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725 records · Page 41

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NASA NTRS1994

Task scheduling in dataflow computer architectures

Dataflow computers provide a platform for the solution of a large class of computational problems, which includes digital signal processing and image processing. Many typical applications are represented by a set of tasks which can be repetitively executed in parallel as specified by an associated dataflow graph. Research in this area aims to model these architectures, develop scheduling procedures, and predict the transient and steady state performance. Researchers at NASA have created a model and developed associated software tools which are capable of analyzing a dataflow graph and predicting its runtime performance under various resource and timing constraints. These models and tools were extended and used in this work. Experiments using these tools revealed certain properties of such graphs that require further study. Specifically, the transient behavior at the beginning of the execution of a graph can have a significant effect on the steady state performance. Transformation and retiming of the application algorithm and its initial conditions can produce a different transient behavior and consequently different steady state performance. The effect of such transformations on the resource requirements or under resource constraints requires extensive study. Task scheduling to obtain maximum performance (based on user-defined criteria), or to satisfy a set of resource constraints, can also be significantly affected by a transformation of the application algorithm. Since task scheduling is performed by heuristic algorithms, further research is needed to determine if new scheduling heuristics can be developed that can exploit such transformations. This work has provided the initial development for further long-term research efforts. A simulation tool was completed to provide insight into the transient and steady state execution of a dataflow graph. A set of scheduling algorithms was completed which can operate in conjunction with the modeling and performance tools previously developed. Initial studies on the performance of these algorithms were done to examine the effects of application algorithm transformations as measured by such quantities as number of processors, time between outputs, time between input and output, communication time, and memory size.

Katsinis, Constantine↗

NASA NTRSDate not supplied

Key Observations and Discoveries from the Vector Electric Field Investigation on the C/NOFS Satellite

Launched in 2008 and operating for 7.5 years, the Air Force Communication /Navigation Outage Forecasting System (C/NOFS) satellite included the Vector Electric Field Investigation (VEFI) designed and built at NASA’s Goddard Space Flight Center. VEFI successfully met its objectives: 1) investigate the role of ambient electric fields in initiating nighttime density depletions and turbulence; 2) determine the quasi-DC electric fields associated with abrupt density depletions, and 3) quantify the spectrum of the irregularities associated with density depletions, providing many key observations and discoveries including: -- Global (low latitude) vector DC electric fields at 16 s/sec revealing variations with local time, longitude, and season between extremely low and moderate solar activity-- Reversed zonal E x B drifts below the F-region ledge at sunset and simultaneous observations of large scale Kelvin-Helmholtz instabilities as seeds of spread-F -- Large expanses of quasi-coherent kilometer-scale vector wave observations (electric field and density) below 450 km and their discovery as a source of scintillations using the C/NOFS GPS -- Reversed zonal DC electric fields and simultaneous observations of afternoon counter electrojet-- Enhanced zonal DC electric fields at sunrise and full vector plasma flow continuity at the terminator-- Vector electric field and density irregularities extending to meter-scales within equatorial plasma depletions -- Intense electric field structure within the equatorial ionosphere at night in the absence of density depletions -- First observations of the westward equatorial electrojet in post-midnight ionosphere and possible association with downward meridional drifts-- Spaceborne Dst observations and implications for ring current asymmetries-- Vector electric and magnetic field Poynting flux within depletions and TIDs-- Measurements of ionospheric reflectance and Alfvenic waves associated with TIDs-- Observations of Alfven resonators -- ULF magnetic field structure within the nightime equatorial ionosphere-- Discovery of Schumman resonances in space and implications of ELF radiowave propagation-- Vector observations of 50-60 Hz powerline radiation without harmonics-- Ion cyclotron resonance absorption lines associated with ELF hiss and the identification of ambient ions-- Parallel electric fields associated with lower hybrid waves driven by thunderstorm lightning-related sferics-- Discovery of Z-mode radiation in the equatorial ionosphere including its associated with density depletions-- Optical lightning detector waveforms and electric field sferics observed up to altitudes of 800 km

Robert F Pfaff↗

NASA NTRS2003

Definition of International GPM GV Research Program

The Global Precipitation Measurement (GPM) Mission will consist of a constellation of rain-measuring satellites, the main member of which (the core satellite) will serve as the measurement reference to the other members of the constellation. The core satellite is being developed jointly by the National Aeronautics and Space Administration (NASA) and the newly-named Japan Aerospace Exploration Agency (JAXA -- previously NASDA) along with its government partner, the Communications Research Laboratory (CRL). The GPM mission was proposed as a follow-up mission to the Tropical Rainfall Measuring Mission (TRMM) by both NASA and NASDA based on the unparalleled scientific success of TRMM, and has recently been joined by the European Space Agency (ESA) via its formulation of the European GPM mission (i.e., EGPM). GPM is an ambitious mission designed to produce accurate and frequent global observations of precipitation (both rain and snow) made possible by replacing the TRMM satellite with the new core satellite carrying an advanced radar-radiometer system, and serving as the centerpiece for the constellation of some eight (8) additional satellites being provided through international cooperation. The core satellite is to be flown up to high latitudes (inclined some 65-70 degrees), and will carry a Ku/Ka-band, nadir-scanning, dual-frequency precipitation radar (DPR) that is being developed by JAXA and CRL, along with a large aperture, extended frequency-range, conically-scanning passive microwave radiometer being developed by NASA and its industrial partners. Each constellation satellite will also carry some type of multi-channel passive microwave radiometer (as well as a multi-beam Ka-band radar in the case of EGPM) whose rain estimates will be calibrated and referenced to those made by the core satellite, producing for the first time fully-global, continuous, and bias-free precipitation datasets. GPM data will be delivered in near-realtime, taking a major step toward the operational use of precipitation information for model initialization and data assimilation in a number of application areas such as hazardous weather forecasting, flood warning, fresh water resource assessment, and crop growth prediction. In addition, GPM data will complement the now-existing global temperature record, allowing for improved assessments of climate change, particularly those processes in which the global water cycle both forces and responds to climatic drifts in global temperature conditions. A foremost element of this international constellation mission is a parallel international ground validation (GV) network. This GV network is needed to determine uncertainties in the rain retrievals, critical for application of the retrieval information in weather and hydrometeorological modeling and climate diagnostics, as well as assurances that the satellite retrievals of surface rainfall are consistent with those actually measured at the surface. The key aspects of this network is that it must be worldwide and created through the GPM partnership process. Therefore the network will consist of a confederation of government agencies, academic organizations, private institutions, and individual scientists from a collection of nations who have initiated the process by gathering in Abingdon to develop the fundamentals of the international GPM GV research programme. Therefore in keeping with our responsibilities as the front-runners of the programme, the main objectives of this workshop are: (1) to present and share opinions on interests, perspectives, and concerns about GPM GV research; (2) to examine the conceptual and/or planned GPM GV site templates from NASA, NASDA, ESA, and other partners; (3) to define the main scientific objectives of the international GPM GV research programme; (4) to formulate a preliminary set of international GPM GV science and measurement requirements; and (5) to convene a Steering Committee to aid the organization of the GPM GV program, to document its science implementation plans, and to aid planning for follow-up GPM GV meetings.

Smith, Eric A.↗

NASA NTRS1994

A fiber matrix model for fluid flow and streaming potentials in the canaliculi of an osteon

A theoretical model is developed to predict the fluid shear stress and streaming potential at the surface of osteocytic processes in the lacunar-canalicular porosity of an osteon when the osteon is subject to mechanical loads that are parallel or perpendicular to its axis. The theory developed in Weinbaum et al. (31) for the flow through a proteoglycan matrix in a canaliculus is employed in a poroelastic model for the osteon. Our formulation is a generalization of that of Petrov et al. (17). Our model predicts that, in order to satisfy the measured frequency dependence of the phase and magnitude of the SGP in macroscopic bone samples, the fiber spacing in the fluid annulus must lie in the narrow range 6-7 nm typical of the spacing of GAG sidechains along a protein monomer. The model predictions for the local SGP profiles in the osteon agree with the experimental observations of Starkebaum et al. (24). The theory predicts that the pore pressure relaxation time, tau d, for a 150-300 microns diameter osteon with the foregoing matrix structure is approximately 0.03-0.13 sec, and that the amplitude of the mean fluid shear stress on the membrane of the osteocytic process at the mean areal radius of the osteon has a maximum at 28 Hz if tau d = 0.06 sec. This maximum, which is independent of the magnitude of the loading, could be important in vivo since the recent experiments of Turner et al. (28) and McLeod et al. (15) have a peak in the strain frequency spectrum between 20 and 30 Hz that also appears to be independent of the type (magnitude) of loading. Numerical predictions for the amplitude of the average fluid shear stress on the osteocytic membrane at the mean areal radius of the osteon show that the fluid shear stress associated with the low amplitude 20-30 Hz spectral strain component is at least as large as the average fluid shear stress associated with the high amplitude 1 Hz stride component, although the latter loading is an order of magnitude larger, and has a magnitude that lies within the middle of the range, 6-30 dynes/cm2, where fluid shear stresses in tissue culture studies with osteoblast monolayers have elicited an intracellular Ca++ response (31). The implications of these results for intracellular electrical communication are discussed.

Non-NASA Center↗

NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗