes between time steps, time histories at selected points, and optional streakline generation.

Kalb, Virginia L.↗
NASA NTRS2009

Direct-Solve Image-Based Wavefront Sensing

A method of wavefront sensing (more precisely characterized as a method of determining the deviation of a wavefront from a nominal figure) has been invented as an improved means of assessing the performance of an optical system as affected by such imperfections as misalignments, design errors, and fabrication errors. The method is implemented by software running on a single-processor computer that is connected, via a suitable interface, to the image sensor (typically, a charge-coupled device) in the system under test. The software collects a digitized single image from the image sensor. The image is displayed on a computer monitor. The software directly solves for the wavefront in a time interval of a fraction of a second. A picture of the wavefront is displayed. The solution process involves, among other things, fast Fourier transforms. It has been reported to the effect that some measure of the wavefront is decomposed into modes of the optical system under test, but it has not been reported whether this decomposition is postprocessing of the solution or part of the solution process.

Lyon, Richard G.↗
NASA NTRS2009

Some Exact Results for the Schroedinger Wave Equation with a Time Dependent Potential

The time dependent Schroedinger equation with a time dependent delta function potential is solved exactly for many special cases. In all other cases the problem can be reduced to an integral equation of the Volterra type. It is shown that by knowing the wave function at the origin, one may derive the wave function everywhere. Thus, the problem is reduced from a PDE in two variables to an integral equation in one. These results are used to compare adiabatic versus sudden changes in the potential. It is shown that adiabatic changes in the p otential lead to conservation of the normalization of the probability density.

Campbell, Joel↗
NASA NTRS1973

An Approximate Equation For The Multiply Scattered Contribution to A Lidar Return

An approximate equation is developed which describes the contribution of Nth order scattering to a lidar return. This development assumes a homogeneous scattering medium characterized by a scattering function sharply peaked in the forward direction and relatively insensitive to angle near the backscatter direction. The derivation includes the effects of finite divergence of the transmitted laser beam, finite receiver field of view, finite separation between the laser and the receiver and nonparallel system alignment. The derivation presented uses small angle approximations to reduce the time dependent multiple scattering problem to a time independent form which is then solved with techniques previously developed for multiple small angle nuclear scattering.

Eloranta, Edwin W.↗
NASA NTRS2017

Optimization of Airport Surface Traffic: A Case-Study of Incheon International Airport

This study aims to develop a controllers' decision support tool for departure and surface management of ICN. Airport surface traffic optimization for Incheon International Airport (ICN) in South Korea was studied based on the operational characteristics of ICN and airspace of Korea. For surface traffic optimization, a multiple runway scheduling problem and a taxi scheduling problem were formulated into two Mixed Integer Linear Programming (MILP) optimization models. The Miles-In-Trail (MIT) separation constraint at the departure fix shared by the departure flights from multiple runways and the runway crossing constraints due to the taxi route configuration specific to ICN were incorporated into the runway scheduling and taxiway scheduling problems, respectively. Since the MILP-based optimization model for the multiple runway scheduling problem may be computationally intensive, computation times and delay costs of different solving methods were compared for a practical implementation. This research was a collaboration between Korea Aerospace Research Institute (KARI) and National Aeronautics and Space Administration (NASA).

surface management↗