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NASA NTRS1996

Role of the BIPM in UTC Dissemination to the Real Time User

The generation and dissemination of International Atomic Time (TAI), and Coordinated Universal Time (UTC) are explicitly mentioned in the list of principal tasks of the Bureau International des Poids et Mesures (BIPM), that appears in the Compes Rendus of the the 18e Conference Generales des Poids et Measures, in 1987. These time scales are used as the ultimate reference in the most demanding scientific applications and must, therefore, be of the best metrological quality in terms of reliability, long term stability, and conformity of the scale interval with the second, the unit of time of the International System of Units. To meet these requirements, it is necessary that the readings of the atomic clocks, spread all over the world, that are used as basic timing data for TAI and UTC generation, must be combined in the most efficient way possible. In particular, to take full advantage of the quality of each contributing clock calls for observation of its performance over a sufficiently long time. At present, the computation period treats data in blocks covering two months. TAI and UTC are thus deferred-time scales that cannot be immediately available to real-time users. The BIPM can, nevertheless be of help to real-time users. The predictability of UTC is a fundamental attribute of the scale for institutions responsible for the dissemination of real-time time scales. It allows them to improve their local representations of UTC and, thus, implement a more thorough steering of the time scales diffused in real-time. With a view to improving the predicatbility of UTC, the BIPM examines in detail timing techniques and basic theories in order to propose alternative solutions for timing algorithms. This, coupled with a recent improvement of timing data, makes UTC more stable and thus, more predictable. At a more practical level, effort is being devoted to putting in place automatic procedures for reducing the time needed for data collection and treatment: monthly results are already available ten days earlier than before.

Quinn, T. J.↗

NASA NTRS1996

Neural Networks for Flight Control

Neural networks are being developed at NASA Ames Research Center to permit real-time adaptive control of time varying nonlinear systems, enhance the fault-tolerance of mission hardware, and permit online system reconfiguration. In general, the problem of controlling time varying nonlinear systems with unknown structures has not been solved. Adaptive neural control techniques show considerable promise and are being applied to technical challenges including automated docking of spacecraft, dynamic balancing of the space station centrifuge, online reconfiguration of damaged aircraft, and reducing cost of new air and spacecraft designs. Our experiences have shown that neural network algorithms solved certain problems that conventional control methods have been unable to effectively address. These include damage mitigation in nonlinear reconfiguration flight control, early performance estimation of new aircraft designs, compensation for damaged planetary mission hardware by using redundant manipulator capability, and space sensor platform stabilization. This presentation explored these developments in the context of neural network control theory. The discussion began with an overview of why neural control has proven attractive for NASA application domains. The more important issues in control system development were then discussed with references to significant technical advances in the literature. Examples of how these methods have been applied were given, followed by projections of emerging application needs and directions.

Jorgensen, Charles C.↗

NASA NTRS1996

Fault Diagnosis of Power Systems Using Intelligent Systems

The power system operator's need for a reliable power delivery system calls for a real-time or near-real-time Al-based fault diagnosis tool. Such a tool will allow NASA ground controllers to re-establish a normal or near-normal degraded operating state of the EPS (a DC power system) for Space Station Alpha by isolating the faulted branches and loads of the system. And after isolation, re-energizing those branches and loads that have been found not to have any faults in them. A proposed solution involves using the Fault Diagnosis Intelligent System (FDIS) to perform near-real time fault diagnosis of Alpha's EPS by downloading power transient telemetry at fault-time from onboard data loggers. The FDIS uses an ANN clustering algorithm augmented with a wavelet transform feature extractor. This combination enables this system to perform pattern recognition of the power transient signatures to diagnose the fault type and its location down to the orbital replaceable unit. FDIS has been tested using a simulation of the LeRC Testbed Space Station Freedom configuration including the topology from the DDCU's to the electrical loads attached to the TPDU's. FDIS will work in conjunction with the Power Management Load Scheduler to determine what the state of the system was at the time of the fault condition. This information is used to activate the appropriate diagnostic section, and to refine if necessary the solution obtained. In the latter case, if the FDIS reports back that it is equally likely that the faulty device as 'start tracker #1' and 'time generation unit,' then based on a priori knowledge of the system's state, the refined solution would be 'star tracker #1' located in cabinet ITAS2. It is concluded from the present studies that artificial intelligence diagnostic abilities are improved with the addition of the wavelet transform, and that when such a system such as FDIS is coupled to the Power Management Load Scheduler, a faulty device can be located and isolated from the rest of the system. The benefit of these studies provides NASA with the ability to quickly restore the operating status of a space station from a critical state to a safe degraded mode, thereby saving costs in experimentation rescheduling, fault diagnostics, and prevention of loss-of-life.

Momoh, James A.↗

NASA NTRS1997

Recovery of motion parameters from distortions in scanned images

Scanned images, such as those produced by the scanning-laser ophthalmoscope (SLO), show distortions when there is target motion. This is because pixels corresponding to different image regions are acquired sequentially, and so, in essence, are slices of different snapshots. While these distortions create problems for image registration algorithms, they are potentially useful for recovering target motion parameters at temporal frequencies above the frame rate. Stetter, Sendtner and Timberlake measured large distortions in SLO images to recover the time course of rapid horizontal saccadic eye movements. Here, this work is extended with the goal of automatically recovering small eye movements in two dimensions. Eye position during the frame interval is modeled using a low dimensional parametric description, which in turn is used to generate predicted distortions of a reference template. The input image is then registered to the distorted template using normalized cross correlation. The motion parameters are then varied, and the correlation recomputed, to find the motion which maximizes the peak value of the correlation. The location and value of the correlation maximum are determined with sub-pixel precision using biquadratic interpolation, yielding eye position resolution better than 1 arc minute. This method of motion parameter estimation is tested using actual SLO images as well as simulated images. Motion parameter estimation might also be applied to individual video lines in order to reduce pipeline delays for a near real-time system.

Mulligan, Jeffrey B.↗

NASA NTRS1998

Conversion from Engineering Units to Telemetry Counts on Dryden Flight Simulators

Dryden real-time flight simulators encompass the simulation of pulse code modulation (PCM) telemetry signals. This paper presents a new method whereby the calibration polynomial (from first to sixth order), representing the conversion from counts to engineering units (EU), is numerically inverted in real time. The result is less than one-count error for valid EU inputs. The Newton-Raphson method is used to numerically invert the polynomial. A reverse linear interpolation between the EU limits is used to obtain an initial value for the desired telemetry count. The method presented here is not new. What is new is how classical numerical techniques are optimized to take advantage of modem computer power to perform the desired calculations in real time. This technique makes the method simple to understand and implement. There are no interpolation tables to store in memory as in traditional methods. The NASA F-15 simulation converts and transmits over 1000 parameters at 80 times/sec. This paper presents algorithm development, FORTRAN code, and performance results.

Fantini, Jay A.↗

NASA NTRS1999

Flight Test of an Adaptive Configuration Optimization System for Transport Aircraft

A NASA Dryden Flight Research Center program explores the practical application of real-time adaptive configuration optimization for enhanced transport performance on an L-1011 aircraft. This approach is based on calculation of incremental drag from forced-response, symmetric, outboard aileron maneuvers. In real-time operation, the symmetric outboard aileron deflection is directly optimized, and the horizontal stabilator and angle of attack are indirectly optimized. A flight experiment has been conducted from an onboard research engineering test station, and flight research results are presented herein. The optimization system has demonstrated the capability of determining the minimum drag configuration of the aircraft in real time. The drag-minimization algorithm is capable of identifying drag to approximately a one-drag-count level. Optimizing the symmetric outboard aileron position realizes a drag reduction of 2-3 drag counts (approximately 1 percent). Algorithm analysis of maneuvers indicate that two-sided raised-cosine maneuvers improve definition of the symmetric outboard aileron drag effect, thereby improving analysis results and consistency. Ramp maneuvers provide a more even distribution of data collection as a function of excitation deflection than raised-cosine maneuvers provide. A commercial operational system would require airdata calculations and normal output of current inertial navigation systems; engine pressure ratio measurements would be optional.

Gilyard, Glenn B.↗

NASA NTRS1999

System and Method for Finite Element Simulation of Helicopter Turbulence

The present invention provides a turbulence model that has been developed for blade-element helicopter simulation. This model uses an innovative temporal and geometrical distribution algorithm that preserves the statistical characteristics of the turbulence spectra over the rotor disc, while providing velocity components in real time to each of five blade-element stations along each of four blades. for a total of twenty blade-element stations. The simulator system includes a software implementation of flight dynamics that adheres to the guidelines for turbulence set forth in military specifications. One of the features of the present simulator system is that it applies simulated turbulence to the rotor blades of the helicopter, rather than to its center of gravity. The simulator system accurately models the rotor penetration into a gust field. It includes time correlation between the front and rear of the main rotor, as well as between the side forces felt at the center of gravity and at the tail rotor. It also includes features for added realism, such as patchy turbulence and vertical gusts in to which the rotor disc penetrates. These features are realized by a unique real time implementation of the turbulence filters. The new simulator system uses two arrays one on either side of the main rotor to record the turbulence field and to produce time-correlation from the front to the rear of the rotor disc. The use of Gaussian Interpolation between the two arrays maintains the statistical properties of the turbulence across the rotor disc. The present simulator system and method may be used in future and existing real-time helicopter simulations with minimal increase in computational workload.

McFarland, R. E.↗

NASA NTRS1999

Global Monitoring of Precipitation on Monthly and Shorter Time Scales Utilizing Low-Orbit and Geosynchronous Satellite Observations

A satellite-based system to monitor global precipitation on monthly and shorter time scales is described. The monitoring system is based primarily on the Global Precipitation Climatology Project (GPCP) global, monthly, 2.5 degree by 2.5 degree latitude-longitude product which utilizes precipitation estimates from low-orbit microwave sensors (SSM/I) and geosynchronous IR sensors and raingauge information over land. The low-orbit microwave estimates are used to adjust or correct the geosynchronous IR estimates, thereby maximizing the utility of the more physically-based microwave estimates and the finer time sampling of the geosynchronous observations. Information from raingauges is blended into the analyses over land. This globally complete, monthly product is available from January 1986 to the present, with an extension back to January 1979 underway using non-SSM/I data. The monthly GPCP merged data product described in the previous paragraph is available a few (2-4) months after the end of the month. An analysis based solely on low-orbit microwave (SSM/1) data and the Goddard Profiling (GPROF) algorithm is used to bring the global monitoring up to real time. Anomalies from climatological means are produced from both the GPCP and GPROF fields to monitor the evolution of global precipitation, including the calculation of ENSO precipitation indices for real-time (five- day running means) climate monitoring and comparison with previous ENSO anomalies. The long-term climatology of the global precipitation field and the time and space variations thereof will be discussed, including the variations associated with the 1997- 1998 ENSO. The GPCP fields will also be compared to analyses based on the recently launched Tropical Rain Measuring Mission (TRMM). On an even shorter time scale, a new daily, 1 degree x 1 degree latitude-longitude global analysis has been developed starting in January 1997 utilizing low-orbit microwave and geosynchronous IR information using a similar method as is used to produce the monthly GPCP product. Retaining the overall small bias of the monthly product the daily product will allow greater utilization in the hydrology and other science communities.

Adler, Robert↗

NASA NTRS2000

Performance of an Optimized Eta Model Code on the Cray T3E and a Network of PCs

In the year 2001, NASA will launch the satellite TRIANA that will be the first Earth observing mission to provide a continuous, full disk view of the sunlit Earth. As a part of the HPCC Program at NASA GSFC, we have started a project whose objectives are to develop and implement a 3D cloud data assimilation system, by combining TRIANA measurements with model simulation, and to produce accurate statistics of global cloud coverage as an important element of the Earth's climate. For simulation of the atmosphere within this project we are using the NCEP/NOAA operational Eta model. In order to compare TRIANA and the Eta model data on approximately the same grid without significant downscaling, the Eta model will be integrated at a resolution of about 15 km. The integration domain (from -70 to +70 deg in latitude and 150 deg in longitude) will cover most of the sunlit Earth disc and will continuously rotate around the globe following TRIANA. The cloud data assimilation is supposed to run and produce 3D clouds on a near real-time basis. Such a numerical setup and integration design is very ambitious and computationally demanding. Thus, though the Eta model code has been very carefully developed and its computational efficiency has been systematically polished during the years of operational implementation at NCEP, the current MPI version may still have problems with memory and efficiency for the TRIANA simulations. Within this work, we optimize a parallel version of the Eta model code on a Cray T3E and a network of PCs (theHIVE) in order to improve its overall efficiency. Our optimization procedure consists of introducing dynamically allocated arrays to reduce the size of static memory, and optimizing on a single processor by splitting loops to limit the number of streams. All the presented results are derived using an integration domain centered at the equator, with a size of 60 x 60 deg, and with horizontal resolutions of 1/2 and 1/3 deg, respectively. In accompanying charts we report the elapsed time, the speedup and the Mflops as a function of the number of processors for the non-optimized version of the code on the T3E and theHIVE. The large amount of communication required for model integration explains its poor performance on theHIVE. Our initial implementation of the dynamic memory allocation has contributed to about 12% reduction of memory but has introduced a 3% overhead in computing time. This overhead was removed by performing loop splitting in some of the high demanding subroutines. When the Eta code is fully optimized in order to meet the memory requirement for TRIANA simulations, a non-negligeable overhead may appear that may seriously affect the efficiency of the code. To alleviate this problem, we are considering implementation of a new algorithm for the horizontal advection that is computationally less expensive, and also a new approach for marching in time.

Kouatchou, Jules↗

NASA NTRS2000

The Atmospheric Channels of GLAS: Near Real-Time Global Lidar Remote Sensing of Clouds and Aerosols from Space

The Geoscience Laser Altimeter System (GLAS) will be placed into orbit in 2001 aboard the Ice, Cloud and Land Elevation Satellite (ICESat). From its nearly polar orbit (94 degree inclination), GLAS will provide continuous global measurements of the vertical distribution of clouds and aerosols while simultaneously providing high accuracy topographic profiling of surface features. During the mission, which is slated to last 3 to 5 years, the data collected by GLAS will be in near-real time to produce level 1 and 2 data products at the NASA GLAS Science Computing Facility (SCF) at Goddard Space Flight Center in Greenbelt, Maryland. The atmospheric products include cloud and aerosol layer heights, planetary boundary layer depth, polar stratospheric clouds and thin cloud and aerosol optical depth. These products will be made available to the science community within days of their creation. The processing algorithms must be robust, adaptive, efficient, and clever enough to run autonomously for the widely varying atmospheric conditions that will be encountered. This paper presents an overview of the GLAS atmospheric data products and briefly discusses the design of the processing algorithms.

Palm, Stephen P.↗

NASA NTRS2000

On-Line, Self-Learning, Predictive Tool for Determining Payload Thermal Response

This paper will present the results of a joint ManTech / Goddard R&D effort, currently under way, to develop and test a computer based, on-line, predictive simulation model for use by facility operators to predict the thermal response of a payload during thermal vacuum testing. Thermal response was identified as an area that could benefit from the algorithms developed by Dr. Jeri for complex computer simulations. Most thermal vacuum test setups are unique since no two payloads have the same thermal properties. This requires that the operators depend on their past experiences to conduct the test which requires time for them to learn how the payload responds while at the same time limiting any risk of exceeding hot or cold temperature limits. The predictive tool being developed is intended to be used with the new Thermal Vacuum Data System (TVDS) developed at Goddard for the Thermal Vacuum Test Operations group. This model can learn the thermal response of the payload by reading a few data points from the TVDS, accepting the payload's current temperature as the initial condition for prediction. The model can then be used as a predictive tool to estimate the future payload temperatures according to a predetermined shroud temperature profile. If the error of prediction is too big, the model can be asked to re-learn the new situation on-line in real-time and give a new prediction. Based on some preliminary tests, we feel this predictive model can forecast the payload temperature of the entire test cycle within 5 degrees Celsius after it has learned 3 times during the beginning of the test. The tool will allow the operator to play "what-if' experiments to decide what is his best shroud temperature set-point control strategy. This tool will save money by minimizing guess work and optimizing transitions as well as making the testing process safer and easier to conduct.

Jen, Chian-Li↗

NASA NTRS2001

Implementation of a General Real-Time Visual Anomaly Detection System Via Soft Computing

The intelligent visual system detects anomalies or defects in real time under normal lighting operating conditions. The application is basically a learning machine that integrates fuzzy logic (FL), artificial neural network (ANN), and generic algorithm (GA) schemes to process the image, run the learning process, and finally detect the anomalies or defects. The system acquires the image, performs segmentation to separate the object being tested from the background, preprocesses the image using fuzzy reasoning, performs the final segmentation using fuzzy reasoning techniques to retrieve regions with potential anomalies or defects, and finally retrieves them using a learning model built via ANN and GA techniques. FL provides a powerful framework for knowledge representation and overcomes uncertainty and vagueness typically found in image analysis. ANN provides learning capabilities, and GA leads to robust learning results. An application prototype currently runs on a regular PC under Windows NT, and preliminary work has been performed to build an embedded version with multiple image processors. The application prototype is being tested at the Kennedy Space Center (KSC), Florida, to visually detect anomalies along slide basket cables utilized by the astronauts to evacuate the NASA Shuttle launch pad in an emergency. The potential applications of this anomaly detection system in an open environment are quite wide. Another current, potentially viable application at NASA is in detecting anomalies of the NASA Space Shuttle Orbiter's radiator panels.

Dominguez, Jesus A.↗

NASA NTRS2001

Preprocessing for Eddy Dissipation Rate and TKE Profile Generation

The Aircraft Vortex Spacing System (AVOSS), a set of algorithms to determine aircraft spacing according to wake vortex behavior prediction, requires turbulence profiles to appropriately determine arrival and departure aircraft spacing. The ambient atmospheric turbulence profile must always be produced, even if the result is an arbitrary (canned) profile. The original turbulence profile code was generated By North Carolina State University and used in a non-real-time environment in the past. All the input parameters could be carefully selected and screened prior to input. Since this code must run in real-time using actual measurements in the field as input, it became imperative to begin a data checking and screening process as part of the real-time implementation. The process described herein is a step towards ensuring that the best possible turbulence profile is always provided to AVOSS. Data fill-ins, constant profiles and arbitrary profiles are used only as a last resort, but are essential to ensure uninterrupted application of AVOSS.

Zak, J. Allen↗

NASA NTRS2001

Finite Element Methods for real-time Haptic Feedback of Soft-Tissue Models in Virtual Reality Simulators

We have applied the linear elastic finite element method to compute haptic force feedback and domain deformations of soft tissue models for use in virtual reality simulators. Our results show that, for virtual object models of high-resolution 3D data (>10,000 nodes), haptic real time computations (>500 Hz) are not currently possible using traditional methods. Current research efforts are focused in the following areas: 1) efficient implementation of fully adaptive multi-resolution methods and 2) multi-resolution methods with specialized basis functions to capture the singularity at the haptic interface (point loading). To achieve real time computations, we propose parallel processing of a Jacobi preconditioned conjugate gradient method applied to a reduced system of equations resulting from surface domain decomposition. This can effectively be achieved using reconfigurable computing systems such as field programmable gate arrays (FPGA), thereby providing a flexible solution that allows for new FPGA implementations as improved algorithms become available. The resulting soft tissue simulation system would meet NASA Virtual Glovebox requirements and, at the same time, provide a generalized simulation engine for any immersive environment application, such as biomedical/surgical procedures or interactive scientific applications.

Frank, Andreas O.↗

NASA NTRS1998

Exploring Gigabyte Datasets in Real Time: Architectures, Interfaces and Time-Critical Design

Architectures and Interfaces: The implications of real-time interaction on software architecture design: decoupling of interaction/graphics and computation into asynchronous processes. The performance requirements of graphics and computation for interaction. Time management in such an architecture. Examples of how visualization algorithms must be modified for high performance. Brief survey of interaction techniques and design, including direct manipulation and manipulation via widgets. talk discusses how human factors considerations drove the design and implementation of the virtual wind tunnel. Time-Critical Design: A survey of time-critical techniques for both computation and rendering. Emphasis on the assignment of a time budget to both the overall visualization environment and to each individual visualization technique in the environment. The estimation of the benefit and cost of an individual technique. Examples of the modification of visualization algorithms to allow time-critical control.

Bryson, Steve↗

NASA NTRS2002

Real Time Monitoring of Flooding from Microwave Satellite Observations

We have developed a new method for making high-resolution flood extent maps (e.g., at the 30-100 m scale of digital elevation models) in real-time from low-resolution (20-70 km) passive microwave observations. The method builds a "flood-potential" database from elevations and historic flood imagery and uses it to create a flood-extent map consistent with the observed open water fraction. Microwave radiometric measurements are useful for flood monitoring because they sense surface water in clear-or-cloudy conditions and can provide more timely data (e.g., compared to radars) from relatively wide swath widths and an increasing number of available platforms (DMSP, ADEOS-II, Terra, NPOESS, GPM). The chief disadvantages for flood mapping are the radiometers' low resolution and the need for local calibration of the relationship between radiances and open-water fraction. We present our method for transforming microwave sensor-scale open water fraction estimates into high-resolution flood extent maps and describe 30-day flood map sequences generated during a retrospective study of the 1993 Great Midwest Flood. We discuss the method's potential improvement through as yet unimplemented algorithm enhancements and expected advancements in microwave radiometry (e.g., improved resolution and atmospheric correction).

Galantowicz, John F.↗

NASA NTRS2001

Flight Test Results of a Synthetic Vision Elevation Database Integrity Monitor

This paper discusses the flight test results of a real-time Digital Elevation Model (DEM) integrity monitor for Civil Aviation applications. Providing pilots with Synthetic Vision (SV) displays containing terrain information has the potential to improve flight safety by improving situational awareness and thereby reducing the likelihood of Controlled Flight Into Terrain (CFIT). Utilization of DEMs, such as the digital terrain elevation data (DTED), requires a DEM integrity check and timely integrity alerts to the pilots when used for flight-critical terrain-displays, otherwise the DEM may provide hazardous misleading terrain information. The discussed integrity monitor checks the consistency between a terrain elevation profile synthesized from sensor information, and the profile given in the DEM. The synthesized profile is derived from DGPS and radar altimeter measurements. DEMs of various spatial resolutions are used to illustrate the dependency of the integrity monitor s performance on the DEMs spatial resolution. The paper will give a description of proposed integrity algorithms, the flight test setup, and the results of a flight test performed at the Ohio University airport and in the vicinity of Asheville, NC.

deHaag, Maarten Uijt↗

NASA NTRS2002

Applications of Kalman filtering to real-time trace gas concentration measurements

A Kalman filtering technique is applied to the simultaneous detection of NH3 and CO2 with a diode-laser-based sensor operating at 1.53 micrometers. This technique is developed for improving the sensitivity and precision of trace gas concentration levels based on direct overtone laser absorption spectroscopy in the presence of various sensor noise sources. Filter performance is demonstrated to be adaptive to real-time noise and data statistics. Additionally, filter operation is successfully performed with dynamic ranges differing by three orders of magnitude. Details of Kalman filter theory applied to the acquired spectroscopic data are discussed. The effectiveness of this technique is evaluated by performing NH3 and CO2 concentration measurements and utilizing it to monitor varying ammonia and carbon dioxide levels in a bioreactor for water reprocessing, located at the NASA-Johnson Space Center. Results indicate a sensitivity enhancement of six times, in terms of improved minimum detectable absorption by the gas sensor.

Non-NASA Center↗