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Abstract Datatypes in PVS

PVS (Prototype Verification System) is a general-purpose environment for developing specifications and proofs. This document deals primarily with the abstract datatype mechanism in PVS which generates theories containing axioms and definitions for a class of recursive datatypes. The concepts underlying the abstract datatype mechanism are illustrated using ordered binary trees as an example. Binary trees are described by a PVS abstract datatype that is parametric in its value type. The type of ordered binary trees is then presented as a subtype of binary trees where the ordering relation is also taken as a parameter. We define the operations of inserting an element into, and searching for an element in an ordered binary tree; the bulk of the report is devoted to PVS proofs of some useful properties of these operations. These proofs illustrate various approaches to proving properties of abstract datatype operations. They also describe the built-in capabilities of the PVS proof checker for simplifying abstract datatype expressions.

Owre, Sam↗

TRMM On Orbit Attitude Control System Performance

This paper presents an overview of the Tropical Rainfall Measuring Mission (TRMM) Attitude Control System (ACS) along with detailed in-flight performance results for each operational mode. The TRMM spacecraft is an Earth-pointed, zero momentum bias satellite launched on November 27, 1997 from Tanegashima Space Center, Japan. TRMM is a joint mission between NASA and the National Space Development Agency (NASDA) of Japan designed to monitor and study tropical rainfall and the associated release of energy. Launched to provide a validation for poorly known rainfall data sets generated by global climate models, TRMM has demonstrated its utility by reducing uncertainties in global rainfall measurements by a factor of two. The ACS is comprised of Attitude Control Electronics (ACE), an Earth Sensor Assembly (ESA), Digital Sun Sensors (DSS), Inertial Reference Units (IRU), Three Axis Magnetometers (TAM), Coarse Sun Sensors (CSS), Magnetic Torquer Bars (MTB), Reaction Wheel Assemblies (RWA), Engine Valve Drivers (EVD) and thrusters. While in Mission Mode, the ESA provides roll and pitch axis attitude error measurements and the DSS provide yaw updates twice per orbit. In addition, the TAM in combination with the IRU and DSS can be used to provide pointing in a contingency attitude determination mode which does not rely on the ESA. Although the ACS performance to date has been highly successful, lessons were learned during checkout and initial on-orbit operation. This paper describes the design, on-orbit checkout, performance and lessons learned for the TRMM ACS.

Robertson, Brent↗

On-Orbit Performance of the TRMM Mission Mode

This paper presents an overview of the Tropical Rainfall Measuring Mission (TRMM) Attitude Control System along with detailed in-flight performance results of the TRMM Mission mode. The TRMM spacecraft is an Earth-pointed, zero momentum bias satellite launched on November 27, 1997 from Tanegashima Space Center, Japan. TRMM is a joint mission between NASA and the National Space Development Agency of Japan designed to monitor and study tropical rainfall and the associated release of energy. Prior to calibration, the spacecraft attitude showed larger Sun sensor yaw updates than expected. This was traced to not just sensor misalignment but also to a misalignment between the two heads within each Sun sensor. In order to avoid alteration of the flight software, Sun sensor transfer function coefficients were determined to minimize the error due to head misalignment. This paper describes the design, on-orbit checkout, calibration and performance of the TRMM Mission Mode with respect to the mission level requirements.

Robertson, Brent↗

The Formal Semantics of PVS

A specification language is a medium for expressing what is computed rather than how it is computed. Specification languages share some features with programming languages but are also different in several important ways. For our purpose, a specification language is a logic within which the behavior of computational systems can be formalized. Although a specification can be used to simulate the behavior of such systems, we mainly use specifications to state and prove system properties with mechanical assistance. We present the formal semantics of the specification language of SRI's Prototype Verification System (PVS). This specification language is based on the simply typed lambda calculus. The novelty in PVS is that it contains very expressive language features whose static analysis (e.g., typechecking) requires the assistance of a theorem prover. The formal semantics illuminates several of the design considerations underlying PVS, the interaction between theorem proving and typechecking.

Owre, Sam↗

Laminar Dust Flames: A Program of Microgravity and Ground Based Studies at McGill

Fundamental knowledge of heterogeneous combustion mechanisms is required to improve utilization of solid fuels (e.g. coal), safe handling of combustible dusts in industry, and solid propulsion systems. The objective of the McGill University research program on dust combustion is to obtain a reliable set of data on basic combustion parameters for dust suspensions (i.e. laminar burning velocity, flame structure, quenching distance, flammability limits, etc.) over a range of particle sizes, dust concentrations, and types of fuel. This set of data then permits theoretical models to be validated and, when necessary, new models to be developed to describe the detailed reaction mechanisms and transport processes. Microgravity is essential to the generation of a uniform dust suspension of arbitrary particle size and concentration. When particles with a characteristic size on the order of tens of microns are suspended, they rapidly settle in a gravitational field. To maintain a particulate in suspension for time duration adequate to carry out combustion experiments invariably requires continuous convective flow in excess of the gravitational settling velocity (which is comparable with and can even exceed the dust laminar burning velocity). This makes the experiments turbulent in nature and thus renders it impossible to study laminar dust flames. Even for small particle sizes on the order of microns, a stable laminar dust flow can be maintained only for relatively low dust concentrations at normal gravity conditions. High dust loading leads to gravitational instability of the dust cloud and to the formation of recirculation cells in the dust suspension in a confined volume, or to the rapid sedimentation of the dense dust cloud, as a whole, in an unconfined volume. Many important solid fuels such as carbon and boron also have low laminar flame speeds (of the order of several centimeters per second). Convection that occurs in combustion products due to buoyancy disrupts the low speed dust flames and makes observation of such flames at normal gravity difficult.

Goroshin, Sam↗

Mixing of Supersonic Streams

The Strutjet approach to Rocket Based Combined Cycle (RBCC) propulsion depends upon fuel-rich flows from the rocket nozzles and turbine exhaust products mixing with the ingested air for successful operation in the ramjet and scramjet modes. It is desirable to delay this mixing process in the air-augmented mode of operation present during low speed flight. A model of the Strutjet device has been built and is undergoing test to investigate the mixing of the streams as a function of distance from the Strutjet exit plane during simulate low speed flight conditions. Cold flow testing of a 1/6 scale Strutjet model is underway and nearing completion. Planar Laser Induced Fluorescence (PLIF) diagnostic methods are being employed to observe the mixing of the turbine exhaust gas with the gases from both the primary rockets and the ingested air simulating low speed, air augmented operation of the RBCC. These diagnostics are supplemented by pressure profile measurements across the various jet streams present in the flow duct downstream of the model exit plane. The results of these experiments will be presented.

Hawk, Clark W.↗

Development of an Advanced Computational Model for OMCVD of Indium Nitride

An advanced computational model is being developed to predict the formation of indium nitride (InN) film from the reaction of trimethylindium (In(CH3)3) with ammonia (NH3). The components are introduced into the reactor in the gas phase within a background of molecular nitrogen (N2). Organometallic chemical vapor deposition occurs on a heated sapphire surface. The model simulates heat and mass transport with gas and surface chemistry under steady state and pulsed conditions. The development and validation of an accurate model for the interactions between the diffusion of gas phase species and surface kinetics is essential to enable the regulation of the process in order to produce a low defect material. The validation of the model will be performed in concert with a NASA-North Carolina State University project.

Cardelino, Carlos A.↗

Renal Stone Risk During Space Flight

Space flight produces a number of metabolic and physiological changes in the crewmembers exposed to microgravity. Following launch, body fluid volumes, electrolyte levels, and bone and muscle undergo changes as the human body adapts to the weightless environment. Changes in the urinary chemical composition may lead to the potentially serious consequences of renal stone formation. Previous data collected immediately after space flight indicate changes in the urine chemistry favoring an increased risk of calcium oxalate and uric acid stone formation (n = 323). During short term Shuttle space flights, the changes observed include increased urinary calcium and decreased urine volume, pH and citrate resulting in a greater risk for calcium oxalate and brushite stone formation (n = 6). Results from long duration Shuttle/Mir missions (n = 9) followed a similar trend and demonstrated decreased fluid intake and urine volume and increased urinary calcium resulting in a urinary environment saturated with the calcium stone-forming salts. The increased risk occurs rapidly upon exposure to microgravity, continues throughout the space flight and following landing. Dietary factors, especially fluid intake, or pharmacologic intervention can significantly influence the urinary chemical composition. Increasing fluid intake to produce a daily urine output of 2 liters/day may allow the excess salts in the urine to remain in solution, crystals formation will not occur and a renal stone will not develop. Results from long duration crewmembers (n = 2) who had urine volumes greater than 2.5 L/day minimized their risk of renal stone formation. Also, comparisons of stone-forming risk in short duration crewmembers clearly identified greater risk in those who produced less than 2 liters of urine/day. However, hydration and increased urine output does not correct the underlying calcium excretion due to bone loss and only treats the symptoms and not the cause of the increased urinary salts. Dietary modification and promising pharmacologic treatments may also be used to reduce the potential risk for renal stone formation. Potassium citrate is being used clinically to increase the urinary inhibitor levels to minimize the development of crystals and the growth of renal stones. Bisphosphonates are a class of drugs recently shown to help in patients with osteoporosis by inhibiting the loss of bones in elderly patients. This drug could potentially prevent the bone loss observed in astronauts and thereby minimize the increase in urinary calcium and reduce the risk for renal stone development. Results of NASA's renal stone risk assessment program clearly indicate that exposure to microgravity changes the urinary chemical environment such that there is an increased risk for supersaturation of stone-forming salts, including calcium oxalaie and brushite. These studies have indicated specific avenues for development of countermeasures for the increased renal stone risk observed during and following space flight. Increased hydration and implementation of pharmacologic countermeasures should largely mitigate the in-flight risk of renal stones.

Whitson, Peggy A.↗

Study Design to Test the Hypothesis That Long-Term Space Travel Harms the Human and Animal Immune Systems

The potential threat of immunosuppression and abnormal inflammatory responses in long-term space travel, leading to unusual predilection for opportunistic infections, malignancy, and death, is of ma or concern to the National Aeronautics and Space Administration (NASA) Program. This application has been devised to seek answers to questions of altered immunity in space travel raised by previous investigations spanning 30-plus years. We propose to do this with the help of knowledge gained by the discovery of the molecular basis of many primary and secondary immunodeficiency diseases and by application of molecular and genetic technology not previously available. Two areas of immunity that previously received little attention in space travel research will be emphasized: specific antibody responses and non-specific inflammation and adhesion. Both of these areas of research will not only add to the growing body of information on the potential effects of space travel on the immune system, but be able to delineate any functional alterations in systems important for antigen presentation, specific immune memory, and cell:cell and cell:endothelium interactions. By more precisely defining molecular dysfunction of components of the immune system, it is hoped that targeted methods of prevention of immune damage in space could be devised.

Shearer, William T.↗

Origin and Reactivity of the Martian Soil: A 2003 Micromission

The role of water in the development of the martian surface remains a fundamental scientific question. Did Mars have one or more "warm and wet" climatic episodes where liquid water was stable at the surface? If so, the mineral phases present in the soils should be consistent with a history of aqueous weathering. More generally, the formation of hydrated mineral phases on Mars is a strong indicator of past habitable surface environments. The primary purpose of this investigation is to help resolve the question of whether such aqueous indicators are present on Mars by probing the upper meter for diagnostic mineral species. According to Burns [1993], the formation of the ferric oxides responsible for the visible color of Mars are the result of dissolution of Fe (+2) phases from basalts followed by aqueous oxidation and precipitation of Fe" mineral assemblages. These precipitates likely included iron oxyhydroxides such as goethite (a-FeOOH) and lepidocrocite (g-FeOOH), but convincing evidence for these phases at the surface is still absent. The stability of these minerals is enhanced beneath the surface, and thus we propose a subsurface search for hydroxylated iron species as a test for a large-scale chemical weathering process based on interactions with liquid water. It is also possible that the ferric minerals on Mars are not aqueous alteration products of the rocks. A chemical study of the Pathfinder landing site concluded that the soils are not directly derived from the surrounding rocks and are enhanced in Mg and Fe. The additional source of these elements might be from other regions of Mars and transported by winds, or alternatively, from exogenic sources. Gibson [1970] proposed that the spectral reflectivity of Mars is consistent with oxidized meteoritic material. Yen and Murray [1998] further extend Gibson's idea and show, in the laboratory, that metallic iron can be readily oxidized to maghemite and hematite under present-day martian surface conditions (in the absence of liquid water). A test for a meteoritic component of the soil can be conducted, as described below, by searching for the presence of Ni at the martian surface. The average abundance of nickel in an Fe-Ni meteorite is about 7% and, if present at measurable levels in the soil, would be indicative of an exogenic contribution. In addition, it may be possible to directly search for mineral phases common in meteorites. An understanding of the formation and evolution of the martian soil would not be complete without addressing the unusual reactivity discovered by the Viking Landers The presence of an inorganic oxidant, possibly one produced as a results of photochemical processes, is the most widely accepted explanation of the Viking results. Are these chemical species simply adsorbed on soil grains, or have they reacted with the metal oxide substrates and altered the mineral structures? Could a completely different (non-photochemical) process be responsible for the soil reactivity? The various ideas for the nature of this putative oxidant could be constrained by a measurement of the change in reactivity with depth. Different compositions will have different lifetimes and mobilities and thus will have different vertical profiles. Because the oxidizing compounds are believed to actively destroy organic molecules, determination of the reactivity gradient also has significant implications for the search for life on Mars. A DS2-based microprobe system can be instrumented for a 2003 micromission to investigate the origin and reactivity of the martian soil. These measurements would provide invaluable information regarding the climate history and exobiological potential of the planet. The NMR, X ray and chemiresistor measurement approach described embodies a highly synergistic and general set of soil interrogation methods for elements, compounds, and crystal structures and can also be applied to other geologic questions of interest. For example, if the capability for precise targeting of the probes is available, then in-situ investigations of suspected evaporite and hydrothermal deposits would be possible with the same set of instruments. Additional information is contained in the original.

Yen, Albert S.↗

Development of a Whole Blood Staining Device for use During Space Shuttle Flights

Exposure to microgravity during space flight results in profound physiologic changes. Numerous studies have shown changes in circulating populations of peripheral blood immune cells immediately after space flight. It is currently unknown if these changes result from exposure to microgravity or are caused by the stress of reentry and readaptation to gravity. We have developed the whole blood staining device as a system for the staining of whole blood collected during space flight for subsequent flow cytometric analysis, This device contains all liquids to address safety issues concerned with space flight and also moves the cells through the staining, lyse/fixation and dilution steps.

Sams, Clarence F.↗

Atomic-Based-Combined-Cycle Analysis

Atomic-based-combined-cycle (ABCC) engine combines an air-breathing ramjet engine with an atomic reactor to increase the mission-averaged specific impulse and thereby increasing the dry-mass ratio. ABCC engine is similar to RBCC engine except that energy needed for the propulsive power is derived from nuclear reaction rather than chemical combustion used in the RBCC engine. The potential performance improvement of an ABCC engine over a RBCC engine comes from two factors. Firstly, the energy density of nuclear reaction is several order of magnitudes higher than the chemical combustion. Secondly, hydrogen can produce much higher nozzle exit velocity because of its small molecular weight. A one-dimensional, transient numerical model was used to analyze a generic scramjet engine and it is used as a baseline to evaluate an imaginary ABCC engine performance. A nuclear reactor is treated as a black box energy source that replaces the role of the primary rocket and the chemical combustion chamber in a RBCC engine. Hydrogen is heated by the reactor and accelerated to produce high-speed ejection velocity. The ejection velocity up 10,000 m/sec is theoretically possible because of high energy density from the reactor and large gas constant of the hydrogen. Oxygen contained in the entrained air reacts with hydrogen and produces propulsive power for ejector mode operation. To provide enough thrust for initial acceleration, relatively large amount of hydrogen must be pumped through the reactor. Amount of oxygen contained in the entrained air may not be sufficient to burn all hydrogen and consequently combustion could occur at the end of exit nozzle. It is assumed that this combustion process is constant-pressure combustion at 1.0 atmospheric pressure and thus not affects the nozzle exit condition.

Han, Sam↗

An Overview of SAL

To become practical for assurance, automated formal methods must be made more scalable, automatic, and cost-effective. Such an increase in scope, scale, automation, and utility can be derived from an emphasis on a systematic separation of concerns during verification. SAL (Symbolic Analysis Laboratory) attempts to address these issues. It is a framework for combining different tools to calculate properties of concurrent systems. The heart of SAL is a language, developed in collaboration with Stanford, Berkeley, and Verimag for specifying concurrent systems in a compositional way. Our instantiation of the SAL framework augments PVS with tools for abstraction, invariant generation, program analysis (such as slicing), theorem proving, and model checking to separate concerns as well as calculate properties (i.e., perform, symbolic analysis) of concurrent systems. We. describe the motivation, the language, the tools, their integration in SAL/PAS, and some preliminary experience of their use.

Bensalem, Saddek↗

Fabrication and Thermo-Optical Properties of the MLS Composite Primary Reflector

The Microwave Limb Sounder (MLS) is a limb-sounding radiometer sensing emissions in the millimeter and sub-millimeter range. MLS will contribute to an understanding of atmospheric chemistry by assessing stratospheric and tropospheric ozone depletion, climate forcings and volcanic effects. The heart of the antenna is the primary reflector, constructed from graphite/cyanate composites in a facesheet/core construction. The reflector has an aperture of one square meter, a mass of 8.7 kilos and final figure accuracy of 4.37 microns rms. The surface is also modified to ensure RF reflectivity, prevent solar concentration and provide thermal balance to the spacecraft The surface is prepared by precision beadblasting, then coated with vapor deposited aluminum (VDA) and finally a layer of silicon suboxide (SiO(x)) to control the infrared emissivity. The resulting surface has a solar absorptance of 0.43 and an absorptance/emittance ratio of 1.3. BRDF analysis shows that 93% of the incident thermal energy is reflected outside a 10 degree angle of cone. For its mass and aperture, we believe this reflector to have the highest figure accuracy yet achieved in a composite antenna construction.

Willis, Paul B.↗

Generation of Bubbly Suspensions in Low Gravity

Generation of a uniform monodisperse bubbly suspension in low gravity is a rather difficult task because bubbles do not detach as easily as on Earth. Under microgravity, the buoyancy force is not present to detach the bubbles as they are formed from the nozzles. One way to detach the bubbles is to establish a detaching force that helps their detachment from the orifice. The drag force, established by flowing a liquid in a cross or co-flow configuration with respect to the nozzle direction, provides this additional force and helps detach the bubbles as they are being formed. This paper is concerned with studying the generation of a bubbly suspension in low gravity in support of a flight definition experiment titled "Behavior of Rapidly Sheared Bubbly Suspension." Generation of a bubbly suspension, composed of 2 and 3 mm diameter bubbles with a standard deviation <10% of the bubble diameter, was identified as one of the most important engineering/science issues associated with the flight definition experiment. This paper summarizes the low gravity experiments that were conducted to explore various ways of making the suspension. Two approaches were investigated. The first was to generate the suspension via a chemical reaction between the continuous and dispersed phases using effervescent material, whereas the second considered the direct injection of air into the continuous phase. The results showed that the reaction method did not produce the desired bubble size distribution compared to the direct injection of bubbles. However, direct injection of air into the continuous phase (aqueous salt solution) resulted in uniform bubble-diameter distribution with acceptable bubble-diameter standard deviation.

Nahra, Henry K.↗

Mineral Mapping with Imaging Spectroscopy: The Ray Mine, AZ

Mineral maps generated for the Ray Mine, Arizona were analyzed to determine if imaging spectroscopy can provide accurate information for environmental management of active and abandoned mine regions. The Ray Mine, owned by the ASARCO Corporation, covers an area of 5700 acres and is situated in Pinal County, Arizona about 70 miles north of Tucson near Hayden, Arizona. This open-pit mine has been a major source of copper since 1911, producing an estimated 4.5 million tons of copper since its inception. Until 1955 mining was accomplished by underground block caving and shrinkage stope methods. (excavation by working in stepped series usually employed in a vertical or steeply inclined orebody) In 1955, the mine was completely converted to open pit method mining with the bulk of the production from sulfide ore using recovery by concentrating and smelting. Beginning in 1969 a significant production contribution has been from the leaching and solvent extraction-electrowinnowing method of silicate and oxide ores. Published reserves in the deposit as of 1992 are 1.1 billion tons at 0.6 percent copper. The Environmental Protection Agency, in conjunction with ASARCO, and NASA/JPL obtained AVIRIS data over the mine in 1997 as part of the EPA Advanced Measurement Initiative (AMI) (Tom Mace, Principal Investigator). This AVIRIS data set is being used to compare and contrast the accuracy and environmental monitoring capabilities of remote sensing technologies: visible-near-IR imaging spectroscopy, multispectral visible and, near-IR sensors, thermal instruments, and radar platforms. The goal of this effort is to determine if these various technologies provide useful information for envirorunental management of active and abandoned mine sites in the arid western United States. This paper focuses on the analysis of AVIRIS data for assessing the impact of the Ray Mine on Mineral Creek. Mineral Creek flows to the Gila River. This paper discusses our preliminary AVIRIS mineral mapping and environmental findings.

Clark, Roger N.↗

Manufacturing and NDE of Large Composite Structures for Space Transportation at MSFC

This paper presents the Marshall Space Flight Center's (MSFC's) vision to manufacture, increase safety and reduce the cost of launch vehicles. Nondestructive evaluations of large composite structures are tested for space transportation at MSFC. The topics include: 1) 6 1/2 Generations of Airplanes in a Century; 2) Shuttle Safety Upgrades; 3) Generations of Reusable Launch Vehicles; 4) RLV Technology Demonstration Path; 5) Second Generation; 6) Key NASA Requirements; 7) X-33 Elements; 8) Future-X Pathfinder Projects and Experiments; 9) Focus Area Technical Goals; 10) X-34 Expanded View; 11) X-38 Spacecraft with De-Orbit Propulsion Stage (DPS); 12) Deorbit Module (DM) Critical Design Review (CDR) Design; 13) Forward Structural Adapter (FSA) CDR Design; 14) X-38 DPS CDR Design; 15) RLV Focused Propulsion Technologies; and 16) Challenges in Technology. This paper is presented in viewgraph form.

McGill, Preston↗

Altered Cytokine Production By Specific Human Peripheral Blood Cell Subsets Immediately Following Spaceflight

In this study, we have attempted to combine standard immunological assays with the cellular resolving power of the flow cytometer to positively identify the specific cell types involved in spaceflight-induced immune alterations. We have obtained whole blood samples from 27 astronauts collected at three timepoints (L-10, R+0 and R+3) surrounding four recent space shuttle missions. The duration of these missions ranged from 10 to 18 days. Assays performed included serum/urine cortisol, comprehensive subset phenotyping, assessment of cellular activation markers and intracellular cytokine production following mitogenic stimulation. Absolute levels of peripheral granulocytes were significantly elevated following spaceflight, but the levels of circulating lymphocytes and monocytes were unchanged. Lymphocyte subset analysis demonstrated trends towards a decreased percentage of T cells and an increased percentage of B cells. Nearly all of the astronauts exhibited an increased CD4:CD8 ratio, which was dramatic in some individuals. Assessment of memory (CD45RA+) vs. naive (CD45RO+) CD4+ T cell subsets was more ambiguous, with subjects tending to group more as a flight crew. All subjects from one mission demonstrated an increased CD45RA:CD45RO ratio, while all subjects from another Mission demonstrated a decreased ratio. While no significant trend was seen in the monocyte population as defined by scatter, a decreased percentage of the CD14+ CD16+ monocyte subset was seen following spaceflight in all subjects tested. In general, most of the cellular changes described above which were assessed at R+O and compared to L-10 trended to pre-flight levels by R+3. Although no significant differences were seen in the expression of the cellular activation markers CD69 and CD25 following exposure to microgravity, significant alterations were seen in cytokine production in response to mitogenic activation for specific subsets. T cell (CD3+) production of IL-2 was significantly decreased after at R+O as was IL-2 production by both CD4+ and CD8+ T cell subsets for most subjects. Production of IFN(sub gamma) did not appear to be affected by microgravity exposure in either T cells in general or in the CD8+ T cell subset. There was a spaceflight-induced decrease in IFN(sub gamma) production in the CD4+ T cell subset, however it did not reach statistical significance. Serum and urine stress-hormone analysis indicated significant physiologic stresses in astronauts following spaceflight. In summary, these results demonstrate alterations in the peripheral immune system of astronauts immediately after spaceflight of 10 to 18 days duration and support continued research regarding microgravity and immunology (including in-flight sampling) prior to routine long-term spaceflight for astronauts.

Crucian, Brian E.↗